Sample records for lifts xf robot

  1. Summary of Low-Lift Drag and Directional Stability Data from Rocket Models of the Douglas XF4D-1 Airplane with and without External Stores and Rocket Packets at Mach Numbers from 0.8 to 1.38 TED No. NACA DE-349

    NASA Technical Reports Server (NTRS)

    Mitcham, Grady L.; Blanchard, Willard S.; Hastings, Earl C., Jr.

    1952-01-01

    At the request of the Bureau of Aeronautics, Department of the Navy, an investigation at transonic and low supersonic speeds of the drag and longitudinal trim characteristics of the Douglas XF4D-1 airplane is being conducted by the Langley Pilotless Aircraft Research Division. The Douglas XF4D-1 is a jet-propelled, low-aspect-ratio, swept-wing, tailless, interceptor-type airplane designed to fly at low supersonic speeds. As a part of this investigation, flight tests were made using rocket- propelled 1/10- scale models to determine the effect of the addition of 10 external stores and rocket packets on the drag at low lift coefficients. In addition to these data, some qualitative values of the directional stability parameter C(sub n beta) and duct total-pressure recovery are also presented.

  2. Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance.

    PubMed

    Miyake, Tamon; Kobayashi, Yo; Fujie, Masakatsu G; Sugano, Shigeki

    2017-07-01

    Gait training robots are useful for changing gait patterns and decreasing risk of trip. Previous research has reported that decreasing duration of the assistance or guidance of the robot is beneficial for efficient gait training. Although robotic intermittent control method for assisting joint motion has been established, the effect of the robot intervention timing on change of toe clearance is unclear. In this paper, we tested different timings of applying torque to the knee, employing the intermittent control of a gait training robot to increase toe clearance throughout the swing phase. We focused on knee flexion motion and designed a gait training robot that can apply flexion torque to the knee with a wire-driven system. We used a method of timing detecting for the robot conducting torque control based on information from the hip, knee, and ankle angles to establish a non-time dependent parameter that can be used to adapt to gait change, such as gait speed. We carried out an experiment in which the conditions were four time points: starting the swing phase, lifting the foot, maintaining knee flexion, and finishing knee flexion. The results show that applying flexion torque to the knee at the time point when people start lifting their toe is effective for increasing toe clearance in the whole swing phase.

  3. Design of a Versatile, Teleoperable, Towable Lifting Machine with Robotic Capabilities for Use in Nasa's Lunar Base Operations

    NASA Technical Reports Server (NTRS)

    Harris, Elizabeth; Ogle, James; Schoppe, Dean

    1989-01-01

    The lifting machine will assist in lifting cargo off of landers sent to the Moon and in the construction of a lunar base. Three possible designs were considered for the overall configuration of the lifting machine: the variable angle crane, the tower crane, and the gantry crane. Alternate designs were developed for the major components of the lifting machine. A teleoperable, variable angle crane was chosen as its final design. The design consists of a telescoping boom mounted to a chassis that is supported by two conical wheels for towing and four outriggers for stability. Attached to the end of the boom is a seven degree of freedom robot arm for light, dexterous, lifting operations. A cable and hook suspends from the end of the boom for heavy, gross, lifting operations. Approximate structural sizes were determined for the lifter and its components. However, further analysis is needed to determine the optimum design dimensions. The design team also constructed a model of the design which demonstrates its features and operating principals.

  4. Fatigue and nanomechanical properties of K3XF nickel-titanium instruments.

    PubMed

    Shen, Y; Zhou, H; Campbell, L; Wang, Z; Wang, R; Du, T; Haapasalo, M

    2014-12-01

    To examine the fatigue behaviour of heat-treated NiTi instruments when immersed in aqueous media and to determine the effect of cyclic fatigue on the hardness and elastic modulus of NiTi instruments using a nanoindentation technique. K3XF and K3 NiTi instruments, both in sizes 25, 0.04 taper and 40, 0.04 taper, were subjected to rotational bending at a curvature of 42° either in air or under deionized water, and the number of revolutions to fracture (Nf ) was recorded. The fracture surface of all fragments was examined with a scanning electron microscope. The hardness and elastic modulus of the fracture surface of instruments sized 25, 0.04 taper were then measured using a nanoindentation test. The K3XF instruments had a fatigue resistance superior to K3 instruments under dry and aqueous environments (P < 0.05). The fatigue life of K3 instruments was similar under both conditions, whereas the Nf of K3XF was greater under water than in air, especially at the size 40, 0.04 taper (P < 0.05). The values for the fraction of the area occupied by the dimple region were significantly smaller in K3XF instruments than in K3 instruments, especially under water (P < 0.05). There was no difference in hardness on K3XF instruments between new files and instruments subjected to the fatigue process. The hardness of instruments subjected to the fatigue process was significantly lower in K3XF than in K3 instruments (P < 0.05). The fatigue life of K3XF instruments under water is longer than it is for K3XF instruments in air. There was no work-hardening effect on K3XF instruments subjected to the fatigue process. © 2014 International Endodontic Journal. Published by John Wiley & Sons Ltd.

  5. Identification of a virulence-related surface protein XF in piscine Streptococcus agalactiae by pre-absorbed immunoproteomics.

    PubMed

    Liu, Guangjin; Zhang, Wei; Liu, Yongjie; Yao, Huochun; Lu, Chengping; Xu, Pao

    2014-10-26

    Since 2009, large-scale Streptococcus agalactiae infections have broken out in cultured tilapia farms in China, resulting in considerable economic losses. Screening of the surface proteins is required to identify virulence factors or protective antigens involved in piscine S.agalactiae infections in tilapia. Pre-absorbed immunoproteomics method (PAIM) is a useful method previously established in our laboratory for identifying bacterial surface proteins. A serine-rich repeat protein family 1 (Srr-1), designated XF, was identified by PAIM in piscine S. agalactiae isolate GD201008-001. To investigate the role of XF in the pathogenesis of piscine S. agalactiae, an isogenic xf mutant strain (Δxf) and a complemented strain (CΔxf) were successfully constructed. The Δxf mutant and CΔxf showed no significant differences in growth characteristics and adherence to HEp-2 cells compared with the wild-type strain. However the 50% lethal dose of Δxf was increased (4-fold) compared with that of the parental strain in a zebrafish infection model. The findings demonstrated that XF is a virulence-related, highly immunoreactive surface protein and is involved in the pathogenicity of S. agalactiae infections in fish.

  6. Phase transformation behavior and mechanical properties of thermomechanically treated K3XF nickel-titanium instruments.

    PubMed

    Shen, Ya; Zhou, Hui-Min; Wang, Zhejun; Campbell, Les; Zheng, Yu-feng; Haapasalo, Markus

    2013-07-01

    The bending and torsional properties of thermomechanically treated K3XF (SybronEndo, Orange, CA) nickel-titanium instruments in relation to their phase transformation behavior were evaluated. NiTi instruments K3 (SybronEndo) and K3XF, both in sizes 25/.04 and 40/.04, were examined by differential scanning calorimetry and X-ray diffraction. The metal composition was determined by scanning electron microscopy with X-ray energy-dispersive spectrometric analyses. The bending property of K3 and K3XF instruments was measured in a cantilever-bending test with a maximum deflection of 4.00 mm. A torsional test of the instruments was evaluated according to the American National Standards Institute/American Dental Association Specification No. 28. K3 and K3XF instruments had approximately the same chemical composition with a nickel content of 48-49 atomic %. The differential scanning calorimetry analyses showed that each segment of the K3XF instruments (24.89°C ± 1.98°C) had a higher austenite finish temperature than the K3 instruments (17.63°C ± 1.76°C) (P < .05). The bending load values were significantly lower for K3XF than for K3 in the superelastic ranges (P < .05). There was no statistically significant difference between K3 and K3XF in the maximum torque or maximum angular deflection before failure. The torque at fracture values of K3 and K3XF increased significantly with the diameter (P < .05). K3XF exhibited different phase transformation behavior and flexibility when compared with K3, which may be attributed to the special heat treatment history of K3XF instruments. Copyright © 2013 American Association of Endodontists. Published by Elsevier Inc. All rights reserved.

  7. North American XF-82 Twin Mustang Prepares for Ramjet Test Flight

    NASA Image and Video Library

    1949-04-21

    Pilot William Swann, right cockpit, prepares the North American XF-82 Twin Mustang for flight at the National Advisory Committee for Aeronautics (NACA) Lewis Flight Propulsion Laboratory. The aircraft was one of only two prototypes built by North American in October 1945 and powered by Packard Merlin V-1650 piston engines. Over 270 of the F-82 long-distance pursuit fighters were produced during the 1940s. The Mustang’s unique two-pilot configuration allowed one pilot to rest during the long missions and thus be ready for action upon arrival. The NACA took possession of this XF-82 in October 1947. NACA Lewis used the XF-82 as a test bed for ramjet flight tests. Ramjets are continually burning tubes that use the compressed atmospheric air to produce thrust. Ramjets are extremely efficient at high speeds, but rely on some sort of booster to attain that high speed. NACA Lewis undertook an extensive ramjet program in the 1940s that included combustion studies in the Altitude Wind Tunnel, a number of flight tests, and missile drops from aircraft. The 16-inch diameter ramjet missile was fixed to the XF-82 Mustang’s wing and dropped from high altitudes off of Wallops Island. The tests determined the ramjet’s performance and operational characteristics in the transonic range.

  8. Asteroid 1997 XF11 Could Collide with Earth

    NASA Astrophysics Data System (ADS)

    Marsden, B. G.

    1999-09-01

    Early in 1998, the 2-km asteroid 1997 XF11 became of interest as a possible danger to the earth because it would clearly pass within--possibly well within--the earth's sphere of influence on 2028 Oct. 26 (IAUC 6837). Given the usual model of the solar system, the 2028 passage was entirely predictable in that there was then no possibility of collision with the earth (IAUC 6879). Nevertheless, despite this predictability, several colleagues insisted on estimating impact probabilities, with results ranging from 10(-3) to 10(-1117) ; although this latter figure by Muinonen may be technically correct, it surely invites the imagination of bizarre scenarios that would increase it. Surprisingly, despite a stated desire for ``peer review'' of pronouncements of an asteroid hazard, there was no consideration that 1997 XF11 might have posed a danger to the earth a few years after 2028. Given the 88-day arc of observations, the uncertainty in the 2028 miss distance meant that the object's revolution period, currently 1.73 years, could subsequently have been anything from 1.53 to 1.99 years. Furthermore, the essentially linear annual change of 4000 km in the minimum distance between the earth's orbit and the object's descending node would reduce this distance to zero during the late 2030s. Given the possibility of a post-2028 earth-resonant period such as 5/3, 7/4, 9/5 or 12/7 years, it was also predictable that there existed trajectories for 1997 XF11, entirely consistent with the available observations, that would yield an earth impact during this timeframe. A possible deep impact in 2040, a grazing impact in 2037 and other passages within 2 or 3 earth radii were in fact found. Although the chaos induced in 2028 renders the calculation of impact probabilities rather difficult, a simplistic argument gives a value of about 10(-5) in at least one of the relevant years (albeit at a very specific time). This is larger than the estimated annual 10(-6) impact probability for unknown

  9. Fotometria dell'asteroide (35396) 1997 XF11

    NASA Astrophysics Data System (ADS)

    Foglia, Sergio

    2005-04-01

    Radar and photometric observations of (35396) 1997 XF11 were made during its close approach with the Earth in 2002. The photometric parameters found are: period of rotation = 3.2567±0.0001 hours, light curve amplitude = 0.71 mag., (V-R) = 0.5 and absolute magnitude H = 17.0±0.4.

  10. Langley Full-Scale Tunnel Investigation of a 1/3-Scale Model of the Chance Vought XF5U-1 Airplane

    NASA Technical Reports Server (NTRS)

    Lange, Roy H.; Cocke, Bennie W., Jr.; Proterra, Anthony J.

    1946-01-01

    The results of an investigation of a 1/3-scale model of the Chance Vought XF5U-1 airplane in the Langley full-scale tunnel are presented in this report. The maximum lift and stalling characteristics of several model configurations, the longitudinal stability characteristics of the model, and the effectiveness of the control surfaces were determined with the propellers removed. The propulsive characteristics, the effect of propeller operation on the lift, and the static thrust of the model propellers were determined at several propeller-blade angles. The results with the propellers removed showed that the maximum lift coefficient of the complete model configuration was only 0.97 was compared with the value of 1.31 for the model configuration in which the engine-air ducts and canopy are removed. The model with the propellers removed (normal center-of-gravity position) has a positive static margin, stick fixed, varying from 5 to 13 percent of the mean aerodynamic chord throughout the unstalled range of lift coefficients. The unit horizontal tail is sufficiently powerful to trim the airplane with the propellers removed throughout the unstalled range of lift coefficients. The peak propulsive efficiencies for beta = 20 degrees and beta = 30 degrees were increased 7 percent at C(sub L) congruent to 0.67 and 20 percent at C(sub L) congruent to 0.74, respectively, with the propellers rotating upward in the center than with the propellers rotating downward in the center. Indications are that the minimum forward-flight speed of the airplane for full-power operation at sea level will be about 90 miles per hour. Decreasing the weight and increasing the power reduced this value of minimum speed and there were no indications from the results of a lower limit to the minimum speed.

  11. Lateral Stability and Control Measurements of a 0.0858-Scale Model of the Lockheed XF-104 Airplane at Transonic Speeds

    NASA Technical Reports Server (NTRS)

    Arabian, Donald D.; Schmeer, James W.

    1955-01-01

    An investigation of the lateral stability and control effectiveness of a 0.0858-scale model of the Lockheed XF-104 airplane has been conducted in the Langley 16-foot transonic tunnel. The model has a low aspect ratio, 3.4-percent-thick wing with negative dihedral. The horizontal tail is located on top of the vertical tail. The investigation was made through a Mach number range of 0.80 to 1.06 at sideslip angles of -5 deg. to 5 deg. and angles of attack from 0 deg. to 16 deg. The control effectiveness of the aileron, rudder, and yaw damper were determined through the Mach number and angle-of-attack range. The results of the investigation indicated that the directional stability derivative was stable and that positive effective dihedral existed throughout the lift-coefficient range and Mach number range tested. The total aileron effectiveness, which in general produced favorable yaw with rolling moment, remained fairly constant for lift coefficients up to about 0.8 for the Mach number range tested. Yawing-moment effectiveness of the rudder changed little through the Mach number range. However, the yaw damper effectiveness decreased about 30 percent at the intermediate test Mach numbers.

  12. Mars Ascent Vehicle Gross Lift-off Mass Sensitivities for Robotic Mars Sample Return

    NASA Technical Reports Server (NTRS)

    Dux, Ian J.; Huwaldt, Joseph A.; McKamey, R. Steve; Dankanich, John W.

    2011-01-01

    The Mars ascent vehicle is a critical element of the robotic Mars Sample Return (MSR) mission. The Mars ascent vehicle must be developed to survive a variety of conditions including the trans-Mars journey, descent through the Martian atmosphere and the harsh Martian surface environments while maintaining the ability to deliver its payload to a low Mars orbit. The primary technology challenge of developing the Mars ascent vehicle system is designing for all conditions while ensuring the mass limitations of the entry descent and landing system are not exceeded. The NASA In-Space Propulsion technology project has initiated the development of Mars ascent vehicle technologies with propulsion system performance and launch environments yet to be defined. To support the project s evaluation and development of various technology options the sensitivity of the Mars ascent vehicle gross lift-off mass to engine performance, inert mass, target orbits, and launch conditions has been completed with the results presented herein.

  13. Enhanced Rescue Lift Capability

    NASA Technical Reports Server (NTRS)

    Young, Larry A.

    2007-01-01

    The evolving and ever-increasing demands of emergency response and disaster relief support provided by rotorcraft dictate, among other things, the development of enhanced rescue lift capability for these platforms. This preliminary analysis is first-order in nature but provides considerable insight into some of the challenges inherent in trying to effect rescue using a unique form of robotic rescue device deployed and operated from rotary-wing aerial platforms.

  14. Comprehensive Method for Culturing Embryonic Dorsal Root Ganglion Neurons for Seahorse Extracellular Flux XF24 Analysis

    PubMed Central

    Lange, Miranda; Zeng, Yan; Knight, Andrew; Windebank, Anthony; Trushina, Eugenia

    2012-01-01

    Changes in mitochondrial dynamics and function contribute to progression of multiple neurodegenerative diseases including peripheral neuropathies. The Seahorse Extracellular Flux XF24 analyzer provides a comprehensive assessment of the relative state of glycolytic and aerobic metabolism in live cells making this method instrumental in assessing mitochondrial function. One of the most important steps in the analysis of mitochondrial respiration using the Seahorse XF24 analyzer is plating a uniform monolayer of firmly attached cells. However, culturing of primary dorsal root ganglion (DRG) neurons is associated with multiple challenges, including their propensity to form clumps and detach from the culture plate. This could significantly interfere with proper analysis and interpretation of data. We have tested multiple cell culture parameters including coating substrates, culture medium, XF24 microplate plastics, and plating techniques in order to optimize plating conditions. Here we describe a highly reproducible method to obtain neuron-enriched monolayers of securely attached dissociated primary embryonic (E15) rat DRG neurons suitable for analysis with the Seahorse XF24 platform. PMID:23248613

  15. Comprehensive Method for Culturing Embryonic Dorsal Root Ganglion Neurons for Seahorse Extracellular Flux XF24 Analysis.

    PubMed

    Lange, Miranda; Zeng, Yan; Knight, Andrew; Windebank, Anthony; Trushina, Eugenia

    2012-01-01

    Changes in mitochondrial dynamics and function contribute to progression of multiple neurodegenerative diseases including peripheral neuropathies. The Seahorse Extracellular Flux XF24 analyzer provides a comprehensive assessment of the relative state of glycolytic and aerobic metabolism in live cells making this method instrumental in assessing mitochondrial function. One of the most important steps in the analysis of mitochondrial respiration using the Seahorse XF24 analyzer is plating a uniform monolayer of firmly attached cells. However, culturing of primary dorsal root ganglion (DRG) neurons is associated with multiple challenges, including their propensity to form clumps and detach from the culture plate. This could significantly interfere with proper analysis and interpretation of data. We have tested multiple cell culture parameters including coating substrates, culture medium, XF24 microplate plastics, and plating techniques in order to optimize plating conditions. Here we describe a highly reproducible method to obtain neuron-enriched monolayers of securely attached dissociated primary embryonic (E15) rat DRG neurons suitable for analysis with the Seahorse XF24 platform.

  16. Genetic organization of plasmid pXF51 from the plant pathogen Xylella fastidiosa.

    PubMed

    Marques, M V; da Silva, A M; Gomes, S L

    2001-05-01

    The sequence of plasmid pXF51 from the plant pathogen Xylella fastidiosa, the causal agent of citrus variegated chlorosis, has been analyzed. This plasmid codes for 65 open reading frames (ORFs), organized into four main regions, containing genes related to replication, mobilization, and conjugative transfer. Twenty-five ORFs have no counterparts in the public sequence databases, and 7 are similar to conserved hypothetical proteins from other bacteria. A pXF51 incompatibility group has not been determined, as we could not find a typical replication origin. One cluster of conjugation-related genes (trb) seems to be incomplete in pXF51, and a copy of this sequence is found in the chromosome, suggesting it was generated by a duplication event. A second cluster (tra) contains all genes necessary for conjugation transfer to occur, showing a conserved organization with other conjugative plasmids. An identifiable origin of transfer similar to oriT from IncP plasmids is found adjacent to genes encoding two mobilization proteins. None of the ORFs with putative assigned function could be predicted as having a role in pathogenesis, except for a virulence-associated protein D homolog. These results indicate that even though pXF51 appears not to have a direct role in Xylella pathogenesis, it is a conjugative plasmid that could be important for lateral gene transfer in this bacterium. This property may be of great importance for future development of transformation techniques in X. fastidiosa.

  17. McDonnell XF-88B Experimental Jet Fighter

    NASA Image and Video Library

    1955-08-10

    91,591 Overhead view. McDonnell XF-88B Experimental Jet Fighter. Langley used this aircraft in the mid-1950s to explore the potential of a supersonic propeller. Photographed in Engineer in Charge A History of the Langley Aeronautical Laboratory, 1917-1958 by James R. Hansen. Page 508. **Note see L57-2259 for eye level view.

  18. High-Speed Wind-Tunnel Investigation of the Longitudinal Stability and Control Characteristics of a 0.10-Scale Model of the Grumman XF9F-2 Airplane, TED No. NACA DE301

    NASA Technical Reports Server (NTRS)

    Polhamus, Edward C.; King, Thomas J., Jr.

    1948-01-01

    An investigation was made in the Langley high-speed 7-by 10-foot tunnel to determine the high-speed longitudinal stability end con&o1 characteristics of a 0.01-scale model of the Grumman XF9F-2 airplane in the Mach number range from 0.40 to 0.85. The results indicated that the lift and drag force breaks occurred at a Mach number of about 0.76. The aerodynamic-center position moved rearward after the force break and control position stability was present for all Mach numbers up to a Mach number of 0.80.

  19. Writing instrument interfaces with xf/tktcl

    NASA Technical Reports Server (NTRS)

    Henden, A. A.

    1992-01-01

    Tcl is an embedded control language written in C, running primarily under Unix and with an interpreted C look-and-feel. Tk is an X11 toolkit based on tcl. Xf is an application builder for tk. The entire package is public domain and available from sprite.berkeley.edu. This paper discusses the use of tk to develop a user interface for OSIRIS, an infrared camera/spectrograph now operational on the OSU Perkins 1.8m telescope. The good and bad features of the development process are described.

  20. Micro Hopping Robots for Rescue Operation. Location of the Distributed Tiny Robots Under the Collapsed Building

    DTIC Science & Technology

    2008-07-31

    any wheels or legs even on small, rough terrain with the help of eccentric mechanical vibration. This tiny robot also has the ability of self...integral part of any robo -rescue operation. Inexpensive micro robots can be manufactured for this purpose and by utilizing numerous micro robots (100s to...designed and developed. This locomotion mechanism functions without any wheels or legs and can move based upon the asymmetrical thrusting and lifting

  1. Optimizing EPG settings to record blue-green sharpshooter X waves for future studies of grape host plant resistance to Xf inoculation

    USDA-ARS?s Scientific Manuscript database

    The long-term goal of the research reported in this review is to develop methodology for assessment of grapevine resistant to sharpshooter inoculation of Xylella fastidiosa(Xf)into healthy grapevines, thereby preventing Xf infection. Such a trait would be quite different from the more common mechani...

  2. Robots, Jobs, and Education. State-of-the-Art Paper.

    ERIC Educational Resources Information Center

    Benton, Oliver; Branch, Charles W.

    The purpose of this paper is to assist those in education, government, and industry who are responsible for managing vocational and technical training in their decisions about what programs should be initiated to accommodate the growing use of robots. Section 1 describes robot characteristics (type of drive, method of teaching, lifting capacity,…

  3. Modified robotic-assisted thyroidectomy: an initial experience with the retroauricular approach.

    PubMed

    Kandil, Emad; Saeed, Ahmad; Mohamed, Salah E; Alsaleh, Nuha; Aslam, Rizwan; Moulthrop, Thomas

    2015-03-01

    New approaches for robotic-assisted thyroidectomy, including the retroauricular approach, were recently described. We have modified the established surgical approach for retroauricular robotic thyroidectomy. Herein, we report our initial experience to identify challenges and limitations of this new surgical approach. Prospective case series. This study was performed under institutional review board approval for patients who underwent retroauricular robotic hemithyroidectomy at an academic North American institution. The retroauricular approach was modified by using the space between the two heads of the sternocleidomastoid muscle as our working space. Additionally, selected patients underwent concomitant neck lift surgery with robotic thyroid surgery. Clinical characteristics, total operative time, blood loss, surgical outcomes, and length of hospital stay were evaluated. Twelve female patients were included in this study. Mean age was 45 ± 4.43 years, and mean body mass index was 28.6 ± 2.15. Mean thyroid nodule size was 1.15 ± 0.26 cm(3). All cases were completed successfully via single retroauricular incision. There was no conversion to an open approach. Four out of 12 patients (33%) underwent additional concomitant neck lift surgery, with a mean total operative time of 156 ± 15.88 minutes. The mean operative time for the remaining eight patients who underwent the robotic approach without additional neck lift surgery was 145.4 ± 10.08 minutes. There were no cases of permanent vocal cord paralysis or permanent hypoparathyroidism. Mean blood loss was 22.4 ± 4.32 mL. Four patients (33%) were discharged home on the same day of surgery, and the remaining eight patients were discharged after an overnight stay. Single-incision retroauricular robotic hemithyroidectomy can be a safe and feasible alternative to other remote access techniques. Neck lift surgery can be performed safely in a select group of patients. However, future studies are

  4. Scaling law and enhancement of lift generation of an insect-size hovering flexible wing

    PubMed Central

    Kang, Chang-kwon; Shyy, Wei

    2013-01-01

    We report a comprehensive scaling law and novel lift generation mechanisms relevant to the aerodynamic functions of structural flexibility in insect flight. Using a Navier–Stokes equation solver, fully coupled to a structural dynamics solver, we consider the hovering motion of a wing of insect size, in which the dynamics of fluid–structure interaction leads to passive wing rotation. Lift generated on the flexible wing scales with the relative shape deformation parameter, whereas the optimal lift is obtained when the wing deformation synchronizes with the imposed translation, consistent with previously reported observations for fruit flies and honeybees. Systematic comparisons with rigid wings illustrate that the nonlinear response in wing motion results in a greater peak angle compared with a simple harmonic motion, yielding higher lift. Moreover, the compliant wing streamlines its shape via camber deformation to mitigate the nonlinear lift-degrading wing–wake interaction to further enhance lift. These bioinspired aeroelastic mechanisms can be used in the development of flapping wing micro-robots. PMID:23760300

  5. A Transonic Wind-Tunnel Investigation of the Longitudinal Aerodynamic Characteristics of a Model of the Lockheed XF-104 Airplane

    NASA Technical Reports Server (NTRS)

    Hieser, Gerald; Reid, Charles F.

    1954-01-01

    The transonic longitudinal aerodynamic characteristics of a 0.0858-scale model of the Lockheed XF-104 airplane have been obtained from tests at the Langley 16-foot transonic tunnel. The results of the investigation provide some general information applicable to the transonic properties of thin, low-aspect-ratio, unswept wing configurations utilizing a high horizontal tail . The model employs a horizontal tail mounted at the top of the vertical tail and a wing with an aspect ratio of 2.5, a taper ratio of 0.385, and 3.4-percent-thick airfoil sections. The lift, drag, and static longitudinal pitching moment were measured at Mach numbers from 0.80 t o 1.09 and angles of attack from -2.5 deg to 22.5 deg. Some of the dynamic longitudinal stability properties of the airplane have been predicted from the test results. In addition, some visual flow studies on the wing surfaces obtained at Mach numbers of 0.80 and 1.00 are included. Results of the investigation show that the transonic rise in drag coefficient at zero lift is about 0.030. At high angles of attack, the model becomes longitudinally unstable at Mach numbers from 0.80 t o 0.90, whereas a reduction in static stability is experienced when very high angles of attack are reached at Mach numbers above 0.90. Longitudinal dynamic stability calculations show that the longitudinal control is good at angles of attack below the unstable break in the static pitching-moment curves, but a typical corrective control applied after the occurrence of neutral stability has little effect in averting pitch-up.

  6. In vitro comparison in a manikin model: increasing apical enlargement with K3 and K3XF rotary instruments.

    PubMed

    Olivieri, Juan Gonzalo; Stöber, Eva; García Font, Marc; González, Jose Antonio; Bragado, Pablo; Roig, Miguel; Duran-Sindreu, Fernando

    2014-09-01

    The aim of the study was to compare the K3 and K3XF systems (SybronEndo, Glendora, CA) after 1 and 2 uses by evaluating apical transportation, working length loss, and working time in a manikin model. Mesial canals of 40 extracted first mandibular molars were instrumented. Radiographs taken after instrumentation with #25, #30, #35, and #40 files were superimposed on the preoperative image in both mesiodistal and buccolingual angulations. AutoCAD (Autodesk Inc, San Rafael, CA) was used to measure working length loss and apical transportation at 0, 0.5, and 1 mm from the working length (WL). The working time was measured. Group comparison was analyzed using post hoc Tukey honestly significant difference tests (P < .05). No significant differences were found in apical transportation, working length loss between K3 and K3XF systems, or between the number of uses. Significant differences were found when canal enlargement was performed to a #35-40 (P < .05). K3 instrumentation performed significantly faster (29.6 ± 15.4) than with the K3XF system (40.2 ± 17.7) (P < .05). No differences were observed in working time when comparing the number of uses. K3 and R-phase K3XF rotary systems shaped curved root canals safely with minimal apical transportation, even up to a 40/04 file. Copyright © 2014 American Association of Endodontists. Published by Elsevier Inc. All rights reserved.

  7. Whole-genome sequencing of Bacillus subtilis XF-1 reveals mechanisms for biological control and multiple beneficial properties in plants.

    PubMed

    Guo, Shengye; Li, Xingyu; He, Pengfei; Ho, Honhing; Wu, Yixin; He, Yueqiu

    2015-06-01

    Bacillus subtilis XF-1 is a gram-positive, plant-associated bacterium that stimulates plant growth and produces secondary metabolites that suppress soil-borne plant pathogens. In particular, it is especially highly efficient at controlling the clubroot disease of cruciferous crops. Its 4,061,186-bp genome contains an estimated 3853 protein-coding sequences and the 1155 genes of XF-1 are present in most genome-sequenced Bacillus strains: 3757 genes in B. subtilis 168, and 1164 in B. amyloliquefaciens FZB42. Analysis using the Cluster of Orthologous Groups database of proteins shows that 60 genes control bacterial mobility, 221 genes are related to cell wall and membrane biosynthesis, and more than 112 are genes associated with secondary metabolites. In addition, the genes contributed to the strain's plant colonization, bio-control and stimulation of plant growth. Sequencing of the genome is a fundamental step for developing a desired strain to serve as an efficient biological control agent and plant growth stimulator. Similar to other members of the taxon, XF-1 has a genome that contains giant gene clusters for the non-ribosomal synthesis of antifungal lipopeptides (surfactin and fengycin), the polyketides (macrolactin and bacillaene), the siderophore bacillibactin, and the dipeptide bacilysin. There are two synthesis pathways for volatile growth-promoting compounds. The expression of biosynthesized antibiotic peptides in XF-1 was revealed by matrix-assisted laser desorption/ionization-time of flight mass spectrometry.

  8. Evaluation of robotic-assisted platysmaplasty procedures in a cadaveric model using the da Vinci Surgical System.

    PubMed

    Taghizadeh, Farhan; Reiley, Carol; Mohr, Catherine; Paul, Malcolm

    2014-03-01

    We are evaluating the technical feasibility of robotic-assisted laparoscopic vertical-intermediate platysmaplasty in conjunction with an open rhytidectomy. In a cadaveric study, the da Vinci Surgical System was used to access certain angles in the lower neck that are difficult for traditional short incision, short flap procedures. Ergonomics, approach, and technical challenges were noted. To date, there are no published reports of robotic-assisted neck lifts, motivating us to assess its potential in this field of plastic surgery. Standard open technique short flap rhytidectomies with concurrent experimental robotic-assisted platysmaplasties (neck lifts) were performed on six cadavers with the da Vinci Si Surgical System(®) (Intuitive Surgical, Sunnyvale, CA, USA). The surgical procedures were performed on a diverse cadaver population from June 2011 to January 2012. The procedures included (1) submental incision and laser-assisted liposuction, (2) open rhytidectomy, and (3) robotic-assisted platysmaplasty using knot-free sutures. A variety of sutures and fat extraction techniques, coupled with 0° and 30° three-dimensional endoscopes, were utilized to optimize visualization of the platysma. An unaltered da Vinci Si Surgical System with currently available instruments was easily adaptable to neck lift surgery. Mid-neck platysma exposure was excellent, tissue handling was delicate and precise, and suturing was easily performed. Robotic-assisted surgery has the potential to improve outcomes in neck lifts by offering the ability to manipulate instruments with increased freedom of movement, scaled motion, tremor reduction, and stereoscopic three-dimensional visualization in the deep neck. Future clinical studies on live human patients can better assess subject and surgeon benefits arising from the use of the da Vinci system for neck lifts. Evidence obtained from multiple time series with or without the intervention, such as case studies. Dramatic results in

  9. Object Transportation by Two Mobile Robots with Hand Carts

    PubMed Central

    Hara, Tatsunori

    2014-01-01

    This paper proposes a methodology by which two small mobile robots can grasp, lift, and transport large objects using hand carts. The specific problems involve generating robot actions and determining the hand cart positions to achieve the stable loading of objects onto the carts. These problems are solved using nonlinear optimization, and we propose an algorithm for generating robot actions. The proposed method was verified through simulations and experiments using actual devices in a real environment. The proposed method could reduce the number of robots required to transport large objects with 50–60%. In addition, we demonstrated the efficacy of this task in real environments where errors occur in robot sensing and movement. PMID:27433499

  10. Object Transportation by Two Mobile Robots with Hand Carts.

    PubMed

    Sakuyama, Takuya; Figueroa Heredia, Jorge David; Ogata, Taiki; Hara, Tatsunori; Ota, Jun

    2014-01-01

    This paper proposes a methodology by which two small mobile robots can grasp, lift, and transport large objects using hand carts. The specific problems involve generating robot actions and determining the hand cart positions to achieve the stable loading of objects onto the carts. These problems are solved using nonlinear optimization, and we propose an algorithm for generating robot actions. The proposed method was verified through simulations and experiments using actual devices in a real environment. The proposed method could reduce the number of robots required to transport large objects with 50-60%. In addition, we demonstrated the efficacy of this task in real environments where errors occur in robot sensing and movement.

  11. Autonomous robotic platforms for locating radio sources buried under rubble

    NASA Astrophysics Data System (ADS)

    Tasu, A. S.; Anchidin, L.; Tamas, R.; Paun, M.; Danisor, A.; Petrescu, T.

    2016-12-01

    This paper deals with the use of autonomous robotic platforms able to locate radio signal sources such as mobile phones, buried under collapsed buildings as a result of earthquakes, natural disasters, terrorism, war, etc. This technique relies on averaging position data resulting from a propagation model implemented on the platform and the data acquired by robotic platforms at the disaster site. That allows us to calculate the approximate position of radio sources buried under the rubble. Based on measurements, a radio map of the disaster site is made, very useful for locating victims and for guiding specific rubble lifting machinery, by assuming that there is a victim next to a mobile device detected by the robotic platform; by knowing the approximate position, the lifting machinery does not risk to further hurt the victims. Moreover, by knowing the positions of the victims, the reaction time is decreased, and the chances of survival for the victims buried under the rubble, are obviously increased.

  12. Investigation of the Stability and Control Characteristics of a 1/10-Scale Model of the Chance Vought XF7U-1 Airplane in the Langley Free-Flight Tunnel, TED No. NACA DE306

    NASA Technical Reports Server (NTRS)

    Draper, John W.; Hewes, Donald E.

    1948-01-01

    At the request of the Bureau of Aeronautics, Navy Department, a stability and control investigation of a 1/10-scale model of the Chance Vought XF7U-1 airplane has been conducted in the Langley free-flight tunnel. Results of force end flight tests to determine the power-off stability and control characteristics of the model with slats retracted and extended are presented herein. The longitudinal and lateral stability characteristics were satisfactory for both the slats retracted and extended conditions over the lift range up to the stall. With the slats retracted, the stall was fairly gentle but the model rolled off out of control. With the slats extended, control could be maintained at the stall so that the wings could be kept level even as the model dropped.

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

    PubMed Central

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

    2017-01-01

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

  14. Total Facelift: Forehead Lift, Midface Lift, and Neck Lift

    PubMed Central

    2015-01-01

    Patients with thick skin mainly exhibit the aging processes of sagging, whereas patients with thin skin develop wrinkles or volume loss. Asian skin is usually thicker than that of Westerners; and thus, the sagging of skin due to aging, rather than wrinkling, is the chief problem to be addressed in Asians. Asian skin is also relatively large in area and thick, implying that the weight of tissue to be lifted is considerably heavier. These factors account for the difficulties in performing a facelift in Asians. Facelifts can be divided into forehead lift, midface lift, and lower face lift. These can be performed individually or with 2-3 procedures combined. PMID:25798381

  15. The hybrid assistive limb (HAL) for Care Support successfully reduced lumbar load in repetitive lifting movements.

    PubMed

    Miura, Kousei; Kadone, Hideki; Koda, Masao; Abe, Tetsuya; Kumagai, Hiroshi; Nagashima, Katsuya; Mataki, Kentaro; Fujii, Kengo; Noguchi, Hiroshi; Funayama, Toru; Kawamoto, Hiroaki; Sankai, Yoshiyuki; Yamazaki, Masashi

    2018-05-03

    Work-related low back pain is a serious socioeconomic problem. This study examined whether HAL for Care Support, which is a newly developed wearable robot, would decrease lumbar fatigue and improve lifting performance during repetitive lifting movements. Eighteen healthy volunteers (11 men, 7 women) performed repetitive stoop lifting movements of a cardboard box weighing 12 kg as many times as possible. The first lifting trial was executed without HAL for Care Support, and the second was with it. We evaluated the VAS of lumbar fatigue as the lumbar load and the number of lifts and the lifting time as lifting performance. Without HAL for Care Support, the mean VAS of lumbar fatigue, the number of lifts and lifting time were 68 mm, 60 and 230 s; with HAL for Care Support, they were 51 mm, 87 and 332 s, respectively. Both lifting performance measures were significantly improved by using HAL for Care Support (Fig. 2). A power analysis showed that there was sufficient statistical power for the VAS of lumbar fatigue (0.99), the number of lifts (0.92), and lifting time (0.93). All participants performed their repetitive lifting trials safely. There were no adverse events caused by using HAL for Care Support. In conclusion, the HAL for Care Support can decrease lumbar load and improve the lifting performance during repetitive stoop lifting movements in healthy adults. Copyright © 2018. Published by Elsevier Ltd.

  16. Summary of Lift and Lift/Cruise Fan Powered Lift Concept Technology

    NASA Technical Reports Server (NTRS)

    Cook, Woodrow L.

    1993-01-01

    A summary is presented of some of the lift and lift/cruise fan technology including fan performance, fan stall, ground effects, ingestion and thrust loss, design tradeoffs and integration, control effectiveness and several other areas related to vertical short takeoff and landing (V/STOL) aircraft conceptual design. The various subjects addressed, while not necessarily pertinent to specific short takeoff/vertical landing (STOVL) supersonic designs being considered, are of interest to the general field of lift and lift/cruise fan aircraft designs and may be of importance in the future. The various wind tunnel and static tests reviewed are: (1) the Doak VZ-4 ducted fan, (2) the 0.57 scale model of the Bell X-22 ducted fan aircraft, (3) the Avrocar, (4) the General Electric lift/cruise fan, (5) the vertical short takeoff and landing (V/STOL) lift engine configurations related to ingestion and consequent thrust loss, (6) the XV-5 and other fan-in-wing stall consideration, (7) hybrid configurations such as lift fan and lift/cruise fan or engines, and (8) the various conceptual design studies by air-frame contractors. Other design integration problems related to small and large V/STOL transport aircraft are summarized including lessons learned during more recent conceptual design studies related to a small executive V/STOL transport aircraft.

  17. Spin Tests of 1/20-Scale Models of the Chance Vought Revised XF6U-1 and F6U-1 Airplanes, TED No. NACA 2390

    NASA Technical Reports Server (NTRS)

    Klinar, Walter J.; Berman, Theodore

    1948-01-01

    An investigation has been conducted in the Langley 20-foot free-spinning tunnel on the 1/20-scale model of the Chance Vought XF6U-1 airplane altered to represent the XF6U-1 airplane as it will be spin-tested in flight, and also altered to represent the F6U-1 airplane as it will be produced for service use. Spin tests were made to determine the effects of control settings and movements at the normal loading. The results show that the spins obtained on the revised XF6U-1 airplane will be oscillatory in roll and yaw and that recoveries by rudder reversal will be rapid. Model test results indicate that the F6U-1 airplane will probably not spin. Inasmuch as the results of this investigation show that the new designs are as good as or better than the original XF6U-1 design in regard to spin recovery, it is felt that the conclusions and recommendations reached for the original design can be applied to the new designs for all loading conditions.

  18. Convair XF-102 Model in the 8- by 6-Foot Supersonic Wind Tunnel

    NASA Image and Video Library

    1953-08-21

    A .10-scale model of Convair’s XF-102 in the 8- by 6-Foot Supersonic Wind Tunnel at the National Advisory Committee for Aeronautics (NACA) Lewis Flight Propulsion Laboratory for jet exit studies. The XF-102 was a prototype of the F-102 Delta Dagger. The F-102 served as an interceptor against long range bombers from the Soviet Union. The aircraft was powered by a Pratt and Whitney J57 turbojet. The first prototype crashed two weeks after is first flight on October 24, 1953, just months after this photograph. Engineers then incorporated the fixed-wing design to reduce drag at supersonic speeds. The production model F-102 became the first delta-wing supersonic aircraft in operation. The 8- by 6-Foot Supersonic Wind Tunnel is used to study propulsion systems, including inlets and exit nozzles, combustion fuel injectors, flame holders, exit nozzles, and controls on ramjet and turbojet engines. Flexible sidewalls alter the tunnel’s nozzle shape to vary the Mach number during operation. A seven-stage axial compressor, driven by three electric motors that yield a total of 87,000 horsepower, generates air speeds from Mach 0.36 to 2.0.

  19. Intelligent robots for planetary exploration and construction

    NASA Technical Reports Server (NTRS)

    Albus, James S.

    1992-01-01

    Robots capable of practical applications in planetary exploration and construction will require realtime sensory-interactive goal-directed control systems. A reference model architecture based on the NIST Real-time Control System (RCS) for real-time intelligent control systems is suggested. RCS partitions the control problem into four basic elements: behavior generation (or task decomposition), world modeling, sensory processing, and value judgment. It clusters these elements into computational nodes that have responsibility for specific subsystems, and arranges these nodes in hierarchical layers such that each layer has characteristic functionality and timing. Planetary exploration robots should have mobility systems that can safely maneuver over rough surfaces at high speeds. Walking machines and wheeled vehicles with dynamic suspensions are candidates. The technology of sensing and sensory processing has progressed to the point where real-time autonomous path planning and obstacle avoidance behavior is feasible. Map-based navigation systems will support long-range mobility goals and plans. Planetary construction robots must have high strength-to-weight ratios for lifting and positioning tools and materials in six degrees-of-freedom over large working volumes. A new generation of cable-suspended Stewart platform devices and inflatable structures are suggested for lifting and positioning materials and structures, as well as for excavation, grading, and manipulating a variety of tools and construction machinery.

  20. An Integrated Framework for Human-Robot Collaborative Manipulation.

    PubMed

    Sheng, Weihua; Thobbi, Anand; Gu, Ye

    2015-10-01

    This paper presents an integrated learning framework that enables humanoid robots to perform human-robot collaborative manipulation tasks. Specifically, a table-lifting task performed jointly by a human and a humanoid robot is chosen for validation purpose. The proposed framework is split into two phases: 1) phase I-learning to grasp the table and 2) phase II-learning to perform the manipulation task. An imitation learning approach is proposed for phase I. In phase II, the behavior of the robot is controlled by a combination of two types of controllers: 1) reactive and 2) proactive. The reactive controller lets the robot take a reactive control action to make the table horizontal. The proactive controller lets the robot take proactive actions based on human motion prediction. A measure of confidence of the prediction is also generated by the motion predictor. This confidence measure determines the leader/follower behavior of the robot. Hence, the robot can autonomously switch between the behaviors during the task. Finally, the performance of the human-robot team carrying out the collaborative manipulation task is experimentally evaluated on a platform consisting of a Nao humanoid robot and a Vicon motion capture system. Results show that the proposed framework can enable the robot to carry out the collaborative manipulation task successfully.

  1. Human-Automation Allocations for Current Robotic Space Operations

    NASA Technical Reports Server (NTRS)

    Marquez, Jessica J.; Chang, Mai L.; Beard, Bettina L.; Kim, Yun Kyung; Karasinski, John A.

    2018-01-01

    gather existing lessons learned and best practices in these role assignments, from spaceflight operational experience of crew and ground teams that may be used to guide development for future systems. NASA and other space agencies have operational spaceflight experience with two key Human-Automation-Robotic (HAR) systems: heavy lift robotic arms and planetary robotic explorers. Additionally, NASA has invested in high-fidelity rover systems that can carry crew, building beyond Apollo's lunar rover. The heavy lift robotic arms reviewed are: Space Station Remote Manipulator System (SSRMS), Japanese Remote Manipulator System (JEMRMS), and the European Robotic Arm (ERA, designed but not deployed in space). The robotic rover systems reviewed are: Mars Exploration Rovers, Mars Science Laboratory rover, and the high-fidelity K10 rovers. Much of the design and operational feedback for these systems have been communicated to flight controllers and robotic design teams. As part of the mitigating the HARI risk for future human spaceflight operations, we must document function allocations between robots and humans that have worked well in practice.

  2. A novel robotic platform for single-port abdominal surgery

    NASA Astrophysics Data System (ADS)

    Singh, Satwinder; Cheung, Jo L. K.; Sreedhar, Biji; Hoa, Xuyen Dai; Ng, Hoi Pang; Yeung, Chung Kwong

    2018-03-01

    In this paper, a novel robot-assisted platform for single-port minimally invasive surgery is presented. A miniaturized seven degrees of freedom (dof) fully internalized in-vivo actuated robotic arm is designed. Due to in-vivo actuation, the system has a smaller footprint and can generate 20 N of gripping force. The complete work envelop of the robotic arms is 252 mm × 192 mm × 322 m. With the assistance of the cannula-swivel system, the robotic arms can also be re-positioned and have multi-quadrant reachability without any additional incision. Surgical tasks, such as lifting, gripping suturing and knot tying that are commonly used in a standard surgical procedure, were performed to verify the dexterity of the robotic arms. A single-port trans-abdominal cholecystectomy in a porcine model was successfully performed to further validate its functionality.

  3. Fruit fly scale robots can hover longer with flapping wings than with spinning wings.

    PubMed

    Hawkes, Elliot W; Lentink, David

    2016-10-01

    Hovering flies generate exceptionally high lift, because their wings generate a stable leading edge vortex. Micro flying robots with a similar wing design can generate similar high lift by either flapping or spinning their wings. While it requires less power to spin a wing, the overall efficiency depends also on the actuator system driving the wing. Here, we present the first holistic analysis to calculate how long a fly-inspired micro robot can hover with flapping versus spinning wings across scales. We integrate aerodynamic data with data-driven scaling laws for actuator, electronics and mechanism performance from fruit fly to hummingbird scales. Our analysis finds that spinning wings driven by rotary actuators are superior for robots with wingspans similar to hummingbirds, yet flapping wings driven by oscillatory actuators are superior at fruit fly scale. This crossover is driven by the reduction in performance of rotary compared with oscillatory actuators at smaller scale. Our calculations emphasize that a systems-level analysis is essential for trading-off flapping versus spinning wings for micro flying robots. © 2016 The Author(s).

  4. Fruit fly scale robots can hover longer with flapping wings than with spinning wings

    PubMed Central

    Lentink, David

    2016-01-01

    Hovering flies generate exceptionally high lift, because their wings generate a stable leading edge vortex. Micro flying robots with a similar wing design can generate similar high lift by either flapping or spinning their wings. While it requires less power to spin a wing, the overall efficiency depends also on the actuator system driving the wing. Here, we present the first holistic analysis to calculate how long a fly-inspired micro robot can hover with flapping versus spinning wings across scales. We integrate aerodynamic data with data-driven scaling laws for actuator, electronics and mechanism performance from fruit fly to hummingbird scales. Our analysis finds that spinning wings driven by rotary actuators are superior for robots with wingspans similar to hummingbirds, yet flapping wings driven by oscillatory actuators are superior at fruit fly scale. This crossover is driven by the reduction in performance of rotary compared with oscillatory actuators at smaller scale. Our calculations emphasize that a systems-level analysis is essential for trading-off flapping versus spinning wings for micro flying robots. PMID:27707903

  5. Mid-Lift-to-Drag Ratio Rigid Vehicle Control System Design and Simulation for Human Mars Entry

    NASA Technical Reports Server (NTRS)

    Johnson, Breanna J.; Cerimele, Christopher J.; Stachowiak, Susan J.; Sostaric, Ronald R.; Matz, Daniel A.; Lu, Ping

    2018-01-01

    The Mid-Lift-to-Drag Ratio Rigid Vehicle (MRV) is a proposed candidate in the NASA Evolvable Mars Campaign's (EMC) Pathfinder Entry, Descent, and Landing (EDL) architecture study. The purpose of the study is to design a mission and vehicle capable of transporting a 20mt payload to the surface of Mars. The MRV is unique in its rigid, asymmetrical lifting-body shape which enables a higher lift-to-drag ratio (L/D) than the typical robotic Mars entry capsule vehicles that carry much less mass. This paper presents the formulation and six-degree-of-freedom (6DOF) performance of the MRV's control system, which uses both aerosurfaces and a propulsive reaction control system (RCS) to affect longitudinal and lateral directional behavior.

  6. A Study of the Hadronic Production of $D^0$ and $$\\overline{D}\\,{^0}$$ Mesons: $$x_F$$ and $$p_t$$ Distributions (in Portuguese)

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

    de Mello Neto, Joao Torres

    Using a 250 Ge V hadron beam incident on thin targets foils of Be, Al, Cu and W, themore » $$x_F$$ and $$p_t$$ distributions of $D^0$ and $$\\bar{D}^0$$ were measured from Fermilab experiment E769 using the decay mode $$D^0 \\to K^- \\pi^+$$ and c.c. The measurements were made with the $$\\pi^-$$ induced sample, 607 ± 29 events. Fitting the $$x_F$$ distribution to (1- $$x_F)^{\\eta}$$ it was measured $$\\eta$$ = 3.86 ± 0.25 ± 0.10 for $$D0/\\bar{D}^0$$ , $$\\eta$$ = 3.89 ± 0.40 for $D^0$ and $$\\eta$$ = 3.74 ± 0.34 for $$\\bar{D}^0$$ • Fitting the $$p^2_t$$ distribuition to exp $$bp^2_t$$;, it was measured $b$ = 1.05 ± 0.06 ± 0.02 for $$DO/\\bar{D}^0$$ $b$ = 1.12 ± 0.09 for $D^0$ and $b$ = 1.00 ± 0.07 for $$\\bar{D}^0$$. The $$x_F$$ distribution is consistent with the perturbative QCD calculations.« less

  7. Electronic structures and geometries of the XF{sub 3} (X = Cl, Br, I, At) fluorides

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

    Sergentu, Dumitru-Claudiu; CEISAM, UMR CNRS 6230, Université de Nantes, 2 Rue de la Houssinière, BP 92208, 44322 Nantes Cedex 3; Amaouch, Mohamed

    The potential energy surfaces of the group 17 XF{sub 3} (X = Cl, Br, I, At) fluorides have been investigated for the first time with multiconfigurational wave function theory approaches. In agreement with experiment, bent T-shaped C{sub 2v} structures are computed for ClF{sub 3}, BrF{sub 3}, and IF{sub 3}, while we predict that an average D{sub 3h} structure would be experimentally observed for AtF{sub 3}. Electron correlation and scalar relativistic effects strongly reduce the energy difference between the D{sub 3h} geometry and the C{sub 2v} one, along the XF{sub 3} series, and in the X = At case, spin-orbit couplingmore » also slightly reduces this energy difference. AtF{sub 3} is a borderline system where the D{sub 3h} structure becomes a minimum, i.e., the pseudo-Jahn-Teller effect is inhibited since electron correlation and scalar-relativistic effects create small energy barriers leading to the global C{sub 2v} minima, although both types of effects interfere.« less

  8. Preliminary Evaluation of the Spin and Recovery Characteristics of the Douglas XF3D-1 Airplane

    NASA Technical Reports Server (NTRS)

    Scher, Stanley H.

    1947-01-01

    A preliminary evaluation of the spin and recovery characteristics of the XF3D-1 airplane has been made, based primarily on the results of the free-spinning tunnel tests of a model which closely simulated the XF3D-1 in tail design, tail length, and mass loading. Estimates have been made of the rudder-pedal force that may be encountered in effecting recovery from a spin and of the spin recovery parachute requirements of the airplane for demonstration spins. The method of bail-out which should be used if it becomes necessary for the crew to abandon the airplane during a spin is indicated. It was indicated that the recovery characteristics of the XF3D-1 airplane in the clean condition for erect and inverted spins would be satisfactory for all loadings specified by the contractor as possible on the airplane. However, if a spin is inadvertently entered while the landing flaps are down, recovery may be slow. The slow-down brakes and the landing flaps should be retracted immediately upon the inception of a spinning condition, after which recovery from the spin should be attempted. The pedal force necessary to reverse the rudder during a spin will be within the physical capabilities of the pilot. Opening a 10-foot diameter parachute attached to the tail (laid-out-flat diameter, drag coefficient 0.7) or a 4.5-foot diameter parachute attached to the outboard wing tip will insure satisfactory spin recovery from demonstration spins. If it becomes necessary for the crew to abandon the airplane during a spin, they should leave from the outboard side of the cockpit.

  9. A wing-assisted running robot and implications for avian flight evolution.

    PubMed

    Peterson, K; Birkmeyer, P; Dudley, R; Fearing, R S

    2011-12-01

    DASH+Wings is a small hexapedal winged robot that uses flapping wings to increase its locomotion capabilities. To examine the effects of flapping wings, multiple experimental controls for the same locomotor platform are provided by wing removal, by the use of inertially similar lateral spars, and by passive rather than actively flapping wings. We used accelerometers and high-speed cameras to measure the performance of this hybrid robot in both horizontal running and while ascending inclines. To examine consequences of wing flapping for aerial performance, we measured lift and drag forces on the robot at constant airspeeds and body orientations in a wind tunnel; we also determined equilibrium glide performance in free flight. The addition of flapping wings increased the maximum horizontal running speed from 0.68 to 1.29 m s⁻¹, and also increased the maximum incline angle of ascent from 5.6° to 16.9°. Free flight measurements show a decrease of 10.3° in equilibrium glide slope between the flapping and gliding robot. In air, flapping improved the mean lift:drag ratio of the robot compared to gliding at all measured body orientations and airspeeds. Low-amplitude wing flapping thus provides advantages in both cursorial and aerial locomotion. We note that current support for the diverse theories of avian flight origins derive from limited fossil evidence, the adult behavior of extant flying birds, and developmental stages of already volant taxa. By contrast, addition of wings to a cursorial robot allows direct evaluation of the consequences of wing flapping for locomotor performance in both running and flying.

  10. Attitudes towards health-care robots in a retirement village.

    PubMed

    Broadbent, Elizabeth; Tamagawa, Rie; Patience, Anna; Knock, Brett; Kerse, Ngaire; Day, Karen; MacDonald, Bruce A

    2012-06-01

    This study investigated the attitudes and preferences of staff, residents and relatives of residents in a retirement village towards a health-care robot. Focus groups were conducted with residents, managers and caregivers, and questionnaires were collected from 32 residents, 30 staff and 27 relatives of residents. The most popular robot tasks were detection of falls and calling for help, lifting, and monitoring location. Robot functionality was more important than appearance. Concerns included the loss of jobs and personal care, while perceived benefits included allowing staff to spend quality time with residents, and helping residents with self-care. Residents showed a more positive attitude towards robots than both staff and relatives. These results provide an initial guide for the tasks and appearance appropriate for a robot to provide assistance in aged care facilities and highlight concerns. © 2011 The Authors. Australasian Journal on Ageing © 2011 ACOTA.

  11. Fish's Muscles Distortion and Pectoral Fins Propulsion of Lift-Based Mode

    NASA Astrophysics Data System (ADS)

    Yang, S. B.; Han, X. Y.; Qiu, J.

    As a sort of MPF(median and/or paired fin propulsion), pectoral fins propulsion makes fish easier to maneuver than other propulsion, according to the well-established classification scheme proposed by Webb in 1984. Pectoral fins propulsion is classified into oscillatory propulsion, undulatory propulsion and compound propulsion. Pectoral fins oscillatory propulsion, is further ascribable to two modes: drag-based mode and lift-based mode. And fish exhibits strong cruise ability by using lift-based mode. Therefore to robot fish design using pectoral fins lift-based mode will bring a new revolution to resources exploration in blue sea. On the basis of the wave plate theory, a kinematic model of fish’s pectoral fins lift-based mode is established associated with the behaviors of cownose ray (Rhinoptera bonasus) in the present work. In view of the power of fish’s locomotion from muscle distortion, it would be helpful benefit to reveal the mechanism of fish’s locomotion variation dependent on muscles distortion. So this study puts forward the pattern of muscles distortion of pectoral fins according to the character of skeletons and muscles of cownose ray in morphology and simulates the kinematics of lift-based mode using nonlinear analysis software. In the symmetrical fluid field, the model is simulated left-right symmetrically or asymmetrically. The results qualitatively show how muscles distortion determines the performance of fish locomotion. Finally the efficient muscles distortion associated with the preliminary dynamics is induced.

  12. Computer coordination of limb motion for a three-legged walking robot

    NASA Technical Reports Server (NTRS)

    Klein, C. A.; Patterson, M. R.

    1980-01-01

    Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.

  13. Serpentine Robots for Inspection Tasks

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

    Choset, Howie

    2003-09-11

    Serpentine robots are snake like devices that can use their internal degrees of freedom to thread through tightly packed volumes accessing locations that people or conventional machinery cannot. These devices are ideally suited for minimally invasive inspection tasks where the surrounding areas do not have to be disturbed. Applications for these devices are therefore inspection of underground tanks and other storage facilities for classification purposes. This work deals with the design, construction, and control of a serpentine robot. The challenges lie in developing a device that can lift itself in three dimensions, which is necessary for the inspection tasks. Themore » other challenge in control deals with coordinating all of the internal degrees of freedom to exact purposeful motion.« less

  14. Live video monitoring robot controlled by web over internet

    NASA Astrophysics Data System (ADS)

    Lokanath, M.; Akhil Sai, Guruju

    2017-11-01

    Future is all about robots, robot can perform tasks where humans cannot, Robots have huge applications in military and industrial area for lifting heavy weights, for accurate placements, for repeating the same task number of times, where human are not efficient. Generally robot is a mix of electronic, electrical and mechanical engineering and can do the tasks automatically on its own or under the supervision of humans. The camera is the eye for robot, call as robovision helps in monitoring security system and also can reach into the places where the human eye cannot reach. This paper presents about developing a live video streaming robot controlled from the website. We designed the web, controlling for the robot to move left, right, front and back while streaming video. As we move to the smart environment or IoT (Internet of Things) by smart devices the system we developed here connects over the internet and can be operated with smart mobile phone using a web browser. The Raspberry Pi model B chip acts as heart for this system robot, the sufficient motors, surveillance camera R pi 2 are connected to Raspberry pi.

  15. Outperforming hummingbirds’ load-lifting capability with a lightweight hummingbird-like flapping-wing mechanism

    PubMed Central

    Reynaerts, Dominiek; Vandepitte, Dirk

    2016-01-01

    ABSTRACT The stroke-cam flapping mechanism presented in this paper closely mimics the wing motion of a hovering Rufous hummingbird. It is the only lightweight hummingbird-sized flapping mechanism which generates a harmonic wing stroke with both a high flapping frequency and a large stroke amplitude. Experiments on a lightweight prototype of this stroke-cam mechanism on a 50 mm-long wing demonstrate that a harmonic stroke motion is generated with a peak-to-peak stroke amplitude of 175° at a flapping frequency of 40 Hz. It generated a mass lifting capability of 5.1 g, which is largely sufficient to lift the prototype's mass of 3.39 g and larger than the mass-lifting capability of a Rufous hummingbird. The motor mass of a hummingbird-like robot which drives the stroke-cam mechanism is considerably larger (about five times) than the muscle mass of a hummingbird with comparable load-lifting capability. This paper presents a flapping wing nano aerial vehicle which is designed to possess the same lift- and thrust-generating principles of the Rufous hummingbird. The application is indoor flight. We give an overview of the wing kinematics and some specifications which should be met to develop an artificial wing, and also describe the applications of these in the mechanism which has been developed in this work. PMID:27444790

  16. A hypersonic lift mechanism with decoupled lift and drag surfaces

    NASA Astrophysics Data System (ADS)

    Xu, YiZhe; Xu, ZhiQi; Li, ShaoGuang; Li, Juan; Bai, ChenYuan; Wu, ZiNiu

    2013-05-01

    In the present study, we propose a novel lift mechanism for which the lifting surface produces only lift. This is achieved by mounting a two-dimensional shock-shock interaction generator below the lifting surface. The shock-shock interaction theory in conjunction with a three dimensional correction and checked with computational fluid dynamics (CFD) is used to analyze the lift and drag forces as function of the geometrical parameters and inflow Mach number. Through this study, though limited to only inviscid flow, we conclude that it is possible to obtain a high lift to drag ratio by suitably arranging the shock interaction generator.

  17. Normalized lift: an energy interpretation of the lift coefficient simplifies comparisons of the lifting ability of rotating and flapping surfaces.

    PubMed

    Burgers, Phillip; Alexander, David E

    2012-01-01

    For a century, researchers have used the standard lift coefficient C(L) to evaluate the lift, L, generated by fixed wings over an area S against dynamic pressure, ½ρv(2), where v is the effective velocity of the wing. Because the lift coefficient was developed initially for fixed wings in steady flow, its application to other lifting systems requires either simplifying assumptions or complex adjustments as is the case for flapping wings and rotating cylinders.This paper interprets the standard lift coefficient of a fixed wing slightly differently, as the work exerted by the wing on the surrounding flow field (L/ρ·S), compared against the total kinetic energy required for generating said lift, ½v(2). This reinterpreted coefficient, the normalized lift, is derived from the work-energy theorem and compares the lifting capabilities of dissimilar lift systems on a similar energy footing. The normalized lift is the same as the standard lift coefficient for fixed wings, but differs for wings with more complex motions; it also accounts for such complex motions explicitly and without complex modifications or adjustments. We compare the normalized lift with the previously-reported values of lift coefficient for a rotating cylinder in Magnus effect, a bat during hovering and forward flight, and a hovering dipteran.The maximum standard lift coefficient for a fixed wing without flaps in steady flow is around 1.5, yet for a rotating cylinder it may exceed 9.0, a value that implies that a rotating cylinder generates nearly 6 times the maximum lift of a wing. The maximum normalized lift for a rotating cylinder is 1.5. We suggest that the normalized lift can be used to evaluate propellers, rotors, flapping wings of animals and micro air vehicles, and underwater thrust-generating fins in the same way the lift coefficient is currently used to evaluate fixed wings.

  18. Variable Lifting Index (VLI): A New Method for Evaluating Variable Lifting Tasks.

    PubMed

    Waters, Thomas; Occhipinti, Enrico; Colombini, Daniela; Alvarez-Casado, Enrique; Fox, Robert

    2016-08-01

    We seek to develop a new approach for analyzing the physical demands of highly variable lifting tasks through an adaptation of the Revised NIOSH (National Institute for Occupational Safety and Health) Lifting Equation (RNLE) into a Variable Lifting Index (VLI). There are many jobs that contain individual lifts that vary from lift to lift due to the task requirements. The NIOSH Lifting Equation is not suitable in its present form to analyze variable lifting tasks. In extending the prior work on the VLI, two procedures are presented to allow users to analyze variable lifting tasks. One approach involves the sampling of lifting tasks performed by a worker over a shift and the calculation of the Frequency Independent Lift Index (FILI) for each sampled lift and the aggregation of the FILI values into six categories. The Composite Lift Index (CLI) equation is used with lifting index (LI) category frequency data to calculate the VLI. The second approach employs a detailed systematic collection of lifting task data from production and/or organizational sources. The data are organized into simplified task parameter categories and further aggregated into six FILI categories, which also use the CLI equation to calculate the VLI. The two procedures will allow practitioners to systematically employ the VLI method to a variety of work situations where highly variable lifting tasks are performed. The scientific basis for the VLI procedure is similar to that for the CLI originally presented by NIOSH; however, the VLI method remains to be validated. The VLI method allows an analyst to assess highly variable manual lifting jobs in which the task characteristics vary from lift to lift during a shift. © 2015, Human Factors and Ergonomics Society.

  19. Danger zone analysis using cone beam computed tomography after apical enlargement with K3 and K3XF in a manikin model

    PubMed Central

    Olivier, Juan-Gonzalo; García-Font, Marc; Gonzalez-Sanchez, Jose-Antonio; Roig-Cayon, Miguel

    2016-01-01

    Background The objective of the study was to evaluate and compare how apical enlargement with K3 and K3XF nickel-titanium (NiTi) rotary instruments reduces the root thickness in the danger zone and affects canal transportation and centering ability in mandibular molar mesial canals in a manikin extracted tooth model. Material and Methods Seventy-two mesial root canals of first mandibular molars were instrumented. Initial and post-instrumentation Cone Beam Computed Tomography scans were performed after root canal preparation up to size 25, 30, 35 and 40 files. Canal transportation, canal centering and remaining root dentin thickness toward the danger zone were calculated in sections 1, 2 and 3 mm under the furcation level. Data were analyzed using non-parametric Kruskal-Wallis analysis of variance at a significance level of P < 0.05. Results K3 instruments removed more dentin toward the danger zone compared with K3XF instruments (P< .05) and significant differences in dentin thickness were found when canal enlargement was performed to a #35-40 with both systems (P< 0.05). No significant differences in canal transportation and centering ability were found between systems, except when canal enlargement was performed to a #40 (P = 0,0136). No differences were observed when comparing the number of uses in both systems (P> 0.05). Conclusions Under the conditions of this study K3 removed a significant amount of dentin at the furcation level compared with the R-Phase K3XF rotary system in curved root canals. Enlargement to a 35-40/04 file removed significantly more dentin with both systems. Key words:K3, K3XF, R-phase, center ability, canal transportation, dentin thickness, increased apical enlargement, danger zone, dentin thickness. PMID:27703602

  20. Normalized Lift: An Energy Interpretation of the Lift Coefficient Simplifies Comparisons of the Lifting Ability of Rotating and Flapping Surfaces

    PubMed Central

    Burgers, Phillip; Alexander, David E.

    2012-01-01

    For a century, researchers have used the standard lift coefficient CL to evaluate the lift, L, generated by fixed wings over an area S against dynamic pressure, ½ρv 2, where v is the effective velocity of the wing. Because the lift coefficient was developed initially for fixed wings in steady flow, its application to other lifting systems requires either simplifying assumptions or complex adjustments as is the case for flapping wings and rotating cylinders. This paper interprets the standard lift coefficient of a fixed wing slightly differently, as the work exerted by the wing on the surrounding flow field (L/ρ·S), compared against the total kinetic energy required for generating said lift, ½v2. This reinterpreted coefficient, the normalized lift, is derived from the work-energy theorem and compares the lifting capabilities of dissimilar lift systems on a similar energy footing. The normalized lift is the same as the standard lift coefficient for fixed wings, but differs for wings with more complex motions; it also accounts for such complex motions explicitly and without complex modifications or adjustments. We compare the normalized lift with the previously-reported values of lift coefficient for a rotating cylinder in Magnus effect, a bat during hovering and forward flight, and a hovering dipteran. The maximum standard lift coefficient for a fixed wing without flaps in steady flow is around 1.5, yet for a rotating cylinder it may exceed 9.0, a value that implies that a rotating cylinder generates nearly 6 times the maximum lift of a wing. The maximum normalized lift for a rotating cylinder is 1.5. We suggest that the normalized lift can be used to evaluate propellers, rotors, flapping wings of animals and micro air vehicles, and underwater thrust-generating fins in the same way the lift coefficient is currently used to evaluate fixed wings. PMID:22629326

  1. Final matches of the FIRST regional robotic competition at KSC

    NASA Technical Reports Server (NTRS)

    1999-01-01

    Four robots vie for position on the playing field during the 1999 FIRST Southeastern Regional robotic competition held at KSC. Powered by 12-volt batteries and operated by remote control, the robotic gladiators spent two minutes each trying to grab, claw and hoist large, satin pillows onto their machines. Student teams, shown behind protective walls, play defense by taking away competitors' pillows and generally harassing opposing machines. Two of the robots have lifted their caches of pillows above the field, a movement which earns them points. Along with the volunteer referees, at the edge of the playing field, judges at right watch the action. FIRST is a nonprofit organization, For Inspiration and Recognition of Science and Technology. The competition comprised 27 teams, pairing high school students with engineer mentors and corporations. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers.

  2. Variable Lifting Index (VLI)

    PubMed Central

    Waters, Thomas; Occhipinti, Enrico; Colombini, Daniela; Alvarez-Casado, Enrique; Fox, Robert

    2015-01-01

    Objective: We seek to develop a new approach for analyzing the physical demands of highly variable lifting tasks through an adaptation of the Revised NIOSH (National Institute for Occupational Safety and Health) Lifting Equation (RNLE) into a Variable Lifting Index (VLI). Background: There are many jobs that contain individual lifts that vary from lift to lift due to the task requirements. The NIOSH Lifting Equation is not suitable in its present form to analyze variable lifting tasks. Method: In extending the prior work on the VLI, two procedures are presented to allow users to analyze variable lifting tasks. One approach involves the sampling of lifting tasks performed by a worker over a shift and the calculation of the Frequency Independent Lift Index (FILI) for each sampled lift and the aggregation of the FILI values into six categories. The Composite Lift Index (CLI) equation is used with lifting index (LI) category frequency data to calculate the VLI. The second approach employs a detailed systematic collection of lifting task data from production and/or organizational sources. The data are organized into simplified task parameter categories and further aggregated into six FILI categories, which also use the CLI equation to calculate the VLI. Results: The two procedures will allow practitioners to systematically employ the VLI method to a variety of work situations where highly variable lifting tasks are performed. Conclusions: The scientific basis for the VLI procedure is similar to that for the CLI originally presented by NIOSH; however, the VLI method remains to be validated. Application: The VLI method allows an analyst to assess highly variable manual lifting jobs in which the task characteristics vary from lift to lift during a shift. PMID:26646300

  3. Robots remove explosive waste from flooded site

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

    Not Available

    1993-10-01

    Explosive industrial waste can remain hazardous for years, making remediation extremely dangerous, particularly when using traditional methods involving people and manually operated equipment. The work is even more complex if the waste is submerged. Authorities in 1988 faced an unusual challenge when they decided to clean up a flooded area that had been used for more than 30 years as a dump for explosive materials. They devised an innovative but highly effective solution. Instead of using divers, two robots perform the cleanup while site personnel remain 600 feet away from the restricted area. The robots were developed by Sonsub Environmentalmore » Services Inc. (Houston), which is responsible for their operation. The robots initially located and cleared a small area underwater to set up a metal-processing system, which also was designed by Sonsub. The system is similar to a metal-recycling shredder. The robots then assembled the 25-foot-tall, 20-ton system 60 feet below the surface on the pit floor. A large, surface robot carried sections of the shredder to the cleared area and lowered them, while a smaller, submersible robot guided them into position. This required extreme precision by the smaller robot, which had to ensure that sections mated properly. Both robots now retrieve waste from the pit bottom and feed it into the shredder. The larger robot has a 40-foot jointed arm for lifting up to 1,000 pounds of debris, a manipulator hand for sorting through rock piles and removing small containers, and a grapple for picking up items from the pit floor.« less

  4. Outperforming hummingbirds' load-lifting capability with a lightweight hummingbird-like flapping-wing mechanism.

    PubMed

    Leys, Frederik; Reynaerts, Dominiek; Vandepitte, Dirk

    2016-08-15

    The stroke-cam flapping mechanism presented in this paper closely mimics the wing motion of a hovering Rufous hummingbird. It is the only lightweight hummingbird-sized flapping mechanism which generates a harmonic wing stroke with both a high flapping frequency and a large stroke amplitude. Experiments on a lightweight prototype of this stroke-cam mechanism on a 50 mm-long wing demonstrate that a harmonic stroke motion is generated with a peak-to-peak stroke amplitude of 175° at a flapping frequency of 40 Hz. It generated a mass lifting capability of 5.1 g, which is largely sufficient to lift the prototype's mass of 3.39 g and larger than the mass-lifting capability of a Rufous hummingbird. The motor mass of a hummingbird-like robot which drives the stroke-cam mechanism is considerably larger (about five times) than the muscle mass of a hummingbird with comparable load-lifting capability. This paper presents a flapping wing nano aerial vehicle which is designed to possess the same lift- and thrust-generating principles of the Rufous hummingbird. The application is indoor flight. We give an overview of the wing kinematics and some specifications which should be met to develop an artificial wing, and also describe the applications of these in the mechanism which has been developed in this work. © 2016. Published by The Company of Biologists Ltd.

  5. Study on process design of partially-balanced, hydraulically lifting vertical ship lift

    NASA Astrophysics Data System (ADS)

    Xin, Shen; Xiaofeng, Xu; Lu, Zhang; Bing, Zhu; Fei, Li

    2017-11-01

    The hub ship lift in Panjin is the first navigation structure in China for the link between the inland and open seas, which adopts a novel partially-balanced, hydraulically lifting ship lift; it can meet such requirements as fast and sharp water level change in open sea, large draft of a yacht, and launching of a ship reception chamber; its balancing weight system can effectively reduce the load of the primary lifting cylinder, and optimize the force distribution of the ship reception chamber. The paper provides an introduction to main equipment, basic principles, main features and system composition of a ship lift. The unique power system and balancing system of the completed ship lift has offered some experience for the construction of the tourism-type ship lifts with a lower lifting height.

  6. Design and analysis of lifting tool assemblies to lift different engine block

    NASA Astrophysics Data System (ADS)

    Sawant, Arpana; Deshmukh, Nilaj N.; Chauhan, Santosh; Dabhadkar, Mandar; Deore, Rupali

    2017-07-01

    Engines block are required to be lifted from one place to another while they are being processed. The human effort required for this purpose is more and also the engine block may get damaged if it is not handled properly. There is a need for designing a proper lifting tool which will be able to conveniently lift the engine block and place it at the desired position without any accident and damage to the engine block. In the present study lifting tool assemblies are designed and analyzed in such way that it may lift different categories of engine blocks. The lifting tool assembly consists of lifting plate, lifting ring, cap screws and washers. A parametric model and assembly of Lifting tool is done in 3D modelling software CREO 2.0 and analysis is carried out in ANSYS Workbench 16.0. A test block of weight equivalent to that of an engine block is considered for the purpose of analysis. In the preliminary study, without washer the stresses obtained on the lifting tool were more than the safety margin. In the present design, washers were used with appropriate dimensions which helps to bring down the stresses on the lifting tool within the safety margin. Analysis is carried out to verify that tool design meets the ASME BTH-1 required safety margin.

  7. Investigation of the Potential for Mutational Resistance to XF-73, Retapamulin, Mupirocin, Fusidic Acid, Daptomycin, and Vancomycin in Methicillin-Resistant Staphylococcus aureus Isolates during a 55-Passage Study ▿

    PubMed Central

    Farrell, David J.; Robbins, Marion; Rhys-Williams, William; Love, William G.

    2011-01-01

    XF-73 is a dicationic porphyrin drug with rapid Gram-positive antibacterial activity currently undergoing clinical trials for the nasal decolonization of Staphylococcus aureus, including methicillin-resistant Staphylococcus aureus (MRSA). In multistep (55-passage) resistance selection studies in the presence of subinhibitory concentrations of XF-73, retapamulin, mupirocin, fusidic acid, and vancomycin against four Network on Antimicrobial Resistance in Staphylococcus aureus MRSA strains, there was no >4-fold increase in the MIC for XF-73 after 55 passages. In contrast, there was an increase in the MICs for retapamulin (from 0.25 μg/ml to 4 to 8 μg/ml), for mupirocin (from 0.12 μg/ml to 16 to 512 μg/ml), for fusidic acid (from 0.12 μg/ml to 256 μg/ml), and for vancomycin (from 1 μg/ml to 8 μg/ml in two of the four strains tested). Further investigations using S. aureus NRS384 (USA300) and daptomycin demonstrated a 64-fold increase in the MIC after 55 passages (from 0.5 μg/ml to 32 μg/ml) with a >4-fold increase in the MIC obtained after only five passages. Sequencing analysis of selected isolates confirmed previously reported point mutations associated with daptomycin resistance. No cross-resistance to XF-73 was observed with the daptomycin-resistant strains, suggesting that whereas the two drugs act on the bacterial cell membrane, their specific site of action differs. XF-73 thus represents the first in a new class of antibacterial drugs, which (unlike the comparator antibiotics) after 55 passages exhibited a ≤4-fold increase in MIC against the strains tested. Antibacterial drugs with a low propensity for inducing bacterial resistance are much needed for the prevention and treatment of multidrug-resistant bacteria both within and outside the hospital setting. PMID:21149626

  8. Lift truck safety review

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

    Cadwallader, L.C.

    1997-03-01

    This report presents safety information about powered industrial trucks. The basic lift truck, the counterbalanced sit down rider truck, is the primary focus of the report. Lift truck engineering is briefly described, then a hazard analysis is performed on the lift truck. Case histories and accident statistics are also given. Rules and regulations about lift trucks, such as the US Occupational Safety an Health Administration laws and the Underwriter`s Laboratories standards, are discussed. Safety issues with lift trucks are reviewed, and lift truck safety and reliability are discussed. Some quantitative reliability values are given.

  9. Overview of Robotic Devices for Nursing Care Project.

    PubMed

    Hirukawa, Hirohisa

    2017-01-01

    METI/AMED are conducting a project on the development and deployment of robotic devices for nursing care to enhance the autonomy of elderly persons and assist care givers. An evaluation protocol is presented and the devices developed in the project are introduced. The devices consist of transfer assist devices (wearable/non-wearable), walking assist devices (outdoor/indoor), safety surveillance sensors (nursing home/private home), bath lift and toilet assist.

  10. The NIST SPIDER, A Robot Crane

    PubMed Central

    Albus, James; Bostelman, Roger; Dagalakis, Nicholas

    1992-01-01

    The Robot Systems Division of the National Institute of Standards and Technology has been experimenting for several years with new concepts for robot cranes. These concepts utilize the basic idea of the Stewart Platform parallel link manipulator. The unique feature of the NIST approach is to use cables as the parallel links and to use winches as the actuators. So long as the cables are all in tension, the load is kinematically constrained, and the cables resist perturbing forces and moments with equal stiffness to both positive and negative loads. The result is that the suspended load is constrained with a mechanical stiffness determined by the elasticity of the cables, the suspended weight, and the geometry of the mechanism. Based on these concepts, a revolutionary new type of robot crane, the NIST SPIDER (Stewart Platform Instrumented Drive Environmental Robot) has been developed that can control the position, velocity, and force of tools and heavy machinery in all six degrees of freedom (x, y, z, roll, pitch, and yaw). Depending on what is suspended from its work platform, the SPIDER can perform a variety of tasks. Examples are: cutting, excavating and grading, shaping and finishing, lifting and positioning. A 6 m version of the SPIDER has been built and critical performance characteristics analyzed. PMID:28053439

  11. The NIST SPIDER, A Robot Crane.

    PubMed

    Albus, James; Bostelman, Roger; Dagalakis, Nicholas

    1992-01-01

    The Robot Systems Division of the National Institute of Standards and Technology has been experimenting for several years with new concepts for robot cranes. These concepts utilize the basic idea of the Stewart Platform parallel link manipulator. The unique feature of the NIST approach is to use cables as the parallel links and to use winches as the actuators. So long as the cables are all in tension, the load is kinematically constrained, and the cables resist perturbing forces and moments with equal stiffness to both positive and negative loads. The result is that the suspended load is constrained with a mechanical stiffness determined by the elasticity of the cables, the suspended weight, and the geometry of the mechanism. Based on these concepts, a revolutionary new type of robot crane, the NIST SPIDER (Stewart Platform Instrumented Drive Environmental Robot) has been developed that can control the position, velocity, and force of tools and heavy machinery in all six degrees of freedom ( x, y, z , roll, pitch, and yaw). Depending on what is suspended from its work platform, the SPIDER can perform a variety of tasks. Examples are: cutting, excavating and grading, shaping and finishing, lifting and positioning. A 6 m version of the SPIDER has been built and critical performance characteristics analyzed.

  12. Lift Recovery for AFC-Enabled High Lift System

    NASA Technical Reports Server (NTRS)

    Shmilovich, Arvin; Yadlin, Yoram; Dickey, Eric D.; Gissen, Abraham N.; Whalen, Edward A.

    2017-01-01

    This project is a continuation of the NASA AFC-Enabled Simplified High-Lift System Integration Study contract (NNL10AA05B) performed by Boeing under the Fixed Wing Project. This task is motivated by the simplified high-lift system, which is advantageous due to the simpler mechanical system, reduced actuation power and lower maintenance costs. Additionally, the removal of the flap track fairings associated with conventional high-lift systems renders a more efficient aerodynamic configuration. Potentially, these benefits translate to a approx. 2.25% net reduction in fuel burn for a twin-engine, long-range airplane.

  13. Forehead lift

    MedlinePlus

    ... both sides even. If you have already had plastic surgery to lift your upper eyelids, a forehead ... brow lifting. In: Rubin JP, Neligan PC, eds. Plastic Surgery: Volume 2: Aesthetic Surgery . 4th ed. Philadelphia, ...

  14. Lift calculations based on accepted wake models for animal flight are inconsistent and sensitive to vortex dynamics.

    PubMed

    Gutierrez, Eric; Quinn, Daniel B; Chin, Diana D; Lentink, David

    2016-12-06

    There are three common methods for calculating the lift generated by a flying animal based on the measured airflow in the wake. However, these methods might not be accurate according to computational and robot-based studies of flapping wings. Here we test this hypothesis for the first time for a slowly flying Pacific parrotlet in still air using stereo particle image velocimetry recorded at 1000 Hz. The bird was trained to fly between two perches through a laser sheet wearing laser safety goggles. We found that the wingtip vortices generated during mid-downstroke advected down and broke up quickly, contradicting the frozen turbulence hypothesis typically assumed in animal flight experiments. The quasi-steady lift at mid-downstroke was estimated based on the velocity field by applying the widely used Kutta-Joukowski theorem, vortex ring model, and actuator disk model. The calculated lift was found to be sensitive to the applied model and its different parameters, including vortex span and distance between the bird and laser sheet-rendering these three accepted ways of calculating weight support inconsistent. The three models predict different aerodynamic force values mid-downstroke compared to independent direct measurements with an aerodynamic force platform that we had available for the same species flying over a similar distance. Whereas the lift predictions of the Kutta-Joukowski theorem and the vortex ring model stayed relatively constant despite vortex breakdown, their values were too low. In contrast, the actuator disk model predicted lift reasonably accurately before vortex breakdown, but predicted almost no lift during and after vortex breakdown. Some of these limitations might be better understood, and partially reconciled, if future animal flight studies report lift calculations based on all three quasi-steady lift models instead. This would also enable much needed meta studies of animal flight to derive bioinspired design principles for quasi-steady lift

  15. The lift-fan powered-lift aircraft concept: Lessons learned

    NASA Technical Reports Server (NTRS)

    Deckert, Wallace H.

    1993-01-01

    This is one of a series of reports on the lessons learned from past research related to lift-fan aircraft concepts. An extensive review is presented of the many lift-fan aircraft design studies conducted by both government and industry over the past 45 years. Mission applications and design integration including discussions on manifolding hot gas generators, hot gas dusting, and energy transfer control are addressed. Past lift-fan evaluations of the Avrocar are discussed. Lessons learned from these past efforts are identified.

  16. PemK toxin encoded by the Xylella fastidiosa IncP-1 plasmid pXF-RIV11 is a ribonuclease

    USDA-ARS?s Scientific Manuscript database

    Stable inheritance of the IncP-1 plasmid pXF-RIV11 in Xylella fastidiosa is conferred by the pemI/pemK plasmid addiction system. PemK serves as a toxin inhibiting bacterial growth; PemI is the corresponding antitoxin that blocks activity of PemK toxin by direct binding. Here, PemK toxin and PemI ant...

  17. High lift selected concepts

    NASA Technical Reports Server (NTRS)

    Henderson, M. L.

    1979-01-01

    The benefits to high lift system maximum life and, alternatively, to high lift system complexity, of applying analytic design and analysis techniques to the design of high lift sections for flight conditions were determined and two high lift sections were designed to flight conditions. The influence of the high lift section on the sizing and economics of a specific energy efficient transport (EET) was clarified using a computerized sizing technique and an existing advanced airplane design data base. The impact of the best design resulting from the design applications studies on EET sizing and economics were evaluated. Flap technology trade studies, climb and descent studies, and augmented stability studies are included along with a description of the baseline high lift system geometry, a calculation of lift and pitching moment when separation is present, and an inverse boundary layer technique for pressure distribution synthesis and optimization.

  18. Evaluation of microsurgical tasks with OCT-guided and/or robot-assisted ophthalmic forceps

    PubMed Central

    Yu, Haoran; Shen, Jin-Hui; Shah, Rohan J.; Simaan, Nabil; Joos, Karen M.

    2015-01-01

    Real-time intraocular optical coherence tomography (OCT) visualization of tissues with surgical feedback can enhance retinal surgery. An intraocular 23-gauge B-mode forward-imaging co-planar OCT-forceps, coupling connectors and algorithms were developed to form a unique ophthalmic surgical robotic system. Approach to the surface of a phantom or goat retina by a manual or robotic-controlled forceps, with and without real-time OCT guidance, was performed. Efficiency of lifting phantom membranes was examined. Placing the co-planar OCT imaging probe internal to the surgical tool reduced instrument shadowing and permitted constant tracking. Robotic assistance together with real-time OCT feedback improved depth perception accuracy. The first-generation integrated OCT-forceps was capable of peeling membrane phantoms despite smooth tips. PMID:25780736

  19. Inexpensive Dramatic Pneumatic Lift

    NASA Astrophysics Data System (ADS)

    Morse, Robert A.

    2017-09-01

    Various experiments and demonstrations relate air pressure and air pressure difference to force and area. Carpenter and Minnix describe a large-scale pneumatic lift in which a person sitting on a board atop a plastic garbage bag is lifted when the bag is connected to the exhaustport of a vacuum cleaner, which easily lifts the person. This article describes the construction and use of an inexpensive hand-held pneumatic lift to demonstrate the same principle.

  20. Quantitative evaluation of apical extrusion of intracanal bacteria using rotary ProTaper, K3XF, twisted and hand K-file system: An ex vivo study.

    PubMed

    Ghogre, Priyanka; Chourasia, Hemant Ramesh; Agarwal, Manish; Singh, M P; Gurav, Sandeep; Ghogre, Rahul

    2015-01-01

    The aim of this study was to evaluate the number of intracanal bacteria extruded apically during root canal preparation using rotary ProTaper, K3XF, twisted, and hand K-file system. Seventy extracted single-rooted human mandibular premolar teeth were used. Access cavities were prepared and the teeth were mounted in glass vials. Root canals were then contaminated with a pure culture of Enterococcus faecalis (ATCC 29212) and incubated at 37°C for 24 h. The contaminated roots were divided into four experimental groups of 15 teeth each and one control group of 10 teeth. Group 1: ProTaper; Group 2: K3XF; Group 3: Twisted file; Group 4: Hand K-file; Group 5: Control group. Bacteria extruded from the apical foramen during instrumentation were collected into vials. The microbiological samples were incubated in culture media for 24 h. Colonies of bacteria were counted and the results were given as number of colony-forming units (CFU)/ml. The obtained data were analyzed using the Kruskal-Wallis one-way analysis of variance and Mann-Whitney U-tests. There was a significant difference between the rotary and hand instrumentation system related to the apically extruded intracanal bacteria. Both the rotary and hand instrumentation systems extruded intracanal bacteria through the apical foramen. K3XF file system showed least bacterial extrusion amongst all instrumentation groups.

  1. Samus Counter Lifting Fixture

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

    Stredde, H.; /Fermilab

    1998-05-27

    A lifting fixture has been designed to handle the Samus counters. These counters are being removed from the D-zero area and will be transported off site for further use at another facility. This fixture is designed specifically for this particular application and will be transferred along with the counters. The future use of these counters may entail installation at a facility without access to a crane and therefore a lift fixture suitable for both crane and/or fork lift usage has been created The counters weigh approximately 3000 lbs. and have threaded rods extended through the counter at the top comersmore » for lifting. When these counters were first handled/installed these rods were used in conjunction with appropriate slings and handled by crane. The rods are secured with nuts tightened against the face of the counter. The rod thread is M16 x 2({approx}.625-inch dia.) and extends 2-inch (on average) from the face of the counter. It is this cantilevered rod that the lift fixture engages with 'C' style plates at the four top comers. The strongback portion of the lift fixture is a steel rectangular tube 8-inch (vertical) x 4-inch x .25-inch wall, 130-inch long. 1.5-inch square bars are welded perpendicular to the long axis of the rectangular tube at the appropriate lift points and the 'C' plates are fastened to these bars with 3/4-10 high strength bolts -grade 8. Two short channel sections are positioned-welded-to the bottom of the rectangular tube on 40 feet centers, which are used as locators for fork lift tines. On the top are lifting eyes for sling/crane usage and are rated at 3500 lbs. safe working load each - vertical lift only.« less

  2. The Search for an Advanced Fighter: A History from the XF-108 to the Advanced Tactical Fighter

    DTIC Science & Technology

    1986-04-01

    V, ,tt AIR COMMAND AND- STAFF COLLEGE STUDENT REPORT THE SEARCH FOR AN ADVANCED FIGHTER, A HISTORY FROM THE XF-108 TO THE &ELECTE j - MAJOR ROBERT P...expressed in this document are those of the author. They are- J not intended and should not be thought to represent official ideas, attitudes, or policies of...the general public. A loan copy of the document may be obtained from the Air University Interlibrary Loan Service (AULILDEX, Maxwell AFB, Alabama

  3. Lifting strength in two-person teamwork.

    PubMed

    Lee, Tzu-Hsien

    2016-01-01

    This study examined the effects of lifting range, hand-to-toe distance, and lifting direction on single-person lifting strengths and two-person teamwork lifting strengths. Six healthy males and seven healthy females participated in this study. Two-person teamwork lifting strengths were examined in both strength-matched and strength-unmatched groups. Our results showed that lifting strength significantly decreased with increasing lifting range or hand-to-toe distance. However, lifting strengths were not affected by lifting direction. Teamwork lifting strength did not conform to the law of additivity for both strength-matched and strength-unmatched groups. In general, teamwork lifting strength was dictated by the weaker of the two members, implying that weaker members might be exposed to a higher potential danger in teamwork exertions. To avoid such overexertion in teamwork, members with significantly different strength ability should not be assigned to the same team.

  4. Thread-Lift Sutures: Still in the Lift? A Systematic Review of the Literature.

    PubMed

    Gülbitti, Haydar Aslan; Colebunders, Britt; Pirayesh, Ali; Bertossi, Dario; van der Lei, Berend

    2018-03-01

    In 2006, Villa et al. published a review article concerning the use of thread-lift sutures and concluded that the technique was still in its infancy but had great potential to become a useful and effective procedure for nonsurgical lifting of sagged facial tissues. As 11 years have passed, the authors now performed again a systematic review to determine the real scientific current state of the art on the use of thread-lift sutures. A systematic review was performed according to Preferred Reporting Items for Systematic Reviews and Meta-Analyses guidelines using the PubMed database and using the Medical Subject Headings search term "Rhytidoplasty." "Rhytidoplasty" and the following entry terms were included by this Medical Subject Headings term: "facelift," "facelifts," "face Lift," "Face Lifts," "Lift," "Face," "Lifts," "Platysmotomy," "Platysmotomies," "Rhytidectomy," "Rhytidectomies," "Platysmaplasty," "and "Platysmaplasties." The Medical Subject Headings term "Rhytidoplasty" was combined with the following search terms: "Barbed suture," "Thread lift," "APTOS," "Suture suspension," "Percutaneous," and "Silhouette suture." RefWorks was used to filter duplicates. Three of the authors (H.A.G., B.C., and B.L.) performed the search independently. The initial search with all search terms resulted in 188 articles. After filtering the duplicates and the articles about open procedures, a total of 41 articles remained. Of these, the review articles, case reports, and letters to the editor were subsequently excluded, as were reports dealing with nonbarbed sutures, such as Vicryl and Prolene with Gore-Tex. This resulted in a total of 12 articles, seven additional articles since the five articles reviewed by Villa et al. The authors' review demonstrated that, within the past decade, little or no substantial evidence has been added to the peer-reviewed literature to support or sustain the promising statement about thread-lift sutures as made by Villa et al. in 2006 in terms of

  5. Wind lift generator

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

    Herman, G. R.; Martin, W. A.

    1985-08-20

    A wind lift generator includes a housing structure formed by a pair of spaced apart plates mounted on support structure for pivotal rotation about a vertical axis at the forward end thereof for orienting into the wind, and said plates supporting a plurality of coaxially disposed sprockets arranged to support a pair of spaced apart drive chains in a quadrilateral configuration with lift foils connected and supported between the chains with the quadrilateral chain configuration supporting the chain for an initial lift mode at the forward end of the housing, followed by a direct impact mode extending from the frontmore » of the housing upward and backward to the rear of the housing and a negative lift mode extending from the top rear of the housing to the bottom with the vanes returning via a neutral mode to the front of the housing for repeating the lift cycle. A suitable electrical generator is driven from one or more shafts of the assembly driven by the drive chains.« less

  6. A Dual Launch Robotic and Human Lunar Mission Architecture

    NASA Technical Reports Server (NTRS)

    Jones, David L.; Mulqueen, Jack; Percy, Tom; Griffin, Brand; Smitherman, David

    2010-01-01

    This paper describes a comprehensive lunar exploration architecture developed by Marshall Space Flight Center's Advanced Concepts Office that features a science-based surface exploration strategy and a transportation architecture that uses two launches of a heavy lift launch vehicle to deliver human and robotic mission systems to the moon. The principal advantage of the dual launch lunar mission strategy is the reduced cost and risk resulting from the development of just one launch vehicle system. The dual launch lunar mission architecture may also enhance opportunities for commercial and international partnerships by using expendable launch vehicle services for robotic missions or development of surface exploration elements. Furthermore, this architecture is particularly suited to the integration of robotic and human exploration to maximize science return. For surface operations, an innovative dual-mode rover is presented that is capable of performing robotic science exploration as well as transporting human crew conducting surface exploration. The dual-mode rover can be deployed to the lunar surface to perform precursor science activities, collect samples, scout potential crew landing sites, and meet the crew at a designated landing site. With this approach, the crew is able to evaluate the robotically collected samples to select the best samples for return to Earth to maximize the scientific value. The rovers can continue robotic exploration after the crew leaves the lunar surface. The transportation system for the dual launch mission architecture uses a lunar-orbit-rendezvous strategy. Two heavy lift launch vehicles depart from Earth within a six hour period to transport the lunar lander and crew elements separately to lunar orbit. In lunar orbit, the crew transfer vehicle docks with the lander and the crew boards the lander for descent to the surface. After the surface mission, the crew returns to the orbiting transfer vehicle for the return to the Earth. This

  7. Inexpensive Dramatic Pneumatic Lift

    ERIC Educational Resources Information Center

    Morse, Robert A.

    2017-01-01

    Various experiments and demonstrations relate air pressure and air pressure difference to force and area. Carpenter and Minnix describe a large-scale pneumatic lift in which a person sitting on a board atop a plastic garbage bag is lifted when the bag is connected to the exhaustport of a vacuum cleaner, which easily lifts the person. This article…

  8. 75 FR 33320 - Notice of Issuance of Final Determination Concerning a Lift Unit for an Overhead Patient Lift...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-06-11

    ... Determination Concerning a Lift Unit for an Overhead Patient Lift System; Correction AGENCY: U.S. Customs and... origin of a lift unit for an overhead patient lift system. The document contained two errors that this... origin of a lift unit for an overhead patient lift system. This document corrects in the DATES section of...

  9. Next-to-next-to-leading order fits to CCFR'97 xF3 data and infrared renormalons

    NASA Astrophysics Data System (ADS)

    Kataev, A. L.; Parente, G.; Sidorov, A. V.

    2003-08-01

    We briefly summarize the outcome of our recent improved fits to the experimental data of CCFR collaboration for xF3 structure function of nuN deep-inelastic scattering at the next-to-next-to-leading order. Special attention is paid to the extraction of alphas(MZ) and the parameter of the infrared renormalon model for 1/Q2-correction at different orders of the perturbation theory. The results can be of interest for planning similar studies using possible future data of Neutrino Factories.

  10. [Study on the center-driven multiple degrees of freedom upper limb rehabilitation training robot].

    PubMed

    Huang, Xiaohai; Yu, Hongliu; Wang, Jinchao; Dong, Qi; Zhang, Linling; Meng, Qiaoling; Li, Sujiao; Wang, Duojin

    2018-03-01

    With the aging of the society, the number of stroke patients has been increasing year by year. Compared with the traditional rehabilitation therapy, the application of upper limb rehabilitation robot has higher efficiency and better rehabilitation effect, and has become an important development direction in the field of rehabilitation. In view of the current development status and the deficiency of upper limb rehabilitation robot system, combined with the development trend of all kinds of products of the upper limb rehabilitation robot, this paper designed a center-driven upper limb rehabilitation training robot for cable transmission which can help the patients complete 6 degrees of freedom (3 are driven, 3 are underactuated) training. Combined the structure of robot with more joints rehabilitation training, the paper choosed a cubic polynomial trajectory planning method in the joint space planning to design two trajectories of eating and lifting arm. According to the trajectory equation, the movement trajectory of each joint of the robot was drawn in MATLAB. It laid a foundation for scientific and effective rehabilitation training. Finally, the experimental prototype is built, and the mechanical structure and design trajectories are verified.

  11. Portable seat lift

    NASA Technical Reports Server (NTRS)

    Weddendorf, Bruce (Inventor)

    1994-01-01

    A portable seat lift that can help individuals either (1) lower themselves to a sitting position or (2) raise themselves to a standing position is presented. The portable seat lift consists of a seat mounted on a base with two levers, which are powered by a drive unit.

  12. Nurse's Aid And Housekeeping Mobile Robot For Use In The Nursing Home Workplace

    NASA Astrophysics Data System (ADS)

    Sines, John A.

    1987-01-01

    The large nursing home market has several natural characteristics which make it a good applications area for robotics. The environment is already robot accessible and the work functions require large quantities of low skilled services on a daily basis. In the near future, a commercial opportunity for the practical application of robots is emerging in the delivery of housekeeping services in the nursing home environment. The robot systems will assist in food tray delivery, material handling, and security, and will perform activities such as changing a resident's table side drinking water twice a day, and taking out the trash. The housekeeping work functions will generate cost savings of approximately 22,000 per year, at a cost of 6,000 per year. Technical system challenges center around the artificial intelligence required for the robot to map its own location within the facility, to find objects, and to avoid obstacles, and the development of an energy efficient mechanical lifting system. The long engineering and licensing cycles (7 to 12 years) required to bring this type of product to market make it difficult to raise capital for such a venture.

  13. Understanding Wing Lift

    ERIC Educational Resources Information Center

    Silva, J.; Soares, A. A.

    2010-01-01

    The conventional explanation of aerodynamic lift based on Bernoulli's equation is one of the most common mistakes in presentations to school students and is found in children's science books. The fallacies in this explanation together with an alternative explanation for aerofoil lift have already been presented in an excellent article by Babinsky…

  14. Aerodynamic characteristics of a large-scale lift-engine fighter model with external swiveling lift-engines

    NASA Technical Reports Server (NTRS)

    Barrack, J. P.; Kirk, J. V.

    1972-01-01

    The aerodynamic characteristics of a six-engine (four lift, two lift-cruise) lift-engine model obtained in the Ames 40- by 80-foot wind tunnel are presented. The model was an approximate one-half scale representation of a lift-engine VTOL fighter aircraft with a variable-sweep wing. The four lift-engines were housed in the aft fuselage with the inlets located above the wing. Longitudinal and lateral-directional force and moment data are presented for a range of exhaust gas momentum ratios (thrust coefficients). Wind tunnel forward speed was varied from 0 to 140 knots corresponding to a maximum Reynolds number of 6.7 million. The data are presented without analysis.

  15. Helicopter Toy and Lift Estimation

    ERIC Educational Resources Information Center

    Shakerin, Said

    2013-01-01

    A $1 plastic helicopter toy (called a Wacky Whirler) can be used to demonstrate lift. Students can make basic measurements of the toy, use reasonable assumptions and, with the lift formula, estimate the lift, and verify that it is sufficient to overcome the toy's weight. (Contains 1 figure.)

  16. 75 FR 31803 - Notice of Issuance of Final Determination Concerning a Lift Unit for an Overhead Patient Lift System

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-06-04

    ... Determination Concerning a Lift Unit for an Overhead Patient Lift System AGENCY: U.S. Customs and Border... concerning the country of origin of a lift unit for an overhead patient lift system. Based upon the facts presented, CBP has concluded in the final determination that Sweden is the country of origin of the lift...

  17. Lunar surface operations. Volume 3: Robotic arm for lunar surface vehicle

    NASA Technical Reports Server (NTRS)

    Shields, William; Feteih, Salah; Hollis, Patrick

    1993-01-01

    A robotic arm for a lunar surface vehicle that can help in handling cargo and equipment, and remove obstacles from the path of the vehicle is defined as a support to NASA's intention to establish a lunar based colony by the year 2010. Its mission would include, but not limited to the following: exploration, lunar sampling, replace and remove equipment, and setup equipment (e.g. microwave repeater stations). Performance objectives for the robotic arm include a reach of 3 m, accuracy of 1 cm, arm mass of 100 kg, and lifting capability of 50 kg. The end effectors must grip various sizes and shapes of cargo; push, pull, turn, lift, or lower various types of equipment; and clear a path on the lunar surface by shoveling, sweeping aside, or gripping the obstacle present in the desired path. The arm can safely complete a task within a reasonable amount of time; the actual time is dependent upon the task to be performed. The positioning of the arm includes a manual backup system such that the arm can be safely stored in case of failure. Remote viewing and proximity and positioning sensors are incorporated in the design of the arm. The following specific topic are addressed in this report: mission and requirements, system design and integration, mechanical structure, modified wrist, structure-to-end-effector interface, end-effectors, and system controls.

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

    PubMed

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

    2018-04-12

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

  19. Primitive robotic procedures: automotions for medical liquids in 12th century Asia minor.

    PubMed

    Penbegul, Necmettin; Atar, Murat; Kendirci, Muammer; Bozkurt, Yasar; Hatipoglu, Namık Kemal; Verit, Ayhan; Kadıoglu, Ates

    2014-12-30

    In recent years, day by day, robotic surgery applications have increase their role in our medical life. In this article, we reported the discovery of the first primitive robotic applications as automatic machines for the sensitive calculation of liquids such as blood in the literature. Al-Jazari who wrote the book "Elcâmi 'Beyne'l - 'ilm ve'l - 'amel en-nâfi 'fi es-sınaâ 'ti'l - hiyel", lived in Anatolian territory between 1136 and 1206. In this book that was written in the twelfth century, Al-Jazari described nearly fifty graphics of robotic machines and six of them that were designed for medical purposes. We found that some of the robots mentioned in this book are related to medical applications. This book reviews approximately 50 devices, including water clocks, candle clocks, ewers, various automata used for amusement in drink assemblies, automata used for ablution, blood collection tanks, fountains, music devices, devices for water lifting, locks, a protractor, a boat-shaped water clock, and the gate of Diyarbakir City in south-east of Turkey, actually in northern Mesopotamia. We found that automata used for ablution and blood collection tanks were related with medical applications; therefore, we will describe these robots.

  20. Active inference and robot control: a case study

    PubMed Central

    Nizard, Ange; Friston, Karl; Pezzulo, Giovanni

    2016-01-01

    Active inference is a general framework for perception and action that is gaining prominence in computational and systems neuroscience but is less known outside these fields. Here, we discuss a proof-of-principle implementation of the active inference scheme for the control or the 7-DoF arm of a (simulated) PR2 robot. By manipulating visual and proprioceptive noise levels, we show under which conditions robot control under the active inference scheme is accurate. Besides accurate control, our analysis of the internal system dynamics (e.g. the dynamics of the hidden states that are inferred during the inference) sheds light on key aspects of the framework such as the quintessentially multimodal nature of control and the differential roles of proprioception and vision. In the discussion, we consider the potential importance of being able to implement active inference in robots. In particular, we briefly review the opportunities for modelling psychophysiological phenomena such as sensory attenuation and related failures of gain control, of the sort seen in Parkinson's disease. We also consider the fundamental difference between active inference and optimal control formulations, showing that in the former the heavy lifting shifts from solving a dynamical inverse problem to creating deep forward or generative models with dynamics, whose attracting sets prescribe desired behaviours. PMID:27683002

  1. Lift production through asymmetric flapping

    NASA Astrophysics Data System (ADS)

    Jalikop, Shreyas; Sreenivas, K. R.

    2009-11-01

    At present, there is a strong interest in developing Micro Air Vehicles (MAV) for applications like disaster management and aerial surveys. At these small length scales, the flight of insects and small birds suggests that unsteady aerodynamics of flapping wings can offer many advantages over fixed wing flight, such as hovering-flight, high maneuverability and high lift at large angles of attack. Various lift generating mechanims such as delayed stall, wake capture and wing rotation contribute towards our understanding of insect flight. We address the effect of asymmetric flapping of wings on lift production. By visualising the flow around a pair of rectangular wings flapping in a water tank and numerically computing the flow using a discrete vortex method, we demonstrate that net lift can be produced by introducing an asymmetry in the upstroke-to-downstroke velocity profile of the flapping wings. The competition between generation of upstroke and downstroke tip vortices appears to hold the key to understanding this lift generation mechanism.

  2. Direct lifts of coupled cell networks

    NASA Astrophysics Data System (ADS)

    Dias, A. P. S.; Moreira, C. S.

    2018-04-01

    In networks of dynamical systems, there are spaces defined in terms of equalities of cell coordinates which are flow-invariant under any dynamical system that has a form consistent with the given underlying network structure—the network synchrony subspaces. Given a network and one of its synchrony subspaces, any system with a form consistent with the network, restricted to the synchrony subspace, defines a new system which is consistent with a smaller network, called the quotient network of the original network by the synchrony subspace. Moreover, any system associated with the quotient can be interpreted as the restriction to the synchrony subspace of a system associated with the original network. We call the larger network a lift of the smaller network, and a lift can be interpreted as a result of the cellular splitting of the smaller network. In this paper, we address the question of the uniqueness in this lifting process in terms of the networks’ topologies. A lift G of a given network Q is said to be direct when there are no intermediate lifts of Q between them. We provide necessary and sufficient conditions for a lift of a general network to be direct. Our results characterize direct lifts using the subnetworks of all splitting cells of Q and of all split cells of G. We show that G is a direct lift of Q if and only if either the split subnetwork is a direct lift or consists of two copies of the splitting subnetwork. These results are then applied to the class of regular uniform networks and to the special classes of ring networks and acyclic networks. We also illustrate that one of the applications of our results is to the lifting bifurcation problem.

  3. Advanced underwater lift device

    NASA Technical Reports Server (NTRS)

    Flanagan, David T.; Hopkins, Robert C.

    1993-01-01

    Flexible underwater lift devices ('lift bags') are used in underwater operations to provide buoyancy to submerged objects. Commercially available designs are heavy, bulky, and awkward to handle, and thus are limited in size and useful lifting capacity. An underwater lift device having less than 20 percent of the bulk and less than 10 percent of the weight of commercially available models was developed. The design features a dual membrane envelope, a nearly homogeneous envelope membrane stress distribution, and a minimum surface-to-volume ratio. A proof-of-concept model of 50 kg capacity was built and tested. Originally designed to provide buoyancy to mock-ups submerged in NASA's weightlessness simulators, the device may have application to water-landed spacecraft which must deploy flotation upon impact, and where launch weight and volume penalties are significant. The device may also be useful for the automated recovery of ocean floor probes or in marine salvage applications.

  4. Wind tower service lift

    DOEpatents

    Oliphant, David; Quilter, Jared; Andersen, Todd; Conroy, Thomas

    2011-09-13

    An apparatus used for maintaining a wind tower structure wherein the wind tower structure may have a plurality of legs and may be configured to support a wind turbine above the ground in a better position to interface with winds. The lift structure may be configured for carrying objects and have a guide system and drive system for mechanically communicating with a primary cable, rail or other first elongate member attached to the wind tower structure. The drive system and guide system may transmit forces that move the lift relative to the cable and thereby relative to the wind tower structure. A control interface may be included for controlling the amount and direction of the power into the guide system and drive system thereby causing the guide system and drive system to move the lift relative to said first elongate member such that said lift moves relative to said wind tower structure.

  5. JWST Lifting System

    NASA Technical Reports Server (NTRS)

    Tolleson, William

    2012-01-01

    A document describes designing, building, testing, and certifying a customized crane (Lifting Device LD) with a strong back (cradle) to facilitate the installation of long wall panels and short door panels for the GHe phase of the James Webb Space Telescope (JWST). The LD controls are variable-frequency drive controls designed to be adjustable for very slow and very-short-distance movements throughout the installation. The LD has a lift beam with an electric actuator attached at the end. The actuator attaches to a rectangular strong back (cradle) for lifting the long wall panels and short door panels from a lower angle into the vertical position inside the chamber, and then rotating around the chamber for installation onto the existing ceiling and floor. The LD rotates 360 (in very small increments) in both clockwise and counterclockwise directions. Eight lifting pads are on the top ring with 2-in. (.5-cm) eye holes spaced evenly around the ring to allow for the device to be suspended by three crane hoists from the top of the chamber. The LD is operated by remote controls that allow for a single, slow mode for booming the load in and out, with slow and very slow modes for rotating the load.

  6. 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.

  7. A miniature surface tension-driven robot using spatially elliptical moving legs to mimic a water strider's locomotion.

    PubMed

    Yan, J H; Zhang, X B; Zhao, J; Liu, G F; Cai, H G; Pan, Q M

    2015-08-04

    The highly agile and efficient water-surface locomotion of the water strider has stimulated substantial interest in biomimetic research. In this paper, we propose a new miniature surface tension-driven robot inspired by the water strider. A key feature of this robot is that its actuating leg possesses an ellipse-like spatial trajectory similar to that of a water strider by using a cam-link mechanism. Simplified models are presented to discuss the leg-water interactions as well as critical conditions for a leg penetrating the water surface, and simulations are performed on the robot's dynamic properties. The final fabricated robot weighs about 3.9 g, and can freely and stably walk on water at different gaits. The maximum forward and turning speeds of the robot are measured as 16 cm s(-1) and 23°/s, respectively. Furthermore, a similarity analysis with Bond number and Weber number demonstrates that the locomotion of this robot is quite analogous to that of a real water strider: the surface tension force dominates the lifting force and plays a major role in the propulsion force. This miniature surface tension-driven robot might have potential applications in many areas such as water quality monitoring and aquatic search and rescue.

  8. A Car Transportation System in Cooperation by Multiple Mobile Robots for Each Wheel: iCART II

    NASA Astrophysics Data System (ADS)

    Kashiwazaki, Koshi; Yonezawa, Naoaki; Kosuge, Kazuhiro; Sugahara, Yusuke; Hirata, Yasuhisa; Endo, Mitsuru; Kanbayashi, Takashi; Shinozuka, Hiroyuki; Suzuki, Koki; Ono, Yuki

    The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

  9. Business Profile of Boat Lift Net and Stationary Lift Net Fishing Gear in Morodemak Waters Central Java

    NASA Astrophysics Data System (ADS)

    Hapsari, Trisnani D.; Jayanto, Bogi B.; Fitri, Aristi D. P.; Triarso, I.

    2018-02-01

    Lift net is one of the fishing gears that is used widely in the Morodemak coastal fishing port (PPP) for catching pelagic fish. The yield of fish captured by these fishing gear has high economic value, such as fish belt (Trichiurus sp), squids (Loligo sp) and anchovies (Stelophorus sp). The aims of this research were to determine the technical aspects of boat lift net and stationary lift net fishing gear in Morodemak Waters Demak Regency; to find out the financial aspect of those fishing gears and to analyze the financial feasibility by counting PP, NPV, IRR, and B/C ratio criteria. This research used case study method with descriptive analysis. The sampling method was purposive sampling with 22 fishermen as respondents. The result of the research showed that the average of boat lift net acceptance was Rp 388,580,000. The financial analysis of fisheries boat lift net with the result of NPV Rp 836,149,272, PP 2.44 years, IRR value 54%, and B/C ratio 1.73. The average of stationary lift net acceptance was Rp 27,750,000. The financial analysis lift net with the result of NPV Rp 37,937,601; PP 1.96 years, IRR value 86%, and B/C ratio 1.32. This research had a positive NPV value, B/C ratio >1, and IRR > discount rate (12 %). This study concluded that the fishery business of boat lift net and stationary lift net in Morodemak coastal fishing port (PPP) was worth running.

  10. Aerodynamic evaluation of wing shape and wing orientation in four butterfly species using numerical simulations and a low-speed wind tunnel, and its implications for the design of flying micro-robots.

    PubMed

    Ortega Ancel, Alejandro; Eastwood, Rodney; Vogt, Daniel; Ithier, Carter; Smith, Michael; Wood, Rob; Kovač, Mirko

    2017-02-06

    Many insects are well adapted to long-distance migration despite the larger energetic costs of flight for small body sizes. To optimize wing design for next-generation flying micro-robots, we analyse butterfly wing shapes and wing orientations at full scale using numerical simulations and in a low-speed wind tunnel at 2, 3.5 and 5 m s -1 . The results indicate that wing orientations which maximize wing span lead to the highest glide performance, with lift to drag ratios up to 6.28, while spreading the fore-wings forward can increase the maximum lift produced and thus improve versatility. We discuss the implications for flying micro-robots and how the results assist in understanding the behaviour of the butterfly species tested.

  11. Aerodynamic evaluation of wing shape and wing orientation in four butterfly species using numerical simulations and a low-speed wind tunnel, and its implications for the design of flying micro-robots

    PubMed Central

    Eastwood, Rodney; Vogt, Daniel; Ithier, Carter; Smith, Michael; Wood, Rob; Kovač, Mirko

    2017-01-01

    Many insects are well adapted to long-distance migration despite the larger energetic costs of flight for small body sizes. To optimize wing design for next-generation flying micro-robots, we analyse butterfly wing shapes and wing orientations at full scale using numerical simulations and in a low-speed wind tunnel at 2, 3.5 and 5 m s−1. The results indicate that wing orientations which maximize wing span lead to the highest glide performance, with lift to drag ratios up to 6.28, while spreading the fore-wings forward can increase the maximum lift produced and thus improve versatility. We discuss the implications for flying micro-robots and how the results assist in understanding the behaviour of the butterfly species tested. PMID:28163879

  12. Robot-assisted excision of cervical cystic hygroma through a retroauricular hairline approach: a case report.

    PubMed

    Lin, Frank Cheau-Feng; Yang, Tsung-Lin; Tung, Min-Che; Tsai, Stella Chin-Shaw

    2016-06-09

    Cystic hygroma is a rare benign abnormality of the lymphatic system generally occurring in young children less than 2 years old. The standard transcervical surgical treatment of cystic hygroma may often leave a permanent scar in the neck region. We report a case of cystic hygroma in a 19-month-old Asian baby girl successfully treated with robot-assisted excision through a hairline neck-lift approach. We present the use of the Yang's retractor as an instrumental advancement to this surgical approach. Treatment options for cystic hygroma may be surgical or nonsurgical. We report a case of cystic hygroma in a 19-month-old child successfully treated with robot-assisted excision through a small concealed retroauricular hairline approach. This is the first report in the medical literature of treating cystic hygroma with a minimally invasive robot-assisted excision via a small, concealed, hairline incision.

  13. Intentional Movement Performance Ability (IMPA): a method for robot-aided quantitative assessment of motor function.

    PubMed

    Shin, Sung Yul; Kim, Jung Yoon; Lee, Sanghyeop; Lee, Junwon; Kim, Seung-Jong; Kim, ChangHwan

    2013-06-01

    The purpose of this paper is to propose a new assessment method for evaluating motor function of the patients who are suffering from physical weakness after stroke, incomplete spinal cord injury (iSCI) or other diseases. In this work, we use a robotic device to obtain the information of interaction occur between patient and robot, and use it as a measure for assessing the patients. The Intentional Movement Performance Ability (IMPA) is defined by the root mean square of the interactive torque, while the subject performs given periodic movement with the robot. IMPA is proposed to quantitatively determine the level of subject's impaired motor function. The method is indirectly tested by asking the healthy subjects to lift a barbell to disturb their motor function. The experimental result shows that the IMPA has a potential for providing a proper information of the subject's motor function level.

  14. Load-embedded inertial measurement unit reveals lifting performance.

    PubMed

    Tammana, Aditya; McKay, Cody; Cain, Stephen M; Davidson, Steven P; Vitali, Rachel V; Ojeda, Lauro; Stirling, Leia; Perkins, Noel C

    2018-07-01

    Manual lifting of loads arises in many occupations as well as in activities of daily living. Prior studies explore lifting biomechanics and conditions implicated in lifting-induced injuries through laboratory-based experimental methods. This study introduces a new measurement method using load-embedded inertial measurement units (IMUs) to evaluate lifting tasks in varied environments outside of the laboratory. An example vertical load lifting task is considered that is included in an outdoor obstacle course. The IMU data, in the form of the load acceleration and angular velocity, is used to estimate load vertical velocity and three lifting performance metrics: the lifting time (speed), power, and motion smoothness. Large qualitative differences in these parameters distinguish exemplar high and low performance trials. These differences are further supported by subsequent statistical analyses of twenty three trials (including a total of 115 total lift/lower cycles) from fourteen healthy participants. Results reveal that lifting time is strongly correlated with lifting power (as expected) but also correlated with motion smoothness. Thus, participants who lift rapidly do so with significantly greater power using motions that minimize motion jerk. Copyright © 2018 Elsevier Ltd. All rights reserved.

  15. 49 CFR 37.203 - Lift maintenance.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... DISABILITIES (ADA) Over-the-Road Buses (OTRBs) § 37.203 Lift maintenance. (a) The entity shall establish a system of regular and frequent maintenance checks of lifts sufficient to determine if they are operative... 49 Transportation 1 2010-10-01 2010-10-01 false Lift maintenance. 37.203 Section 37.203...

  16. 49 CFR 37.203 - Lift maintenance.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 1 2011-10-01 2011-10-01 false Lift maintenance. 37.203 Section 37.203... DISABILITIES (ADA) Over-the-Road Buses (OTRBs) § 37.203 Lift maintenance. (a) The entity shall establish a system of regular and frequent maintenance checks of lifts sufficient to determine if they are operative...

  17. Lift enhancement by bats' dynamically changing wingspan

    PubMed Central

    Wang, Shizhao; Zhang, Xing; He, Guowei; Liu, Tianshu

    2015-01-01

    This paper elucidates the aerodynamic role of the dynamically changing wingspan in bat flight. Based on direct numerical simulations of the flow over a slow-flying bat, it is found that the dynamically changing wingspan can significantly enhance the lift. Further, an analysis of flow structures and lift decomposition reveal that the elevated vortex lift associated with the leading-edge vortices intensified by the dynamically changing wingspan considerably contributed to enhancement of the time-averaged lift. The nonlinear interaction between the dynamically changing wing and the vortical structures plays an important role in the lift enhancement of a flying bat in addition to the geometrical effect of changing the lifting-surface area in a flapping cycle. In addition, the dynamically changing wingspan leads to the higher efficiency in terms of generating lift for a given amount of the mechanical energy consumed in flight. PMID:26701882

  18. Lift-Enhancing Tabs on Multielement Airfoils

    NASA Technical Reports Server (NTRS)

    Ross, James C.; Storms, Bruce L.; Carrannanto, Paul G.

    1995-01-01

    The use of flat-plate tabs (similar to Gurney flaps) to enhance the lift of multielement airfoils is extended here by placing them on the pressure side and near the trailing edge of the main element rather than just on the furthest downstream wing element. The tabs studied range in height from 0.125 to 1.25% of the airfoil reference chord. In practice, such tabs would be retracted when the high-lift system is stowed. The effectiveness of the concept was demonstrated experimentally and computationally on a two-dimensional NACA 63(sub 2)-215 Mod B airfoil with a single-slotted, 30%-chord flap. Both the experiments and computations showed that the tabs significantly increase the lift at a given angle of attack and the maximum lift coefficient of the airfoil. The computational results showed that the increased lift was a result of additional turning of the flow by the tab that reduced or eliminated now separation on the flap. The best configuration tested, a 0.5%-chord tab placed 0.5% chord upstream of the trailing edge of the main element, increased the maximum lift coefficient of the airfoil by 12% and the maximum lift-to-drag ratio by 40%.

  19. 30 CFR 56.16016 - Lift trucks.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 30 Mineral Resources 1 2011-07-01 2011-07-01 false Lift trucks. 56.16016 Section 56.16016 Mineral Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR METAL AND NONMETAL MINE SAFETY AND....16016 Lift trucks. Fork and other similar types of lift trucks shall be operated with the— (a) Upright...

  20. 30 CFR 57.16016 - Lift trucks.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Lift trucks. 57.16016 Section 57.16016 Mineral Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR METAL AND NONMETAL MINE SAFETY AND... § 57.16016 Lift trucks. Fork and other similar types of lift trucks shall be operated with the: (a...

  1. 30 CFR 56.16016 - Lift trucks.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Lift trucks. 56.16016 Section 56.16016 Mineral Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR METAL AND NONMETAL MINE SAFETY AND....16016 Lift trucks. Fork and other similar types of lift trucks shall be operated with the— (a) Upright...

  2. 30 CFR 57.16016 - Lift trucks.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 30 Mineral Resources 1 2011-07-01 2011-07-01 false Lift trucks. 57.16016 Section 57.16016 Mineral Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR METAL AND NONMETAL MINE SAFETY AND... § 57.16016 Lift trucks. Fork and other similar types of lift trucks shall be operated with the: (a...

  3. A comparative analysis of lumbar spine mechanics during barbell- and crate-lifting: implications for occupational lifting task assessments.

    PubMed

    Zehr, Jackie D; Carnegie, Danielle R; Welsh, Timothy N; Beach, Tyson A C

    2018-03-19

    To compare the effects of object handled and handgrip used on lumbar spine motion and loading during occupational lifting task simulations. Eight male and eight female volunteers performed barbell and crate lifts with a pronated (barbell) and a neutral (crate) handgrip. The mass of barbells/crates lifted was identical across the objects and fixed at 11.6 and 9.3 kg for men and women, respectively. The initial heights of barbells/crates were individualized to mid-shank level. Body segment kinematics and foot-ground reaction kinetics were collected, and then input into an electromyography-assisted dynamic biomechanical model to quantify lumbar spine motion and loading. Lumbar compression and net lumbosacral moment magnitudes were 416 N and 17 Nm lower when lifting a barbell than when lifting a crate (p < 0.001), respectively. There were no between-condition differences in lumbar flexion displacements (p > 0.392) or flexion/extension velocities (p > 0.085). Crate- and barbell-lifting tasks can be used interchangeably if assessing lifting mechanics based on peak spine motion variables. If assessments are based on the spine loading responses to task demands, however, then crate- and barbell-lifting tasks cannot be used interchangeably.

  4. Catwalk grate lifting tool

    DOEpatents

    Gunter, L.W.

    1992-08-11

    A device is described for lifting catwalk grates comprising an elongated bent member with a handle at one end and a pair of notched braces and a hook at the opposite end that act in conjunction with each other to lock onto the grate and give mechanical advantage in lifting the grate. 10 figs.

  5. Kinematics Analysis of End Effector for Carrier Robot of Feeding Broiler Chicken System

    NASA Astrophysics Data System (ADS)

    Syam, Rafiuddin; Arsyad, Hairul; Bauna, Ruslan; Renreng, Ilyas; Bakhri, Syaiful

    2018-02-01

    The demand for commodities, especially Broiler chicken farms are increasing, the volume of feed requirements Broiler chickens increased with age up to the age of 30-57 days required feed 3,829 grams/day/head, so if the chicken population is 3,000 needed transporting feed 11 487 kg/day, This research aims to produce a robot capable of transporting feed in the top of the cage by using a control system so as to make efficient use of manpower. Design robot performed using software design three-dimensional Solidworks2010, process of making the robot is started with the design manufacture three (3) units of mechanical systems (mechanical system for holder feed, mechanical systems for lifter feed and mechanical systems for transporting feed), then do the design process framework as a component buffer so that the mechanical system will work properly and safely when the robot operates. Furthermore, the manufacture of electronic circuits and control are using Arduino Mega microcontroller. After assembling all components mechanical systems and installation of electronic systems and control, then experiments to evaluate the performance of the robot have been made. The results of experiments showed that all components work well according to plan, in particular the speed and acceleration of end effector motion so it can hold and release the feed well. This strongly supports the robots perform tasks in accordance with the intent, i.e., holding, lifting and moving feed.

  6. The lift-fan aircraft: Lessons learned

    NASA Technical Reports Server (NTRS)

    Deckert, Wallace H.

    1995-01-01

    This report summarizes the highlights and results of a workshop held at NASA Ames Research Center in October 1992. The objective of the workshop was a thorough review of the lessons learned from past research on lift fans, and lift-fan aircraft, models, designs, and components. The scope included conceptual design studies, wind tunnel investigations, propulsion systems components, piloted simulation, flight of aircraft such as the SV-5A and SV-5B and a recent lift-fan aircraft development project. The report includes a brief summary of five technical presentations that addressed the subject The Lift-Fan Aircraft: Lessons Learned.

  7. High-Lift Systems on Commercial Subsonic Airliners

    NASA Technical Reports Server (NTRS)

    Rudolph, Peter K. C.

    1996-01-01

    The early breed of slow commercial airliners did not require high-lift systems because their wing loadings were low and their speed ratios between cruise and low speed (takeoff and landing) were about 2:1. However, even in those days the benefit of high-lift devices was recognized. Simple trailing-edge flaps were in use, not so much to reduce landing speeds, but to provide better glide-slope control without sideslipping the airplane and to improve pilot vision over the nose by reducing attitude during low-speed flight. As commercial-airplane cruise speeds increased with the development of more powerful engines, wing loadings increased and a real need for high-lift devices emerged to keep takeoff and landing speeds within reasonable limits. The high-lift devices of that era were generally trailing-edge flaps. When jet engines matured sufficiently in military service and were introduced commercially, airplane speed capability had to be increased to best take advantage of jet engine characteristics. This speed increase was accomplished by introducing the wing sweep and by further increasing wing loading. Whereas increased wing loading called for higher lift coefficients at low speeds, wing sweep actually decreased wing lift at low speeds. Takeoff and landing speeds increased on early jet airplanes, and, as a consequence, runways worldwide had to be lengthened. There are economical limits to the length of runways; there are safety limits to takeoff and landing speeds; and there are speed limits for tires. So, in order to hold takeoff and landing speeds within reasonable limits, more powerful high-lift devices were required. Wing trailing-edge devices evolved from plain flaps to Fowler flaps with single, double, and even triple slots. Wing leading edges evolved from fixed leading edges to a simple Krueger flap, and from fixed, slotted leading edges to two- and three-position slats and variable-camber (VC) Krueger flaps. The complexity of high-lift systems probably

  8. Numerical simulation of a powered-lift landing, tracking flow features using overset grids, and simulation of high lift devices on a fighter-lift-and-control wing

    NASA Technical Reports Server (NTRS)

    Chawla, Kalpana

    1993-01-01

    Attached as appendices to this report are documents describing work performed on the simulation of a landing powered-lift delta wing, the tracking of flow features using overset grids, and the simulation of flaps on the Wright Patterson Lab's fighter-lift-and-control (FLAC) wing. Numerical simulation of a powered-lift landing includes the computation of flow about a delta wing at four fixed heights as well as a simulated landing, in which the delta wing descends toward the ground. Comparison of computed and experimental lift coefficients indicates that the simulations capture the qualitative trends in lift-loss encountered by thrust-vectoring aircraft operating in ground effect. Power spectra of temporal variations of pressure indicate computed vortex shedding frequencies close to the jet exit are in the experimentally observed frequency range; the power spectra of pressure also provide insights into the mechanisms of lift oscillations. Also, a method for using overset grids to track dynamic flow features is described and the method is validated by tracking a moving shock and vortices shed behind a circular cylinder. Finally, Chimera gridding strategies were used to develop pressure coefficient contours for the FLAC wing for a Mach no. of 0.18 and Reynolds no. of 2.5 million.

  9. Wingless Flight: The Lifting Body Story

    NASA Technical Reports Server (NTRS)

    Reed, R. Dale; Lister, Darlene (Editor); Huntley, J. D. (Editor)

    1997-01-01

    Wingless Flight tells the story of the most unusual flying machines ever flown, the lifting bodies. It is my story about my friends and colleagues who committed a significant part of their lives in the 1960s and 1970s to prove that the concept was a viable one for use in spacecraft of the future. This story, filled with drama and adventure, is about the twelve-year period from 1963 to 1975 in which eight different lifting-body configurations flew. It is appropriate for me to write the story, since I was the engineer who first presented the idea of flight-testing the concept to others at the NASA Flight Research Center. Over those twelve years, I experienced the story as it unfolded day by day at that remote NASA facility northeast of los Angeles in the bleak Mojave Desert. Benefits from this effort immediately influenced the design and operational concepts of the winged NASA Shuttle Orbiter. However, the full benefits would not be realized until the 1990s when new spacecraft such as the X-33 and X-38 would fully employ the lifting-body concept. A lifting body is basically a wingless vehicle that flies due to the lift generated by the shape of its fuselage. Although both a lifting reentry vehicle and a ballistic capsule had been considered as options during the early stages of NASA's space program, NASA initially opted to go with the capsule. A number of individuals were not content to close the book on the lifting-body concept. Researchers including Alfred Eggers at the NASA Ames Research Center conducted early wind-tunnel experiments, finding that half of a rounded nose-cone shape that was flat on top and rounded on the bottom could generate a lift-to-drag ratio of about 1.5 to 1. Eggers' preliminary design sketch later resembled the basic M2 lifting-body design. At the NASA Langley Research Center, other researchers toyed with their own lifting-body shapes. Meanwhile, some of us aircraft-oriented researchers at the, NASA Flight Research Center at Edwards Air

  10. Face lift.

    PubMed

    Warren, Richard J; Aston, Sherrell J; Mendelson, Bryan C

    2011-12-01

    After reading this article, the participant should be able to: 1. Identify and describe the anatomy of and changes to the aging face, including changes in bone mass and structure and changes to the skin, tissue, and muscles. 2. Assess each individual's unique anatomy before embarking on face-lift surgery and incorporate various surgical techniques, including fat grafting and other corrective procedures in addition to shifting existing fat to a higher position on the face, into discussions with patients. 3. Identify risk factors and potential complications in prospective patients. 4. Describe the benefits and risks of various techniques. The ability to surgically rejuvenate the aging face has progressed in parallel with plastic surgeons' understanding of facial anatomy. In turn, a more clear explanation now exists for the visible changes seen in the aging face. This article and its associated video content review the current understanding of facial anatomy as it relates to facial aging. The standard face-lift techniques are explained and their various features, both good and bad, are reviewed. The objective is for surgeons to make a better aesthetic diagnosis before embarking on face-lift surgery, and to have the ability to use the appropriate technique depending on the clinical situation.

  11. Mechanochemical synthesis, structure and properties of lead containing alkaline earth metal fluoride solid solutions MxPb1-xF2 (M = Ca, Sr, Ba)

    NASA Astrophysics Data System (ADS)

    Heise, M.; Scholz, G.; Düvel, A.; Heitjans, P.; Kemnitz, E.

    2018-03-01

    The paper deals with the mechanochemical synthesis of lead containing alkaline earth metal fluoride solid solutions MxPb1-xF2 (M = Ca, Sr, Ba) by high-energy ball milling. Several metal precursors and fluorinating agents were tested for synthesizing M0.5Pb0.5F2. Metal acetates and ammonium fluoride as precursors show the most promising results and were therefore used for the formation of MxPb1-xF2 with different metal cationic ratios. The characterization of the local fluorine coordination and the crystal structure was performed by 19F MAS NMR spectroscopy and X-ray diffraction. Additional calculations of 19F chemical shifts using the superposition model allow a deeper insight into the local structure of the compounds. The fluoride ion conductivity was followed by temperature dependent DC conductivity measurements. Significantly higher conductivities were found in comparison with those of the corresponding binary fluorides. The highest values were observed for samples with high lead content M0.25Pb0.75F2, bearing in mind the much higher conductivity of PbF2 compared to MF2.

  12. Method for calculating lift distributions for unswept wings with flaps or ailerons by use of nonlinear section lift data

    NASA Technical Reports Server (NTRS)

    Sivells, James C; Westrick, Gertrude C

    1952-01-01

    A method is presented which allows the use of nonlinear section lift data in the calculation of the spanwise lift distribution of unswept wings with flaps or ailerons. This method is based upon lifting line theory and is an extension to the method described in NACA rep. 865. The mathematical treatment of the discontinuity in absolute angle of attack at the end of the flap or aileron involves the use of a correction factor which accounts for the inability of a limited trigonometric series to represent adequately the spanwise lift distribution. A treatment of the apparent discontinuity in maximum section lift coefficient is also described. Simplified computing forms containing detailed examples are given for both symmetrical and asymmetrical lift distributions. A few comparisons of calculated characteristics with those obtained experimentally are also presented.

  13. Survey of lift-fan aerodynamic technology

    NASA Technical Reports Server (NTRS)

    Hickey, David H.; Kirk, Jerry V.

    1993-01-01

    Representatives of NASA Ames Research Center asked that a summary of technology appropriate for lift-fan powered short takeoff/vertical landing (STOVL) aircraft be prepared so that new programs could more easily benefit from past research efforts. This paper represents one of six prepared for that purpose. The authors have conducted or supervised the conduct of research on lift-fan powered STOVL designs and some of their important components for decades. This paper will first address aerodynamic modeling requirements for experimental programs to assure realistic, trustworthy results. It will next summarize the results or efforts to develop satisfactory specialized STOVL components such as inlets and flow deflectors. It will also discuss problems with operation near the ground, aerodynamics while under lift-fan power, and aerodynamic prediction techniques. Finally, results of studies to reduce lift-fan noise will be presented. The paper will emphasize results from large scale experiments, where available, for reasons that will be brought out in the discussion. Some work with lift-engine powered STOVL aircraft is also applicable to lift-fan technology and will be presented herein. Small-scale data will be used where necessary to fill gaps.

  14. Refined AFC-Enabled High-Lift System Integration Study

    NASA Technical Reports Server (NTRS)

    Hartwich, Peter M.; Shmilovich, Arvin; Lacy, Douglas S.; Dickey, Eric D.; Scalafani, Anthony J.; Sundaram, P.; Yadlin, Yoram

    2016-01-01

    A prior trade study established the effectiveness of using Active Flow Control (AFC) for reducing the mechanical complexities associated with a modern high-lift system without sacrificing aerodynamic performance at low-speed flight conditions representative of takeoff and landing. The current technical report expands on this prior work in two ways: (1) a refined conventional high-lift system based on the NASA Common Research Model (CRM) is presented that is more representative of modern commercial transport aircraft in terms of stall characteristics and maximum Lift/Drag (L/D) ratios at takeoff and landing-approach flight conditions; and (2) the design trade space for AFC-enabled high-lift systems is expanded to explore a wider range of options for improving their efficiency. The refined conventional high-lift CRM (HL-CRM) concept features leading edge slats and slotted trailing edge flaps with Fowler motion. For the current AFC-enhanced high lift system trade study, the refined conventional high-lift system is simplified by substituting simply-hinged trailing edge flaps for the slotted single-element flaps with Fowler motion. The high-lift performance of these two high-lift CRM variants is established using Computational Fluid Dynamics (CFD) solutions to the Reynolds-Averaged Navier-Stokes (RANS) equations. These CFD assessments identify the high-lift performance that needs to be recovered through AFC to have the CRM variant with the lighter and mechanically simpler high-lift system match the performance of the conventional high-lift system. In parallel to the conventional high-lift concept development, parametric studies using CFD guided the development of an effective and efficient AFC-enabled simplified high-lift system. This included parametric trailing edge flap geometry studies addressing the effects of flap chord length and flap deflection. As for the AFC implementation, scaling effects (i.e., wind-tunnel versus full-scale flight conditions) are addressed

  15. Longitudinal Stability and Control Characteristics at Transonic Speeds of a 1/30-Scale Model of the Republic XF-103 Airplane

    NASA Technical Reports Server (NTRS)

    Luoma, Arvo A.

    1954-01-01

    The longitudinal stability and control characteristics of a 1/30-scale model of the Republic XF-103 airplane were investigated in the Langley 8-foot transonic tunnel. The effect of speed brakes located at the end of the fuselage was also investigated. The main part of the investigation was made with internal flow in the model, but some data were obtained with no internal flow. The longitudinal stability and control at transonic-speeds appeared satisfactory. The transonic drag rise was small. The speed brakes had no adverse effects on longitudinal stability.

  16. Influence of Lift Offset on Rotorcraft Performance

    NASA Technical Reports Server (NTRS)

    Johnson, Wayne

    2009-01-01

    The influence of lift offset on the performance of several rotorcraft configurations is explored. A lift-offset rotor, or advancing blade concept, is a hingeless rotor that can attain good efficiency at high speed by operating with more lift on the advancing side than on the retreating side of the rotor disk. The calculated performance capability of modern-technology coaxial rotors utilizing a lift offset is examined, including rotor performance optimized for hover and high-speed cruise. The ideal induced power loss of coaxial rotors in hover and twin rotors in forward flight is presented. The aerodynamic modeling requirements for performance calculations are evaluated, including wake and drag models for the high-speed flight condition. The influence of configuration on the performance of rotorcraft with lift-offset rotors is explored, considering tandem and side-by-side rotorcraft as well as wing-rotor lift share.

  17. Influence of Lift Offset on Rotorcraft Performance

    NASA Technical Reports Server (NTRS)

    Johnson, Wayne

    2008-01-01

    The influence of lift offset on the performance of several rotorcraft configurations is explored. A lift-offset rotor, or advancing blade concept, is a hingeless rotor that can attain good efficiency at high speed, by operating with more lift on the advancing side than on the retreating side of the rotor disk. The calculated performance capability of modern-technology coaxial rotors utilizing a lift offset is examined, including rotor performance optimized for hover and high-speed cruise. The ideal induced power loss of coaxial rotors in hover and twin rotors in forward flight is presented. The aerodynamic modeling requirements for performance calculations are evaluated, including wake and drag models for the high speed flight condition. The influence of configuration on the performance of rotorcraft with lift-offset rotors is explored, considering tandem and side-by-side rotorcraft as well as wing-rotor lift share.

  18. Generalised Eisenhart lift of the Toda chain

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

    Cariglia, Marco, E-mail: marco@iceb.ufop.br; Gibbons, Gary, E-mail: g.w.gibbons@damtp.cam.ac.uk

    The Toda chain of nearest neighbour interacting particles on a line can be described both in terms of geodesic motion on a manifold with one extra dimension, the Eisenhart lift, or in terms of geodesic motion in a symmetric space with several extra dimensions. We examine the relationship between these two realisations and discover that the symmetric space is a generalised, multi-particle Eisenhart lift of the original problem that reduces to the standard Eisenhart lift. Such generalised Eisenhart lift acts as an inverse Kaluza-Klein reduction, promoting coupling constants to momenta in higher dimension. In particular, isometries of the generalised liftmore » metric correspond to energy preserving transformations that mix coordinates and coupling constants. A by-product of the analysis is that the lift of the Toda Lax pair can be used to construct higher rank Killing tensors for both the standard and generalised lift metrics.« less

  19. Mechanical lifting energy consumption in work activities designed by means of the "revised NIOSH lifting equation".

    PubMed

    Ranavolo, Alberto; Varrecchia, Tiwana; Rinaldi, Martina; Silvetti, Alessio; Serrao, Mariano; Conforto, Silvia; Draicchio, Francesco

    2017-10-07

    The aims of the present work were: to calculate lifting energy consumption (LEC) in work activities designed to have a growing lifting index (LI) by means of revised NIOSH lifting equation; to evaluate the relationship between LEC and forces at the L 5 -S 1 joint. The kinematic and kinetic data of 20 workers were recorded during the execution of lifting tasks in three conditions. We computed kinetic, potential and mechanical energy and the corresponding LEC by considering three different centers of mass of: 1) the load (CoM L ); 2) the multi-segment upper body model and load together (CoM Upp+L ); 3) the whole body and load together (CoM Tot ). We also estimated compression and shear forces. Results shows that LEC calculated for CoM Upp+L and CoM Tot grew significantly with the LI and that all the lifting condition pairs are discriminated. The correlation analysis highlighted a relationship between LEC and forces that determine injuries at the L 5 -S 1 joint.

  20. Modeling lift operations with SASmacr Simulation Studio

    NASA Astrophysics Data System (ADS)

    Kar, Leow Soo

    2016-10-01

    Lifts or elevators are an essential part of multistorey buildings which provide vertical transportation for its occupants. In large and high-rise apartment buildings, its occupants are permanent, while in buildings, like hospitals or office blocks, the occupants are temporary or users of the buildings. They come in to work or to visit, and thus, the population of such buildings are much higher than those in residential apartments. It is common these days that large office blocks or hospitals have at least 8 to 10 lifts serving its population. In order to optimize the level of service performance, different transportation schemes are devised to control the lift operations. For example, one lift may be assigned to solely service the even floors and another solely for the odd floors, etc. In this paper, a basic lift system is modelled using SAS Simulation Studio to study the effect of factors such as the number of floors, capacity of the lift car, arrival rate and exit rate of passengers at each floor, peak and off peak periods on the system performance. The simulation is applied to a real lift operation in Sunway College's North Building to validate the model.

  1. AFC-Enabled Simplified High-Lift System Integration Study

    NASA Technical Reports Server (NTRS)

    Hartwich, Peter M.; Dickey, Eric D.; Sclafani, Anthony J.; Camacho, Peter; Gonzales, Antonio B.; Lawson, Edward L.; Mairs, Ron Y.; Shmilovich, Arvin

    2014-01-01

    The primary objective of this trade study report is to explore the potential of using Active Flow Control (AFC) for achieving lighter and mechanically simpler high-lift systems for transonic commercial transport aircraft. This assessment was conducted in four steps. First, based on the Common Research Model (CRM) outer mold line (OML) definition, two high-lift concepts were developed. One concept, representative of current production-type commercial transonic transports, features leading edge slats and slotted trailing edge flaps with Fowler motion. The other CRM-based design relies on drooped leading edges and simply hinged trailing edge flaps for high-lift generation. The relative high-lift performance of these two high-lift CRM variants is established using Computational Fluid Dynamics (CFD) solutions to the Reynolds-Averaged Navier-Stokes (RANS) equations for steady flow. These CFD assessments identify the high-lift performance that needs to be recovered through AFC to have the CRM variant with the lighter and mechanically simpler high-lift system match the performance of the conventional high-lift system. Conceptual design integration studies for the AFC-enhanced high-lift systems were conducted with a NASA Environmentally Responsible Aircraft (ERA) reference configuration, the so-called ERA-0003 concept. These design trades identify AFC performance targets that need to be met to produce economically feasible ERA-0003-like concepts with lighter and mechanically simpler high-lift designs that match the performance of conventional high-lift systems. Finally, technical challenges are identified associated with the application of AFC-enabled highlift systems to modern transonic commercial transports for future technology maturation efforts.

  2. Mechanical lifting energy consumption in work activities designed by means of the “revised NIOSH lifting equation”

    PubMed Central

    RANAVOLO, Alberto; VARRECCHIA, Tiwana; RINALDI, Martina; SILVETTI, Alessio; SERRAO, Mariano; CONFORTO, Silvia; DRAICCHIO, Francesco

    2017-01-01

    The aims of the present work were: to calculate lifting energy consumption (LEC) in work activities designed to have a growing lifting index (LI) by means of revised NIOSH lifting equation; to evaluate the relationship between LEC and forces at the L5-S1 joint. The kinematic and kinetic data of 20 workers were recorded during the execution of lifting tasks in three conditions. We computed kinetic, potential and mechanical energy and the corresponding LEC by considering three different centers of mass of: 1) the load (CoML); 2) the multi-segment upper body model and load together (CoMUpp+L); 3) the whole body and load together (CoMTot). We also estimated compression and shear forces. Results shows that LEC calculated for CoMUpp+L and CoMTot grew significantly with the LI and that all the lifting condition pairs are discriminated. The correlation analysis highlighted a relationship between LEC and forces that determine injuries at the L5-S1 joint. PMID:28781290

  3. 21 CFR 880.5500 - AC-powered patient lift.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false AC-powered patient lift. 880.5500 Section 880.5500... Devices § 880.5500 AC-powered patient lift. (a) Identification. An AC-powered lift is an electrically powered device either fixed or mobile, used to lift and transport patients in the horizontal or other...

  4. 21 CFR 880.5500 - AC-powered patient lift.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 21 Food and Drugs 8 2011-04-01 2011-04-01 false AC-powered patient lift. 880.5500 Section 880.5500... Devices § 880.5500 AC-powered patient lift. (a) Identification. An AC-powered lift is an electrically powered device either fixed or mobile, used to lift and transport patients in the horizontal or other...

  5. Can a new behaviorally oriented training process to improve lifting technique prevent occupationally related back injuries due to lifting?

    PubMed

    Lavender, Steven A; Lorenz, Eric P; Andersson, Gunnar B J

    2007-02-15

    A prospective randomized control trial. To determine the degree to which a new behavior-based lift training program (LiftTrainer; Ascension Technology, Burlington, VT) could reduce the incidence of low back disorder in distribution center jobs that require repetitive lifting. Most studies show programs aimed at training lifting techniques to be ineffective in preventing low back disorders, which may be due to their conceptual rather than behavioral learning approach. A total of 2144 employees in 19 distribution centers were randomized into either the LiftTrainer program or a video control group. In the LiftTrainer program, participants were individually trained in up to 5, 30-minute sessions while instrumented with motion capture sensors to quantify the L5/S1 moments. Twelve months following the initial training, injury data were obtained from company records. Survival analyses (Kaplan-Meier) indicated that there was no difference in injury rates between the 2 training groups. Likewise, there was no difference in the turnover rates. However, those with a low (<30 Nm) average twisting moment at the end of the first session experienced a significantly (P < 0.005) lower rate of low back disorder than controls. While overall the LiftTrainer program was not effective, those with twisting moments below 30 Nm reported fewer injuries, suggesting a shift in focus for "safe" lifting programs.

  6. Maximum acceptable weight of lift reflects peak lumbosacral extension moments in a functional capacity evaluation test using free style, stoop and squat lifting.

    PubMed

    Kuijer, P P F M; van Oostrom, S H; Duijzer, K; van Dieën, J H

    2012-01-01

    It is unclear whether the maximum acceptable weight of lift (MAWL), a common psychophysical method, reflects joint kinetics when different lifting techniques are employed. In a within-participants study (n = 12), participants performed three lifting techniques--free style, stoop and squat lifting from knee to waist level--using the same dynamic functional capacity evaluation lifting test to assess MAWL and to calculate low back and knee kinetics. We assessed which knee and back kinetic parameters increased with the load mass lifted, and whether the magnitudes of the kinetic parameters were consistent across techniques when lifting MAWL. MAWL was significantly different between techniques (p = 0.03). The peak lumbosacral extension moment met both criteria: it had the highest association with the load masses lifted (r > 0.9) and was most consistent between the three techniques when lifting MAWL (ICC = 0.87). In conclusion, MAWL reflects the lumbosacral extension moment across free style, stoop and squat lifting in healthy young males, but the relation between the load mass lifted and lumbosacral extension moment is different between techniques. Tests of maximum acceptable weight of lift (MAWL) from knee to waist height are used to assess work capacity of individuals with low-back disorders. This article shows that the MAWL reflects the lumbosacral extension moment across free style, stoop and squat lifting in healthy young males, but the relation between the load mass lifted and lumbosacral extension moment is different between techniques. This suggests that standardisation of lifting technique used in tests of the MAWL would be indicated if the aim is to assess the capacity of the low back.

  7. Vertical Lift - Not Just For Terrestrial Flight

    NASA Technical Reports Server (NTRS)

    Young, Larry A

    2000-01-01

    Autonomous vertical lift vehicles hold considerable potential for supporting planetary science and exploration missions. This paper discusses several technical aspects of vertical lift planetary aerial vehicles in general, and specifically addresses technical challenges and work to date examining notional vertical lift vehicles for Mars, Titan, and Venus exploration.

  8. 33 CFR 118.85 - Lights on vertical lift bridges.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 33 Navigation and Navigable Waters 1 2011-07-01 2011-07-01 false Lights on vertical lift bridges... BRIDGES BRIDGE LIGHTING AND OTHER SIGNALS § 118.85 Lights on vertical lift bridges. (a) Lift span lights. The vertical lift span of every vertical lift bridge shall be lighted so that the center of the...

  9. 33 CFR 118.85 - Lights on vertical lift bridges.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Lights on vertical lift bridges... BRIDGES BRIDGE LIGHTING AND OTHER SIGNALS § 118.85 Lights on vertical lift bridges. (a) Lift span lights. The vertical lift span of every vertical lift bridge shall be lighted so that the center of the...

  10. On the oxidation of the three-dimensional aromatics [B(12)X(12)](2-) (X=F, Cl, Br, I).

    PubMed

    Boeré, René T; Derendorf, Janis; Jenne, Carsten; Kacprzak, Sylwia; Kessler, Mathias; Riebau, Rainer; Riedel, Sebastian; Roemmele, Tracey L; Rühle, Monika; Scherer, Harald; Vent-Schmidt, Thomas; Warneke, Jonas; Weber, Stefan

    2014-04-07

    The perhalogenated closo-dodecaborate dianions [B12 X12 ](2-) (X=H, F, Cl, Br, I) are three-dimensional counterparts to the two-dimensional aromatics C6 X6 (X=H, F, Cl, Br, I). Whereas oxidation of the parent compounds [B12 H12 ](2-) and benzene does not lead to isolable radicals, the perhalogenated analogues can be oxidized by chemical or electrochemical methods to give stable radicals. The chemical oxidation of the closo-dodecaborate dianions [B12 X12 ](2-) with the strong oxidizer AsF5 in liquid sulfur dioxide (lSO2 ) yielded the corresponding radical anions [B12 X12 ](⋅-) (X=F, Cl, Br). The presence of radical ions was proven by EPR and UV/Vis spectroscopy and supported by quantum chemical calculations. Use of an excess amount of the oxidizing agent allowed the synthesis of the neutral perhalogenated hypercloso-boranes B12 X12 (X=Cl, Br). These compounds were characterized by single-crystal X-ray diffraction of dark blue B12 Cl12 and [Na(SO2 )6 ][B12 Br12 ]⋅B12 Br12 . Sublimation of the crude reaction products that contained B12 X12 (X=Cl, Br) resulted in pure dark blue B12 Cl12 or decomposition to red B9 Br9 , respectively. The energetics of the oxidation processes in the gas phase were calculated by DFT methods at the PBE0/def2-TZVPP level of theory. They revealed the trend of increasing ionization potentials of the [B12 X12 ](2-) dianions by going from fluorine to bromine as halogen substituent. The oxidation of all [B12 X12 ](2-) dianions was also studied in the gas phase by mass spectrometry in an ion trap. The electrochemical oxidation of the closo-dodecaborate dianions [B12 X12 ](2-) (X=F, Cl, Br, I) by cyclic and Osteryoung square-wave voltammetry in liquid sulfur dioxide or acetonitrile showed very good agreement with quantum chemical calculations in the gas phase. For [B12 X12 ](2-) (X=F, Cl, Br) the first and second oxidation processes are detected. Whereas the first process is quasi-reversible (with oxidation potentials in the range between +1

  11. Physiological, Biomechanical, and Medical Aspects of Lifting and Repetitive Lifting: A Review

    DTIC Science & Technology

    1983-11-01

    charateristics of the object lifted. Four major variables have been investigated: 1) box length or dimension of the box in the transverse plane, 2) box...The Department of Labour of Great Britian found that accident rates due to lifting, carrying, pushing and pulling in 1940 was 7.9 per 1000 persons ...employed (25% of the total injuries). In 1956 rates were 6.3 per 1000 persons or 27.7% of the total injuries. In England in 1962 "manual handling

  12. Protect Your Back: Guidelines for Safer Lifting.

    ERIC Educational Resources Information Center

    Cantu, Carolyn O.

    2002-01-01

    Examines back injury in teachers and child care providers; includes statistics, common causes of back pain (improper alignment, improper posture, improper lifting, and carrying), and types of back pain (acute and chronic). Focuses on preventing back injury, body mechanics for lifting and carrying, and proper lifting and carrying of children. (SD)

  13. 14 CFR 23.369 - Rear lift truss.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Rear lift truss. 23.369 Section 23.369 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS... lift truss. (a) If a rear lift truss is used, it must be designed to withstand conditions of reversed...

  14. 14 CFR 23.369 - Rear lift truss.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Rear lift truss. 23.369 Section 23.369 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS... lift truss. (a) If a rear lift truss is used, it must be designed to withstand conditions of reversed...

  15. 14 CFR 23.345 - High lift devices.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false High lift devices. 23.345 Section 23.345 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS... lift devices. (a) If flaps or similar high lift devices are to be used for takeoff, approach or landing...

  16. 14 CFR 23.345 - High lift devices.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false High lift devices. 23.345 Section 23.345 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS... lift devices. (a) If flaps or similar high lift devices are to be used for takeoff, approach or landing...

  17. Wing high-lift system with spoiler droop

    NASA Astrophysics Data System (ADS)

    Gubsky, Vitaly; Pavlenko, Olga; Petrov, Albert

    2018-05-01

    Take-off and landing regimes are becoming increasingly difficult due to the increased aircraft mass and speed and the toughening of air safety demands. The capabilities of conventional single-slotted or multi-slotted flaps are limited. This problem can be resolved by the deflection or bending of the tail section, which forms a potential flow that results in an increase in the lift component at high angles of attack. Different versions of the flap on a two-part high-lift device with a spoiler are examined. Calculations show that the application of an adaptive high-lift system with spoiler droop to an aircraft increases the lift coefficient by as much as 15%. Aircraft model experiments indicated that a δs = 5° deflection of the trailing edge increases the lift coefficient by 11% - 13%. Setting the propeller load coefficient to B = 1 (thrust/velocity factor propeller area) under take-off δf = 20° and landing δf = 35° configurations increases the efficiency of a lift coefficient by 25% and 36%, respectively. The application of spoiler droop and leading edge modifications of the wing expands the operational range of angles of attack and increases the lift coefficient by 10% at a small intensity (B = 0.5). It is concluded that the application of spoiler droop to high-lift system allows improvement of the wing properties under take-off and landing regimes of various types.

  18. A study on contraction of pneumatic artificial muscle (PAM) for load-lifting

    NASA Astrophysics Data System (ADS)

    Najmuddin, W. S. W. A.; Mustaffa, M. T.

    2017-10-01

    Pneumatic Artificial Muscles (PAMs) have been known for its wide application in various aspects of industrial automation and robotic equipments. Many advantages in terms of high power-to-volume ratio, high power-to-weight ratio, stick-slip-free operation and high degree of safety offer by PAM compare to traditional actuators. However, behind this benefits lie a limitation of significant compatibility of PAM mechanism which have to be considered so as to fully understand how the PAM works during load-lifting. In this study, the mesh suitability experiment and the effect of force load on PAM contraction experiment have been carried out. PAM is constructed and compatibility of bladder and the braided mesh to produce uniform expansion is investigated. Moreover, the first experimental result of finding compatibility is used to verify the contraction value under various loads.

  19. Project LIFT: Year Two Report

    ERIC Educational Resources Information Center

    Norton, Michael; Piccinino, Kelly

    2014-01-01

    Research for Action (RFA) has completed its second year of a five-year external evaluation of the Project Leadership and Investment for Transformation (LIFT) Initiative in the Charlotte-Mecklenburg School District (CMS). Project LIFT is a public-private partnership between CMS and the local philanthropic and business communities in Charlotte,…

  20. Buttock Lift

    MedlinePlus

    ... after surgery using a needle and syringe. Poor wound healing. Sometimes areas along the incision line heal poorly ... might be given antibiotics if there is a wound healing problem. Scarring. Incision scars from a buttock lift ...

  1. Using verbal instructions to influence lifting mechanics - Does the directive "lift with your legs, not your back" attenuate spinal flexion?

    PubMed

    Beach, Tyson A C; Stankovic, Tatjana; Carnegie, Danielle R; Micay, Rachel; Frost, David M

    2018-02-01

    "Use your legs" is commonly perceived as sound advice to prevent lifting-related low-back pain and injuries, but there is limited evidence that this directive attenuates the concomitant biomechanical risk factors. Body segment kinematic data were collected from 12 men and 12 women who performed a laboratory lifting/lowering task after being provided with different verbal instructions. The main finding was that instructing participants to lift "without rounding your lower back" had a greater effect on the amount of spine flexion they exhibited when lifting/lowering than instructing them to lift "with your legs instead of your back" and "bend your knees and hips". It was concluded that if using verbal instructions to discourage spine flexion when lifting, the instructions should be spine- rather than leg-focused. Copyright © 2017 Elsevier Ltd. All rights reserved.

  2. 77 FR 20558 - Federal Motor Vehicle Safety Standards; Platform Lifts for Motor Vehicles; Platform Lift...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-04-05

    ... amendments to the Federal motor vehicle safety standards on platform lift systems for motor vehicles. The... [email protected] . For legal issues, you may contact David Jasinski, Office of the Chief Counsel, NCC... in the Federal Register a final rule establishing FMVSS No. 403, Platform lift systems for motor...

  3. Robots in human biomechanics--a study on ankle push-off in walking.

    PubMed

    Renjewski, Daniel; Seyfarth, André

    2012-09-01

    In biomechanics, explanatory template models are used to identify the basic mechanisms of human locomotion. However, model predictions often lack verification in a realistic environment. We present a method that uses template model mechanics as a blueprint for a bipedal robot and a corresponding computer simulation. The hypotheses derived from template model studies concerning the function of heel-off in walking are analysed and discrepancies between the template model and its real-world anchor are pointed out. Neither extending the ground clearance of the swinging leg nor an impact reduction at touch-down as an effect of heel lifting was supported by the experiments. To confirm the relevance of the experimental findings, a comparison of robot data to human walking data is discussed and we speculate on an alternative explanation of heel-off in human walking, i.e. that the push-off powers the following leg swing.

  4. Visual perception of fatigued lifting actions.

    PubMed

    Fischer, Steven L; Albert, Wayne J; McGarry, Tim

    2012-12-01

    Fatigue-related changes in lifting kinematics may expose workers to undue injury risks. Early detection of accumulating fatigue offers the prospect of intervention strategies to mitigate such fatigue-related risks. In a first step towards this objective, this study investigated whether fatigue detection was accessible to visual perception and, if so, what was the key visual information required for successful fatigue discrimination. Eighteen participants were tasked with identifying fatigued lifts when viewing 24 trials presented using both video and point-light representations. Each trial comprised a pair of lifting actions containing a fresh and a fatigued lift from the same individual presented in counter-balanced sequence. Confidence intervals demonstrated that the frequency of correct responses for both sexes exceeded chance expectations (50%) for both video (68%±12%) and point-light representations (67%±10%), demonstrating that fatigued lifting kinematics are open to visual perception. There were no significant differences between sexes or viewing condition, the latter result indicating kinematic dynamics as providing sufficient information for successful fatigue discrimination. Moreover, results from single viewer investigation reported fatigue detection (75%) from point-light information describing only the kinematics of the box lifted. These preliminary findings may have important workplace applications if fatigue discrimination rates can be improved upon through future research. Copyright © 2012 Elsevier B.V. All rights reserved.

  5. Forearm Torque and Lifting Strength: Normative Data.

    PubMed

    Axelsson, Peter; Fredrikson, Per; Nilsson, Anders; Andersson, Jonny K; Kärrholm, Johan

    2018-02-10

    To establish reference values for new methods designed to quantitatively measure forearm torque and lifting strength and to compare these values with grip strength. A total of 499 volunteers, 262 males and 237 females, aged 15 to 85 (mean, 44) years, were tested for lifting strength and forearm torque with the Kern and Baseline dynamometers. These individuals were also tested for grip strength with a Jamar dynamometer. Standardized procedures were used and information about sex, height, weight, hand dominance, and whether their work involved high or low manual strain was collected. Men had approximately 70% higher forearm torque and lifting strength compared with females. Male subjects aged 26 to 35 years and female subjects aged 36 to 45 years showed highest strength values. In patients with dominant right side, 61% to 78% had a higher or equal strength on this side in the different tests performed. In patients with dominant left side, the corresponding proportions varied between 41% and 65%. There was a high correlation between grip strength and forearm torque and lifting strength. Sex, body height, body weight, and age showed a significant correlation to the strength measurements. In a multiple regression model sex, age (entered as linear and squared) could explain 51% to 63% of the total variances of forearm torque strength and 30% to 36% of lifting strength. Reference values for lifting strength and forearm torque to be used in clinical practice were acquired. Grip strength has a high correlation to forearm torque and lifting strength. Sex, age, and height can be used to predict forearm torque and lifting strength. Prediction equations using these variables were generated. Normative data of forearm torque and lifting strength might improve the quality of assessment of wrist and forearm disorders as well as their treatments. Copyright © 2018 American Society for Surgery of the Hand. Published by Elsevier Inc. All rights reserved.

  6. Project LIFT: Year Three Student Outcomes Memo

    ERIC Educational Resources Information Center

    Norton, Michael; Kim, Dae Y.; Long, Daniel A.

    2016-01-01

    Research for Action (RFA) was commissioned to evaluate changes in student outcomes during the first three years of the Project Leadership and Investment for Transformation (LIFT). This report focuses on two questions: (1) how do LIFT students' behavioral and academic performance compare to those of a matched set of non-LIFT comparison students?;…

  7. Robotics

    NASA Astrophysics Data System (ADS)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  8. Project LIFT: Year 1 Report

    ERIC Educational Resources Information Center

    Norton, Michael; Piccinino, Kelly

    2014-01-01

    Research for Action (RFA) is currently in the second year of a five-year external evaluation of the Project Leadership and Investment for Transformation (LIFT) Initiative in the Charlotte-Mecklenburg School District (CMS). Project LIFT is a public-private partnership between CMS and the local philanthropic and business communities in Charlotte,…

  9. Lift estimation of Half-Rotating Wing in hovering flight

    NASA Astrophysics Data System (ADS)

    Wang, X. Y.; Dong, Y. P.; Qiu, Z. Z.; Zhang, Y. Q.; Shan, J. H.

    2016-11-01

    Half-Rotating Wing (HRW) is a new kind of flapping wing system with rotating flapping instead of oscillating flapping. Estimating approach of hovering lift which generated in hovering flight was important theoretical foundation to design aircraft using HRW. The working principle of HRW based on Half-Rotating Mechanism (HRM) was firstly introduced in this paper. Generating process of lift by HRW was also given. The calculating models of two lift mechanisms for HRW, including Lift of Flow Around Wing (LFAW) and Lift of Flow Dragging Wing (LFDW), were respectively established. The lift estimating model of HRW was further deduced, by which hovering lift for HRW with different angular velocity could be calculated. Case study using XFLOW software simulation indicates that the above estimating method was effective and feasible to predict roughly the hovering lift for a new HRW system.

  10. 14 CFR 25.345 - High lift devices.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false High lift devices. 25.345 Section 25.345... STANDARDS: TRANSPORT CATEGORY AIRPLANES Structure Flight Maneuver and Gust Conditions § 25.345 High lift...) A head-on gust of 25 feet per second velocity (EAS). (c) If flaps or other high lift devices are to...

  11. 14 CFR 25.345 - High lift devices.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false High lift devices. 25.345 Section 25.345... STANDARDS: TRANSPORT CATEGORY AIRPLANES Structure Flight Maneuver and Gust Conditions § 25.345 High lift...) A head-on gust of 25 feet per second velocity (EAS). (c) If flaps or other high lift devices are to...

  12. Flight-Determined Subsonic Lift and Drag Characteristics of Seven Lifting-Body and Wing-Body Reentry Vehicle Configurations With Truncated Bases

    NASA Technical Reports Server (NTRS)

    Saltzman, Edwin J.; Wang, K. Charles; Iliff, Kenneth W.

    1999-01-01

    This paper examines flight-measured subsonic lift and drag characteristics of seven lifting-body and wing-body reentry vehicle configurations with truncated bases. The seven vehicles are the full-scale M2-F1, M2-F2, HL-10, X-24A, X-24B, and X-15 vehicles and the Space Shuttle prototype. Lift and drag data of the various vehicles are assembled under aerodynamic performance parameters and presented in several analytical and graphical formats. These formats unify the data and allow a greater understanding than studying the vehicles individually allows. Lift-curve slope data are studied with respect to aspect ratio and related to generic wind-tunnel model data and to theory for low-aspect-ratio planforms. The proper definition of reference area was critical for understanding and comparing the lift data. The drag components studied include minimum drag coefficient, lift-related drag, maximum lift-to-drag ratio, and, where available, base pressure coefficients. The effects of fineness ratio on forebody drag were also considered. The influence of forebody drag on afterbody (base) drag at low lift is shown to be related to Hoerner's compilation for body, airfoil, nacelle, and canopy drag. These analyses are intended to provide a useful analytical framework with which to compare and evaluate new vehicle configurations of the same generic family.

  13. Powered-Lift Aerodynamics and Acoustics. [conferences

    NASA Technical Reports Server (NTRS)

    1976-01-01

    Powered lift technology is reviewed. Topics covered include: (1) high lift aerodynamics; (2) high speed and cruise aerodynamics; (3) acoustics; (4) propulsion aerodynamics and acoustics; (5) aerodynamic and acoustic loads; and (6) full-scale and flight research.

  14. Tests of a Full-Scale Model of the Republic XF-91 Airplane in the Ames 40- by 80-Foot Wind Tunnel. Force and Moment Data

    NASA Technical Reports Server (NTRS)

    Hunten, Lynn W.; Dew, Joseph K.

    1949-01-01

    Wind-tunnel tests of a full-scale model of the Republic XF-91 airplane having swept-back wings and a vee tail were conducted to determine both the stability and control characteristics of the model longitudinally, laterally, and directionally. Configurations of the model were investigated involving such variables as external fuel tanks, a landing gear, trailing-edge flaps, leading-edge slats, and a range of wing incidences and tail incidences.

  15. Lifting Safety: Tips To Help Prevent Back Injuries

    MedlinePlus

    ... injury from lifting? How can I improve my environment to reduce my risk of back injuries? Resources National Safety Council, Lift and Carry U.S. Department of Labor: Occupational Safety and Health Administration, Heavy Lifting Last Updated: March 15, 2017 ...

  16. Relative importance of expertise, lifting height and weight lifted on posture and lumbar external loading during a transfer task in manual material handling.

    PubMed

    Plamondon, André; Larivière, Christian; Delisle, Alain; Denis, Denys; Gagnon, Denis

    2012-01-01

    The objective of this study was to measure the effect size of three important factors in manual material handling, namely expertise, lifting height and weight lifted. The effect of expertise was evaluated by contrasting 15 expert and 15 novice handlers, the effect of the weight lifted with a 15-kg box and a 23-kg box and the effect of lifting height with two different box heights: ground level and a 32 cm height. The task consisted of transferring a series of boxes from a conveyor to a hand trolley. Lifting height and weight lifted had more effect size than expertise on external back loading variables (moments) while expertise had low impact. On the other hand, expertise showed a significant effect of posture variables on the lumbar spine and knees. All three factors are important, but for a reduction of external back loading, the focus should be on the lifting height and weight lifted. The objective was to measure the effect size of three important factors in a transfer of boxes from a conveyor to a hand trolley. Lifting height and weight lifted had more effect size than expertise on external back loading variables but expertise was a major determinant in back posture.

  17. Secondary lift for magnetically levitated vehicles

    DOEpatents

    Cooper, Richard K.

    1976-01-01

    A high-speed terrestrial vehicle that is magnetically levitated by means of magnets which are used to induce eddy currents in a continuous electrically conductive nonferromagnetic track to produce magnetic images that repel the inducing magnet to provide primary lift for the vehicle. The magnets are arranged so that adjacent ones have their fields in opposite directions and the magnets are spaced apart a distance that provides a secondary lift between each magnet and the adjacent magnet's image, the secondary lift being maximized by optimal spacing of the magnets.

  18. Linearized Lifting-Surface and Lifting-line Evaluations of Sidewash Behind Rolling Triangular Wings at Supersonic Speeds

    NASA Technical Reports Server (NTRS)

    Bobbitt, Percy J

    1957-01-01

    The lifting-surface sidewash behind rolling triangular wings has been derived for a range of supersonic Mach numbers for which the wing leading edges remain swept behind the mark cone emanating from the wing apex. Variations of the sidewash with longitudinal distance in the vertical plane of symmetry are presented in graphical form. An approximate expression for the sidewash has been developed by means of an approach using a horseshoe-vortex approximate-lifting-line theory. By use of this approximate expression, sidewash may be computed for wings of arbitrary plan form and span loading. A comparison of the sidewash computed by lifting-surface and lifting-line expressions for the triangular wing showed good agreement except in the vicinity of the trailing edge when the leading edge approached the sonic condition. An illustrative calculation has been made of the force induced by the wing sidewash on a vertical tail located in various longitudinal positions.

  19. Aerodynamic Assessment of Flight-Determined Subsonic Lift and Drag Characteristics of Seven Lifting-Body and Wing-Body Reentry Vehicle Configurations

    NASA Technical Reports Server (NTRS)

    Saltzman, Edwin J.; Wang, K. Charles; Iliff, Kenneth W.

    2002-01-01

    This report examines subsonic flight-measured lift and drag characteristics of seven lifting-body and wing-body reentry vehicle configurations with truncated bases. The seven vehicles are the full-scale M2-F1, M2-F2, HL-10, X-24A, X-24B, and X-15 vehicles and the Space Shuttle Enterprise. Subsonic flight lift and drag data of the various vehicles are assembled under aerodynamic performance parameters and presented in several analytical and graphical formats. These formats are intended to unify the data and allow a greater understanding than individually studying the vehicles allows. Lift-curve slope data are studied with respect to aspect ratio and related to generic wind-tunnel model data and to theory for low-aspect-ratio platforms. The definition of reference area is critical for understanding and comparing the lift data. The drag components studied include minimum drag coefficient, lift-related drag, maximum lift-to drag ratio, and, where available, base pressure coefficients. The influence of forebody drag on afterbody and base drag at low lift is shown to be related to Hoerner's compilation for body, airfoil, nacelle, and canopy drag. This feature may result in a reduced need of surface smoothness for vehicles with a large ratio of base area to wetted area. These analyses are intended to provide a useful analytical framework with which to compare and evaluate new vehicle configurations of the same generic family.

  20. The impact of robotics on employment and motivation of employees in the service sector, with special reference to health care.

    PubMed

    Qureshi, Mohammed Owais; Syed, Rumaiya Sajjad

    2014-12-01

    The economy is being lifted by the new concept of robotics, but we cannot be sure of all the possible benefits. At this early stage, it therefore becomes important to find out the possible benefits/limitations associated with robotics, so that the positives can be capitalized, established, and developed further for the employment and motivation of employees in the health care sector, for overall economic development. The negatives should also be further studied and mitigated. This study is an exploratory research, based on secondary data, such as books on topics related to robotics, websites, public websites of concerned departments for data and statistics, journals, newspapers and magazines, websites of health care providers, and different printed materials (brochures, etc). The impact of robotics has both positive and negative impacts on the employment and motivation of employees in the retail sector. So far, there has been no substantial research done into robotics, especially in the health care sector. Replacing employees with robots is an inevitable choice for organizations in the service sector, more so in the health care sector because of the challenging and sometimes unhealthy working environments, but, at the same time, the researchers propose that it should be done in a manner that helps in improving the employment and motivation of employees in this sector.

  1. Lift enhancing tabs for airfoils

    NASA Technical Reports Server (NTRS)

    Ross, James C. (Inventor)

    1994-01-01

    A tab deployable from the trailing edge of a main airfoil element forces flow onto a following airfoil element, such as a flap, to keep the flow attached and thus enhance lift. For aircraft wings with high lift systems that include leading edge slats, the slats may also be provided with tabs to turn the flow onto the following main element.

  2. A Real-Time Lift Detection Strategy for a Hip Exoskeleton.

    PubMed

    Chen, Baojun; Grazi, Lorenzo; Lanotte, Francesco; Vitiello, Nicola; Crea, Simona

    2018-01-01

    Repetitive lifting of heavy loads increases the risk of back pain and even lumbar vertebral injuries to workers. Active exoskeletons can help workers lift loads by providing power assistance, and therefore reduce the moment and force applied on L5/S1 joint of human body when performing lifting tasks. However, most existing active exoskeletons for lifting assistance are unable to automatically detect user's lift movement, which limits the wide application of active exoskeletons in factories. In this paper, we propose a simple but effective lift detection strategy for exoskeleton control. This strategy uses only exoskeleton integrated sensors, without any extra sensors to capture human motion intentions. This makes the lift detection system more practical for applications in manufacturing environments. Seven healthy subjects participated in this research. Three different sessions were carried out, two for training and one for testing the algorithm. In the two training sessions, subjects were asked to wear a hip exoskeleton, controlled in transparent mode, and perform repetitive lifting and a locomotion circuit; lifting was executed with different techniques. The collected data were used to train the lift detection model. In the testing session, the exoskeleton was controlled in order to deliver torque to assist the lifting action, based on the lift detection made by the trained algorithm. The across-subject average accuracy of lift detection during online test was 97.97 ± 1.39% with subject-dependent model. Offline, the algorithm was trained with data acquired from all subjects to verify its performance for subject-independent detection, and an accuracy of 97.48 ± 1.53% was achieved. In addition, timeliness of the algorithm was quantitatively evaluated and the time delay was <160 ms across different lifting speeds. Surface electromyography was also measured to assess the efficacy of the exoskeleton in assisting subjects in performing load lifting tasks. These

  3. A Real-Time Lift Detection Strategy for a Hip Exoskeleton

    PubMed Central

    Chen, Baojun; Grazi, Lorenzo; Lanotte, Francesco; Vitiello, Nicola; Crea, Simona

    2018-01-01

    Repetitive lifting of heavy loads increases the risk of back pain and even lumbar vertebral injuries to workers. Active exoskeletons can help workers lift loads by providing power assistance, and therefore reduce the moment and force applied on L5/S1 joint of human body when performing lifting tasks. However, most existing active exoskeletons for lifting assistance are unable to automatically detect user's lift movement, which limits the wide application of active exoskeletons in factories. In this paper, we propose a simple but effective lift detection strategy for exoskeleton control. This strategy uses only exoskeleton integrated sensors, without any extra sensors to capture human motion intentions. This makes the lift detection system more practical for applications in manufacturing environments. Seven healthy subjects participated in this research. Three different sessions were carried out, two for training and one for testing the algorithm. In the two training sessions, subjects were asked to wear a hip exoskeleton, controlled in transparent mode, and perform repetitive lifting and a locomotion circuit; lifting was executed with different techniques. The collected data were used to train the lift detection model. In the testing session, the exoskeleton was controlled in order to deliver torque to assist the lifting action, based on the lift detection made by the trained algorithm. The across-subject average accuracy of lift detection during online test was 97.97 ± 1.39% with subject-dependent model. Offline, the algorithm was trained with data acquired from all subjects to verify its performance for subject-independent detection, and an accuracy of 97.48 ± 1.53% was achieved. In addition, timeliness of the algorithm was quantitatively evaluated and the time delay was <160 ms across different lifting speeds. Surface electromyography was also measured to assess the efficacy of the exoskeleton in assisting subjects in performing load lifting tasks. These

  4. Robot and robot system

    NASA Technical Reports Server (NTRS)

    Behar, Alberto E. (Inventor); Marzwell, Neville I. (Inventor); Wall, Jonathan N. (Inventor); Poole, Michael D. (Inventor)

    2011-01-01

    A robot and robot system that are capable of functioning in a zero-gravity environment are provided. The robot can include a body having a longitudinal axis and having a control unit and a power source. The robot can include a first leg pair including a first leg and a second leg. Each leg of the first leg pair can be pivotally attached to the body and constrained to pivot in a first leg pair plane that is substantially perpendicular to the longitudinal axis of the body.

  5. The Selection of a Van Lift or a Scooter.

    ERIC Educational Resources Information Center

    Stevens, John H.

    1990-01-01

    This newsletter issue describes 3-wheeled scooters and van lifts that can assist a person with a disability to drive independently or have access to transportation. The section on van lifts compares hydraulic lifts and electric lifts, lists manufacturers, and offers an "assessment quiz" outlining factors to consider in selecting a van…

  6. Effect of Various Modifications on Drag and Longitudinal Stability and Control Characteristics at Transonic Speeds of a Model of the XF7U-1 Tailless Airplane: NACA Wing-FLow Method, TED No. NACA DE 307

    NASA Technical Reports Server (NTRS)

    Sawyer, Richard H.; Trant, James P., Jr.

    1950-01-01

    An investigation was made by the NACA wing-flow method to determine the drag, pitching-moment, lift, and angle-of-attack characteristics at transonic speeds of various configurations of a semispan model of an early configuration of the XF7U-1 tailless airplane. The results of the tests indicated that for the basic configuration with undeflected ailavator, the zero-lift drag rise occurred at a Mach number of about 0.85 and that about a five-fold increase in drag occurred through the transonic speed range. The results of the tests also indicated that the drag increment produced by -8.0 degrees deflection of the ailavator increased with increase in normal-force coefficient and was smaller at speeds above than at speeds below the drag rise. The drag increment produced by 35 degree deflection of the speed brakes varied from 0.040 to 0.074 depending on the normal-force coefficient and Mach number. These values correspond to drag coefficients of about 0.40 and 0.75 based on speed-brake frontal area. Removal of the fin produced a small positive drag increment at a given normal-force coefficient at speeds during the drag rise. A large forward shift of the neutral-point location occurred at Mach numbers above about 0.90 upon removal of the fin, and also a considerable forward shift throughout the Mach number range occurred upon deflection of the speed brakes. Ailavator ineffectiveness or reversal at low deflections, similar to that determined in previous tests of the basic configuration of the model in the Mach number range from about 0.93 to 1.0, was found for the fin-off configuration and for the model equipped with skewed (more highly sweptback) hinge-line ailavators. With the speed brakes deflected, little or no loss in the incremental pitching moment produced by deflection of the ailavator from O degrees to -8.00 degrees occurred in the Mach number range from 0.85 to 1.0 in contrast to a considerable loss found in previous tests with the speed brakes off.

  7. Single-vortex pinning and penetration depth in superconducting NdFeAsO 1-xF x

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

    Zhang, Jessie T.; Kim, Jeehoon; Huefner, Magdalena

    2015-10-12

    We use a magnetic force microscope (MFM) to investigate single vortex pinning and penetration depth in NdFeAsO 1-xF x, one of the highest-T c iron-based superconductors. In fields up to 20 Gauss, we observe a disordered vortex arrangement, implying that the pinning forces are stronger than the vortex-vortex interactions. We measure the typical force to depin a single vortex, F depin ≃ 4.5 pN, corresponding to a critical current up to J c ≃ 7×10 5 A/cm 2. As a result, our MFM measurements allow the first local and absolute determination of the superconducting in-plane penetration depth in NdFeAsO 1-xFmore » x, λ ab = 320 ± 60 nm, which is larger than previous bulk measurements.« less

  8. Noise impact of advanced high lift systems

    NASA Technical Reports Server (NTRS)

    Elmer, Kevin R.; Joshi, Mahendra C.

    1995-01-01

    The impact of advanced high lift systems on aircraft size, performance, direct operating cost and noise were evaluated for short-to-medium and medium-to-long range aircraft with high bypass ratio and very high bypass ratio engines. The benefit of advanced high lift systems in reducing noise was found to be less than 1 effective-perceived-noise decibel level (EPNdB) when the aircraft were sized to minimize takeoff gross weight. These aircraft did, however, have smaller wings and lower engine thrusts for the same mission than aircraft with conventional high lift systems. When the advanced high lift system was implemented without reducing wing size and simultaneously using lower flap angles that provide higher L/D at approach a cumulative noise reduction of as much as 4 EPNdB was obtained. Comparison of aircraft configurations that have similar approach speeds showed cumulative noise reduction of 2.6 EPNdB that is purely the result of incorporating advanced high lift system in the aircraft design.

  9. Growth, electrical, structural, and magnetic properties of half-Heusler CoT i1 -xF exSb

    NASA Astrophysics Data System (ADS)

    Harrington, S. D.; Rice, A. D.; Brown-Heft, T. L.; Bonef, B.; Sharan, A.; McFadden, A. P.; Logan, J. A.; Pendharkar, M.; Feldman, M. M.; Mercan, O.; Petukhov, A. G.; Janotti, A.; Colakerol Arslan, L.; Palmstrøm, C. J.

    2018-01-01

    Epitaxial thin films of the substitutionally alloyed half-Heusler series CoT i1 -xF exSb were grown by molecular beam epitaxy on InAlAs/InP(001) substrates for concentrations 0.0 ≤x ≤1.0 . The influence of Fe on the structural, electronic, and magnetic properties was studied and compared to that expected from density functional theory. The films are epitaxial and single crystalline, as measured by reflection high-energy electron diffraction and x-ray diffraction. Using in situ x-ray photoelectron spectroscopy, only small changes in the valence band are detected for x ≤0.5 . For films with x ≥0.05 , ferromagnetism is observed in SQUID magnetometry with a saturation magnetization that scales linearly with Fe content. A dramatic decrease in the magnetic moment per formula unit occurs when the Fe is substitutionally alloyed on the Co site indicating a strong dependence on the magnetic moment with site occupancy. A crossover from both in-plane and out-of-plane magnetic moments to only in-plane moment occurs for higher concentrations of Fe. Ferromagnetic resonance indicates a transition from weak to strong interaction with a reduction in inhomogeneous broadening as Fe content is increased. Temperature-dependent transport reveals a semiconductor to metal transition with thermally activated behavior for x ≤0.5 . Anomalous Hall effect and large negative magnetoresistance (up to -18.5% at 100 kOe for x =0.3 ) are observed for higher Fe content films. Evidence of superparamagnetism for x =0.3 and 0.2 suggests, for moderate levels of Fe, that demixing of the CoT i1 -xF exSb films into Fe-rich and Fe-deficient regions may be present. Atom probe tomography is used to examine the Fe distribution in an x =0.3 film. Statistical analysis reveals a nonhomogeneous distribution of Fe atoms throughout the film, which is used to explain the observed magnetic and electrical behavior.

  10. Toward Self-Growing Soft Robots Inspired by Plant Roots and Based on Additive Manufacturing Technologies.

    PubMed

    Sadeghi, Ali; Mondini, Alessio; Mazzolai, Barbara

    2017-09-01

    In this article, we present a novel class of robots that are able to move by growing and building their own structure. In particular, taking inspiration by the growing abilities of plant roots, we designed and developed a plant root-like robot that creates its body through an additive manufacturing process. Each robotic root includes a tubular body, a growing head, and a sensorized tip that commands the robot behaviors. The growing head is a customized three-dimensional (3D) printer-like system that builds the tubular body of the root in the format of circular layers by fusing and depositing a thermoplastic material (i.e., polylactic acid [PLA] filament) at the tip level, thus obtaining movement by growing. A differential deposition of the material can create an asymmetry that results in curvature of the built structure, providing the possibility of root bending to follow or escape from a stimulus or to reach a desired point in space. Taking advantage of these characteristics, the robotic roots are able to move inside a medium by growing their body. In this article, we describe the design of the growing robot together with the modeling of the deposition process and the description of the implemented growing movement strategy. Experiments were performed in air and in an artificial medium to verify the functionalities and to evaluate the robot performance. The results showed that the robotic root, with a diameter of 50 mm, grows with a speed of up to 4 mm/min, overcoming medium pressure of up to 37 kPa (i.e., it is able to lift up to 6 kg) and bending with a minimum radius of 100 mm.

  11. Toward Self-Growing Soft Robots Inspired by Plant Roots and Based on Additive Manufacturing Technologies

    PubMed Central

    Mondini, Alessio

    2017-01-01

    Abstract In this article, we present a novel class of robots that are able to move by growing and building their own structure. In particular, taking inspiration by the growing abilities of plant roots, we designed and developed a plant root-like robot that creates its body through an additive manufacturing process. Each robotic root includes a tubular body, a growing head, and a sensorized tip that commands the robot behaviors. The growing head is a customized three-dimensional (3D) printer-like system that builds the tubular body of the root in the format of circular layers by fusing and depositing a thermoplastic material (i.e., polylactic acid [PLA] filament) at the tip level, thus obtaining movement by growing. A differential deposition of the material can create an asymmetry that results in curvature of the built structure, providing the possibility of root bending to follow or escape from a stimulus or to reach a desired point in space. Taking advantage of these characteristics, the robotic roots are able to move inside a medium by growing their body. In this article, we describe the design of the growing robot together with the modeling of the deposition process and the description of the implemented growing movement strategy. Experiments were performed in air and in an artificial medium to verify the functionalities and to evaluate the robot performance. The results showed that the robotic root, with a diameter of 50 mm, grows with a speed of up to 4 mm/min, overcoming medium pressure of up to 37 kPa (i.e., it is able to lift up to 6 kg) and bending with a minimum radius of 100 mm. PMID:29062628

  12. Investigation of Maximum Blade Loading Capability of Lift-Offset Rotors

    NASA Technical Reports Server (NTRS)

    Yeo, Hyeonsoo; Johnson, Wayne

    2013-01-01

    Maximum blade loading capability of a coaxial, lift-offset rotor is investigated using a rotorcraft configuration designed in the context of short-haul, medium-size civil and military missions. The aircraft was sized for a 6600-lb payload and a range of 300 nm. The rotor planform and twist were optimized for hover and cruise performance. For the present rotor performance calculations, the collective pitch angle is progressively increased up to and through stall with the shaft angle set to zero. The effects of lift offset on rotor lift, power, controls, and blade airloads and structural loads are examined. The maximum lift capability of the coaxial rotor increases as lift offset increases and extends well beyond the McHugh lift boundary as the lift potential of the advancing blades are fully realized. A parametric study is conducted to examine the differences between the present coaxial rotor and the McHugh rotor in terms of maximum lift capabilities and to identify important design parameters that define the maximum lift capability of the rotor. The effects of lift offset on rotor blade airloads and structural loads are also investigated. Flap bending moment increases substantially as lift offset increases to carry the hub roll moment even at low collective values. The magnitude of flap bending moment is dictated by the lift-offset value (hub roll moment) but is less sensitive to collective and speed.

  13. 21 CFR 880.5510 - Non-AC-powered patient lift.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Non-AC-powered patient lift. 880.5510 Section 880... Devices § 880.5510 Non-AC-powered patient lift. (a) Identification. A non-AC-powered patient lift is a hydraulic, battery, or mechanically powered device, either fixed or mobile, used to lift and transport a...

  14. 21 CFR 880.5510 - Non-AC-powered patient lift.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 21 Food and Drugs 8 2011-04-01 2011-04-01 false Non-AC-powered patient lift. 880.5510 Section 880... Devices § 880.5510 Non-AC-powered patient lift. (a) Identification. A non-AC-powered patient lift is a hydraulic, battery, or mechanically powered device, either fixed or mobile, used to lift and transport a...

  15. The Cumulative Lifting Index (CULI) for the Revised NIOSH Lifting Equation: Quantifying Risk for Workers With Job Rotation.

    PubMed

    Garg, Arun; Kapellusch, Jay M

    2016-08-01

    The objectives were to: (a) develop a continuous frequency multiplier (FM) for the Revised NIOSH Lifting Equation (RNLE) as a function of lifting frequency and duration of a lifting task, and (b) describe the Cumulative Lifting Index (CULI), a methodology for estimating physical exposure to workers with job rotation. The existing FM for the RNLE (FME) does not differentiate between task duration >2 hr and <8 hr, which makes quantifying physical exposure to workers with job rotation difficult and presents challenges to job designers. Using the existing FMs for 1, 2, and 8 hr of task durations, we developed a continuous FM (FMP) that extends to 12 hr per day. We simulated 157,500 jobs consisting of two tasks each and, using different combinations of Frequency Independent Lifting Index, lifting frequency and duration of lifting. Biomechanical stresses were estimated using the CULI, time-weighted average (TWA), and peak exposure. The median difference between FME and FMP was ±1% (range: 0%-15%). Compared to CULI, TWA underestimated risk of low-back pain (LBP) for 18% to 30% of jobs, and peak exposure for an assumed 8-hr work shift overestimated risk of LBP for 20% to 25% of jobs. Peak task exposure showed 90% agreement with CULI but ignored one of two tasks. The CULI partially addressed the underestimation of physical exposure using the TWA approach and overestimation of exposure using the peak-exposure approach. The proposed FM and CULI may provide more accurate physical exposure estimates, and therefore estimated risk of LBP, for workers with job rotation. © 2016, Human Factors and Ergonomics Society.

  16. Effects of a Belt on Intra-Abdominal Pressure during Weight Lifting.

    DTIC Science & Technology

    1988-03-01

    potentially injurious b compressive forces on spinal discs during lifting. To investigate the effects of a standard lifting belt on lAP and lifting mechanics... injurious compressive forces on spinal discs during lifting. To investigate the effects of a standard lifting belt on IAP and lifting ! mechanics... weightlifting (7,9). Both olympic and power lifters have used lifting belts for many years, yet virtually no research has been reported which examines

  17. Exploratorium: Robots.

    ERIC Educational Resources Information Center

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  18. A Practical Approach To Lift-Off

    NASA Astrophysics Data System (ADS)

    Jones, Susan K.; Chapman, Richard C.; Pavelchek, Edward K.

    1987-08-01

    Lift-off technology provides an alternate metal patterning technology to that of subtractive etching. In this raper, we describe an image reversal process which provides a practical means for reliably producing resist stencils which are required for successful lift-off in a 2.0 μm metal pitch CMOS process, as well as for experimental submicron processing. Experimental data and PROSIM simulations are presented to show the effects of patterning exposure dose, flood exposure dose, develop time, and focus parameters on resist linewidths as well as for control of resist retrograde (undercut) sidewall angles. Deposition and subsequent lift-off of Al/Cu alloys and sandwich metallizations is demonstrated. Because the image reversal process enables pattern definition at the top of the resist film, it is demonstrated that thicker resist films can be used to produce finer resolution of lift-off stencils over topography than would have been expected without resorting to multilayer resist structures.

  19. Effect of training and lifting equipment for preventing back pain in lifting and handling: systematic review

    PubMed Central

    2008-01-01

    Objectives To determine whether advice and training on working techniques and lifting equipment prevent back pain in jobs that involve heavy lifting. Data sources Medline, Embase, CENTRAL, Cochrane Back Group’s specialised register, CINAHL, Nioshtic, CISdoc, Science Citation Index, and PsychLIT were searched up to September-November 2005. Review methods The primary search focused on randomised controlled trials and the secondary search on cohort studies with a concurrent control group. Interventions aimed to modify techniques for lifting and handling heavy objects or patients and including measurements for back pain, consequent disability, or sick leave as the main outcome were considered for the review. Two authors independently assessed eligibility of the studies and methodological quality of those included. For data synthesis, we summarised the results of studies comparing similar interventions. We used odds ratios and effect sizes to combine the results in a meta-analysis. Finally, we compared the conclusions of the primary and secondary analyses. Results Six randomised trials and five cohort studies met the inclusion criteria. Two randomised trials and all cohort studies were labelled as high quality. Eight studies looked at lifting and moving patients, and three studies were conducted among baggage handlers or postal workers. Those in control groups received no intervention or minimal training, physical exercise, or use of back belts. None of the comparisons in randomised trials (17 720 participants) yielded significant differences. In the secondary analysis, none of the cohort studies (772 participants) had significant results, which supports the results of the randomised trials. Conclusions There is no evidence to support use of advice or training in working techniques with or without lifting equipment for preventing back pain or consequent disability. The findings challenge current widespread practice of advising workers on correct lifting technique

  20. An ab initio study on MgX 3- and CaX 3- superhalogen anions (X=F, Cl, Br)

    NASA Astrophysics Data System (ADS)

    Anusiewicz, Iwona; Sobczyk, Monika; Dąbkowska, Iwona; Skurski, Piotr

    2003-06-01

    The vertical electron detachment energies (VDEs) of twenty MX 3- (M=Mg, Ca; X=F, Cl, Br) anions were calculated at the OVGF level with the 6-311++G(3df) basis sets. The largest vertical electron binding energy was found for MgF 3- system (8.793 eV). All negatively charged species possess the VDEs that are larger than 5.9 eV and thus may be termed superhalogen anions. The strong dependence of the VDE of the MX 3- species on the ligand-central atom (M-X) distance and on the partial atomic charge localized on Mg or Ca was observed and discussed, as well as the other factors that may influence the electronic stability of such anions.

  1. Assessing Mitochondrial Bioenergetics in Isolated Mitochondria from Various Mouse Tissues Using Seahorse XF96 Analyzer.

    PubMed

    Iuso, Arcangela; Repp, Birgit; Biagosch, Caroline; Terrile, Caterina; Prokisch, Holger

    2017-01-01

    Working with isolated mitochondria is the gold standard approach to investigate the function of the electron transport chain in tissues, free from the influence of other cellular factors. In this chapter, we outline a detailed protocol to measure the rate of oxygen consumption (OCR) with the high-throughput analyzer Seahorse XF96. More importantly, this protocol wants to provide practical tips for handling many different samples at once, and take a real advantage of using a high-throughput system. As a proof of concept, we have isolated mitochondria from brain, heart, liver, muscle, kidney, and lung of a wild-type mouse, and measured basal respiration (State II), ADP-stimulated respiration (State III), non-ADP-stimulated respiration (State IV o ), and FCCP-stimulated respiration (State III u ) using respiratory substrates specific to the respiratory chain complex I (RCCI) and complex II (RCCII). Mitochondrial purification and Seahorse runs were performed in less than eight working hours.

  2. Three-Dimensional Effects in Multi-Element High Lift Computations

    NASA Technical Reports Server (NTRS)

    Rumsey, Christopher L.; LeeReusch, Elizabeth M.; Watson, Ralph D.

    2003-01-01

    In an effort to discover the causes for disagreement between previous two-dimensional (2-D) computations and nominally 2-D experiment for flow over the three-element McDonnell Douglas 30P-30N airfoil configuration at high lift, a combined experimental/CFD investigation is described. The experiment explores several different side-wall boundary layer control venting patterns, documents venting mass flow rates, and looks at corner surface flow patterns. The experimental angle of attack at maximum lift is found to be sensitive to the side-wall venting pattern: a particular pattern increases the angle of attack at maximum lift by at least 2 deg. A significant amount of spanwise pressure variation is present at angles of attack near maximum lift. A CFD study using three-dimensional (3-D) structured-grid computations, which includes the modeling of side-wall venting, is employed to investigate 3-D effects on the flow. Side-wall suction strength is found to affect the angle at which maximum lift is predicted. Maximum lift in the CFD is shown to be limited by the growth of an off-body corner flow vortex and consequent increase in spanwise pressure variation and decrease in circulation. The 3-D computations with and without wall venting predict similar trends to experiment at low angles of attack, but either stall too early or else overpredict lift levels near maximum lift by as much as 5%. Unstructured-grid computations demonstrate that mounting brackets lower the lift levels near maximum lift conditions.

  3. Two-Dimensional High-Lift Aerodynamic Optimization Using Neural Networks

    NASA Technical Reports Server (NTRS)

    Greenman, Roxana M.

    1998-01-01

    The high-lift performance of a multi-element airfoil was optimized by using neural-net predictions that were trained using a computational data set. The numerical data was generated using a two-dimensional, incompressible, Navier-Stokes algorithm with the Spalart-Allmaras turbulence model. Because it is difficult to predict maximum lift for high-lift systems, an empirically-based maximum lift criteria was used in this study to determine both the maximum lift and the angle at which it occurs. The 'pressure difference rule,' which states that the maximum lift condition corresponds to a certain pressure difference between the peak suction pressure and the pressure at the trailing edge of the element, was applied and verified with experimental observations for this configuration. Multiple input, single output networks were trained using the NASA Ames variation of the Levenberg-Marquardt algorithm for each of the aerodynamic coefficients (lift, drag and moment). The artificial neural networks were integrated with a gradient-based optimizer. Using independent numerical simulations and experimental data for this high-lift configuration, it was shown that this design process successfully optimized flap deflection, gap, overlap, and angle of attack to maximize lift. Once the neural nets were trained and integrated with the optimizer, minimal additional computer resources were required to perform optimization runs with different initial conditions and parameters. Applying the neural networks within the high-lift rigging optimization process reduced the amount of computational time and resources by 44% compared with traditional gradient-based optimization procedures for multiple optimization runs.

  4. Assessment of Navy Heavy-Lift Aircraft Options

    DTIC Science & Technology

    2005-01-01

    and reduced rotor RPM – High risk advanced-control system for cyclic control and collective control of lift mixing – RVR not best suited for HL...transition to provide forward thrust once out of hover. These multiple lifting surfaces would have to be mixed together by some software-controlled lift...mistakes not repeated - Could add a decade to IOC estimates – Note Marine defintion of IOC is different from DoD’s • Marines — actual deployment

  5. 49 CFR 37.165 - Lift and securement use.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 1 2010-10-01 2010-10-01 false Lift and securement use. 37.165 Section 37.165... DISABILITIES (ADA) Provision of Service § 37.165 Lift and securement use. (a) This section applies to public... with disabilities with the use of securement systems, ramps and lifts. If it is necessary for the...

  6. Design of a portable powered seat lift

    NASA Technical Reports Server (NTRS)

    Weddendorf, Bruce

    1993-01-01

    People suffering from degenerative hip or knee joints find sitting and rising from a seated position very difficult. These people can rely on large stationary chairs at home, but must ask others for assistance when rising from any other chair. An orthopedic surgeon identified to the MSFC Technology Utilization Office the need for development of a portable device that could perform a similar function to the stationary lift chairs. The MSFC Structural Development Branch answered the Technology Utilization Office's request for design of a portable powered seat lift. The device is a seat cushion that opens under power, lifting the user to near-standing positions. The largest challenge was developing a mechanism to provide a stable lift over the large range of motion needed, and fold flat enough to be comfortable to sit on. CAD 3-D modeling was used to generate complete drawings for the prototype, and a full-scale working model of the Seat lift was made based on the drawings. The working model is of low strength, but proves the function of the mechanism and the concept.

  7. Aerodynamic characteristics of a propeller-powered high-lift semispan wing

    NASA Technical Reports Server (NTRS)

    Gentry, Garl L., Jr.; Takallu, M. A.; Applin, Zachary T.

    1994-01-01

    A small-scale semispan high-lift wing-flap system equipped under the wing with a turboprop engine assembly was tested in the LaRC 14- by 22-Foot Subsonic Tunnel. Experimental data were obtained for various propeller rotational speeds, nacelle locations, and nacelle inclinations. To isolate the effects of the high lift system, data were obtained with and without the flaps and leading-edge device. The effects of the propeller slipstream on the overall longitudinal aerodynamic characteristics of the wing-propeller assembly were examined. Test results indicated that the lift coefficient of the wing could be increased by the propeller slipstream when the rotational speed was increased and high-lift devices were deployed. Decreasing the nacelle inclination (increased pitch down) enhanced the lift performance of the system much more than varying the vertical or horizontal location of the nacelle. Furthermore, decreasing the nacelle inclination led to higher lift curve slope values, which indicated that the powered wing could sustain higher angles of attack near maximum lift performance. Any lift augmentation was accompanied by a drag penalty due to the increased wing lift.

  8. Approach Considerations in Aircraft with High-Lift Propeller Systems

    NASA Technical Reports Server (NTRS)

    Patterson, Michael D.; Borer, Nicholas K.

    2017-01-01

    NASA's research into distributed electric propulsion (DEP) includes the design and development of the X-57 Maxwell aircraft. This aircraft has two distinct types of DEP: wingtip propellers and high-lift propellers. This paper focuses on the unique opportunities and challenges that the high-lift propellers--i.e., the small diameter propellers distributed upstream of the wing leading edge to augment lift at low speeds--bring to the aircraft performance in approach conditions. Recent changes to the regulations related to certifying small aircraft (14 CFR x23) and these new regulations' implications on the certification of aircraft with high-lift propellers are discussed. Recommendations about control systems for high-lift propeller systems are made, and performance estimates for the X-57 aircraft with high-lift propellers operating are presented.

  9. 29 CFR 1926.453 - Aerial lifts.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... provided the modification has been certified in writing by the manufacturer or by any other equivalent... articulating boom platforms. (i) Lift controls shall be tested each day prior to use to determine that such controls are in safe working condition. (ii) Only authorized persons shall operate an aerial lift. (iii...

  10. 29 CFR 1926.453 - Aerial lifts.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... provided the modification has been certified in writing by the manufacturer or by any other equivalent... articulating boom platforms. (i) Lift controls shall be tested each day prior to use to determine that such controls are in safe working condition. (ii) Only authorized persons shall operate an aerial lift. (iii...

  11. 29 CFR 1926.453 - Aerial lifts.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... provided the modification has been certified in writing by the manufacturer or by any other equivalent... articulating boom platforms. (i) Lift controls shall be tested each day prior to use to determine that such controls are in safe working condition. (ii) Only authorized persons shall operate an aerial lift. (iii...

  12. 29 CFR 1926.453 - Aerial lifts.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... provided the modification has been certified in writing by the manufacturer or by any other equivalent... articulating boom platforms. (i) Lift controls shall be tested each day prior to use to determine that such controls are in safe working condition. (ii) Only authorized persons shall operate an aerial lift. (iii...

  13. 29 CFR 1926.453 - Aerial lifts.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... provided the modification has been certified in writing by the manufacturer or by any other equivalent... articulating boom platforms. (i) Lift controls shall be tested each day prior to use to determine that such controls are in safe working condition. (ii) Only authorized persons shall operate an aerial lift. (iii...

  14. Hydraulic lift in a neotropical savanna.

    Treesearch

    M.Z. Moreira; F.G. Scholz; S.J. Bucci; L.S. Sternberg; G. Goldstein; F.C. Meinzer; A.C. Franco

    2003-01-01

    We report hydraulic lift in the sawmlia vegetation of central Brazil (Cerrado). Both heat-pulse measurements and isotopic (deuterium) labelling were used to determine whether hydraulic lift occurred in two common species, and whether neighbouring small shrubs and trees were utilizing this water.Both techniques showed water uptake by tap-...

  15. 49 CFR 37.165 - Lift and securement use.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 1 2011-10-01 2011-10-01 false Lift and securement use. 37.165 Section 37.165... DISABILITIES (ADA) Provision of Service § 37.165 Lift and securement use. Link to an amendment published at 76..., ramps and lifts. If it is necessary for the personnel to leave their seats to provide this assistance...

  16. A robotic platform for studying sea lion thrust production

    NASA Astrophysics Data System (ADS)

    Leftwich, Megan; Patel, Rahi; Kulkarni, Aditya; Friedman, Chen

    California Sea Lions are agile swimmers and, uniquely, use their foreflippers (rather than hind flipper undulation) to generate thrust. Recently, a sea lion flipper from a deceased subject was externally scanned in high detail for fluid dynamics research. The flipper's geometry is used in this work to build an accurate scaled down flipper model (approximately 68% of the full size span). The flipper model is placed in a water flume to obtain lift and drag force measurements. The unique trailing edge features are then examined for their effect on the measured forces by comparing to similar flipper models with a smooth trailing edge, sinusoidal trailing edge, and a saw-tooth trailing edge. Additionally, a robotic flipper is being designed and built, replicating the sea lion foreflipper anatomical structure. The robot is actuated by a set of servo motors and replicates the sea lion flipper clap motion based on previously extracted kinematics. The flipper tip speed is designed to match typical full scale Reynolds numbers for an acceleration from rest maneuver. The model is tested in the water flume as well to obtain the forces and flow structures during the thrust production phase of the flipper motion.

  17. Null lifts and projective dynamics

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

    Cariglia, Marco, E-mail: marco@iceb.ufop.br

    2015-11-15

    We describe natural Hamiltonian systems using projective geometry. The null lift procedure endows the tangent bundle with a projective structure where the null Hamiltonian is identified with a projective conic and induces a Weyl geometry. Projective transformations generate a set of known and new dualities between Hamiltonian systems, as for example the phenomenon of coupling-constant metamorphosis. We conclude outlining how this construction can be extended to the quantum case for Eisenhart–Duval lifts.

  18. Three-Dimensional Effects on Multi-Element High Lift Computations

    NASA Technical Reports Server (NTRS)

    Rumsey, Christopher L.; Lee-Rausch, Elizabeth M.; Watson, Ralph D.

    2002-01-01

    In an effort to discover the causes for disagreement between previous 2-D computations and nominally 2-D experiment for flow over the 3-clement McDonnell Douglas 30P-30N airfoil configuration at high lift, a combined experimental/CFD investigation is described. The experiment explores several different side-wall boundary layer control venting patterns, document's venting mass flow rates, and looks at corner surface flow patterns. The experimental angle of attack at maximum lift is found to be sensitive to the side wall venting pattern: a particular pattern increases the angle of attack at maximum lift by at least 2 deg. A significant amount of spanwise pressure variation is present at angles of attack near maximum lift. A CFD study using 3-D structured-grid computations, which includes the modeling of side-wall venting, is employed to investigate 3-D effects of the flow. Side-wall suction strength is found to affect the angle at which maximum lift is predicted. Maximum lift in the CFD is shown to be limited by the growth of all off-body corner flow vortex and consequent increase in spanwise pressure variation and decrease in circulation. The 3-D computations with and without wall venting predict similar trends to experiment at low angles of attack, but either stall too earl or else overpredict lift levels near maximum lift by as much as 5%. Unstructured-grid computations demonstrate that mounting brackets lower die the levels near maximum lift conditions.

  19. Robotic surgery

    MedlinePlus

    Robot-assisted surgery; Robotic-assisted laparoscopic surgery; Laparoscopic surgery with robotic assistance ... computer station and directs the movements of a robot. Small surgical tools are attached to the robot's ...

  20. Training Guidelines: Fork Lift Truck Driving.

    ERIC Educational Resources Information Center

    Ceramics, Glass, and Mineral Products Industry Training Board, Harrow (England).

    This manual of operative training guidelines for fork lift truck driving has been developed by the Ceramics, Glass and Mineral Products Industry Training Board (Great Britain) in consultation with a number of firms which manufacture fork lift trucks or which already have training--programs for their use. The purpose of the guidelines is to assist…

  1. The Impact of Robotics on Employment and Motivation of Employees in the Service Sector, with Special Reference to Health Care

    PubMed Central

    Qureshi, Mohammed Owais; Syed, Rumaiya Sajjad

    2014-01-01

    Background The economy is being lifted by the new concept of robotics, but we cannot be sure of all the possible benefits. At this early stage, it therefore becomes important to find out the possible benefits/limitations associated with robotics, so that the positives can be capitalized, established, and developed further for the employment and motivation of employees in the health care sector, for overall economic development. The negatives should also be further studied and mitigated. Methods This study is an exploratory research, based on secondary data, such as books on topics related to robotics, websites, public websites of concerned departments for data and statistics, journals, newspapers and magazines, websites of health care providers, and different printed materials (brochures, etc). Results The impact of robotics has both positive and negative impacts on the employment and motivation of employees in the retail sector. So far, there has been no substantial research done into robotics, especially in the health care sector. Conclusion Replacing employees with robots is an inevitable choice for organizations in the service sector, more so in the health care sector because of the challenging and sometimes unhealthy working environments, but, at the same time, the researchers propose that it should be done in a manner that helps in improving the employment and motivation of employees in this sector. PMID:25516812

  2. [Origin of lifting and lowering theory and its herb pair study].

    PubMed

    Guo, Zhao-Juan; Yuan, Yi-Ping; Kong, Li-Ting; Jia, Xiao-Yu; Wang, Ning-Ning; Dai, Ying; Zhai, Hua-Qiang

    2017-08-01

    Lifting and lowering theory is one of the important basis for guiding clinical medication. Through the study of ancient books and literature, we learned that lifting and lowering theory was originated in Huangdi Neijing, practiced more in the Shanghan Zabing Lun, established in Yixue Qiyuan, and developed in Compendium of Materia Medica and now. However, lifting and lowering theory is now mostly stagnated in the theoretical stage, with few experimental research. In the clinical study, the guiding role of lifting and lowering theory to prescriptions?mainly includes opposite?role?of lift and lower medicine property, mutual promotion of lift and lower medicine property, main role of lift medicine property and main role of lower medicine property. Under the guidance of lifting and lowering theory, the herb pair compatibility include herb combination of lift medicine property, herb combination of lift and lower medicine property and herb combination of lower medicine property. Modern biological technology was used in this study to carry out experimental research on the lifting and lowering theory, revealing the scientific connotation of it, which will help to promote clinical rational drug use. Copyright© by the Chinese Pharmaceutical Association.

  3. Socially intelligent robots: dimensions of human-robot interaction.

    PubMed

    Dautenhahn, Kerstin

    2007-04-29

    Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

  4. Lifting the Runners

    NASA Image and Video Library

    2010-08-25

    Under the unflinching summer sun, workers at NASA Deep Space Network complex in Goldstone, Calif., use a crane to lift a runner segment that is part of major surgery on a giant, 70-meter-wide antenna.

  5. Forehead lift - slideshow

    MedlinePlus

    ... can be reduced through a forehead lift. Review Date 11/20/2017 Updated by: David A. Lickstein, MD, FACS, specializing in cosmetic and reconstructive plastic surgery, Palm Beach Gardens, FL. Review provided by VeriMed Healthcare ...

  6. Testing of lift/cruise fan exhaust deflector. [for a tip turbine lift fan in short takeoff aircraft

    NASA Technical Reports Server (NTRS)

    Schlundt, D. W.

    1975-01-01

    A lift/cruise exhaust deflector system for the LF336/A tip turbine lift fan was designed, built, and tested to determine the design and performance characteristics of a large-scale, single swivel nozzle thrust vectoring system. The exhaust deflector static testing was performed at the Ames Research Center outside static test stand facilities. The test hardware was installed on a hydraulic lift platform to permit both in and out of ground effect testing. The exhaust flow of the LF336/A lift fan was vectored from 0 degrees through 130 degrees during selected fan speeds to obtain performance at different operating conditions. The system was operated with and without flow vanes installed in the small radius bends to evaluate the system performance based on a proposed method of improving the internal flow losses. The program also included testing at different ground heights, to the nozzle exhaust plane, to obtain ground effect data, and the testing of two methods of thrust spoiling using a duct bypass door system and nozzle flap system.

  7. Remote lift fan study program, volume 4

    NASA Technical Reports Server (NTRS)

    1973-01-01

    A study program to select and conduct preliminary design of advanced technology lift fan systems to meet low noise goals of future V/STOL transport aircraft is discussed. This volume contains results of additional studies conducted to support the main preliminary design effort done under the Remote Lift Fan Study Program (Contract NAS3-14406) and a companion effort, the Integral Lift Fan Study (NAS3-14404). These results cover engine emission study, a review of existing engines for research aircraft application and support data for aircraft studies.

  8. Fuel effects on flame lift-off under diesel conditions

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

    Persson, Helena; Andersson, Oeivind; Egnell, Rolf

    An apparent relation between the lift-off length under diesel conditions and the ignition quality of a fuel has previously been reported. To cast light on the underlying mechanism, the current study aims to separate flame lift-off effects of the chemical ignition delay from those of other fuel properties under diesel conditions. Flame lift-off was measured in an optical diesel engine by high-speed video imaging of OH-chemiluminescence. Fuel and ambient-gas properties were varied during the experiment. Only a weak correlation was found between ignition delay and lift-off length. The data indicate that this correlation is due to a common, stronger correlationmore » with the ambient oxygen concentration. The chemical ignition delay and the fuel type had similar, weak effects on the lift-off length. A recently proposed mechanism for lift-off stabilization was used to interpret the results. It assumes that reactants approaching the lift-off position of the jet are mixed with high-temperature products found along the edges of the flame, which trigger autoignition. In this picture, the fuel effect is most likely due to differences in the amount of mixing with high-temperature products that is required for autoignition. In the current experiment, all lift-off effects seem to arise from variations in the reactant and product temperatures, induced by fuel and ambient properties. (author)« less

  9. Experimental Study of Lift-Generated Vortices

    NASA Technical Reports Server (NTRS)

    Rossow, Vernon J.; Nixon, David (Technical Monitor)

    1998-01-01

    The flow fields of vortices, whether bouyancy-driven or lift-generated, are fascinating fluid-dynamic phenomena which often possess intense swirl velocities and complex time-dependent behavior. As part of the on-going study of vortex behavior, this paper presents a historical overview of the research conducted on the structure and modification of the vortices generated by the lifting surfaces of subsonic transport aircraft. It is pointed out that the characteristics of lift-generated vortices are related to the aerodynamic shapes that produce them and that various arrangements of surfaces can be used to produce different vortex structures. The primary purpose of the research to be described is to find a way to reduce the hazard potential of lift-generated vortices shed by subsonic transport aircraft in the vicinity of airports during landing and takeoff operations. It is stressed that lift-generated vortex wakes are so complex that progress towards a solution requires application of a combined theoretical and experimental research program because either alone often leads to incorrect conclusions. It is concluded that a satisfactory aerodynamic solution to the wake-vortex problem at airports has not yet been found but a reduction in the impact of the wake-vortex hazard on airport capacity may become available in the foreseeable future through wake-vortex avoidance concepts currently under study. The material to be presented in this overview is drawn from aerospace journals that are available publicly.

  10. A design of endoscopic imaging system for hyper long pipeline based on wheeled pipe robot

    NASA Astrophysics Data System (ADS)

    Zheng, Dongtian; Tan, Haishu; Zhou, Fuqiang

    2017-03-01

    An endoscopic imaging system of hyper long pipeline is designed to acquire the inner surface image in advance for the hyper long pipeline detects measurement. The system consists of structured light sensors, pipe robots and control system. The pipe robot is in the form of wheel structure, with the sensor which is at the front of the vehicle body. The control system is at the tail of the vehicle body in the form of upper and lower computer. The sensor can be translated and scanned in three steps: walking, lifting and scanning, then the inner surface image can be acquired at a plurality of positions and different angles. The results of imaging experiments show that the system's transmission distance is longer, the acquisition angle is more diverse and the result is more comprehensive than the traditional imaging system, which lays an important foundation for later inner surface vision measurement.

  11. 14 CFR 25.697 - Lift and drag devices, controls.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Design and Construction Control Systems § 25.697 Lift and drag devices, controls. (a) Each lift device control must be designed so that the pilots... drag device control must be designed and located to make inadvertent operation improbable. Lift and...

  12. 14 CFR 25.697 - Lift and drag devices, controls.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Design and Construction Control Systems § 25.697 Lift and drag devices, controls. (a) Each lift device control must be designed so that the pilots... drag device control must be designed and located to make inadvertent operation improbable. Lift and...

  13. 14 CFR 25.697 - Lift and drag devices, controls.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Design and Construction Control Systems § 25.697 Lift and drag devices, controls. (a) Each lift device control must be designed so that the pilots... drag device control must be designed and located to make inadvertent operation improbable. Lift and...

  14. 14 CFR 25.697 - Lift and drag devices, controls.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Design and Construction Control Systems § 25.697 Lift and drag devices, controls. (a) Each lift device control must be designed so that the pilots... drag device control must be designed and located to make inadvertent operation improbable. Lift and...

  15. Reduction of Dynamic Loads in Mine Lifting Installations

    NASA Astrophysics Data System (ADS)

    Kuznetsov, N. K.; Eliseev, S. V.; Perelygina, A. Yu

    2018-01-01

    Article is devoted to a problem of decrease in the dynamic loadings arising in transitional operating modes of the mine lifting installations leading to heavy oscillating motions of lifting vessels and decrease in efficiency and reliability of work. The known methods and means of decrease in dynamic loadings and oscillating motions of the similar equipment are analysed. It is shown that an approach based on the concept of the inverse problems of dynamics can be effective method of the solution of this problem. The article describes the design model of a one-ended lifting installation in the form of a two-mass oscillation system, in which the inertial elements are the mass of the lifting vessel and the reduced mass of the engine, reducer, drum and pulley. The simplified mathematical model of this system and results of an efficiency research of an active way of reduction of dynamic loadings of lifting installation on the basis of the concept of the inverse problems of dynamics are given.

  16. Mechanical reduction of the intracanal Enterococcus faecalis population by Hyflex CM, K3XF, ProTaper Next, and two manual instrument systems: an in vitro comparative study.

    PubMed

    Tewari, Rajendra K; Ali, Sajid; Mishra, Surendra K; Kumar, Ashok; Andrabi, Syed Mukhtar-Un-Nisar; Zoya, Asma; Alam, Sharique

    2016-05-01

    In the present study, the effectiveness of three rotary and two manual nickel titanium instrument systems on mechanical reduction of the intracanal Enterococcus faecalis population was evaluated. Mandibular premolars with straight roots were selected. Teeth were decoronated and instrumented until 20 K file and irrigated with physiological saline. After sterilization by ethylene oxide gas, root canals were inoculated with Enterococcus faecalis. The specimens were randomly divided into five groups for canal instrumentation: Manual Nitiflex and Hero Shaper nickel titanium files, and rotary Hyflex CM, ProTaper Next, and K3XF nickel titanium files. Intracanal bacterial sampling was done before and after instrumentation. After serial dilution, samples were plated onto the Mitis Salivarius agar. The c.f.u. grown were counted, and log10 transformation was calculated. All instrumentation systems significantly reduced the intracanal bacterial population after root canal preparation. ProTaper Next was found to be significantly more effective than Hyflex CM and manual Nitiflex and Hero Shaper. However, ProTaper Next showed no significant difference with K3XF. Canal instrumentation by all the file systems significantly reduced the intracanal Enterococcus faecalis counts. ProTaper Next was found to be most effective in reducing the number of bacteria than other rotary or hand instruments. © 2014 Wiley Publishing Asia Pty Ltd.

  17. Does team lifting increase the variability in peak lumbar compression in ironworkers?

    PubMed

    Faber, Gert; Visser, Steven; van der Molen, Henk F; Kuijer, P Paul F M; Hoozemans, Marco J M; Van Dieën, Jaap H; Frings-Dresen, Monique H W

    2012-01-01

    Ironworkers frequently perform heavy lifting tasks in teams of two or four workers. Team lifting could potentially lead to a higher variation in peak lumbar compression forces than lifts performed by one worker, resulting in higher maximal peak lumbar compression forces. This study compared single-worker lifts (25-kg, iron bar) to two-worker lifts (50-kg, two iron bars) and to four-worker lifts (100-kg, iron lattice). Inverse dynamics was used to calculate peak lumbar compression forces. To assess the variability in peak lumbar loading, all three lifting tasks were performed six times. Results showed that the variability in peak lumbar loading was somewhat higher in the team lifts compared to the single-worker lifts. However, despite this increased variability, team lifts did not result in larger maximum peak lumbar compression forces. Therefore, it was concluded that, from a biomechanical point of view, team lifting does not result in an additional risk for low back complaints in ironworkers.

  18. Lift-(gasless) laparoscopic surgery under regional anesthesia.

    PubMed

    Kruschinski, Daniel; Homburg, Shirli

    2005-01-01

    The objective of this Chapter was to investigate the feasibility and outcome of gasless laparoscopy under regional anesthesia. A prospective evaluation of Lift-(gasless) laparoscopic procedures under regional anesthesia (Canadian Task Force classification II-1) was done at three endoscopic gynecology centers (franchise system of EndGyn(r)). Sixty-three patients with gynecological diseases comprised the cohort. All patients underwent Lift-laparoscopic surgery under regional anesthesia: 10 patients for diagnostic purposes, 17 for surgery of ovarian tumors, 14 to remove fibroids, and 22 for hysterectomies. All patients were operated without conversion to general anesthesia and without perioperative or anesthesiologic complications. Lift-laparoscopy under regional anesthesia can be recommended to all patients who desire laparoscopic intervention without general anesthesia. For elderly patients, those with cardiopulmonary risks, during pregnancy, or with contraindications for general anesthesia, Lift-laparoscopy under regional anesthesia should be the procedure of choice.

  19. Robotic Lobectomy Utilizing the Robotic Stapler.

    PubMed

    Pearlstein, Daryl Phillip

    2016-12-01

    A drawback of robotic lobectomy is the inability of the operating surgeon to perform stapler division of the pulmonary vessels and bronchi. With the advent of the robotic stapler, the surgeon is able to control this instrument from the console. The robotic stapler presents certain challenges. This article outlines techniques to use the robotic stapler for the safe and predictable performance of lobectomies. Copyright © 2016 The Society of Thoracic Surgeons. Published by Elsevier Inc. All rights reserved.

  20. Representation Learning of Logic Words by an RNN: From Word Sequences to Robot Actions.

    PubMed

    Yamada, Tatsuro; Murata, Shingo; Arie, Hiroaki; Ogata, Tetsuya

    2017-01-01

    An important characteristic of human language is compositionality. We can efficiently express a wide variety of real-world situations, events, and behaviors by compositionally constructing the meaning of a complex expression from a finite number of elements. Previous studies have analyzed how machine-learning models, particularly neural networks, can learn from experience to represent compositional relationships between language and robot actions with the aim of understanding the symbol grounding structure and achieving intelligent communicative agents. Such studies have mainly dealt with the words (nouns, adjectives, and verbs) that directly refer to real-world matters. In addition to these words, the current study deals with logic words, such as "not," "and," and "or" simultaneously. These words are not directly referring to the real world, but are logical operators that contribute to the construction of meaning in sentences. In human-robot communication, these words may be used often. The current study builds a recurrent neural network model with long short-term memory units and trains it to learn to translate sentences including logic words into robot actions. We investigate what kind of compositional representations, which mediate sentences and robot actions, emerge as the network's internal states via the learning process. Analysis after learning shows that referential words are merged with visual information and the robot's own current state, and the logical words are represented by the model in accordance with their functions as logical operators. Words such as "true," "false," and "not" work as non-linear transformations to encode orthogonal phrases into the same area in a memory cell state space. The word "and," which required a robot to lift up both its hands, worked as if it was a universal quantifier. The word "or," which required action generation that looked apparently random, was represented as an unstable space of the network's dynamical system.

  1. Aerodynamic Lifting Force.

    ERIC Educational Resources Information Center

    Weltner, Klaus

    1990-01-01

    Describes some experiments showing both qualitatively and quantitatively that aerodynamic lift is a reaction force. Demonstrates reaction forces caused by the acceleration of an airstream and the deflection of an airstream. Provides pictures of demonstration apparatus and mathematical expressions. (YP)

  2. Endoscopic brow lifts uber alles.

    PubMed

    Patel, Bhupendra C K

    2006-12-01

    Innumerable approaches to the ptotic brow and forehead have been described in the past. Over the last twenty-five years, we have used all these techniques in cosmetic and reconstructive patients. We have used the endoscopic brow lift technique since 1995. While no one technique is applicable to all patients, the endoscopic brow lift, with appropriate modifications for individual patients, can be used effectively for most patients with brow ptosis. We present the nuances of this technique and show several different fixation methods we have found useful.

  3. Bilayer lift-off process for aluminum metallization

    NASA Astrophysics Data System (ADS)

    Wilson, Thomas E.; Korolev, Konstantin A.; Crow, Nathaniel A.

    2015-01-01

    Recently published reports in the literature for bilayer lift-off processes have described recipes for the patterning of metals that have recommended metal-ion-free developers, which do etch aluminum. We report the first measurement of the dissolution rate of a commercial lift-off resist (LOR) in a sodium-based buffered commercial developer that does not etch aluminum. We describe a reliable lift-off recipe that is safe for multiple process steps in patterning thin (<100 nm) and thick aluminum devices with micron-feature sizes. Our patterning recipe consists of an acid cleaning of the substrate, the bilayer (positive photoresist/LOR) deposition and development, the sputtering of the aluminum film along with a palladium capping layer and finally, the lift-off of the metal film by immersion in the LOR solvent. The insertion into the recipe of postexposure and sequential develop-bake-develop process steps are necessary for an acceptable undercut. Our recipe also eliminates any need for accompanying sonication during lift-off that could lead to delamination of the metal pattern from the substrate. Fine patterns were achieved for both 100-nm-thick granular aluminum/palladium bilayer bolometers and 500-nm-thick aluminum gratings with 6-μm lines and 4-μm spaces.

  4. Lifting Body Flight Vehicles

    NASA Technical Reports Server (NTRS)

    Barret, Chris

    1998-01-01

    NASA has a technology program in place to build the X-33 test vehicle and then the full sized Reusable Launch Vehicle, VentureStar. VentureStar is a Lifting Body (LB) flight vehicle which will carry our future payloads into orbit, and will do so at a much reduced cost. There were three design contenders for the new Reusable Launch Vehicle: a Winged Vehicle, a Vertical Lander, and the Lifting Body(LB). The LB design won the competition. A LB vehicle has no wings and derives its lift solely from the shape of its body, and has the unique advantages of superior volumetric efficiency, better aerodynamic efficiency at high angles-of-attack and hypersonic speeds, and reduced thermal protection system weight. Classically, in a ballistic vehicle, drag has been employed to control the level of deceleration in reentry. In the LB, lift enables the vehicle to decelerate at higher altitudes for the same velocity and defines the reentry corridor which includes a greater cross range. This paper outlines our LB heritage which was utilized in the design of the new Reusable Launch Vehicle, VentureStar. NASA and the U.S. Air Force have a rich heritage of LB vehicle design and flight experience. Eight LB's were built and over 225 LB test flights were conducted through 1975 in the initial LB Program. Three LB series were most significant in the advancement of today's LB technology: the M2-F; HL-1O; and X-24 series. The M2-F series was designed by NASA Ames Research Center, the HL-10 series by NASA Langley Research Center, and the X-24 series by the Air Force. LB vehicles are alive again today.

  5. Generic robot architecture

    DOEpatents

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  6. Molecular Robots Obeying Asimov's Three Laws of Robotics.

    PubMed

    Kaminka, Gal A; Spokoini-Stern, Rachel; Amir, Yaniv; Agmon, Noa; Bachelet, Ido

    2017-01-01

    Asimov's three laws of robotics, which were shaped in the literary work of Isaac Asimov (1920-1992) and others, define a crucial code of behavior that fictional autonomous robots must obey as a condition for their integration into human society. While, general implementation of these laws in robots is widely considered impractical, limited-scope versions have been demonstrated and have proven useful in spurring scientific debate on aspects of safety and autonomy in robots and intelligent systems. In this work, we use Asimov's laws to examine these notions in molecular robots fabricated from DNA origami. We successfully programmed these robots to obey, by means of interactions between individual robots in a large population, an appropriately scoped variant of Asimov's laws, and even emulate the key scenario from Asimov's story "Runaround," in which a fictional robot gets into trouble despite adhering to the laws. Our findings show that abstract, complex notions can be encoded and implemented at the molecular scale, when we understand robots on this scale on the basis of their interactions.

  7. QCSEE UTW engine powered-lift acoustic performance

    NASA Technical Reports Server (NTRS)

    Loeffler, I. J.; Samanich, N. E.; Bloomer, H. E.

    1980-01-01

    Powered-lift acoustic test of the Quiet Clean Short Haul Experimental Engine (QCSEE) under the wing (UTW) engine are reported. Propulsion systems for two powered-lift concepts were designed, fabricated, and tested. In addition to low noise features, the designs included composite structures, gear-driven fans, digital control, and a variable pitch fan (UTW). The UTW engine was tested in a static ground test facility with wing and flap segments to simulate installation on a short haul transport aircraft of the future. Powered-lift acoustic performance of the UTW engine is compared with that of the previously tested and reported QCSEE over-the-wing (OTW) engine. Both engines were slightly above the noise goal but were significantly below current FAA and modern wide-body jet transport levels. The UTW system in the powered-lift mode was penalized by reflected engine noise from the wing and flap system, while the OTW system was benefitted by a wing noise shielding effect.

  8. 29 CFR 1915.114 - Chain falls and pull-lifts.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 29 Labor 7 2010-07-01 2010-07-01 false Chain falls and pull-lifts. 1915.114 Section 1915.114 Labor... and Materials Handling § 1915.114 Chain falls and pull-lifts. The provisions of this section shall apply to ship repairing, shipbuilding and shipbreaking. (a) Chain falls and pull-lifts shall be clearly...

  9. 29 CFR 1915.114 - Chain falls and pull-lifts.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 29 Labor 7 2011-07-01 2011-07-01 false Chain falls and pull-lifts. 1915.114 Section 1915.114 Labor... and Materials Handling § 1915.114 Chain falls and pull-lifts. The provisions of this section shall apply to ship repairing, shipbuilding and shipbreaking. (a) Chain falls and pull-lifts shall be clearly...

  10. 29 CFR 1915.114 - Chain falls and pull-lifts.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 29 Labor 7 2014-07-01 2014-07-01 false Chain falls and pull-lifts. 1915.114 Section 1915.114 Labor... and Materials Handling § 1915.114 Chain falls and pull-lifts. The provisions of this section shall apply to ship repairing, shipbuilding and shipbreaking. (a) Chain falls and pull-lifts shall be clearly...

  11. 29 CFR 1915.114 - Chain falls and pull-lifts.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 29 Labor 7 2013-07-01 2013-07-01 false Chain falls and pull-lifts. 1915.114 Section 1915.114 Labor... and Materials Handling § 1915.114 Chain falls and pull-lifts. The provisions of this section shall apply to ship repairing, shipbuilding and shipbreaking. (a) Chain falls and pull-lifts shall be clearly...

  12. 29 CFR 1915.114 - Chain falls and pull-lifts.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 29 Labor 7 2012-07-01 2012-07-01 false Chain falls and pull-lifts. 1915.114 Section 1915.114 Labor... and Materials Handling § 1915.114 Chain falls and pull-lifts. The provisions of this section shall apply to ship repairing, shipbuilding and shipbreaking. (a) Chain falls and pull-lifts shall be clearly...

  13. Heavy Lift for Exploration: Options and Utilization

    NASA Technical Reports Server (NTRS)

    Creech, Steve; Sumrall, Phil

    2010-01-01

    Every study of exploration capabilities since the Apollo Program has recommended the renewal of a heavy lift launch capability for the United States. NASA is aggressively pursuing that capability. This paper will discuss several aspects of that effort and the potential uses for that heavy lift capability. The need for heavy lift was cited most recent in the findings of the Review of U.S. Human Space Flight Plans Committee. Combined with considerations of launch availability and on-orbit operations, the Committee finds that exploration will benefit from the availability of a heavy-lift vehicle, the report said. In addition, heavy lift would enable the launching of large scientific observatories and more capable deep-space missions. It may also provide benefit in national security applications. The most recent focus of NASA s heavy lift effort is the Ares V cargo launch vehicle, which is part of the Constellation Program architecture for human exploration beyond low Earth orbit (LEO). The most recent point-of-departure configuration of the Ares V was approved during the Lunar Capabilities concept Review (LCCR) in 2008. The Ares V first stage propulsion system consists of a core stage powered by six commercial liquid hydrogen/liquid oxygen (LH2/LOX) RS-68 engines, flanked by two 5.5-segment solid rocket boosters (SRBs) based on the 5-segment Ares I first stage. The boosters use the same Polybutadiene Acrylonitrile (PBAN) propellant as the Space Shuttle. Atop the core stage is the Earth departure stage (EDS), powered by a single J-2X upper stage engine based on the Ares I upper stage engine. The 33-foot-diameter payload shroud can enclose a lunar lander, scientific instruments, or other payloads. Since LCCR, NASA has continued to refine the design through several successive internal design cycles. In addition, NASA has worked to quantify the broad national consensus for heavy lift in ways that, to the extent possible, meet the needs of the user community.

  14. Measuring Mitochondrial Function in Permeabilized Cells Using the Seahorse XF Analyzer or a Clark-Type Oxygen Electrode.

    PubMed

    Divakaruni, Ajit S; Rogers, George W; Murphy, Anne N

    2014-05-27

    Measurements of mitochondrial respiration in intact cells can help define metabolism and its dysregulation in fields such as cancer, metabolic disease, immunology, and neurodegeneration. Although cells can be offered various substrates in the assay medium, many cell types can oxidize stored pools of energy substrates. A general bioenergetic profile can therefore be obtained using intact cells, but the inability to control substrate provision to the mitochondria can restrict an in-depth, mechanistic understanding. Mitochondria can be isolated from intact cells, but the yield and quality of the end product is often poor and prone to subselection during isolation. Plasma membrane permeabilization of cells provides a solution to this challenge, allowing experimental control of the medium surrounding the mitochondria. This unit describes techniques to measure respiration in permeabilized adherent cells using a Seahorse XF Analyzer or permeabilized suspended cells in a Hansatech Oxygraph. Copyright © 2014 John Wiley & Sons, Inc.

  15. TCA High Lift Preliminary Assessment

    NASA Technical Reports Server (NTRS)

    Wyatt, G. H.; Polito, R. C.; Yeh, D. T.; Elzey, M. E.; Tran, J. T.; Meredith, Paul T.

    1999-01-01

    This paper presents a TCA (Technology Concept Airplane) High lift Preliminary Assessment. The topics discussed are: 1) Model Description; 2) Data Repeatability; 3) Effect of Inboard L.E. (Leading Edge) Flap Span; 4) Comparison of 14'x22' TCA-1 With NTF (National Transonic Facility) Modified Ref. H; 5) Comparison of 14'x22' and NTF Ref. H Results; 6) Effect of Outboard Sealed Slat on TCA; 7) TCA Full Scale Build-ups; 8) Full Scale L/D Comparisons; 9) TCA Full Scale; and 10) Touchdown Lift Curves. This paper is in viewgraph form.

  16. Evaluation of ceiling lifts: transfer time, patient comfort and staff perceptions.

    PubMed

    Alamgir, Hasanat; Li, Olivia Wei; Yu, Shicheng; Gorman, Erin; Fast, Catherine; Kidd, Catherine

    2009-09-01

    Mechanical lifting devices have been developed to reduce healthcare worker injuries related to patient handling. The purpose of this study was to evaluate ceiling lifts in comparison to floor lifts based on transfer time, patient comfort and staff perceptions in three long-term care facilities with varying ceiling lift coverage. The time required to transfer or reposition patients along with patient comfort levels were recorded for 119 transfers. Transfers performed with ceiling lifts required on average less time (bed to chair transfers: 156.9 seconds for ceiling lift, 273.6 seconds for floor lift) and were found to be more comfortable for patients. In the three facilities, 143 healthcare workers were surveyed on their perceptions of patient handling tasks and equipment. For both transferring and repositioning tasks, staff preferred to use ceiling lifts and also found them to be less physically demanding. Further investigation is needed on repositioning tasks to ensure safe practice.

  17. Locomotion Dynamics for Bio-inspired Robots with Soft Appendages: Application to Flapping Flight and Passive Swimming

    NASA Astrophysics Data System (ADS)

    Boyer, Frédéric; Porez, Mathieu; Morsli, Ferhat; Morel, Yannick

    2017-08-01

    In animal locomotion, either in fish or flying insects, the use of flexible terminal organs or appendages greatly improves the performance of locomotion (thrust and lift). In this article, we propose a general unified framework for modeling and simulating the (bio-inspired) locomotion of robots using soft organs. The proposed approach is based on the model of Mobile Multibody Systems (MMS). The distributed flexibilities are modeled according to two major approaches: the Floating Frame Approach (FFA) and the Geometrically Exact Approach (GEA). Encompassing these two approaches in the Newton-Euler modeling formalism of robotics, this article proposes a unique modeling framework suited to the fast numerical integration of the dynamics of a MMS in both the FFA and the GEA. This general framework is applied on two illustrative examples drawn from bio-inspired locomotion: the passive swimming in von Karman Vortex Street, and the hovering flight with flexible flapping wings.

  18. 46 CFR 98.30-6 - Lifting a portable tank.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 46 Shipping 4 2012-10-01 2012-10-01 false Lifting a portable tank. 98.30-6 Section 98.30-6... CONSTRUCTION, ARRANGEMENT, AND OTHER PROVISIONS FOR CERTAIN DANGEROUS CARGOES IN BULK Portable Tanks § 98.30-6 Lifting a portable tank. No person may lift a portable tank with another portable tank. [CGD 73-172, 39 FR...

  19. Moving base simulation of an ASTOVL lift-fan aircraft

    NASA Technical Reports Server (NTRS)

    Chung, William W. Y.; Borchers, Paul F.; Franklin, James A.

    1995-01-01

    Using a generalized simulation model, a moving-base simulation of a lift-fan short takeoff/vertical landing fighter aircraft was conducted on the Vertical Motion Simulator at Ames Research Center. Objectives of the experiment were to (1) assess the effects of lift-fan propulsion system design features on aircraft control during transition and vertical flight including integration of lift fan/lift/cruise engine/aerodynamic controls and lift fan/lift/cruise engine dynamic response, (2) evaluate pilot-vehicle interface with the control system and head-up display including control modes for low-speed operational tasks and control mode/display integration, and (3) conduct operational evaluations of this configuration during takeoff, transition, and landing similar to those carried out previously by the Ames team for the mixed-flow, vectored thrust, and augmentor-ejector concepts. Based on results of the simulation, preliminary assessments of acceptable and borderline lift-fan and lift/cruise engine thrust response characteristics were obtained. Maximum pitch, roll, and yaw control power used during transition, hover, and vertical landing were documented. Control and display mode options were assessed for their compatibility with a range of land-based and shipboard operations from takeoff to cruise through transition back to hover and vertical landing. Flying qualities were established for candidate control modes and displays for instrument approaches and vertical landings aboard an LPH assault ship and DD-963 destroyer. Test pilot and engineer teams from the Naval Air Warfare Center, Boeing, Lockheed, McDonnell Douglas, and the British Defence Research Agency participated in the program.

  20. Effects of squat lift training and free weight muscle training on maximum lifting load and isolinetic peak torque of young adults without impairments.

    PubMed

    Yeung, S S; Ng, G Y

    2000-06-01

    Manual lifting is a frequent cause of back injury, and there is no evidence as to which training mode can provide the best training effect for lifting performance and muscle force. The purpose of this study was to examine the effects of a squat lift training and a free weight muscle training program on the maximum lifting load and isokinetic peak torque in subjects without known neuromuscular or musculoskeletal impairments. Thirty-six adults (20 male, 16 female) without known neuromuscular or musculoskeletal impairments participated. The subjects' mean age was 21.25 years (SD=1.16, range=20-24). Subjects were divided into 3 groups. Subjects in group 1 (n=12) performed squat lift training. Subjects in group 2 (n=12) participated in free weight resistance training of their shoulder abductors, elbow flexors, knee extensors and trunk extensors. Subjects in group 3 (n=12) served as controls. The maximum lifting load and isokinetic peak torques of the trunk extensors, knee extensors, elbow flexors, and shoulder abductors of each subject were measured before and after the study. Training was conducted on alternate days for 4 weeks, with an initial load of 80% of each subject's maximum capacity and with the load increased by 5% weekly. All groups were comparable for all measured variables before the study. After 4 weeks, subjects in groups 1 and 2 demonstrated more improvement in maximum lifting load and isokinetic peak torque of the back extensors compared with the subjects in group 3, but the 2 training groups were not different. The findings demonstrate that both squat lift and free weight resistance training are equally effective in improving the lifting load and isokinetic back extension performance of individuals without impairments.

  1. EMG Processing Based Measures of Fatigue Assessment during Manual Lifting.

    PubMed

    Shair, E F; Ahmad, S A; Marhaban, M H; Mohd Tamrin, S B; Abdullah, A R

    2017-01-01

    Manual lifting is one of the common practices used in the industries to transport or move objects to a desired place. Nowadays, even though mechanized equipment is widely available, manual lifting is still considered as an essential way to perform material handling task. Improper lifting strategies may contribute to musculoskeletal disorders (MSDs), where overexertion contributes as the highest factor. To overcome this problem, electromyography (EMG) signal is used to monitor the workers' muscle condition and to find maximum lifting load, lifting height and number of repetitions that the workers are able to handle before experiencing fatigue to avoid overexertion. Past researchers have introduced several EMG processing techniques and different EMG features that represent fatigue indices in time, frequency, and time-frequency domain. The impact of EMG processing based measures in fatigue assessment during manual lifting are reviewed in this paper. It is believed that this paper will greatly benefit researchers who need a bird's eye view of the biosignal processing which are currently available, thus determining the best possible techniques for lifting applications.

  2. EMG Processing Based Measures of Fatigue Assessment during Manual Lifting

    PubMed Central

    Marhaban, M. H.; Abdullah, A. R.

    2017-01-01

    Manual lifting is one of the common practices used in the industries to transport or move objects to a desired place. Nowadays, even though mechanized equipment is widely available, manual lifting is still considered as an essential way to perform material handling task. Improper lifting strategies may contribute to musculoskeletal disorders (MSDs), where overexertion contributes as the highest factor. To overcome this problem, electromyography (EMG) signal is used to monitor the workers' muscle condition and to find maximum lifting load, lifting height and number of repetitions that the workers are able to handle before experiencing fatigue to avoid overexertion. Past researchers have introduced several EMG processing techniques and different EMG features that represent fatigue indices in time, frequency, and time-frequency domain. The impact of EMG processing based measures in fatigue assessment during manual lifting are reviewed in this paper. It is believed that this paper will greatly benefit researchers who need a bird's eye view of the biosignal processing which are currently available, thus determining the best possible techniques for lifting applications. PMID:28303251

  3. Robotics.

    ERIC Educational Resources Information Center

    Waddell, Steve; Doty, Keith L.

    1999-01-01

    "Why Teach Robotics?" (Waddell) suggests that the United States lags behind Europe and Japan in use of robotics in industry and teaching. "Creating a Course in Mobile Robotics" (Doty) outlines course elements of the Intelligent Machines Design Lab. (SK)

  4. Geometry program for aerodynamic lifting surface theory

    NASA Technical Reports Server (NTRS)

    Medan, R. T.

    1973-01-01

    A computer program that provides the geometry and boundary conditions appropriate for an analysis of a lifting, thin wing with control surfaces in linearized, subsonic, steady flow is presented. The kernel function method lifting surface theory is applied. The data which is generated by the program is stored on disk files or tapes for later use by programs which calculate an influence matrix, plot the wing planform, and evaluate the loads on the wing. In addition to processing data for subsequent use in a lifting surface analysis, the program is useful for computing area and mean geometric chords of the wing and control surfaces.

  5. View of West end of central lift span truss web ...

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

    View of West end of central lift span truss web of Tensaw River Bridge, showing web brace of lift girder superstructure, looking west - Tensaw River Lift Bridge, Spanning Tensaw River at U.S. Highway 90, Mobile, Mobile County, AL

  6. Measurement and characterization of lift forces on drops and bubbles in microchannels

    NASA Astrophysics Data System (ADS)

    Stan, Claudiu; Guglielmini, Laura; Ellerbee, Audrey; Caviezel, Daniel; Whitesides, George; Stone, Howard

    2013-11-01

    The transverse motion of drops and bubbles within liquids flowing in pipes and channels is determined by the combination of several types of hydrodynamic lift forces with external forces. In microfluidic channels, lift forces have been used to position and sort particles with high efficiency and high accuracy. We measured lift forces on drops and bubbles and discriminated between different lift mechanisms under conditions characterized by low particle capillary numbers (0.0003 < CaP < 0.3) and low particle Reynolds numbers (0.0001 < ReP < 0.1). The measured lift forces were often much larger (up to a factor of 1000) than the predictions of analytical models of inertial and deformation-induced lift, indicating that another lift mechanism was the largest contributor to the total lift force. The systems we investigated exhibited either (i) a deformation-induced lift force enhanced by confinement effects, or (ii) a lift force for which to our best knowledge is based on physicochemical effects at the interfaces of drops and bubbles. We will present new experimental data that supports a dynamic interfacial mechanism for the second type of lift force, and discuss possible avenues for creating an analytical model for it.

  7. Lifting-surface-theory aspect-ratio corrections to the lift and hinge-moment parameters for full-span elevators on horizontal tail surfaces

    NASA Technical Reports Server (NTRS)

    Swanson, Robert S; Crandall, Stewart M

    1948-01-01

    A limited number of lifting-surface-theory solutions for wings with chordwise loadings resulting from angle of attack, parabolic-ac camber, and flap deflection are now available. These solutions were studied with the purpose of determining methods of extrapolating the results in such a way that they could be used to determine lifting-surface-theory values of the aspect-ratio corrections to the lift and hinge-moment parameters for both angle-of-attack and flap-deflection-type loading that could be used to predict the characteristics of horizontal tail surfaces from section data with sufficient accuracy for engineering purposes. Such a method was devised for horizontal tail surfaces with full-span elevators. In spite of the fact that the theory involved is rather complex, the method is simple to apply and may be applied without any knowledge of lifting-surface theory. A comparison of experimental finite-span and section value and of the estimated values of the lift and hinge-moment parameters for three horizontal tail surfaces was made to provide an experimental verification of the method suggested. (author)

  8. Tolerability to prolonged lifting tasks. A validation of the recommended limits.

    PubMed

    Capodaglio, P; Bazzini, G

    1997-01-01

    Prolonged physical exertion is subjectively regulated by the perception of effort. This preliminary study was conducted to validate the use of subjective perceptions of effort in assessing objectively tolerable workloads for prolonged lifting tasks. Ten healthy male subjects tested their maximal lifting capacity (MLC) on a lift dynamometer (LidoLift, Loredan Biomed., West Sacramento, CA) and underwent incremental and 30-minute endurance lifting tests. Cardiorespiratory parameters were monitored with an oxygen uptake analyzer, mechanical parameters were calculated using a computerized dynamometer. Ratings of perceived exertion were given on Borg's 10-point scale. Physiological responses to repetitive lifting were matched with subjective perceptions. A single-variable statistical regression for power functions was performed to obtain the individual "iso-perception" curves as functions of the mechanical work exerted. We found that the "iso-perception" curve corresponding to a "moderate" perception of effort may represent the individual "tolerance threshold" for prolonged lifting tasks, since physiological responses at this level of intensity did not change significantly and the respiratory exchange ratio was less than one. The individually tolerable weight for lifting tasks lasting 30 min has been expressed as a percentage of the isoinertial MLC value and compared with the currently recommended limits for prolonged lifting tasks (Italian legislation D.L. 626/94). On the basis of our preliminary results a "tolerance threshold" of 20% MLC has been proposed for prolonged lifting tasks.

  9. Robotics: An Introduction to Today’s Robot and Future Trends.

    DTIC Science & Technology

    1983-07-01

    trial applications." What qualities define a machine as a robot? The Robot Institute of Amer- ica defines a robot as follows: "A robot is a reprogrammable ...manufactures a robot with a spin- ning wrist. Second, and this is the key feature, robots are reprogrammable and hence versatile. An automatic lathe is not...robot spot-welds an automobile frame. In Figure 8, a single robot transferring a transmission case is shown, but a total of eight robots are

  10. Modelling of industrial robot in LabView Robotics

    NASA Astrophysics Data System (ADS)

    Banas, W.; Cwikła, G.; Foit, K.; Gwiazda, A.; Monica, Z.; Sekala, A.

    2017-08-01

    Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It’s enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.

  11. 49 CFR 178.1050 - Top lift test.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... designed to be lifted from the top, there may be no damage to the Flexible Bulk Container or its lifting devices that renders the Flexible Bulk Container unsafe for transport, and no loss of contents. ... permissible gross mass, the load being evenly distributed. (c) Test method. (1) A Flexible Bulk Container must...

  12. 49 CFR 178.975 - Top lift test.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... the test. For all Large Packagings design types designed to be lifted from the top, there may be no permanent deformation which renders the Large Packagings unsafe for transport and no loss of contents. ... load being evenly distributed. (c) Test method. (1) A Large Packaging must be lifted in the manner for...

  13. 49 CFR 178.1050 - Top lift test.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... designed to be lifted from the top, there may be no damage to the Flexible Bulk Container or its lifting devices that renders the Flexible Bulk Container unsafe for transport, and no loss of contents. ... permissible gross mass, the load being evenly distributed. (c) Test method. (1) A Flexible Bulk Container must...

  14. Improving Grading Consistency through Grade Lift Reporting

    ERIC Educational Resources Information Center

    Millet, Ido

    2010-01-01

    We define Grade Lift as the difference between average class grade and average cumulative class GPA. This metric provides an assessment of how lenient the grading was for a given course. In 2006, we started providing faculty members individualized Grade Lift reports reflecting their position relative to an anonymously plotted school-wide…

  15. Soccer Ball Lift Coefficients via Trajectory Analysis

    ERIC Educational Resources Information Center

    Goff, John Eric; Carre, Matt J.

    2010-01-01

    We performed experiments in which a soccer ball was launched from a machine while two high-speed cameras recorded portions of the trajectory. Using the trajectory data and published drag coefficients, we extracted lift coefficients for a soccer ball. We determined lift coefficients for a wide range of spin parameters, including several spin…

  16. Soft Robotics: New Perspectives for Robot Bodyware and Control

    PubMed Central

    Laschi, Cecilia; Cianchetti, Matteo

    2014-01-01

    The remarkable advances of robotics in the last 50 years, which represent an incredible wealth of knowledge, are based on the fundamental assumption that robots are chains of rigid links. The use of soft materials in robotics, driven not only by new scientific paradigms (biomimetics, morphological computation, and others), but also by many applications (biomedical, service, rescue robots, and many more), is going to overcome these basic assumptions and makes the well-known theories and techniques poorly applicable, opening new perspectives for robot design and control. The current examples of soft robots represent a variety of solutions for actuation and control. Though very first steps, they have the potential for a radical technological change. Soft robotics is not just a new direction of technological development, but a novel approach to robotics, unhinging its fundamentals, with the potential to produce a new generation of robots, in the support of humans in our natural environments. PMID:25022259

  17. Neurologic disorders associated with weight lifting and bodybuilding.

    PubMed

    Busche, Kevin

    2008-02-01

    Weight lifting and other forms of strength training are becoming more common because of an increased awareness of the need to maintain individual physical fitness. Emergency room data indicate that injuries caused by weight training have become more universal over time, likely because of increased participation rates. Neurologic injuries can result from weight lifting and related practices. Although predominantly peripheral nervous system injuries have been described, central nervous system disease may also occur. This article illustrates the types of neurologic disorders associated with weight lifting.

  18. Neurologic disorders associated with weight lifting and bodybuilding.

    PubMed

    Busche, Kevin

    2009-02-01

    Weight lifting and other forms of strength training are becoming more common because of an increased awareness of the need to maintain individual physical fitness. Emergency room data indicate that injuries caused by weight training have become more universal over time, likely because of increased participation rates. Neurologic injuries can result from weight lifting and related practices. Although predominantly peripheral nervous system injuries have been described, central nervous system disease may also occur. This article illustrates the types of neurologic disorders associated with weight lifting.

  19. The spanwise distribution of lift for minimum induced drag of wings having a given lift and a given bending moment

    NASA Technical Reports Server (NTRS)

    Jones, R. T.

    1950-01-01

    The problem of the minimum induced drag of wings having a given lift and a given span is extended to include cases in which the bending moment to be supported by the wing is also given. The theory is limited to lifting surfaces traveling at subsonic speeds. It is found that the required shape of the downwash distribution can be obtained in an elementary way which is applicable to a variety of such problems. Expressions for the minimum drag and the corresponding spanwise load distributions are also given for the case in which the lift and the bending moment about the wing root are fixed while the span is allowed to vary. The results show a 15-percent reduction of the induced drag with a 15-percent increase in span as compared with results for an elliptically loaded wing having the same total lift and bending moment.

  20. Evaluation of ceiling lifts in health care settings: patient outcome and perceptions.

    PubMed

    Alamgir, Hasanat; Li, Olivia Wei; Gorman, Erin; Fast, Catherine; Yu, Shicheng; Kidd, Catherine

    2009-09-01

    Ceiling lifts have been introduced into health care settings to reduce manual patient lifting and thus occupational injuries. Although growing evidence supports the effectiveness of ceiling lifts, a paucity of research links indicators, such as quality of patient care or patient perceptions, to the use of these transfer devices. This study explored the relationship between ceiling lift coverage rates and measures of patient care quality (e.g., incidence of facility-acquired pressure ulcers, falls, urinary infections, urinary incontinence, and assaults [patient to staff] in acute and long-term care facilities), as well as patient perceptions of satisfaction with care received while using ceiling lifts in a complex care facility. Qualitative semi-structured interviews were used to generate data. A significant inverse relationship was found between pressure ulcer rates and ceiling lift coverage; however, this effect was attenuated by year. No significant relationships existed between ceiling lift coverage and patient outcome indicators after adding the "year" variable to the model. Patients generally approved of the use of ceiling lifts and recognized many of the benefits. Ceiling lifts are not detrimental to the quality of care received by patients, and patients prefer being transferred by ceiling lifts. The relationship between ceiling lift coverage and pressure ulcer rates warrants further investigation. Copyright (c) 2009, SLACK Incorporated.

  1. Lift mechanics of downhill skiing and snowboarding.

    PubMed

    Wu, Qianhong; Igci, Yesim; Andreopoulos, Yiannis; Weinbaum, Sheldon

    2006-06-01

    This study is conducted to develop a simplified mathematical model to describe the lift mechanics of downhill skiing and snowboarding, where the lift contributions due to both the transiently trapped air and the compressed solid phase (snow crystals) are determined. To our knowledge, this is the first time that anyone has attempted to realistically estimate the relative contribution of the transiently trapped air to the total lift in skiing and snowboarding. The model uses Shimizu's empirical relation to predict the local variation in Darcy permeability due to the compression of the solid phase. The forces and moments on the skier or snowboarder are used to predict the angle of attack of the planing surface, the penetration depth at the leading edge, and the shift in the center of pressure for two typical snow types, fresh and wind-packed snow. We present numerical solutions for snowboarding and asymptotic analytic solutions for skiing for the case where there are no edging or turning maneuvers. The force and moment balance are then used to develop a theory for control and stability in response to changes in the center of mass as the individual shifts his/her weight. Our model predicts that for fine-grained, windpacked snow that when the velocity (U) of the snowboarder or skier is 20 m.s, approximately 50% of the total lift force is generated by the trapped air for snowboarding and 40% for skiing. For highly permeable fresh powder snow, the lift contribution from the pore air pressure drops substantially. This paper develops a new theoretical framework for analyzing the lift mechanics and stability of skis and snowboards that could have important applications in future ski and snowboard design.

  2. Soft Robotics.

    PubMed

    Whitesides, George M

    2018-04-09

    This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  3. Lift hysteresis at stall as an unsteady boundary-layer phenomenon

    NASA Technical Reports Server (NTRS)

    Moore, Franklin K

    1956-01-01

    Analysis of rotating stall of compressor blade rows requires specification of a dynamic lift curve for the airfoil section at or near stall, presumably including the effect of lift hysteresis. Consideration of the magnus lift of a rotating cylinder suggests performing an unsteady boundary-layer calculation to find the movement of the separation points of an airfoil fixed in a stream of variable incidence. The consideration of the shedding of vorticity into the wake should yield an estimate of lift increment proportional to time rate of change of angle of attack. This increment is the amplitude of the hysteresis loop. An approximate analysis is carried out according to the foregoing ideas for a 6:1 elliptic airfoil at the angle of attack for maximum lift. The assumptions of small perturbations from maximum lift are made, permitting neglect of distributed vorticity in the wake. The calculated hysteresis loop is counterclockwise. Finally, a discussion of the forms of hysteresis loops is presented; and, for small reduced frequency of oscillation, it is concluded that the concept of a viscous "time lag" is appropriate only for harmonic variations of angle of attack with time at mean conditions other than maximum lift.

  4. Evaluation of hot mix asphalt (HMA) lift thickness.

    DOT National Transportation Integrated Search

    2009-10-01

    The range of lift thicknesses allowed by the Mississippi Department of Transportation has worked well for many years. However, because of the current availability of gravels of sufficient size to crush, modification to the allowed lift thicknesses am...

  5. Overview of the Mission Design Reference Trajectory for NASA's Asteroid Redirect Robotic Mission

    NASA Technical Reports Server (NTRS)

    Mcguire, Melissa L.; Strange, Nathan J.; Burke, Laura M.; McCarty, Steven L.; Lantoine, Gregory B.; Qu, Min; Shen, Haijun; Smith, David A.; Vavrina, Matthew A.

    2017-01-01

    The National Aeronautics and Space Administration's (NASA's) recently cancelled Asteroid Redirect Mission was proposed to rendezvous with and characterize a 100 m plus class near-Earth asteroid and provide the capability to capture and retrieve a boulder off of the surface of the asteroid and bring the asteroidal material back to cislunar space. Leveraging the best of NASA's science, technology, and human exploration efforts, this mission was originally conceived to support observation campaigns, advanced solar electric propulsion, and NASA's Space Launch System heavy-lift rocket and Orion crew vehicle. The asteroid characterization and capture portion of ARM was referred to as the Asteroid Redirect Robotic Mission (ARRM) and was focused on the robotic capture and then redirection of an asteroidal boulder mass from the reference target, asteroid 2008 EV5, into an orbit near the Moon, referred to as a Near Rectilinear Halo Orbit where astronauts would visit and study it. The purpose of this paper is to document the final reference trajectory of ARRM and the challenges and unique methods employed in the trajectory design of the mission.

  6. Robotic surgery.

    PubMed

    Stoianovici, D

    2000-09-01

    The industrial revolution demonstrated the capability of robotic systems to facilitate and improve manufacturing. As a result, robotics extended to various other domains, including the delivery of health care. Hence, robots have been developed to assist hospital staff, to facilitate laboratory analyses, to augment patient rehabilitation, and even to advance surgical performance. As robotics lead usefulness and gain wider acceptance among the surgical community, the urologist should become familiar with this new interdisciplinary field and its "URobotics" subset: robotics applied to urology. This article reviews the current applications and experience, issues and debates in surgical robotics, and highlights future directions in the field.

  7. LIFT: special needs transportation in Portland, Oregon. Final report

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

    Cooper, T.

    1979-08-01

    The Portland Special Needs Transportation Demonstration, the LIFT, is a project in which Tri-Met (the regional transit authority), in coordination with local social service agencies, provides door-to-door transportation service to eligible handicapped and elderly clients on an advance-reservation basis. Eligibility for the LIFT service was based upon a functional (rather than clinical) definition of transportation handicap - a person was considered eligible for the service if they had difficulty performing certain functions that were necessary in riding a fixed-route bus, e.g., reading directions, standing for more than 10 minutes, moving in crowds, etc. A fleet of 15 lift-equipped buses ismore » operated by Tri-Met, supplemented by transportation provided through a Tri-Met contract with local private providers, i.e., taxis. Fares are $3.00 per trip for agency-affiliated passengers, with the $3.00 paid by the sponsoring agency, and $.50 per trip for eligible general passengers, with the fare paid by the passenger. This report covers the two years of the demonstration, from December 1976 to December 1978. During this time, the LIFT project experienced gradual but steady growth in terms of client registration and trips delivered. As of December 1978 the Lift system was providing 370 trips per day; 18% of these trips were by LIFT-sponsored taxis and 17% of all trips were taken by persons using a wheelchair. This report documents a number of conclusions regarding the LIFT demonstration.« less

  8. Small helicopter could find niche in remote heavy lift operations

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

    Not Available

    1994-02-21

    A new helicopter specifically designed for external vertical lift operations, such as moving transportable rig components or seismic equipment in remote locations, operates more efficiently than most other medium or heavy-lift helicopters, according to manufacturer Kaman Aerospace. The single-pilot helicopter was designed as an aerial truck for efficient lifting of heavy loads but with the operating costs of a light-lift craft. The K-Max helicopter can lift more pounds of cargo per gallon of fuel consumed than other similar helicopters, according to Kaman. For example, to transport a 5,000-lb load at an elevation of 8,000 ft, the K-Max helicopter consumes 85more » gal of fuel/hr. Under the same load conditions, the next most efficient commercially available helicopter consumes 160 gal of fuel/hr and requires two pilots. The 4,500-lb helicopter can lift 5,000 lb to an altitude of 8,000 ft or about 6,000 lb at low altitudes.« less

  9. 49 CFR 178.811 - Bottom lift test.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... passing the test. For all IBC design types designed to be lifted from the base, there may be no permanent deformation which renders the IBC unsafe for transportation and no loss of contents. [Amdt. 178-103, 59 FR... bottom lift test. The IBC must be loaded to 1.25 times its maximum permissible gross mass, the load being...

  10. Lifting date affects black walnut planting stock quality.

    Treesearch

    W.J. Rietveld; Robert D. Williams

    1981-01-01

    Presents information for black walnut seedlings on storage chilling requirement, fall lifting for overwinter storage, spring lifting, planting times, use of root regeneration potential (RRP) to assess physiological quality of planting stock, and relation between RRP at planting and field performance.

  11. Correlation of Puma airloads: Lifting-line and wake calculation

    NASA Technical Reports Server (NTRS)

    Bousman, William G.; Young, Colin; Gilbert, Neil; Toulmay, Francois; Johnson, Wayne; Riley, M. J.

    1989-01-01

    A cooperative program undertaken by organizations in the United States, England, France, and Australia has assessed the strengths and weaknesses of four lifting-line/wake methods and three CFD methods by comparing their predictions with the data obtained in flight trials of a research Puma. The Puma was tested in two configurations: a mixed bladed rotor with instrumented rectangular tip blades, and a configuration with four identical swept tip blades. The results are examined of the lifting-line predictions. The better lifting-line methods show good agreement with lift at the blade tip for the configuration with four swept tips; the moment is well predicted at 0.92 R, but deteriorates outboard. The predictions for the mixed bladed rotor configuration range from fair to good. The lift prediction is better for the swept tip blade than for the rectangular tip blade, but the reasons for this cannot be determined because of the unmodeled effects of the mixed bladed rotor.

  12. 14 CFR 61.163 - Aeronautical experience: Powered-lift category rating.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 2 2010-01-01 2010-01-01 false Aeronautical experience: Powered-lift... Transport Pilots § 61.163 Aeronautical experience: Powered-lift category rating. (a) A person who is applying for an airline transport pilot certificate with a powered-lift category rating must have at least...

  13. 14 CFR 61.163 - Aeronautical experience: Powered-lift category rating.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 2 2011-01-01 2011-01-01 false Aeronautical experience: Powered-lift... Transport Pilots § 61.163 Aeronautical experience: Powered-lift category rating. (a) A person who is applying for an airline transport pilot certificate with a powered-lift category rating must have at least...

  14. Critical Temperature of Randomly Diluted Two-Dimensional Heisenberg Ferromagnet, K2CuxZn(1-x)F4

    NASA Astrophysics Data System (ADS)

    Okuda, Yuichi; Tohi, Yasuto; Yamada, Isao; Haseda, Taiichiro

    1980-09-01

    The susceptibility of randomly diluted two-dimensional Heisenberg-like ferromagnet K2CuxZn(1-x)F4 was measured down to 50 mK, using the 3He-4He dilution refrigerator and a SQUID magnetometer. The ferromagnetic critical temperature Tc(x) was obtained for x{=}0.98, 0.94, 0.85, 0.82, 0.68, 0.60, 0.54, 0.50 and 0.42. The value of [1/Tc(1)][(d/dx)Tc(x)]x=1 was approximately 3.0. The critical temperature versus x curve exhibits a noticeable tail near the critical concentration, which may stem from the second nearest-neighbor interaction. The critical concentration xc, below which concentration there is no long range order down to T{=}0 K, was estimated to be 0.45˜0.50. The susceptibility of sample with x{=}0.42 behaves as if it obeys the Curie law down to 50 mK.

  15. Lifting bloody footwear impressions using alginate casts followed by chemical enhancement.

    PubMed

    Wiesner, Sarena; Izraeli, Elad; Shor, Yaron; Domb, Avi

    2013-05-01

    A method for lifting bloody footwear impressions using alginate casts and enhancing the lifted impressions with amido black is presented. On rough or dark substrates, background interferences may conceal significant details of footwear impressions. Illumination with alternative light sources and chemically enhancing the bloody footwear impressions may reveal additional details, but sometimes, lifting footwear impressions prior to enhancing is the only way to expose hidden details (by using blood reagents not adequate on the original). Several cast formulations were tested for lifting the footwear impressions. The best results were achieved using Aroma fine®. Enhancement of the footwear impressions was attempted with several reagents prior to lifting, during the casting process, and on the lifted footwear impressions. Applying amido black to footwear impressions lifted with alginate produced the sharpest and most detailed footwear impressions. Alginate castings followed by chemical enhancement with amido black may produce high-quality footwear impressions for comparison. © 2013 American Academy of Forensic Sciences.

  16. Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

    NASA Technical Reports Server (NTRS)

    Fong, Terry

    2017-01-01

    For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

  17. Robotic Surgery

    PubMed Central

    Lanfranco, Anthony R.; Castellanos, Andres E.; Desai, Jaydev P.; Meyers, William C.

    2004-01-01

    Objective: To review the history, development, and current applications of robotics in surgery. Background: Surgical robotics is a new technology that holds significant promise. Robotic surgery is often heralded as the new revolution, and it is one of the most talked about subjects in surgery today. Up to this point in time, however, the drive to develop and obtain robotic devices has been largely driven by the market. There is no doubt that they will become an important tool in the surgical armamentarium, but the extent of their use is still evolving. Methods: A review of the literature was undertaken using Medline. Articles describing the history and development of surgical robots were identified as were articles reporting data on applications. Results: Several centers are currently using surgical robots and publishing data. Most of these early studies report that robotic surgery is feasible. There is, however, a paucity of data regarding costs and benefits of robotics versus conventional techniques. Conclusions: Robotic surgery is still in its infancy and its niche has not yet been well defined. Its current practical uses are mostly confined to smaller surgical procedures. PMID:14685095

  18. Miniature in vivo robotics and novel robotic surgical platforms.

    PubMed

    Shah, Bhavin C; Buettner, Shelby L; Lehman, Amy C; Farritor, Shane M; Oleynikov, Dmitry

    2009-05-01

    Robotic surgical systems, such as the da Vinci Surgical System (Intuitive Surgical, Inc., Sunnyvale, California), have revolutionized laparoscopic surgery but are limited by large size, increased costs, and limitations in imaging. Miniature in vivo robots are being developed that are inserted entirely into the peritoneal cavity for laparoscopic and natural orifice transluminal endoscopic surgical (NOTES) procedures. In the future, miniature camera robots and microrobots should be able to provide a mobile viewing platform. This article discusses the current state of miniature robotics and novel robotic surgical platforms and the development of future robotic technology for general surgery and urology.

  19. Analysis of transonic flow about lifting wing-body configurations

    NASA Technical Reports Server (NTRS)

    Barnwell, R. W.

    1975-01-01

    An analytical solution was obtained for the perturbation velocity potential for transonic flow about lifting wing-body configurations with order-one span-length ratios and small reduced-span-length ratios and equivalent-thickness-length ratios. The analysis is performed with the method of matched asymptotic expansions. The angles of attack which are considered are small but are large enough to insure that the effects of lift in the region far from the configuration are either dominant or comparable with the effects of thickness. The modification to the equivalence rule which accounts for these lift effects is determined. An analysis of transonic flow about lifting wings with large aspect ratios is also presented.

  20. Canadian robotic arm is moved to the payload canister for STS-100

    NASA Technical Reports Server (NTRS)

    2001-01-01

    KENNEDY SPACE CENTER, Fla. - In the Space Station Processing Facility, an overhead crane lifts the pallet holding the Canadian robotic arm, SSRMS, to move it to the payload canister. The arm is 57.7 feet (17.6 meters) long when fully extended and has seven motorized joints. It is capable of handling large payloads and assisting with docking the Space Shuttle. The SSRMS is self- relocatable with a Latching End Effector, so it can be attached to complementary ports spread throughout the Station'''s exterior surfaces. The SSRMS is part of the payload on mission STS-100, scheduled to launch April 19 at 2:41 p.m. EDT from Launch Pad 39A, KSC.

  1. Cooperating mobile robots

    DOEpatents

    Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.; Byrne, Raymond H.

    2004-02-03

    A miniature mobile robot provides a relatively inexpensive mobile robot. A mobile robot for searching an area provides a way for multiple mobile robots in cooperating teams. A robotic system with a team of mobile robots communicating information among each other provides a way to locate a source in cooperation. A mobile robot with a sensor, a communication system, and a processor, provides a way to execute a strategy for searching an area.

  2. 78 FR 79599 - Airworthiness Directives; Various Aircraft Equipped With Wing Lift Struts

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-12-31

    ... Airworthiness Directives; Various Aircraft Equipped With Wing Lift Struts AGENCY: Federal Aviation... wing lift struts. The list of affected airplanes in the Applicability section is incorrect. Several... wing lift struts for corrosion; repetitively inspecting the wing lift strut forks for cracks; replacing...

  3. Long-term effect of the insoluble thread-lifting technique.

    PubMed

    Fukaya, Mototsugu

    2017-01-01

    Although the thread-lifting technique for sagging faces has become more common and popular, medical literature evaluating its effects is scarce. Studies on its long-term prognosis are particularly uncommon. One hundred individuals who had previously undergone insoluble thread-lifting were retrospectively investigated. Photos in frontal and oblique views from the first and last visits were evaluated by six female individuals by guessing the patients' ages. The mean guessed age was defined as the apparent age, and the difference between the real and apparent ages was defined as the youth value. The difference between the youth values before and after the thread-lift was defined as the rejuvenation effect and analyzed in relation to the time since the operation, the number of threads used and the number of thread-lift operations performed. The rejuvenation effect decreased over the first year after the operation, but showed an increasing trend thereafter. The rejuvenation effect increased with the number of threads used and the number of thread-lift operations performed. The insoluble thread-lifting technique appears to be associated with both early and late effects. The rejuvenation effect appeared to decrease during the first year, but increased thereafter. A multicenter trial is necessary to confirm these findings.

  4. FREIGHT CONTAINER LIFTING STANDARD

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

    POWERS DJ; SCOTT MA; MACKEY TC

    2010-01-13

    This standard details the correct methods of lifting and handling Series 1 freight containers following ISO-3874 and ISO-1496. The changes within RPP-40736 will allow better reading comprehension, as well as correcting editorial errors.

  5. In-Flight Subsonic Lift and Drag Characteristics Unique to Blunt-Based Lifting Reentry Vehicles

    NASA Technical Reports Server (NTRS)

    Saltzman, Edwin J.; Wang, K. Charles; Iliff, Kenneth W.

    2007-01-01

    Lift and drag measurements have been analyzed for subsonic flight conditions for seven blunt-based reentry-type vehicles. Five of the vehicles are lifting bodies (M2-F1, M2-F2, HL-10, X-24A, and X-24B) and two are wing-body configurations (the X-15 and the Space Shuttle Enterprise). Base pressure measurements indicate that the base drag for full-scale vehicles is approximately three times greater than predicted by Hoerner's equation for three-dimensional bodies. Base drag and forebody drag combine to provide an optimal overall minimum drag (a drag "bucket") for a given configuration. The magnitude of this optimal drag, as well as the associated forebody drag, is dependent on the ratio of base area to vehicle wetted area. Counter-intuitively, the flight-determined optimal minimum drag does not occur at the point of minimum forebody drag, but at a higher forebody drag value. It was also found that the chosen definition for reference area for lift parameters should include the projection of planform area ahead of the wing trailing edge (i.e., forebody plus wing). Results are assembled collectively to provide a greater understanding of this class of vehicles than would occur by considering them individually.

  6. Two-dimensional unsteady lift problems in supersonic flight

    NASA Technical Reports Server (NTRS)

    Heaslet, Max A; Lomax, Harvard

    1949-01-01

    The variation of pressure distribution is calculated for a two-dimensional supersonic airfoil either experiencing a sudden angle-of-attack change or entering a sharp-edge gust. From these pressure distributions the indicial lift functions applicable to unsteady lift problems are determined for two cases. Results are presented which permit the determination of maximum increment in lift coefficient attained by an unrestrained airfoil during its flight through a gust. As an application of these results, the minimum altitude for safe flight through a specific gust is calculated for a particular supersonic wing of given strength and wing loading.

  7. EFFECT OF HEEL LIFTS ON PATELLOFEMORAL JOINT STRESS DURING RUNNING.

    PubMed

    Mestelle, Zachary; Kernozek, Thomas; Adkins, Kelly S; Miller, Jessica; Gheidi, Naghmeh

    2017-10-01

    Patellofemoral pain is a debilitating injury for many recreational runners. Excessive patellofemoral joint stress may be the underlying source of pain and interventions often focus on ways to reduce patellofemoral joint stress. Heel lifts have been used as an intervention within Achilles tendon rehabilitation programs and to address leg length discrepancies. The purpose of this study was to examine the effect of running with heel lifts on patellofemoral joint stress, patellofemoral stress impulse, quadriceps force, step length, cadence, and other related kinematic and spatiotemporal variables. A repeated-measures research design. Sixteen healthy female runners completed five running trials in a controlled laboratory setting with and without 11mm heel lifts inserted in a standard running shoe. Kinetic and kinematic data were used in combination with a static optimization technique to estimate individual muscle forces. These data were inserted into a patellofemoral joint model which was used to estimate patellofemoral joint stress and other variables during running. When running with heel lifts, peak patellofemoral joint stress and patellofemoral stress impulse were reduced by a 4.2% (p=0.049) and 9.3% (p=0.002). Initial center of pressure was shifted anteriorly 9.1% when running with heel lifts (p<0.001) despite all runners utilizing a heel strike pattern. Dorsiflexion at initial contact was reduced 28% (p=0.016) when heel lifts were donned. No differences in step length and cadence (p>0.05) were shown between conditions. Heel lift use resulted in decreased patellofemoral joint stress and impulse without associated changes in step length or frequency, or other variables shown to influence patellofemoral joint stress. The center of pressure at initial contact was also more anterior using heel lifts. The use of heel lifts may have therapeutic benefits for runners with patellofemoral pain if the primary goal is to reduce patellofemoral joint stress. 3b.

  8. NASA Heavy Lift Rotorcraft Systems Investigation

    NASA Technical Reports Server (NTRS)

    Johnson, Wayne; Yamauchi, Gloria K.; Watts, Michael E.

    2005-01-01

    The NASA Heavy Lift Rotorcraft Systems Investigation examined in depth several rotorcraft configurations for large civil transport, designed to meet the technology goals of the NASA Vehicle Systems Program. The investigation identified the Large Civil Tiltrotor as the configuration with the best potential to meet the technology goals. The design presented was economically competitive, with the potential for substantial impact on the air transportation system. The keys to achieving a competitive aircraft were low drag airframe and low disk loading rotors; structural weight reduction, for both airframe and rotors; drive system weight reduction; improved engine efficiency; low maintenance design; and manufacturing cost comparable to fixed-wing aircraft. Risk reduction plans were developed to provide the strategic direction to support a heavy-lift rotorcraft development. The following high risk areas were identified for heavy lift rotorcraft: high torque, light weight drive system; high performance, structurally efficient rotor/wing system; low noise aircraft; and super-integrated vehicle management system.

  9. Progress in high-lift aerodynamic calculations

    NASA Technical Reports Server (NTRS)

    Rogers, Stuart E.

    1993-01-01

    The current work presents progress in the effort to numerically simulate the flow over high-lift aerodynamic components, namely, multi-element airfoils and wings in either a take-off or a landing configuration. The computational approach utilizes an incompressible flow solver and an overlaid chimera grid approach. A detailed grid resolution study is presented for flow over a three-element airfoil. Two turbulence models, a one-equation Baldwin-Barth model and a two equation k-omega model are compared. Excellent agreement with experiment is obtained for the lift coefficient at all angles of attack, including the prediction of maximum lift when using the two-equation model. Results for two other flap riggings are shown. Three-dimensional results are presented for a wing with a square wing-tip as a validation case. Grid generation and topology is discussed for computing the flow over a T-39 Sabreliner wing with flap deployed and the initial calculations for this geometry are presented.

  10. NASA's Space Launch System: Positioning Assets for Tele-Robotic Operations

    NASA Technical Reports Server (NTRS)

    May, Todd A.; Creech, Stephen D.; Robinson, Kimberly F.

    2013-01-01

    The National Aeronautics and Space Administration (NASA) is designing and developing America's most capable launch vehicle to support high-priority human and scientific exploration beyond Earth's orbit. The Space Launch System (SLS) will initially lift 70 metric tons (t) on its first flights, slated to begin in 2017, and will be evolved after 2021 to a full 130-t capability-larger than the Saturn V Moon rocket. This superior lift and associated volume capacity will support game-changing exploration in regions that were previously unattainable, being too costly and risky to reach. On the International Space Station, astronauts are training for long-duration missions to asteroids and cis-martian regions, but have not had transportation out of Earth's orbit - until now. Simultaneously, productive rovers are sending scientists - and space fans - unprecedented information about the composition and history of Mars, the planet thought to be most like Earth. This combination of experience and information is laying the foundation for future missions, such as those outlined in NASA's "Mars Next Decade" report, that will rely on te1e-robotic operations to take exploration to the next level. Within this paradigm, NASA's Space Launch System stands ready to manifest the unique payloads that will be required for mission success. Ultimately, the ability to position assets - ranging from orbiters, to landers, to communication satellites and surface systems - is a critical step in broadening the reach of technological innovation that will benefit all Earth's people as the Space Age unfolds. This briefing will provide an overview of how the Space Launch System will support delivery of elements for tele-robotic operations at destinations such as the Moon and Mars, which will synchronize the human-machine interface to deliver hybrid on-orbit capabilities. Ultimately, telerobotic operations will open entirely new vistas and the doors of discovery. NASA's Space Launch System will be a

  11. [Robotics].

    PubMed

    Bier, J

    2000-05-01

    Content of this paper is the current state of the art of robots in surgery and the ongoing work on the field of surgical robotics at the Clinic for Maxillofacial Surgery at the Charité. Robots in surgery allows the surgeon to transform the accuracy of the imaging systems directly during the intervention and to plan an intervention beforehand. In this paper firstly the state of the art is described. Subsequently the scientific work at the clinic is described in detail. The paper closes with a outlook for future applications of robotics systems in maxillofacial surgery.

  12. Robot-Aided Neurorehabilitation: A Robot for Wrist Rehabilitation

    PubMed Central

    Krebs, Hermano Igo; Volpe, Bruce T.; Williams, Dustin; Celestino, James; Charles, Steven K.; Lynch, Daniel; Hogan, Neville

    2009-01-01

    In 1991, a novel robot, MIT-MANUS, was introduced to study the potential that robots might assist in and quantify the neuro-rehabilitation of motor function. MIT-MANUS proved an excellent tool for shoulder and elbow rehabilitation in stroke patients, showing in clinical trials a reduction of impairment in movements confined to the exercised joints. This successful proof of principle as to additional targeted and intensive movement treatment prompted a test of robot training examining other limb segments. This paper focuses on a robot for wrist rehabilitation designed to provide three rotational degrees-of-freedom. The first clinical trial of the device will enroll 200 stroke survivors. Ultimately 160 stroke survivors will train with both the proximal shoulder and elbow MIT-MANUS robot, as well as with the novel distal wrist robot, in addition to 40 stroke survivor controls. So far 52 stroke patients have completed the robot training (ongoing protocol). Here, we report on the initial results on 36 of these volunteers. These results demonstrate that further improvement should be expected by adding additional training to other limb segments. PMID:17894265

  13. Robot-aided neurorehabilitation: a robot for wrist rehabilitation.

    PubMed

    Krebs, Hermano Igo; Volpe, Bruce T; Williams, Dustin; Celestino, James; Charles, Steven K; Lynch, Daniel; Hogan, Neville

    2007-09-01

    In 1991, a novel robot, MIT-MANUS, was introduced to study the potential that robots might assist in and quantify the neuro-rehabilitation of motor function. MIT-MANUS proved an excellent tool for shoulder and elbow rehabilitation in stroke patients, showing in clinical trials a reduction of impairment in movements confined to the exercised joints. This successful proof of principle as to additional targeted and intensive movement treatment prompted a test of robot training examining other limb segments. This paper focuses on a robot for wrist rehabilitation designed to provide three rotational degrees-of-freedom. The first clinical trial of the device will enroll 200 stroke survivors. Ultimately 160 stroke survivors will train with both the proximal shoulder and elbow MIT-MANUS robot, as well as with the novel distal wrist robot, in addition to 40 stroke survivor controls. So far 52 stroke patients have completed the robot training (ongoing protocol). Here, we report on the initial results on 36 of these volunteers. These results demonstrate that further improvement should be expected by adding additional training to other limb segments.

  14. Variable Lifting Index for Manual-Lifting Risk Assessment: A Preliminary Validation Study.

    PubMed

    Battevi, Natale; Pandolfi, Monica; Cortinovis, Ivan

    2016-08-01

    The aim of this study was to evaluate the efficacy of the new Variable Lifting Index (VLI) method, theoretically based on the Revised National Institute for Occupational Safety and Health [NIOSH] Lifting Equation (RNLE), in predicting the risk of acute low-back pain (LBP) in the past 12 months. A new risk variable termed the VLI for assessing variable manual lifting has been developed, but there has been no epidemiological study that evaluates the relationship between the VLI and LBP. A sample of 3,402 study participants from 16 companies in different industrial sectors was analyzed. Of the participants, 2,374 were in the risk exposure group involving manual materials handling (MMH), and 1,028 were in the control group without MMH. The VLI was calculated for each participant in the exposure group using a systematic approach. LBP information was collected by occupational physicians at the study sites. The risk of acute LBP was estimated by calculating the odds ratio (OR) between levels of the risk exposure and the control group using a logistic regression analysis. Both crude and adjusted ORs for body mass index, gender, and age were analyzed. Both crude and adjusted ORs showed a dose-response relationship. As the levels of VLI increased, the risk of LBP increased. This risk relationship existed when VLI was greater than 1. The VLI method can be used to assess the risk of acute LBP, although further studies are needed to confirm the outcome and to define better VLI categories. © 2016, Human Factors and Ergonomics Society.

  15. Hydrodynamics of a robotic fish tail: effects of the caudal peduncle, fin ray motions and the flow speed.

    PubMed

    Ren, Ziyu; Yang, Xingbang; Wang, Tianmiao; Wen, Li

    2016-02-08

    Recent advances in understanding fish locomotion with robotic devices have included the use of biomimetic flapping based and fin undulatory locomotion based robots, treating two locomotions separately from each other. However, in most fish species, patterns of active movements of fins occur in concert with the body undulatory deformation during swimming. In this paper, we describe a biomimetic robotic caudal fin programmed with individually actuated fin rays to mimic the fin motion of the Bluegill Sunfish (Lepomis macrochirus) and coupled with heave and pitch oscillatory motions adding to the robot to mimic the peduncle motion which is derived from the undulatory fish body. Multiple-axis force and digital particle image velocimetry (DPIV) experiments from both the vertical and horizontal planes behind the robotic model were conducted under different motion programs and flow speeds. We found that both mean thrust and lift could be altered by changing the phase difference (φ) from 0° to 360° between the robotic caudal peduncle and the fin ray motion (spanning from 3 mN to 124 mN). Notably, DPIV results demonstrated that the caudal fin generated multiple wake flow patterns in both the vertical and horizontal planes by varying φ. Vortex jet angle and thrust impulse also varied significantly both in these two planes. In addition, the vortex shedding position along the spanwise tail direction could be shifted around the mid-sagittal position between the upper and lower lobes by changing the phase difference. We hypothesize that the fish caudal fin may serve as a flexible vectoring propeller during swimming and may be critical for the high maneuverability of fish.

  16. Parametric Investigation of a High-Lift Airfoil at High Reynolds Numbers

    NASA Technical Reports Server (NTRS)

    Lin, John C.; Dominik, Chet J.

    1997-01-01

    A new two-dimensional, three-element, advanced high-lift research airfoil has been tested in the NASA Langley Research Center s Low-Turbulence Pressure Tunnel at a chord Reynolds number up to 1.6 x 107. The components of this high-lift airfoil have been designed using a incompressible computational code (INS2D). The design was to provide high maximum-lift values while maintaining attached flow on the single-segment flap at landing conditions. The performance of the new NASA research airfoil is compared to a similar reference high-lift airfoil. On the new high-lift airfoil the effects of Reynolds number on slat and flap rigging have been studied experimentally, as well as the Mach number effects. The performance trend of the high-lift design is comparable to that predicted by INS2D over much of the angle-of-attack range. However, the code did not accurately predict the airfoil performance or the configuration-based trends near maximum lift where the compressibility effect could play a major role.

  17. The Revolutionary Vertical Lift Technology (RVLT) Project

    NASA Technical Reports Server (NTRS)

    Yamauchi, Gloria K.

    2018-01-01

    The Revolutionary Vertical Lift Technology (RVLT) Project is one of six projects in the Advanced Air Vehicles Program (AAVP) of the NASA Aeronautics Research Mission Directorate. The overarching goal of the RVLT Project is to develop and validate tools, technologies, and concepts to overcome key barriers for vertical lift vehicles. The project vision is to enable the next generation of vertical lift vehicles with aggressive goals for efficiency, noise, and emissions, to expand current capabilities and develop new commercial markets. The RVLT Project invests in technologies that support conventional, non-conventional, and emerging vertical-lift aircraft in the very light to heavy vehicle classes. Research areas include acoustic, aeromechanics, drive systems, engines, icing, hybrid-electric systems, impact dynamics, experimental techniques, computational methods, and conceptual design. The project research is executed at NASA Ames, Glenn, and Langley Research Centers; the research extensively leverages partnerships with the US Army, the Federal Aviation Administration, industry, and academia. The primary facilities used by the project for testing of vertical-lift technologies include the 14- by 22-Ft Wind Tunnel, Icing Research Tunnel, National Full-Scale Aerodynamics Complex, 7- by 10-Ft Wind Tunnel, Rotor Test Cell, Landing and Impact Research facility, Compressor Test Facility, Drive System Test Facilities, Transonic Turbine Blade Cascade Facility, Vertical Motion Simulator, Mobile Acoustic Facility, Exterior Effects Synthesis and Simulation Lab, and the NASA Advanced Supercomputing Complex. To learn more about the RVLT Project, please stop by booth #1004 or visit their website at https://www.nasa.gov/aeroresearch/programs/aavp/rvlt.

  18. The Six Track Scherzer Rolling Lift Bridge…Two double track spans ...

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

    The Six Track Scherzer Rolling Lift Bridge…Two double track spans closed. One double-track span open. Photocopy of plate xvi in Scherzer Rolling Lift Bridge Company, Scherzer Rolling Lift Bridges. - New York, New Haven & Hartford Railroad, Fort Point Channel Rolling Lift Bridge, Spanning Fort Point Channel, Boston, Suffolk County, MA

  19. FEB (Multifilter Electronics Box) lifting device analysis, revision A

    NASA Astrophysics Data System (ADS)

    Croskey, Charles L.

    1988-02-01

    This document is to determine the mechanical loads produced when the FEB is either lifted manually with handles or by a sling and overhead hoist. 2. Relevant Documents 2.1 JA418 2.2 ES-MAS-DS-003 MAS Ground Support Equipment Specification 2.3 An Introduction to the Design and Behavior of Bolted Joints John H. Bickford, MARCEL DEKKER, New York 3. Lifting Apparatus 3.1 For the lifting of FEB by either handles or a sling from an overhead hoist, four eyebolts are attached to the top mounting edge, through the top cover and into the top flange of the sidewalls. When the FEB is to be lifted manually without mechanical assistance, two long stainless steel rods are inserted lengthwise through the upright eyebolts. A small collar is then slipped over the rod so that the rod cannot shift lengthwise. The rod ends which extend beyond the eyebolt positions serve as handles for two people to lift the FEB. When an overhead hoist is to be used, the rods are not used. Instead a wire-rope sling is attached to each eyebolt. The four sling arms meet at a center jump ring which is lifted by the hook of the overhead crane. A spreader frame is used just above the eye-bolt attachments so that the load transfered to the bolts is strictly vertical.

  20. Robotic intelligence kernel

    DOEpatents

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

  1. Three-dimensional motion analysis of the lumbar spine during "free squat" weight lift training.

    PubMed

    Walsh, James C; Quinlan, John F; Stapleton, Robert; FitzPatrick, David P; McCormack, Damian

    2007-06-01

    Heavy weight lifting using a squat bar is a commonly used athletic training exercise. Previous in vivo motion studies have concentrated on lifting of everyday objects and not on the vastly increased loads that athletes subject themselves to when performing this exercise. Athletes significantly alter their lumbar spinal motion when performing squat lifting at heavy weights. Controlled laboratory study. Forty-eight athletes (28 men, 20 women) performed 6 lifts at 40% maximum, 4 lifts at 60% maximum, and 2 lifts at 80% maximum. The Zebris 3D motion analysis system was used to measure lumbar spine motion. Exercise was performed as a "free" squat and repeated with a weight lifting support belt. Data obtained were analyzed using SAS. A significant decrease (P < .05) was seen in flexion in all groups studied when lifting at 40% maximum compared with lifting at 60% and 80% of maximum lift. Flexion from calibrated 0 point ranged from 24.7 degrees (40% group) to 6.8 degrees (80% group). A significant increase (P < .05) was seen in extension when lifting at 40% maximum was compared with lifting at 60% and 80% maximum lift. Extension from calibrated 0 point ranged from -1.5 degrees (40% group) to -20.3 degrees (80% group). No statistically significant difference was found between motion seen when exercise was performed as a free squat or when lifting using a support belt in any of the groups studied. Weight lifting using a squat bar causes athletes to significantly hyperextend their lumbar spines at heavier weights. The use of a weight lifting support belt does not significantly alter spinal motion during lifting.

  2. [Low back load reduction using mechanical lift during transfer of patients].

    PubMed

    Tomioka, Kimiko; Sakae, Kenichiro; Yasuda, Junko

    2008-07-01

    In Japanese care-work sites, care-workers (CWs) have lacked basic health risk awareness for transferring patients. Knowledge of lifting equipment and skills for transfer of patients have not been disseminated and many CWs have suffered from work-related musculoskeletal disorders, especially low back pain (LBP). In order to find better ways of patient transfer which reduce and prevent LBP, we conducted a study of low back loads and operation time during the transfer of a simulated patient, who was totally dependent from bed to wheelchair, using a mechanical lift (Lift) and manual handling (handling). Moreover we examined the levels of skill which CWs had acquired in transfer by Lift and the effects of acquired skill on low back loads and operation time. We explored low back load using surface electromyography (EMG) of the lumbar paraspinals between L3 and L4 and the trunk inclination angle (TIA) measurement method. The subjects were 5 caregivers who performed the task of transferring a simulated patient from lying on the bed to sitting in a wheelchair using the Lift and by handling. Handling transfer was assisted by two-persons at the head and foot. A 'simulated' patient (a 70 kg healthy male; instructed to keep whole body relaxed) was used in all transfer tasks. When subjects used the Lift, we made an ergonomics checklist for reduction of low back load of caregivers. Subjects performed the task 4 times and were evaluated with the checklist. The level of acquired skill was significantly improved by the guidance of the checklist. TIA was observed to be significantly lower in Lift than in handling, but with EMG no significant differences were seen between Lift and handling. The effects of acquired skill on low back loads showed that TIA was statistically reduced at high skill as compared to low skill. However, there were no significant differences between both skills in Lift and handling by EMG. Operation time of Lift showed significant shortening of operation time

  3. Energy flow during Olympic weight lifting.

    PubMed

    Garhammer, J

    1982-01-01

    Data obtained from 16-mm film of world caliber Olympic weight lifters performing at major competitions were analyzed to study energy changes during body segment and barbell movements, energy transfer to the barbell, and energy transfer between segments during the lifting movements contested. Determination of barbell and body segment kinematics and use of rigid-link modeling and energy flow techniques permitted the calculation of segment energy content and energy transfer between segments. Energy generation within and transfer to and from segments were determined at 0.04-s intervals by comparing mechanical energy changes of a segment with energy transfer at the joints, calculated from the scalar product of net joint force with absolute joint velocity, and the product of net joint torque due to muscular activity with absolute segment angular velocity. The results provided a detailed understanding of the magnitude and temporal input of energy from dominant muscle groups during a lift. This information also provided a means of quantifying lifting technique. Comparison of segment energy changes determined by the two methods were satisfactory but could likely be improved by employing more sophisticated data smoothing methods. The procedures used in this study could easily be applied to weight training and rehabilitative exercises to help determine their efficacy in producing desired results or to ergonomic situations where a more detailed understanding of the demands made on the body during lifting tasks would be useful.

  4. Representation Learning of Logic Words by an RNN: From Word Sequences to Robot Actions

    PubMed Central

    Yamada, Tatsuro; Murata, Shingo; Arie, Hiroaki; Ogata, Tetsuya

    2017-01-01

    An important characteristic of human language is compositionality. We can efficiently express a wide variety of real-world situations, events, and behaviors by compositionally constructing the meaning of a complex expression from a finite number of elements. Previous studies have analyzed how machine-learning models, particularly neural networks, can learn from experience to represent compositional relationships between language and robot actions with the aim of understanding the symbol grounding structure and achieving intelligent communicative agents. Such studies have mainly dealt with the words (nouns, adjectives, and verbs) that directly refer to real-world matters. In addition to these words, the current study deals with logic words, such as “not,” “and,” and “or” simultaneously. These words are not directly referring to the real world, but are logical operators that contribute to the construction of meaning in sentences. In human–robot communication, these words may be used often. The current study builds a recurrent neural network model with long short-term memory units and trains it to learn to translate sentences including logic words into robot actions. We investigate what kind of compositional representations, which mediate sentences and robot actions, emerge as the network's internal states via the learning process. Analysis after learning shows that referential words are merged with visual information and the robot's own current state, and the logical words are represented by the model in accordance with their functions as logical operators. Words such as “true,” “false,” and “not” work as non-linear transformations to encode orthogonal phrases into the same area in a memory cell state space. The word “and,” which required a robot to lift up both its hands, worked as if it was a universal quantifier. The word “or,” which required action generation that looked apparently random, was represented as an unstable space of

  5. Airworthiness criteria development for powered-lift aircraft: A program summary

    NASA Technical Reports Server (NTRS)

    Heffley, R. K.; Stapleford, R. L.; Rumold, R. C.

    1977-01-01

    A four-year simulation program to develop airworthiness criteria for powered-lift aircraft is summarized. All flight phases affected by use of powered lift (approach, landing, takeoff) are treated with regard to airworthiness problem areas (limiting flight conditions and safety margins: stability, control, and performance; and systems failure). The general features of powered-lift aircraft are compared to conventional aircraft.

  6. 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 .

  7. The climbing crawling robot (a unique cable robot for space and Earth)

    NASA Technical Reports Server (NTRS)

    Kerley, James J.; May, Edward; Eklund, Wayne

    1991-01-01

    Some of the greatest concerns in robotic designs have been the high center of gravity of the robot, the irregular or flat surface that the robot has to work on, the weight of the robot that has to handle heavy weights or use heavy forces, and the ability of the robot to climb straight up in the air. This climbing crawling robot handles these problems well with magnets, suction cups, or actuators. The cables give body to the robot and it performs very similar to a caterpillar. The computer program is simple and inexpensive as is the robot. One of the important features of this system is that the robot can work in pairs or triplets to handle jobs that would be extremely difficult for single robots. The light weight of the robot allows it to handle quite heavy weights. The number of feet give the robot many roots where a simple set of feet would give it trouble.

  8. High-Lift Optimization Design Using Neural Networks on a Multi-Element Airfoil

    NASA Technical Reports Server (NTRS)

    Greenman, Roxana M.; Roth, Karlin R.; Smith, Charles A. (Technical Monitor)

    1998-01-01

    The high-lift performance of a multi-element airfoil was optimized by using neural-net predictions that were trained using a computational data set. The numerical data was generated using a two-dimensional, incompressible, Navier-Stokes algorithm with the Spalart-Allmaras turbulence model. Because it is difficult to predict maximum lift for high-lift systems, an empirically-based maximum lift criteria was used in this study to determine both the maximum lift and the angle at which it occurs. Multiple input, single output networks were trained using the NASA Ames variation of the Levenberg-Marquardt algorithm for each of the aerodynamic coefficients (lift, drag, and moment). The artificial neural networks were integrated with a gradient-based optimizer. Using independent numerical simulations and experimental data for this high-lift configuration, it was shown that this design process successfully optimized flap deflection, gap, overlap, and angle of attack to maximize lift. Once the neural networks were trained and integrated with the optimizer, minimal additional computer resources were required to perform optimization runs with different initial conditions and parameters. Applying the neural networks within the high-lift rigging optimization process reduced the amount of computational time and resources by 83% compared with traditional gradient-based optimization procedures for multiple optimization runs.

  9. Robotic surgery: new robots and finally some real competition!

    PubMed

    Rao, Pradeep P

    2018-04-01

    For the last 20 years, the predominant robot used in laparoscopic surgery has been Da Vinci by Intuitive Surgical. This monopoly situation has led to rising costs and relatively slow innovation. This article aims to discuss the two new robotic devices for laparoscopic surgery which have received regulatory approval for human use in different parts of the world. A short description of the Senhance Surgical Robotic System and the REVO-I Robot Platform and their pros and cons compared to the Da Vinci system is presented. A discussion about the differences between the three robotic systems now in the market is presented, as well as a short review of the present state of robotic assistance in surgery and where we are headed.

  10. Civil markets for buoyant heavy-lift vehicles

    NASA Technical Reports Server (NTRS)

    Mettam, P. J.; Hansen, D.; Ardema, M. D.

    1981-01-01

    Worldwide civil markets for heavy lift airships were investigated. Substantial potential market demand was identified for payloads of from 13 to 800 tons. The largest markets appear to be in applications to relieve port congestion, construction of power generating plants, and, most notably, logging. Because of significant uncertainties both in vehicle and market characteristics, further analysis will be necessary to verify the identified market potential of heavy lift airship concepts.

  11. 77 FR 38030 - Atlantic Highly Migratory Species; Lifting Trade Restrictive Measures

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-06-26

    ... of Atlantic Tunas (Commission). The proposed rule would lift the trade restrictions on importing... Commission adopted Recommendation 11-19, which requires Parties to lift import prohibitions on Atlantic... measures. As a result, the Commission adopted Recommendation 11-19, which requires Parties to lift import...

  12. Laser-induced forward transfer (LIFT) of congruent voxels

    NASA Astrophysics Data System (ADS)

    Piqué, Alberto; Kim, Heungsoo; Auyeung, Raymond C. Y.; Beniam, Iyoel; Breckenfeld, Eric

    2016-06-01

    Laser-induced forward transfer (LIFT) of functional materials offers unique advantages and capabilities for the rapid prototyping of electronic, optical and sensor elements. The use of LIFT for printing high viscosity metallic nano-inks and nano-pastes can be optimized for the transfer of voxels congruent with the shape of the laser pulse, forming thin film-like structures non-lithographically. These processes are capable of printing patterns with excellent lateral resolution and thickness uniformity typically found in 3-dimensional stacked assemblies, MEMS-like structures and free-standing interconnects. However, in order to achieve congruent voxel transfer with LIFT, the particle size and viscosity of the ink or paste suspensions must be adjusted to minimize variations due to wetting and drying effects. When LIFT is carried out with high-viscosity nano-suspensions, the printed voxel size and shape become controllable parameters, allowing the printing of thin-film like structures whose shape is determined by the spatial distribution of the laser pulse. The result is a new level of parallelization beyond current serial direct-write processes whereby the geometry of each printed voxel can be optimized according to the pattern design. This work shows how LIFT of congruent voxels can be applied to the fabrication of 2D and 3D microstructures by adjusting the viscosity of the nano-suspension and laser transfer parameters.

  13. Advances in Engineering Software for Lift Transportation Systems

    NASA Astrophysics Data System (ADS)

    Kazakoff, Alexander Borisoff

    2012-03-01

    In this paper an attempt is performed at computer modelling of ropeway ski lift systems. The logic in these systems is based on a travel form between the two terminals, which operates with high capacity cabins, chairs, gondolas or draw-bars. Computer codes AUTOCAD, MATLAB and Compaq-Visual Fortran - version 6.6 are used in the computer modelling. The rope systems computer modelling is organized in two stages in this paper. The first stage is organization of the ground relief profile and a design of the lift system as a whole, according to the terrain profile and the climatic and atmospheric conditions. The ground profile is prepared by the geodesists and is presented in an AUTOCAD view. The next step is the design of the lift itself which is performed by programmes using the computer code MATLAB. The second stage of the computer modelling is performed after the optimization of the co-ordinates and the lift profile using the computer code MATLAB. Then the co-ordinates and the parameters are inserted into a program written in Compaq Visual Fortran - version 6.6., which calculates 171 lift parameters, organized in 42 tables. The objective of the work presented in this paper is an attempt at computer modelling of the design and parameters derivation of the rope way systems and their computer variation and optimization.

  14. Three-dimensional unsteady lifting surface theory in the subsonic range

    NASA Technical Reports Server (NTRS)

    Kuessner, H. G.

    1985-01-01

    The methods of the unsteady lifting surface theory are surveyed. Linearized Euler's equations are simplified by means of a Galileo-Lorentz transformation and a Laplace transformation so that the time and the compressibility of the fluid are limited to two constants. The solutions to this simplified problem are represented as integrals with a differential nucleus; these results in tolerance conditions, for which any exact solution must suffice. It is shown that none of the existing three-dimensional lifting surface theories in subsonic range satisfy these conditions. An oscillating elliptic lifting surface which satisfies the tolerance conditions is calculated through the use of Lame's functions. Numerical examples are calculated for the borderline cases of infinitely stretched elliptic lifting surfaces and of circular lifting surfaces. Out of the harmonic solutions any such temporal changes of the down current are calculated through the use of an inverse Laplace transformation.

  15. Flexible robotic actuators

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

    Morin, Stephen A.; Shepherd, Robert F.; Stokes, Adam

    Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.

  16. EFFECT OF HEEL LIFTS ON PATELLOFEMORAL JOINT STRESS DURING RUNNING

    PubMed Central

    Mestelle, Zachary; Kernozek, Thomas; Adkins, Kelly S.; Miller, Jessica; Gheidi, Naghmeh

    2017-01-01

    Background Patellofemoral pain is a debilitating injury for many recreational runners. Excessive patellofemoral joint stress may be the underlying source of pain and interventions often focus on ways to reduce patellofemoral joint stress. Purpose Heel lifts have been used as an intervention within Achilles tendon rehabilitation programs and to address leg length discrepancies. The purpose of this study was to examine the effect of running with heel lifts on patellofemoral joint stress, patellofemoral stress impulse, quadriceps force, step length, cadence, and other related kinematic and spatiotemporal variables. Study Design A repeated-measures research design Methods Sixteen healthy female runners completed five running trials in a controlled laboratory setting with and without 11mm heel lifts inserted in a standard running shoe. Kinetic and kinematic data were used in combination with a static optimization technique to estimate individual muscle forces. These data were inserted into a patellofemoral joint model which was used to estimate patellofemoral joint stress and other variables during running. Results When running with heel lifts, peak patellofemoral joint stress and patellofemoral stress impulse were reduced by a 4.2% (p=0.049) and 9.3% (p=0.002). Initial center of pressure was shifted anteriorly 9.1% when running with heel lifts (p<0.001) despite all runners utilizing a heel strike pattern. Dorsiflexion at initial contact was reduced 28% (p=0.016) when heel lifts were donned. No differences in step length and cadence (p>0.05) were shown between conditions. Conclusions Heel lift use resulted in decreased patellofemoral joint stress and impulse without associated changes in step length or frequency, or other variables shown to influence patellofemoral joint stress. The center of pressure at initial contact was also more anterior using heel lifts. The use of heel lifts may have therapeutic benefits for runners with patellofemoral pain if the primary goal is

  17. iLift: A health behavior change support system for lifting and transfer techniques to prevent lower-back injuries in healthcare.

    PubMed

    Kuipers, Derek A; Wartena, Bard O; Dijkstra, Boudewijn H; Terlouw, Gijs; van T Veer, Job T B; van Dijk, Hylke W; Prins, Jelle T; Pierie, Jean Pierre E N

    2016-12-01

    Lower back problems are a common cause of sick leave of employees in Dutch care homes and hospitals. In the Netherlands over 40% of reported sick leave is due to back problems, mainly caused by carrying out heavy work. The goal of the iLift project was to develop a game for nursing personnel to train them in lifting and transfer techniques. The main focus was not on testing for the effectiveness of the game itself, but rather on the design of the game as an autogenous trigger and its place in a behavioral change support system. In this article, the design and development of such a health behavior change support system is addressed, describing cycles of design and evaluation. (a) To define the problem space, use context and user context, focus group interviews were conducted with Occupational Therapists (n=4), Nurses (n=10) and Caregivers (n=12) and a thematic analysis was performed. We interviewed experts (n=5) on the subject of lifting and transferring techniques. (b) A design science research approach resulted in a playable prototype. An expert panel conducted analysis of video-recorded playing activities. (c) Field experiment: We performed a dynamic analysis in order to investigate the feasibility of the prototype through biometric data from player sessions (n=620) by healthcare professionals (n=37). (a) Occupational Therapists, Nurses and Caregivers did not recognise a lack of knowledge with training in lifting and transferring techniques. All groups considered their workload, time pressure and a culturally determined habit to place the patient's well being above their own as the main reason not to apply appropriate lifting and transferring techniques. This led to a shift in focus from a serious game teaching lifting and transferring techniques to a health behavior change support system containing a game with the intention to influence behavior. (b) Building and testing (subcomponents of) the prototype resulted in design choices regarding players perspective

  18. Estimation of unsteady lift on a pitching airfoil from wake velocity surveys

    NASA Technical Reports Server (NTRS)

    Zaman, K. B. M. Q.; Panda, J.; Rumsey, C. L.

    1993-01-01

    The results of a joint experimental and computational study on the flowfield over a periodically pitched NACA0012 airfoil, and the resultant lift variation, are reported in this paper. The lift variation over a cycle of oscillation, and hence the lift hysteresis loop, is estimated from the velocity distribution in the wake measured or computed for successive phases of the cycle. Experimentally, the estimated lift hysteresis loops are compared with available data from the literature as well as with limited force balance measurements. Computationally, the estimated lift variations are compared with the corresponding variation obtained from the surface pressure distribution. Four analytical formulations for the lift estimation from wake surveys are considered and relative successes of the four are discussed.

  19. Longitudinal Stability and Stalling Characteristics of a 1/8.33-Scale Model of the Republic XF-12 Airplane

    NASA Technical Reports Server (NTRS)

    Pepper, Edward; Foster, Gerald V.

    1946-01-01

    The XF-12 airplane is a high performance, photo-reconnaissance aircraft designed by the Republic Aviation Corporation for Army Air Forces. A series of tests of a 1/8.33-scale powered model was conducted in the Langley 9-foot pressure tunnel to obtain information relative to the aerodynamic design of the airplane. This report presents the results of tests to determine the static longitudinal stability and stalling characteristics of the model. From this investigation it was indicated that the airplane will possess a positive static margin for all probable flight conditions. The stalling characteristics are considered satisfactory in that the stall initiates near the root section and progresses toward the tips. Early root section stalling occurs, with the flaps retracted and may cause undesirable tail buffeting and erratic elevator control in the normal flight range. From considerations of sinking speed landing flap deflections of 40 degrees may be preferable to 55 degrees of 65 degrees.

  20. LCL: (Locked Cheek Lift) Three-Dimensional Cheek Lift and Inferior Palpebral Rejuvenation.

    PubMed

    Divaris, Marc; Sabri, Ebaa; Cancemi, Gianfranco; Daury, Richard

    2018-06-01

    Many recent advances in face lift techniques have been made to reverse the aging process of the mid-face. In this study, we present a new technique by which mid-face rejuvenation can be achieved in double-angle vectors and allows adaption to the underlying bony structure. The locked cheek lift (LCL) allows effective, simple and rapid lifting of the malar fat pad in two planes. Correction of the curvature of the face and reduction of the height of lid cheek junction distance can be achieved without an incision at the lower eyelid. In total, 115 patients (77 females and 38 males) have been operated on using the LCL technique by a single surgeon; patient ages ranged between 37 and 71 years old (average = 51). Follow-up was performed by the same team for a year postoperatively. The facial expression and lid cheek distance have been evaluated during this period. After a year from the operation, the lid cheek distance correction was maintained in 95.7% of the cases, with stable position of the ascended malar fat pad. Postoperative edema and ecchymosis were limited. LCL is an effective, simple and rapid surgical technique, which is capable of correcting the cheek gravitational migration, reducing the lid cheek distance (LCD), maintaining the ascended stable malar fat pad for a long time with a short recovery period and minimal risk of complications. This journal requires that authors assign a level of evidence to each article. For a full description of these Evidence-Based Medicine ratings, please refer to the Table of Contents or the online Instructions to Authors www.springer.com/00266 .

  1. Shape memory alloy resetable spring lift for pedestrian protection

    NASA Astrophysics Data System (ADS)

    Barnes, Brian M.; Brei, Diann E.; Luntz, Jonathan E.; Strom, Kenneth; Browne, Alan L.; Johnson, Nancy

    2008-03-01

    Pedestrian protection has become an increasingly important aspect of automotive safety with new regulations taking effect around the world. Because it is increasingly difficult to meet these new regulations with traditional passive approaches, active lifts are being explored that increase the "crush zone" between the hood and rigid under-hood components as a means of mitigating the consequences of an impact with a non-occupant. Active lifts, however, are technically challenging because of the simultaneously high forces, stroke and quick timing resulting in most of the current devices being single use. This paper introduces the SMArt (Shape Memory Alloy ReseTable) Spring Lift, an automatically resetable and fully reusable device, which couples conventional standard compression springs to store the energy required for a hood lift, with Shape Memory Alloys actuators to achieve both an ultra high speed release of the spring and automatic reset of the system for multiple uses. Each of the four SMArt Device subsystems, lift, release, lower and reset/dissipate, are individually described. Two identical complete prototypes were fabricated and mounted at the rear corners of the hood, incorporated within a full-scale vehicle testbed at the SMARTT (Smart Material Advanced Research and Technology Transfer) lab at University of Michigan. Full operational cycle testing of a stationary vehicle in a laboratory setting confirms the ultrafast latch release, controlled lift profile, gravity lower to reposition the hood, and spring recompression via the ratchet engine successfully rearming the device for repeat cycles. While this is only a laboratory demonstration and extensive testing and development would be required for transition to a fielded product, this study does indicate that the SMArt Lift has promise as an alternative approach to pedestrian protection.

  2. Multi-robot control interface

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

    Bruemmer, David J; Walton, Miles C

    Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes amore » multi-robot common window comprised of information received from each of the plurality of robots.« less

  3. Study of lifting operation of a tripod foundation for offshore wind turbine

    NASA Astrophysics Data System (ADS)

    Zhu, H.; Li, L.; Ong, M. C.

    2017-12-01

    This study addresses numerical analysis of the installation of a tripod foundation using a heavy lift vessel (HLV). Limiting sea states are firstly predicted in the frequency domain based on crane tip vertical motions using linear transfer functions. Then, numerical modelling and simulations are carried out in the time domain to analyse the coupled dynamic system taking into consideration of the nonlinearities of the system. In time-domain analysis, two lifting phases are brought into focus, i.e., the lift-off and the lowering phases. For the lift-off phase, two scenarios are considered, i.e., lift-off from the own deck of the HLV and lift-off from a transport barge. Moreover, comparative studies using two types of installation vessels, a floating vessel and a Jack-up, are investigated for the lowering process. Critical responses including the motions of the tripod and the lift wire tensions are presented and compared under various environmental and loading conditions.

  4. Development of an integrated staircase lift for home access.

    PubMed

    Mattie, Johanne L; Borisoff, Jaimie F; Leland, Danny; Miller, William C

    2015-12-01

    Stairways into buildings present a significant environmental barrier for those with mobility impairments, including older adults. A number of home access solutions that allow users to safely enter and exit the home exist, however these all have some limitations. The purpose of this work was to develop a novel, inclusive home access solution that integrates a staircase and a lift into one device. The development of an integrated staircase lift followed a structured protocol with stakeholders providing feedback at various stages in the design process, consistent with rehabilitation engineering design methods. A novel home access device was developed. The integrated staircase-lift has the following features: inclusivity, by a universal design that provides an option for either use of stairs or a lift; constant availability, with a lift platform always ready for use on either level; and potential aesthetic advantages when integrating the device into an existing home. The potential also exists for emergency descent during a power outage, and self-powered versions. By engaging stakeholders in a user centred design process, insight on the limitations of existing home access solutions and specific feedback on our design guided development of a novel home access device.

  5. A Simple Method for High-Lift Propeller Conceptual Design

    NASA Technical Reports Server (NTRS)

    Patterson, Michael; Borer, Nick; German, Brian

    2016-01-01

    In this paper, we present a simple method for designing propellers that are placed upstream of the leading edge of a wing in order to augment lift. Because the primary purpose of these "high-lift propellers" is to increase lift rather than produce thrust, these props are best viewed as a form of high-lift device; consequently, they should be designed differently than traditional propellers. We present a theory that describes how these props can be designed to provide a relatively uniform axial velocity increase, which is hypothesized to be advantageous for lift augmentation based on a literature survey. Computational modeling indicates that such propellers can generate the same average induced axial velocity while consuming less power and producing less thrust than conventional propeller designs. For an example problem based on specifications for NASA's Scalable Convergent Electric Propulsion Technology and Operations Research (SCEPTOR) flight demonstrator, a propeller designed with the new method requires approximately 15% less power and produces approximately 11% less thrust than one designed for minimum induced loss. Higher-order modeling and/or wind tunnel testing are needed to verify the predicted performance.

  6. LIFT a future atmospheric chemistry sensor

    NASA Astrophysics Data System (ADS)

    Pailharey, E.; Châteauneuf, F.; Aminou, D.

    2017-11-01

    Natural and anthropogenic trace constituents play an important role for the ozone budget and climate as well as in other problems of the environment. In order to prevent the dramatic impact of any climate change, exchange processes between the stratosphere and troposphere as well as the distribution and deposition of tropospheric trace constituents are investigated. The Limb Infrared Fourier Transform spectrometer (LIFT) will globally provide calibrated spectra of the atmosphere as a function of the tangent altitude. LIFT field of view will be 30 km × 30 km. The resolution is 30 km in azimuth corresponding to the full field of view, and 2 km in elevation, obtained by using a matrix of 15×15 detectors. The instrument will cover the spectral domain 5.7-14.7 μm through 2 different bands respectively 13.0-9.5 μm, 9.5-5.7 μm. With a spectral resolution of 0.1 cm-1, LIFT is a high class Fourier Transform Spectrometer compliant with the challenging constraints of limb viewing and spaceborne implementation.

  7. Robot-assisted Ivor-Lewis esophagectomy with intrathoracic robot-sewn anastomosis.

    PubMed

    Jin, Runsen; Xiang, Jie; Han, Dingpei; Zhang, Yajie; Li, Hecheng

    2017-11-01

    This video clip demonstrated a performance of robot-assisted Ivor-Lewis esophagectomy with intrathoracic robot-sewn anastomosis. The patient had an esophageal mass located approximately 33 cm away from incisor, and robot-assisted Ivor-Lewis esophagectomy was applied for him. Importantly, a double-layer esophago-gastric anastomosis was made by robotic hand-sewn suture. Our early experience demonstrated that the robot-sewn intrathoracic anastomosis is feasible and safe with a lower complication rate and the absence of anastomotic leakage.

  8. Energetics of oscillating lifting surfaces using integral conservation laws

    NASA Technical Reports Server (NTRS)

    Ahmadi, Ali R.; Widnall, Sheila E.

    1987-01-01

    The energetics of oscillating flexible lifting surfaces in two and three dimensions is calculated by the use of integral conservation laws in inviscid incompressible flow for general and harmonic transverse oscillations. Total thrust is calculated from the momentum theorem and energy loss rate due to vortex shedding in the wake from the principle of conservation of mechanical energy. Total power required to maintain the oscillations and hydrodynamic efficiency are also determined. In two dimensions, the results are obtained in closed form. In three dimensions, the distribution of vorticity on the lifting surface is also required as input to the calculations. Thus, unsteady lifting-surface theory must be used as well. The analysis is applicable to oscillating lifting surfaces of arbitrary planform, aspect ratio, and reduced frequency and does not require calculation of the leading-edge thrust.

  9. Liftings and stresses for planar periodic frameworks

    PubMed Central

    Borcea, Ciprian; Streinu, Ileana

    2015-01-01

    We formulate and prove a periodic analog of Maxwell’s theorem relating stressed planar frameworks and their liftings to polyhedral surfaces with spherical topology. We use our lifting theorem to prove deformation and rigidity-theoretic properties for planar periodic pseudo-triangulations, generalizing features known for their finite counterparts. These properties are then applied to questions originating in mathematical crystallography and materials science, concerning planar periodic auxetic structures and ultrarigid periodic frameworks. PMID:26973370

  10. Back muscle strength, lifting, and stooped working postures.

    PubMed

    Poulsen, E; Jørgensen, K

    1971-09-01

    When lifting loads and working in a forward stooped position, the muscles of the back rather than the ligaments and bony structures of the spine should overcome the gravitational forces. Formulae, based on measurements of back muscle strength, for prediction of maximal loads to be lifted, and for the ability to sustain work in a stooped position, have been worked out and tested in practical situations. From tests with 50 male and female subjects the simplest prediction formulae for maximum loads were: max. load = 1.10 x isometric back muscle strength for men; and max. load = 0.95 x isometric back muscle strength - 8 kg for women. Some standard values for maximum lifts and permissible single and repeated lifts have been calculated for men and women separately and are given in Table 1. From tests with 65 rehabilitees it was found that the maximum isometric strength of the back muscles measured at shoulder height should exceed 2/3 of the body weight, if fatigue and/or pain in the back muscles is to be avoided during work in a standing stooped position.

  11. Review of V/STOL lift/cruise fan technology

    NASA Technical Reports Server (NTRS)

    Rolls, L. S.; Quigley, H. C.; Perkins, R. G., Jr.

    1976-01-01

    This paper presents an overview of supporting technology programs conducted to reduce the risk in the joint NASA/Navy Lift/Cruise Fan Research and Technology Aircraft Program. The aeronautical community has endeavored to combine the low-speed and lifting capabilities of the helicopter with the high-speed capabilities of the jet aircraft; recent developments have indicated a lift/cruise fan propulsion system may provide these desired characteristics. NASA and the Navy have formulated a program that will provide a research and technology aircraft to furnish viability of the lift/cruise fan aircraft through flight experiences and obtain data on designs for future naval and civil V/STOL aircraft. The supporting technology programs discussed include: (1) design studies for operational aircraft, a research and technology aircraft, and associated propulsion systems; (2) wind-tunnel tests of several configurations; (3) propulsion-system thrust vectoring tests; and (4) simulation. These supporting technology programs have indicated that a satisfactory research and technology aircraft program can be accomplished within the current level of technology.

  12. Nonstoichiometry in inorganic fluorides: 2. Ionic conductivity of nonstoichiometric M 1 - x R xF2 + x and R 1 - y M yF3 - y crystals ( M = Ca, Sr, Ba; R are rare earth elements)

    NASA Astrophysics Data System (ADS)

    Sobolev, B. P.; Sorokin, N. I.

    2014-11-01

    The peak manifestation of nonstoichiometry in fluoride systems in the number of phases with valuable properties and wide homogeneity ranges is 45 MF2- RF3 systems, where M = Ca, Sr, Ba and R are 15 rare earth elements from La to Lu and Y (with Pm and Sc excluded). A deviation from stoichiometry in crystals of the M 1 - x R xF2 + x (CaF2 fluorite type) and R 1 - y M yF3 - y (LaF3 tysonite type) phases is responsible for the fluorine superionic conductivity σ. The range of variation in σ with changes in the qualitative ( M, R) and quantitative ( x, y) compositions in both structure types is very wide. The σ value changes by a factor of 108 in the M 1 - x R xF2 + x phases (at 500 K) and by a factor of 106 in the R 1 - y M yF3 - y phases (at 293 K). Changing compositions, one can also obtain crystals with σ values large enough for their use as fluorine-conducting solid electrolytes. Phases promising for solid electrolytes were revealed in the MFm- RFn systems ( m < n ≤ 4), which were studied within the program of searching for new multicomponent fluoride materials at the Institute of Crystallography, Russian Academy of Sciences (IC RAS). Superionic conductivity is one of the peak manifestations of the influence of defect structure of nonstoichiometric crystals on their properties. The subject of this review is the results of the studies performed at the IC RAS on the ionic conductivity of single crystals of the M 1 - x R xF2 + x and R 1 - y M yF3 - y nonstoichiometric phases.

  13. Tool for use in lifting pin supported objects

    NASA Technical Reports Server (NTRS)

    Marzek, R. A.; Read, W. S. (Inventor)

    1974-01-01

    A tool for use in lifting a pin-supported, electronic package mounted in juxtaposition with the surface of an electronic circuit board is described. The tool is configured to be received beneath a pin-supported package and is characterized by a manually operable linkage, including an elongated, rigid link is supported for axial reciprocation and a pivotal link pinned to the body and supported for oscillation induced in response to axial motion imparted to the rigid link. A lifting plate is pivotally coupled to the distal end of the pivotal link so that oscillatory motion imparted to the pivotal link serves to move the plate vertically for elevating the plate into lifting engagement with the electronic package positioned thereabove.

  14. Robot Rocket Rally

    NASA Image and Video Library

    2014-03-14

    CAPE CANAVERAL, Fla. – Students from Hagerty High School in Oviedo, Fla., participants in FIRST Robotics, show off their robots' capabilities at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

  15. Analysis of squat and stoop dynamic liftings: muscle forces and internal spinal loads

    PubMed Central

    Bazrgari, Babak; Arjmand, Navid

    2006-01-01

    Despite the well-recognized role of lifting in back injuries, the relative biomechanical merits of squat versus stoop lifting remain controversial. In vivo kinematics measurements and model studies are combined to estimate trunk muscle forces and internal spinal loads under dynamic squat and stoop lifts with and without load in hands. Measurements were performed on healthy subjects to collect segmental rotations during lifts needed as input data in subsequent model studies. The model accounted for nonlinear properties of the ligamentous spine, wrapping of thoracic extensor muscles to take curved paths in flexion and trunk dynamic characteristics (inertia and damping) while subject to measured kinematics and gravity/external loads. A dynamic kinematics-driven approach was employed accounting for the spinal synergy by simultaneous consideration of passive structures and muscle forces under given posture and loads. Results satisfied kinematics and dynamic equilibrium conditions at all levels and directions. Net moments, muscle forces at different levels, passive (muscle or ligamentous) forces and internal compression/shear forces were larger in stoop lifts than in squat ones. These were due to significantly larger thorax, lumbar and pelvis rotations in stoop lifts. For the relatively slow lifting tasks performed in this study with the lowering and lifting phases each lasting ∼2 s, the effect of inertia and damping was not, in general, important. Moreover, posterior shift in the position of the external load in stoop lift reaching the same lever arm with respect to the S1 as that in squat lift did not influence the conclusion of this study on the merits of squat lifts over stoop ones. Results, for the tasks considered, advocate squat lifting over stoop lifting as the technique of choice in reducing net moments, muscle forces and internal spinal loads (i.e., moment, compression and shear force). PMID:17103232

  16. Investigation of the Low-Speed Stability and Control Characteristics of a 1/10-Scale Model of the Douglas XF4D-1 Airplane in the Langley Free-Flight Tunnel TED No. NACA DE 349

    NASA Technical Reports Server (NTRS)

    Johnson, Joseph L.

    1951-01-01

    An investigation of the low-speed, power-off stability and control characteristics of a 1/10-scale model of the Douglas XF4D-1 airplane has been made in the Langley free-flight tunnel. The model was flown with leading-edge slats retracted and extended over a lift-coefficient range from 0.5 to the stall. Only relatively low-altitude conditions were simulated and no attempt was made to determine the effect on the stability characteristics of freeing the controls. The longitudinal stability and control characteristics of the model were satisfactory for all conditions investigated except near the stall with slats extended, where the model had a slight nosing-up tendency. The lateral stability and control characteristics of the model were considered satisfactory for all conditions investigated except near the stall with slats retracted, where a change in sign of the static- directional-stability parameter Cn(sub beta) caused the model to be directionally divergent. The addition of an extension to the top of the vertical tail did not increase Cn(sub beta) enough to eliminate the directional divergence of the model, but a large increase in Cn(sub beta) that was obtainable by artificial means appeared to eliminate the divergence and flights near the stall could be made. Artificially increasing the stability derivative-Cn(sub r) (yawing moment due to yawing) and Cn(sub p) (yawing moment due to rolling) had little effect on the divergence for the range of these parameters investigated. Calculations indicate that the damping of the lateral oscillation of the airplane with slats retracted or extended will be satisfactory at sea level but will be only marginally satisfactory at 40,000 feet.

  17. A lift formula applied to low-Reynolds-number unsteady flows

    NASA Astrophysics Data System (ADS)

    Wang, Shizhao; Zhang, Xing; He, Guowei; Liu, Tianshu

    2013-09-01

    A lift formula for a wing in a rectangular control volume is given in a very simple and physically lucid form, providing a rational foundation for calculation of the lift of a flapping wing in highly unsteady and separated flows at low Reynolds numbers. Direct numerical simulations on the stationary and flapping two-dimensional flat plate and rectangular flat-plate wing are conducted to assess the accuracy of the lift formula along with the classical Kutta-Joukowski theorem. In particular, the Lamb vector integral for the vortex force and the acceleration term of fluid for the unsteady inertial effect are evaluated as the main contributions to the unsteady lift generation of a flapping wing.

  18. Measurement of the structure functions F 2 and xF 3 and comparison with QCD predictions including kinematical and dynamical higher twist effects

    NASA Astrophysics Data System (ADS)

    Varvell, K.; Cooper-Sarkar, A. M.; Parker, M. A.; Sansum, R. A.; Aderholz, M.; Armenise, N.; Baton, J. P.; Bullock, F. W.; Berggren, M.; Bertrand, D.; Brisson, V.; Burkot, W.; Calcchio, M.; Claytoh, E. F.; Coghen, T.; Erriquez, O.; Fitch, P. J.; Gerbier, G.; Guy, J.; Hulth, P. O.; Iaselli, G.; Jones, G. T.; Kasper, P.; Klein, H.; Kochowski, C.; Marage, P.; Mermikides, M.; Middleton, R. P.; Morrison, D. R. O.; Mobayyen, M. M.; Natali, S.; Neveu, M.; Nuzzo, S.; O'Neale, S. W.; Petiau, P.; Petrides, A.; Ruggieri, F.; Sacton, J.; Simopoulou, E.; Vallee, C.; Vayaki, A.; Venus, W. A.; Wachsmuth, H.; Wells, J.; Wittek, W.

    1987-03-01

    The isoscalar nucleon structure functions F 2( x, Q 2) and xF 3( x, Q 2) are measured in the range 0< Q 2<64 GeV2, 1.7< W 2<250 GeV2, x<0.7 using ν andbar v interactions on neon in BEBC. The data are used to evaluate possible higher twist contributions and to determine their impact on the evaluation of the QCD parameter Λ. In contrast to previous analyses reaching to such low W 2 values, it is found that a lowΛ _{overline {MS} } value in the neighbourhood of 100 MeV describes the data adequately and that the contribution of dynamical higher twist effects is small and negative.

  19. Robotic virtual reality simulation plus standard robotic orientation versus standard robotic orientation alone: a randomized controlled trial.

    PubMed

    Vaccaro, Christine M; Crisp, Catrina C; Fellner, Angela N; Jackson, Christopher; Kleeman, Steven D; Pavelka, James

    2013-01-01

    The objective of this study was to compare the effect of virtual reality simulation training plus robotic orientation versus robotic orientation alone on performance of surgical tasks using an inanimate model. Surgical resident physicians were enrolled in this assessor-blinded randomized controlled trial. Residents were randomized to receive either (1) robotic virtual reality simulation training plus standard robotic orientation or (2) standard robotic orientation alone. Performance of surgical tasks was assessed at baseline and after the intervention. Nine of 33 modules from the da Vinci Skills Simulator were chosen. Experts in robotic surgery evaluated each resident's videotaped performance of the inanimate model using the Global Rating Scale (GRS) and Objective Structured Assessment of Technical Skills-modified for robotic-assisted surgery (rOSATS). Nine resident physicians were enrolled in the simulation group and 9 in the control group. As a whole, participants improved their total time, time to incision, and suture time from baseline to repeat testing on the inanimate model (P = 0.001, 0.003, <0.001, respectively). Both groups improved their GRS and rOSATS scores significantly (both P < 0.001); however, the GRS overall pass rate was higher in the simulation group compared with the control group (89% vs 44%, P = 0.066). Standard robotic orientation and/or robotic virtual reality simulation improve surgical skills on an inanimate model, although this may be a function of the initial "practice" on the inanimate model and repeat testing of a known task. However, robotic virtual reality simulation training increases GRS pass rates consistent with improved robotic technical skills learned in a virtual reality environment.

  20. Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.

    PubMed

    Vujovic, Vuk; Rosendo, Andre; Brodbeck, Luzius; Iida, Fumiya

    2017-01-01

    Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.

  1. Robot Rocket Rally

    NASA Image and Video Library

    2014-03-14

    CAPE CANAVERAL, Fla. – Students gather to watch as a DARwin-OP miniature humanoid robot from Virginia Tech Robotics demonstrates its soccer abilities at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

  2. Robot Rocket Rally

    NASA Image and Video Library

    2014-03-14

    CAPE CANAVERAL, Fla. – A child gets an up-close look at Charli, an autonomous walking robot developed by Virginia Tech Robotics, during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

  3. Modeling of load lifting process with unknown center of gravity position

    NASA Astrophysics Data System (ADS)

    Kamanin, Y. N.; Zhukov, M. I.; Panichkin, A. V.; Redelin, R. A.

    2018-03-01

    The article proposes a new type of lifting beams that allows one to lift loads where the position of the center of gravity is unknown beforehand. The benefit of implementing this type of traverse is confirmed by the high demand for this product from the industrial enterprises and lack of their availability on the market. In conducted studies, the main kinematic and dynamic dependencies of the load lifting process with an unknown position of the center of gravity were described allowing for design and verification calculations of the traverse with flexible slings and an adjustable bail to be carried out. The obtained results can be useful to engineers and employees of enterprises engaged in the design and manufacturing of the lifting equipment and scientists doing research in “Carrying and lifting machines”.

  4. A Lifting-Surface Program for Contrarotating Propellers

    DTIC Science & Technology

    1989-04-01

    computer program for a set the force and induced flow field could be determined . of CR propellers has been developed based on a modi- The variations of...and their methods. To determine the forces and induced Nelson’s lifting life programs use the same approach, flow field, they applied lifting-line...Velocimetry (LDV). The propeller set, designed wake should be exactly the same as the hub geometry, to operate in uniform flow , was tested in the DTRC The

  5. Shuttle Derived In-Line Heavy Lift Vehicle

    NASA Technical Reports Server (NTRS)

    Greenwood, Terry; Twichell, Wallace; Ferrari, Daniel; Kuck, Frederick

    2005-01-01

    This paper introduces an evolvable Space Shuttle derived family of launch vehicles. It details the steps in the evolution of the vehicle family, noting how the evolving lift capability compares with the evolving lift requirements. A system description is given for each vehicle. The cost of each development stage is described. Also discussed are demonstration programs, the merits of the SSME vs. an expendable rocket engine (RS-68), and finally, the next steps needed to refine this concept.

  6. Intra-Abdominal and Intra-Thoracic Pressures during Lifting and Jumping,

    DTIC Science & Technology

    1987-03-01

    12,15,16,20). The oblique and transverse abdominal muscles, but not the rectus abdominus, have been shown via electromyography (EM0) to be primary...RECIPIENT’S CATALOG NUMBER 4. TITLE (and Subtitle) S. TYPE OF REPORT & PERIOD COVERED Intra- abdominal and intra-thoracic pressures during lifting and...pressure (ITP) and intra- abdominal pressure (lAP) during lifting and jumping, 11 males were monitored as they performed the dead lift (DL), slide row

  7. Face-Lift Satisfaction Using the FACE-Q.

    PubMed

    Sinno, Sammy; Schwitzer, Jonathan; Anzai, Lavinia; Thorne, Charles H

    2015-08-01

    Face lifting is one of the most common operative procedures for facial aging and perhaps the procedure most synonymous with plastic surgery in the minds of the lay public, but no verifiable documentation of patient satisfaction exists in the literature. This study is the first to examine face-lift outcomes and patient satisfaction using a validated questionnaire. One hundred five patients undergoing a face lift performed by the senior author (C.H.T.) using a high, extended-superficial musculoaponeurotic system with submental platysma approximation technique were asked to complete anonymously the FACE-Q by e-mail. FACE-Q scores were assessed for each domain (range, 0 to 100), with higher scores indicating greater satisfaction with appearance or superior quality of life. Fifty-three patients completed the FACE-Q (50.5 percent response rate). Patients demonstrated high satisfaction with facial appearance (mean ± SD, 80.7 ± 22.3), and quality of life, including social confidence (90.4 ± 16.6), psychological well-being (92.8 ± 14.3), and early life impact (92.2 ± 16.4). Patients also reported extremely high satisfaction with their decision to undergo face lifting (90.5 ± 15.9). On average, patients felt they appeared 6.9 years younger than their actual age. Patients were most satisfied with the appearance of their nasolabial folds (86.2 ± 18.5), cheeks (86.1 ± 25.4), and lower face/jawline (86.0 ± 20.6), compared with their necks (78.1 ± 25.6) and area under the chin (67.9 ± 32.3). Patients who responded in this study were extremely satisfied with their decision to undergo face lifting and the outcomes and quality of life following the procedure.

  8. Put Your Robot In, Put Your Robot Out: Sequencing through Programming Robots in Early Childhood

    ERIC Educational Resources Information Center

    Kazakoff, Elizabeth R.; Bers, Marina Umaschi

    2014-01-01

    This article examines the impact of programming robots on sequencing ability in early childhood. Thirty-four children (ages 4.5-6.5 years) participated in computer programming activities with a developmentally appropriate tool, CHERP, specifically designed to program a robot's behaviors. The children learned to build and program robots over three…

  9. Mechanical discrete simulator of the electro-mechanical lift with n:1 roping

    NASA Astrophysics Data System (ADS)

    Alonso, F. J.; Herrera, I.

    2016-05-01

    The design process of new products in lift engineering is a difficult task due to, mainly, the complexity and slenderness of the lift system, demanding a predictive tool for the lift mechanics. A mechanical ad-hoc discrete simulator, as an alternative to ‘general purpose’ mechanical simulators is proposed. Firstly, the synthesis and experimentation process that has led to establish a suitable model capable of simulating accurately the response of the electromechanical lift is discussed. Then, the equations of motion are derived. The model comprises a discrete system of 5 vertically displaceable masses (car, counterweight, car frame, passengers/loads and lift drive), an inertial mass of the assembly tension pulley-rotor shaft which can rotate about the machine axis and 6 mechanical connectors with 1:1 suspension layout. The model is extended to any n:1 roping lift by setting 6 equivalent mechanical components (suspension systems for car and counterweight, lift drive silent blocks, tension pulley-lift drive stator and passengers/load equivalent spring-damper) by inductive inference from 1:1 and generalized 2:1 roping system. The application to simulate real elevator systems is proposed by numeric time integration of the governing equations using the Kutta-Meden algorithm and implemented in a computer program for ad-hoc elevator simulation called ElevaCAD.

  10. 2005 ACGIH Lifting TLV: Employee-Friendly Presentation and Guidance for Professional Judgment

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

    Splittstoesser, Riley; O'Farrell, Daniel Edward; Hill, John

    The American Council of Governmental Industrial Hygienists (ACGIH) Lifting Threshold Limit Values (TLVs) provide a tool to reduce incidence of low back and shoulder injuries. However, application of the TLV is too complicated for floor-level workers and relies on professional judgment to assess commonly encountered tasks. This paper presents an Employee-Friendly Simplified Format of the TLV that has been adapted from Table 1 of the Lifting TLV presented in the 2005 TLVs and BEIs Based on the Documentation of the Threshold Limit Values for Chemical Substances and Physical Agents & Biological Exposure Indices. This simplified format can be employed bymore » floor-level workers to self-assess lifting tasks. The Ergonomics Project Team also provides research-based guidance for applying professional judgment consistent with standard industry practice: Extended Work Shifts – Reduce weight by 20% for shifts lasting 8 to 12 hours; Constrained Lower Body Posture – Reduce weight by 25% when lifting in such postures; Infrequently Performed LiftsLift up to 15 lbs. ≤3 lifts per hour within the zones marked “No safe limit for repetitive lifting” in the TLVs Table 1; Asymmetry beyond 30° – Reduce weight by 10 lbs. for lifts with up to 60° asymmetry from sagittal plane.« less

  11. Research on speed control of secondary regulation lifting system of parking equipment

    NASA Astrophysics Data System (ADS)

    Zang, Faye

    2005-12-01

    Hydrostatic transmission with secondary regulation is a new kind of hydrostatic transmission that can regenerate inertial and gravitational energy of load. On the basis of an in-depth analysis of the working principles and energy-saving mechanisms of the parking equipment lifting systems with, secondary regulating technology, this paper proposes a method of regenerating a lifting system's inertial energy by controlling rotational speed and reclaiming the gravitational energy by use of a constant rotational speed. Considering large changes of the parameters of lifting systems and then non-linearity, a fuzzy control was adopted to control the lifting system, and a mathematical model of the system was established. By simulation and experiment of the lifting system, the conclusion was reached a lifting system's braking achieved by controlling rotational speed is reliable and stable at a definite speed. It also permits changing the efficiency of recovery by changing the rotational speed. The design power of the lifting system can be chosen in terms of the system's average power, so the system's power can be reduced and energy savings achieved.

  12. Computational Analysis of Powered Lift Augmentation for the LEAPTech Distributed Electric Propulsion Wing

    NASA Technical Reports Server (NTRS)

    Deere, Karen A.; Viken, Sally A.; Carter, Melissa B.; Viken, Jeffrey K.; Wiese, Michael R.; Farr, Norma L.

    2017-01-01

    A computational study of a distributed electric propulsion wing with a 40deg flap deflection has been completed using FUN3D. Two lift-augmentation power conditions were compared with the power-off configuration on the high-lift wing (40deg flap) at a 73 mph freestream flow and for a range of angles of attack from -5 degrees to 14 degrees. The computational study also included investigating the benefit of corotating versus counter-rotating propeller spin direction to powered-lift performance. The results indicate a large benefit in lift coefficient, over the entire range of angle of attack studied, by using corotating propellers that all spin counter to the wingtip vortex. For the landing condition, 73 mph, the unpowered 40deg flap configuration achieved a maximum lift coefficient of 2.3. With high-lift blowing the maximum lift coefficient increased to 5.61. Therefore, the lift augmentation is a factor of 2.4. Taking advantage of the fullspan lift augmentation at similar performance means that a wing powered with the distributed electric propulsion system requires only 42 percent of the wing area of the unpowered wing. This technology will allow wings to be 'cruise optimized', meaning that they will be able to fly closer to maximum lift over drag conditions at the design cruise speed of the aircraft.

  13. Robot Rocket Rally

    NASA Image and Video Library

    2014-03-14

    CAPE CANAVERAL, Fla. – A miniature humanoid robot known as DARwin-OP, from Virginia Tech Robotics, plays soccer with a red tennis ball for a crowd of students at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

  14. Installation of Existing Lift Systems for the Handicapped on Light Rail Vehicles

    DOT National Transportation Integrated Search

    1985-05-01

    This report documents the results of a three-phase program to install an existing transit bus wheelchair lift system on a Boeing Light Rail Vehicle (LRV). Program activities included a review of lift requirements, evaluation of existing lift systems,...

  15. 75 FR 27662 - Special Conditions: Boeing 747-468, Installation of a Medical Lift

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-05-18

    ...; Notice No. 25-99-11-SC] Special Conditions: Boeing 747-468, Installation of a Medical Lift AGENCY... Aviation, will have a novel or unusual design feature associated with the installation of a medical lift... modification includes the installation of a medical lift between the main deck and upper deck. The lift allows...

  16. Robot-sewn ileoileal anastomosis during robot-assisted cystectomy.

    PubMed

    Loertzer, P; Siemer, S; Stöckle, M; Ohlmann, C H

    2018-07-01

    To analyze the feasibility and perioperative results of patients undergoing robot-assisted cystectomy with intracorporeal urinary diversion and robot-sewn ileoileal anastomosis. This is a mono-centric analysis of perioperative data from 48 consecutive patients undergoing robot-assisted cystectomy with intracorporeal urinary diversion and robot-sewn ileoileal anastomosis. Data include the preoperative variables, operative and postoperative course and complication rates related to bowel anastomosis. End points were time spent for anastomosis and intra- and postoperative complication rates. Median operating time was 23.0 (13-60) min for the ileoileal anastomosis. Median overall operating time was 295 (200-780) min, with a median of 282 (200-418) min and 414.0 (225-780) min for the ileum conduit (N = 35) and ileal neobladder (N = 13). Two patients developed paralytic ileus; in another patient acute peritonitis occurred, but was caused by urinary leakage and therefore unrelated to the bowel anastomosis. No anastomotic leakage was noticed. Costs for the robot-sewn anastomosis was 8€ compared to 1250€ for a stapled anastomosis which was performed in previous cases. Limitations are the non-comparative nature of the analysis and the limited number of patients. Robot-sewn ileoileal anastomosis is feasible with low complication rates. Compared to the stapled anastomosis, a robot-sewn ileoileal anastomosis may serve as an alternative and cost-saving approach.

  17. RF Properties of Epitaxial Lift-Off HEMT Devices

    NASA Technical Reports Server (NTRS)

    Young, Paul G.; Alterovitz, Samuel A.; Mena, Rafael A.; Smith, Edwyn D.

    1993-01-01

    Epitaxial layers containing GaAs HEMT and P-HEMT structures have been lifted-off the GaAs substrate and attached to other host substrates using an AlAs parting layer. The devices were on-wafer RF probed before and after the lift-off step showing no degradation in the measured S-parameters. The maximum stable gain indicates a low frequency enhancement of the gain of 1-2 dB with some devices showing an enhancement of F(sub max)F(sub T) consistently shows an increase of 12-20% for all lifted-off HEMT structures. Comparison of the Hall measurements and small signal models show that the gain is improved and this is most probably associated with an enhanced carrier concentration.

  18. Muscle function in glenohumeral joint stability during lifting task.

    PubMed

    Blache, Yoann; Begon, Mickaël; Michaud, Benjamin; Desmoulins, Landry; Allard, Paul; Dal Maso, Fabien

    2017-01-01

    Ensuring glenohumeral stability during repetitive lifting tasks is a key factor to reduce the risk of shoulder injuries. Nevertheless, the literature reveals some lack concerning the assessment of the muscles that ensure glenohumeral stability during specific lifting tasks. Therefore, the purpose of this study was to assess the stabilization function of shoulder muscles during a lifting task. Kinematics and muscle electromyograms (n = 9) were recorded from 13 healthy adults during a bi-manual lifting task performed from the hip to the shoulder level. A generic upper-limb OpenSim model was implemented to simulate glenohumeral stability and instability by performing static optimizations with and without glenohumeral stability constraints. This procedure enabled to compute the level of shoulder muscle activity and forces in the two conditions. Without the stability constraint, the simulated movement was unstable during 74%±16% of the time. The force of the supraspinatus was significantly increased of 107% (p<0.002) when the glenohumeral stability constraint was implemented. The increased supraspinatus force led to greater compressive force (p<0.001) and smaller shear force (p<0.001), which contributed to improved glenohumeral stability. It was concluded that the supraspinatus may be the main contributor to glenohumeral stability during lifting task.

  19. Muscle function in glenohumeral joint stability during lifting task

    PubMed Central

    Begon, Mickaël; Michaud, Benjamin; Desmoulins, Landry; Allard, Paul

    2017-01-01

    Ensuring glenohumeral stability during repetitive lifting tasks is a key factor to reduce the risk of shoulder injuries. Nevertheless, the literature reveals some lack concerning the assessment of the muscles that ensure glenohumeral stability during specific lifting tasks. Therefore, the purpose of this study was to assess the stabilization function of shoulder muscles during a lifting task. Kinematics and muscle electromyograms (n = 9) were recorded from 13 healthy adults during a bi-manual lifting task performed from the hip to the shoulder level. A generic upper-limb OpenSim model was implemented to simulate glenohumeral stability and instability by performing static optimizations with and without glenohumeral stability constraints. This procedure enabled to compute the level of shoulder muscle activity and forces in the two conditions. Without the stability constraint, the simulated movement was unstable during 74%±16% of the time. The force of the supraspinatus was significantly increased of 107% (p<0.002) when the glenohumeral stability constraint was implemented. The increased supraspinatus force led to greater compressive force (p<0.001) and smaller shear force (p<0.001), which contributed to improved glenohumeral stability. It was concluded that the supraspinatus may be the main contributor to glenohumeral stability during lifting task. PMID:29244838

  20. Hopping robot

    DOEpatents

    Spletzer, Barry L.; Fischer, Gary J.; Marron, Lisa C.; Martinez, Michael A.; Kuehl, Michael A.; Feddema, John T.

    2001-01-01

    The present invention provides a hopping robot that includes a misfire tolerant linear actuator suitable for long trips, low energy steering and control, reliable low energy righting, miniature low energy fuel control. The present invention provides a robot with hopping mobility, capable of traversing obstacles significant in size relative to the robot and capable of operation on unpredictable terrain over long range. The present invention further provides a hopping robot with misfire-tolerant combustion actuation, and with combustion actuation suitable for use in oxygen-poor environments.

  1. Analysis and correlation with theory of rotor lift-limit test data

    NASA Technical Reports Server (NTRS)

    Sheffler, M.

    1979-01-01

    A wind tunnel test program to define the cruise performance and determine any limitations to lift and propulsive force of a conventional helicopter rotor is described. A 2.96 foot radius model rotor was used. The maximum lift and propulsive force obtainable from an articulated rotor for advance ratios of 0.4 to 0.67, and the blade load growth as the lift approaches the limit are determined. Cruise rotor performance for advance ratios of 0.4 to 0.67 and the sensitivity of the rotor forces and moments to rotor control inputs as the lift limit is approached are established.

  2. 2. VIEW OF MECHANICAL GATE LIFTING MECHANISM (MULE) AND GATE ...

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

    2. VIEW OF MECHANICAL GATE LIFTING MECHANISM (MULE) AND GATE LIFTING RACKS, LOOKING WEST - Nine Mile Hydroelectric Development, Powerhouse, State Highway 291 along Spokane River, Nine Mile Falls, Spokane County, WA

  3. Real-Time Radiographic In-Situ Characterization Of Ply Lift In Composite Aerospace Materials

    NASA Technical Reports Server (NTRS)

    Beshears, Ronald D.; Doering, Edward R.

    2006-01-01

    The problem of ply lifting in composite materials is a significant issue for various aerospace and military applications. A fundamental element in the prevention or mitigation of ply lift is determination of the timing of the ply lifting event during exposure of the composite material to flight conditions. The Marshall Space Flight Center s Nondestructive Evaluation Team developed a real-time radiographic technique for the detection of ply lift in carbon phenolic ablative materials in situ during live firings of subscale test motors in support of NASA s Reusable Solid Rocket Motor program, using amorphous silicon detector panels. The radiographic method has successfully detected ply lifting in seven consecutive carbon phenolic converging cones attached to solid fuel torches, providing the time of ply lift initiation in each test. Post-processing of the radiographic images improved the accuracy of timing measurements and allowed measurement of the ply lifting height as a function of time. Radiographic data correlated well with independent pressure and temperature measurements that indicate the onset of ply lift in the nozzle material.

  4. Lifted worm algorithm for the Ising model

    NASA Astrophysics Data System (ADS)

    Elçi, Eren Metin; Grimm, Jens; Ding, Lijie; Nasrawi, Abrahim; Garoni, Timothy M.; Deng, Youjin

    2018-04-01

    We design an irreversible worm algorithm for the zero-field ferromagnetic Ising model by using the lifting technique. We study the dynamic critical behavior of an energylike observable on both the complete graph and toroidal grids, and compare our findings with reversible algorithms such as the Prokof'ev-Svistunov worm algorithm. Our results show that the lifted worm algorithm improves the dynamic exponent of the energylike observable on the complete graph and leads to a significant constant improvement on toroidal grids.

  5. Wind-Tunnel Investigation of a 1/5-Scale Model of the Ryan XF2R Airplane

    NASA Technical Reports Server (NTRS)

    Wong, Park Y.

    1947-01-01

    Wind-tunnel tests on a 1/5-scale model of the Ryan XF2R airplane were conducted to determine the aerodynamic characteristics of the air intake for the front power plant, a General Electric TG-100 gas turbine, and to determine the stability and control characteristics of the airplane. The results indicated low-dynamic-pressure recover3- for the air intake to the TG-100 gas turbine rith the standard propeller in operation. Propeller cuffs were designed and tested for the purpose of impoving the dynamic-pressure recovery. Data obtained with the cuffs installed and the gap between the spinner an& the cuff sealed indicated a substantial gain in dynamic pressure recovery over that obtained with the standard propeller and with the cuffed propeller unsealed. Stability and control tests were conducted with the sealed cuffs installed on the propeller. The data from these tests indicated the following unsatisfactory characteristics for the airplane: 1. Marginal static longitudinal stability. 2. Inadequate directional stability and control. 3. Rudder-pedal-force reversal in the climb condition. 4. Negative dihedral effect in the power-on approach and wave-off conditions.

  6. Robot Wars: US Empire and geopolitics in the robotic age

    PubMed Central

    Shaw, Ian GR

    2017-01-01

    How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots – driven by leaps in artificial intelligence and swarming – are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence – revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy. PMID:29081605

  7. Robot Wars: US Empire and geopolitics in the robotic age.

    PubMed

    Shaw, Ian Gr

    2017-10-01

    How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots - driven by leaps in artificial intelligence and swarming - are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence - revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy.

  8. Lower extremity joint kinetics and lumbar curvature during squat and stoop lifting

    PubMed Central

    Hwang, Seonhong; Kim, Youngeun; Kim, Youngho

    2009-01-01

    Background In this study, kinematics and kinetics of the lower extremity joint and the lumbar lordosis during two different symmetrical lifting techniques(squat and stoop) were examined using the three-dimensional motion analysis. Methods Twenty-six young male volunteers were selected for the subjects in this study. While they lifted boxes weighing 5, 10 and 15 kg by both squat and stoop lifting techniques, their motions were captured and analyzed using the 3D motion analysis system which was synchronized with two forceplates and the electromyographic system. Joint kinematics was determined by the forty-three reflective markers which were attached on the anatomical locations based on the VICON Plug-in-Gait marker placement protocol. Joint kinetics was analyzed by using the inverse dynamics. Paired t-test and Kruskal-Wallis test was used to compare the differences of variables between two techniques, and among three different weights. Correlation coefficient was calculated to explain the role of lower limb joint motion in relation to the lumbar lordosis. Results There were not significant differences in maximum lumbar joint moments between two techniques. The hip and ankle contributed the most part of the support moment during squat lifting, and the knee flexion moment played an important role in stoop lifting. The hip, ankle and lumbar joints generated power and only the knee joint absorbed power in the squat lifting. The knee and ankle joints absorbed power, the hip and lumbar joints generated power in the stoop lifting. The bi-articular antagonist muscles' co-contraction around the knee joint during the squat lifting and the eccentric co-contraction of the gastrocnemius and the biceps femoris were found important for maintaining the straight leg during the stoop lifting. At the time of lordotic curvature appearance in the squat lifting, there were significant correlations in all three lower extremity joint moments with the lumbar joint. Differently, only the hip

  9. Lower extremity joint kinetics and lumbar curvature during squat and stoop lifting.

    PubMed

    Hwang, Seonhong; Kim, Youngeun; Kim, Youngho

    2009-02-02

    In this study, kinematics and kinetics of the lower extremity joint and the lumbar lordosis during two different symmetrical lifting techniques(squat and stoop) were examined using the three-dimensional motion analysis. Twenty-six young male volunteers were selected for the subjects in this study. While they lifted boxes weighing 5, 10 and 15 kg by both squat and stoop lifting techniques, their motions were captured and analyzed using the 3D motion analysis system which was synchronized with two forceplates and the electromyographic system. Joint kinematics was determined by the forty-three reflective markers which were attached on the anatomical locations based on the VICON Plug-in-Gait marker placement protocol. Joint kinetics was analyzed by using the inverse dynamics. Paired t-test and Kruskal-Wallis test was used to compare the differences of variables between two techniques, and among three different weights. Correlation coefficient was calculated to explain the role of lower limb joint motion in relation to the lumbar lordosis. There were not significant differences in maximum lumbar joint moments between two techniques. The hip and ankle contributed the most part of the support moment during squat lifting, and the knee flexion moment played an important role in stoop lifting. The hip, ankle and lumbar joints generated power and only the knee joint absorbed power in the squat lifting. The knee and ankle joints absorbed power, the hip and lumbar joints generated power in the stoop lifting. The bi-articular antagonist muscles' co-contraction around the knee joint during the squat lifting and the eccentric co-contraction of the gastrocnemius and the biceps femoris were found important for maintaining the straight leg during the stoop lifting. At the time of lordotic curvature appearance in the squat lifting, there were significant correlations in all three lower extremity joint moments with the lumbar joint. Differently, only the hip moment had significant

  10. 'Cupid and Psyche': a novel technique for robotic hysterosacropexy in the treatment of pelvic organ prolapse.

    PubMed

    Dal Moro, Fabrizio; Calpista, Arturo; Mancini, Mariangela

    2016-01-01

    The purpose of any surgical repair of pelvic organ prolapse (POP) is to restore pelvic anatomy, preserving urinary, intestinal and sexual functions while avoiding complications. We present a novel robotic approach to hysterosacropexy (HSP) in the treatment of POP. In our technique (named 'Cupid and Psyche', recalling as it does the famous sculpture by Canova), the two branches of the MESH encircle the uterus from behind, lifting and supporting it.The aim of this technique is to resolve POP, minimizing the risk of vaginal erosion: the posterior 'embrace' of the uterus limits the direct contact of the mesh with the vagina, thus reducing any risk of erosion/extrusion at this level. We performed 10 cases of robotic HSP. All procedures are completed robotically. Median operative time (skin-to-skin) is 125 min [interquartile range (IQR) 85-145], including port placement, robot docking and console time. We have never had any cases of intraoperative or postoperative complications.With regard to short-term follow-up, analysis of outcomes is limited; in any case, we have never had any cases of MESH erosion or other complications, and no sexually active woman complained of dyspareunia. Maintaining sufficient motility of the vagina is another advantage of 'Cupid and Psyche', avoiding as it does any negative effects on patients' later sexual activity, granting more natural motility of both uterus and vagina but resolving the prolapse.Further prospective studies comparing the long-term functional outcomes of the various HSP techniques are needed to confirm these findings.

  11. Cleft lift procedure for pilonidal disease: technique and perioperative management.

    PubMed

    Favuzza, J; Brand, M; Francescatti, A; Orkin, B

    2015-08-01

    Pilonidal disease is a common condition affecting young patients. It is often disruptive to their lifestyle due to recurrent abscesses or chronic wound drainage. The most common surgical treatment, "cystectomy," removes useful tissue unnecessarily and does not address the etiology of the condition. Herein, we describe the etiology of pilonidal disease and our technique for definitive management of pilonidal disease using the cleft lift procedure. In this paper, we present our method of performing the cleft lift procedure for pilonidal disease including perioperative management and surgical technique. We have used the cleft lift procedure in nearly 200 patients with pilonidal disease, in both primary and salvage procedures settings. It has been equally successful in both settings with a high rate of success. It results in a closed wound with relatively minimal discomfort and straightforward wound care. We have described our current approach to recurrent and complex pilonidal disease using the cleft lift procedure. Once learned, the cleft lift procedure is a straightforward and highly successful solution to a chronic and challenging condition.

  12. Aircraft High-Lift Aerodynamic Analysis Using a Surface-Vorticity Solver

    NASA Technical Reports Server (NTRS)

    Olson, Erik D.; Albertson, Cindy W.

    2016-01-01

    This study extends an existing semi-empirical approach to high-lift analysis by examining its effectiveness for use with a three-dimensional aerodynamic analysis method. The aircraft high-lift geometry is modeled in Vehicle Sketch Pad (OpenVSP) using a newly-developed set of techniques for building a three-dimensional model of the high-lift geometry, and for controlling flap deflections using scripted parameter linking. Analysis of the low-speed aerodynamics is performed in FlightStream, a novel surface-vorticity solver that is expected to be substantially more robust and stable compared to pressure-based potential-flow solvers and less sensitive to surface perturbations. The calculated lift curve and drag polar are modified by an empirical lift-effectiveness factor that takes into account the effects of viscosity that are not captured in the potential-flow solution. Analysis results are validated against wind-tunnel data for The Energy-Efficient Transport AR12 low-speed wind-tunnel model, a 12-foot, full-span aircraft configuration with a supercritical wing, full-span slats, and part-span double-slotted flaps.

  13. Does Simultaneous Liposuction Adversely Affect the Outcome of Thread Lifts? A Preliminary Result.

    PubMed

    Lee, Yong Woo; Park, Tae Hwan

    2018-04-11

    Along with advances in thread lift techniques and materials, ancillary procedures such as fat grafting, liposuction, or filler injections have been performed simultaneously. Some surgeons think that these ancillary procedures might affect the aesthetic outcomes of thread lifting possibly due to inadvertent injury to threads or loosening of soft tissue via passing the cannula in the surgical plane of the thread lifts. The purpose of the current study is to determine the effect of such ancillary procedures on the outcome of thread lifts in the human and cadaveric setting. We used human abdominal tissue after abdominoplasty and cadaveric faces. In the abdominal tissue, liposuction parallel to the parallel axis was performed in one area for 5 min. We counted 30 passes when liposuction was performed in one direction. This was repeated as we changed the direction of passages. The plane of thread lifts (dermal vs subcutaneous) and angle between liposuction and thread lifts (parallel vs perpendicular) were differentiated in this abdominal tissue study group. Then, we performed parallel or perpendicular thread lifts using a small slit incision. Using a tensiometer, the maximum holding strength was measured when pulling the thread out of the skin as much as possible. We also used faces of cadavers to prove whether the finding in human abdominal tissue is really valid with corresponding techniques. Our pilot study using abdominal tissue showed that liposuction after thread lifts adversely affects it regardless of the vector of thread lifts. In the cadaveric study, however, liposuction prior to thread lifting does not significantly affect the holding strength of thread lifts. Liposuction or fat grafting in the appropriate layer would not be a hurdle to safely performing simultaneous thread lifts if the target lift tissue is intra-SMAS or just above the SMAS layer. This journal requires that authors assign a level of evidence to each article. For a full description of these

  14. Solid state lift for micrometering in a fuel injector

    DOEpatents

    Milam, David M.; Carroll, Thomas S.; Lee, Chien-Chang; Miller, Charles R.

    2002-01-01

    A fuel injector performs main fuel injection by raising fuel pressure in a nozzle chamber to lift a check valve member to a fully open position, and performs preinjection or microinjection by operating a solid state motor to lift the check valve member a much smaller distance.

  15. Hydraulic lift as a determinant of tree-grass coexistence on savannas.

    PubMed

    Yu, Kailiang; D'Odorico, Paolo

    2015-09-01

    The coexistence of woody plants and grasses in savannas is determined by a complex set of interacting factors that determine access to resources and demographic dynamics, under the control of external drivers and vegetation feedbacks with the physical environment. Existing theories explain coexistence mainly as an effect of competitive relations and/or disturbances. However, theoretical studies on the way facilitative interactions resulting from hydraulic lift affect tree-grass coexistence and the range of environmental conditions in which savannas are stable are still lacking. We investigated the role of hydraulic lift in the stability of tree-grass coexistence in savannas. To that end, we developed a new mechanistic model that accounts for both competition for soil water in the shallow soil and fire-induced disturbance. We found that hydraulic lift favors grasses, which scavenge the water lifted by woody plants. Thus, hydraulic lift expands (at the expenses of woodlands) the range of environmental conditions in which savannas are stable. These results indicate that hydraulic lift can be an important mechanism responsible for the coexistence of woody plants and grasses in savannas. Grass facilitation by trees through the process of hydraulic lift could allow savannas to persist stably in mesic regions that would otherwise exhibit a forest cover. © 2015 The Authors. New Phytologist © 2015 New Phytologist Trust.

  16. Creating drag and lift curves from soccer trajectories

    NASA Astrophysics Data System (ADS)

    Goff, John Eric; Kelley, John; Hobson, Chad M.; Seo, Kazuya; Asai, Takeshi; Choppin, S. B.

    2017-07-01

    Trajectory analysis is an alternative to using wind tunnels to measure a soccer ball’s aerodynamic properties. It has advantages over wind tunnel testing such as being more representative of game play. However, previous work has not presented a method that produces complete, speed-dependent drag and lift coefficients. Four high-speed cameras in stereo-calibrated pairs were used to measure the spatial co-ordinates for 29 separate soccer trajectories. Those trajectories span a range of launch speeds from 9.3 to 29.9 m s-1. That range encompasses low-speed laminar flow of air over a soccer ball, through the drag crises where air flow is both laminar and turbulent, and up to high-speed turbulent air flow. Results from trajectory analysis were combined to give speed-dependent drag and lift coefficient curves for the entire range of speeds found in the 29 trajectories. The average root mean square error between the measured and modelled trajectory was 0.028 m horizontally and 0.034 m vertically. The drag and lift crises can be observed in the plots of drag and lift coefficients respectively.

  17. Wind-Stress Dust Lifting in a Mars Global Circulation Model: Representation across Resolutions

    NASA Astrophysics Data System (ADS)

    Chapman, R.; Lewis, S.; Balme, M. R.; Steele, L.

    2017-12-01

    The formation of Martian dust storms is believed to be driven by dust lifting by near-surface wind stress (NSWS). Accurately representing this dust lifting within Mars Global Circulation Models (MGCMs) is important in order to gain a full understanding of the Martian dust storm cycle. Parameterisations of dust lifting by NSWS exist within several MGCMs; implementations differ but they all follow a similar design, so progress within one model is relevant to the entire field. Few studies have explored in detail how the results of these parameterisations can be affected by changing the horizontal resolution of the model. An accurate parameterisation of dust lifting by NSWS will lift a representative dust mass, reproducing characteristic dust optical depths in the atmosphere. The geographical distribution of the dust lifting by NSWS will also change throughout the year, affecting patterns of dust storm formation and development. Currently, suitable values for dust lifting parameters must be identified at every new model resolution. Resolutions of 5° latitude x 5° longitude are often used to model the Martian climate, as thermal tides and long-term weather patterns can be well represented at this resolution. However, smaller scale phenomena (such as near-surface winds driven by local topography) cannot be accurately depicted at this resolution. We use the LMD-UK MGCM to complete multi-year simulations across multiple model resolutions. Our experiments range from `low' resolution 5° lat x 5° lon to `high' resolution 1° lat x 1° lon. In experiments with fixed, constant lifting parameters, we find that higher resolution simulations lift more dust, but that this trend is asymptotic. At low resolutions, dust lifting increases proportionately with the increase in number of horizontal gridboxes. However, at high resolutions, doubling the number of gridboxes results only in a 30% increase in the total dust mass lifted. Geographical and temporal distributions of dust

  18. Leading-edge vortex lifts swifts.

    PubMed

    Videler, J J; Stamhuis, E J; Povel, G D E

    2004-12-10

    The current understanding of how birds fly must be revised, because birds use their hand-wings in an unconventional way to generate lift and drag. Physical models of a common swift wing in gliding posture with a 60 degrees sweep of the sharp hand-wing leading edge were tested in a water tunnel. Interactions with the flow were measured quantitatively with digital particle image velocimetry at Reynolds numbers realistic for the gliding flight of a swift between 3750 and 37,500. The results show that gliding swifts can generate stable leading-edge vortices at small (5 degrees to 10 degrees) angles of attack. We suggest that the flow around the arm-wings of most birds can remain conventionally attached, whereas the swept-back hand-wings generate lift with leading-edge vortices.

  19. AORN Ergonomic Tool 6: lifting and carrying supplies and equipment in the perioperative setting.

    PubMed

    Waters, Thomas; Baptiste, Andrea; Short, Manon; Plante-Mallon, Lori; Nelson, Audrey

    2011-08-01

    Perioperative team members often are required to lift and carry heavy supplies and equipment into and around the OR; this includes lifting equipment such as hand tables, fluoroscopy boards, stirrups, Wilson frames, irrigation containers for lithotripsy, and heavy instrument pans. Lifting heavy objects creates considerable risk for musculoskeletal injuries to the back and shoulders. AORN Ergonomic Tool 6: Lifting and Carrying Supplies and Equipment in the Perioperative Setting can help caregivers evaluate lifting and carrying tasks and take measures to protect themselves from injury. Caregivers can use the revised National Institute for Occupational Safety and Health lifting equation to assess whether a specific lifting task can be performed safely. Published by Elsevier Inc.

  20. INL Multi-Robot Control Interface

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

    2005-03-30

    The INL Multi-Robot Control Interface controls many robots through a single user interface. The interface includes a robot display window for each robot showing the robot’s condition. More than one window can be used depending on the number of robots. The user interface also includes a robot control window configured to receive commands for sending to the respective robot and a multi-robot common window showing information received from each robot.

  1. Basic Robotics.

    ERIC Educational Resources Information Center

    Mullen, Frank

    This curriculum outline consists of instructional materials and information concerning resources for use in teaching a course in robotics. Addressed in the individual sections of the outline are the following topics: the nature of an industrial robot; the parts of an industrial robot (the manipulator, the power structure, and the control system);…

  2. Industrial Robots.

    ERIC Educational Resources Information Center

    Reed, Dean; Harden, Thomas K.

    Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

  3. Mobile robot knowledge base

    NASA Astrophysics Data System (ADS)

    Heath Pastore, Tracy; Barnes, Mitchell; Hallman, Rory

    2005-05-01

    Robot technology is developing at a rapid rate for both commercial and Department of Defense (DOD) applications. As a result, the task of managing both technology and experience information is growing. In the not-to-distant past, tracking development efforts of robot platforms, subsystems and components was not too difficult, expensive, or time consuming. To do the same today is a significant undertaking. The Mobile Robot Knowledge Base (MRKB) provides the robotics community with a web-accessible, centralized resource for sharing information, experience, and technology to more efficiently and effectively meet the needs of the robot system user. The resource includes searchable information on robot components, subsystems, mission payloads, platforms, and DOD robotics programs. In addition, the MRKB website provides a forum for technology and information transfer within the DOD robotics community and an interface for the Robotic Systems Pool (RSP). The RSP manages a collection of small teleoperated and semi-autonomous robotic platforms, available for loan to DOD and other qualified entities. The objective is to put robots in the hands of users and use the test data and fielding experience to improve robot systems.

  4. Development of Advanced High Lift Leading Edge Technology for Laminar Flow Wings

    NASA Technical Reports Server (NTRS)

    Bright, Michelle M.; Korntheuer, Andrea; Komadina, Steve; Lin, John C.

    2013-01-01

    This paper describes the Advanced High Lift Leading Edge (AHLLE) task performed by Northrop Grumman Systems Corporation, Aerospace Systems (NGAS) for the NASA Subsonic Fixed Wing project in an effort to develop enabling high-lift technology for laminar flow wings. Based on a known laminar cruise airfoil that incorporated an NGAS-developed integrated slot design, this effort involved using Computational Fluid Dynamics (CFD) analysis and quality function deployment (QFD) analysis on several leading edge concepts, and subsequently down-selected to two blown leading-edge concepts for testing. A 7-foot-span AHLLE airfoil model was designed and fabricated at NGAS and then tested at the NGAS 7 x 10 Low Speed Wind Tunnel in Hawthorne, CA. The model configurations tested included: baseline, deflected trailing edge, blown deflected trailing edge, blown leading edge, morphed leading edge, and blown/morphed leading edge. A successful demonstration of high lift leading edge technology was achieved, and the target goals for improved lift were exceeded by 30% with a maximum section lift coefficient (Cl) of 5.2. Maximum incremental section lift coefficients ( Cl) of 3.5 and 3.1 were achieved for a blown drooped (morphed) leading edge concept and a non-drooped leading edge blowing concept, respectively. The most effective AHLLE design yielded an estimated 94% lift improvement over the conventional high lift Krueger flap configurations while providing laminar flow capability on the cruise configuration.

  5. 14 CFR 25.697 - Lift and drag devices, controls.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... conditions of airspeed, engine power, and airplane attitude. (d) The lift device control must be designed to... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Lift and drag devices, controls. 25.697... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Design and Construction Control Systems § 25...

  6. Self-Reconfigurable Robots

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

    HENSINGER, DAVID M.; JOHNSTON, GABRIEL A.; HINMAN-SWEENEY, ELAINE M.

    2002-10-01

    A distributed reconfigurable micro-robotic system is a collection of unlimited numbers of distributed small, homogeneous robots designed to autonomously organize and reorganize in order to achieve mission-specified geometric shapes and functions. This project investigated the design, control, and planning issues for self-configuring and self-organizing robots. In the 2D space a system consisting of two robots was prototyped and successfully displayed automatic docking/undocking to operate dependently or independently. Additional modules were constructed to display the usefulness of a self-configuring system in various situations. In 3D a self-reconfiguring robot system of 4 identical modules was built. Each module connects to its neighborsmore » using rotating actuators. An individual component can move in three dimensions on its neighbors. We have also built a self-reconfiguring robot system consisting of 9-module Crystalline Robot. Each module in this robot is actuated by expansion/contraction. The system is fully distributed, has local communication (to neighbors) capabilities and it has global sensing capabilities.« less

  7. Wheelchair Lifts on Transit Buses : Summary of U.S. Experience

    DOT National Transportation Integrated Search

    1983-01-01

    The overall objective of this project was to develop information and guidance for the transit industry concerning wheelchair lifts on transit buses in the areas of lift procurement, testing and acceptance, training, and maintenance.

  8. Robot geometry calibration

    NASA Technical Reports Server (NTRS)

    Hayati, Samad; Tso, Kam; Roston, Gerald

    1988-01-01

    Autonomous robot task execution requires that the end effector of the robot be positioned accurately relative to a reference world-coordinate frame. The authors present a complete formulation to identify the actual robot geometric parameters. The method applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joints. A method is also presented to solve the inverse kinematic of the actual robot model which usually is not a so-called simple robot. Experimental results performed by utilizing a PUMA 560 with simple measurement hardware are presented. As a result of this calibration a precision move command is designed and integrated into a robot language, RCCL, and used in the NASA Telerobot Testbed.

  9. Vertical jump biomechanics after plyometric, weight lifting, and combined (weight lifting + plyometric) training.

    PubMed

    Arabatzi, Fotini; Kellis, Eleftherios; Saèz-Saez De Villarreal, Eduardo

    2010-09-01

    The purpose of this study was to compare the effects of an Olympic weight lifting (OL), a plyometric (PL), and combined weight lifting + plyometric (WP) training program on vertical jump (VJ) biomechanics. Thirty-six men were assigned randomly to 4 groups: PL group (n = 9), OL group (n = 9), WP group (), and control (C) group (n = 8). The experimental groups trained 3 d.wk, for 8 weeks. Sagital kinematics, VJ height, power, and electromyographic (EMG) activity from rectus femoris (RF) and medial gastrocnemius (GAS) were collected during squat jumping and countermovement jumping (CMJ) before and after training. The results showed that all experimental groups improved VJ height (p < 0.05). The OL training improved power and muscle activation during the concentric phase of the CMJ while the subjects used a technique with wider hip and knee angles after training (p < 0.05). The PL group subjects did not change their CMJ technique although there was an increase in RF activation and a decrease of GAS activity after training (p < 0.05). The WP group displayed a decline in maximal hip angle and a lower activation during the CMJ after training (p < 0.05). These results indicate that all training programs are adequate for improving VJ performance. However, the mechanisms for these improvements differ between the 3 training protocols. Olympic weight lifting training might be more appropriate to achieve changes in VJ performance and power in the precompetition period of the training season. Emphasis on the PL exercises should be given when the competition period approaches, whereas the combination of OL and PL exercises may be used in the transition phases from precompetition to the competition period.

  10. Analysis of the Effects of Streamwise Lift Distribution on Sonic Boom Signature

    NASA Technical Reports Server (NTRS)

    Yoo, Paul

    2013-01-01

    Investigation of sonic boom has been one of the major areas of study in aeronautics due to the benefits a low-boom aircraft has in both civilian and military applications. This work conducts a numerical analysis of the effects of streamwise lift distribution on the shock coalescence characteristics. A simple wing-canard-stabilator body model is used in the numerical simulation. The streamwise lift distribution is varied by fixing the canard at a deflection angle while trimming the aircraft with the wing and the stabilator at the desired lift coefficient. The lift and the pitching moment coefficients are computed using the Missile DATCOM v. 707. The flow field around the wing-canard- stabilator body model is resolved using the OVERFLOW-2 flow solver. Overset/ chimera grid topology is used to simplify the grid generation of various configurations representing different streamwise lift distributions. The numerical simulations are performed without viscosity unless it is required for numerical stability. All configurations are simulated at Mach 1.4, angle-of-attack of 1.50, lift coefficient of 0.05, and pitching moment coefficient of approximately 0. Four streamwise lift distribution configurations were tested.

  11. A Quasi-Steady Lifting Line Theory for Insect-Like Hovering Flight

    PubMed Central

    Nabawy, Mostafa R. A.; Crowthe, William J.

    2015-01-01

    A novel lifting line formulation is presented for the quasi-steady aerodynamic evaluation of insect-like wings in hovering flight. The approach allows accurate estimation of aerodynamic forces from geometry and kinematic information alone and provides for the first time quantitative information on the relative contribution of induced and profile drag associated with lift production for insect-like wings in hover. The main adaptation to the existing lifting line theory is the use of an equivalent angle of attack, which enables capture of the steady non-linear aerodynamics at high angles of attack. A simple methodology to include non-ideal induced effects due to wake periodicity and effective actuator disc area within the lifting line theory is included in the model. Low Reynolds number effects as well as the edge velocity correction required to account for different wing planform shapes are incorporated through appropriate modification of the wing section lift curve slope. The model has been successfully validated against measurements from revolving wing experiments and high order computational fluid dynamics simulations. Model predicted mean lift to weight ratio results have an average error of 4% compared to values from computational fluid dynamics for eight different insect cases. Application of an unmodified linear lifting line approach leads on average to a 60% overestimation in the mean lift force required for weight support, with most of the discrepancy due to use of linear aerodynamics. It is shown that on average for the eight insects considered, the induced drag contributes 22% of the total drag based on the mean cycle values and 29% of the total drag based on the mid half-stroke values. PMID:26252657

  12. An overview of artificial intelligence and robotics. Volume 2: Robotics

    NASA Technical Reports Server (NTRS)

    Gevarter, W. B.

    1982-01-01

    This report provides an overview of the rapidly changing field of robotics. The report incorporates definitions of the various types of robots, a summary of the basic concepts, utilized in each of the many technical areas, review of the state of the art and statistics of robot manufacture and usage. Particular attention is paid to the status of robot development, the organizations involved, their activities, and their funding.

  13. 49 CFR 571.404 - Standard No. 404; Platform lift installations in motor vehicles.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... vehicle, with the vehicle's HVAC system turned off, for a minimum of 20 minutes, after which the engine is... Motor Vehicle Safety Standard No. 403, Lift Systems for Motor Vehicles (49 CFR 571.403). S4.1.2Lift... Safety Standard No. 403, Lift Systems for Motor Vehicles (49 CFR 571.403). S4.1.3Platform lifts must be...

  14. 49 CFR 571.404 - Standard No. 404; Platform lift installations in motor vehicles.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... vehicle, with the vehicle's HVAC system turned off, for a minimum of 20 minutes, after which the engine is... Motor Vehicle Safety Standard No. 403, Lift Systems for Motor Vehicles (49 CFR 571.403). S4.1.2Lift... Safety Standard No. 403, Lift Systems for Motor Vehicles (49 CFR 571.403). S4.1.3Platform lifts must be...

  15. 49 CFR 571.404 - Standard No. 404; Platform lift installations in motor vehicles.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... vehicle, with the vehicle's HVAC system turned off, for a minimum of 20 minutes, after which the engine is... Motor Vehicle Safety Standard No. 403, Lift Systems for Motor Vehicles (49 CFR 571.403). S4.1.2Lift... Safety Standard No. 403, Lift Systems for Motor Vehicles (49 CFR 571.403). S4.1.3Platform lifts must be...

  16. Robot Rescue

    NASA Technical Reports Server (NTRS)

    Morring, Frank, Jr.

    2004-01-01

    Tests with robots and the high-fidelity Hubble Space Telescope mockup astronauts use to train for servicing missions have convinced NASA managers it may be possible to maintain and upgrade the orbiting observatory without sending a space shuttle to do the job. In a formal request last week, the agency gave bidders until July 16 to sub-mit proposals for a robotic mission to the space telescope before the end of 2007. At a minimum, the mission would attach a rocket motor to deorbit the telescope safely when its service life ends. In the best case, it would use state-of-the- art robotics to prolong its life on orbit and install new instruments. With the space shuttle off-limits for the job under strict post-Columbia safety policies set by Administrator Sean O'Keefe, NASA has designed a "straw- man" robotic mission that would use an Atlas V or Delta N to launch a 20,ooO-lb. "Hubble Robotic Vehicle" to service the telescope. There, a robotic arm would grapple it, much as the shuttle does.

  17. Advanced robot locomotion.

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

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics naturalmore » human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.« less

  18. View of central lift span truss web of Tensaw River ...

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

    View of central lift span truss web of Tensaw River Bridge, showing support girders for life house, looking east - Tensaw River Lift Bridge, Spanning Tensaw River at U.S. Highway 90, Mobile, Mobile County, AL

  19. Heavy Lift Launch Capability with a New Hydrocarbon Engine

    NASA Technical Reports Server (NTRS)

    Threet, Grady E., Jr.; Holt, James B.; Philips, Alan D.; Garcia, Jessica A.

    2011-01-01

    The Advanced Concepts Office at NASA's George C. Marshall Space Flight Center was tasked to define the thrust requirement of a new liquid oxygen rich staged combustion cycle hydrocarbon engine that could be utilized in a launch vehicle to meet NASA s future heavy lift needs. Launch vehicle concepts were sized using this engine for different heavy lift payload classes. Engine out capabilities for one of the heavy lift configurations were also analyzed for increased reliability that may be desired for high value payloads or crewed missions. The applicability for this engine in vehicle concepts to meet military and commercial class payloads comparable to current ELV capability was also evaluated.

  20. Granular Material Scoop and Near-Vertical Lifting Feeder/Conveyor

    NASA Technical Reports Server (NTRS)

    Walton, Otis (Inventor); Vollmer, Hubert J. (Inventor)

    2017-01-01

    An integrated granular-material scoop and near-vertical lifting feeder/conveyor includes special connections and skirts between a bullnose rotating scoop and an open-helical screw that provides the rotations and material lift and evacuation. A conical working-face of the bullnose rotating scoop has symmetrically distributed graters and vents to break loose and force-in granular material from natural deposits and cargo holds. The bullnose rotating scoop and the open-helical screw its attached to move the material into a continuous layer on the inside surface of an outer stationary sheathing. A motor drive attached to the open-helical screw above at the delivery end provides the lifting force necessary.

  1. Human-Robot Interaction

    NASA Technical Reports Server (NTRS)

    Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

    2015-01-01

    Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera

  2. Mechanism isolates load weighing cell during lifting of load

    NASA Technical Reports Server (NTRS)

    Haigler, J. S.

    1966-01-01

    Load weighing cell used in conjuction with a hoist is isolated during lifting and manipulation of the load. A simple mechanism, attached to a crane hook, provides a screw adjustment for engaging the load cell during weighing of the load and isolating it from lift forces during hoisting of the load.

  3. Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

    PubMed Central

    Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

    2015-01-01

    In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning. PMID:26485148

  4. Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

    PubMed

    Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

    2015-01-01

    In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

  5. A history of robots: from science fiction to surgical robotics.

    PubMed

    Hockstein, N G; Gourin, C G; Faust, R A; Terris, D J

    2007-01-01

    Surgical robotics is an evolving field with great advances having been made over the last decade. The origin of robotics was in the science-fiction literature and from there industrial applications, and more recently commercially available, surgical robotic devices have been realized. In this review, we examine the field of robotics from its roots in literature to its development for clinical surgical use. Surgical mills and telerobotic devices are discussed, as are potential future developments.

  6. 49 CFR 37.163 - Keeping vehicle lifts in operative condition: Public entities.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 1 2010-10-01 2010-10-01 false Keeping vehicle lifts in operative condition... lifts in operative condition: Public entities. (a) This section applies only to public entities with respect to lifts in non-rail vehicles. (b) The entity shall establish a system of regular and frequent...

  7. 49 CFR 37.163 - Keeping vehicle lifts in operative condition: Public entities.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 1 2011-10-01 2011-10-01 false Keeping vehicle lifts in operative condition... lifts in operative condition: Public entities. (a) This section applies only to public entities with respect to lifts in non-rail vehicles. (b) The entity shall establish a system of regular and frequent...

  8. 17 CFR 3.64 - Procedure to lift or modify conditions or restrictions.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 17 Commodity and Securities Exchanges 1 2011-04-01 2011-04-01 false Procedure to lift or modify... COMMISSION REGISTRATION Denial, Suspension or Revocation of Registration § 3.64 Procedure to lift or modify... Enforcement to lift or modify conditions or restrictions on the registrant's registration. (1) The petition...

  9. 17 CFR 3.64 - Procedure to lift or modify conditions or restrictions.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 17 Commodity and Securities Exchanges 1 2010-04-01 2010-04-01 false Procedure to lift or modify... COMMISSION REGISTRATION Denial, Suspension or Revocation of Registration § 3.64 Procedure to lift or modify... Enforcement to lift or modify conditions or restrictions on the registrant's registration. (1) The petition...

  10. Robot Deception and Squirrel Behavior: A Case Study in Bio-inspired Robotics

    DTIC Science & Technology

    2014-08-01

    employed by doctors/ nurses among others. It is important to focus on this aspect when we consider a robot’s deceptive capabilities in human- robot ... Robot Deception and Squirrel Behavior: A Case Study in Bio-inspired Robotics Jaeeun Shim and Ronald C. Arkin Mobile Robot ...Abstract A common behavior in animals and human beings is deception. Deceptive behavior in robotics is potentially beneficial in several domains

  11. Software design to calculate and simulate the mechanical response of electromechanical lifts

    NASA Astrophysics Data System (ADS)

    Herrera, I.; Romero, E.

    2016-05-01

    Lift engineers and lift companies which are involved in the design process of new products or in the research and development of improved components demand a predictive tool of the lift slender system response before testing expensive prototypes. A method for solving the movement of any specified lift system by means of a computer program is presented. The mechanical response of the lift operating in a user defined installation and configuration, for a given excitation and other configuration parameters of real electric motors and its control system, is derived. A mechanical model with 6 degrees of freedom is used. The governing equations are integrated step by step through the Meden-Kutta algorithm in the MATLAB platform. Input data consists on the set point speed for a standard trip and the control parameters of a number of controllers and lift drive machines. The computer program computes and plots very accurately the vertical displacement, velocity, instantaneous acceleration and jerk time histories of the car, counterweight, frame, passengers/loads and lift drive in a standard trip between any two floors of the desired installation. The resulting torque, rope tension and deviation of the velocity plot with respect to the setpoint speed are shown. The software design is implemented in a demo release of the computer program called ElevaCAD. Further on, the program offers the possibility to select the configuration of the lift system and the performance parameters of each component. In addition to the overall system response, detailed information of transients, vibrations of the lift components, ride quality levels, modal analysis and frequency spectrum (FFT) are plotted.

  12. Coexistence of multiphase superconductivity and ferromagnetism in lithiated iron selenide hydroxide [(L i1 -xF ex) OH ]FeSe

    NASA Astrophysics Data System (ADS)

    Urban, Christian; Valmianski, Ilya; Pachmayr, Ursula; Basaran, Ali C.; Johrendt, Dirk; Schuller, Ivan K.

    2018-01-01

    We present experimental evidence for (a) multiphase superconductivity and (b) coexistence of magnetism and superconductivity in a single structural phase of lithiated iron selenide hydroxide [(L i1 -xF ex )OH]FeSe. Magnetic field modulated microwave spectroscopy data confirms superconductivity with at least two distinct transition temperatures attributed to well-defined superconducting phases at TSC 1=40 ±2 K and TSC 2=35 ±2 K. Magnetometry data for the upper critical fields reveal a change in the magnetic order (TM=12 K) below TSC 1 and TSC 2 that is consistent with ferromagnetism. This occurs because the superconducting coherence length is much smaller than the structural coherence length, allowing for several different electronic and magnetic states on a single crystallite. The results give insight into the physics of complex multinary materials, where several phenomena governed by different characteristic length scales coexist.

  13. Robotic Surgery

    NASA Technical Reports Server (NTRS)

    2000-01-01

    The Automated Endoscopic System for Optimal Positioning, or AESOP, was developed by Computer Motion, Inc. under a SBIR contract from the Jet Propulsion Lab. AESOP is a robotic endoscopic positioning system used to control the motion of a camera during endoscopic surgery. The camera, which is mounted at the end of a robotic arm, previously had to be held in place by the surgical staff. With AESOP the robotic arm can make more precise and consistent movements. AESOP is also voice controlled by the surgeon. It is hoped that this technology can be used in space repair missions which require precision beyond human dexterity. A new generation of the same technology entitled the ZEUS Robotic Surgical System can make endoscopic procedures even more successful. ZEUS allows the surgeon control various instruments in its robotic arms, allowing for the precision the procedure requires.

  14. Multigait soft robot

    PubMed Central

    Shepherd, Robert F.; Ilievski, Filip; Choi, Wonjae; Morin, Stephen A.; Stokes, Adam A.; Mazzeo, Aaron D.; Chen, Xin; Wang, Michael; Whitesides, George M.

    2011-01-01

    This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion. PMID:22123978

  15. Optimized design for sling of stand up lift

    NASA Astrophysics Data System (ADS)

    Xu, Dongfang; Wang, Yue; Cui, Tengfei; Bao, Xuelian; Duan, Xingguang

    2017-04-01

    Stand up lift is a kind of equipment that assists those with dyskinesia of legs to stand up or move. As an important part of stand up lift, sling concerns the realization of the equipment's function and the safety of users. On the basis of ergonomics theory, this thesis will design and optimize the sling to make it safer and more comfortable and meet demands of different people.

  16. Heavy Lift Launch Capability with a New Hydrocarbon Engine (NHE)

    NASA Technical Reports Server (NTRS)

    Threet, Grady E., Jr.; Holt, James B.; Philips, Alan D.; Garcia, Jessica A.

    2011-01-01

    The Advanced Concepts Office (ACO) at NASA Marshall Space Flight Center has analyzed over 2000 Ares V and other heavy lift concepts in the last 3 years. These concepts were analyzed for Lunar Exploration Missions, heavy lift capability to Low Earth Orbit (LEO) as well as exploratory missions to other near earth objects in our solar system. With the pending retirement of the Shuttle fleet, our nation will be without a civil heavy lift launch capability, so the future development of a new heavy lift capability is imperative for the exploration and large science missions our Agency has been tasked to deliver. The majority of the heavy lift concepts analyzed by ACO during the last 3 years have been based on liquid oxygen / liquid hydrogen (LOX/LH2) core stage and solids booster stage propulsion technologies (Ares V / Shuttle Derived and their variants). These concepts were driven by the decisions made from the results of the Exploration Systems Architecture Study (ESAS), which in turn, led to the Ares V launch vehicle that has been baselined in the Constellation Program. Now that the decision has been made at the Agency level to cancel Constellation, other propulsion options such as liquid hydrocarbon fuels are back in the exploration trade space. NASA is still planning exploration missions with the eventual destination of Mars and a new heavy lift launch vehicle is still required and will serve as the centerpiece of our nation s next exploration architecture s infrastructure. With an extensive launch vehicle database already developed on LOX/LH2 based heavy lift launch vehicles, ACO initiated a study to look at using a new high thrust (> 1.0 Mlb vacuum thrust) hydrocarbon engine as the primary main stage propulsion in such a launch vehicle.

  17. Preliminary Results Obtained from Flight Test of a Rocket Model Having the Tail Only of the Grumman XF10F Airplane Configuration, TED No. NACA DE 354

    NASA Technical Reports Server (NTRS)

    Gardner, William N.; Edmondson, James L.

    1950-01-01

    A flight test was made to determine the servoplane effectiveness and stability characteristics of the free-floating horizontal stabilizer to be used on the XF10F airplane. The results of this test indicate that servoplane effectiveness is practically constant through the speed range up to a Mach number of 1.15, and the stabilizer static stability is satisfactory. A loss of damping occurs over a narrow Mach number range near M = 1.0, resulting in dynamic instability of the stabilizer in this narrow range. Above M = 1.0 there is a gradual positive trim change of the stabilizer.

  18. 2. DETAIL OF CONTROL GATE ADJACENT TO LIFT LOCK NO. ...

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

    2. DETAIL OF CONTROL GATE ADJACENT TO LIFT LOCK NO. 7; THIS CONTROL GATE IS A 1980s RECONSTRUCTION. - Illinois & Michigan Canal, Lift Lock No. 7 & Control Gate, East side of DuPage River, Channahon, Will County, IL

  19. Sunspots and the physics of magnetic flux tubes. III - Aerodynamic lift

    NASA Technical Reports Server (NTRS)

    Parker, E. N.

    1979-01-01

    The aerodynamic lift exerted on a magnetic flux tube by the asymmetric flow around the two sides of the tube is calculated as part of an investigation of the physics of solar flux tubes. The general hydrodynamic forces on a rigid circular cylinder in a nonuniform flow of an ideal fluid are derived from the first derivatives of the velocity field. Aerodynamic lift in a radial nonuniform flow is found to act in the direction of the flow, toward the region of increased flow velocity, while in a shear flow, lift is perpendicular to the free stream and directed toward increasing flow velocity. For a general, three dimensional, large-scale stationary incompressible equilibrium flow, an expression is also derived relating the lift per unit length to the dynamical pressure, cylinder radius and the gradient of the free-stream velocity. Evidence from an asymmetric airfoil in a uniform flow indicates that lift is enhanced in a real fluid in the presence of turbulence.

  20. Robotics in endoscopy.

    PubMed

    Klibansky, David; Rothstein, Richard I

    2012-09-01

    The increasing complexity of intralumenal and emerging translumenal endoscopic procedures has created an opportunity to apply robotics in endoscopy. Computer-assisted or direct-drive robotic technology allows the triangulation of flexible tools through telemanipulation. The creation of new flexible operative platforms, along with other emerging technology such as nanobots and steerable capsules, can be transformational for endoscopic procedures. In this review, we cover some background information on the use of robotics in surgery and endoscopy, and review the emerging literature on platforms, capsules, and mini-robotic units. The development of techniques in advanced intralumenal endoscopy (endoscopic mucosal resection and endoscopic submucosal dissection) and translumenal endoscopic procedures (NOTES) has generated a number of novel platforms, flexible tools, and devices that can apply robotic principles to endoscopy. The development of a fully flexible endoscopic surgical toolkit will enable increasingly advanced procedures to be performed through natural orifices. The application of platforms and new flexible tools to the areas of advanced endoscopy and NOTES heralds the opportunity to employ useful robotic technology. Following the examples of the utility of robotics from the field of laparoscopic surgery, we can anticipate the emerging role of robotic technology in endoscopy.

  1. TROTER's (Tiny Robotic Operation Team Experiment): A new concept of space robots

    NASA Technical Reports Server (NTRS)

    Su, Renjeng

    1990-01-01

    In view of the future need of automation and robotics in space and the existing approaches to the problem, we proposed a new concept of robots for space construction. The new concept is based on the basic idea of decentralization. Decentralization occurs, on the one hand, in using teams of many cooperative robots for construction tasks. Redundancy and modular design are explored to achieve high reliability for team robotic operations. Reliability requirement on individual robots is greatly reduced. Another area of decentralization is manifested by the proposed control hierarchy which eventually includes humans in the loop. The control strategy is constrained by various time delays and calls for different levels of abstraction of the task dynamics. Such technology is needed for remote control of robots in an uncertain environment. Thus, concerns of human safety around robots are relaxed. This presentation also introduces the required technologies behind the new robotic concept.

  2. Robot Rocket Rally

    NASA Image and Video Library

    2014-03-14

    CAPE CANAVERAL, Fla. – Andrew Nick of Kennedy Space Center's Swamp Works shows off RASSOR, a robotic miner, at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

  3. Integrating robotic partial nephrectomy to an existing robotic surgery program.

    PubMed

    Yuh, Bertram; Muldrew, Shantel; Menchaca, Anita; Yip, Wesley; Lau, Clayton; Wilson, Timothy; Josephson, David

    2012-04-01

    As more centers develop robotic proficiency, progressing to a successful robot-assisted partial nephrectomy (RAPN) program depends on a number of factors. We describe our technique, results, and analysis of program setup for RAPN. Between 2005 and 2011, 92 RAPNs were performed following maturation of a robotic prostatectomy program. Operating rooms and supply rooms were outfitted for efficient robotic throughput. Tilepro and intraoperative ultrasound were used for all cases. Training and experiential learning for surgeons, anesthesia and nursing staff was a high priority. An onsite robotic technician helped troubleshoot, prepare the room and staff prior to starting surgery, and provide assistance with different robotic models. Average operative time decreased over time from 235 min to 199 min (p = .03). Warm ischemia time decreased from 26 minutes to 23 minutes (p = .02) despite an increased complexity of tumors and operations on multiple tumors. Median estimated blood loss was 150 mL. Average length of hospital stay was 3 days (range 1-9). Average size of lesions was 2.7 cm (range 0.7-8.6). Final pathology demonstrated 71 (77%) malignant lesions and 21 (23%) benign lesions. The addition of a robot-assisted partial nephrectomy program to an institutional robotic program can be coordinated with several key steps. Outcomes from an operational, oncologic, and renal functional standpoint are acceptable. Despite increased complexity of tumors and treatment of multiple lesions, operative and warm ischemia times showed a decrease over time. An organizational model that involves the surgeons, anesthesia, nursing staff, and possibly a robotic technical specialist helps to overcome the learning curve.

  4. Influences on lifetime of wire ropes in traction lifts

    NASA Astrophysics Data System (ADS)

    Vogel, W.

    2016-05-01

    Traction lifts are complex systems with rotating and translating moving masses, springs and dampers and several system inputs from the lifts and the users. The wire ropes are essential mechanical elements. The mechanical properties of the ropes in use depend on the rope construction, the load situation, nonlinearities and the lift dimensions. The mechanical properties are important for the proper use in lifts and the ride quality. But first of all the wire ropes (for all other suspension means as well) have to satisfy the safety relevant requirements sufficient lifetime, reliable determination of discard and sufficient and limited traction capacity. The lifetime of the wire ropes better the number of trips until rope discard depends on a lot of parameters of the rope and the rope application eg use of plastic deflection sheaves and reverse bending layouts. New challenges for rope lifetime are resulting from the more or less open D/d-ratio limits possible by certificates concerning the examination of conformity by notified bodies. This paper will highlight the basics of wire rope technology, the endurance and lifetime of wire ropes running over sheaves, and the different influences from the ropes and more and more important from the lift application parameters. Very often underestimated are the influences of transport, storage, installation and maintenance. With this background we will lead over to the calculation methods of wire rope lifetime considering the actual findings of wire rope endurance research. We'll show in this paper new and innovative facts as the influence of rope length and size factor in the lifetime formular, the reduction of lifetime caused by traction grooves, the new model for the calculation in reverse bending operations and the statistically firmed possibilities for machine roomless lifts (MRL) under very small bending conditions.

  5. Lift outs: how to acquire a high-functioning team.

    PubMed

    Groysberg, Boris; Abrahams, Robin

    2006-12-01

    More and more, expanding companies are hiring high-functioning groups of people who have been working together effectively within one company and can rapidly come up to speed in a new environment. These lifted-out teams don't need to get acquainted with one another or to establish shared values, mutual accountability, or group norms; their long-standing relationships and trust help them make an impact very quickly. Of course, the process is not without risks: A failed lift out can lead to loss of money, opportunity, credibility, and even native talent. Boris Groysberg and Robin Abrahams studied more than 40 high-profile moves and interviewed team leaders in multiple industries and countries to examine the risks and opportunities that lift outs present. They concluded that, regardless of industry, nationality, or size of the team, a successful lift out unfolds over four consecutive, interdependent stages that must be meticulously managed. In the courtship stage, the hiring company and the leader of the targeted team determine whether the proposed move is, in fact, a good idea, and then define their business goals and discuss strategies. At the same time, the team leader discusses the potential move with the other members of his or her group to assess their level of interest and prepare them for the change. The second stage involves the integration of the team leader with the new company's top leadership. This part of the process ensures the team's access to senior executives-the most important factor in a lift out's success. Operational integration is the focus of the third stage. Ideally, teams will start out working with the same or similar clients, vendors, and industry standards. The fourth stage entails full cultural integration. To succeed, the lifted-out team members must be willing to re-earn credibility by proving their value and winning their new colleagues' trust.

  6. LIFT Tenant Is Off and Running

    NASA Technical Reports Server (NTRS)

    Steele, Gynelle C.

    2001-01-01

    Lewis Incubator for Technology (LIFT) tenant, Analiza Inc., graduated from the incubator July 2000. Analiza develops technology and products for the early diagnosis of diseases, quality control of bio-pharmaceutical therapeutics, and other applications involving protein analyses. Technology links with NASA from existing and planned work are in areas of microfluidics and laser light scattering. Since their entry in LIFT in May, 1997, Analiza has: Received a $750,000 grant from the National Institutes of Health. Collaborated with a Nobel Prize winner on drug design. Collaborated with Bristol-Myers Squibb on the characterization of biological therapeutics. Added a Ph.D. senior scientist and several technicians. Received significant interest from major pharmaceutical companies about collaborating and acquiring Analiza technology.

  7. Robotic equipment malfunction during robotic prostatectomy: a multi-institutional study.

    PubMed

    Lavery, Hugh J; Thaly, Rahul; Albala, David; Ahlering, Thomas; Shalhav, Arieh; Lee, David; Fagin, Randy; Wiklund, Peter; Dasgupta, Prokar; Costello, Anthony J; Tewari, Ashutosh; Coughlin, Geoff; Patel, Vipul R

    2008-09-01

    Robotic-assisted laparoscopic prostatectomy (RALP) is growing in popularity as a treatment option for prostate cancer. As a new technology, little is known regarding the reliability of the da Vinci robotic system. Intraoperative robotic equipment malfunction may force the surgeon to convert the procedure to an open or pure laparoscopic procedure, or possibly even abort the procedure. We report the first large-scale, multi-institutional review of robotic equipment malfunction. A questionnaire was designed to evaluate the rate of perioperative robotic malfunction during RALP. High-volume, experienced surgeons were asked to complete this evaluation based on the analysis of their data. Questions included the overall number of RALPs performed, the number of equipment malfunctions, the number of procedures that had to be converted or aborted, and the part of the robotic system that malfunctioned. Eleven institutions participated in the study with a median surgeon volume of 700 cases, accounting for a total case volume of 8240. Critical failure occurred in 34 cases (0.4%) leading to the cancellation of 24 cases prior to the procedure, and the conversion to two laparoscopic and eight open procedures. The most common components of the robot to malfunction were the arms and optical system. Critical robotic equipment malfunction is extremely rare in institutions that perform high volumes of RALPs, with a nonrecoverable malfunction rate of only 0.4%.

  8. Person Authentication Using Learned Parameters of Lifting Wavelet Filters

    NASA Astrophysics Data System (ADS)

    Niijima, Koichi

    2006-10-01

    This paper proposes a method for identifying persons by the use of the lifting wavelet parameters learned by kurtosis-minimization. Our learning method uses desirable properties of kurtosis and wavelet coefficients of a facial image. Exploiting these properties, the lifting parameters are trained so as to minimize the kurtosis of lifting wavelet coefficients computed for the facial image. Since this minimization problem is an ill-posed problem, it is solved by the aid of Tikhonov's regularization method. Our learning algorithm is applied to each of the faces to be identified to generate its feature vector whose components consist of the learned parameters. The constructed feature vectors are memorized together with the corresponding faces in a feature vectors database. Person authentication is performed by comparing the feature vector of a query face with those stored in the database. In numerical experiments, the lifting parameters are trained for each of the neutral faces of 132 persons (74 males and 58 females) in the AR face database. Person authentication is executed by using the smile and anger faces of the same persons in the database.

  9. Robotic surgery update.

    PubMed

    Jacobsen, G; Elli, F; Horgan, S

    2004-08-01

    Minimally invasive surgical techniques have revolutionized the field of surgery. Telesurgical manipulators (robots) and new information technologies strive to improve upon currently available minimally invasive techniques and create new possibilities. A retrospective review of all robotic cases at a single academic medical center from August 2000 until November 2002 was conducted. A comprehensive literature evaluation on robotic surgical technology was also performed. Robotic technology is safely and effectively being applied at our institution. Robotic and information technologies have improved upon minimally invasive surgical techniques and created new opportunities not attainable in open surgery. Robotic technology offers many benefits over traditional minimal access techniques and has been proven safe and effective. Further research is needed to better define the optimal application of this technology. Credentialing and educational requirements also need to be delineated.

  10. 34. ALTERNATE DESIGN USING BATTERED AND UNSHEATHED LIFT TOWERS, WITH ...

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

    34. ALTERNATE DESIGN USING BATTERED AND UNSHEATHED LIFT TOWERS, WITH DEEPENED TRUSS ON LIFT SPAN. Pen-and-ink drawing by project architect Alfred Eichler, 1934. - Sacramento River Bridge, Spanning Sacramento River at California State Highway 275, Sacramento, Sacramento County, CA

  11. Feasibility of Retrofitting Lifts on Commuter and Light Rail Vehicles

    DOT National Transportation Integrated Search

    1980-09-01

    The objectives of this study were to determine if lift retrofit applications to rail vehicles are technically feasible, and if so, the extent to which existing bus lift technology can be utilized. This report examines some of the technical issues ass...

  12. Transition métal—isolant dans V 1-xMn xO 2-2xF 2x (0 < x ≤ 0, 10)étude des propriétés structurales, magnétiques, etélectriques

    NASA Astrophysics Data System (ADS)

    Akroune, A.; Casalot, A.

    1987-05-01

    V 1- xMn xO 2-2 xF 2 x samples (0 < x ≤ 0, 10) have been prepared by solid state reaction in sealed platinium tubes. The metal ⇄ insulator transition occurs at a quickly decreasing temperatures as MnF 2 increases. The crystallographic, magnetic, transport properties, and DTA have been determined and discussed.

  13. "Doing the heavy lifting: health care workers take back their backs".

    PubMed

    Morse, Tim; Fekieta, Renee; Rubenstein, Harriet; Warren, Nick; Alexander, Darryl; Wawzyniecki, Patricia

    2008-01-01

    Health care workers have the highest musculoskeletal disorder prevalence and incidence of any occupational/industry group, and patient handling tasks are so biomechanically demanding that they cannot be made safe through the commonly used, technique-oriented methods such as "back school" training programs. Although there is standard-setting activity for "no-lift" programs in some states, there is still no federal standard. Health care worker unions and nurses' associations have begun to take action through training members in equipment need, use, and acceptance in programs to encourage adoption of no-lifting programs. Acceptance of lifting equipment is increasing due to recognition of the high human and economic costs of MSD, consistent documentation of cost savings from no-lift programs, major improvements in lifting equipment, and shortages of health care staff. An action-oriented training program for health care workers is described that provides knowledge about the 1) Scope of the current problem of back injuries in health care, 2) Costs of injuries, both to workers and to the hospital, 3) Elements of a safe patient-handling program, and 4) Success stories. The program also builds skills through: 1) Hands-on experience with safe lifting equipment, and 2) Assessing organizational and union readiness and planning for action at the workplace.

  14. Analysis of the Effects of Streamwise Lift Distribution on Sonic Boom Signature

    NASA Technical Reports Server (NTRS)

    Yoo, Seung Yeun (Paul)

    2010-01-01

    The streamwise lift distribution of a wing-canard-stabilator-body configuration was varied to study its effect on the near-field sonic boom signature. The investigation was carried out via solving the three-dimensional Euler equation with the OVERFLOW-2 flow solver. The computational meshes were created using the Chimera overset grid topology. The lift distribution was varied by first deflecting the canard then trimming the aircraft with the wing and the stabilator while maintaining constant lift coefficient of 0.05. A validation study using experimental results was also performed to determine required grid resolution and appropriate numerical scheme. A wide range of streamwise lift distribution was simulated. The result shows that the longitudinal wave propagation speed can be controlled through lift distribution thus controlling the shock coalescence.

  15. Weight and cost estimating relationships for heavy lift airships

    NASA Technical Reports Server (NTRS)

    Gray, D. W.

    1979-01-01

    Weight and cost estimating relationships, including additional parameters that influence the cost and performance of heavy-lift airships (HLA), are discussed. Inputs to a closed loop computer program, consisting of useful load, forward speed, lift module positive or negative thrust, and rotors and propellers, are examined. Detail is given to the HLA cost and weight program (HLACW), which computes component weights, vehicle size, buoyancy lift, rotor and propellar thrust, and engine horse power. This program solves the problem of interrelating the different aerostat, rotors, engines and propeller sizes. Six sets of 'default parameters' are left for the operator to change during each computer run enabling slight data manipulation without altering the program.

  16. [Robots and intellectual property].

    PubMed

    Larrieu, Jacques

    2013-12-01

    This topic is part of the global issue concerning the necessity to adapt intellectual property law to constant changes in technology. The relationship between robots and IP is dual. On one hand, the robots may be regarded as objects of intellectual property. A robot, like any new machine, could qualify for a protection by a patent. A copyright may protect its appearance if it is original. Its memory, like a database, could be covered by a sui generis right. On the other hand, the question of the protection of the outputs of the robot must be raised. The robots, as the physical embodiment of artificial intelligence, are becoming more and more autonomous. Robot-generated works include less and less human inputs. Are these objects created or invented by a robot copyrightable or patentable? To whom the ownership of these IP rights will be allocated? To the person who manufactured the machine ? To the user of the robot? To the robot itself? All these questions are worth discussing.

  17. Prosthetic Hand Lifts Heavy Loads

    NASA Technical Reports Server (NTRS)

    Carden, James R.; Norton, William; Belcher, Jewell G.; Vest, Thomas W.

    1991-01-01

    Prosthetic hand designed to enable amputee to lift diverse heavy objects like rocks and logs. Has simple serrated end effector with no moving parts. Prosthesis held on forearm by system of flexible straps. Features include ruggedness, simplicity, and relatively low cost.

  18. NASA safety standard for lifting devices and equipment

    NASA Astrophysics Data System (ADS)

    1990-09-01

    NASA's minimum safety requirements are established for the design, testing, inspection, maintenance, certification, and use of overhead and gantry cranes (including top running monorail, underhung, and jib cranes), mobile cranes, derrick hoists, and special hoist supported personnel lifting devices (these do not include elevators, ground supported personnel lifts, or powered platforms). Minimum requirements are also addressed for the testing, inspection, and use of Hydra-sets, hooks, and slings. Safety standards are thoroughly detailed.

  19. NASA safety standard for lifting devices and equipment

    NASA Technical Reports Server (NTRS)

    1990-01-01

    NASA's minimum safety requirements are established for the design, testing, inspection, maintenance, certification, and use of overhead and gantry cranes (including top running monorail, underhung, and jib cranes), mobile cranes, derrick hoists, and special hoist supported personnel lifting devices (these do not include elevators, ground supported personnel lifts, or powered platforms). Minimum requirements are also addressed for the testing, inspection, and use of Hydra-sets, hooks, and slings. Safety standards are thoroughly detailed.

  20. Evolution of robotic arms.

    PubMed

    Moran, Michael E

    2007-01-01

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

  1. SPA face lift: SMAS plication-anchoring.

    PubMed

    Mottura, A Aldo

    2011-08-01

    A variation of the superficial musculoaponeurotic system (SMAS) plication called SPA face lift is here described. An axial line and then two medial and lateral parallel lines are penciled on the skin from the lateral canthus to the earlobe to show the future plication area. The undermining zone is delimited 1 cm beyond the medial line. In face- and neck-lifting, such marks extend vertically to the neck. Once the skin is undermined up to the delimiting marks, the three lines are penciled again on the fat layer, and a running lock suture is used for plication, with big superficial bites between the two distal lines. In fatty faces, a strip of fat is removed along the axial line to avoid bulging that can be seen through the skin. Because the undermining is limited, minor swelling occurs, and the postoperative recovery is shorter and faster. The same three lines can be marked in the contralateral side or can differ in cases of asymmetry. This report describes 244 face-lifts without any facial nerve problems. The author managed five hematoma cases in which surgery to the neck was performed. Three patients had to be touched up for insufficient skin tension. The SPA technique is consistent and easy to learn.

  2. Dynamic response of Hovercraft lift fans

    NASA Astrophysics Data System (ADS)

    Moran, D. D.

    1981-08-01

    Hovercraft lift fans are subjected to varying back pressure due to wave action and craft motions when these vehicles are operating in a seaway. The oscillatory back pressure causes the fans to perform dynamically, exhibiting a hysteresis type of response and a corresponding degradation in mean performance. Since Hovercraft motions are influenced by variations in lift fan pressure and discharge, it is important to understand completely the nature of the dynamic performance of lift fans in order to completely solve the Hovercraft seakeeping problem. The present study was performed to determine and classify the instabilities encountered in a centrifugal fan operating against time-varying back pressure. A model-scale experiment was developed in which the fan discharge was directed into a flow-measuring device, terminating in a rotating valve which produced an oscillatory back pressure superimposed upon a mean aerodynamic resistance. Pressure and local velocity were measured as functions of time at several locations in the fan volute. The measurements permitted the identification of rotating (or propagating) stall in the impeller. One cell and two cell configurations were classified and the transient condition connecting these two configurations was observed. The mechanisms which lead to rotating stall in a centrifugal compressor are presented and discussed with specific reference to Hovercraft applications.

  3. [History of robotics: from archytas of tarentum until Da Vinci robot. (Part II)].

    PubMed

    Sánchez-Martín, F M; Jiménez Schlegl, P; Millán Rodríguez, F; Salvador-Bayarri, J; Monllau Font, V; Palou Redorta, J; Villavicencio Mavrich, H

    2007-03-01

    Robotic surgery is a reality. In order to to understand how new robots work is interesting to know the history of ancient (see part i) and modern robotics. The desire to design automatic machines imitating humans continued for more than 4000 years. Archytas of Tarentum (at around 400 a.C.), Heron of Alexandria, Hsieh-Fec, Al-Jazari, Bacon, Turriano, Leonardo da Vinci, Vaucanson o von Kempelen were robot inventors. At 1942 Asimov published the three robotics laws. Mechanics, electronics and informatics advances at XXth century developed robots to be able to do very complex self governing works. At 1985 the robot PUMA 560 was employed to introduce a needle inside the brain. Later on, they were designed surgical robots like World First, Robodoc, Gaspar o Acrobot, Zeus, AESOP, Probot o PAKI-RCP. At 2000 the FDA approved the da Vinci Surgical System (Intuitive Surgical Inc, Sunnyvale, CA, USA), a very sophisticated robot to assist surgeons. Currently urological procedures like prostatectomy, cystectomy and nephrectomy are performed with the da Vinci, so urology has become a very suitable speciality to robotic surgery.

  4. Lifting as You Climb

    ERIC Educational Resources Information Center

    Sullivan, Debra R.

    2009-01-01

    This article addresses leadership themes and answers leadership questions presented to "Exchange" by the Panel members who attended the "Exchange" Panel of 300 Reception in Dallas, Texas, last November. There is an old proverb that encourages people to lift as they climb: "While you climb a mountain, you must not forget others along the way." With…

  5. Robot Rocket Rally

    NASA Image and Video Library

    2014-03-14

    CAPE CANAVERAL, Fla. – A visitor to the Robot Rocket Rally takes an up-close look at RASSOR, a robotic miner developed by NASA Kennedy Space Center's Swamp Works. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

  6. Robot Rocket Rally

    NASA Image and Video Library

    2014-03-14

    CAPE CANAVERAL, Fla. – Students observe as Otherlab shows off a life-size, inflatable robot from its "" program. The demonstration was one of several provided during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

  7. SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots.

    PubMed

    Zhao, Jing; Li, Wei; Mao, Xiaoqian; Li, Mengfan

    2015-11-24

    Brain-Robot Interaction (BRI), which provides an innovative communication pathway between human and a robotic device via brain signals, is prospective in helping the disabled in their daily lives. The overall goal of our method is to establish an SSVEP-based experimental procedure by integrating multiple software programs, such as OpenViBE, Choregraph, and Central software as well as user developed programs written in C++ and MATLAB, to enable the study of brain-robot interaction with humanoid robots. This is achieved by first placing EEG electrodes on a human subject to measure the brain responses through an EEG data acquisition system. A user interface is used to elicit SSVEP responses and to display video feedback in the closed-loop control experiments. The second step is to record the EEG signals of first-time subjects, to analyze their SSVEP features offline, and to train the classifier for each subject. Next, the Online Signal Processor and the Robot Controller are configured for the online control of a humanoid robot. As the final step, the subject completes three specific closed-loop control experiments within different environments to evaluate the brain-robot interaction performance. The advantage of this approach is its reliability and flexibility because it is developed by integrating multiple software programs. The results show that using this approach, the subject is capable of interacting with the humanoid robot via brain signals. This allows the mind-controlled humanoid robot to perform typical tasks that are popular in robotic research and are helpful in assisting the disabled.

  8. SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

    PubMed Central

    Zhao, Jing; Li, Wei; Mao, Xiaoqian; Li, Mengfan

    2015-01-01

    Brain-Robot Interaction (BRI), which provides an innovative communication pathway between human and a robotic device via brain signals, is prospective in helping the disabled in their daily lives. The overall goal of our method is to establish an SSVEP-based experimental procedure by integrating multiple software programs, such as OpenViBE, Choregraph, and Central software as well as user developed programs written in C++ and MATLAB, to enable the study of brain-robot interaction with humanoid robots. This is achieved by first placing EEG electrodes on a human subject to measure the brain responses through an EEG data acquisition system. A user interface is used to elicit SSVEP responses and to display video feedback in the closed-loop control experiments. The second step is to record the EEG signals of first-time subjects, to analyze their SSVEP features offline, and to train the classifier for each subject. Next, the Online Signal Processor and the Robot Controller are configured for the online control of a humanoid robot. As the final step, the subject completes three specific closed-loop control experiments within different environments to evaluate the brain-robot interaction performance. The advantage of this approach is its reliability and flexibility because it is developed by integrating multiple software programs. The results show that using this approach, the subject is capable of interacting with the humanoid robot via brain signals. This allows the mind-controlled humanoid robot to perform typical tasks that are popular in robotic research and are helpful in assisting the disabled. PMID:26650051

  9. Robotics for Human Exploration

    NASA Technical Reports Server (NTRS)

    Fong, Terrence; Deans, Mathew; Bualat, Maria

    2013-01-01

    Robots can do a variety of work to increase the productivity of human explorers. Robots can perform tasks that are tedious, highly repetitive or long-duration. Robots can perform precursor tasks, such as reconnaissance, which help prepare for future human activity. Robots can work in support of astronauts, assisting or performing tasks in parallel. Robots can also perform "follow-up" work, completing tasks designated or started by humans. In this paper, we summarize the development and testing of robots designed to improve future human exploration of space.

  10. Higher-dimensional lifts of Killing-Yano forms with torsion

    NASA Astrophysics Data System (ADS)

    Chow, David D. K.

    2017-01-01

    Using a Kaluza-Klein-type lift, it is shown how Killing-Yano forms with torsion can remain symmetries of a higher-dimensional geometry, subject to an algebraic condition between the Kaluza-Klein field strength and the Killing-Yano form. The lift condition’s significance is highlighted, and is satisfied by examples of black holes in supergravity.

  11. NASA/Navy lift/cruise fan. Phase 1: Design summary

    NASA Technical Reports Server (NTRS)

    1977-01-01

    The initial design of the LCF459 lift/cruise fan system is documented. The LCF459 is a 1.5 meter diameter turbotip lift/cruise fan whose design point pressure ratio is 1.32 at a tip speed of 353 meters per second. The gas source for the tip turbine is the YJ97-GE-100 engine.

  12. The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction.

    PubMed

    Arnold, Thomas; Scheutz, Matthias

    2017-06-01

    Soft robots promise an exciting design trajectory in the field of robotics and human-robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice.

  13. Tandem robot control system and method for controlling mobile robots in tandem

    DOEpatents

    Hayward, David R.; Buttz, James H.; Shirey, David L.

    2002-01-01

    A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

  14. Laser polymerization-based novel lift-off technique

    NASA Astrophysics Data System (ADS)

    Bhuian, B.; Winfield, R. J.; Crean, G. M.

    2009-03-01

    The fabrication of microstructures by two-photon polymerization has been widely reported as a means of directly writing three-dimensional nanoscale structures. In the majority of cases a single point serial writing technique is used to form a polymer model. Single layer writing can also be used to fabricate two-dimensional patterns and we report an extension of this capability by using two-photon polymerization to form a template that can be used as a sacrificial layer for a novel lift-off process. A Ti:sapphire laser, with wavelength 795 nm, 80 MHz repetition rate, 100 fs pulse duration and an average power of 700 mW, was used to write 2D grid patterns with pitches of 0.8 and 1.0 μm in a urethane acrylate resin that was spun on to a lift-off base layer. This was overcoated with gold and the grid lifted away to leave an array of gold islands. The optical transmission properties of the gold arrays were measured and found to be in agreement with a rigorous coupled-wave analysis simulation.

  15. Women's Weight Lifting: Elevating a Sport to World-Class Status.

    PubMed

    Giel, D

    1988-04-01

    The first women's world weight-lifting competition-held last fall in Daytona Beach, Florida-is evidence that the sport is growing and building its case for Olympic medal status. But little is known about the medical aspects of weight lifting for women.

  16. Robot-assisted general surgery.

    PubMed

    Hazey, Jeffrey W; Melvin, W Scott

    2004-06-01

    With the initiation of laparoscopic techniques in general surgery, we have seen a significant expansion of minimally invasive techniques in the last 16 years. More recently, robotic-assisted laparoscopy has moved into the general surgeon's armamentarium to address some of the shortcomings of laparoscopic surgery. AESOP (Computer Motion, Goleta, CA) addressed the issue of visualization as a robotic camera holder. With the introduction of the ZEUS robotic surgical system (Computer Motion), the ability to remotely operate laparoscopic instruments became a reality. US Food and Drug Administration approval in July 2000 of the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, CA) further defined the ability of a robotic-assist device to address limitations in laparoscopy. This includes a significant improvement in instrument dexterity, dampening of natural hand tremors, three-dimensional visualization, ergonomics, and camera stability. As experience with robotic technology increased and its applications to advanced laparoscopic procedures have become more understood, more procedures have been performed with robotic assistance. Numerous studies have shown equivalent or improved patient outcomes when robotic-assist devices are used. Initially, robotic-assisted laparoscopic cholecystectomy was deemed safe, and now robotics has been shown to be safe in foregut procedures, including Nissen fundoplication, Heller myotomy, gastric banding procedures, and Roux-en-Y gastric bypass. These techniques have been extrapolated to solid-organ procedures (splenectomy, adrenalectomy, and pancreatic surgery) as well as robotic-assisted laparoscopic colectomy. In this chapter, we review the evolution of robotic technology and its applications in general surgical procedures.

  17. Foot positioning instruction, initial vertical load position and lifting technique: effects on low back loading.

    PubMed

    Kingma, Idsart; Bosch, Tim; Bruins, Louis; van Dieën, Jaap H

    2004-10-22

    This study investigated the effects of initial load height and foot placement instruction in four lifting techniques: free, stoop (bending the back), squat (bending the knees) and a modified squat technique (bending the knees and rotating them outward). A 2D dynamic linked segment model was combined with an EMG assisted trunk muscle model to quantify kinematics and low back loading in 10 subjects performing 19 different lifting movements, using 10.5 kg boxes without handles. When lifting from a 0.05 m height with the feet behind the box, squat lifting resulted in 19.9% (SD 8.7%) higher net moments (p < 0.001) and 17.0% (SD 13.2%) higher compression forces (p < 0.01) than stoop lifting. This effect was reduced to 12.8% (SD 10.7%) for moments and a non-significant 7.4% (SD 16.0%) for compression forces when lifting with the feet beside the box and it disappeared when lifting from 0.5 m height. Differences between squat and stoop lifts, as well as the interaction with lifting height, could to a large extent be explained by changes in the horizontal L5/S1 intervertebral joint position relative to the load, the upper body acceleration, and lumbar flexion. Rotating the knees outward during squat lifts resulted in moments and compression forces that were smaller than in squat lifting but larger than in stoop lifting. Shear forces were small ( < 300 N) at the L4/L5 joint and substantial (1100 - 1400 N) but unaffected by lifting technique at the L5/S1 joint. The present results show that the effects of lifting technique on low back loading depend on the task context.

  18. Development of a Low-Lift Chiller Controller and Simplified Precooling Control Algorithm - Final Report

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

    Gayeski, N.; Armstrong, Peter; Alvira, M.

    2011-11-30

    KGS Buildings LLC (KGS) and Pacific Northwest National Laboratory (PNNL) have developed a simplified control algorithm and prototype low-lift chiller controller suitable for model-predictive control in a demonstration project of low-lift cooling. Low-lift cooling is a highly efficient cooling strategy conceived to enable low or net-zero energy buildings. A low-lift cooling system consists of a high efficiency low-lift chiller, radiant cooling, thermal storage, and model-predictive control to pre-cool thermal storage overnight on an optimal cooling rate trajectory. We call the properly integrated and controlled combination of these elements a low-lift cooling system (LLCS). This document is the final report formore » that project.« less

  19. Isokinetic and isometric lifting capacity of Chinese in relation to the physical demand of job.

    PubMed

    Luk, K D K; Lu, W W; Kwan, W W; Hu, Y; Wong, Y W; Law, K K P; Leong, J C Y

    2003-03-01

    The aim of the study was to formulate normative data for the lifting capacities of a normal Chinese population, in order to establish a basic foundation for further studies and to investigate the relationship between individual attributes including age, gender, height, weight, job physical demand and each type of lifting capacity. Isokinetic and isometric lifting strength at low, waist and shoulder assessment levels were measured using the LIDO Workset II based on a sample of 93 normal Chinese adults (63 men and 30 women) between the ages of 21-51. The 50th percentile score for adult Chinese female's lifting strength was 17.71% lower than the American female while the adult Chinese male's lifting strength was 14.94% lower than the American male. Lifting forces were higher in the 20-40 year age group. The isometric work mode had considerable impact on the lifting capacities, with shoulder level having the highest lifting capacities. The gender and body weight had a significant positive correlation to lifting capacity while job physical demand had a moderate correlation. Age and body heights were weakly correlated to lifting capacity. Copyright 2003 Elsevier Science Ltd.

  20. DNA Profiles from Fingerprint Lifts-Enhancing the Evidential Value of Fingermarks Through Successful DNA Typing.

    PubMed

    Subhani, Zuhaib; Daniel, Barbara; Frascione, Nunzianda

    2018-05-25

    This study evaluated the compatibility of the most common enhancement methods and lifting techniques with DNA profiling. Emphasis is placed on modern lifting techniques (i.e., gelatin lifters and Isomark™) and historical fingerprint lifts for which limited research has been previously conducted. A total of 180 fingerprints were deposited on a glass surface, enhanced, lifted, and processed for DNA typing. DNA could be extracted and profiled for all the powders and lifts tested and from both groomed fingerprints and natural prints with no significant difference in the percentage of profile recovered. DNA profiles could also be obtained from historical fingerprint lifts (79.2% of 72 lifts) with one or more alleles detected. These results demonstrate the compatibility between different powder/lift combinations and DNA profiling therefore augmenting the evidential value of fingerprints in forensic casework. © 2018 American Academy of Forensic Sciences.

  1. Unsteady flow challenges tracking performance at vortex shedding frequencies without disrupting lift mechanisms

    NASA Astrophysics Data System (ADS)

    Matthews, Megan; Sponberg, Simon

    2017-11-01

    Birds, insects, and many animals use unsteady aerodynamic mechanisms to achieve stable hovering flight. Natural environments are often characterized by unsteady flows causing animals to dynamically respond to perturbations while performing complex tasks, such as foraging. Little is known about how unsteady flow around an animal interacts with already unsteady flow in the environment or how this impacts performance. We study how the environment impacts maneuverability to reveal any coupling between body dynamics and aerodynamics for hawkmoths, Manduca sexta,tracking a 3D-printed robotic flower in a wind tunnel. We also observe the leading-edge vortex (LEV), a known lift-generating mechanism for insect flight with smoke visualization. Moths in still and unsteady air exhibit near perfect tracking at low frequencies, but tracking in the flower wake results in larger overshoot at mid-range. Smoke visualization of the flower wake shows that the dominant vortex shedding corresponds to the same frequency band as the increased overshoot. Despite the large effect on flight dynamics, the LEV remains bound to the wing and thorax throughout the wingstroke. In general, unsteady wind seems to decrease maneuverability, but LEV stability seems decoupled from changes in flight dynamics.

  2. Robot Design

    NASA Technical Reports Server (NTRS)

    1988-01-01

    Martin Marietta Aero and Naval Systems has advanced the CAD art to a very high level at its Robotics Laboratory. One of the company's major projects is construction of a huge Field Material Handling Robot for the Army's Human Engineering Lab. Design of FMR, intended to move heavy and dangerous material such as ammunition, was a triumph in CAD Engineering. Separate computer problems modeled the robot's kinematics and dynamics, yielding such parameters as the strength of materials required for each component, the length of the arms, their degree of freedom and power of hydraulic system needed. The Robotics Lab went a step further and added data enabling computer simulation and animation of the robot's total operational capability under various loading and unloading conditions. NASA computer program (IAC), integrated Analysis Capability Engineering Database was used. Program contains a series of modules that can stand alone or be integrated with data from sensors or software tools.

  3. Robot Rocket Rally

    NASA Image and Video Library

    2014-03-14

    CAPE CANAVERAL, Fla. – A visitor to the Robot Rocket Rally tries his hand at virtual reality in a demonstration of the Oculus Rift technology, provided by the Open Source Robotics Foundation. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

  4. Ares V: Progress Toward Unprecedented Heavy Lift

    NASA Technical Reports Server (NTRS)

    Sumrall, Phil

    2010-01-01

    Every major examination of America s spaceflight capability since the Apollo program has highlighted and reinforced the need for a heavy lift vehicle for human exploration, science, national security, and commercial development. The Ares V is NASA s most recent effort to address this gap and provide the needed heavy lift capability for NASA and the nation. An Ares V-class heavy lift capability is important to supporting beyond earth orbit (BEO) human exploration. Initially, that consists of exploration of the Moon vastly expanded from the narrow equatorial Apollo missions to a global capability that includes the interesting polar regions. It also enables a permanent human outpost. Under the current program of record, both the Ares V and the lunar exploration it enables serve as a significant part of the technology and experience base for exploration beyond the Moon, including Mars, asteroids, and other destinations. The Ares V is part of NASA s Constellation Program architecture. The Ares V remains in an early stage of concept development, while NASA focused on development of the Ares I crew launch vehicle to replace the Space Shuttle fleet. However, Ares V development has benefitted from its commonality with Ares I, the Shuttle, and contemporary programs on which its design is based. The Constellation program is currently slated for cancellation under the proposed 2011 federal budget, pending review by the legislative branch. However, White House guidance on its 2011 budget retains funding for heavy lift research. This paper will discuss progress to date on the Ares V and its potential utility to payload users.

  5. Experimental and computational investigation of lift-enhancing tabs on a multi-element airfoil

    NASA Technical Reports Server (NTRS)

    Ashby, Dale

    1996-01-01

    An experimental and computational investigation of the effect of lift enhancing tabs on a two-element airfoil was conducted. The objective of the study was to develop an understanding of the flow physics associated with lift enhancing tabs on a multi-element airfoil. A NACA 63(sub 2)-215 ModB airfoil with a 30 percent chord Fowler flap was tested in the NASA Ames 7 by 10 foot wind tunnel. Lift enhancing tabs of various heights were tested on both the main element and the flap for a variety of flap riggings. Computations of the flow over the two-element airfoil were performed using the two-dimensional incompressible Navier-Stokes code INS2D-UP. The computer results predict all of the trends in the experimental data quite well. When the flow over the flap upper surface is attached, tabs mounted at the main element trailing edge (cove tabs) produce very little change in lift. At high flap deflections. however, the flow over the flap is separated and cove tabs produce large increases in lift and corresponding reductions in drag by eliminating the separated flow. Cove tabs permit high flap deflection angles to be achieved and reduce the sensitivity of the airfoil lift to the size of the flap gap. Tabs attached to the flap training edge (flap tabs) are effective at increasing lift without significantly increasing drag. A combination of a cove tab and a flap tab increased the airfoil lift coefficient by 11 percent relative to the highest lift tab coefficient achieved by any baseline configuration at an angle of attack of zero percent and the maximum lift coefficient was increased by more than 3 percent. A simple analytic model based on potential flow was developed to provide a more detailed understanding of how lift enhancing tabs work. The tabs were modeled by a point vortex at the training edge. Sensitivity relationships were derived which provide a mathematical basis for explaining the effects of lift enhancing tabs on a multi-element airfoil. Results of the modeling

  6. Principles of robotics: regulating robots in the real world

    NASA Astrophysics Data System (ADS)

    Boden, Margaret; Bryson, Joanna; Caldwell, Darwin; Dautenhahn, Kerstin; Edwards, Lilian; Kember, Sarah; Newman, Paul; Parry, Vivienne; Pegman, Geoff; Rodden, Tom; Sorrell, Tom; Wallis, Mick; Whitby, Blay; Winfield, Alan

    2017-04-01

    This paper proposes a set of five ethical principles, together with seven high-level messages, as a basis for responsible robotics. The Principles of Robotics were drafted in 2010 and published online in 2011. Since then the principles have influenced, and continue to influence, a number of initiatives in robot ethics but have not, to date, been formally published. This paper remedies that omission.

  7. Supersmart Robots: The Next Generation of Robots Has Evolutionary Capabilities

    ERIC Educational Resources Information Center

    Simkins, Michael

    2008-01-01

    Robots that can learn new behaviors. Robots that can reproduce themselves. Science fiction? Not anymore. Roboticists at Cornell's Computational Synthesis Lab have developed just such engineered creatures that offer interesting implications for education. The team, headed by Hod Lipson, was intrigued by the question, "How can you get robots to be…

  8. Fundamentals of soft robot locomotion

    PubMed Central

    2017-01-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human–robot interaction and locomotion. Although field applications have emerged for soft manipulation and human–robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. PMID:28539483

  9. Fundamentals of soft robot locomotion.

    PubMed

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).

  10. Applying a soft-robotic glove as assistive device and training tool with games to support hand function after stroke: Preliminary results on feasibility and potential clinical impact.

    PubMed

    Prange-Lasonder, Gerdienke B; Radder, Bob; Kottink, Anke I R; Melendez-Calderon, Alejandro; Buurke, Jaap H; Rietman, Johan S

    2017-07-01

    Recent technological developments regarding wearable soft-robotic devices extend beyond the current application of rehabilitation robotics and enable unobtrusive support of the arms and hands during daily activities. In this light, the HandinMind (HiM) system was developed, comprising a soft-robotic, grip supporting glove with an added computer gaming environment. The present study aims to gain first insight into the feasibility of clinical application of the HiM system and its potential impact. In order to do so, both the direct influence of the HiM system on hand function as assistive device and its therapeutic potential, of either assistive or therapeutic use, were explored. A pilot randomized clinical trial was combined with a cross-sectional measurement (comparing performance with and without glove) at baseline in 5 chronic stroke patients, to investigate both the direct assistive and potential therapeutic effects of the HiM system. Extended use of the soft-robotic glove as assistive device at home or with dedicated gaming exercises in a clinical setting was applicable and feasible. A positive assistive effect of the soft-robotic glove was proposed for pinch strength and functional task performance 'lifting full cans' in most of the five participants. A potential therapeutic impact was suggested with predominantly improved hand strength in both participants with assistive use, and faster functional task performance in both participants with therapeutic application.

  11. Exploring TeleRobotics: A Radio-Controlled Robot

    ERIC Educational Resources Information Center

    Deal, Walter F., III; Hsiung, Steve C.

    2007-01-01

    Robotics is a rich and exciting multidisciplinary area to study and learn about electronics and control technology. The interest in robotic devices and systems provides the technology teacher with an excellent opportunity to make many concrete connections between electronics, control technology, and computers and science, engineering, and…

  12. Objective Brow Height Measurements Following Pretrichial Brow Lift and Upper Lid Blepharoplasty.

    PubMed

    Martin, Matthew; Shah, Christopher T; Attawala, Payal; Neaman, Keith; Meldrum, Melissa; Hassan, Adam S

    2016-01-01

    As the ptotic brow drops below the supraorbital rim, it can exacerbate dermatochalasis by pushing the adjacent skin of the upper lid further down. The purpose of this study was to evaluate the outcomes associated with a combined pretrichial brow lift and upper lid blepharoplasty in patients with dermatochalasis and mild to moderate brow ptosis. A retrospective case series of 46 patients with dermatochalasis and mild to moderate brow ptosis treated with a combined, bilateral pretrichial brow lift and upper lid blepharoplasty from January 2008 to December 2011. Main outcome measures included measurements of brow lift at 3 months post-operatively, complications encountered, patient satisfaction and surgeon satisfaction. Outcomes from 46 patients were evaluated. The mean brow lift was 1.85 mm at the lateral canthus, 1.54 mm at the lateral limbus, 1.31 mm at the mid-pupil, and 1.07 mm at the medial limbus. Brow lift at the lateral canthus was significantly more elevated than at the medial limbus (P < 0.001). Minor complications were encountered in seven of 46 patients (15.2%). Mean patient satisfaction score was 3.20 and surgeon satisfaction 3.24 (max = 4, very satisfied). The modified pretrichial brow lift offered effective lateral lift that complements an upper lid blepharoplasty. This technique was met with a high degree of patient and surgeon satisfaction, and had a minimal complication profile.

  13. Mid-L/D Lifting Body Entry Demise Analysis

    NASA Technical Reports Server (NTRS)

    Ling, Lisa

    2017-01-01

    The mid-lift-to-drag ratio (mid-L/D) lifting body is a fully autonomous spacecraft under design at NASA for enabling a rapid return of scientific payloads from the International Space Station (ISS). For contingency planning and risk assessment for the Earth-return trajectory, an entry demise analysis was performed to examine three potential failure scenarios: (1) nominal entry interface conditions with loss of control, (2) controlled entry at maximum flight path angle, and (3) controlled entry at minimum flight path angle. The objectives of the analysis were to predict the spacecraft breakup sequence and timeline, determine debris survival, and calculate the debris dispersion footprint. Sensitivity analysis was also performed to determine the effect of the initial pitch rate on the spacecraft stability and breakup during the entry. This report describes the mid-L/D lifting body and presents the results of the entry demise and sensitivity analyses.

  14. Advancing the Strategic Messages Affecting Robot Trust Effect: The Dynamic of User- and Robot-Generated Content on Human-Robot Trust and Interaction Outcomes.

    PubMed

    Liang, Yuhua Jake; Lee, Seungcheol Austin

    2016-09-01

    Human-robot interaction (HRI) will soon transform and shift the communication landscape such that people exchange messages with robots. However, successful HRI requires people to trust robots, and, in turn, the trust affects the interaction. Although prior research has examined the determinants of human-robot trust (HRT) during HRI, no research has examined the messages that people received before interacting with robots and their effect on HRT. We conceptualize these messages as SMART (Strategic Messages Affecting Robot Trust). Moreover, we posit that SMART can ultimately affect actual HRI outcomes (i.e., robot evaluations, robot credibility, participant mood) by affording the persuasive influences from user-generated content (UGC) on participatory Web sites. In Study 1, participants were assigned to one of two conditions (UGC/control) in an original experiment of HRT. Compared with the control (descriptive information only), results showed that UGC moderated the correlation between HRT and interaction outcomes in a positive direction (average Δr = +0.39) for robots as media and robots as tools. In Study 2, we explored the effect of robot-generated content but did not find similar moderation effects. These findings point to an important empirical potential to employ SMART in future robot deployment.

  15. Wind Tunnel Testing of Powered Lift, All-Wing STOL Model

    NASA Technical Reports Server (NTRS)

    Collins, Scott W.; Westra, Bryan W.; Lin, John C.; Jones, Gregory S.; Zeune, Cal H.

    2008-01-01

    Short take-off and landing (STOL) systems can offer significant capabilities to warfighters and, for civil operators thriving on maximizing efficiencies they can improve airspace use while containing noise within airport environments. In order to provide data for next generation systems, a wind tunnel test of an all-wing cruise efficient, short take-off and landing (CE STOL) configuration was conducted in the National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) 14- by 22-foot Subsonic Wind Tunnel. The test s purpose was to mature the aerodynamic aspects of an integrated powered lift system within an advanced mobility configuration capable of CE STOL. The full-span model made use of steady flap blowing and a lifting centerbody to achieve high lift coefficients. The test occurred during April through June of 2007 and included objectives for advancing the state-of-the-art of powered lift testing through gathering force and moment data, on-body pressure data, and off-body flow field measurements during automatically controlled blowing conditions. Data were obtained for variations in model configuration, angles of attack and sideslip, blowing coefficient, and height above ground. The database produced by this effort is being used to advance design techniques and computational tools for developing systems with integrated powered lift technologies.

  16. Next-generation robotic surgery--from the aspect of surgical robots developed by industry.

    PubMed

    Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

    2015-02-01

    At present, much of the research conducted worldwide focuses on extending the ability of surgical robots. One approach is to extend robotic dexterity. For instance, accessibility and dexterity of the surgical instruments remains the largest issue for reduced port surgery such as single port surgery or natural orifice surgery. To solve this problem, a great deal of research is currently conducted in the field of robotics. Enhancing the surgeon's perception is an approach that uses advanced sensor technology. The real-time data acquired through the robotic system combined with the data stored in the robot (such as the robot's location) provide a major advantage. This paper aims at introducing state-of-the-art products and pre-market products in this technological advancement, namely the robotic challenge in extending dexterity and hopefully providing the path to robotic surgery in the near future.

  17. Update on the Ares V to Support Heavy Lift for U.S. Space Exploration Policy

    NASA Technical Reports Server (NTRS)

    Sumrall, John P.; Creech, Steve

    2008-01-01

    When NASA's Ares V cargo launch vehicle begins flying late next decade, its capabilities will significantly exceed the 1960s-era Saturn V. It will send more crew and cargo to more places on the lunar surface than Apollo and provide ongoing support to a permanent lunar outpost that will open the Moon to greater exploration, science and adventure than ever before. Moreover, it will restore the United States heavy-lift capability, which can support human and robotic exploration for decades to come. Ares V remains in a pre-design analysis cycle stage pending a planned Authority to Proceed (ATP) in late 2010. Ares V benefits from the decision to draw from heritage hardware and its commonality with the Ares I crew launch vehicle, which completed its preliminary design review (PDR) in September 2008. Most of the work on Ares V to date has been focused on refining the vehicle design through a variety of internal studies. This paper will provide background information on the Ares V evolution, emphasizing the vehicle configuration as it exists today.

  18. Humanlike robots: the upcoming revolution in robotics

    NASA Astrophysics Data System (ADS)

    Bar-Cohen, Yoseph

    2009-08-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  19. Humanlike Robots - The Upcoming Revolution in Robotics

    NASA Technical Reports Server (NTRS)

    Bar-Cohen, Yoseph

    2009-01-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  20. CFD Computations for a Generic High-Lift Configuration Using TetrUSS

    NASA Technical Reports Server (NTRS)

    Pandya, Mohagna J.; Abdol-Hamid, Khaled S.; Parlette, Edward B.

    2011-01-01

    Assessment of the accuracy of computational results for a generic high-lift trapezoidal wing with a single slotted flap and slat is presented. The paper is closely aligned with the focus of the 1st AIAA CFD High Lift Prediction Workshop (HiLiftPW-1) which was to assess the accuracy of CFD methods for multi-element high-lift configurations. The unstructured grid Reynolds-Averaged Navier-Stokes solver TetrUSS/USM3D is used for the computational results. USM3D results are obtained assuming fully turbulent flow using the Spalart-Allmaras (SA) and Shear Stress Transport (SST) turbulence models. Computed solutions have been obtained at seven different angles-of-attack ranging from 6 -37 . Three grids providing progressively higher grid resolution are used to quantify the effect of grid resolution on the lift, drag, pitching moment, surface pressure and stall angle. SA results, as compared to SST results, exhibit better agreement with the measured data. However, both turbulence models under-predict upper surface pressures near the wing tip region.