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Sample records for lifts xf robot

  1. Lift-Off Dynamics in a Simple Jumping Robot

    NASA Astrophysics Data System (ADS)

    Aguilar, Jeffrey; Lesov, Alex; Wiesenfeld, Kurt; Goldman, Daniel I.

    2012-10-01

    We study vertical jumping in a simple robot comprising an actuated mass-spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot’s resonant frequency f0. Two distinct jumping modes emerge: a simple jump, which is optimal above f0, is achievable with a squat maneuver, and a peculiar stutter jump, which is optimal below f0, is generated with a countermovement. A simple dynamical model reveals how optimal lift-off results from nonresonant transient dynamics.

  2. Lift-off dynamics in a simple jumping robot

    NASA Astrophysics Data System (ADS)

    Aguilar, Jeffrey; Lesov, Alex; Wiesenfeld, Kurt; Goldman, Daniel I.

    2013-03-01

    Jumping is an important behavior utilized by animals to escape predation, hunt, reach higher ground, and as a primary mode of locomotion. Many mathematical and physical robot models use numerous parameters and multi-link legs to accurately model jumping dynamics. However, a simple robot model can reveal important principles of high performance jumping. We study vertical jumping in a simple robot comprising an actuated mass-spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot's resonant frequency f0. Two distinct jumping modes emerge: a simple jump which is optimal above f0 is achievable with a squat maneuver, and a peculiar stutter jump which is optimal below f0 is generated with a counter-movement. A simple dynamical model reveals how optimal lift-off results from non-resonant transient dynamics. An expanded explanation of this work is provided at http://crablab.gatech.edu/pages/jumpingrobot/index.html This work was supported by the GEM Consortium, Burroughs Wellcome Fund, ARL MAST CTA, and NSF PoLS.

  3. Two-axis hydraulic joint for high speed, heavy lift robotic operations

    SciTech Connect

    Vaughn, M.R.; Robinett, R.D.; Phelan, J.R.; VanZuiden, D.M.

    1994-04-01

    A hydraulically driven universal joint was developed for a heavy lift, high speed nuclear waste remediation application. Each axis is driven by a simple hydraulic cylinder controlled by a jet pipe servovalve. Servovalve behavior is controlled by a force feedback control system, which damps the hydraulic resonance. A prototype single joint robot was built and tested. A two joint robot is under construction.

  4. Flight-Determination of the Low-Lift Drag and Longitudinal Stability of a 1/10-Scale Rocket-Powered Model of the Douglas XF4D-1 Airplane at Mach Numbers from 0.7

    NASA Technical Reports Server (NTRS)

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

    1951-01-01

    A flight investigation has been made to determine the drag and longitudinal stability of a 1/10- scale model of the Douglas XF4D-1 airplane from Mach numbers 0.7 to 1.4 at lift coefficients near zero. The drag rise occurred near M = 0.95. The external drag coefficient was a constant value of about 0.012 at subsonic speeds up to the point of drag rise where it increased abruptly to a value of 0.030 at M = 1.0 followed by a more gradual increase to a value of 0.038 at M = 1.25. The model indicated that, at 35,000 feet and a level-flight free-stream Mach number of 1.0, the drag of the full-scale airplane would exceed the thrust available from an XJ40-WE-8 engine with after-burning. The transonic trim change was small. The aerodynamic center moved gradually from the most forward location of 21.0-percent mean aerodynamic chord at M = 0.9 to the most rearward location of 40-percent mean aerodynamic chord at M = 1.25. The damping in pitch was low.

  5. Robotic sialoadenectomy of the submandibular gland via a modified face-lift approach.

    PubMed

    De Virgilio, A; Park, Y M; Kim, W S; Lee, S Y; Seol, J H; Kim, S-H

    2012-11-01

    The purpose of this study was to describe and analyse the advantages and disadvantages of submandibular gland (SMG) resection using a robotic surgical system through a modified face-lift approach. The authors performed robotic sialoadenectomy of the SMG on 5 patients using the daVinci robot system through a modified face-lift approach. Three robotic arms were inserted through a modified face-lift incision; a face-down 30-degree endoscopic arm and two operative arms. The right arm was equipped with a harmonic scalpel and the left arm with a Maryland forceps. In all patients, robotic sialoadenectomy of the SMG was completed successfully. Diagnoses were sialolithiasis in two patients, pleomophic adenoma in two patients, and ranula in one patient. The mean robotic operative time was 90.2 min (range 62-185 min) and that for setting the robotic system was 8.2 min (range 5-15 min). No significant intra-operative or postoperative complications were observed. All patients were satisfied with the outcome and especially the cosmetic results at their last follow-up visit. In the authors opinion robotic sialoadenectomy of the SMG is technically feasible and secures a better cosmetic outcome than endoscopic submandibular resection.

  6. 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.

  7. Lift-off performance of a jumping robot on hard and soft ground

    NASA Astrophysics Data System (ADS)

    Aguilar, Jeffrey; Lesov, Alex; Wiesenfeld, Kurt; Goldman, Daniel

    2012-11-01

    We study lift-off during jumping on hard ground and granular media in a simple robot composed of a linear actuator in series with a spring. On hard ground, the robot jumps from a metallic base. On granular media (GM) composed of 0 . 3 mm glass particles, a circular foot is attached to the spring and an air-fluidized bed sets the initial volume fraction, φ. The actuator frequency and phase are systematically varied to find optimal performance. On both substrates, optimal jump height does not occur at the robot's resonant frequency f0. Two distinct jumping modes emerge: a simple jump which is optimal above f0 is achievable with a squat maneuver, and a ``stutter'' jump which is optimal below f0 is generated with a counter-movement. For hard ground, both modes exhibit similar performance. On closely packed GM (φ = 0 . 62), the simple jump becomes the favored mode. On loosely packed GM (φ = 0 . 58), jump height performance is significantly reduced due to greater yielding in the material. A dynamical model reveals how optimal lift-off results from non-resonant transient dynamics.

  8. 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.

  9. XF-92A on Ramp

    NASA Technical Reports Server (NTRS)

    1953-01-01

    This NACA High-Speed Flight Research Station photograph of the XF-92A was taken at the South Base of Edwards Air Force Base. The photograph shows the pitot-static probe, used to measure airspeed, Mach number, and altitude, mounted on a noseboom protruding from the aircraft's nose engine inlet. Also attached to the pitot-static-probe portion of the noseboom are flow direction vanes for sensing the aircraft's angles of attack and sideslip. The Convair XF-92A aircraft was powered by a Allison J33-A turbojet engine with an afterburner, and was unique in having America's first delta wing. The delta wing's large area, thin airfoil cross section, low weight, and structural strength made this design a promising combination for a supersonic airplane. The Consolidated Vultee Aircraft Corporation (Convair) XF-92A Dart was America's first delta wing aircraft. It was built as a test bed for a proposed interceptor that never materialized. The XF-92A was then continued to test the delta-wing concept. The delta wing's large area (425 square feet), thin airfoil cross section, low weight, and structural strength made a great combination for a supersonic aircraft. The aircraft was powered by an Allison J33-A-29 turbojet engine with an afterburner. Convair and the U.S. Air Force flew the XF-92A from 1948 to 1953. After the Air Force's plans for an interceptor failed to materialize, the NACA High-Speed Flight Research Station, which had supplied engineering, instrumentation, and operational assistance to the Air Force during its flights, took over the flight test program in 1953. A. Scott Crossfield flew all 25 NACA flights of the NACA's XF-92A program over a six-month test period. The original XF-92A ship had a severe pitch-up problem but was tested with different wing-fence combinations to gather data on their contribution to solving that problem. The pilot also reported that the aircraft was sluggish and underpowered. Besides validating the thin delta wing principle, the XF-92A

  10. 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.

  11. 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.

  12. Boeing XF2B-1 (F2B-1)

    NASA Technical Reports Server (NTRS)

    1931-01-01

    Boeing XF2B-1 (F2B-1): Serving as the prototype for the F2B-1 shipboard fighter, the XF2B-1 differed visually in having a pointed spinner and an unbalanced rudder. Like many aircraft of its day, the Boeing model 69 was powered by a Pratt & Whitney Wasp radial engine.

  13. 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)

  14. Input shaping for vibration-damped slewing of a flexible beam using a heavy-lift hydraulic robot

    NASA Astrophysics Data System (ADS)

    Parker, G. G.; Eisler, R.; Phelan, J.; Robinett, R. D.

    An input shaping scheme originally used to slew flexible beams via a tabletop D.C. motor is modified for use with an industrial-type, hydraulic-drive robot. This trajectory generation method was originally developed to produce symmetric, rest-to-rest maneuvers of flexible rotating rods where the angular velocity vector and gravitational vector were collinear. In that configuration, out-of-plane oscillations were excited due to centripetal acceleration of the rod. The bang-coast-bang acceleration profile resulted in no oscillations in either plane at the end of the symmetric slew maneuver. In this paper, a smoothed version of the bang-coast-bang acceleration is used for symmetric maneuvers where the angular velocity vector is orthogonal to the gravitational vector. Furthermore, the hydraulic robot servo dynamics are considered explicitly in determining the input joint angle trajectory. An instrumented mass is attached to the tip of a flexible aluminum rod. The first natural frequency of this system is about 1.0 Hz. Joint angle responses obtained with encoder sensors are used to identify the servo actuator dynamics.

  15. Input shaping for vibration-damped slewing of a flexible beam using a heavy-lift hydraulic robot

    SciTech Connect

    Parker, G.G.; Eisler, R.; Phelan, J.; Robinett, R.D.

    1994-08-01

    An input shaping scheme originally used to slew flexible beams via a tabletop D.C. motor is modified for use with an industrial-type, hydraulic-drive robot. This trajectory generation method was originally developed to produce symmetric, rest-to-rest maneuvers of flexible rotating rods where the angular velocity vector and gravitational vector were collinear. In that configuration, out-of-plane oscillations were excited due to centripetal acceleration of the rod. The bang-coast-bang acceleration profile resulted in no oscillations in either plane at the end of the symmetric slew maneuver. In this paper, a smoothed version of the bang-coast-bang acceleration is used for symmetric maneuvers where the angular velocity vector is orthogonal to the gravitational vector. Furthermore, the hydraulic robot servo dynamics are considered explicitly in determining the input joint angle trajectory. An instrumented mass is attached to the tip of a flexible aluminum rod. The first natural frequency of this system is about 1.0Hz. Joint angle responses obtained with encoder sensors are used to identify the servo actuator dynamics.

  16. Robotics

    SciTech Connect

    Scheide, A.W.

    1983-11-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS.

  17. Competitive binding influences Xf vector load: Confocal and SEM images of GFP-expressing Xf in GWSS foreguts

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Like all hemipteran vectors of plant pathogens, glassy-winged sharpshooters, Homalodisca vitripennis acquire their load of Xylella fastidiosa (Xf ) via ingestion of fluids containing bacteria. X. fastidiosa then colonizes the anterior regions of the vector’s foregut, the cibarium (or sucking pump) ...

  18. 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.

  19. Robotics

    NASA Technical Reports Server (NTRS)

    1985-01-01

    An overview of research being done into the use of robotic devices in space by MSFC is discussed. The video includes footage and explanations of robots being used to blast layers of thermal coating from the Space Shuttle's external tanks, the Shuttle's Remote Manipulator Arm, and animations of an Orbiting Maneuvering Vehicle to retrieve and repair satellites.

  20. Forehead lift

    MedlinePlus

    ... both sides even. If you have already had plastic surgery to lift your upper eyelids, a forehead ... Managing the cosmetic patient. In: Neligan PC, ed. Plastic Surgery . 3rd ed. Philadelphia, PA: Elsevier Saunders; 2013: ...

  1. 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 ...

  2. Spin and Recovery Characteristics of the Northrop XF-89 Airplane

    NASA Technical Reports Server (NTRS)

    Berman, Theodore

    1949-01-01

    The spin and recovery characteristics of the Northrop XF-89 airplane, as well as the spin-recovery parachute requirements, the control forces that would be encountered in the spin, and the best method for the crew to attempt an emergency escape are presented in this report. The characteristics were mainly estimated rather than determined by model tests because the XF-89 dimensional and mass characteristics were such as to make this airplane similar to several others, models of which have previously been tested. Brief tests were made on an available model of similar design to augment the estimation. The results indicate that the recovery characteristics will be satisfactory for all airplane loadings if recovery is attempted by use of rudder followed by moving the elevator down. The rudder pedal forces will be within the capabilities of the pilot but the elevator stick forces will be beyond the pilot's capabilities unless a trim tab, or a booster is used. A 9.5-foot-diameter flat-type tail parachute or a 5.0-foot-diameter flat-type wing-tip parachute with a drag coefficient of 0.7 will be a satisfactory emergency spin-recovery device for spin demonstrations and if it is necessary for the crew to abandon the spinning airplane, they should leave from the outboard side of the cockpit.

  3. Robotics

    NASA Technical Reports Server (NTRS)

    Ambrose, Robert O.

    2007-01-01

    Lunar robotic functions include: 1. Transport of crew and payloads on the surface of the moon; 2. Offloading payloads from a lunar lander; 3. Handling the deployment of surface systems; with 4. Human commanding of these functions from inside a lunar vehicle, habitat, or extravehicular (space walk), with Earth-based supervision. The systems that will perform these functions may not look like robots from science fiction. In fact, robotic functions may be automated trucks, cranes and winches. Use of this equipment prior to the crew s arrival or in the potentially long periods without crews on the surface, will require that these systems be computer controlled machines. The public release of NASA's Exploration plans at the 2nd Space Exploration Conference (Houston, December 2006) included a lunar outpost with as many as four unique mobility chassis designs. The sequence of lander offloading tasks involved as many as ten payloads, each with a unique set of geometry, mass and interface requirements. This plan was refined during a second phase study concluded in August 2007. Among the many improvements to the exploration plan were a reduction in the number of unique mobility chassis designs and a reduction in unique payload specifications. As the lunar surface system payloads have matured, so have the mobility and offloading functional requirements. While the architecture work continues, the community can expect to see functional requirements in the areas of surface mobility, surface handling, and human-systems interaction as follows: Surface Mobility 1. Transport crew on the lunar surface, accelerating construction tasks, expanding the crew s sphere of influence for scientific exploration, and providing a rapid return to an ascent module in an emergency. The crew transport can be with an un-pressurized rover, a small pressurized rover, or a larger mobile habitat. 2. Transport Extra-Vehicular Activity (EVA) equipment and construction payloads. 3. Transport habitats and

  4. Robotics

    NASA Technical Reports Server (NTRS)

    Rothschild, Lynn J.

    2012-01-01

    Earth's upper atmosphere is an extreme environment: dry, cold, and irradiated. It is unknown whether our aerobiosphere is limited to the transport of life, or there exist organisms that grow and reproduce while airborne (aerophiles); the microenvironments of suspended particles may harbor life at otherwise uninhabited altitudes[2]. The existence of aerophiles would significantly expand the range of planets considered candidates for life by, for example, including the cooler clouds of a hot Venus-like planet. The X project is an effort to engineer a robotic exploration and biosampling payload for a comprehensive survey of Earth's aerobiology. While many one-shot samples have been retrieved from above 15 km, their results are primarily qualitative; variations in method confound comparisons, leaving such major gaps in our knowledge of aerobiology as quantification of populations at different strata and relative species counts[1]. These challenges and X's preliminary solutions are explicated below. X's primary balloon payload is undergoing a series of calibrations before beginning flights in Spring 2012. A suborbital launch is currently planned for Summer 2012. A series of ground samples taken in Winter 2011 is being used to establish baseline counts and identify likely background contaminants.

  5. 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.

  6. Compliant Robotic Structures

    DTIC Science & Technology

    1985-08-01

    robotic structure is one or more continuously flexible arms -hat can be controlled to manipulate objects. A typical arm is comprised of ... of ideas for the design of versatile, strong robotic manipulators. In this paper a mathematical model of an elephant trunk lifting a weight is...Results may be used for the design of robotic actuators driven by internal pressure. I,g or 67 I* .,.. INTRODUCTION Improvement in the

  7. Wind-Tunnel Tests of a 1/5-Scale Semispan Model of the Republic XF-12 Horizontal Tail Surface

    NASA Technical Reports Server (NTRS)

    Denaci, H. G.

    1945-01-01

    Wind-tunnel tests of a 1/5-scale semispan model of the Republic XF-12 horizontal tail surface equipped with an internally balanced elevator were conducted in the 6- by 6-foot test section of the Langley stability tunnel. The tests included measurements of the aerodynamic characteristics of the horizontal tail with and without a beveled trailing edge and also included measurements of the tab characteristics. The variation of the aerodynamic characteristics with boundary-layer conditions and leakage in the internal-balance chambers, measurements of the boundary-layer displacement thickness near the elevator hinge axis, and pressure distributions at the mean geometric chord were also obtained. The results showed that the hinge-moment characteristics of the elevator were critical to boundary-layer conditions and internal-balance leakage. Increasing the boundary-layer displacement thickness by use of roughness strips reduced the rate of change of elevator hinge moments with tab deflection by about 20 percent. The present horizontal tail appears to be unsatisfactory for longitudinal stability with power on, however, an increase in horizontal-tail lift effectiveness should correct this difficulty. The maneuvering stick force per unit acceleration will be extremely critical to minor variations of the elevator hinge moments if the elevator is linked directly to the stick.

  8. Total facelift: forehead lift, midface lift, and neck lift.

    PubMed

    Park, Dong Man

    2015-03-01

    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.

  9. 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

  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. 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

  12. NASA's Robotic Lander Takes Flight

    NASA Video Gallery

    On Monday, June 13, the robotic lander mission team was poised and ready when the lander prototype in the adjacent building lifted itself off the ground and rose unrestrained higher and higher. App...

  13. Lift truck safety review

    SciTech Connect

    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.

  14. Robotic Laser Coating Removal System

    DTIC Science & Technology

    2008-07-01

    large off- aircraft components. Additionally, this enclosure was equipped with an overhead gantry crane that is suitable for lifting of the off...52    ii LIST OF TABLES Table 2-1: Gantry Robot Work Envelope...Figure 2-3: PaR XR125 Gantry Robot.................................................................................6  Figure 2-4: Contour Following

  15. 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.

  16. NASA Research Aircraft - D-558-II, D-558-I, X-5, X-1, XF-92A, X-4

    NASA Technical Reports Server (NTRS)

    1952-01-01

    NACA High Speed Flight Station at Edwards AFB South Base. Aircraft are (left to right): D-558-2, D-558-1, X-5, X-1, XF-92A, and X-4. This is an early 1950s color photo of NACA research aircraft in front of the South Base hangar. On the left is the third D-558-2 (NACA 145/Navy 37975). At this time, the aircraft was still in the combined jet and rocket configuration. NACA 145 was used to test a number of wing modifications intended to lessen the pitch up of the aircraft in turns. Next to it is the third D-558-1 (NACA 142/Navy 37972) which provided aerodynamic data at transonic speeds. The rudder is still painted red, to avoid possible control surface flutter problems which might be caused by weight and balance changes from a coat of white paint. To the right is the first X-5 (Air Force 50-1838), which tested an in-flight variable-sweep wing design. This allowed the gathering of transonic data at a wide range of sweep angles. The X-5 did have very poor stall/spin behavior, which made it dangerous to fly. Beside it is the second X-1 (Air Force 46-063), which was flown by the NACA between September 1947 and October 1951. This aircraft had a thicker wing than the first X-1 (46-062), which created considerable drag. The aircraft was later modified to become the X-1E. Behind the rocket-powered X-1 is the single XF-92A built (Air Force 46-682). Although intended to be the prototype of a jet fighter, it became a research aircraft testing delta wings. Its use by the NACA was relatively brief, but the data proved useful in the design of later U.S. delta-wing aircraft. To the forward right is the second X-4 (Air Force 46-677) which tested the concept of a semi-tailless swept-wing aircraft (no horizontal stabilizer). Without horizontal stabilizers, however, the aircraft proved unstable at high transonic speeds. The Dryden Flight Research Center, NASA's premier installation for aeronautical flight research, celebrated its 50th anniversary in 1996. Dryden is the 'Center of

  17. 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.

  18. Catwalk grate lifting tool

    DOEpatents

    Gunter, Larry W.

    1992-01-01

    A device 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.

  19. High lift aerodynamics

    NASA Technical Reports Server (NTRS)

    Sullivan, John; Schneider, Steve; Campbell, Bryan; Bucci, Greg; Boone, Rod; Torgerson, Shad; Erausquin, Rick; Knauer, Chad

    1994-01-01

    The current program is aimed at providing a physical picture of the flow physics and quantitative turbulence data of the interaction of a high Reynolds number wake with a flap element. The impact of high lift on aircraft performance is studied for a 150 passenger transport aircraft with the goal of designing optimum high lift systems with minimum complexity.

  20. Portable Lifting Seat

    NASA Technical Reports Server (NTRS)

    Weddendorf, Bruce

    1993-01-01

    Portable lifting machine assists user in rising from seated position to standing position, or in sitting down. Small and light enough to be carried like briefcase. Used on variety of chairs and benches. Upholstered aluminum box houses mechanism of lifting seat. Springs on outer shaft-and-arm subassembly counterbalance part of user's weight to assist motor.

  1. 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…

  2. 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.

  3. Samus Counter Lifting Fixture

    SciTech Connect

    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 comers 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.

  4. 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.

  5. Longitudinal Stability Characteristics of a 1/40-Scale Model of a Proposed Configuration of the XF-91 Airplane Measured by the Wing-Flow Method

    NASA Technical Reports Server (NTRS)

    Crane, Harold L.; Beckhardt, Arnold R.

    1948-01-01

    This report presents the results of an investigation in the transonic speed range of the longitudinal stability characteristics of a proposed configuration for the Republic XF-91 airplane. The tests covered a Mach number range of 0.55 to 1.05 and a Reynolds number range from 400,000 to 1,375,000. Lift, pitching-moment, and rolling-moment characteristics of the half model and the hinge moments on the all-moving tail were measured. The downwash factor delta x epsilon / delta x alpha at the tail was determined from the pitching-moment data. A calculation of the elevator deflection and stick force required for trim was also made. It was found that the variation of force and moment coefficients was linear through the test angle-of-attack range of -1 deg to 8 deg at any Mach number; that the stability increased markedly at Mach numbers above 0.85; that the effectiveness of the tail in producing pitching moments decreased about one-third with increasing Mach numbers and that the value of the downwash factor, delta x epsilon / delta x alpha, at the tail decreased from about 0.35 at a Mach number of 0.85 to about zero at a Mach number near 0.95 and became slightly negative at higher Mach numbers. The calculated values of stick force per g and elevator deflection per g, assuming no aerodynamic balance, increased rapidly above a Mach number of 0.85.

  6. Longitudinal Stability and Control Characteristics of a Semispan Wind-Tunnel Model of the XF7U-1 Airplane and a Comparison with Complete-Model Wind-Tunnel Tests and Semispan-Model Wing-Flow Tests

    NASA Technical Reports Server (NTRS)

    Goodson, Kenneth W.; King, Thomas J., Jr.

    1949-01-01

    An investigation was conducted on an 0.08-scale semispan model of the Chance Vought XF7U-1 airplane in the Langley high-speed 7- by 10-foot tunnel in the Mach number range from 0.40 to 0.97. The results are compared with those obtained with an 0.08-scale sting-mounted complete model tested in the same tunnel and with an 0.026-scale semispan model tested by the wing-flow method. The lift-curve slopes obtained for the 0.08-scale semispan model and the 0.026-scale wing-flow model were in good agreement but both were generally lower than the values obtained for the sting model. The results of an unpublished investigation have shown that tunnel-wall boundary-layer and strut-leakage effects can came the difference noted between the lift-curve slopes of the sting and the semispan data. Fair agreement was obtained among the data of the three models as regard the variation of pitching-moment coefficients with lift coefficient. The agreement between the complete and the semispan models was more favorable with the vertical fine on, because the wall-boundary-layer and strut leakage effects were less severe. In the Mach number range between 0.94 and 0.97, ailavator-control reversal was indicated in the wing-flow data near zero lift; Whereas, these same trends were indicated in the larger scale semispan data at somewhat higher lift coefficients.

  7. FREIGHT CONTAINER LIFTING STANDARD

    SciTech Connect

    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.

  8. 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)

  9. 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.

  10. 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.

  11. 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…

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

    SciTech Connect

    Sergentu, Dumitru-Claudiu; Amaouch, Mohamed; Pilmé, Julien; Galland, Nicolas; Maurice, Rémi

    2015-09-21

    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 coupling 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.

  13. 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 ...

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

    Technology Transfer Automated Retrieval System (TEKTRAN)

    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...

  15. 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.

  16. Antiferromagnetic resonance in KNi xMn 1- xF 3 crystals

    NASA Astrophysics Data System (ADS)

    Skrzypek, D.

    1995-02-01

    The X-band AFMR spectra of single crystals of the series KNi xMn 1- xF 3 have been measured over the range of temperatures from 4.2 K to TN. The results lead to the following conclusions: (i) for x < 0.1, transition into a weak ferromagnetic phase, characteristic of KMnF 3, is maintained, (ii) with increasing concentration of nickel ions, the temperature range over which the observation of the X-band AFMR is feasible becomes progressively narrow, and (iii) a considerable widening of the resonance lines and a simultaneous decrease in their amplitude are due to both the relaxation processes and the domain spin-flop effect occurring at relatively low external magnetic fields.

  17. 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.

  18. Forehead lift - slideshow

    MedlinePlus

    ... Indications URL of this page: //medlineplus.gov/ency/presentations/100020.htm Forehead lift - series—Indications To use the sharing features on this page, please enable JavaScript. Go to slide 1 out of 3 Go to slide 2 ...

  19. Breast lift (mastopexy) - slideshow

    MedlinePlus

    ... Incisions URL of this page: //medlineplus.gov/ency/presentations/100188.htm Breast lift (mastopexy) - series—Incisions To use the sharing features on this page, please enable JavaScript. Go to slide 1 out of 3 Go to slide 2 ...

  20. Hydraulic lifting device

    NASA Technical Reports Server (NTRS)

    Terrell, Kyle (Inventor)

    1990-01-01

    A piston and cylinder assembly is disclosed which is constructed of polyvinyl chloride that uses local water pressure to perform small lifting tasks. The chamber is either pressurized to extend the piston or depressurized to retract the piston. The present invention is best utilized for raising and lowering toilet seats.

  1. 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…

  2. Lifting speed preferences and their effects on the maximal lifting capacity

    PubMed Central

    LIN, Chiuhsiang Joe; CHENG, Chih-Feng

    2016-01-01

    The objectives of this study were to evaluate how lifting capacity and subjective preferences are affected by different lifting speeds. The maximum lifting capacity of lift was determined with three independent variables, lifting speed, lifting technique, and lifting height. Questionnaires were evaluated after the experiment by the participants for the lifting speed preferences. This study found that the lifting speed was a significant factor in the lifting capacity (p<0.001); and the lifting height (p<0.001) and the interaction of lifting speed and lifting height (p=0.005) affected the lifting capacity significantly. The maximal lifting capacity was achieved around the optimal speed that was neither too fast nor too slow. Moreover, the participants’ preferred lifting speeds were consistently close to the optimal lifting speed. The results showed that the common lifting practice guideline to lift slowly might make the worker unable to generate a large lifting capacity. PMID:27383532

  3. Lifting speed preferences and their effects on the maximal lifting capacity.

    PubMed

    Lin, Chiuhsiang Joe; Cheng, Chih-Feng

    2017-02-07

    The objectives of this study were to evaluate how lifting capacity and subjective preferences are affected by different lifting speeds. The maximum lifting capacity of lift was determined with three independent variables, lifting speed, lifting technique, and lifting height. Questionnaires were evaluated after the experiment by the participants for the lifting speed preferences. This study found that the lifting speed was a significant factor in the lifting capacity (p<0.001); and the lifting height (p<0.001) and the interaction of lifting speed and lifting height (p=0.005) affected the lifting capacity significantly. The maximal lifting capacity was achieved around the optimal speed that was neither too fast nor too slow. Moreover, the participants' preferred lifting speeds were consistently close to the optimal lifting speed. The results showed that the common lifting practice guideline to lift slowly might make the worker unable to generate a large lifting capacity.

  4. 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.)

  5. High lift wake investigation

    NASA Technical Reports Server (NTRS)

    Sullivan, J. P.; Schneider, S. P.; Hoffenberg, R.

    1996-01-01

    The behavior of wakes in adverse pressure gradients is critical to the performance of high-lift systems for transport aircraft. Wake deceleration is known to lead to sudden thickening and the onset of reversed flow; this 'wake bursting' phenomenon can occur while surface flows remain attached. Although known to be important for high-lift systems, few studies of such decelerated wakes exist. In this study, the wake of a flat plate has been subjected to an adverse pressure gradient in a two-dimensional diffuser, whose panels were forced to remain attached by use of slot blowing. Pitot probe surveys, L.D.V. measurements, and flow visualization have been used to investigate the physics of this decelerated wake, through the onset of reversed flow.

  6. Lifting liquid from boreholes

    SciTech Connect

    Reese, T.E.

    1983-05-17

    A device for lifting liquid from boreholes comprises a pump which is located downhole in the region of a production formation and which consists of a fluid-actuated, double-action piston. The pump is connected by fluid pressure lines to a source of fluid pressure disposed above ground and a switching valve is connected to provide fluid pressure to alternate sides of the piston to effect reciprocation thereof.

  7. Powered-lift aircraft technology

    NASA Technical Reports Server (NTRS)

    Deckert, W. H.; Franklin, J. A.

    1989-01-01

    Powered lift aircraft have the ability to vary the magnitude and direction of the force produced by the propulsion system so as to control the overall lift and streamwise force components of the aircraft, with the objective of enabling the aircraft to operate from minimum sized terminal sites. Power lift technology has contributed to the development of the jet lift Harrier and to the forth coming operational V-22 Tilt Rotor and the C-17 military transport. This technology will soon be expanded to include supersonic fighters with short takeoff and vertical landing capability, and will continue to be used for the development of short- and vertical-takeoff and landing transport. An overview of this field of aeronautical technology is provided for several types of powered lift aircraft. It focuses on the description of various powered lift concepts and their operational capability. Aspects of aerodynamics and flight controls pertinent to powered lift are also discussed.

  8. Measurement of random-exchange critical behavior in the mixed Ising system: FexCo1-xF2

    NASA Astrophysics Data System (ADS)

    Nash, A. E.; Ramos, C. A.; Jaccarino, V.

    1993-03-01

    We report on an observation of random-exchange (RE) critical behavior in a mixed three-dimensional Ising system. Using capacitance measurements, we have determined the critical-behavior universality class and the Néel temperature, TN(x), as a function of concentration x of the mixed magnetic system FexCo1-xF2. The specific-heat critical exponent α=-0.09+/-0.06 and the amplitude ratio A+/A-=1.6+/-0.4, are in agreement with previous experimental results on magnetically diluted (e.g., FexZn1-xF2) RE systems. A mean-field interpretation of TN(x) vs x yields an Fe-Co exchange interaction JCo-Fe=13.10+/-0.30 cm-1.

  9. Detail of lift wire rope attachment to lift span at ...

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

    Detail of lift wire rope attachment to lift span at southeast corner. Note rope-adjustment turnbuckle with strap keepers to prevent its rotation, which could pull the bridge out of alignment. A single rope and light-gauge attachment at each corner were adequate for lifting the span because most of its weight was balanced by the two counterweights. - Potomac Edison Company, Chesapeake & Ohio Canal Bridge, Spanning C & O Canal South of U.S. 11, Williamsport, Washington County, MD

  10. 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.

  11. Comparative Performance Obtained with XF7C-1 Airplane Using Several Different Engine Cowlings

    NASA Technical Reports Server (NTRS)

    Schey, Oscar W; Johnson, Ernest; Gough, Melvin N

    1930-01-01

    Discussed here are problems with the use of cowlings with radial air cooled engines. An XF7C-1 airplane, equipped with service cowling and with narrow ring, wide ring, and exhaust collector ring cowlings over the service cowling, was used. For these four cowling conditions, the rate of climb and high speed performance were determined, the cylinder conditions were measured, and pictures to show visibility were taken. The level flight performance obtained with an engine speed of 1900 r.p.m. for the service type, the narrow ring, the wide ring, and the exhaust collector ring was 144.4, 146.6, 152.8, and 155 mph, respectively. The rate of climb was practically the same for each type tested. The visibility was not materially impaired by the use of the wide or the narrow cowlings. With the narrow ring and exhaust collector ring cowlings there was an increase in cylinder temperature. However, this increase was not enough to affect the performance of the engine. The use of an exhaust collector ring incorporated into the cowling is practical where the problem of visibility does not enter.

  12. Framelet lifting in image processing

    NASA Astrophysics Data System (ADS)

    Lu, Da-Yong; Feng, Tie-Yong

    2010-08-01

    To obtain appropriate framelets in image processing, we often need to lift existing framelets. For this purpose the paper presents some methods which allow us to modify existing framelets or filters to construct new ones. The relationships of matrices and their eigenvalues which be used in lifting schemes show that the frame bounds of the lifted wavelet frames are optimal. Moreover, the examples given in Section 4 indicate that the lifted framelets can play the roles of some operators such as the weighted average operator, the Sobel operator and the Laplacian operator, which operators are often used in edge detection and motion estimation applications.

  13. 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,…

  14. Effects of range and mode on lifting capability and lifting time.

    PubMed

    Lee, Tzu-Hsien

    2012-01-01

    This study examined the effects of 3 lifting ranges and 3 lifting modes on maximum lifting capability and total lifting time. The results demonstrated that the maximum lifting capability for FK (from floor to knuckle height) was greater than that for KS (from knuckle height to shoulder height) or FS (from floor to shoulder height). Additionally, asymmetric lifting with initial trunk rotation decreased maximum lifting capability compared with symmetric lifting or asymmetric lifting with final trunk rotation. The difference in total lifting time between KS and FS was not significant, while FK increased total lifting time by ~20% compared with FS even though the travel distance was 50% shorter.

  15. Pneumatic Spoiler Controls Airfoil Lift

    NASA Technical Reports Server (NTRS)

    Hunter, D.; Krauss, T.

    1991-01-01

    Air ejection from leading edge of airfoil used for controlled decrease of lift. Pneumatic-spoiler principle developed for equalizing lift on helicopter rotor blades. Also used to enhance aerodynamic control of short-fuselage or rudderless aircraft such as "flying-wing" airplanes. Leading-edge injection increases maneuverability of such high-performance fixed-wing aircraft as fighters.

  16. 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,…

  17. 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,…

  18. 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.

  19. What is a safe lift?

    PubMed

    Espinoza, Kathy

    2013-09-01

    In a perfect world, a "safe" lift would be 51 pounds if the object is within 7 inches from the front of the body, if it is at waist height, if it is directly in front of the person, if there is a handle on the object, and if the load inside the box/bucket doesn't shift once lifted. If the load to be lifted does not meet all of these criteria, then it is an unsafe lift, and modifications must be made. Modifications would include lightening the load, getting help, or using a mechanical lifting device. There is always a way to turn an unsafe lift into a safer lift. An excellent resource for anyone interested in eliminating some of the hazards associated with lifting is the "Easy Ergonomics" publication from Cal/OSHA. This booklet offers practical advice on how to improve the workplace using engineering and administrative controls, problem-solving strategies and solutions, and a vast amount of ergonomics information and resources. "Easy Ergonomics" can be obtained by calling Cal/OSHA's education and training unit in Sacramento at 800-963-9424. A free copy can be obtained via www.dir.ca.gov/dosh/puborder.asp.

  20. 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.

  1. Effect of an Auxiliary Belly Fuel Tank on the Low-Speed Static Stability Characteristics of a 1/5-Scale Model of the Grumman XF8F-1 Airplane, TED No. NACA 2384

    NASA Technical Reports Server (NTRS)

    Cook, Charles B.

    1946-01-01

    In.order to determine the aerodynamic effects of an auxiliary belly fuel tank on the Grumman F8F-1 airplane, a wind-tunnel investigation was made on a l/5 - scale model of the Grumman XF8F-1 airplane. Pitch and yaw tests were made with the model in the cruising and landing configurations for windmilling and take-off power conditions. Tuft studies and static-pressure measurements were also made to determine the flow characteristics in the region of the fuel tank. It was found that, at low speed, the auxiliary fuel tank test conditions, especially with power on in the landing configuration at high lift coefficients. The static directional stability was decreased for most test conditions, but the addition of a fairing between the fuselage and fuel tank improved the directional stability slightly in the power-on clean condition. The effective dihedral and lateral force were increased for most of the conditions tested. The tuft studies and pressure measurements indicated that the removal of the away braces would improve the.flow characteristics considerably in the region of the fuel tank end might also decrease the buffeting of the belly tank at high speeds.

  2. Complete nucleotide sequence of a new filamentous phage, Xf109, which integrates its genome into the chromosomal DNA of Xanthomonas oryzae.

    PubMed

    Yeh, Ting Y

    2017-02-01

    Unlike Ff-like coliphages, certain filamentous Inoviridae phages integrate their genomes into the host chromosome and enter a prophage state in their infectious cycle. This lysogenic life cycle was first reported for Xanthomonas citri Cf phage. However, except for the X. citri phages Cf and XacF1, complete genome sequence information about lysogenic Xanthomonas phages is not available to date. A proviral sequence of Xf109 phage was identified in the genome of Xanthomonas oryzae, the rice bacterial blight pathogen, and revived as infectious virions to lysogenize its host de novo. The genome of Xf109 phage is 7190 nucleotides in size and contains 12 predicted open reading frames in an organization similar to that of the Cf phage genome. Seven of the Xf109 proteins show significant sequence similarity to Cf and XacF1 phage proteins, while its ORF4 shares 92 % identity with the major coat protein of X. phage oryzae Xf. Integration of Xf109 phage DNA into the host genome is site-specific, and the attP/attB sequence contains the dif core sequence 5'-TATACATTATGCGAA-3', which is identical to that of Cf, XacF1, and Xanthomonas campestris phage ϕLf. To my knowledge, this is the first complete genome sequence of a filamentous bacteriophage that infects X. oryzae.

  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. First-principles calculation of the structural, electronic, and magnetic properties of cubic perovskite RbXF3 (X = Mn, V, Co, Fe)

    NASA Astrophysics Data System (ADS)

    rehman Hashmi, Muhammad Raza ur; Zafar, Muhammad; Shakil, M.; Sattar, Atif; Ahmed, Shabbir; Ahmad, S. A.

    2016-11-01

    First-principles calculations by means of the full-potential linearized augmented plane wave method using the generalized gradient approximation with correlation effect correction (GGA+U) within the framework of spin polarized density functional theory (DFT+U) are used to study the structural, electronic, and magnetic properties of cubic perovskite compounds RbXF3 (X = Mn, V, Co, and Fe). It is found that the calculated structural parameters, i.e., lattice constant, bulk modulus, and its pressure derivative are in good agreement with the previous results. Our results reveal that the strong spin polarization of the 3d states of the X atoms is the origin of ferromagnetism in RbXF3. Cohesive energies and the magnetic moments of RbXF3 have also been calculated. The calculated electronic properties show the half-metallic nature of RbCoF3 and RbFeF3, making these materials suitable for spintronic applications.

  5. Null lifts and projective dynamics

    SciTech Connect

    Cariglia, Marco

    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.

  6. Vortex Lift Augmentation by Suction

    NASA Technical Reports Server (NTRS)

    Taylor, A. H.; Jackson, L. R.; Huffman, J. K.

    1983-01-01

    Lift performance is improved on a 60 degrees swept Gothic wing. Vortex lift at moderate to high angles of attack on highly swept wings used to improve takeoff performance and maneuverability. New design proposed in which suction of propulsion system augments vortex. Turbofan placed at down stream end of leading-edge vortex system induces vortex to flow into inlet which delays onset of vortex breakdown.

  7. Continuous One-Step Synthesis of Porous M-XF6-based Metal-Organic and Hydrogen-Bonded Frameworks.

    PubMed

    Guillerm, Vincent; Garzon-Tóvar, Luis; Yazdi, Amirali; Imaz, Inhar; Juanhuix, Jordi; Maspoch, Daniel

    2017-03-30

    Metal-organic frameworks (MOFs) built up from connecting M-XF6 pillars through N-donor ligands are among the most attractive adsorbents and separating agents for CO₂ and hydrocarbons today. Here, we show the continuous, one-step spray-drying synthesis of several members of this isoreticular MOF family varying the anionic pillar (X = [SiF₆]²- and [TiF₆]²-), the N-donor organic ligand (pyrazine and 4,4'-bipyridine) and the metal ion (M = Co, Cu and Zn). This synthetic method allows obtaining them in the form of spherical superstructures assembled from nanosized crystals. As confirmed by CO₂ and N₂ sorption studies, most of the M-XF6-based MOFs synthesized via spray-drying can be considered "ready-to-use" sorbents as they do not need additional purification and time consuming solvent exchange steps to show comparable porosity and sorption properties than the bulk/single crystal analogues. Stability tests of nanosized M-SiF₆-based MOFs confirm their low stability in most of solvents, including water and DMF, highlighting the importance of protecting them once synthesized. Finally, we show for the first time that the spray-drying method can also be used to assembly hydrogen-bonded open networks, as evidenced by the synthesis of MPM-1-TIFSIX.

  8. Micro Hopping Robots for Rescue Operation: Many Tiny Robots with a Single Sensor and Launcher System

    DTIC Science & Technology

    2007-03-25

    victims within collapsed buildings . The approach is to use many small robots that search downward (using gravity, rather than a power source) as the best...unclassified Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 1. Introduction <Background> Collapsed buildings due to earthquake or...developed to detect survivors under collapsed buildings . This small robot includes micro eccentric motors for generating lift and thrust forces, and IR

  9. CASSY Robot

    NASA Astrophysics Data System (ADS)

    Pittman, Anna; Wright, Ann; Rice, Aaron; Shyaka, Claude

    2014-03-01

    The CASSY Robot project involved two square robots coded in RobotC. The goal was to code a robot to do a certain set of tasks autonomously. To begin with, our task was to code the robot so that it would roam a certain area, marked off by black tape. When the robot hit the black tape, it knew to back up and turn around. It was able to do this thanks to the light sensor that was attached to the bottom of the robot. Also, whenever the robot hit an obstacle, it knew to stop, back up, and turn around. This was primarily to prevent the robot from hurting itself if it hit an obstacle. This was accomplished by using touch sensors set up as bumpers. Once that was accomplished, we attached sonar sensors and created code so that one robot was able to find and track the other robot in a sort of intruder/police scenario. The overall goal of this project was to code the robot so that we can test it against a robot coded exactly the same, but using Layered Mode Selection Logic. Professor.

  10. 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.

  11. 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, ½ρv2, 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

  12. Mist lift analysis summary report

    SciTech Connect

    Davenport, R.L.

    1980-09-01

    The mist flow open-cycle OTEC concept proposed by S.L. Ridgway has much promise, but the fluid mechanics of the mist flow are not well understood. The creation of the mist and the possibility of droplet growth leading to rainout (when the vapor can no longer support the mist) are particularly troublesome. This report summarizes preliminary results of a numerical analysis initiated at SERI in FY79 to study the mist-lift process. The analysis emphasizes the mass transfer and fluid mechanics of the steady-state mist flow and is based on one-dimensional models of the mist flow developed for SERI by Graham Wallis. One of Wallis's models describes a mist composed of a single size of drops and another considers several drop sizes. The latter model, further developed at SERI, considers a changing spectrum of discrete drop sizes and incorporates the mathematics describing collisions and growth of the droplets by coalescence. The analysis results show that under conditions leading to maximum lift in the single-drop-size model, the multigroup model predicts significantly reduced lift because of the growth of droplets by coalescence. The predicted lift height is sensitive to variations in the mass flow rate and inlet pressure. Inclusion of a coasting section, in which the drops would rise ballistically without change in temperature, may lead to increased lift within the existing range of operation.

  13. Army Robotics

    DTIC Science & Technology

    2009-10-07

    Army Robotics 07 October 2009 Dr. Grant Gerhart, Senior Research Scientist Bernard Theisen, Joint Center for Robotics DISTRIBUTION STATEMENT A... Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Grant Gerhart; Bernard Theisen 5d. PROJECT NUMBER 5e. TASK...CBRNE • IED Defeat Systems • Disarm / Disrupt • Reconnaissance • Investigation • Explosive Sniffer • Common Robotic Kit • EOD • Convoy • Log

  14. Space Robotics

    DTIC Science & Technology

    1982-08-01

    ACCESSION NO 3. RECIPIENTS CATALOG NUIA3.R CMU-RI-TR-82-10 I4 1 (. 4. ;,;-LL (and Sublitle) S. TYPE OF REPORT & PERIOD CovEREO SPACE ROBOTICS Interim... Robotics Institute Pittsburgh, PA. 15213 It. CONTROLLING OFFICE NAME AND ADDRESS 12. REPORT DATE Office of Naval Research -August 1982 Arlington, VA 22217...SXnet.eE . Space Robotics Richard E. Korf Department of Computer Science and The Robotics Institute Carnegie-Mellon University Pittsburgh, Oetusylvania

  15. TARDEC Robotics

    DTIC Science & Technology

    2010-01-12

    unclassified TARDEC Robotics Dr. James L. Overholt Director, Joint Center for Robotics US Army TARDEC Report Documentation Page Form ApprovedOMB No...COVERED - 4. TITLE AND SUBTITLE TARDEC Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) James L. Overholt... Robotics , Network and Control Components with a Focus on Customer Driven Requirements to Provide Full System Solutions to the War Fighter Technology

  16. Anion size control of the packing in the metallic versus semiconducting chiral radical cation salts (DM-EDT-TTF)2XF6 (X = P, As, Sb).

    PubMed

    Pop, Flavia; Auban-Senzier, Pascale; Canadell, Enric; Avarvari, Narcis

    2016-10-13

    Control of the structural type in metallic enantiopure and racemic radical cation salts is achieved through hydrogen bonding interactions between the chiral donor DM-EDT-TTF and the XF6 anions (X = P, As, Sb), determined by the anion size and the chiral information.

  17. Serrated-Planform Lifting-Surfaces

    NASA Technical Reports Server (NTRS)

    McGrath, Brian E. (Inventor); Wood, Richard M. (Inventor)

    1999-01-01

    A novel set of serrated-planform lifting surfaces produce unexpectedly high lift coefficients at moderate to high angles-of-attack. Each serration, or tooth, is designed to shed a vortex. The interaction of the vortices greatly enhances the lifting capability over an extremely large operating range. Variations of the invention use serrated-planform lifting surfaces in planes different than that of a primary lifting surface. In an alternate embodiment, the individual teeth are controllably retractable and deployable to provide for active control of the vortex system and hence lift coefficient. Differential lift on multiple serrated-planform lifting surfaces provides a means for vehicle control. The important aerodynamic advantages of the serrated-planform lifting surfaces are not limited to aircraft applications but can be used to establish desirable performance characteristics for missiles, land vehicles, and/or watercraft.

  18. (Robotic hands)

    SciTech Connect

    Mann, R.C.

    1988-09-23

    The traveler attended the International Workshop on Robot Hands at the Palace Hotel in Dubrovnik, Yugoslavia. The traveler presented a lecture on An integrated sensor system for the ORNL mobile robot.'' The traveler obtained important information on current R D efforts in multi-fingered robot hands and object recognition using touch sensing.

  19. 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);…

  20. 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…

  1. 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.

  2. Unsteady Lift Generation for MAVs

    DTIC Science & Technology

    2010-10-22

    canonical pitch - up , pitch -down wing maneuver, in 39th AIAA Fluid Dynamics Conference, AIAA 2009-3687, San Antonio, TX, 22-25 June 2009. [7] C. P. Ellington...unsteady lift generation on three-dimensional flapping wings in the MAV flight regime and, if a leading edge vortex develops at MAV-like Reynolds numbers... wing rotates in a propeller-like motion through a wing stroke angle up to 90 degrees. Unsteady lift and drag force data was acquired throughout the

  3. Study of the Ground State Properties of LiHoxY1-xF4 Using Muon Spin Relaxation

    SciTech Connect

    Rodriguez, Jose A.; Aczel, Adam A.; Carlo, Jeremy; Dunsiger, Sarah; Macdougall, Gregory J; Russo, Peter L.; Savici, Andrei T; Uemura, Yasutomo J.; Wiebe, Christopher; Luke, Graeme M.

    2010-09-01

    LiHoxY1-xF4 is an insulator where the magnetic Ho3+ ions have an Ising character and interact mainly through magnetic dipolar fields. We used the muon spin relaxation technique to study the nature of its ground state for samples with x 0.25. In contrast with some previous works, we did not find canonical spin glass behavior down to 15 mK. Instead, below 300 mK we observed temperature-independent dynamic magnetism characterized by a single correlation time. The 300 mK energy scale corresponds to the Ho3+ hyperfine interaction strength, suggesting that this interaction may be involved in the dynamic behavior of the system.

  4. 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.

  5. 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.

  6. 46 CFR 64.43 - Lifting fittings.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 46 Shipping 2 2010-10-01 2010-10-01 false Lifting fittings. 64.43 Section 64.43 Shipping COAST... HANDLING SYSTEMS Standards for an MPT § 64.43 Lifting fittings. Each MPT must have attached lifting fittings so that the tank remains horizontal and stable while being moved....

  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. 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)

  9. 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?;…

  10. An Alternative Maxillary Sinus Lift Technique – Sinu Lift System

    PubMed Central

    T, Parthasaradhi; B, Shivakumar; Kumar, T.S.S.; P, Suganya

    2015-01-01

    Objectives: Maxillary sinus augmentation surgical techniques have evolved greatly allowing successful placement of dental implants in the atrophic posterior maxillary region. The purpose of the present study is to evaluate the clinical and radiological outcomes and postoperative morbidity of sinus floor elevation procedures performed using the minimally invasive surgical technique the Sinu lift system. Materials and Methods: Sinus lift procedure was done using the sinu lift system by a transcrestal approach and bone augmentation was done on ten systemically healthy patients using β- tricalcium phosphate and platelet rich plasma mix. The study was evaluated upto six months period with bone related parameters being assessed at base line using CT scan, OPG and after six months the results were analysed using SPSS Version 18.0 software (p < 0.01 (0.005). Wilcoxson signed rank sum test was used to correlate between preoperative and postoperative measurements. Implant placements were done at the desired area of sinus augmentation with a two year follow up. (Nobel Biocare, Nobel Biocare Holding AG, Zürich-Flughafen, Switzerland) Results: The augmented sites had a significant increase in the bone parameters at the desired grafted region. The mean gain in bone height as observed in CT Scan had revealed increased measurements from 5.80mm±0.98 to 10.20mm±1.68 at the sixth month evaluation. This was statistically significant (0.005). Clinically, no complications were observed during or after the surgical procedure. Conclusion: Within the limitations of this study, the Sinu lift system with a controlled working action resulted in high procedural success and this procedure may be an alternative to the currently used surgical methods. PMID:25954702

  11. TARDEC Robotics

    DTIC Science & Technology

    2011-03-01

    TARDEC Robotics Dr. Greg Hudas Greg.hudas@us.army.mil UNCLASSIFIED: Dist A. Approved for public release Report Documentation Page Form ApprovedOMB...COVERED - 4. TITLE AND SUBTITLE TARDEC Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Dr. Greg Hudas...ANSI Std Z39-18 Excellence in Robotics Outreach & University Shaping Requirements Building Modeling & Simulation Component Development International

  12. ROBOT WRITING,

    DTIC Science & Technology

    Technical writers who are hypnotized by the mechanical metaphor inevitably produce robot writing - a separate language, distantly related to the...prose of Darwin, Huxley, Jeans, and Einstein. Where they were clear, fresh, and graceful, the robot writer is hard, dull, and clumsy. Where they were...merely human, the robot writer is infallible, prefabricated, impersonal, and irresponsible. These four characteristics are interlinked. An example of one usually illustrates the other three.

  13. Robot Programming.

    DTIC Science & Technology

    1982-12-01

    8217AD-A127 233 ROBOT PROGRRMMING(U) MASSACHUSETTS INST OFGTECHi/ CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB T LOZANO-PEREZ UNCLASSIFIED DC8 AI-9 N884...CATALOG NUMBER * a ~AIM 698 R a is 4. TITLE (and Subtitle) S. TYPE OF REPORT & PERIOD COVERED Robot Programming Memorandum 6. PERFORMING ORG. REPORT...34R Distribution is Unlimted .. SUPPLEMENTARY NOTES None 1. KEY WORDS (Continue on r verea aide ii neeaortm and Identify by block number) *Q. Robotics

  14. Serrated trailing edges for improving lift and drag characteristics of lifting surfaces

    NASA Technical Reports Server (NTRS)

    Vijgen, Paul M. H. W. (Inventor); Howard, Floyd G. (Inventor); Bushnell, Dennis M. (Inventor); Holmes, Bruce J. (Inventor)

    1992-01-01

    An improvement in the lift and drag characteristics of a lifting surface is achieved by attaching a serrated panel to the trailing edge of the lifting surface. The serrations may have a saw-tooth configuration, with a 60 degree included angle between adjacent serrations. The serrations may vary in shape and size over the span-wise length of the lifting surface, and may be positioned at fixed or adjustable deflections relative to the chord of the lifting surface.

  15. Robotics research

    SciTech Connect

    Brady, M.; Paul, R.

    1984-01-01

    Organized around a view of robotics as ''the intelligent connection of perception to action,'' the fifty-three contributions collected in this book present leading current research in one of the fastest moving fields of artificial intelligence. Readings Include: Hand-Eye Coordination in Rope Handling; 3-D Balance Using 2-D algorithms. A Model Driven Visual Inspection Module: Stereo Vision: Complexity and Constraints; Interpretation of Contact Geometers from Force Measurement; The Utah MIT Dextrous Hand: Work in Progress; Hierarchical Nonlinear Control for Robots; VAL-11; A Robot Programming Language and Control System; Technological Barriers in Robotics: A Perspective from Industry.

  16. 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.

  17. 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.

  18. Quiet powered-lift propulsion

    NASA Technical Reports Server (NTRS)

    1979-01-01

    Latest results of programs exploring new propulsion technology for powered-lift aircraft systems are presented. Topics discussed include results from the 'quiet clean short-haul experimental engine' program and progress reports on the 'quiet short-haul research aircraft' and 'tilt-rotor research aircraft' programs. In addition to these NASA programs, the Air Force AMST YC 14 and YC 15 programs were reviewed.

  19. Aerodynamics of Supersonic Lifting Bodies

    DTIC Science & Technology

    1981-02-01

    verso of front cover. 19 Y WOROS (Continue on rt.’,;erso side i recessary and identily by block number) Theoretical Aerodynamics Lifting Bodies Wind ...waverider solution, developed from the supersonic wedge flow solution, is then i Fused to fashion vertLcal stabilizer-likh control surfaces. Wind ...served as Project Engineers ror thE wind tunnel work. Important contributions were also made bv: Mr. iis±ung Miin; Lee, -M. Beom-Soo Kim, Mtr. Martin Weeks

  20. 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

  1. Generalised Eisenhart lift of the Toda chain

    SciTech Connect

    Cariglia, Marco; Gibbons, Gary

    2014-02-15

    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 lift 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.

  2. Robotic-Assisted Upper Face Rejuvenation

    PubMed Central

    Rybakin, Arthur V.; Manturova, Natalia E.; Gladyshev, Dmitriy V.; Kamalov, David M.; Shcherbakov, Kirill G.; Staisupov, Valeriy J.; Kuzin, Danila A.

    2016-01-01

    Summary: Robotic-assisted technology has not been used in aesthetic surgery so far. The authors examined the feasibility and potential advantages of robotic-assisted technology in upper face rejuvenation surgery, as well as utility of the tools available in the market. Forehead lift was performed along with blepharoplasty in 4 patients. Robotic da Vinci Surgical System (Intuitive Surgical, Inc.) was used at the stage of dissection. The stereo endoscope 30 degrees, 12 mm and later 8.5 mm in diameter, and the set of tools, 8 mm and later 5 mm in diameter, were used. Overall results appeared to be essentially the same as after usual endoscope-assisted brow lift. The advantages of the robotic-assisted surgery were as follows: the best possible display, scalability of the picture; lack of tremor, scalability of the movements’ amplitude; high degree of freedom of movements exceeding human capabilities; quick and easy switch between the endoscope and any of the 3 manipulating arms; and enhanced comfort for a surgeon. The drawbacks noted were as follows: cost, steep learning curve, lack of tactile feedback, and absence of instruments specially adjusted for aesthetic surgery. The authors conclude that robots will enter the field of aesthetic plastic surgery in the same way as endoscopy, the proviso being to adjust tools to the specific needs.

  3. Allometry of hummingbird lifting performance.

    PubMed

    Altshuler, D L; Dudley, R; Heredia, S M; McGuire, J A

    2010-03-01

    Vertical lifting performance in 67 hummingbird species was studied across a 4000 m elevational gradient. We used the technique of asymptotic load-lifting to elicit maximum sustained muscle power output during loaded hovering flight. Our analysis incorporated direct measurements of maximum sustained load and simultaneous wingbeat kinematics, together with aerodynamic estimates of mass-specific mechanical power output, all within a robust phylogenetic framework for the Trochilidae. We evaluated key statistical factors relevant to estimating slopes for allometric relationships by performing analyses with and without phylogenetic information, and incorporating species-specific measurement error. We further examined allometric relationships at different elevations because this gradient represents a natural experiment for studying physical challenges to animal flight mechanics. Maximum lifting capacity (i.e. vertical force production) declined with elevation, but was either isometric or negatively allometric with respect to both body and muscle mass, depending on elevational occurrence of the corresponding taxa. Maximum relative muscle power output exhibited a negative allometry with respect to muscle mass, supporting theoretical predictions from muscle mechanics.

  4. The relationship between maximal lifting capacity and maximum acceptable lift in strength-based soldiering tasks.

    PubMed

    Savage, Robert J; Best, Stuart A; Carstairs, Greg L; Ham, Daniel J

    2012-07-01

    Psychophysical assessments, such as the maximum acceptable lift, have been used to establish worker capability and set safe load limits for manual handling tasks in occupational settings. However, in military settings, in which task demand is set and capable workers must be selected, subjective measurements are inadequate, and maximal capacity testing must be used to assess lifting capability. The aim of this study was to establish and compare the relationship between maximal lifting capacity and a self-determined tolerable lifting limit, maximum acceptable lift, across a range of military-relevant lifting tasks. Seventy male soldiers (age 23.7 ± 6.1 years) from the Australian Army performed 7 strength-based lifting tasks to determine their maximum lifting capacity and maximum acceptable lift. Comparisons were performed to identify maximum acceptable lift relative to maximum lifting capacity for each individual task. Linear regression was used to identify the relationship across all tasks when the data were pooled. Strong correlations existed between all 7 lifting tasks (rrange = 0.87-0.96, p < 0.05). No differences were found in maximum acceptable lift relative to maximum lifting capacity across all tasks (p = 0.46). When data were pooled, maximum acceptable lift was equal to 84 ± 8% of the maximum lifting capacity. This study is the first to illustrate the strong and consistent relationship between maximum lifting capacity and maximum acceptable lift for multiple single lifting tasks. The relationship developed between these indices may be used to help assess self-selected manual handling capability through occupationally relevant maximal performance tests.

  5. 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.

  6. 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

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

    Technology Transfer Automated Retrieval System (TEKTRAN)

    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...

  8. Serpentine Robots for Inspection Tasks

    SciTech Connect

    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. The other challenge in control deals with coordinating all of the internal degrees of freedom to exact purposeful motion.

  9. Robotics 101

    ERIC Educational Resources Information Center

    Sultan, Alan

    2011-01-01

    Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. This article…

  10. xF 3(x,Q 2) Structure Function and Gross-Llewellyn Smith Sum Rule with Nuclear Effect and Higher Twist Correction

    NASA Astrophysics Data System (ADS)

    Nath, N. M.; Mukharjee, A.; Das, M. K.; Sarma, J. K.

    2016-12-01

    We present an analysis of the xF3(x,Q2) structure function and Gross-Llewellyn Smith(GLS) sum rule taking into account the nuclear effects and higher twist correction. This analysis is based on the results presented in [N.M. Nath, et al, Indian J. Phys. 90 (2016) 117]. The corrections due to nuclear effects predicted in several earlier analysis are incorporated to our results of xF3(x,Q2) structure function and GLS sum rule for free nucleon, corrected upto next-next-to-leading order (NNLO) perturbative order and calculate the nuclear structure function as well as sum rule for nuclei. In addition, by means of a simple model we have extracted the higher twist contributions to the non-singlet structure function xF3(x,Q2) and GLS sum rule in NNLO perturbative orders and then incorporated them to our results. Our NNLO results along with nuclear effect and higher twist corrections are observed to be compatible with corresponding experimental data and other phenomenological analysis. Support from DAE-BRNS, India, as Major Research Project under Sanction No. 2012/37P/36/BRNS/2018 dated 24 Nov. 2012

  11. 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.

  12. 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.

  13. Lateral Stability Characteristics of a 1/8.33-Scale Powered Model of the Republic XF-12 Airplane

    NASA Technical Reports Server (NTRS)

    Pepper, Edward; Foster, Gerald V.

    1947-01-01

    The XF-12 airplane is a high-performance photo-reconnaissance aircraft designed for the Army Air Forces by the Republic Aviation Corporation. An investigation of a 1/8.33 - scale powered model was made in the Langley l9-foot pressure tunnel to obtain information relative to the aerodynamic design of the airplane. The model was tested with and without the original vertical tail. and with two revised tails. For the revised tail no. 1, the span of the original vertical .tail was increased about 15 percent and the portion of the vertical tail between the stabilizer and fuselage behind the rudder hinge line was allowed to deflect simultaneously with the main rudder. Revision no. 2 incorporated the increased span, but the lower rudder was locked in the neutral position. For all the tail arrangements investigated it was indicated that the airplane will possess positive effective dihedral and will be directionally stable regardless of flap or power condition. The rudder effectiveness is greater for the revised tails than for the original tail, but this is offset by the increase in directional stability caused by the revised tail. All the rudder arrangements appear inadequate in trimming out the resultant yawing moments at zero yaw in a take - off condition with the left-hand outboard propeller windmilling and the remaining engines developing take-off power.

  14. New and expected developments in artificial lift

    SciTech Connect

    Lea, J.F.; Winkler, H.W.

    1994-12-31

    Artificial lift is a broad subject. This paper discusses some of the new developments in the major areas of artificial lift. These are (1) beam lift, (2) electrical submersible pumping, (3) gas lift, (4) hydraulic pumping and (5) miscellaneous topics. The beam lift discussion concerns a new rod material, downhole measurements for rod loading, unit design and some miscellaneous topics. The ESP (Electrical Submersible Pump) section includes a discussion on solids handling, downhole sensor technology, new motor temperature limitations, motor efficiency, and other topics. The gas lift discussion includes mention of coiled tubing with gas lift valves internal, a surface controlled gas lift valve concept, and gas lift valve testing and modeling. Hydraulic pumping is used in many locations with deep pay and fairly small production rates. New hydraulic developments include a wider availability of power fluid pumps other than positive displacement pumps, and small jet pumps specifically designed for de-watering gas wells. Some miscellaneous developments include an insertable PC (progressing cavity) pump and improved plunger lift algorithms and equipment.

  15. Lift enhancement by trapped vortex

    NASA Technical Reports Server (NTRS)

    Rossow, Vernon J.

    1992-01-01

    The viewgraphs and discussion of lift enhancement by trapped vortex are provided. Efforts are continuously being made to find simple ways to convert wings of aircraft from an efficient cruise configuration to one that develops the high lift needed during landing and takeoff. The high-lift configurations studied here consist of conventional airfoils with a trapped vortex over the upper surface. The vortex is trapped by one or two vertical fences that serve as barriers to the oncoming stream and as reflection planes for the vortex and the sink that form a separation bubble on top of the airfoil. Since the full three-dimensional unsteady flow problem over the wing of an aircraft is so complicated that it is hard to get an understanding of the principles that govern the vortex trapping process, the analysis is restricted here to the flow field illustrated in the first slide. It is assumed that the flow field between the two end plates approximates a streamwise strip of the flow over a wing. The flow between the endplates and about the airfoil consists of a spanwise vortex located between the suction orifices in the endplates. The spanwise fence or spoiler located near the nose of the airfoil serves to form a separated flow region and a shear layer. The vorticity in the shear layer is concentrated into the vortex by withdrawal of fluid at the suction orifices. As the strength of the vortex increases with time, it eventually dominates the flow in the separated region so that a shear or vertical layer is no longer shed from the tip of the fence. At that point, the vortex strength is fixed and its location is such that all of the velocity contributions at its center sum to zero thereby making it an equilibrium point for the vortex. The results of a theoretical analysis of such an idealized flow field are described.

  16. Maximum isoinertial lifting capabilities for different lifting ranges and container dimensions.

    PubMed

    Lee, Tzu-Hsien

    2005-05-01

    The aim of this study was to examine the effects of lifting range and container dimension on human maximum isoinertial lifting capability in the sagittal plane. Ten young and experienced lifters were tested for their maximum isoinertial lifting capabilities for 12 different lifting conditions (three lifting ranges x four container dimensions). The results showed that lifting range and container dimension significantly affected human maximum isoinertial lifting capability. The order for the highest to lowest lifting capability for the three lifting ranges was FK (from floor to knuckle height, 0-74 cm), FS (from floor to shoulder height, 0-141 cm) and KS (from knuckle height to shoulder height, 74-141 cm) regardless of the container dimension, and for the four container dimensions was 50 x 35 x 15 cm(3), 70 x 35 x 15 cm(3), 50 x 50 x 15 cm(3) and 70 x 50 x 15 cm(3) regardless of the lifting range. The mean(SD) maximum isoinertial lifting capability ranged from 29.3(3.3) kg for the combination of KS range and 70 x 50 x 15 cm(3) container to 53.2(5.7)kg for the combination of FK range and 50 x 35 x 15 cm(3) container. The results of this study can help our knowledge of human maximum isoinertial lifting capability and designing the upper limit of lifting weight.

  17. Training for lifting; an unresolved ergonomic issue?

    PubMed

    Sedgwick, A W; Gormley, J T

    1998-10-01

    The paper describes a nine year project on lifting training which included nine trans-Australia consensus conferences attended by more than 900 health professionals. Major outcomes were: (1) The essence of lifting work is the need for the performer to cope with variability in task, environment, and self, and the essence of lifting skill is therefore adaptability; (2) the semi-squat approach provides the safest and most effective basis for lifting training; (3) for lifting training to be effective, the basic principles of skill learning must be systematically applied, with adaptability as a specific goal; (4) physical work capacity (aerobic power, strength, endurance, joint mobility) is a decisive ingredient of safe and effective lifting and, in addition to skill learning, should be incorporated in the training of people engaging regularly in heavy manual work; (5) if effective compliance with recommended skilled behaviour is to be achieved, then training must apply the principles and methods appropriate to adult learning and behaviour modification.

  18. 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.

  19. 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.

  20. Robotic transportation.

    PubMed

    Lob, W S

    1990-09-01

    Mobile robots perform fetch-and-carry tasks autonomously. An intelligent, sensor-equipped mobile robot does not require dedicated pathways or extensive facility modification. In the hospital, mobile robots can be used to carry specimens, pharmaceuticals, meals, etc. between supply centers, patient areas, and laboratories. The HelpMate (Transitions Research Corp.) mobile robot was developed specifically for hospital environments. To reach a desired destination, Help-Mate navigates with an on-board computer that continuously polls a suite of sensors, matches the sensor data against a pre-programmed map of the environment, and issues drive commands and path corrections. A sender operates the robot with a user-friendly menu that prompts for payload insertion and desired destination(s). Upon arrival at its selected destination, the robot prompts the recipient for a security code or physical key and awaits acknowledgement of payload removal. In the future, the integration of HelpMate with robot manipulators, test equipment, and central institutional information systems will open new applications in more localized areas and should help overcome difficulties in filling transport staff positions.

  1. [Robotic surgery].

    PubMed

    Sándor, József; Haidegger, Tamás; Kormos, Katalin; Ferencz, Andrea; Csukás, Domokos; Bráth, Endre; Szabó, Györgyi; Wéber, György

    2013-10-01

    Due to the fast spread of laparoscopic cholecystectomy, surgical procedures have been changed essentially. The new techniques applied for both abdominal and thoracic procedures provided the possibility for minimally invasive access with all its advantages. Robots - originally developed for industrial applications - were retrofitted for laparoscopic procedures. The currently prevailing robot-assisted surgery is ergonomically more advantageous for the surgeon, as well as for the patient through the more precise preparative activity thanks to the regained 3D vision. The gradual decrease of costs of robotic surgical systems and development of new generations of minimally invasive devices may lead to substantial changes in routine surgical procedures.

  2. Subsumption Robotics

    DTIC Science & Technology

    1998-01-01

    Subsumption Robotics Christopher K. DeBolt Naval EOD Technology Division 2008 Stump Neck Road Indian Head, MD 20640-5070 phone: (301) 744-6850, Ext...eodmgate.navsea.navy.mil; nguyent.eodtc@eodmgate.navsea.navy.mil Helen Greiner and Polly K. Pook I.S. Robotics phone: (617) 629-0055 e-mail: helen@isr.com , pook...408) 656-3462 e-mail: healey@me.nps.navy.mil LONG-TERM GOALS Through the use of subsumption architectures, low cost, simple robots can be developed

  3. 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

  4. 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.

  5. 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.

  6. Lift generation by the avian tail.

    PubMed

    Maybury, W J; Rayner, J M; Couldrick, L B

    2001-07-22

    Variation with tail spread of the lift generated by a bird tail was measured on mounted, frozen European starlings (Sturnus vulgaris) in a wind tunnel at a typical air speed and body and tail angle of attack in order to test predictions of existing aerodynamic theories modelling tail lift. Measured lift at all but the lowest tail spread angles was significantly lower than the predictions of slender wing, leading edge vortex and lifting line models of lift production. Instead, the tail lift coefficient based on tail area was independent of tail spread, tail aspect ratio and maximum tail span. Theoretical models do not predict bird tail lift reliably and, when applied to tail morphology, may underestimate the aerodynamic optimum tail feather length. Flow visualization experiments reveal that an isolated tail generates leading edge vortices as expected for a low-aspect ratio delta wing, but that in the intact bird body-tail interactions are critical in determining tail aerodynamics: lifting vortices shed from the body interact with the tail and degrade tail lift compared with that of an isolated tail.

  7. 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.

  8. Aerodynamic lift effect on satellite orbits

    NASA Technical Reports Server (NTRS)

    Karr, G. R.; Cleland, J. G.; Devries, L. L.

    1975-01-01

    Numerical quadrature is employed to obtain orbit perturbation results from the general perturbation equations. Both aerodynamic lift and drag forces are included in the analysis of the satellite orbit. An exponential atmosphere with and without atmospheric rotation is used. A comparison is made of the perturbations which are caused by atmospheric rotation with those caused by satellite aerodynamic effects. Results indicate that aerodynamic lift effects on the semi-major axis and orbit inclination can be of the same order as the effects of atmosphere rotation depending upon the orientation of the lift vector. The results reveal the importance of including aerodynamic lift effects in orbit perturbation analysis.

  9. Fuel Cell Powered Lift Truck

    SciTech Connect

    Moulden, Steve

    2015-08-20

    This project, entitled “Recovery Act: Fuel Cell-Powered Lift Truck Sysco (Houston) Fleet Deployment”, was in response to DOE funding opportunity announcement DE-PS36-08GO98009, Topic 7B, which promotes the deployment of fuel cell powered material handling equipment in large, multi-shift distribution centers. This project promoted large-volume commercialdeployments and helped to create a market pull for material handling equipment (MHE) powered fuel cell systems. Specific outcomes and benefits involved the proliferation of fuel cell systems in 5-to 20-kW lift trucks at a high-profile, real-world site that demonstrated the benefits of fuel cell technology and served as a focal point for other nascent customers. The project allowed for the creation of expertise in providing service and support for MHE fuel cell powered systems, growth of existing product manufacturing expertise, and promoted existing fuel cell system and component companies. The project also stimulated other MHE fleet conversions helping to speed the adoption of fuel cell systems and hydrogen fueling technology. This document also contains the lessons learned during the project in order to communicate the successes and difficulties experienced, which could potentially assist others planning similar projects.

  10. Robotic arm

    DOEpatents

    Kwech, Horst

    1989-04-18

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

  11. Robotic vehicle

    DOEpatents

    Box, W.D.

    1998-08-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendible appendages, each of which is radially extendible relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendible members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  12. Robotic vehicle

    DOEpatents

    Box, W.D.

    1997-02-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  13. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1998-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  14. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1997-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  15. A computational model of human-robot load sharing during robot-assisted arm movement training after stroke.

    PubMed

    Reinkensmeyer, David J; Wolbrecht, Eric; Bobrow, James

    2007-01-01

    An important goal in robot-assisted movement therapy after neurologic injury is to provide an optimal amount of mechanical assistance to patients as they complete motor tasks. This paper presents a computational model of how humans interact with robotic therapy devices for the task of lifting a load to a desired height. The model predicts that an adaptive robotic therapy device will take over performance of the lifting task if the human motor control system contains a slacking term (i.e. a term that tries to the reduce force output of the arm when error is small) but the robot does not. We present experimental data from people with a chronic stroke as they train with a robotic arm orthosis that confirms this prediction. We also show that incorporating a slacking term into the robot overcomes this problem, increasing load sharing by the patient while still keeping kinematic errors small. These results provide insight into the computational mechanisms of human motor adaptation during rehabilitation therapy, and provide a framework for optimizing robot-assisted therapy.

  16. 33 CFR 118.85 - Lights on vertical lift bridges.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 33 Navigation and Navigable Waters 1 2014-07-01 2014-07-01 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...

  17. 33 CFR 118.85 - Lights on vertical lift bridges.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 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 navigable channel under the span will be marked by a range of two green lights when the vertical lift...

  18. 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.

  19. A Miniature Controllable Flapping Wing Robot

    NASA Astrophysics Data System (ADS)

    Arabagi, Veaceslav Gheorghe

    The agility and miniature size of nature's flapping wing fliers has long baffled researchers, inspiring biological studies, aerodynamic simulations, and attempts to engineer their robotic replicas. Flapping wing flight is characterized by complex reciprocating wing kinematics, transient aerodynamic effects, and very small body lengths. These characteristics render robotic flapping wing aerial vehicles ideal for surveillance and defense applications, search and rescue missions, and environment monitoring, where their ability to hover and high maneuverability is immensely beneficial. One of the many difficulties in creating flapping wing based miniature robotic aerial vehicles lies in generating a proper wing trajectory that would result in sufficient lift forces for hovering and maneuvering. Since design of a flapping wing system is a balance between overall weight and the number of actuated inputs, we take the approach of having minimal controlled inputs, allowing passive behavior wherever possible. Hence, we propose a completely passive wing pitch reversal design that relies on wing inertial dynamics, an elastic energy storage mechanism, and low Reynolds number aerodynamic effects. Theoretical models, compiling previous research on piezoelectric actuators, four-bar transmissions, and aerodynamics effects, are developed and used as basis for a complete numerical simulation. Limitations of the model are discussed in comparison to experimental results obtained from a working prototype of the proposed passive pitch reversal flapping wing mechanism. Given that the mechanism is under-actuated, methods to control lift force generation by actively varying system parameters are proposed, discussed, and tested experimentally. A dual wing aerial platform is developed based on the passive pitch reversal wing concept. Design considerations are presented, favoring controllability and structural rigidity of the final platform. Finite element analysis and experimental

  20. Handbook of industrial robotics

    SciTech Connect

    Nof, S.Y.

    1985-01-01

    This book presents papers on the application of artificial intelligence to robots used in industrial plants. Topics considered include vision systems, elements of industrial robot software, robot teaching, the off-line programming of robots, a structured programming robot language, task-level manipulator programming, expert systems, and the role of the computer in robot intelligence.

  1. Tutorial on robotics

    SciTech Connect

    Lee, C.S.G.; Gonzalez, R.C.; Fu, K.S.

    1986-01-01

    Basic fundamentals in robotics are presented in this tutorial. Topics covered are as follows: robot arm kinematics; robot arm dynamics; planning or manipulator trajectories; servo control for manipulators; force sensing and control; robot vision systems; robot programming languages; and machine intelligence and robot planning.

  2. 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.

  3. 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

  4. Robots remove explosive waste from flooded site

    SciTech Connect

    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 Environmental 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.

  5. 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.

  6. 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…

  7. 49 CFR 37.203 - Lift maintenance.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 1 2010-10-01 2010-10-01 false Lift maintenance. 37.203 Section 37.203 Transportation Office of the Secretary of Transportation TRANSPORTATION SERVICES FOR INDIVIDUALS WITH DISABILITIES (ADA) Over-the-Road Buses (OTRBs) § 37.203 Lift maintenance. (a) The entity shall establish...

  8. 49 CFR 37.203 - Lift maintenance.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 1 2012-10-01 2012-10-01 false Lift maintenance. 37.203 Section 37.203 Transportation Office of the Secretary of Transportation TRANSPORTATION SERVICES FOR INDIVIDUALS WITH DISABILITIES (ADA) Over-the-Road Buses (OTRBs) § 37.203 Lift maintenance. (a) The entity shall establish...

  9. 49 CFR 37.203 - Lift maintenance.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 1 2014-10-01 2014-10-01 false Lift maintenance. 37.203 Section 37.203 Transportation Office of the Secretary of Transportation TRANSPORTATION SERVICES FOR INDIVIDUALS WITH DISABILITIES (ADA) Over-the-Road Buses (OTRBs) § 37.203 Lift maintenance. (a) The entity shall establish...

  10. 49 CFR 37.203 - Lift maintenance.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 1 2013-10-01 2013-10-01 false Lift maintenance. 37.203 Section 37.203 Transportation Office of the Secretary of Transportation TRANSPORTATION SERVICES FOR INDIVIDUALS WITH DISABILITIES (ADA) Over-the-Road Buses (OTRBs) § 37.203 Lift maintenance. (a) The entity shall establish...

  11. 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 Transportation Office of the Secretary of Transportation TRANSPORTATION SERVICES FOR INDIVIDUALS WITH DISABILITIES (ADA) Over-the-Road Buses (OTRBs) § 37.203 Lift maintenance. (a) The entity shall establish...

  12. 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…

  13. What's new in artificial lift

    SciTech Connect

    Lea, J.F.; Winker, H.W.

    1989-05-01

    New developments might be expected to decline as oil, and thus equipment and service, prices decrease. However, there is no indication that this is occurring. In fact, several new and innovative developments are covered in this article. Of the more unique are a new geometry pumping unit and a hydraulic powered sucker and rod system. Other items described in this article include: New pump-off controller; Automatic balancing for air balanced pumping units; New rod couplings; New pump plunger; Sucker rod pulsation dampener; Stripper type BOP; Rod coupling tool; ESP cable protectors; New ESP motor; VSD communications interface; ESP gas separator; Portable hydraulic production test unit; Casing gas lift plunger; Production shut-of valve; Ceramic material for pump parts; Pressure transmitter; and New versatile packer.

  14. Lip Lifting: Unveiling Dental Beauty.

    PubMed

    Stanley, Kyle; Caligiuri, Matthew; Schlichting, Luís Henrique; Bazos, Panaghiotis K; Magne, Michel

    2017-01-01

    The focus for the achievement of complete success in the esthetic zone has traditionally been on addressing deficiencies of intraoral hard and soft tissue. Often, these deficiencies are accompanied by esthetic concerns regarding the lips that are routinely neglected by the dental team. A predictable plastic surgery technique - the lip lift - has been used for decades to enhance lip esthetics by shortening the senile upper lip to achieve a more youthful appearance. Over the years, this technique has been refined and used in many different ways, allowing its routine incorporation into full facial esthetic planning. Through restoration of the upper lip to its optimal position, the artistry of the dentist and dental technician can truly be appreciated in the rejuvenated smile. By the introduction of this minimally invasive surgical technique to the dental community, patients stand to benefit from a comprehensive orofacial approach to anterior dental esthetic planning.

  15. Heavy-lift airship dynamics

    NASA Technical Reports Server (NTRS)

    Tischler, M. B.; Ringland, R. F.; Jex, H. R.

    1983-01-01

    The basic aerodynamic and dynamic properties of an example heavy-lift airship (HLA) configuration are analyzed using a nonlinear, multibody, 6-degrees-of-freedom digital simulation. The slung-payload model is described, and a preliminary analysis of the coupled vehicle-payload dynamics is presented. Trim calculations show the importance of control mixing selection and suggest performance deficiencies in crosswind stationkeeping for the unloaded example HLA. Numerically linearized dynamics of the unloaded vehicle exhibit a divergent yaw mode and an oscillatory pitch mode whose stability characteristic is sensitive to flight speed. An analysis of the vehicle-payload dynamics shows significant coupling of the payload dynamics with those of the basic HLA. It is shown that significant improvement in the vehicle's dynamic behavior can be achieved with the incorporation of a simple flight controller having proportional, rate, and integral-error feedbacks.

  16. 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

  17. 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

  18. Medical robotics.

    PubMed

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  19. Rehabilitation robotics.

    PubMed

    Krebs, H I; Volpe, B T

    2013-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician's toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual's functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost.

  20. Rehabilitation robotics

    PubMed Central

    KREBS, H.I.; VOLPE, B.T.

    2015-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician’s toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual’s functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We will provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we will then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We will present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. PMID:23312648

  1. 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.

  2. A scaled quantum mechanical force field for the sulfuryl halides. I. The symmetric halides SO2X2 (X=F, Cl, Br).

    PubMed

    Fernández, L E; Verón, M G; Varetti, E L

    2004-01-01

    Force fields and vibrational wavenumbers were calculated for the molecules SO2X2 (X=F, Cl, Br) using DFT techniques. The previously available experimental data and assignments for SO2F2 and SO2Cl2 were compared with the theoretical results and revised, and new low temperature infrared and Raman data were obtained for SO2Cl2. These data were subsequently used in the definition of scaled quantum mechanics force fields for such molecules. Adjusted wavenumbers were also predicted for the still unknown SO2Br2. A comparison is made with results published for the VO2X2- anions.

  3. A scaled quantum mechanical force field for the sulfuryl halides. I. The symmetric halides SO 2X 2 (X=F, Cl, Br)

    NASA Astrophysics Data System (ADS)

    Fernández, L. E.; Verón, M. G.; Varetti, E. L.

    2004-01-01

    Force fields and vibrational wavenumbers were calculated for the molecules SO 2X 2 (X=F, Cl, Br) using DFT techniques. The previously available experimental data and assignments for SO 2F 2 and SO 2Cl 2 were compared with the theoretical results and revised, and new low temperature infrared and Raman data were obtained for SO 2Cl 2. These data were subsequently used in the definition of scaled quantum mechanics force fields for such molecules. Adjusted wavenumbers were also predicted for the still unknown SO 2Br 2. A comparison is made with results published for the VO 2X 2- anions.

  4. 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.

  5. An experimental study of the lift, drag and static longitudinal stability for a three lifting surface configuration

    NASA Technical Reports Server (NTRS)

    Ostowari, C.; Naik, D.

    1986-01-01

    The experimental procedure and aerodynamic force and moment measurements for wind tunnel testing of the three lifting surface configuration (TLC) are described. The influence of nonelliptical lift distributions on lift, drag, and static longitudinal stability are examined; graphs of the lift coefficient versus angle of attack, the pitching moment coefficient, drag coefficient, and lift to drag ratio versus lift coefficient are provided. The TLC data are compared with the conventional tail-aft configuration and the canard-wing configuration; it is concluded that the TLC has better lift and high-lift drag characteristics, lift to drag ratio, and zero-lift moments than the other two configurations. The effects of variations in forward and tail wind incidence angles, gap, stagger, and forward wind span on the drag, lift, longitudinal stability, and zero-lift moments of the configuration are studied.

  6. 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.

  7. Adaptive mobility for rescue robots

    NASA Astrophysics Data System (ADS)

    Blitch, John G.

    2003-09-01

    It has often been observed that the most daunting aspect of any crisis response is managing the "unknown unknowns" that inevitably plague incident commanders and emergency personnel at all levels responsible for life and death decisions on a minute by minute basis. In structural collapse situations, for example, rescue crews rarely have even a coarse picture of the number or disposition of people or material scattered amongst the twisted beams and piles of concrete that typically entomb would-be survivors. How can the incident commander decide which beam to lift or even which section of the building to search first in the absence of information of what lies beneath. Even the slightest tug on a concrete slab can collapse potential life harboring void spaces below killing potential survivors in the process. In deploying mobile robots to assist in rescue operations we combined the traditional advantages of machine immunity to fatigue, hazardous materials and environmental controls, with the mechanical design freedom that allowed small platforms to penetrate deep into rubble to expand both situational awareness and operational influence of rescue services at the World Trade Center and mountainous snow-bound caves in Afghanistan. We learned a great deal from these experiences with regard to robot emloyment and design. This paper endeavors to share a few of our more prominent lessons learned regarding portable robot mobility as a means to manage user expectations and stimulate more innovative and adaptive design.

  8. Robotic Vehicle

    NASA Technical Reports Server (NTRS)

    1994-01-01

    A commercially available ANDROS Mark V-A robot was used by Jet Propulsion Laboratory (JPL) as the departure point in the development of the HAZBOT III, a prototype teleoperated mobile robot designed for response to emergencies. Teleoperated robots contribute significantly to reducing human injury levels by performing tasks too hazardous for humans. ANDROS' manufacturer, REMOTEC, Inc., in turn, adopted some of the JPL concepts, particularly the control panel. HAZBOT III has exceptional mobility, employs solid state electronics and brushless DC motors for safer operation, and is designed so combustible gases cannot penetrate areas containing electronics and motors. Other features include the six-degree-of-freedom manipulator, the 30-pound squeeze force parallel jaw gripper and two video cameras, one for general viewing and navigation and the other for manipulation/grasping.

  9. Robot Swarms

    NASA Technical Reports Server (NTRS)

    Morring, Frank, Jr.

    2005-01-01

    Engineers and interns at this NASA field center are building the prototype of a robotic rover that could go where no wheeled rover has gone before-into the dark cold craters at the lunar poles and across the Moon s rugged highlands-like a walking tetrahedron. With NASA pushing to meet President Bush's new exploration objectives, the robots taking shape here today could be on the Moon in a decade. In the longer term, the concept could lead to shape-shifting robot swarms designed to explore distant planetary surfaces in advance of humans. "If you look at all of NASA s projections of the future, anyone s projections of the space program, they re all rigid-body architecture," says Steven Curtis, principal investigator on the effort. "This is not rigid-body. The whole key here is flexibility and reconfigurability with a capital R."

  10. Robot Manipulators

    NASA Technical Reports Server (NTRS)

    1988-01-01

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

  11. 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.

  12. Robot Hand

    NASA Technical Reports Server (NTRS)

    1986-01-01

    Robots are limited only by the dexterity of the hand. Dr. Salisbury, in conjunction with Stanford, Caltech and Jet Propulsion Laboratory, developed the Salisbury Hand which has three, three-jointed human-like fingers. The tips are covered with a resilient, high friction material for gripping. The robot hand can manipulate objects by finger motion, and adapts to different aims. Advanced software allows the hand to interpret information from fingertip sensors. Further development is expected. A company has been formed to reproduce the device; copies have been delivered to several laboratories.

  13. Robot Tools

    NASA Technical Reports Server (NTRS)

    1996-01-01

    Mecanotron, now division of Robotics and Automation Corporation, developed a quick-change welding method called the Automatic Robotics Tool-change System (ARTS) under Marshall Space Flight Center and Rockwell International contracts. The ARTS system has six tool positions ranging from coarse sanding disks and abrasive wheels to cloth polishing wheels with motors of various horsepower. The system is used by fabricators of plastic body parts for the auto industry, by Texas Instruments for making radar domes, and for advanced composites at Aerospatiale in France.

  14. Robot gripper

    NASA Technical Reports Server (NTRS)

    Webb, Winston S. (Inventor)

    1987-01-01

    An electronic force-detecting robot gripper for gripping objects and attaching to an external robot arm is disclosed. The gripper comprises motor apparatus, gripper jaws, and electrical circuits for driving the gripper motor and sensing the amount of force applied by the jaws. The force applied by the jaws is proportional to a threshold value of the motor current. When the motor current exceeds the threshold value, the electrical circuits supply a feedback signal to the electrical control circuit which, in turn, stops the gripper motor.

  15. 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

  16. 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.

  17. Single crystals of LnFeAsO 1-xF x (Ln = La, Pr, Nd, Sm, Gd) and Ba 1-xRb xFe 2As 2: Growth, structure and superconducting properties

    NASA Astrophysics Data System (ADS)

    Karpinski, J.; Zhigadlo, N. D.; Katrych, S.; Bukowski, Z.; Moll, P.; Weyeneth, S.; Keller, H.; Puzniak, R.; Tortello, M.; Daghero, D.; Gonnelli, R.; Maggio-Aprile, I.; Fasano, Y.; Fischer, Ø.; Rogacki, K.; Batlogg, B.

    2009-05-01

    A review of our investigations on single crystals of LnFeAsO 1-xF x (Ln = La, Pr, Nd, Sm, Gd) and Ba 1-xRb xFe 2As 2 is presented. A high-pressure technique has been applied for the growth of LnFeAsO 1-xF x crystals, while Ba 1-xRb xFe 2As 2 crystals were grown using a quartz ampoule method. Single crystals were used for electrical transport, structure, magnetic torque and spectroscopic studies. Investigations of the crystal structure confirmed high structural perfection and show incomplete occupation of the (O, F) position in superconducting LnFeAsO 1-xF x crystals. Resistivity measurements on LnFeAsO 1-xF x crystals show a significant broadening of the transition in high magnetic fields, whereas the resistive transition in Ba 1-xRb xFe 2As 2 simply shifts to lower temperature. The critical current density for both compounds is relatively high and exceeds 2 × 10 9 A/m 2 at 15 K in 7 T. The anisotropy of magnetic penetration depth, measured on LnFeAsO 1-xF x crystals by torque magnetometry is temperature dependent and apparently larger than the anisotropy of the upper critical field. Ba 1-xRb xFe 2As 2 crystals are electronically significantly less anisotropic. Point-Contact Andreev-Reflection spectroscopy indicates the existence of two energy gaps in LnFeAsO 1-xF x. Scanning Tunneling Spectroscopy reveals in addition to a superconducting gap, also some feature at high energy (∼20 meV).

  18. Robotics Challenge: Cognitive Robot for General Missions

    DTIC Science & Technology

    2015-01-01

    ROBOTICS CHALLENGE: COGNITIVE ROBOT FOR GENERAL MISSIONS UNIVERSITY OF KANSAS JANUARY 2015 FINAL TECHNICAL REPORT... ROBOTICS CHALLENGE: COGNITIVE ROBOT FOR GENERAL MISSIONS 5a. CONTRACT NUMBER FA8750-12-1-0302 5b. GRANT NUMBER N/A 5c. PROGRAM ELEMENT NUMBER 62702E...a complicated environment, a robotic system requires both high-level command facilities and low- level sensing/control mechanisms. This report

  19. Low-Speed Longitudinal Stability Characteristics of a 1/6-Scale Model of the Republic XF-84H Airplane with the Propeller Operating

    NASA Technical Reports Server (NTRS)

    Sleeman, William C.; Byrnes, Andrew L.

    1953-01-01

    A low-speed investigation was made of a 1/6-scale model of the Republic XF-84H airplane. The model had a single tractor propeller and a 40deg swept wing of aspect ratio 3.45. This investigation was undertaken to provide information on the effects of propeller operation on longitudinal stability characteristics for the XF -84H airplane and to provide an indication of slipstream effects that might be encountered on similar swept-wing configurations. Effects of propeller operation were generally destabilizing for all conditions investigated; however, the over-all stability characteristics with power on were greatly dependent on the power-off characteristics. With flaps and slats retracted, longitudinal instability was present at moderate angles of attack both with the propeller off and with power on. The longitudinal stability with flaps and slats deflected, which was satisfactory without power, was decreased by propeller operation, but no marked pitch-up tendency was indicated. Significant improvement in the power-on stability with flaps retracted was achieved by use of either a wing fence at 75 percent semispan, a leading-edge chord-extension from 65 to 94 percent semispan, or a raised horizontal tail located 65 percent semispan above the thrust line.

  20. Robotics in Construction.

    DTIC Science & Technology

    1986-01-01

    MICROCOPY RESOLUTION TEST CHART NATIONAL BUREAU OF STANDARDS 1963 A 0 ROBOTICS IN CONSTRUCTIONt 10 BY MICHAEL R. BROZZO A REPORT PRESENTED TO THE GRADUATE... ROBOTS AND ROBOTICS ---------------------------- 3 2.1 HISTORY ------------------------------------------- 3 CHAPTER THREE - BASIC ROBOT MOVEMENTS...CHAPTER FOUR - BASIC ROBOT COMPONENTS ------------------------ 8 4.1 GENERAL ------------------------------------------- 8 4.1.1 Manipulator

  1. Beyond Robotics

    ERIC Educational Resources Information Center

    Tally, Beth; Laverdure, Nate

    2006-01-01

    Chantilly High School Academy Robotics Team Number 612 from Chantilly, Virginia, is an award-winning team of high school students actively involved with FIRST (For Inspiration and Recognition of Science and Technology), a multinational nonprofit organization that inspires students to transform culture--making science, math, engineering and…

  2. Robotic Surgery

    ERIC Educational Resources Information Center

    Childress, Vincent W.

    2007-01-01

    The medical field has many uses for automated and remote-controlled technology. For example, if a tissue sample is only handled in the laboratory by a robotic handling system, then it will never come into contact with a human. Such a system not only helps to automate the medical testing process, but it also helps to reduce the chances of…

  3. Experimental determination of baseball spin and lift.

    PubMed

    Alaways, L W; Hubbard, M

    2001-05-01

    The aim of this study was to develop a new method for the determination of lift on spinning baseballs. Inertial trajectories of (a) ball surface markers during the first metre of flight and (b) the centre of mass trajectory near home-plate were measured in a pitch using high-speed video. A theoretical model was developed, incorporating aerodynamic Magnus-Robins lift, drag and cross forces, which predicts the centre of mass and marker trajectories. Parameters including initial conditions and aerodynamic coefficients were estimated iteratively by minimizing the error between predicted and measured trajectories. We compare the resulting lift coefficients and spin parameter values with those of previous studies. Lift on four-seam pitches can be as much as three times that of two-seam pitches, although this disparity is reduced for spin parameters greater than 0.4.

  4. Heavy Lift & Propulsion Technology (HL&PT)

    NASA Video Gallery

    Cris Guidi delivers a presentation from the Heavy Lift & Propulsion Technology (HL&PT) study team on May 25, 2010, at the NASA Exploration Enterprise Workshop held in Galveston, TX. The purpose of ...

  5. Integrated lift/drag controller for aircraft

    NASA Technical Reports Server (NTRS)

    Olcott, J. W.; Seckel, E.; Ellis, D. R. (Inventor)

    1974-01-01

    A system for altering the lift/drag characteristics of powered aircraft to provide a safe means of glide path control includes a control device integrated for coordination action with the aircraft throttle. Such lift/drag alteration devices as spoilers, dive brakes, and the like are actuated by manual operation of a single lever coupled with the throttle for integrating, blending or coordinating power control. Improper operation of the controller is inhibited by safety mechanisms.

  6. 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

  7. Liftings and stresses for planar periodic frameworks.

    PubMed

    Borcea, Ciprian; Streinu, Ileana

    2015-06-01

    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.

  8. 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.

  9. Intelligent robots for planetary exploration and construction

    NASA Astrophysics Data System (ADS)

    Albus, James S.

    1992-02-01

    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.

  10. The effect of asymmetry on psychophysical lifting capacity for three lifting types.

    PubMed

    Han, B; Stobbe, T J; Hobbs, G R

    2005-03-15

    The effect of asymmetry on a person's lifting capacity was investigated using the psychophysical approach. Ten male college students lifted a box from pallet height (15 cm) to conveyor height (75 cm) at a frequency of one and five lifts/min. Three types of asymmetric lifting tasks (step-turn, middle twist and twist) were studied using 90 and 180 degrees task angles. Lifting capacity reductions for middle twist and twist at a 90 degrees asymmetric angle were about one-half of the 30% reduction that would be calculated by the 1991 National Institute for Occupational Safety & Health (NIOSH) lifting equation. The lifting capacity reduction for step-turn at 180 degrees was 14.9%, although that reduction cannot be calculated in the NIOSH equation. The middle twist lifting capacity was greatest among the three types at a 90 degrees task angle. The reductions for the middle twist and step-turn were not proportional to the task angle. This is contrary to the proportional reduction in the NIOSH lifting equation. Heart rate did not increase with an increase in task angle. Based on the results of this research, a different approach to assigning the asymmetric multiplier is proposed. This approach includes a task angle (as opposed to asymmetric angle) of up to 180 degrees.

  11. Novice Lifters Exhibit A More Kyphotic Lifting Posture Than Experienced Lifters In Straight-Leg Lifting

    PubMed Central

    Riley, A.E.; Craig, T.D.; Sharma, N.K.; Billinger, S.A.; Wilson, S.E.

    2015-01-01

    As torso flexion and repetitive lifting are known risk factors for low back pain and injury, it is important to investigate lifting techniques that might reduce injury during repetitive lifting. By normalizing lumbar posture to a subject’s range of motion (ROM), as a function of torso flexion, this research examined when subjects approached their range of motion limits during dynamic lifting tasks. For this study, it was hypothesized that experienced lifters would maintain a more neutral lumbar angle relative to their range of motion, while novice lifters would approach the limits of their lumbar ROM during the extension phase of a straight-leg lift. The results show a statistically significant difference in lifting patterns for these two groups supporting this hypothesis. The novice group maintained a much more kyphotic lumbar angle for both the flexion (74% of the lumbar angle ROM) and extension phases (86% of the lumbar angle ROM) of the lifting cycle, while the experienced group retained a more neutral curvature throughout the entire lifting cycle (37% of lumbar angle ROM in flexion and 48% of lumbar angle ROM in extension). By approaching the limits of their range of motion, the novice lifters could be at greater risk of injury by placing greater loads on the supporting soft tissues of the spine. Future research should examine whether training subjects to assume more neutral postures during lifting could indeed lower injury risks. PMID:26077846

  12. 49 CFR 178.812 - Top lift test.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    .... (b) Special preparation for the top lift test. (1) Metal, rigid plastic, and composite IBC design... 49 Transportation 2 2010-10-01 2010-10-01 false Top lift test. 178.812 Section 178.812... Testing of IBCs § 178.812 Top lift test. (a) General. The top lift test must be conducted for...

  13. 49 CFR 178.975 - Top lift test.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... Large Packagings, from the side. (b) Special preparation for the top lift test. (1) Metal and rigid... 49 Transportation 2 2010-10-01 2010-10-01 false Top lift test. 178.975 Section 178.975... Testing of Large Packagings § 178.975 Top lift test. (a) General. The top lift test must be conducted...

  14. 49 CFR 178.812 - Top lift test.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 3 2011-10-01 2011-10-01 false Top lift test. 178.812 Section 178.812... Top lift test. (a) General. The top lift test must be conducted for the qualification of all IBC design types designed to be lifted from the top or, for flexible IBCs, from the side. (b)...

  15. 49 CFR 178.975 - Top lift test.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 3 2011-10-01 2011-10-01 false Top lift test. 178.975 Section 178.975... Packagings § 178.975 Top lift test. (a) General. The top lift test must be conducted for the qualification of all of Large Packagings design types to be lifted from the top or, for flexible Large Packagings,...

  16. 49 CFR 178.812 - Top lift test.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... preparation for the top lift test. (1) Metal, rigid plastic, and composite IBC design types must be loaded to... 49 Transportation 3 2013-10-01 2013-10-01 false Top lift test. 178.812 Section 178.812... Top lift test. (a) General. The top lift test must be conducted for the qualification of all...

  17. 49 CFR 178.811 - Bottom lift test.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... Bottom lift test. (a) General. The bottom lift test must be conducted for the qualification of all IBC.... (c) Test method. All IBC design types must be raised and lowered twice by a lift truck with the forks... 49 Transportation 3 2011-10-01 2011-10-01 false Bottom lift test. 178.811 Section...

  18. 49 CFR 178.975 - Top lift test.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... Packagings § 178.975 Top lift test. (a) General. The top lift test must be conducted for the qualification of... distributed. (c) Test method. (1) A Large Packaging must be lifted in the manner for which it is designed... 49 Transportation 3 2013-10-01 2013-10-01 false Top lift test. 178.975 Section...

  19. 49 CFR 178.811 - Bottom lift test.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... evenly distributed. (c) Test method. All IBC design types must be raised and lowered twice by a lift... 49 Transportation 2 2010-10-01 2010-10-01 false Bottom lift test. 178.811 Section 178.811... Testing of IBCs § 178.811 Bottom lift test. (a) General. The bottom lift test must be conducted for...

  20. 49 CFR 178.811 - Bottom lift test.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... Bottom lift test. (a) General. The bottom lift test must be conducted for the qualification of all IBC.... (c) Test method. All IBC design types must be raised and lowered twice by a lift truck with the forks... 49 Transportation 3 2013-10-01 2013-10-01 false Bottom lift test. 178.811 Section...

  1. 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…

  2. Tandem mobile robot system

    DOEpatents

    Buttz, James H.; Shirey, David L.; Hayward, David R.

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  3. Lifting teams in health care facilities: a literature review.

    PubMed

    Haiduven, Donna

    2003-05-01

    1. Manual lifting and transfer activities are job tasks frequently associated with back injuries in nursing personnel. One approach with potential to decrease these injuries is the lifting team. 2. In program evaluations completed to date, there have been numerous benefits and several limitations attributed to use of lifting teams in health care facilities. 3. Benefits of lifting teams include reductions in lost time workdays, restricted workdays, workers' compensation claims, and injuries to lifting team members; satisfaction of patients, staff, and lifting team members; and capacity of the lifting team to absorb the majority of high risk lifts and transfers on shifts in which they operate. 4. Lifting teams may not be appropriate for all settings, require infrastructure and lifting team equipment to support their use, and require careful consideration related to staffing. However, when their use is appropriate, efforts to overcome their limitations can be accomplished with careful evaluation of outcome measures and indicators.

  4. Robotic System

    NASA Technical Reports Server (NTRS)

    1984-01-01

    A complicated design project, successfully carried out by New York manufacturing consultant with help from NERAC, Inc., resulted in new type robotic system being marketed for industrial use. Consultant Robert Price, operating at E.S.I, Inc. in Albany, NY, sought help from NERAC to develop an automated tool for deburring the inside of 8 inch breech ring assemblies for howitzers produced by Watervliet Arsenal. NERAC conducted a search of the NASA data base and six others. From information supplied, Price designed a system consisting of a standard industrial robot arm, with a specially engineered six-axis deburring tool fitted to it. A microcomputer and computer program direct the tool on its path through the breech ring. E.S.I. markets the system to aerospace and metal cutting industries for deburring, drilling, routing and refining machined parts.

  5. Climbing robot

    NASA Astrophysics Data System (ADS)

    Kerley, James J.; May, Edward L.; Ecklund, Wayne D.

    1993-11-01

    A mobile robot for traversing any surface consisting of a number of interconnected segments, each interconnected segment having an upper 'U' frame member, a lower 'U' frame member, a compliant joint between the upper 'U' frame member and the lower 'U' frame member, a number of linear actuators between the two frame members acting to provide relative displacement between the frame members, a foot attached to the lower 'U' frame member for adherence of the segment to the surface, an inter-segment attachment attached to the upper 'U' frame member for interconnecting the segments, a power source connected to the linear actuator, and a computer/controller for independently controlling each linear actuator in each interconnected segment such that the mobile robot moves in a caterpillar like fashion.

  6. Lift mechanics of downhill skiing and snowboarding

    NASA Astrophysics Data System (ADS)

    Wu, Qianhong; Igci, Yesim; Andreopoulos, Yiannis

    2005-11-01

    A simplified mathematical model is derived to describe the lift mechanics of downhill skiing and snowboarding, where the lift contributions due to both the transiently trapped air and the compressed snow crystals are determined for the first time. Using Shimizu's empirical relation to predict the local variation in snow permeability, we employ force and moment analysis 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, which shows that approximately 50% of the total lift force is generated by the trapped air in the case of wind-packed snow for snowboarding and 40% for skiing. For highly permeable fresh powder snow the lift contribution from the pore air pressure drops to < 20%. This new theory is an extension of the series of studies on lift generation in highly compressible porous media.

  7. 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.

  8. Lifting device for nuclear power plants

    SciTech Connect

    Krieger, F.

    1984-07-17

    A lifting device for lifting and transporting nuclear fuel elements. This device comprises a mast-like support on the lower end of which automatically operated and locked gripping pawls are provided. The support has a considerable height and may be referred to as lifting mast. The gripping pawls and their operating mechanism are referred to as gripping-head. The gripping-head and the lifting mast are telescopically movable relative to each other. To this end guide rods and compression springs are interposed between the lower end of the lifting mast and the gripping-head. The gripping-head comprises two concentric annular members which are relatively movable or rotatable about their common geometrical axis. One of the annular members supports the gripping pawls are T-shaped. One of their transverse ends is adapted to engage the fuel rods, and the other of their transverse ends is adapted to engage curved grooves in the other annular member. The rotary motion of one annular member relative to the other gripping pawls. In their limit positions the two annular members are blocked by a safety lever engaging slits or slots.

  9. 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.

  10. Room-temperature scintillation properties of cerium-doped REOX (RE=Y, La, Gd, and Lu; X=F, Cl, Br, and I)

    SciTech Connect

    Eagleman, Yetta; Bourret-Courchesne, Edith; Derenzo, Stephen

    2010-12-10

    The scintillation properties of cerium-doped oxyhalides following the general formula REOX (RE=Y, La, Gd, and Lu; X=F, Cl, Br, and I) are reported. These materials were synthesized under dry conditions as microcrystalline powders from conventional solid state reactions. The room temperature X-ray excited emission and scintillation decay curves were measured and analyzed for each material. Additionally, the hygroscopic nature of the oxychlorides and oxybromides was compared to that of their corresponding rare earth halides. The yttrium, lanthanum, and gadolinium oxychlorides, and all of the oxybromides and oxyiodides are found to be activated by Ce{sup 3+}. GdOBr doped with 0.5% Ce{sup 3+} has the highest light output with a relative luminosity of about one-half that of LaBr{sub 3}: Ce{sup 3+}. It displays a single exponential decay of 30 ns.

  11. On the Versatility of BH2 X (X=F, Cl, Br, and I) Compounds as Halogen-, Hydrogen-, and Triel-Bond Donors: An Ab Initio Study.

    PubMed

    Bauzá, Antonio; Frontera, Antonio

    2016-10-18

    In this manuscript, the ability of BH2 X compounds (X=F, Cl, Br, and I) to establish halogen-, hydrogen-, and triel-bonding interactions was studied at the RI-MP2/aug-cc-pVQZ level of theory. Several homodimers were taken into account, highlighting the versatility of these compounds to act as both electron donors and electron acceptors. Natural bond orbital analysis showed that orbital effects were important contributors to the global stabilization of the σ- and π-hole bonded complexes studied. Finally, some X-ray solid-state structures retrieved from the Cambridge structural database were described to demonstrate the importance of these interactions involving boron derivatives in the solid state.

  12. The effect of the cation substitution on the structural and vibrational properties of Cs2NaGaxSc(1-x)F6 solid solution.

    PubMed

    Doriguetto, A C; Boschi, T M; Pizani, P S; Mascarenhas, Y P; Ellena, J

    2004-08-15

    Raman scattering and x-ray diffration were used to characterize the structural and vibrational properties of the Cs2NaGaxSc(1-x)F6 solid solutions, for x ranging from 0.0 to 1.0. The Raman spectra, taken at room and low temperature, allow us to follow the phase evolution in detail and indicate the breaking of the local symmetry since low Ga concentration levels. Five compositions were studied by x-ray diffraction: x = 0.0, 0.2, 0.5, 0.8, and 1.0. A cubic space group, Fm3m, was found to x = 0.0 and x = 0.2 and a trigonal one was found to x = 0.5, 0.8, and 1.0. Details of both phases are presented and the correlation between x-ray diffraction and Raman scattering is discussed.

  13. Concerted interaction between pnicogen and halogen bonds in XCl-FH2P-NH3 (X=F, OH, CN, NC, and FCC).

    PubMed

    Li, Qing-Zhong; Li, Ran; Liu, Xiao-Feng; Li, Wen-Zuo; Cheng, Jian-Bo

    2012-04-10

    We analyze the interplay between pnicogen-bonding and halogen-bonding interactions in the XCl-FH(2)P-NH(3) (X=F, OH, CN, NC, and FCC) complex at the MP2/aug-cc-pVTZ level. Synergetic effects are observed when pnicogen and halogen bonds coexist in the same complex. These effects are studied in terms of geometric and energetic features of the complexes. Natural bond orbital theory and Bader's theory of "atoms in molecules" are used to characterize the interactions and analyze their enhancement with varying electron density at critical points and orbital interactions. The physical nature of the interactions and the mechanism of the synergetic effects are studied using symmetry-adapted perturbation theory. By taking advantage of all the aforementioned computational methods, the present study examines how both interactions mutually influence each other.

  14. A Coupled-Cluster Study of the Molecular Structure, Vibrational Spectrum, and Relative Energies of the XCN and XNC (X=F, Cl) Isomers

    NASA Technical Reports Server (NTRS)

    Lee, Timothy J.; Racine, Stephen C.; Langhoff, Stephen R. (Technical Monitor)

    1994-01-01

    The XCN and XNC (X=F, Cl) isomers have been investigated using the CCSD and CCSD(T) methods in conjunction with a TZ2P basis set. Equilibrium geometries, dipole moments, harmonic frequencies, IR intensities and relative energies have been evaluated. The CCSD(T) geometries and vibrational frequencies for the XCN isomers are in good agreement with the available experimental data. The CCSD(T) results for FCN and FNC are in good agreement with the CEPA calculations of Botshwina et al., with the exception of the energy difference, which the CEPA method underestimates by about 1.2 kcal/mol. FCN and CICN are shown to be lower in energy than the FNC and ClNC isomers by 69.511.0 and 42.711.0 kcal/mol (0 K), respectively.

  15. 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.

  16. TMI-2 reactor vessel plenum final lift

    SciTech Connect

    Wilson, D C

    1986-01-01

    Removal of the plenum assembly from the TMI-2 reactor vessel was necessary to gain access to the core region for defueling. The plenum was lifted from the reactor vessel by the polar crane using three specially designed pendant assemblies. It was then transferred in air to the flooded deep end of the refueling canal and lowered onto a storage stand where it will remain throughout the defueling effort. The lift and transfer were successfully accomplished on May 15, 1985 in just under three hours by a lift team located in a shielded area within the reactor building. The success of the program is attributed to extensive mockup and training activities plus thorough preparations to address potential problems. 54 refs.

  17. Unsteady lifting-line theory with applications

    NASA Technical Reports Server (NTRS)

    Ahmadi, A. R.; Widnall, S. E.

    1982-01-01

    Unsteady lifting-line theory is developed for a flexible unswept wing of large aspect ratio oscillating at low frequency in inviscid incompressible flow. The theory is formulated in terms of the acceleration potential and treated by the method of matched asymptotic expansions. The wing displacements are prescribed and the pressure field, airloads, and unsteady induced downwash are obtained in closed form. Sample numerical calculations are presented. The present work identifies and resolves errors in the unsteady lifting-line theory of James and points out a limitation in that of Van Holten. Comparison of the results of Reissner's approximate unsteady lifting-surface theory with those of the present work shows favorable agreement. The present work thus provides some formal justification for Reissner's ad hoc theory. For engineering purposes, the region of applicability of the theory in the reduced frequency-aspect ratio domain is identified approximately and found to cover most cases of practical interest.

  18. Coriolis effects enhance lift on revolving wings.

    PubMed

    Jardin, T; David, L

    2015-03-01

    At high angles of attack, an aircraft wing stalls. This dreaded event is characterized by the development of a leading edge vortex on the upper surface of the wing, followed by its shedding which causes a drastic drop in the aerodynamic lift. At similar angles of attack, the leading edge vortex on an insect wing or an autorotating seed membrane remains robustly attached, ensuring high sustained lift. What are the mechanisms responsible for both leading edge vortex attachment and high lift generation on revolving wings? We review the three main hypotheses that attempt to explain this specificity and, using direct numerical simulations of the Navier-Stokes equations, we show that the latter originates in Coriolis effects.

  19. Robot environment expert system

    NASA Technical Reports Server (NTRS)

    Potter, J. L.

    1985-01-01

    The Robot Environment Expert System uses a hexidecimal tree data structure to model a complex robot environment where not only the robot arm moves, but also the robot itself and other objects may move. The hextree model allows dynamic updating, collision avoidance and path planning over time, to avoid moving objects.

  20. Flight of a Rufous Hummingbird Robotic Model-PIV Measurements

    NASA Astrophysics Data System (ADS)

    Bocanegra Evans, Humberto; Chavez Alarcon, Ramiro; Ferreira de Sousa, Paulo; Tobalske, Bret; Allen, James

    2008-11-01

    Phase-locked PIV velocity data was obtained around the wing and in the wake of a 2-DOF scaled robotic hummingbird model. Experiments were conducted in a large water channel facility at New Mexico State University. Reynolds and Strouhal numbers for the experiment are in the range of 3600 and 0.97, respectively. Momentum balance from velocity field measurements is used to estimate the lift and drag of the hummingbird model, and compared with force data directly obtained using strain gages.

  1. Soccer ball lift coefficients via trajectory analysis

    NASA Astrophysics Data System (ADS)

    Goff, John Eric; Carré, Matt J.

    2010-07-01

    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 parameters that have not been obtained by today's wind tunnels. Our trajectory analysis technique is not only a valuable tool for professional sports scientists, it is also accessible to students with a background in undergraduate-level classical mechanics.

  2. Robots and manipulators

    NASA Technical Reports Server (NTRS)

    Heer, E.

    1981-01-01

    Robots are defined and described for various applications. The key feature of robots is programmability, which allows teleoperation, repair work in hazardous situations, and unsupervised operation in industrial functions. Two types of robots now exist: special purpose, with equipment for a specific task; and general purpose, which include nonservo-controlled robots, servo-controlled robots, and sensory control robots. Sensory robots are the most sophisticated, and are equipped with both internal control sensors and external sensors such as TV cameras, pressure detectors, laser range finders, etc. Sensory feedback to a central computer enables the robots to make appropriate modifications to the control program to adapt to new situations. Pattern recognition and scans for size are features of the TV sensors, and programs to develop a universal effector (hand) are outlined. Finally, robot programming in terms of manual, walkthrough, and textual methods are described, and the potential uses of robots for space and undersea construction and repair are discussed.

  3. 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

  4. Robotic Telesurgery Research

    DTIC Science & Technology

    2010-03-01

    dexterous workspace, as in the NB2.1 [5]. This robotic platform is designed specifically for Laparoendoscopic Single - Site Surgery (LESS), and consists...Laparoendoscopic Single - Site Surgery using a Multi-Functional Miniature In Vivo Robot,” The International Journal of Medical Robotics and Computer Assisted...Farritor, S.M., Oleynikov, D. “Laparoendoscopic Single - Site Surgery using a Multi-Functional Miniature In Vivo Robot,” Minimally Invasive Robotic

  5. Collaborative Robotics Design Considerations

    DTIC Science & Technology

    2004-05-06

    I~D~·L Paper Number Collaborative Robotics Design Considerations ABSTRACT As research advances individual robot capabilities, a logical...progression is the use of multiple robots to complete a task more effectively. Mission performance can be improved by the ability to allocate robots with...diverse capabilities to perform different parts of a complex task. To paraphrase [[10], there are many advantages to enabling robotic collaborative

  6. Robotic Vision for Welding

    NASA Technical Reports Server (NTRS)

    Richardson, R. W.

    1986-01-01

    Vision system for robotic welder looks at weld along axis of welding electrode. Gives robot view of most of weld area, including yet-unwelded joint, weld pool, and completed weld bead. Protected within welding-torch body, lens and fiber bundle give robot closeup view of weld in progress. Relayed to video camera on robot manipulator frame, weld image provides data for automatic control of robot motion and welding parameters.

  7. 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.

  8. Robotic vehicle

    DOEpatents

    Box, W.D.

    1994-03-15

    A robotic vehicle is described for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle comprises forward and rear housings each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings are selectively held in a stationary position within the conduit. The vehicle also includes at least three selectively extendable members, each of which defines a cavity therein. The forward end portion of each extendable member is secured to the forward housing and the rear end portion of each housing is secured to the rear housing. Each of the extendable members is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively increased. Further, each of the extendable members is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively decreased. 11 figures.

  9. Robotic vehicle

    DOEpatents

    Box, W.D.

    1996-03-12

    A robotic vehicle is described for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle comprises forward and rear housings each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings are selectively held in a stationary position within the conduit. The vehicle also includes at least three selectively extendable members, each of which defines a cavity therein. The forward end portion of each extendable member is secured to the forward housing and the rear end portion of each housing is secured to the rear housing. Each of the extendable members is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively increased. Further, each of the extendable members is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively decreased. 14 figs.

  10. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1996-01-01

    A robotic vehicle (10) for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle (10) comprises forward and rear housings (32 and 12) each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings (32 and 12) are selectively held in a stationary position within the conduit. The vehicle (10) also includes at least three selectively extendable members (46), each of which defines a cavity (56) therein. The forward end portion (50) of each extendable member (46) is secured to the forward housing (32) and the rear end portion (48) of each housing is secured to the rear housing (12). Each of the extendable members (46) is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity (56) of the extendable member such that the distance between the forward housing (32 ) and the rear housing (12) can be selectively increased. Further, each of the extendable members (46) is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity (56) of the extendable member (46) such that the distance between the forward housing (32) and the rear housing (12) can be selectively decreased.

  11. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1994-01-01

    A robotic vehicle (10) for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle (10) comprises forward and rear housings (32 and 12) each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings (32 and 12) are selectively held in a stationary position within the conduit. The vehicle (10) also includes at least three selectively extendable members (46), each of which defines a cavity (56) therein. The forward end portion (50) of each extendable member (46) is secured to the forward housing (32) and the rear end portion (48) of each housing is secured to the rear housing (12). Each of the extendable members (46) is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity (56) of the extendable member such that the distance between the forward housing (32 ) and the rear housing (12) can be selectively increased. Further, each of the extendable members (46) is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity (56) of the extendable member (46) such that the distance between the forward housing (32) and the rear housing (12) can be selectively decreased.

  12. Hexapod Robot

    NASA Technical Reports Server (NTRS)

    Begody, Ericka

    2016-01-01

    The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to

  13. Compound Channels, Transition Expectations, and Liftings

    SciTech Connect

    Accardi, L.; Ohya, M.

    1999-01-15

    In Section 1 we introduce the notion of lifting as a generalization of the notion of compound state introduced in [21] and [22] and we show that this notion allows a unified approach to the problems of quantum measurement and of signal transmission through quantum channels. The dual of a linear lifting is a transition expectation in the sense of [3] and we characterize those transition expectations which arise from compound states in the sense of [22]. In Section 2 we characterize those liftings whose range is contained in the closed convex hull of product states and we prove that the corresponding quantum Markov chains [2] are uniquely determined by a classical generalization of both the quantum random walks of [4] and the locally diagonalizable states considered in [3]. In Section 4, as a first application of the above results, we prove that the attenuation (beam splitting) process for optical communication treated in [21] can be described in a simpler and more general way in terms of liftings and of transition expectations. The error probabilty of information transmission in the attenuation process is rederived from our new description. We also obtain some new results concerning the explicit computation of error probabilities in the squeezing case.

  14. Effects of Mach Number on Maximum Lift

    DTIC Science & Technology

    1947-01-01

    raAruaKJ tablo, grapho Haeh nunber effect on r»\\irirmr> lift is datomlncd for unsuopt end onopt-back Dingo . Suopt-back ulngo oboa tho oarx> early tip...ulngo. &7opt-toack uingo ahan tho anm early tip stalling tondancioa at high opoede ae they do at leu opoede. For unsnopt Dingo tho Cj p^ of

  15. High gantry for lifting and handling

    NASA Technical Reports Server (NTRS)

    Kerley, J. J., Jr.; Tereniak, W. T.

    1977-01-01

    Standard gantry has been inexpensively modified with standard pipes to allow lifting of heavy loads to distances between 14 and 30 ft. Addition of air mounts permits extensive and sensitive equipment to be moved smoothly and safely over smooth or moderately rough surfaces. Unit has been tested at 6000 pounds without yielding.

  16. The Monoplane as a Lifting Vortex Surface

    NASA Technical Reports Server (NTRS)

    Blenk, Hermann

    1947-01-01

    In Prandtl's airfoil theory the monoplane was replaced by a single lifting vortex line and yielded fairly practical results. However, the theory remained restricted to the straight wing. Yawed wings and those curved in flight direction could not be computed with this first approximation; for these the chordwise lift distribution must be taken into consideration. For the two-dimensional problem the transition from the lifting line to the lifting surface has been explained by Birnbaum. In the present report the transition to the three-dimensional problem is undertaken. The first fundamental problem involves the prediction of flow, profile, and drag for prescribed circulation distribution on the straight rectangular wing, the yawed wing for lateral boundaries parallel to the direction of flight, the swept-back wing, and the rectangular wing in slipping, with the necessary series developments for carrying through the calculations, the practical range of convergence of which does not comprise the wing tips or the break point of the swept-back wing. The second problem concerns the calculation of the circulation distribution with given profile for a slipping rectangular monoplane with flat profile and aspect ratio 6, and a rectangular wing with cambered profile and variable aspect ratio-the latter serving as check of the so-called conversion formulas of the airfoil theory.

  17. O.H. Module Vacuum Lifting Fixture

    SciTech Connect

    McGivern, Paul; /Fermilab

    1987-12-31

    In order to move the 800 lb. copper plates that make up the O.H. modules a vacuum lifting device has been made that will lift the plates safely. The purpose of this report is to provide documentation for the structural integrity of the system and to make sure that it passes all of the safety requirements that have been established for a system of this nature. The vacuum system is composed of a PIAB model M125 vacuum pump that has the pumping capacity of 27 in. Hg. This pump will produce vacuum for three 8 1/2 in. diameter suction cups or pads. A pressure gauge is fixed on the unit to allow the operator to continually monitor the pressure during all lifts. An additional safety feature is a mechanical vacuum monitoring device that is set to emit a shrill tone if the system vacuum falls below 24 in. Hg. A 'bleed' valve fixed on the unit will be used to let the system go to atmospheric pressure once the lift is complete. A 3 psi. check valve and a vacuum reserve of 384 in. is used to insure that the device will not just drop the object if the pump fails. A schematic for the pumping system is given in Figure 1.

  18. Measuring Lift with the Wright Airfoils

    ERIC Educational Resources Information Center

    Heavers, Richard M.; Soleymanloo, Arianne

    2011-01-01

    In this laboratory or demonstration exercise, we mount a small airfoil with its long axis vertical at one end of a nearly frictionless rotating platform. Air from a leaf blower produces a sidewise lift force L on the airfoil and a drag force D in the direction of the air flow (Fig. 1). The rotating platform is kept in equilibrium by adding weights…

  19. NASA HL-20 PLS Lifting Body (Mockup)

    NASA Technical Reports Server (NTRS)

    1991-01-01

    NASA HL-20 PLS Lifting Body (Mockup): The HL-20 came into use at Langley in October 1990 and is a full-scale non-flying mockup. This mockup was used for engineering studies of maintainability of the vehicle, as testing crew positions, pilot visibility and other human factors considerations.

  20. View of lifting girder and tower support superstructure on Tensaw ...

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

    View of lifting girder and tower support superstructure on Tensaw River Bridge truss No. 2, looking northwest. Showing rope connectors and deflector sheaves. - Tensaw River Lift Bridge, Spanning Tensaw River at U.S. Highway 90, Mobile, Mobile County, AL

  1. 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

  2. 39. DETAIL AERIAL VIEW LOOKING AT 210' 9' LIFT SPAN ...

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

    39. DETAIL AERIAL VIEW LOOKING AT 210' 9' LIFT SPAN TOWER SHEAVES SHOWING 1 SET WITH AND 1 SET WITHOUT SHEAVE HOODS - Central Railroad of New Jersey, Newark Bay Lift Bridge, Spanning Newark Bay, Newark, Essex County, NJ

  3. 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.

  4. Robotic intelligence kernel

    DOEpatents

    Bruemmer, David J.

    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.

  5. Effects of box size, frequency of lifting, and height of lift on maximum acceptable weight of lift and heart rate for male university students in Iran

    PubMed Central

    Abadi, Ali Salehi Sahl; Mazlomi, Adel; Saraji, Gebraeil Nasl; Zeraati, Hojjat; Hadian, Mohammad Reza; Jafari, Amir Homayoun

    2015-01-01

    Introduction In spite of the widespread use of automation in industry, manual material handling (MMH) is still performed in many occupational settings. The emphasis on ergonomics in MMH tasks is due to the potential risks of workplace accidents and injuries. This study aimed to assess the effect of box size, frequency of lift, and height of lift on maximum acceptable weight of lift (MAWL) on the heart rates of male university students in Iran. Methods This experimental study was conducted in 2015 with 15 male students recruited from Tehran University of Medical Sciences. Each participant performed 18 different lifting tasks that involved three lifting frequencies (1lift/min, 4.3 lifts/min and 6.67 lifts/min), three lifting heights (floor to knuckle, knuckle to shoulder, and shoulder to arm reach), and two box sizes. Each set of experiments was conducted during the 20 min work period using the free-style lifting technique. The working heart rates (WHR) were recorded for the entire duration. In this study, we used SPSS version 18 software and descriptive statistical methods, analysis of variance (ANOVA), and the t-test for data analysis. Results The results of the ANOVA showed that there was a significant difference between the mean of MAWL in terms of frequencies of lifts (p = 0.02). Tukey’s post hoc test indicated that there was a significant difference between the frequencies of 1 lift/minute and 6.67 lifts/minute (p = 0. 01). There was a significant difference between the mean heart rates in terms of frequencies of lifts (p = 0.006), and Tukey’s post hoc test indicated a significant difference between the frequencies of 1 lift/minute and 6.67 lifts/minute (p = 0.004). But, there was no significant difference between the mean of MAWL and the mean heart rate in terms of lifting heights (p > 0.05). The results of the t-test showed that there was a significant difference between the mean of MAWL and the mean heart rate in terms of the sizes of the two boxes (p

  6. Intelligent robots and computer vision

    SciTech Connect

    Casasent, D.P.

    1985-01-01

    This book presents the papers given at a conference which examined artificial intelligence and image processing in relation to robotics. Topics considered at the conference included feature extraction and pattern recognition for computer vision, image processing for intelligent robotics, robot sensors, image understanding and artificial intelligence, optical processing techniques in robotic applications, robot languages and programming, processor architectures for computer vision, mobile robots, multisensor fusion, three-dimensional modeling and recognition, intelligent robots applications, and intelligent robot systems.

  7. Humanoid Robot

    NASA Technical Reports Server (NTRS)

    Linn, Douglas M. (Inventor); Ambrose, Robert O. (Inventor); Diftler, Myron A. (Inventor); Askew, Scott R. (Inventor); Platt, Robert (Inventor); Mehling, Joshua S. (Inventor); Radford, Nicolaus A. (Inventor); Strawser, Phillip A. (Inventor); Bridgwater, Lyndon (Inventor); Wampler, II, Charles W. (Inventor); Abdallah, Muhammad E. (Inventor); Ihrke, Chris A. (Inventor); Reiland, Matthew J. (Inventor); Sanders, Adam M. (Inventor); Reich, David M. (Inventor); Hargrave, Brian (Inventor); Parsons, Adam H. (Inventor); Permenter, Frank N. (Inventor); Davis, Donald R. (Inventor)

    2013-01-01

    A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

  8. 21 CFR 880.5500 - AC-powered patient lift.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ...) MEDICAL DEVICES GENERAL HOSPITAL AND PERSONAL USE DEVICES General Hospital and Personal Use Therapeutic 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...

  9. 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 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED... Devices § 880.5500 AC-powered patient lift. (a) Identification. An AC-powered lift is an...

  10. 33 CFR 118.85 - Lights on vertical lift bridges.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... below the outermost edge of the bridge span structure so as to be visible from an approaching vessel... 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...

  11. 33 CFR 118.85 - Lights on vertical lift bridges.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... below the outermost edge of the bridge span structure so as to be visible from an approaching vessel... 33 Navigation and Navigable Waters 1 2012-07-01 2012-07-01 false Lights on vertical lift bridges... BRIDGES BRIDGE LIGHTING AND OTHER SIGNALS § 118.85 Lights on vertical lift bridges. (a) Lift span...

  12. 33 CFR 118.85 - Lights on vertical lift bridges.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... below the outermost edge of the bridge span structure so as to be visible from an approaching vessel... 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...

  13. 14 CFR 29.551 - Auxiliary lifting surfaces.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Auxiliary lifting surfaces. 29.551 Section 29.551 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT....551 Auxiliary lifting surfaces. Each auxiliary lifting surface must be designed to withstand— (a)...

  14. 49 CFR 178.970 - Bottom lift test.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... gross mass, the load being evenly distributed. (c) Test method. All Large Packaging design types must be... 49 Transportation 3 2013-10-01 2013-10-01 false Bottom lift test. 178.970 Section 178.970... Packagings § 178.970 Bottom lift test. (a) General. The bottom lift test must be conducted for...

  15. 49 CFR 178.1050 - Top lift test.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... Containers § 178.1050 Top lift test. (a) General. The top lift test must be conducted for the qualification... permissible gross mass, the load being evenly distributed. (c) Test method. (1) A Flexible Bulk Container must... 49 Transportation 3 2013-10-01 2013-10-01 false Top lift test. 178.1050 Section...

  16. 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.

  17. Competencies Identification for Robotics Training.

    ERIC Educational Resources Information Center

    Tang, Le D.

    A study focused on the task of identifying competencies for robotics training. The level of robotics training was limited to that of robot technicians. Study objectives were to obtain a list of occupational competencies; to rank their order of importance; and to compare opinions from robot manufacturers, robot users, and robotics educators…

  18. 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.

  19. Robot strings: Long, thin continuum robots

    NASA Astrophysics Data System (ADS)

    Walker, I. D.

    We describe and discuss the development of long, thin, continuous “ string-like” robots aimed at Space exploration missions. These continuous backbone “ continuum” robots are inspired by numerous biological structures, particularly vines, worms, and the tongues of animals such as the anteater. The key novelty is the high length-to-diameter ratio of the robots. This morphology offers penetration into, and exploration of, significantly narrower and deeper environments than accessible using current robot technology. In this paper, we introduce new design alternatives for long thin continuum robots, based on an analysis and extension of three core existing continuum robot design types. The designs are evaluated based on their mechanical feasibility, structural properties, kinematic simplicity, and degrees of freedom.

  20. 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

    ... notice that it had issued a final determination concerning the country of origin of a lift unit for an... Code of Federal Regulations (CFR) concerning the country of origin of a lift unit for an overhead... determination concerning the country of origin of the lift unit which may be offered to the U.S....

  1. 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.

  2. Particle Lifting Processes in Dust Devils

    NASA Astrophysics Data System (ADS)

    Neakrase, L. D. V.; Balme, M. R.; Esposito, F.; Kelling, T.; Klose, M.; Kok, J. F.; Marticorena, B.; Merrison, J.; Patel, M.; Wurm, G.

    2016-11-01

    Particle lifting in dust devils on both Earth and Mars has been studied from many different perspectives, including how dust devils could influence the dust cycles of both planets. Here we review our current understanding of particle entrainment by dust devils by examining results from field observations on Earth and Mars, laboratory experiments (at terrestrial ambient and Mars-analog conditions), and analytical modeling. By combining insights obtained from these three methodologies, we provide a detailed overview on interactions between particle lifting processes due to mechanical, thermal, electrodynamical and pressure effects, and how these processes apply to dust devils on Earth and Mars. Experiments and observations have shown dust devils to be effective lifters of dust given the proper conditions on Earth and Mars. However, dust devil studies have yet to determine the individual roles of each of the component processes acting at any given time in dust devils.

  3. Closed, nonendoscopic, small-incision forehead lift.

    PubMed

    Marten, Timothy J

    2008-07-01

    As endoscopic techniques made inroads into surgery, one of the first procedures they were adapted to by plastic surgeons was the forehead lift. The "closed" forehead lift procedure has since achieved wide acceptance and exists as a viable alternative to open procedures for many patients. Experience has shown, however, that it is not necessary to use an endoscope to mobilize and release the forehead and modify the corrugator supercilii muscles in "closed" procedures if the anatomy is understood, the operation is appropriately planned, and the corrugator muscles are modified using a transpalpebral approach. In addition, transpalpebral corrugator myectomy, when used in conjunction with closed mobilization and resuspension of the forehead, provides not only a scheme for the performance of closed foreheadplasty without the need for an endoscope, but a method by which medial brow elevation can be minimized or avoided. This may, indeed, be one the procedure's most important advantages over the endoscopic technique.

  4. Lift and drag of cetacean flippers

    NASA Astrophysics Data System (ADS)

    Murray, Mark; Weber, Paul; Howle, Laurens; Fish, Frank

    2008-11-01

    Field observation and collection of biological samples has resulted in cetacean (whales, dolphins and porpoises) flipper geometry being known for most species. However, the hydrodynamic properties of cetacean flippers have not been rigorously tested and thus their performance characteristics are unknown. Here, conducting water tunnel testing using scale models of cetacean flippers derived via computed tomography (CT) scans, as well as computational fluid dynamic (CFD) simulations, we present a baseline work to determine the hydrodynamic characteristics of cetacean flippers. We found that flippers of similar planform shape had similar hydrodynamic performance characteristics. Furthermore, one group of flippers of planform shape similar to a modern swept wing was found to have lift coefficient versus angle of attack curves that were biphasic rather than linear in nature, which was caused by the onset of vortex-dominated lift. Drag coefficient versus angle of attack curves were found to be less dependant on planform shape.

  5. Future Directions in Tactical Vertical Lift

    DTIC Science & Technology

    2010-04-29

    UH -60A/L UH -60M (Divest) UH - 60L Hunter Warrior Shadow Raven FY 2025 and Beyond ATTACK/ RECON UH -60M/HH-60M 2025 Timeframe • AH64...Transport Assault Heavy Lift Mine CM SOF Ultraheavy Lift SERVICE ARMY USMC ARMY USMC USN USCG USAF ARMY USMC USN AH-1W UH -1Y CH/MH-47 D/F/G MH-53E OH-58D...KW) MH/AH-6J UH -72A CH-53K MV-22B CV-22B CVLSP* Mine CM CSAR CH-53E AH-1Z MH-60S MH-60R UH -60M MH-60T * Not Program of

  6. Clamp usable as jig and lifting clamp

    DOEpatents

    Tsuyama, Yoshizo

    1976-01-01

    There is provided a clamp which is well suited for use as a lifting clamp for lifting and moving materials of assembly in a shipyard, etc. and as a pulling jig in welding and other operations. The clamp comprises a clamp body including a shackle for engagement with a pulling device and a slot for receiving an article, and a pair of jaws provided on the leg portions of the clamp body on the opposite sides of the slot to grip the article in the slot, one of said jaws consisting of a screw rod and the other jaw consisting of a swivel jaw with a spherical surface, whereby when the article clamped in the slot by the pair of jaws tends to slide in any direction with respect to the clamp body, the article is more positively gripped by the pair of jaws.

  7. V/STOL gets a lift

    NASA Technical Reports Server (NTRS)

    Biesiadny, Tom

    1991-01-01

    The concept of a supersonic STOVL that could offer enhanced mission capability, survivability, operational flexibility, and utility over conventional aircraft is presented. Emphasis is currently on design studies, CFD work, small- and large-scale wind tunnel tests, simulation activities, flight experiments, and ground environment experiments. Propulsion system technology centers about the adaptation of existing or off-the-shelf engines. Concepts under study include separate flow in hover, gas-driven lift fan, and shaft-driven lift fan. NASA is examining generic valve and ducting configurations with airflow at ambient temperature and at temperatures up to 1000 F to gather pressure loss and heat transfer data. Advanced civil rotorcraft technologies examined include high-efficiency/dual-mode components such as torque converters; lightweight, quiet transmissions; and variable geometry power turbines; along with dual-function or convertible engines.

  8. Static Thrust Analysis of the Lifting Airscrew

    NASA Technical Reports Server (NTRS)

    Knight, Montgomery; Hefner, Ralph A

    1937-01-01

    This report presents the results of a combined theoretical and experimental investigation conducted at the Georgia School of Technology on the static thrust of the lifting air screw of the type used in modern autogiros and helicopters. The theoretical part of this study is based on Glauert's analysis but certain modifications are made that further clarify and simplify the problem. Of these changes the elimination of the solidity as an independent parameter is the most important. The experimental data were obtained from tests on four rotor models of two, four, and five blades and, in general, agree quite well with the theoretical calculations. The theory indicates a method of evaluating scale effects on lifting air screws, and these corrections have been applied to the model results to derive general full-scale static thrust, torque, and figure-of-merit curves for constant-chord, constant-incidence rotors. Convenient charts are included that enable hovering flight performance to be calculated rapidly.

  9. Pipe lifting hook having clamp assembly

    SciTech Connect

    Codner, J.A.

    1984-06-12

    A pipe lifting hook is provided having a generally ''C'' shaped hook member having an elongated lower portion being insertable within the end of a joint of pipe and having an upper portion positionable above the pipe and provided with lifting connection means. The hook member is frictionally clamped to the pipe by grip shoe means that is movably supported by the upper portion of the hook member and is selectably movable from a released position out of contact with said pipe to a locked position in frictional locking engagement with the outer surface of the pipe. A ratchet mechanism couples said grip shoe means to the upper portion of the hook member and is manually positionable to lock said grip shoe means at said locked position or release said grip shoe means for movement toward said released position thereof.

  10. Eisenhart lift for higher derivative systems

    NASA Astrophysics Data System (ADS)

    Galajinsky, Anton; Masterov, Ivan

    2017-02-01

    The Eisenhart lift provides an elegant geometric description of a dynamical system of second order in terms of null geodesics of the Brinkmann-type metric. In this work, we attempt to generalize the Eisenhart method so as to encompass higher derivative models. The analysis relies upon Ostrogradsky's Hamiltonian. A consistent geometric description seems feasible only for a particular class of potentials. The scheme is exemplified by the Pais-Uhlenbeck oscillator.

  11. HSCT high lift system aerodynamic requirements

    NASA Technical Reports Server (NTRS)

    Paulson, John A.

    1992-01-01

    The viewgraphs and discussion of high lift system aerodynamic requirements are provided. Low speed aerodynamics has been identified as critical to the successful development of a High Speed Civil Transport (HSCT). The airplane must takeoff and land at a sufficient number of existing or projected airports to be economically viable. At the same time, community noise must be acceptable. Improvements in cruise drag, engine fuel consumption, and structural weight tend to decrease the wing size and thrust required of engines. Decreasing wing size increases the requirements for effective and efficient low speed characteristics. Current design concepts have already been compromised away from better cruise wings for low speed performance. Flap systems have been added to achieve better lift-to-drag ratios for climb and approach and for lower pitch attitudes for liftoff and touchdown. Research to achieve improvements in low speed aerodynamics needs to be focused on areas most likely to have the largest effect on the wing and engine sizing process. It would be desirable to provide enough lift to avoid sizing the airplane for field performance and to still meet the noise requirements. The airworthiness standards developed in 1971 will be the basis for performance requirements for an airplane that will not be critical to the airplane wing and engine size. The lift and drag levels that were required to meet the performance requirements of tentative airworthiness standards established in 1971 and that were important to community noise are identified. Research to improve the low speed aerodynamic characteristics of the HSCT needs to be focused in the areas of performance deficiency and where noise can be reduced. Otherwise, the wing planform, engine cycle, or other parameters for a superior cruising airplane would have to be changed.

  12. Lift production in the hovering hummingbird.

    PubMed

    Warrick, Douglas R; Tobalske, Bret W; Powers, Donald R

    2009-11-07

    Aerodynamic theory and empirical observations of animals flying at similar Reynolds numbers (Re) predict that airflow over hummingbird wings will be dominated by a stable, attached leading edge vortex (LEV). In insects exhibiting similar kinematics, when the translational movement of the wing ceases (as at the end of the downstroke), the LEV is shed and lift production decreases until the energy of the LEV is re-captured in the subsequent half-cycle translation. We here show that while the hummingbird wing is strongly influenced by similar sharp-leading-edge aerodynamics, leading edge vorticity is inconsistent, varying from 0.7 to 26 per cent (mean 16%) of total lift production, is always generated within 3 mm of the dorsal surface of the wing, showing no retrograde (trailing to leading edge) flow, and does not increase from proximal to distal wing as would be expected with a conical vortex (class III LEV) described for hawkmoths. Further, the bound circulation is not shed as a vortex at the end of translation, but instead remains attached and persists after translation has ceased, augmented by the rotation (pronation, supination) of the wing that occurs between the wing-translation half-cycles. The result is a near-continuous lift production through wing turn-around, previously unknown in vertebrates, able to contribute to weight support as well as stability and control during hovering. Selection for a planform suited to creating this unique flow and nearly-uninterrupted lift production throughout the wingbeat cycle may help explain the relatively narrow hummingbird wing.

  13. Vertical Lift - Not Just For Terrestrial Flight

    DTIC Science & Technology

    2000-10-01

    Cassini space mission will reach Saturn’s orbit and release the Huygens probe (descending via parachute) into Titan’s atmosphere. The Huygens ...is outside the official mission scope). This accomplishment will likely come from future missions post- Cassini / Huygens . The use of vertical lift...from HST) With the arrival of the Cassini / Huygens spacecraft to Saturn and Titan in 2004 -- and the anticipated science and outreach bonanza from this

  14. Pressure Roller For Tape-Lift Tests

    NASA Technical Reports Server (NTRS)

    Abrams, Eve

    1991-01-01

    Rolling device applies nearly constant, uniform pressure to surface. Simple tool exerts nearly constant pressure via compression of sheath by fixed amount. Pins hold wheels on cylinder and cylinder on tangs of handle. Cylinder and handle made of metal or plastic. Sheath press-fit or glued to cylinder. End pins attached to cylinder by adhesive or screw threads. Device intended for use in taking tape-lift samples of particulate contamination on surface.

  15. Robotic Lander Prototype

    NASA Video Gallery

    NASA engineers successfully integrated and completed system testing on a new robotic lander recently at Teledyne Brown Engineering’s facility in Huntsville in support of the Robotic Lunar Lander ...

  16. Robotic Lander Development Project

    NASA Video Gallery

    The Robotic Lander Development Project at the Marshall Center is testing a prototype lander that will aid in the design and development of a new generation of small, smart, versatile robotic lander...

  17. Robotic Intelligence Kernel: Communications

    SciTech Connect

    Walton, Mike C.

    2009-09-16

    The INL Robotic Intelligence Kernel-Comms is the communication server that transmits information between one or more robots using the RIK and one or more user interfaces. It supports event handling and multiple hardware communication protocols.

  18. Robots and the Economy.

    ERIC Educational Resources Information Center

    Albus, James S.

    1984-01-01

    Spectacular advances in microcomputers are forging new technological frontiers in robotics. For example, many factories will be totally automated. Economic implications of the new technology of robotics for the future are examined. (RM)

  19. Psychophysically determined asymmetrical lifting capabilities for different frequencies and containers.

    PubMed

    Lee, Tzu-Hsien

    2005-04-01

    Ten young male participants were tested their psychophysically determined 4-h maximum acceptable weight of lifting (MAWL) of 90-degree asymmetric lifting for three lifting frequencies (1 lift/min, 2 lifts/min, 4 lifts/min) and three lifting containers (50 x 35 x 15 cm, 70 x 35 x 15 cm, 50 x 50 x 15 cm). The results showed that the MAWL decreased with increasing frequency and container width or length dimension, while the interaction effect of frequency and container on MAWL was not significant. The MAWL ranged from 13.7 kg to 18 kg for the nine (3 frequencies x 3 containers) lifting conditions. When averaged across the levels of the other independent variable, the MAWL decreased by 7.4% and 16.1% for 2 lifts/min and 4 lifts/min as compared with the MAWL of 1 lift/min, respectively, and decreased by 1.6% and 9.4% for 70 x 35 x 15 cm and 50 x 50 x 15 cm as compared with the MAWL of 50 x 35 x 15 cm, respectively. Additionally, the discrepancies between the MAWL data and the recommended weight limits derived from the revised NIOSH equation were discussed.

  20. Robotic Surveying

    SciTech Connect

    Suzy Cantor-McKinney; Michael Kruzic

    2007-03-01

    ZAPATA ENGINEERING challenged our engineers and scientists, which included robotics expertise from Carnegie Mellon University, to design a solution to meet our client's requirements for rapid digital geophysical and radiological data collection of a munitions test range with no down-range personnel. A prime concern of the project was to minimize exposure of personnel to unexploded ordnance and radiation. The field season was limited by extreme heat, cold and snow. Geographical Information System (GIS) tools were used throughout this project to accurately define the limits of mapped areas, build a common mapping platform from various client products, track production progress, allocate resources and relate subsurface geophysical information to geographical features for use in rapidly reacquiring targets for investigation. We were hopeful that our platform could meet the proposed 35 acres per day, towing both a geophysical package and a radiological monitoring trailer. We held our breath and crossed our fingers as the autonomous Speedrower began to crawl across the playa lakebed. We met our proposed production rate, and we averaged just less than 50 acres per 12-hour day using the autonomous platform with a path tracking error of less than +/- 4 inches. Our project team mapped over 1,800 acres in an 8-week (4 days per week) timeframe. The expertise of our partner, Carnegie Mellon University, was recently demonstrated when their two autonomous vehicle entries finished second and third at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge. 'The Grand Challenge program was established to help foster the development of autonomous vehicle technology that will some day help save the lives of Americans who are protecting our country on the battlefield', said DARPA Grand Challenge Program Manager, Ron Kurjanowicz. Our autonomous remote-controlled vehicle (ARCV) was a modified New Holland 2550 Speedrower retrofitted to allow the machine

  1. The effects of obesity on lifting performance.

    PubMed

    Xu, Xu; Mirka, Gary A; Hsiang, Simon M

    2008-01-01

    Obesity in the workforce is a growing problem worldwide. While the implications of this trend for biomechanical loading of the musculoskeletal system seem fairly straightforward, the evidence of a clear link between low back pain (LBP) and body mass index (BMI) (calculated as whole body mass in kilograms divided by the square of stature in meters) has not been shown in the epidemiology literature addressing this topic. The approach pursued in the current study was to evaluate the lifting kinematics and ground reaction forces of a group of 12 subjects -- six with a BMI of less than 25 kg/m(2) (normal weight) and six with a BMI of greater than 30 kg/m(2) (obese). These subjects performed a series of free dynamic lifting tasks with varied levels of load (10% and 25% of capacity) and symmetry (sagittally symmetric and 45 degrees asymmetric). The results showed that BMI had a significant effect (p<0.05) on trunk kinematics with the high BMI group exhibiting higher peak transverse plane (twisting) velocity (59% higher) and acceleration (57% higher), and exhibiting higher peak sagittal plane velocity (30% higher) and acceleration (51% higher). When normalized to body weight, there were no significant differences in the ground reaction forces between the two groups. This study provides quantitative data describing lifting task performance differences between people of differing BMI levels and may help to explain why there is no conclusive epidemiological evidence of a relationship between BMI and LBP.

  2. Dragonfly flight. III. Lift and power requirements.

    PubMed

    Wakeling, JM; Ellington, CP

    1997-02-01

    A mean lift coefficient quasi-steady analysis has been applied to the free flight of the dragonfly Sympetrum sanguineum and the damselfly Calopteryx splendens. The analysis accommodated the yaw and accelerations involved in free flight. For any given velocity or resultant aerodynamic force (thrust), the damselfly mean lift coefficient was higher than that for the dragonfly because of its clap and fling. For both species, the maximum mean lift coefficient L was higher than the steady CL,max. Both species aligned their strokes planes to be nearly normal to the thrust, a strategy that reduces the L required for flight and which is different from the previously published hovering and slow dragonfly flights with stroke planes steeply inclined to the horizontal. Owing to the relatively low costs of accelerating the wing, the aerodynamic power required for flight represents the mechanical power output from the muscles. The maximum muscle mass-specific power was estimated at 156 and 166 W kg-1 for S. sanguineum and C. splendens, respectively. Measurements of heat production immediately after flight resulted in mechanical efficiency estimates of 13 % and 9 % for S. sanguineum and C. splendens muscles, respectively.

  3. Lift and Drag Measurements of Superhydrophobic Hydrofoils

    NASA Astrophysics Data System (ADS)

    Sur, Samrat; Kim, Jeong-Hyun; Rothstein, Jonathan

    2015-11-01

    For several years, superhydrophobic surfaces which are chemically hydrophobic with micron or nanometer scale surface features have been considered for their ability to reduce drag and produce slip in microfluidic devices. More recently it has been demonstrated that superhydrophobic surfaces reduce friction coefficient in turbulent flows as well. In this talk, we will consider that modifying a hydrofoil's surface to make it superhydrophobic has on the resulting lift and drag measurements over a wide range of angles of attack. Experiments are conducted over the range of Reynolds numbers between 10,000lift coefficients along with changes to separation point at high angles of attack are observed when the hydrofoil is made superhydrophobic. The hydrofoils are coated Teflon that has been hot embossed with a 325grit stainless steel woven mesh to produce a regular pattern of microposts. In addition to fully superhydrophobic hydrofoils, selectively coated symmetrical hydrofoils will also be examined to study the effect that asymmetries in the surface properties can have on lift and drag. Partially funded by NSF CBET-1334962.

  4. Analysis of particulates on tape lift samples

    NASA Astrophysics Data System (ADS)

    Moision, Robert M.; Chaney, John A.; Panetta, Chris J.; Liu, De-Ling

    2014-09-01

    Particle counts on tape lift samples taken from a hardware surface exceeded threshold requirements in six successive tests despite repeated cleaning of the surface. Subsequent analysis of the particle size distributions of the failed tests revealed that the handling and processing of the tape lift samples may have played a role in the test failures. In order to explore plausible causes for the observed size distribution anomalies, scanning electron microscopy (SEM), energy dispersive X-ray spectroscopy (EDX), and time-of-flight secondary ion mass spectrometry (ToF-SIMS) were employed to perform chemical analysis on collected particulates. SEM/EDX identified Na and S containing particles on the hardware samples in a size range identified as being responsible for the test failures. ToF-SIMS was employed to further examine the Na and S containing particulates and identified the molecular signature of sodium alkylbenzene sulfonates, a common surfactant used in industrial detergent. The root cause investigation suggests that the tape lift test failures originated from detergent residue left behind on the glass slides used to mount and transport the tape following sampling and not from the hardware surface.

  5. 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.

  6. RHOBOT: Radiation hardened robotics

    SciTech Connect

    Bennett, P.C.; Posey, L.D.

    1997-10-01

    A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program.

  7. Tool Changer For Robot

    NASA Technical Reports Server (NTRS)

    Voellmer, George M.

    1992-01-01

    Mechanism enables robot to change tools on end of arm. Actuated by motion of robot: requires no additional electrical or pneumatic energy to make or break connection between tool and wrist at end of arm. Includes three basic subassemblies: wrist interface plate attached to robot arm at wrist, tool interface plate attached to tool, and holster. Separate tool interface plate and holster provided for each tool robot uses.

  8. Robotics Research for Cybersecurity

    DTIC Science & Technology

    2012-01-24

    Wei-Min Shen 1/24/12 Page 1 of 3 Robotics Research for Cybersecurity Wei-Min Shen Polymorphic Robotics Laboratory USC/ISI, 4676 Admiralty Way...Marina del Rey, CA 90292 Phone: 310-448-8710, Fax: 310-822-0751 Email: shen@isi.edu, Web: http://www.isi.edu/ robots / Executive Summary This...project is to conduct a comprehensive study of robotics research in the context of cybersecurity. Specifically, 1) Create a realistic cybersecurity test

  9. Towards Pervasive Robotics

    DTIC Science & Technology

    2003-01-01

    Towards Pervasive Robotics Artur M. Arsenio Artificial Intelligence Lab - Massachusetts Institute of Technology 545 Technology Square, Room NE43-936...MA 02139 arsenio@ai.mit.edu Abstract Pervasive robotics will require, in a near future, small, light and cheap robots that exhibit complex behaviors...These demands led to the development of the M2-M4 Macaco project - a robotic active vi- sion head. Macaco is a portable system, capable of emulating

  10. Ground Vehicle Robotics

    DTIC Science & Technology

    2013-08-20

    Ground Vehicle Robotics Jim Parker Associate Director, Ground Vehicle Robotics UNCLASSIFIED: Distribution Statement A. Approved for public...DATE 20 AUG 2013 2. REPORT TYPE Briefing Charts 3. DATES COVERED 09-05-2013 to 15-08-2013 4. TITLE AND SUBTITLE Ground Vehicle Robotics 5a...Willing to take Risk on technology -User Evaluated -Contested Environments -Operational Data Applied Robotics for Installation & Base Ops -Low Risk

  11. Telepresence and Intervention Robotics

    DTIC Science & Technology

    2000-11-01

    UNCLASSIFIED Defense Technical Information Center Compilation Part Notice ADPO10628 TITLE: Telepresence and Intervention Robotics DISTRIBUTION...comprise the compilation report: ADPO10609 thru ADP010633 UNCLASSIFIED 20-1 TELEPRESENCE AND INTERVENTION ROBOTICS Nathalie Cislo Laboratoire de...Robotique de Paris 10-12, Avenue de 1’Europe 78140 VWlizy-Villacoublay, FRANCE cislo@robot.uvsq.fr ABSTRACT In the field of Mobile Robotics applications

  12. Transverse Single Spin Asymmetries and Cross-Sections for Forward pi(0) and eta Mesons at Large x(F) in center of mass energy = 200 GeV p uarr + p Collisions at STAR

    NASA Astrophysics Data System (ADS)

    Eun, Len K.

    2011-12-01

    The STAR collaboration has previously reported a large transverse single spin asymmetry, AN, for forward pi0 meson production. The cross-section in this region was measured up to xF of 0.55, and found to be consistent with perturbative Quantum Chromo-Dynamics predictions. During RHIC running in the year 2006 (6.8 pb--1, 56% average polarization), an even larger AN was observed for the eta meson at forward rapidity for xF > 0.5. All data were collected by the STAR Forward Pion Detector during s = 200 GeV polarized p+p collisions at RHIC. Understanding these large spin asymmetries requires information on the production cross-section. In this thesis, we present the results of the cross-section as well as the AN measurements for both pi0 and eta mesons at average pseudo-rapidity of 3.7, for 0.4 < xF < 0.75. The details of the calibration, and the analysis methods are also discussed. Finally, we present selected aspects of the high voltage system for the STAR Forward Meson Spectrometer inner calorimeter, which was designed primarily by the author and his thesis advisor.

  13. LiftingWiSe: A Lifting-Based Efficient Data Processing Technique in Wireless Sensor Networks

    PubMed Central

    Aboelela, Emad

    2014-01-01

    Monitoring thousands of objects which are deployed over large-hard-to-reach areas, is an important application of the wireless sensor networks (WSNs). Such an application requires disseminating a large amount of data within the WSN. This data includes, but is not limited to, the object's location and the environment conditions at that location. WSNs require efficient data processing and dissemination processes due to the limited storage, processing power, and energy available in the WSN nodes. The aim of this paper is to propose a data processing technique that can work under constrained storage, processing, and energy resource conditions. The proposed technique utilizes the lifting procedure in processing the disseminated data. Lifting is usually used in discrete wavelet transform (DWT) operations. The proposed technique is referred to as LiftingWiSe, which stands for Lifting-based efficient data processing technique for Wireless Sensor Networks. LiftingWiSe has been tested and compared to other relevant techniques from the literature. The test has been conducted via a simulation of the monitored field and the deployed wireless sensor network nodes. The simulation results have been analyzed and discussed. PMID:25116902

  14. Superficial shoulder muscle co-activations during lifting tasks: Influence of lifting height, weight and phase.

    PubMed

    Blache, Y; Dal Maso, F; Desmoulins, L; Plamondon, A; Begon, M

    2015-04-01

    This study aimed to assess the level of co-activation of the superficial shoulder muscles during lifting movement. Boxes containing three different loads (6, 12, and 18 kg) were lifted by fourteen subjects from the waist to shoulder or eye level. The 3D kinematics and electromyograms of the three deltoids, latissimus dorsi and pectoralis major were recorded. A musculoskeletal model was used to determine direction of the moment arm of these muscles. Finally an index of muscle co-activation named the muscle focus was used to evaluate the effects of lifting height, weight lifted and phase (pulling, lifting and dropping phases) on superficial shoulder muscle coactivation. The muscle focus was lower (more co-contraction) during the dropping phase compared to the two other phases (-13%, p<0.001). This was explained by greater muscle activations and by a change in the direction of the muscle moment arm as a function of glenohumeral joint position. Consequently, the function of the shoulder superficial muscles varied with respect to the glenohumeral joint position. To increase the superficial muscle coactivation during the dropping phase may be a solution to increase glenohumeral joint stiffness.

  15. Robotics of human movements.

    PubMed

    van der Smagt, Patrick; Grebenstein, Markus; Urbanek, Holger; Fligge, Nadine; Strohmayr, Michael; Stillfried, Georg; Parrish, Jonathon; Gustus, Agneta

    2009-01-01

    The construction of robotic systems that can move the way humans do, with respect to agility, stability and precision, is a necessary prerequisite for the successful integration of robotic systems in human environments. We explain human-centered views on robotics, based on the three basic ingredients (1) actuation; (2) sensing; and (3) control, and formulate detailed examples thereof.

  16. Building a Better Robot

    ERIC Educational Resources Information Center

    Navah, Jan

    2012-01-01

    Kids love to build robots, letting their imaginations run wild with thoughts of what they might look like and what they could be programmed to do. Yet when students use cereal boxes and found objects to make robots, often the projects look too similar and tend to fall apart. This alternative allows students to "build" robots in a different way,…

  17. Robotics development programs overview

    SciTech Connect

    Heckendorn, F.M.

    1990-11-01

    This paper discusses the applications of robotics at the Westinghouse Savannah River Site. The Savannah River Laboratory (SRL) continues to provide support to the Savannah River Site (SRS) in many areas of Robotics and Remote Vision. An overview of the current and near term future developments are presented. The driving forces for Robotics and Vision developments at SRS include the classic reasons for industrial robotics installation (i.e. repetitive and undesirable jobs) and those reasons related to radioactive environments. Protection of personnel from both radiation and radioactive contamination benefit greatly from both Robotics and Telerobotics. Additionally, the quality of information available from remote locations benefits greatly from the ability to visually monitor and remotely sense. The systems discussed include a glovebox waste handling and bagout robot, a shielded cells robot for radioactive waste sample transfer, waste handling gantry robots, a two armed master/slave manipulator as an attachment to a gantry robot, navigation robot research/testing, demonstration of the mobile underwater remote cleaning and inspection device, a camera deployment robot to support remote crane operations and for deployment of radiation sensors directly over a hazardous site, and demonstration of a large mobile robot for high radiation environments. Development of specialized and limited life vision/viewing systems for hazardous environments is also discussed.

  18. Networking a mobile robot

    NASA Astrophysics Data System (ADS)

    McKee, Gerard T.

    1994-10-01

    Conventional mobile robotic systems are `stand alone'. Program development involves loading programs into the mobile, via an umbilical. Autonomous operation, in this context, means `isolation': the user cannot interact with the program as the robot is moving around. Recent research in `swarm robotics' has exploited wireless networks as a means of providing inter- robot communication, but the population is still isolated from the human user. In this paper we report on research we are conducting into the provision of mobile robots as resources on a local area computer network, and thus breaking the isolation barrier. We are making use of new multimedia workstation and wireless networking technology to link the robots to the network in order to provide a new type of resource for the user. We model the robot as a set of resources and propose a client-server architecture as the basis for providing user access to the robots. We describe the types of resources each robot can provide and we outline the potential for cooperative robotics, human-robot cooperation, and teleoperation and autonomous robot behavior within this context.

  19. Robotic Telesurgery Research

    DTIC Science & Technology

    2010-10-01

    concepts have been pursued to provide imaging capabilities for use in robotic surgery . The first concept involves developing a camera system that...Oleynikov, D. Project Title: CAESAR: Computer Automated Enhanced Support and Analysis for Robotic Surgery Source of Support: Intelligent Automation, Inc...successful autonomous robotic surgery . REFERENCES Dolghi, O., Strabala, K., Wortman, T., Goede, M., Farritor, S., & Oleynikov. (2010). Miniature

  20. 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.

  1. Total portal robotic pneumonectomy.

    PubMed

    Rodriguez, Jose R

    2013-09-01

    Robotic pulmonary lobectomies have been reported to be technically and oncologically achievable; however, only three robotic pneumonectomy cases have been described. Two of them used a mini thoracotomy. We describe one case of a total portal robotic pneumonectomy without utility incision. We describe the step-by-step process.

  2. Inertially Aided Robotics

    DTIC Science & Technology

    1989-12-31

    0031 dis~bti:,1 is uitsnjt( Deczmllcr 31: 1989 92-05530 2:.-: 3o : T >VE?-A ~ : Inertially Aided Robotics FINAL REPORT for Contract No. DAAHO1 -88-D-0057...1 2 Advantages of Inertially Aided Robotics ...86 iii List of Figures Figure 1 - Robot Manipulator having Joint Sensor Based Control ..................... 2

  3. Robotic Intelligence Kernel: Visualization

    SciTech Connect

    2009-09-16

    The INL Robotic Intelligence Kernel-Visualization is the software that supports the user interface. It uses the RIK-C software to communicate information to and from the robot. The RIK-V illustrates the data in a 3D display and provides an operating picture wherein the user can task the robot.

  4. Robotic Follow Algorithm

    SciTech Connect

    2005-03-30

    The Robotic Follow Algorithm enables allows any robotic vehicle to follow a moving target while reactively choosing a route around nearby obstacles. The robotic follow behavior can be used with different camera systems and can be used with thermal or visual tracking as well as other tracking methods such as radio frequency tags.

  5. Modular robot

    DOEpatents

    Ferrante, T.A.

    1997-11-11

    A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurized fluid and to a vent. The control module is removably connected to the valve module and actuates the valve module to selectively control a flow of pressurized fluid through different ones of the plurality of fluid passages in the manifold. The manifold, valve module, and control module are mounted together in a sandwich-like manner and comprise a main body. A plurality of leg assemblies are removably connected to the main body and are removably fluidically connected to the fluid passages in the manifold so that each of the leg assemblies can be selectively actuated by the flow of pressurized fluid in different ones of the plurality of fluid passages in the manifold. 12 figs.

  6. Modular robot

    DOEpatents

    Ferrante, Todd A.

    1997-01-01

    A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurized fluid and to a vent. The control module is removably connected to the valve module and actuates the valve module to selectively control a flow of pressurized fluid through different ones of the plurality of fluid passages in the manifold. The manifold, valve module, and control module are mounted together in a sandwich-like manner and comprise a main body. A plurality of leg assemblies are removably connected to the main body and are removably fluidically connected to the fluid passages in the manifold so that each of the leg assemblies can be selectively actuated by the flow of pressurized fluid in different ones of the plurality of fluid passages in the manifold.

  7. Resonance Character of Copper/Silver/Gold Bonding in Small Molecule⋅⋅⋅M-X (X=F, Cl, Br, CH3, CF3) Complexes.

    PubMed

    Zhang, Guiqiu; Yue, Huanjing; Weinhold, Frank; Wang, Hui; Li, Hong; Chen, Dezhan

    2015-08-03

    The resonance character of Cu/Ag/Au bonding is investigated in B⋅⋅⋅M-X (M=Cu, Ag, Au; X=F, Cl, Br, CH3, CF3; B=CO, H2O, H2S, C2H2, C2H4) complexes. The natural bond orbital/natural resonance theory results strongly support the general resonance-type three-center/four-electron (3c/4e) picture of Cu/Ag/Au bonding, B:M-X↔B(+) -M:X(-) , which mainly arises from hyperconjugation interactions. On the basis of such resonance-type bonding mechanisms, the ligand effects in the more strongly bound OC⋅⋅⋅M-X series are analyzed, and distinct competition between CO and the axial ligand X is observed. This competitive bonding picture directly explains why CO in OC⋅⋅⋅Au-CF3 can be readily replaced by a number of other ligands. Additionally, conservation of the bond order indicates that the idealized relationship bB⋅⋅⋅M +bMX =1 should be suitably generalized for intermolecular bonding, especially if there is additional partial multiple bonding at one end of the 3c/4e hyperbonded triad.

  8. Ditching Tests of a 1/8-Scale Model of the Chance Vought XF6U-1 Airplane, TED No. NACA DE319

    NASA Technical Reports Server (NTRS)

    Fisher, Lloyd J., Jr.; McBride, Ellis E.

    1953-01-01

    Tests were made with a 1/8-scale dynamically similar model of the Chance Vought XF6U-1 airplane to study its behavior when ditched. The model was ditched in calm water at the Langley tank no. 2 monorail. Various landing attitudes, speeds, and conditions of damage were simulated. The behavior of the model was determined from visual observations, by recording time histories of the accelerations, and by taking motion pictures of the ditchings. From the results of the tests it was concluded that the airplane should be ditched at the near-stall, tail-down attitude (12 deg). The flaps should be fully extended to obtain the lowest possible landing speed. The wing-tip tanks should be jettisoned. The underside of the fuselage will be critically damaged in a ditching and the airplane will dive violently after a run of about three fuselage lengths. Maximum longitudinal decelerations up to about 7g and maximum vertical accelerations up to about 5g will be encountered.

  9. Wind-Tunnel Tests of a 1/6-Scale Model of Republic XF-12 Vertical Tail Incorporating a De-Icing Air Duct

    NASA Technical Reports Server (NTRS)

    MacLachlan, Robert; Miller, Sadie M.

    1945-01-01

    A 1/6-scale model of the Republic XF-12 vertical tail with stub fuselage, stub horizontal tail, and a de-icing air duct was tested in the Langley stability tunnel. The investigation consisted of a study of the effects of the duct, with and without air flow, on the aerodynamic characteristics of the model. The model tested was a revision of a model previously tested in the Langley stability tunnel. The revised model differed from the original model in that it incorporated a de-icing air duct, included a dorsal fin, and had a larger stub fuselage. A comparison of data obtained form tests of the original and revised models was made. The results of the investigation indicated that the air duct had very little effect on the aerodynamic characteristics of the model. A small change occurred in the variation of rudder hinge-moment coefficient with angle of attack but it is believed that this change can be corrected by a properly applied spring tab.

  10. Free-Spinning-Tunnel Tests of a 1/24-Scale Model of the Grumman XF9F-2 Airplane, TED No. NACA DE 317

    NASA Technical Reports Server (NTRS)

    Berman, Theodore

    1948-01-01

    An investigation of the spin and recovery characteristics of a scale model of the Grumman XF9F-2 airplane has been conducted in the Langley 20-foot free-spinning tunnel. The effects of control settings and movements on the erect and inverted spin and recovery characteristics of the model in the flight loading were determined. The investigation also included spin-recovery-parachute, pilot-escape, and rudder-pedal- . force tests. The recovery characteristics of the model were satisfactory for all configurations tested. Spins for the normal control configuration were oscillatory in roll and yaw. Deflecting the leading-edge flaps or the dive brakes did not change the spin and recovery characteristics of the model noticeably. A 10.0-foot tail parachute or a 6.0-foot wing-tip parachute (drag coefficient of 0.75) was found to be effective for recoveries from demonstration spins. The rudder forces in the spin appeared to be within the capabilities of the pilot.

  11. Ab initio and relativistic DFT study of spin-rotation and NMR shielding constants in XF6 molecules, X = S, Se, Te, Mo, and W

    NASA Astrophysics Data System (ADS)

    Ruud, Kenneth; Demissie, Taye B.; Jaszuński, Michał

    2014-05-01

    We present an analysis of the spin-rotation and absolute shielding constants of XF6 molecules (X = S, Se, Te, Mo, W) based on ab initio coupled cluster and four-component relativistic density-functional theory (DFT) calculations. The results show that the relativistic contributions to the spin-rotation and shielding constants are large both for the heavy elements as well as for the fluorine nuclei. In most cases, incorporating the computed relativistic corrections significantly improves the agreement between our results and the well-established experimental values for the isotropic spin-rotation constants and their anisotropic components. This suggests that also for the other molecules, for which accurate and reliable experimental data are not available, reliable values of spin-rotation and absolute shielding constants were determined combining ab initio and relativistic DFT calculations. For the heavy nuclei, the breakdown of the relationship between the spin-rotation constant and the paramagnetic contribution to the shielding constant, due to relativistic effects, causes a significant error in the total absolute shielding constants.

  12. Longitudinal Trim and Tumble Characteristics of a 0.057-Scale Model of the Chance Vought XF7U-1 Airplane, TED NO. NACA DE311

    NASA Technical Reports Server (NTRS)

    Bryant, Robert L.

    1948-01-01

    Based on results of longitudinal trim and tumble tests of a 0.057-scale model of the Chance Vought XF7U-1 airplane, the following conclusions regarding the trim and tumble characteristics of the airplane have been drawn: 1. The airplane will not trim at any unusual or uncontrolled angles of attack. 2. The airplane will not tumble with the center of gravity located forward of 24 percent of the mean aerodynamic chord. When the center of gravity is located at 24 percent of the mean aerodynamic chord and slats are extended and elevators are deflected full up, the airplane may tumble if given an external positive pitching moment. 3. The tumbling motion obtained will be readily terminated by deflecting the elevators full down so as to oppose the rotation. 4. The accelerations encountered during an established tumble may be dangerous to the pilot and, therefore, action should be taken to terminate a tumble immediately upon its inception. 5. Simultaneous opening of two wing-tip parachutes having diameters of 4 feet or larger and having drag coefficients of approximately 0.7 will effectively terminate the tumble. 6. Model results indicate that the pilot will not be struck by the airplane if it becomes necessary to leave the airplane during a tumble. The pilot may require aid from an ejection-seat arrangement.

  13. Intelligent robots and computer vision

    SciTech Connect

    Casasent, D.P.

    1986-01-01

    This book presents the papers given at a conference on artificial intelligence and robot vision. Topics considered at the conference included pattern recognition, image processing for intelligent robotics, three-dimensional vision (depth and motion), vision modeling and shape estimation, spatial reasoning, the symbolic processing visual information, robotic sensors and applications, intelligent control architectures for robot systems, robot languages and programming, human-machine interfaces, robotics applications, and architectures of robotics.

  14. Group Lifting Structures For Multirate Filter Banks, I: Uniqueness Of Lifting Factorizations

    SciTech Connect

    Brislawn, Christopher M

    2008-01-01

    This paper studies two-channel finite impulse response (FIR) perfect reconstruction filter banks. The connection between filter banks and wavelet transforms is well-known and will not be treated here. Figure 1 depicts the polyphase-with-advance representation of a filter bank [6]. A lifting factorization, is a factorization of polyphase matrices into upper and lower triangular lifting matrices. The existence of such decompositions via the Euclidean algorithm was shown for general FIR perfect reconstruction filter banks in [9] and was subsequently refined for linear phase filter banks in [10], [6]. These latter works were motivated by the ISO JPEG 2000 image coding standard [11], [12], [10], which specifies whole-sample symmetric (WS, or FIR type 1 linear phase) filter banks, as in Figure 2(a), in terms of half-sample symmetric (RS, or FIR type 2) lifting filters.

  15. [Robotics in pediatric surgery].

    PubMed

    Camps, J I

    2011-10-01

    Despite the extensive use of robotics in the adult population, the use of robotics in pediatrics has not been well accepted. There is still a lack of awareness from pediatric surgeons on how to use the robotic equipment, its advantages and indications. Benefit is still controversial. Dexterity and better visualization of the surgical field are one of the strong values. Conversely, cost and a lack of small instruments prevent the use of robotics in the smaller patients. The aim of this manuscript is to present the controversies about the use of robotics in pediatric surgery.

  16. Miniaturized autonomous robot

    NASA Astrophysics Data System (ADS)

    Ishihara, Hidenori; Fukuda, Toshio

    1998-01-01

    Many projects developing the miniaturized autonomous robot have been carried out in the whole world. This paper deals with our challenges developing a miniaturized autonomous robot. The miniaturized autonomous robot is defined as the miniaturized closed-loop system with micro processor, microactuators and microsensors. We have developed the micro autonomous robotic system (MARS) consisting of the microprocessor, microsensors, microactuators, communication units and batteries. The MARS controls itself by the downloaded program supplied through the IR communication system. In this paper, we demonstrate several performance of the MARS, and discuss the properties of the miniaturized autonomous robot.

  17. Robotic technology in urology

    PubMed Central

    Murphy, D; Challacombe, B; Khan, M S; Dasgupta, P

    2006-01-01

    Urology has increasingly become a technology‐driven specialty. The advent of robotic surgical systems in the past 10 years has led to urologists becoming the world leaders in the use of such technology. In this paper, we review the history and current status of robotic technology in urology. From the earliest uses of robots for transurethral resection of the prostate, to robotic devices for manipulating laparoscopes and to the current crop of master–slave devices for robotic‐assisted laparoscopic surgery, the evolution of robotics in the urology operating theatre is presented. Future possibilities, including the prospects for nanotechnology in urology, are awaited. PMID:17099094

  18. Robotics Technical Note 102.

    DTIC Science & Technology

    1981-06-01

    IAfl-AIBZ 4U2 AIR FORCE BUSINESS RESEARCH MANAGEMENT CENTER WRIGHT-ETC F/6 13/8 I ROBOTICS TECHNIICAL NOTE 102.(U) JUN Al B M BLABIERSALL UNCLASSIFE...CATALOG uME 1T4.T7- Subtitle S. TYPE OF REPOR & PERIOO COVERED Technical Note 102 Robotics 𔄁 FInal r ---- 6. PERFORMING O1G. REPORT NUMBER C 7. A tNORa B...Identify by block number) Robotics Manufacturing Industrial Robots Robot Technology SRobotics Application BQ~.STRACT (Continue on revere* side It

  19. Space robotics in Japan

    NASA Astrophysics Data System (ADS)

    Whittaker, William; Lowrie, James W.; McCain, Harry; Bejczy, Antal; Sheridan, Tom; Kanade, Takeo; Allen, Peter

    1994-03-01

    Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.

  20. Space robotics in Japan

    NASA Technical Reports Server (NTRS)

    Whittaker, William; Lowrie, James W.; Mccain, Harry; Bejczy, Antal; Sheridan, Tom; Kanade, Takeo; Allen, Peter

    1994-01-01

    Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.

  1. Standard versus Abdominal Lifting and Compression CPR

    PubMed Central

    Liu, Qing; Han, Shupeng; Zhang, Ziran; Zhang, Yan; Liu, Yahua; Li, Jing

    2016-01-01

    Background. This study compared outcomes of abdominal lifting and compression cardiopulmonary resuscitation (ALP-CPR) with standard CPR (STD-CPR). Materials and Methods. Patients with cardiac arrest seen from April to December 2014 were randomized to receive standard CPR or ALP-CPR performed with a novel abdominal lifting/compression device. The primary outcome was return of spontaneous circulation (ROSC). Results. Patients were randomized to receive ALP-CPR (n = 40) and STD-CPR (n = 43), and the groups had similar baseline characteristics. After CPR, 9 (22.5%) and 7 (16.3%) patients in the ALP-CPR and STD-CPR groups, respectively, obtained ROSC. At 60 minutes after ROSC, 7 (77.8%) and 2 (28.6%) patients, respectively, in the ALP-CPR and STD-CPR groups survived (P = 0.049). Patients in the ALP-CPR group had a significantly higher heart rate and lower mean arterial pressure (MAP) than those in the STD-CPR group (heart rate: 106.8 versus 79.0, P < 0.001; MAP: 60.0 versus 67.3 mm Hg, P = 0.003). The posttreatment PCO2 was significantly lower in ALP-CPR group than in STD-CPR group (52.33 versus 58.81, P = 0.009). PO2 was significantly increased after ALP-CPR (45.15 to 60.68, P < 0.001), but it was not changed after STD-CPR. PO2 after CPR was significantly higher in the ALP-CPR group (60.68 versus 44.47, P < 0.001). There were no differences between genders and for patients who are > 65 or ≤ 65 years of age. Conclusions. The abdominal lifting and compression cardiopulmonary resuscitation device used in this study is associated with a higher survival rate after ROSC than standard CPR. PMID:27882073

  2. Marsupial robots for law enforcement

    NASA Astrophysics Data System (ADS)

    Murphy, Robin R.

    2001-02-01

    Marsupial robots are a type of heterogeneous mobile robot team. A mother robot transports, supports, and recovers one or more daughter robots. This paper will cover the marsupial robot concept, the application of law enforcement, and recent results in collaborative teleoperation for the related task of urban search and rescue.

  3. Theory of attached and lifted diffusion flames

    NASA Astrophysics Data System (ADS)

    Wichman, Indrek S.; Ramadan, Bassem

    1998-12-01

    Diffusion flame (DF) attachment and liftoff are examined, leading to (1) explanations of the origins of previous, successful empirical correlations; (2) the discovery of multiple lifting regimes. The latter includes a very slow flow regime, a slow-to-moderate flow regime, and a moderate-to-fast flow regime. Formulas for liftoff height (l̂g) and characteristic flame tip breadth (l̂r) are developed from a combination of the differential and integral form of the conservation equations. These formulas are compared with numerical solutions of the same equations.

  4. Catalytic Generation of Lift Gases for Balloons

    NASA Technical Reports Server (NTRS)

    Zubrin, Robert; Berggren, Mark

    2011-01-01

    A lift-gas cracker (LGC) is an apparatus that generates a low-molecular-weight gas (mostly hydrogen with smaller amounts of carbon monoxide and/or carbon dioxide) at low gauge pressure by methanol reforming. LGCs are undergoing development for use as sources of buoyant gases for filling zero-gauge-pressure meteorological and scientific balloons in remote locations where heavy, high-pressure helium cylinders are not readily available. LGCs could also be used aboard large, zero-gauge-pressure, stratospheric research balloons to extend the duration of flight.

  5. Circulation control lift generation experiment: Hardware development

    NASA Technical Reports Server (NTRS)

    Panontin, T. L.

    1985-01-01

    A circulation control airfoil and its accompanying hardware were developed to allow the investigation of lift generation that is independent of airfoil angle of attack and relative flow velocity. The test equipment, designed for use in a water tunnel, includes the blown airfoil, the support systems for both flow visualization and airfoil load measurement, and the fluid control system, which utilizes hydraulic technology. The primary design tasks, the selected solutions, and the unforseen problems involved in the development of these individual components of hardware are described.

  6. Fixed Wordsize Implementation of Lifting Schemes

    NASA Astrophysics Data System (ADS)

    Karp, Tanja

    2006-12-01

    We present a reversible nonlinear discrete wavelet transform with predefined fixed wordsize based on lifting schemes. Restricting the dynamic range of the wavelet domain coefficients due to a fixed wordsize may result in overflow. We show how this overflow has to be handled in order to maintain reversibility of the transform. We also perform an analysis on how large a wordsize of the wavelet coefficients is needed to perform optimal lossless and lossy compressions of images. The scheme is advantageous to well-known integer-to-integer transforms since the wordsize of adders and multipliers can be predefined and does not increase steadily. This also results in significant gains in hardware implementations.

  7. Analysis of interacting dual lifting ejector systems

    NASA Technical Reports Server (NTRS)

    Lund, T. S.; Tavella, D. A.; Roberts, L.

    1986-01-01

    An analytical treatment is presented for a flowfield generated by a pair of interacting, two-dimensional parallel jets, representative of the two exhaust streams issuing from the thrust augmentor nozzles of dual lifting jet VTOL aircraft propulsion systems. Predictions of the analysis for the ratio of primary to secondary velocity are in close agreement with experimentally observed values, if the spreading rate parameter is allowed to assume a value greater than that which applies to a free jet. Theoretical results are combined with existing experimental data for unventilated jets, in order to arrive at an estimate of the thrust augmentation produced by a jet pair with an arbitrary degree of ventilation.

  8. Labyrinth seal testing for lift fan engines

    NASA Technical Reports Server (NTRS)

    Dobek, L. J.

    1973-01-01

    An abradable buffered labyrinth seal for the control of turbine gas path leakage in a tip-turbine driven lift fan was designed, tested, and analyzed. The seal configuration was not designed to operate in any specific location but was sized to be evaluated in an existing test rig. The final sealing diameter selected was 28 inches. Results of testing indicate that the flow equations predicted seal air flows consistent with measured values. Excellent sealing characteristics of the abradable coating on the stator land were demonstrated when a substantial seal penetration of .030 inch into the land surface was encountered without appreciable wear on the labyrinth knife edges.

  9. A submicrometer lifted diffused-layer MOSFET

    NASA Astrophysics Data System (ADS)

    Inokawa, Hiroshi; Kobayashi, Toshio; Kiuchi, Kazuhide

    1987-03-01

    A new lifted diffused-layer (LID) MOSFET has been devised and fabricated, where the major portions of the source/drain (S/D) diffused layers are placed on top of the field insulator to reduce S/D parasitic capacitances. The primary feature of this MOSFET is that the structure and processing are especially developed for submicrometer gate lengths. The fabricated LID MOSFET with a 0.5-micron gate length and a 10-nm gate oxide thickness showed good electrical characteristics, such as a maximum transconductance of 115 mS/mm and an inverter delay time of 59 ps/stage.

  10. Comparing the results of five lifting analysis tools.

    PubMed

    Russell, Steven J; Winnemuller, Lori; Camp, Janice E; Johnson, Peter W

    2007-01-01

    The objective of this study was to compare the results of the NIOSH, ACGIH TLV, Snook, 3DSSPP and WA L&I lifting assessment instruments when applied to a uniform task (lifting and lowering milk cases with capacities of 15 and 23l). To enable comparisons between the various lifting assessment instruments, the outputs of each method were converted to an exposure index similar to the NIOSH Lifting Index. All instruments showed higher exposures associated with lifting the 23l cases versus the 15l cases. The NIOSH, ACGIH TLV and Snook methods were similar in their results with respect to the pattern of exposure over various height levels and the differences in exposures associated with lifting 15 and 23l cases. However, the WA L&I and 3DSSPP predicted substantially lower exposures. The reasons for instrument differences are presented so that practitioners can better select the methods they need and interpret the results appropriately.

  11. Determining safe limits for significant task parameters during manual lifting.

    PubMed

    Singh, Ravindra Pratrap; Batish, Ajay; Singh, Tejinder Pal

    2014-04-01

    This experimental study investigated the effect of lifting task parameters (i.e., lifting weight, frequency, coupling, asymmetric angle, and vertical, horizontal, and travel distances) for various dynamic human lifting activities on the ground reaction forces of workers. Ten male workers loaded containers from different levels asymmetrically during experimental trials. The experimental design evolved using Taguchi's Fractional Factorial Experiments. Three factors (lifting weight, frequency, and vertical distance) were observed to be significant. The results showed that vertical reaction forces increase when workers lift weight from floor to shoulder height frequently. It was also observed that instantaneous loading rate increases with more weight, vertical distance, and frequency; a significant extra loading rate is required to change the lower level of load, frequency, and vertical distance to higher levels. Safe limits for significant factors were determined to result in optimal performance of the manual lifting task.

  12. Back injury prevention: a lift team success story.

    PubMed

    Hefti, Kelly S; Farnham, Richard J; Docken, Lisa; Bentaas, Ruth; Bossman, Sharon; Schaefer, Jill

    2003-06-01

    Work related back injuries among hospital personnel account for high volume, high cost workers' compensation claims. These injuries can be life altering experiences, affecting both the personal and professional lives of injured workers. Lifting must be viewed as a skill involving specialized training and mandated use of mechanical equipment, rather than as a random task performed by numerous health care providers. The use of a lift team specially trained in body mechanics, lifting techniques, and the use of mandated mechanical equipment can significantly affect injury data, financial outcomes, and employee satisfaction. The benefits of a lift team extend beyond the effect on injury and financial outcomes--they can be used for recruitment and retention strategies, and team members serve as mentors to others by demonstrating safe lifting techniques. Ultimately, a lift team helps protect a valuable resource--the health care worker.

  13. Bats dynamically change wingspan to enhance lift and efficiency

    NASA Astrophysics Data System (ADS)

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

    2016-11-01

    Bats can dynamically change the wingspan by controlling the joints on the wings. This work focuses on the effect of dynamically changing wingspan on the lift and efficiency in slow-flying bats. The geometry and kinematics of the bat model is constructed based on the experimental measurements of Wolf et al.. The Navier-Stokes equations for incompressible flows are solved numerically to investigate the 3D unsteady flows around the bat model. It is found that the dynamically changing wingspan can significantly enhance the lift and efficiency. The lift enhancement is contributed by both lifting surface area extended during the downstroke and the vortex force associated with the leading-edge vortices intensified by the dynamically changing wingspan. The nonlinear interaction between the dynamically changing wing and the vortex structures plays an important role in the lift enhancement of a slow-flying bat in addition to the geometrical effect of changing the lifting-surface area in a flapping cycle.

  14. HSR High Lift Program and PCD2 Update

    NASA Technical Reports Server (NTRS)

    Kemmerly, Guy T.; Coen, Peter; Meredith, Paul; Clark, Roger; Hahne, Dave; Smith, Brian

    1999-01-01

    The mission of High-Lift Technology is to develop technology allowing the design of practical high lift concepts for the High-Speed Civil Transport (HSCT) in order to: 1) operate safely and efficiently; and 2) reduce terminal control area and community noise. In fulfilling this mission, close and continuous coordination will be maintained with other High-Speed Research (HSR) technology elements in order to support optimization of the overall airplane (rather than just the high lift system).

  15. A robotic fish caudal fin: effects of stiffness and motor program on locomotor performance.

    PubMed

    Esposito, Christopher J; Tangorra, James L; Flammang, Brooke E; Lauder, George V

    2012-01-01

    We designed a robotic fish caudal fin with six individually moveable fin rays based on the tail of the bluegill sunfish, Lepomis macrochirus. Previous fish robotic tail designs have loosely resembled the caudal fin of fishes, but have not incorporated key biomechanical components such as fin rays that can be controlled to generate complex tail conformations and motion programs similar to those seen in the locomotor repertoire of live fishes. We used this robotic caudal fin to test for the effects of fin ray stiffness, frequency and motion program on the generation of thrust and lift forces. Five different sets of fin rays were constructed to be from 150 to 2000 times the stiffness of biological fin rays, appropriately scaled for the robotic caudal fin, which had linear dimensions approximately four times larger than those of adult bluegill sunfish. Five caudal fin motion programs were identified as kinematic features of swimming behaviors in live bluegill sunfish, and were used to program the kinematic repertoire: flat movement of the entire fin, cupping of the fin, W-shaped fin motion, fin undulation and rolling movements. The robotic fin was flapped at frequencies ranging from 0.5 to 2.4 Hz. All fin motions produced force in the thrust direction, and the cupping motion produced the most thrust in almost all cases. Only the undulatory motion produced lift force of similar magnitude to the thrust force. More compliant fin rays produced lower peak magnitude forces than the stiffer fin rays at the same frequency. Thrust and lift forces increased with increasing flapping frequency; thrust was maximized by the 500× stiffness fin rays and lift was maximized by the 1000× stiffness fin rays.

  16. 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.

  17. GRACE and GEORGE: Autonomous Robots for the AAAI Robot Challenge

    DTIC Science & Technology

    2004-01-01

    GRACE and GEORGE: Autonomous Robots for the AAAI Robot Challenge Reid Simmons, Allison Bruce, Dani Goldberg, Adam Goode, Michael Montemerlo, Nicholas...2004 2. REPORT TYPE 3. DATES COVERED - 4. TITLE AND SUBTITLE GRACE and GEORGE: Autonomous Robots for the AAAI Robot Challenge 5a. CONTRACT...Simmons. “A Social Robot that Stands in Line.” Autonomous Robots , 12:3 pp.313-324, May 2002. [Ortony, 1988] A. Ortony, G. L. Clore, and A. Collins

  18. Lift mechanics of downhill skiing and snowboarding

    NASA Astrophysics Data System (ADS)

    Wu, Q.; Igci, Y.; Andreopoulos, Y.; Xanthos, S.; Weinbaum, S.

    2004-11-01

    In a recent paper, Feng and Weinbaum (2000), hereafter referred to as F, developed a new type of lubrication theory for highly compressible porous media (e. g., snow) where one can generate lift forces that are several orders of magnitude greater than in classical lubrication theory. Herein we report the first measurements of the pore pressures generated on the time scale of skiing or snowboarding to verify the hypothesis in F. We then extend the F theory to long slender planing surfaces which lie outside the range of validity of the lubrication approximation and, include inertia effects. We derive a new simplified equation for downhill skiing or snowboarding which also describes both edging and turning maneuvers. For the case where there is no edging or turning, we obtain numerical solutions of this equation for snowboarding and analytical asymptotic solutions for skiing. The new experimental and theoretical approach presented herein and the previous F theory have laid the foundation for understanding the mechanism of lift generation in downhill skiing and snowboarding on fresh snow.

  19. Lifting Mechanism for the Mars Explorer Rover

    NASA Technical Reports Server (NTRS)

    Melko, Joseph; Iskenderian, Theodore; Harrington, Brian; Voorhees, Christopher

    2005-01-01

    A report discusses the design of a rover lift mechanism (RLM) -- a major subsystem of each of the Mars Exploration Rover vehicles, which were landed on Mars in January 2004. The RLM had to satisfy requirements to (1) be foldable as part of an extremely dense packing arrangement and (2) be capable of unfolding itself in a complex, multistep process for disengaging the rover from its restraints in the lander, lifting the main body of the rover off its landing platform, and placing the rover wheels on the platform in preparation for driving the rover off the platform. There was also an overriding requirement to minimize the overall mass of the rover and lander. To satisfy the combination of these and other requirements, it was necessary to formulate an extremely complex design that integrated components and functions of the RLM with those of a rocker-bogie suspension system, the aspects of which have been described in several prior NASA Tech Briefs articles. In this design, suspension components also serve as parts of a 4- bar linkage in the RLM.

  20. Lift-based paddling in diving grebe.

    PubMed

    Johansson, L C; Lindhe Norberg, U M

    2001-05-01

    To examine the hydrodynamic propulsion mechanism of a diving great crested grebe (Podiceps cristatus), the three-dimensional kinematics was determined by digital analysis of sequential video images of dorsal and lateral views. During the acceleration phase of this foot-propelled bird, the feet move through an arc in a plane nearly normal to the bird's line of motion through the water, i.e. the toes move dorsally and medially but not caudally relative to the water. The kinematics of the grebe's lobed feet is different from that in anseriforms, whose feet move in a plane mostly parallel to the bird's line of progress through the water. Our results suggest that the foot-propelled locomotor mechanism of grebes is based primarily on a lift-producing leg and foot stroke, in contrast to the drag-based locomotion assumed previously. We suggest that the lift-based paddling of grebes considerably increases both maximum swimming speed and energetic efficiency over drag-based propulsion. Furthermore, the results implicate a new interpretation of the functional morphology of these birds, with the toes serving as a self-stabilizing multi-slotted hydrofoil during the power phase.

  1. Modification of integrated partial payload lifting assembly

    NASA Technical Reports Server (NTRS)

    Groah, Melodie; Haddock, Michael; Woodworth, Warren

    1986-01-01

    The Integrated Partial Payload Lifting Assembly (IPPLA) is currently used to transport and load experimental payloads into the cargo bay of the Space Shuttle. It is unable to carry the astronaut/passenger tunnel without a structural modification. The purpose of this design is to create a removalbe modification that will allow the IPPLA to lift and carry the passenger tunnel. Modifications evaluated were full-length insert beams which would extend through the existing strongback arms. These beam proposals were eliminated because of high cost and weight. Other proposals evaluated were attachments of cantilever beams to the existing strongback areas. The cantilever proposals reduced cost and weight compared to the full-length modifications. A third method evaluated was to simply make modifications to one side of the IPPLA therefore reducing the materials of the cantilever proposals by 40 percent. The design of the modification selected was completed with two channel beams jointly welded to a centered steel plate. The extension arm modification is inserted into the existing strongback channel beams and bolted into place. Two extension arms are added to one side of the IPPLA to provide the extra length needed to accommodate the passenger tunnel. The center counterbalance will then be offset about 20 inches to center gravity and therefore maintain horizontal status. The extension arm modification was selected because of minimum cost, low weight, and minimal installation time.

  2. 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.

  3. Free-Spinning-Tunnel Tests of a 1/16-Scale Model of the Chance Vought XF5U-1 Airplane, TED No. NACA 2349

    NASA Technical Reports Server (NTRS)

    White, Richard P.

    1947-01-01

    Spin tests of a 1/16-scale model of the Chance Vought XF5U-1 airplane have been performed in the Langley 20-foot free-spinning tunnel. The effect of control position and movement upon the erect and inverted spin and recovery characteristics ae well as the effects of propellers, of stability flaps, and of various revisions to the design configuration have been determined for the normal fighter loading. The investigation also included spin recovery parachute, tumbling, and pilot-escape tests. For the original design configuration, with or without windmilling propellers, the recovery characteristics of the model were considered unsatisfactory. Increasing the maximum upward deflection of the ailavators from 45 deg to 65 deg resulted in greatly improved recovery characteristics. Dimensional revisions to the original airplane configuration, which satisfactorily improved the general spin and recovery characteristics of the model, consisted of: (1) a supplementary vertical tail 34 inches by 59 inches (full-scale) attached to a boom 80 inches aft of the trailing edge of the airplane in the plane of symmetry, (2) a large semispan undersurface spoiler placed along the airplane quarter-chord line and opened on the outboard side in a spin, or (3) two additional vertical tails 64 inches by 52 inches (full-scale) located at the tips of the ailavators. A satisfactory parachute arrangement for emergency spin recovery from demonstration spins was found to be an arrangement consisting of a 13.3-foot parachute attached by a 30-foot towline to the arresting gear mast on the airplane and opened simultaneously with an 8-foot parachute on the outboard end of the wing attached by a 3-foot towline. Tests indicated that pilot escape from a spin would be extremely hazardous unless the pilot is mechanically ejected from the cockpit. Model tumbling tests indicated that the airplane would not tumble.

  4. Free-Spinning Tunnel Tests of a 1/20-Scale Model of the Chance Vought XF6U-1 Airplane, TED No. NACA 2390

    NASA Technical Reports Server (NTRS)

    Klinar, Walter J.

    1946-01-01

    A spin investigation has been conducted in the Langley 20-foot free-spinning tunnel on a 1/20-scale model of the Chance Vought XF6U-1 airplane, The effects of control settings and movements upon the erect and inverted spin and recovery characteristics of the model were determined for the normal-fighter condition. The investigation also included tests for the take-off fighter condition (wing-tip tanks plus fuel added) spin-recovery parachutes, and simulated pilot escape. In general, for the normal-fighter condition, the model was extremely oscillatory in roll, pitch, and yaw. The angles of the fuselage varied from extremely flat to inverted attitudes, and the model rotated with the rudder in a series of short turns and glides. Recoveries by rudder reversal were rapid but the model would immediately go into a spin in the other direction. Recoveries by merely neutralizing the rudder were satisfactory when the elevator and ailerons were set to neutral, the ensuing flight path being a steep glide. Thus, it is recommended that all controls be neutralized for safe recovery from spins obtained on the airplane. With the external wing-tip tanks installed, the spins were somewhat less oscillatory in roll but recovery could not be obtained unless full-down elevator was used in conjunction with the rudder. If a spin is entered inadvertently with the full-scale airplane with external wing-tip tanks installed and if recovery is not imminent after a recovery attempt is made, it is recommended that the tanks be jettisoned and the controls neutralized.

  5. Free-Spinning-Tunnel Tests of a 0.057-Scale Model of the Chance Vought XF7U-1 Airplane

    NASA Technical Reports Server (NTRS)

    Daughtridge, Lee T., Jr.

    1948-01-01

    An investigation of the spin and recovery characteristics of a 0.057-scale model of the Chance Vought XF7U-1 airplane has been conducted in the Langley 20-foot free-spinning tunnel. The effects of control settings and movements on the erect and inverted spin and recovery characteristics were determined, as were also the effects of extending the wing slats, of center-of-gravity movement, and-of variation in the mass distribution. The investigation also included wing-tip spin-recovery-parachute tests, pilot-escape tests, and rudder-control-force tests. The investigation indicated that the spin and recovery characteristics of the airplane will be satisfactory for all conditions. It was found that a single 4.24-foot (full-scale) parachute when opened alone from the outboard wing tip or two 8.77-foot (full-scale) parachutes when opened simultaneously, one from each wing tip, would effect satisfactory emergency recoveries (the drag coefficients of the parachutes, based on the surface area of the parachute, were 0.83 and 0.70 for the 4.24- and 8.77-foot parachutes, respectively). The towline length in both cases was 25 feet (full scale). Tests results showed that, if the pilot should have to leave the airplane during a spin, he should jump from the outboard side (left side in a right spin) of the cockpit. The rudder-control force necessary for recovery from a spin was found to be rather high but appeared to be within the upper limits of a pilot's capabilities.

  6. 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.

  7. 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.

  8. INL Multi-Robot Control Interface

    SciTech Connect

    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.

  9. Applying robotics to HAZMAT

    NASA Technical Reports Server (NTRS)

    Welch, Richard V.; Edmonds, Gary O.

    1994-01-01

    The use of robotics in situations involving hazardous materials can significantly reduce the risk of human injuries. The Emergency Response Robotics Project, which began in October 1990 at the Jet Propulsion Laboratory, is developing a teleoperated mobile robot allowing HAZMAT (hazardous materials) teams to remotely respond to incidents involving hazardous materials. The current robot, called HAZBOT III, can assist in locating characterizing, identifying, and mitigating hazardous material incidents without risking entry team personnel. The active involvement of the JPL Fire Department HAZMAT team has been vital in developing a robotic system which enables them to perform remote reconnaissance of a HAZMAT incident site. This paper provides a brief review of the history of the project, discusses the current system in detail, and presents other areas in which robotics can be applied removing people from hazardous environments/operations.

  10. Robots in modern industry

    NASA Technical Reports Server (NTRS)

    Heer, E.

    1981-01-01

    A survey is presented of robotic device types and capabilities, and an assessment is made of the relative benefits they confer in present and planned numbers on such industrial countries as Japan, the U.S., and West Germany. Attention is also given to possible social impacts of large-scale implementation, and the need for close consultation between management and labor is stressed. It is reported that, while the hourly cost of robot labor remained at between $4.00 and $4.60 over the period 1960-present, human hourly labor costs (including fringe benefits) have risen from less than $4.00 to nearly $17.00. Among the types of devices described are: (1) remotely controlled manipulator vehicles; (2) undersea robotic craft; (3) servo-controlled robots; and (4) articulated robots. Also covered are robot programming languages derived from such standard languages as ALGOL, FORTRAN, and BASIC.

  11. ROBOTIC SURGERY: BIOETHICAL ASPECTS

    PubMed Central

    SIQUEIRA-BATISTA, Rodrigo; SOUZA, Camila Ribeiro; MAIA, Polyana Mendes; SIQUEIRA, Sávio Lana

    2016-01-01

    ABSTRACT Introduction: The use of robots in surgery has been increasingly common today, allowing the emergence of numerous bioethical issues in this area. Objective: To present review of the ethical aspects of robot use in surgery. Method: Search in Pubmed, SciELO and Lilacs crossing the headings "bioethics", "surgery", "ethics", "laparoscopy" and "robotic". Results: Of the citations obtained, were selected 17 articles, which were used for the preparation of the article. It contains brief presentation on robotics, its inclusion in health and bioethical aspects, and the use of robots in surgery. Conclusion: Robotic surgery is a reality today in many hospitals, which makes essential bioethical reflection on the relationship between health professionals, automata and patients. PMID:28076489

  12. Robotic surgical simulation.

    PubMed

    Liss, Michael A; McDougall, Elspeth M

    2013-01-01

    Robotic surgery has undergone exponential growth and has ever developing utilization. The explosion of new technologies and regulation have led to challenges in training surgeons who desire this skill set. We review the current state of robotic simulation and incorporation of simulation into surgical training curricula. In addition to the literature review, results of a questionnaire survey study of 21 expert and novice surgeons attending a Urologic Robotic Oncology conference using 3 different robotic skill simulation devices are discussed. An increasing number of robotic surgery simulators have had some degree of validation study of their use in surgical education curricula and proficiency testing. Although simulators are advantageous, confirmation of construct and predictive validity of robotic simulators and their reliability as a training tool will be necessary before they are integrated into the surgical credentialing process.

  13. Survival of falling robots

    NASA Astrophysics Data System (ADS)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  14. Survival of falling robots

    NASA Technical Reports Server (NTRS)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  15. 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

  16. Sensorimotor Memory Biases Weight Perception During Object Lifting

    PubMed Central

    van Polanen, Vonne; Davare, Marco

    2015-01-01

    When lifting an object, the brain uses visual cues and an internal object representation to predict its weight and scale fingertip forces accordingly. Once available, tactile information is rapidly integrated to update the weight prediction and refine the internal object representation. If visual cues cannot be used to predict weight, force planning relies on implicit knowledge acquired from recent lifting experience, termed sensorimotor memory. Here, we investigated whether perception of weight is similarly biased according to previous lifting experience and how this is related to force scaling. Participants grasped and lifted series of light or heavy objects in a semi-randomized order and estimated their weights. As expected, we found that forces were scaled based on previous lifts (sensorimotor memory) and these effects increased depending on the length of recent lifting experience. Importantly, perceptual weight estimates were also influenced by the preceding lift, resulting in lower estimations after a heavy lift compared to a light one. In addition, weight estimations were negatively correlated with the magnitude of planned force parameters. This perceptual bias was only found if the current lift was light, but not heavy since the magnitude of sensorimotor memory effects had, according to Weber’s law, relatively less impact on heavy compared to light objects. A control experiment tested the importance of active lifting in mediating these perceptual changes and showed that when weights are passively applied on the hand, no effect of previous sensory experience is found on perception. These results highlight how fast learning of novel object lifting dynamics can shape weight perception and demonstrate a tight link between action planning and perception control. If predictive force scaling and actual object weight do not match, the online motor corrections, rapidly implemented to downscale forces, will also downscale weight estimation in a proportional manner

  17. Levator plate upward lift and levator muscle strength

    PubMed Central

    Rostaminia, Ghazaleh; Peck, Jennifer; Quiroz, Lieschen; Shobeiri, S. Abbas

    2016-01-01

    Objective The aim of study was to compare digital palpation with the levator plate lift measured by endovaginal and transperineal dynamic ultrasound. Methods Dynamic transperineal and endovaginal ultrasound were performed as part of multicompartmental pelvic floor functional assessment. Patients were instructed to perform Kegels while a probe captured the video clip of the levator plate movement at rest and during contraction in 2D mid-sagittal posterior view. We measured the distance between the levator plate and the probe on endovaginal ultrasound as well as the distance between the levator plate and the gothic arch of the pubis in transperineal ultrasound. The change in diameter (lift) and a levator plate lift ratio (lift / rest) x 100) were calculated. Pelvic floor muscle strength was assessed by digital palpation and divided into functional and non-functional groups using the Modified Oxford Scale (MOS). Mean differences in levator plate upward lifts were compared by MOS score using student t-tests and analysis of variance (ANOVA). Results 74 women were available for analysis. The mean age was 55 (SD±11.9). When measured by vaginal dynamic ultrasound, mean values of the lift and lift/rest ratio increased with increasing MOS score (ANOVA p=0.09 and p=0.04, respectively). When MOS scores were categorized to represent non-functional (MOS 0-1) and functional (MOS 2-5) muscle strength groups, the mean values of the lift (3.2 mm vs. 4.6 mm, p=0.03) and lift/rest ratio (13% vs 20%, p=0.01) were significantly higher in women with functional muscle strength. All patients with ≥ 30% lift detected by vaginal ultrasound had functional muscle strength. Conclusions Greater levator plate lift ratio detected by dynamic endovaginal ultrasound was associated with higher muscle strength as determined by MOS. This novel measurement can be incorporated into ultrasound evaluation of the levator ani function. PMID:26333568

  18. 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.

  19. Utilities plan fish lifts for Susquehanna River Dams

    SciTech Connect

    Not Available

    1993-02-01

    Pennsylvania Power Light Co., Baltimore Gas Electric Co., and Metropolitan Edison Co. will install fish lifts at three dams on the Susquehanna River to aid the spawning of American shad. The utilities estimate the lifts will cost a total of $15 million. PP L will install two lifts at its 108-MW Holtwood Dam, according to the utility's Bob Domermuth, a project scientist. One will be located at the spillway and the second in the tailrace. The two lifts will cost approximately $8 million. At the 417-MW Safe Harbor Dam, which PP L and BG E jointly own, one lift costing $5 million to $6 million will be built on the west side of the powerhouse. Met Ed will install a lift at its 20-MW York Haven Dam, the farthest upstream, at a cost of $3 million. Lifts at Holtwood and Safe Harbor will be completed in time for the spring 1997 shad run; York Haven's passage is to be completed no later than the spring of the year 2000. In 1991, Philadelphia Electric Co. completed a lift at its 512-MW Conowingo Dam, the first dam shad encounter as they swim upstream from the ocean. The utilities agreed with state and federal fish and wildlife agencies to build the lifts, after a decade of studying shad population and rebuilding stocks. Although the agreement is only in draft form, the utilities have begun studying fish movement to determine the best lift designs. While American shad is the species targeted by the effort, the lifts will open the river to all species, Comermuth said. The utilities also are preparing a bid package soliciting design and construction proposals.

  20. Robotics and expert systems

    SciTech Connect

    Not Available

    1986-01-01

    This volume contains papers presented at ROBEXS' 86, the Second Annual Workshop on Robotics and Expert Systems. Many diverse perspectives on automation problems, and on the merging of robotics and expert systems technology with conventional systems, are contained in this book. The contents include: Integrated Expert Systems Applications; Expert Systems Theory and Applications, Robotics, Intelligent Control, CAD/CAE/CAM, AI Tools, Human Factors, and intelligent Interfaces.

  1. Robotic liver surgery

    PubMed Central

    Leung, Universe

    2014-01-01

    Robotic surgery is an evolving technology that has been successfully applied to a number of surgical specialties, but its use in liver surgery has so far been limited. In this review article we discuss the challenges of minimally invasive liver surgery, the pros and cons of robotics, the evolution of medical robots, and the potentials in applying this technology to liver surgery. The current data in the literature are also presented. PMID:25392840

  2. NASA Robot Brain Surgeon

    NASA Technical Reports Server (NTRS)

    1997-01-01

    Mechanical Engineer Michael Guerrero works on the Robot Brain Surgeon testbed in the NeuroEngineering Group at the Ames Research Center, Moffett Field, California. Principal investigator Dr. Robert W. Mah states that potentially the simple robot will be able to feel brain structures better than any human surgeon, making slow, very precise movements during an operation. The brain surgery robot that may give surgeons finer control of surgical instruments during delicate brain operations is still under development.

  3. TARDEC Ground Vehicle Robotics

    DTIC Science & Technology

    2013-05-30

    TARDEC Ground Vehicle Robotics Mr. Jim Parker, Associate Director Dr. Greg Hudas, Chief Engineer UNCLASSIFIED: Distribution Statement A (OPSEC...TARDEC Ground Vehicle Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Jim Parker; Greg Hudas 5d. PROJECT...Provide Transition-Ready, Cost-Effective, and Innovative Robotics and Control System Solutions for Manned, Optionally-Manned, and Unmanned Ground Vehicles

  4. A Modular Robotic Architecture

    DTIC Science & Technology

    1990-11-01

    DATES COVERED AD-A232 007 Januar 1991 professional paper5 FUNOING NUMBERS A MODULAR ROBOTIC ARCHITECTURE PR: ZE92 WU: DN300029 PE: 0602936N - S. AUTHOR...mobile robots will help alleviate these problems, and, if made widely available, will promote standardization and compatibility among systems throughout...the industry. The Modular Robotic Architecture (MRA) is a generic control system that meets the above needs by providing developers with a standard set

  5. Ground Vehicle Robotics Presentation

    DTIC Science & Technology

    2012-08-14

    Mr. Jim Parker Associate Director Ground Vehicle Robotics Distribution Statement A. Approved for public release Report Documentation Page...Briefing 3. DATES COVERED 01-07-2012 to 01-08-2012 4. TITLE AND SUBTITLE Ground Vehicle Robotics Presentation 5a. CONTRACT NUMBER 5b. GRANT...ABSTRACT Provide Transition-Ready, Cost-Effective, and Innovative Robotics and Control System Solutions for Manned, Optionally-Manned, and Unmanned

  6. Robotic Security Systems

    DTIC Science & Technology

    2003-12-01

    robotic security platforms that automatically respond in an adaptive fashion to potential disturbances reported by a broad-area field of fixed unattended...sensors represents a powerful new defensive tool for mitigating the terrorist threat. Background The primary purpose of any robotic system is to...mobile robots , the predominant challenge is one of perception, in that the very nature of mobility introduces a never-ending sequence of dynamically

  7. Army Medical Robotics Research

    DTIC Science & Technology

    2007-01-01

    Army Medical Robotics Research Gary Gilbert, Ph.D., U.S. Army TATRC, Ph: (301) 619-4043, Fax: (301) 619-2518 gilbert@tatrc.org, www.tatrc.org...politically sensitive low intensity combat in urban terrain. Research progress has been made in the areas of robotics ; artificial intelligence...institutions have demonstrated intelligent robots that execute functions ranging from performing mechanical repairs to playing soccer. The military has

  8. Robotics Strategy White Paper

    DTIC Science & Technology

    2009-03-19

    VIRGINIA 23651-1087 REPlY TO A1Tl!NTlON OF ATFC-DS 19 MEMORANDUM FOR SEE DISTRIBUTION SUBJECT: Robotics Strategy White Paper 1. The enclosed... Robotics Strategy White Paper is the result of a collaborative effort between the U.S. Anny Training and Doctrine Command (TRADOC) and the Tank-Automotive...Research, Development and Engineering Center (TARDEC). This paper builds on a confederated Anny robotics "strategy" that is described by senior leader

  9. AMAS Robotics Seminar Brief

    DTIC Science & Technology

    2011-07-19

    Unclassified Unclassified 19 July 2011 AMAS ROBOTICS SEMINAR BRIEF Aaron Hart, Product Integrator, RS JPO DISTRIBUTION STATEMENT A. Approved for...19-07-2011 to 19-07-2011 4. TITLE AND SUBTITLE robotics seminar brief 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...12. DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited 13. SUPPLEMENTARY NOTES AMAS ROBOTICS SEMINAR BRIEF 14

  10. Artificial Intelligence and Robotics.

    DTIC Science & Technology

    1984-02-01

    D-Ai42 488 ARTIFICIAL INEELLIGENCE AND ROBOTICS (U) MASSACHUSETTS i/1 INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB M BRADY FEB 84 AI-M-756...Subtile) S. TYPE OF REPORT A PERIOD COVERED Artificial Intelligence and Robotics 6. PERFORMING ORG. REPORT NUMBER 7. AUTHOR(*) S. CONTRACT OR GRANT NUMBER...Identify by block niiniber) -. Since Robotics is the field concerned with the connection of perception to action, Artificial Intelligence must have a

  11. Industrial robots: Handbook

    NASA Astrophysics Data System (ADS)

    Kozyrev, Iu. G.

    Topics covered include terms, definitions, and classification; operator-directed manipulators; autooperators as used in automated pressure casting; construction and application of industrial robots; and the operating bases of automated systems. Attention is given to adaptive and interactive robots; gripping mechanisms; applications to foundary production, press-forging plants, heat treatment, welding, and assembly operations. A review of design recommendations includes a determination of fundamental structural and technological indicators for industrial robots and a consideration of drive mechanisms.

  12. Current Status of NASA's Heavy Lift Plans

    NASA Technical Reports Server (NTRS)

    Creech, Steve

    2010-01-01

    Numerous studies since the Apollo Program of the 1960s have highlighted the benefits of - and the need for - a national heavy lift launch capability to support human exploration, science, national security, and commercial development of space. NASA's most recent and most refined effort to develop that heavy lift capability is the Ares V. Ares V is a key element of NASA's Constellation Program. It s overall goal s part of approved national space policy is to retire the Space Shuttle and develop its successor, complete the International Space Station, and resume human exploration beyond low Earth orbit (LEO), beginning with exploration of the Moon as a step to other destinations in the Solar System. Ares V s first role is that of cargo vehicle to carry a lunar lander into Earth orbit, rendezvous with astronauts launched on the smaller Ares I crew launch vehicle, and perform the trans lunar injection (TLI) mission to send the mated crew and lander vehicles to the Moon. The design reference missions (DRMs) envisioned for it also include direct lunar cargo flights and a human Mars mission. Although NASA's priority from the start of the Constellation Program to the present has been development of the Ares I and Orion crew vehicle to replace the retiring Shuttle fleet, the Ares team has made significant progress in understanding the performance, design trades, technology needs, mission scenarios, ground and flight operations, cost, and other factors associated with heavy lift development. The current reference configuration was selected during the Lunar Capabilities Concept Review (LCCR) in fall 2008. That design has served since then as a point of departure for further refinements and trades among five participating NASA field centers. Ares V development to date has benefited from progress on the Ares I due to commonality between the vehicles. The Ares I first stage completed a successful firing of a 5-segment solid rocket motor. The Ares I-X launch Numerous studies

  13. Asteroid Redirect Mission: Robotic Segment

    NASA Video Gallery

    This concept animation illustrates the robotic segment of NASA's Asteroid Redirect Mission. The Asteroid Redirect Vehicle, powered by solar electric propulsion, travels to a large asteroid to robot...

  14. Children's Perception and Interpretation of Robots and Robot Behaviour

    NASA Astrophysics Data System (ADS)

    Bhamjee, Sajida; Griffiths, Frances; Palmer, Julie

    Technology is advancing rapidly; especially in the field of robotics. The purpose of this study was to examine children's perception and interpretation of robots and robot behaviour. The study was divided into two phases: phase one involved 144 children (aged 7-8) from two primary schools drawing a picture of a robot and then writing a story about the robot that they had drawn. In phase two, in small groups, 90 children observed four e-puck robots interacting within an arena. The children were asked three questions during the observation: 'What do you think the robots are doing?', 'Why are they doing these things?' and 'What is going on inside the robot?' The results indicated that children can hold multiple understandings of robots simultaneously. Children tend to attribute animate characteristics to robots. Although this may be explained by their stage of development, it may also influence how their generation integrates robots into society.

  15. Hopping Robot with Wheels

    NASA Technical Reports Server (NTRS)

    Barlow, Edward; Marzwell, Nevellie; Fuller, Sawyer; Fionni, Paolo; Tretton, Andy; Burdick, Joel; Schell, Steve

    2003-01-01

    A small prototype mobile robot is capable of (1) hopping to move rapidly or avoid obstacles and then (2) moving relatively slowly and precisely on the ground by use of wheels in the manner of previously reported exploratory robots of the "rover" type. This robot is a descendant of a more primitive hopping robot described in "Minimally Actuated Hopping Robot" (NPO- 20911), NASA Tech Briefs, Vol. 26, No. 11 (November 2002), page 50. There are many potential applications for robots with hopping and wheeled-locomotion (roving) capabilities in diverse fields of endeavor, including agriculture, search-and-rescue operations, general military operations, removal or safe detonation of land mines, inspection, law enforcement, and scientific exploration on Earth and remote planets. The combination of hopping and roving enables this robot to move rapidly over very rugged terrain, to overcome obstacles several times its height, and then to position itself precisely next to a desired target. Before a long hop, the robot aims itself in the desired hopping azimuth and at a desired takeoff angle above horizontal. The robot approaches the target through a series of hops and short driving operations utilizing the steering wheels for precise positioning.

  16. 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

  17. [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.

  18. Robotics for welding research

    SciTech Connect

    Braun, G.; Jones, J.

    1984-09-01

    The welding metallurgy research and education program at Colorado School of Mines (CSM) is helping industries make the transition toward automation by training students in robotics. Industry's interest is primarily in pick and place operations, although robotics can increase efficiency in areas other than production. Training students to develop fully automated robotic welding systems will usher in new curriculum requirements in the area of computers and microprocessors. The Puma 560 robot is CSM's newest acquisition for welding research 5 references, 2 figures, 1 table.

  19. [Robotic surgery in gynecology].

    PubMed

    Csorba, Roland

    2012-06-24

    Minimally invasive surgery has revolutionized gynecological interventions over the past 30 years. The introduction of the da Vinci robotic surgery in 2005 has resulted in large changes in surgical management. The robotic platform allows less experienced laparoscopic surgeons to perform more complex procedures. It can be utilized mainly in general gynecology and reproductive gynecology. The robot is being increasingly used for procedures such as hysterectomy, myomectomy, adnexal surgery, and tubal anastomosis. In urogynecology, the robot is being utilized for sacrocolopexy as well. In the field of gynecologic oncology, the robot is being increasingly used for hysterectomy and lymphadenectomy in oncologic diseases. Despite the rapid and widespread adaption of robotic surgery in gynecology, there are no randomized trials comparing its efficacy and safety to other traditional surgical approaches. This article presents the development, technical aspects and indications of robotic surgery in gynecology, based on the previously published reviews. Robotic surgery can be highly advantageous with the right amount of training, along with appropriate patient selection. Patients will have less blood loss, less post-operative pain, faster recovery, and fewer complications compared to open surgery and laparoscopy. However, until larger randomized control trials are completed which report long-term outcomes, robotic surgery cannot be stated to have priority over other surgical methods.

  20. Advanced robot locomotion.

    SciTech Connect

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    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 natural 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.

  1. Robotic Thumb Assembly

    NASA Technical Reports Server (NTRS)

    Ihrke, Chris A. (Inventor); Bridgwater, Lyndon (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor); Goza, S. Michael (Inventor)

    2013-01-01

    An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor.

  2. Experiments in autonomous robotics

    SciTech Connect

    Hamel, W.R.

    1987-01-01

    The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

  3. Hazardous Environment Robotics

    NASA Technical Reports Server (NTRS)

    1996-01-01

    Jet Propulsion Laboratory (JPL) developed video overlay calibration and demonstration techniques for ground-based telerobotics. Through a technology sharing agreement with JPL, Deneb Robotics added this as an option to its robotics software, TELEGRIP. The software is used for remotely operating robots in nuclear and hazardous environments in industries including automotive and medical. The option allows the operator to utilize video to calibrate 3-D computer models with the actual environment, and thus plan and optimize robot trajectories before the program is automatically generated.

  4. Structural and energetic properties of closed shell XF(n) (X = Cl, Br, and I; n = 1-7) and XO(n)F(m) (X = Cl, Br, and I; n = 1-3; m = 0-6) molecules and ions leading to stability predictions for yet unknown compounds.

    PubMed

    Thanthiriwatte, K Sahan; Vasiliu, Monica; Dixon, David A; Christe, Karl O

    2012-10-15

    Atomization energies at 0 K and heats of formation at 0 and 298 K were predicted for the closed shell compounds XF, XF(2)(-), XF(2)(+), XF(3), XF(4)(-), XF(4)(+), XF(5), XF(6)(-), XF(6)(+) (X = Cl and Br) and XO(+), XOF, XOF(2)(-), XOF(2)(+), XOF(3), XOF(4)(-), XOF(4)(+), XOF(5), XOF(6)(-), XO(2)(+), XO(2)F, XO(2)F(2)(-), XO(2)F(2)(+), XO(2)F(3), XO(2)F(4)(-), XO(3)(+), XO(3)F, XO(3)F(2)(-) (X = Cl, Br, and I) using a composite electronic structure approach based on coupled cluster CCSD(T) calculations extrapolated to the complete basis set limit with additional corrections. The calculated heats of formation are in good agreement with the available experimental data. The calculated heats of formation were used to predict fluoride affinities, fluorine cation affinities, and F(2) binding energies. On the basis of our results, BrOF(5) and BrO(2)F(3) are predicted to be stable against spontaneous loss of F(2) and should be able to be synthesized, whereas BrF(7), ClF(7), BrOF(6)(-), and ClOF(6)(-) are unstable by a very wide margin. The stability of ClOF(5) is a borderline case. Although its F(2) loss is predicted to be exothermic by 4.4 kcal/mol, it may have a sufficiently large barrier toward decomposition and be preparable. This situation would resemble ClO(2)F(3) which was successfully synthesized in spite of being unstable toward F(2) loss by 3.3 kcal/mol. On the other hand, the ClOF(4)(+) and BrOF(4)(+) cations are less likely to be preparable with F(2) loss exothermicities of -17.5 and -9.3 kcal/mol, respectively. On the basis of the F(-) affinities of ClOF (45.4 kcal/mol), BrOF (58.7 kcal/mol), and BrO(2)F(3) (65.7 kcal/mol) and their predicted stabilities against loss of F(2), the ClOF(2)(-), BrOF(2)(-), and BrO(2)F(4)(-) anions are excellent targets for synthesis. Our previous failure to prepare the ClO(2)F(4)(-) anion can be rationalized by the predicted high exothermicity of -17.4 kcal/mol for the loss of F(2).

  5. UF{sub 6} cylinder lifting equipment enhancements

    SciTech Connect

    Hortel, J.M.

    1991-12-31

    This paper presents numerous enhancements that have been made to the Portsmouth lifting equipment to ensure the safe handling of cylinders containing liquid uranium hexafluoride (UF{sub 6}). The basic approach has been to provide redundancy to all components of the lift path so that any one component failure would not cause the load to drop or cause any undesirable movement.

  6. 49 CFR 178.970 - Bottom lift test.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... conducted for the qualification of all Large Packagings design types designed to be lifted from the base. (b... permissible gross mass, the load being evenly distributed. (c) Test method. All Large Packaging design types... Large Packagings design types designed to be lifted from the base, there may be no permanent...

  7. View of lifting girder and tower support superstructure on Tensaw ...

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

    View of lifting girder and tower support superstructure on Tensaw River Bridge, looking north west. Showing rope connectors and welding cut from tower removal. - Tensaw River Lift Bridge, Spanning Tensaw River at U.S. Highway 90, Mobile, Mobile County, AL

  8. Successful implementation of ceiling-mounted lift systems.

    PubMed

    Weinel, Diana

    2008-01-01

    Rehabilitation nurses are well aware of the risks for musculoskeletal injuries related to patient handling tasks. Repetitive lifting, turning, and repositioning of patients with mobility limitations can take a toll on the nurse. This article chronicles integration of ceiling lift technology for patient-handling tasks into nursing practice on a spinal cord injury inpatient unit.

  9. A Lighter-Than-Air System Enhanced with Kinetic Lift

    NASA Technical Reports Server (NTRS)

    Spearman, M. Leroy

    2002-01-01

    A hybrid airship system is proposed in which the buoyant lift is enhanced with kinetic lift. The airship would consist of twin hulls in which the buoyant gas is contained. The twin hulls would be connected in parallel by a wing having an airfoil contour. In forward flight, the wing would provide kinetic lift that would add to the buoyant lift. The added lift would permit a greater payload/altitude combination than that which could be supported by the buoyant lift alone. The buoyant lift is a function of the volume of gas and the flight altitude. The kinetic lift is a function of the airfoil section, wing area, and the speed and altitude of flight. Accordingly there are a number of factors that can be manipulated to arrive at a particular design. Particular designs could vary from small, lightweight systems to very large, heavy-load systems. It will be the purpose of this paper to examine the sensitivity of such a design to the several variables. In addition, possible uses made achievable by such a hybrid system will be suggested.

  10. 49 CFR 37.165 - Lift and securement use.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 1 2012-10-01 2012-10-01 false Lift and securement use. 37.165 Section 37.165 Transportation Office of the Secretary of Transportation TRANSPORTATION SERVICES FOR INDIVIDUALS WITH DISABILITIES (ADA) Provision of Service § 37.165 Lift and securement use. (a) This section applies to...

  11. 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 Transportation Office of the Secretary of Transportation TRANSPORTATION SERVICES FOR INDIVIDUALS WITH DISABILITIES (ADA) Provision of Service § 37.165 Lift and securement use. Link to an amendment published at...

  12. 49 CFR 37.165 - Lift and securement use.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 1 2014-10-01 2014-10-01 false Lift and securement use. 37.165 Section 37.165 Transportation Office of the Secretary of Transportation TRANSPORTATION SERVICES FOR INDIVIDUALS WITH DISABILITIES (ADA) Provision of Service § 37.165 Lift and securement use. (a) This section applies to...

  13. Similarity of different lifting techniques in trunk muscular synergies.

    PubMed

    Mirakhorlo, Mojtaba; Azghani, Mahmood Reza

    2015-01-01

    Lifting is known to be a major reason for musculoskeletal injuries. In this way, lifting has a crucial effect on human musculoskeletal system and intensity of this impact depends slightly on the selection of techniques. Underlying mechanisms by which trunk muscles are executed during performing lifting are central to biomechanical study of lifting techniques. In the current study, the trunk muscular control mechanisms of lifting are investigated using the synergetic control analysis. Non-negative matrix factorization has been used to extract trunk muscles synergies from their activities - which are computed by a previously validated musculoskeletal model - during different lifting techniques aimed to investigate motor control strategies. Three lifting techniques are considered; stoop, squat and semi-squat. Three synergies account for variety among muscle activation of trunk muscles with related VAF (Variability Account For) of over 95%. Trunk muscle synergy weightings and related time-varying coefficients are calculated for each kind of lifting techniques considering three synergies. Paired correlation coefficients between muscle synergies are all greater than 0.91 (P < 0.05) suggesting that trunk muscle synergies are similar for examined techniques in spite of their kinematic diversity. This similarity can be a result of their common ultimate goal. The acquired results also elucidate the mechanisms of muscle activation patterns that can be exploited in future studies and ergonomic interventions.

  14. 14 CFR 25.699 - Lift and drag device indicator.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Lift and drag device indicator. 25.699 Section 25.699 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION....699 Lift and drag device indicator. (a) There must be means to indicate to the pilots the position...

  15. 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.

  16. 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

  17. Optimization of the lithographic performance for lift-off processing

    NASA Astrophysics Data System (ADS)

    Yin, Wenyan; Fillmore, Ward; Dempsey, Kevin J.

    1999-06-01

    Shipley MICROPOSIT LOL lift-off technology exploits a develop rate difference in a resist, LOL1000 bi-layer system to generate retrograde profiles. This is an enabling technology for 'additive' processing. Deposition follows lithography and the resist is then 'lifted off' to generate a patterned layer.

  18. Vortex lift research: Early contributions and some current challenges

    NASA Technical Reports Server (NTRS)

    Polhamus, E. C.

    1986-01-01

    The trend towards slender wing aircraft for supersonic cruise and the early chronology of research directed towards their vortex-lift characteristics are briefly reviewed. An overview of the development of vortex-lift theoretical methods is presented, and some current computational and experimental challenges related to the viscous flow aspects of this vortex flow are discussed.

  19. Atlantis is lifted from its transporter in the VAB

    NASA Technical Reports Server (NTRS)

    2001-01-01

    KENNEDY SPACE CENTER, Fla. -- This closeup shows the workers, standing on lifts, who are checking the bolts on the apparatus holding the orbiter Atlantis. The orbiter will be rotated and lifted into high bay 1 where it will be stacked with its external tank and solid rocket boosters. Space Shuttle Atlantis is scheduled to launch on mission STS-104 in early July.

  20. 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 Transportation Office of the Secretary of Transportation TRANSPORTATION SERVICES FOR INDIVIDUALS WITH DISABILITIES (ADA) Provision of Service § 37.165 Lift and securement use. (a) This section applies to...

  1. 14 CFR 25.699 - Lift and drag device indicator.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Lift and drag device indicator. 25.699 Section 25.699 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION....699 Lift and drag device indicator. (a) There must be means to indicate to the pilots the position...

  2. Anticooperativity of FHF hydrogen bonds in clusters of the type F- × (HF)n, RF × (HF)n and XF × (HF)n, R = alkyl and X = H, Br, Cl, F

    NASA Astrophysics Data System (ADS)

    Kucherov, S. Yu.; Bureiko, S. F.; Denisov, G. S.

    2016-02-01

    Properties of twenty five hydrogen-bonded complexes, namely, F- × (HF)n (n = 1-6), RF × (HF)n (R = t-Bu, i-Pr, Et, Me; n = 1-3), XF × (HF)n (X = H, Br, Cl; n = 1-2), and FF…HF with the hydrogen bond energy varying in a wide range have been calculated using ab initio methods at the MP2/6-31++G** level. For the first time, the energies, geometrical parameters and vibrational frequencies are obtained for the series of clusters, where the bonding character changes from covalent to van der Waals on the variation of proton-acceptor ability of the base, and the energies are in the range of 45-1 kcal/mol. The mutual influence of multiple hydrogen bonds of F…HF type in clusters, in which a fluorine anion or an atom participates in hydrogen bond formation as the acceptor, is systematically investigated. The relative changes in the values of the considered parameters on the sequential addition of an HF molecule (anticooperativity) were determined. It was shown that non-additivity of the interaction is most strongly pronounced in the energy and vibrational frequency values, geometrical parameters of hydrogen bonds are less sensitive to the mutual influence. The anticooperative effect is more pronounced on the hydrogen bridge length R(F...F) than on the geometry of proton donor r(HF). The hydrogen bond formation and the increase of the number n of ligands lead to successive lengthening of the r(XF) bond adjacent to the hydrogen bridge. The length of an XF bond changes stronger on formation of each hydrogen bond than the HF bond length.

  3. Force-controlled lifting of molecular wires

    NASA Astrophysics Data System (ADS)

    Fournier, N.; Wagner, C.; Weiss, C.; Temirov, R.; Tautz, F. S.

    2011-07-01

    Lifting a single molecular wire off the surface with a combined frequency-modulated atomic force and tunneling microscope it is possible to monitor the evolution of both the wire configuration and the contacts simultaneously with the transport conductance experiment. In particular, critical points where individual bonds to the surface are broken and instabilities where the wire is prone to change its contact configuration can be identified in the force gradient and dissipation responses of the junction. This additional mechanical information can be used to unambiguously determine the conductance of a true molecular wire, that is, of a molecule that is contacted via a pointlike “crocodile clip” to each of the electrodes but is otherwise free.

  4. Separation of blood cells using hydrodynamic lift

    NASA Astrophysics Data System (ADS)

    Geislinger, T. M.; Eggart, B.; Braunmüller, S.; Schmid, L.; Franke, T.

    2012-04-01

    Using size and deformability as intrinsic biomarkers, we separate red blood cells (RBCs) from other blood components based on a repulsive hydrodynamic cell-wall-interaction. We exploit this purely viscous lift effect at low Reynolds numbers to induce a lateral migration of soft objects perpendicular to the streamlines of the fluid, which closely follows theoretical prediction by Olla [J. Phys. II 7, 1533, (1997)]. We study the effects of flow rate and fluid viscosity on the separation efficiency and demonstrate the separation of RBCs, blood platelets, and solid microspheres from each other. The method can be used for continuous and label-free cell classification and sorting in on-chip blood analysis.

  5. Insulation Test Cryostat with Lift Mechanism

    NASA Technical Reports Server (NTRS)

    Fesmire, James E. (Inventor); Dokos, Adam G. (Inventor)

    2016-01-01

    A multi-purpose, cylindrical thermal insulation test apparatus is used for testing insulation materials and systems of materials using a liquid boil-off calorimeter system for absolute measurement of the effective thermal conductivity (k-value) and heat flux of a specimen material at a fixed environmental condition (cold-side temperature, warm-side temperature, vacuum pressure level, and residual gas composition). An inner vessel receives liquid with a normal boiling point below ambient temperature, such as liquid nitrogen, enclosed within a vacuum chamber. A cold mass assembly, including upper and lower guard chambers and middle test vessel, is suspended from a lid of the vacuum canister. Each of the three chambers is filled and vented through a single feedthrough. All fluid and instrumentation feedthroughs are mounted and suspended from a top domed lid allowing easy removal of the cold mass. A lift mechanism allows manipulation of the cold mass assembly and insulation test article.

  6. Transport properties of epitaxial lift off films

    NASA Technical Reports Server (NTRS)

    Mena, R. A.; Schacham, S. E.; Young, P. G.; Haugland, E. J.; Alterovitz, S. A.

    1993-01-01

    Transport properties of epitaxially lifted-off (ELO) films were characterized using conductivity, Hall, and Shubnikov-de Haas measurements. A 10-15 percent increase in the 2D electron gas concentration was observed in these films as compared with adjacent conventional samples. We believe this result to be caused by a backgating effect produced by a charge build up at the interface of the ELO film and the quartz substrate. This increase results in a substantial decrease in the quantum lifetime in the ELO samples, by 17-30 percent, but without a degradation in carrier mobility. Under persistent photoconductivity, only one subband was populated in the conventional structure, while in the ELO films the population of the second subband was clearly visible. However, the increase of the second subband concentration with increasing excitation is substantially smaller than anticipated due to screening of the backgating effect.

  7. Vector lifting schemes for stereo image coding.

    PubMed

    Kaaniche, Mounir; Benazza-Benyahia, Amel; Pesquet-Popescu, Béatrice; Pesquet, Jean-Christophe

    2009-11-01

    Many research efforts have been devoted to the improvement of stereo image coding techniques for storage or transmission. In this paper, we are mainly interested in lossy-to-lossless coding schemes for stereo images allowing progressive reconstruction. The most commonly used approaches for stereo compression are based on disparity compensation techniques. The basic principle involved in this technique first consists of estimating the disparity map. Then, one image is considered as a reference and the other is predicted in order to generate a residual image. In this paper, we propose a novel approach, based on vector lifting schemes (VLS), which offers the advantage of generating two compact multiresolution representations of the left and the right views. We present two versions of this new scheme. A theoretical analysis of the performance of the considered VLS is also conducted. Experimental results indicate a significant improvement using the proposed structures compared with conventional methods.

  8. DWPF Air Lift Pump Life Cycle Evaluation

    SciTech Connect

    IMRICH, KENNETH

    2004-03-15

    The Defense Waste Processing Facility (DWPF) air lift pump was successfully tested at Clemson for 72 days of operation. It provided sufficient flow to pump molten glass without excessive foaming. Slurry feeding also did not reveal any problems with cold cap stability. Metallurgically the Inconel 690 (690) portions of the pump were in excellent condition with no visual evidence of degradation even in high flow regions, i.e., air/melt interface and glass discharge regions. Spinel deposits, which completely covered the air passage on one side, were found at the inlet of each platinum/rhodium (Pt/Rh) nozzle. Although the deposits were extensive, they were porous and did not have an adverse effect on the operation of the pump. The technique used to secure the platinum/rhodium nozzles to the 690 housing appeared to be adequate with only minor oxidation of the 690 threads and glass in-leakage. Galvanic attack was observed where the nozzle formed a seal with the 690. Significant pitting of the 690 was observed around the entire seal. Intergranular cracking of the Pt/Rh alloy was extensive but the cause could not be determined. Testing would be required to evaluate the degradation. Data from the performance test and the metallurgical evaluation are being used to modify the design of the first DWPF production air lift pump. It will be fabricated entirely from 690 and use argon as the purge gas. It is intended to have a service life of 6 months. Recommendations for insertion, operation, and inspection of the pump are also included in this report. Performance data collected from the operation of the production pump will be used to further optimize the design. Laboratory exposure tests should also be performed to evaluate the galvanic effect between platinum/rhodium and 690.

  9. Multi-robot control interface

    DOEpatents

    Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

    2011-12-06

    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 a multi-robot common window comprised of information received from each of the plurality of robots.

  10. Development and flight testing of the HL-10 lifting body

    NASA Technical Reports Server (NTRS)

    Kempel, Robert W.; Painter, Weneth D.

    1993-01-01

    The Horizontal Lander 10 (HL-10) lifting body successfully completed 37 flights, achieved the highest Mach number and altitude of this class of vehicle, and contributed to the technology base used to develop the space shuttle and future generations of lifting bodies. Design, development, and flight testing of this low-speed, air-launched, rocket-powered, lifting body was part of an unprecedented effort by NASA and the Northrop Corporation. This paper describes the evolution of the HL-10 lifting body from theoretical design, through development, to selection as one of two low-speed flight vehicles chosen for fabrication and piloted flight testing. Interesting and unusual events which occurred during the program and flight tests, review of significant problems encountered during the first flight, and discussion of how these problems were solved are presented. In addition, impressions of the pilots who flew the HL-10 lifting body are given.

  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. 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

  13. Circulation control technology applied to propulsive high lift systems

    NASA Technical Reports Server (NTRS)

    Englar, R. J.; Nichols, J. H., Jr.; Harris, M. J.; Eppel, J. C.; Shovlin, M. D.

    1984-01-01

    Technology developed for the Circulation Control Wing high-lift system has been extended to augment lift by entraining and redirecting engine thrust. Ejecting a thin jet sheet tangentially over a small curved deflecting surface adjacent to the slipstream of a turbofan engine causes the slipstream to flow around that deflecting surface. The angle of deflection is controlled pneumatically by varying the momentum of the thin jet sheet. The downward momentum of the slipstream enhances wing lift. This concept of pneumatically deflecting the slipstream has been applied to an upper surface blowing high-lift system and to a thrust deflecting system. The capability of the pneumatic upper surface blowing system was demonstrated in a series of investigations using a wind tunnel model and the NASA Quiet Short-haul Research Aircraft (QSRA). Full-scale thrust deflections greater than 90 deg were achieved. This mechanically simple system can provide increased maneuverability, heavy lift or overload capability, or short takeoff and landing performance.

  14. Canadian space robotic activities

    NASA Astrophysics Data System (ADS)

    Sallaberger, Christian; Space Plan Task Force, Canadian Space Agency

    The Canadian Space Agency has chosen space robotics as one of its key niche areas, and is currently preparing to deliver the first flight elements for the main robotic system of the international space station. The Mobile Servicing System (MSS) is the Canadian contribution to the international space station. It consists of three main elements. The Space Station Remote Manipulator System (SSRMS) is a 7-metre, 7-dof, robotic arm. The Special Purpose Dextrous Manipulator (SPDM), a smaller 2-metre, 7-dof, robotic arm can be used independently, or attached to the end of the SSRMS. The Mobile Base System (MBS) will be used as a support platform and will also provide power and data links for both the SSRMS and the SPDM. A Space Vision System (SVS) has been tested on Shuttle flights, and is being further developed to enhance the autonomous capabilities of the MSS. The CSA also has a Strategic Technologies in Automation and Robotics Program which is developing new technologies to fulfill future robotic space mission needs. This program is currently developing in industry technological capabilities in the areas of automation of operations, autonomous robotics, vision systems, trajectory planning and object avoidance, tactile and proximity sensors, and ground control of space robots. Within the CSA, a robotic testbed and several research programs are also advancing technologies such as haptic devices, control via head-mounted displays, predictive and preview displays, and the dynamic characterization of robotic arms. Canada is also now developing its next Long Term Space Plan. In this context, a planetary exploration program is being considered, which would utilize Canadian space robotic technologies in this new arena.

  15. Aerodynamic Characteristics in Pitch and Sideslip at High Subsonic Speeds of a 1/14-Scale Model of the Grumman XF104 Airplane with Wing Sweepback of 42.5 Degrees

    NASA Technical Reports Server (NTRS)

    Kuhn, Richard E.; Draper, John W.

    1953-01-01

    An investigation has been made at high subsonic speeds of the aerodynamic'characteristics in pitch and sideslip of a l/l4-scale model of the Grumman XF10F airplane with a wing sweepback angle of 42.5. The longitudinal stability characteristics (with the horizontal tail fixed) indicate a pitch-up near the stall; however, this was somewhat alleviated by the addition of fins to the side of the fuselage below the horizontal tail. The original model configuration became directionally unstable for small sideslip angles at Mach numbers above 0.8; however, the instability was eliminated by several different modifications.

  16. 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.

  17. 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.

  18. On extracting design principles from biology: II. Case study-the effect of knee direction on bipedal robot running efficiency.

    PubMed

    Haberland, M; Kim, S

    2015-02-02

    Comparing the leg of an ostrich to that of a human suggests an important question to legged robot designers: should a robot's leg joint bend in the direction of running ('forwards') or opposite ('backwards')? Biological studies cannot answer this question for engineers due to significant differences between the biological and engineering domains. Instead, we investigated the inherent effect of joint bending direction on bipedal robot running efficiency by comparing energetically optimal gaits of a wide variety of robot designs sampled at random from a design space. We found that the great majority of robot designs have several locally optimal gaits with the knee bending backwards that are more efficient than the most efficient gait with the knee bending forwards. The most efficient backwards gaits do not exhibit lower touchdown losses than the most efficient forward gaits; rather, the improved efficiency of backwards gaits stems from lower torque and reduced motion at the hip. The reduced hip use of backwards gaits is enabled by the ability of the backwards knee, acting alone, to (1) propel the robot upwards and forwards simultaneously and (2) lift and protract the foot simultaneously. In the absence of other information, designers interested in building efficient bipedal robots with two-segment legs driven by electric motors should design the knee to bend backwards rather than forwards. Compared to common practices for choosing robot knee direction, application of this principle would have a strong tendency to improve robot efficiency and save design resources.

  19. 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.

  20. 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

    ... in the final determination that Sweden is the country of origin of the lift unit for purposes of U.S..., the lift unit, assembled in Sweden from parts made in a non-TAA country and in Sweden, is substantially transformed in Sweden, such that Sweden is the country of origin of the finished article...

  1. Robotic Intelligence Kernel: Architecture

    SciTech Connect

    2009-09-16

    The INL Robotic Intelligence Kernel Architecture (RIK-A) is a multi-level architecture that supports a dynamic autonomy structure. The RIK-A is used to coalesce hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a framework that can be used to create behaviors for humans to interact with the robot.

  2. Robot Rodeo 2013

    ScienceCinema

    Deuel, Jake

    2016-07-12

    Sandia National Laboratories hosted the seventh annual Western National Robot Rodeo and Capability Exercise in June 2013. The five-day event is a lively and challenging competition that draws civilian and military bomb squad teams from across the country to see who can most effectively defuse dangerous situations with the help of robots.

  3. Robot Rodeo 2013

    SciTech Connect

    Deuel, Jake

    2013-08-27

    Sandia National Laboratories hosted the seventh annual Western National Robot Rodeo and Capability Exercise in June 2013. The five-day event is a lively and challenging competition that draws civilian and military bomb squad teams from across the country to see who can most effectively defuse dangerous situations with the help of robots.

  4. Next generation space robot

    NASA Technical Reports Server (NTRS)

    Iwata, Tsutomu; Oda, Mitsushige; Imai, Ryoichi

    1989-01-01

    The recent research effort on the next generation space robots is presented. The goals of this research are to develop the fundamental technologies and to acquire the design parameters of the next generation space robot. Visual sensing and perception, dexterous manipulation, man machine interface and artificial intelligence techniques such as task planning are identified as the key technologies.

  5. Real World Robotics.

    ERIC Educational Resources Information Center

    Clark, Lisa J.

    2002-01-01

    Introduces a project for elementary school students in which students build a robot by following instructions and then write a computer program to run their robot by using LabView graphical development software. Uses ROBOLAB curriculum which is designed for grade levels K-12. (YDS)

  6. Robotics technology discipline

    NASA Technical Reports Server (NTRS)

    Montemerlo, Melvin D.

    1990-01-01

    Viewgraphs on robotics technology discipline for Space Station Freedom are presented. Topics covered include: mechanisms; sensors; systems engineering processes for integrated robotics; man/machine cooperative control; 3D-real-time machine perception; multiple arm redundancy control; manipulator control from a movable base; multi-agent reasoning; and surfacing evolution technologies.

  7. Motivating Students with Robotics

    ERIC Educational Resources Information Center

    Brand, Brenda; Collver, Michael; Kasarda, Mary

    2008-01-01

    In recent years, the need to advance the number of individuals pursuing science, technology, engineering, and mathematics fields has gained much attention. The Montgomery County/Virginia Tech Robotics Collaborative (MCVTRC), a yearlong high school robotics program housed in an educational shop facility in Montgomery County, Virginia, seeks to…

  8. Robotics in medicine

    NASA Astrophysics Data System (ADS)

    Kuznetsov, D. N.; Syryamkin, V. I.

    2015-11-01

    Modern technologies play a very important role in our lives. It is hard to imagine how people can get along without personal computers, and companies - without powerful computer centers. Nowadays, many devices make modern medicine more effective. Medicine is developing constantly, so introduction of robots in this sector is a very promising activity. Advances in technology have influenced medicine greatly. Robotic surgery is now actively developing worldwide. Scientists have been carrying out research and practical attempts to create robotic surgeons for more than 20 years, since the mid-80s of the last century. Robotic assistants play an important role in modern medicine. This industry is new enough and is at the early stage of development; despite this, some developments already have worldwide application; they function successfully and bring invaluable help to employees of medical institutions. Today, doctors can perform operations that seemed impossible a few years ago. Such progress in medicine is due to many factors. First, modern operating rooms are equipped with up-to-date equipment, allowing doctors to make operations more accurately and with less risk to the patient. Second, technology has enabled to improve the quality of doctors' training. Various types of robots exist now: assistants, military robots, space, household and medical, of course. Further, we should make a detailed analysis of existing types of robots and their application. The purpose of the article is to illustrate the most popular types of robots used in medicine.

  9. The Uranus Mobile Robot

    DTIC Science & Technology

    1990-09-01

    Schematics 26 Wi List of Figures 1 Neptune and Pluto .. .. .. .. .. ... .. ... ... ... ... .... 2 2 Uranus...began building our first mobile robot, Pluto (see Figure 1 a). We envisioned Pluto as the ultimate indoor robot within the grasp of current technology...smooth arced trajectory while rotating about its center. This omni-directionality combined with very precise positioning would allow Pluto to easily

  10. Neurotechnology for Biomimetic Robots

    DTIC Science & Technology

    2007-11-02

    This award funded in part, the travel of three investigators to the international conference on Neurotechnology for Biomimetic Robots. The three...investigators participated in a conference held at Northeastern University May 14-16 on the subject of ’ Neurotechnology for Biomimetic Robots’. Each

  11. Concurrent programming and robotics

    SciTech Connect

    Cox, I.J.; Gehani, N.H.

    1989-04-01

    Many current robot systems exhibit a significant degree of concurrency, doing many activities in parallel. Future sensor-based robots are expected to exhibit even more concurrency. Programs to control such robots are characterized by the need to wait for external events and/or handle interrupts, deal with concurrent activities, synchronize actions with external events, and communicate with other robots and processes. In this paper, the authors focus on the advantages of concurrent programming for robotics and suggest that a general-purpose language with the right facilities is a good vehicle for robot programming. In this context they discuss Concurrent C, an upward-compatible extension of the C language that provides high-level concurrent programming facilities. They give an historical perspective of concurrent programming followed by a brief description of Concurrent C and how Concurrent C programs communicate with robots and devices. They show by examples how Concurrent C simplifies writing robot programs. Of specific interest are the process interaction and related interrupt handling facilities.

  12. Going Green Robots

    ERIC Educational Resources Information Center

    Nelson, Jacqueline M.

    2011-01-01

    In looking at the interesting shapes and sizes of old computer parts, creating robots quickly came to the author's mind. In this article, she describes how computer parts can be used creatively. Students will surely enjoy creating their very own robots while learning about the importance of recycling in the society. (Contains 1 online resource.)

  13. Robotics and Industrial Arts.

    ERIC Educational Resources Information Center

    Edmison, Glenn A.; And Others

    Robots are becoming increasingly common in American industry. By l990, they will revolutionize the way industry functions, replacing hundreds of workers and doing hot, dirty jobs better and more quickly than the workers could have done them. Robotics should be taught in high school industrial arts programs as a major curriculum component. The…

  14. INL Generic Robot Architecture

    SciTech Connect

    2005-03-30

    The INL Generic Robot Architecture is a generic, extensible software framework that can be applied across a variety of different robot geometries, sensor suites and low-level proprietary control application programming interfaces (e.g. mobility, aria, aware, player, etc.).

  15. Robot Vision Library

    NASA Technical Reports Server (NTRS)

    Howard, Andrew B.; Ansar, Adnan I.; Litwin, Todd E.; Goldberg, Steven B.

    2009-01-01

    The JPL Robot Vision Library (JPLV) provides real-time robot vision algorithms for developers who are not vision specialists. The package includes algorithms for stereo ranging, visual odometry and unsurveyed camera calibration, and has unique support for very wideangle lenses

  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...pressure has been estimated to reduce spinal disc compressive forces by up to 40% (6,9,12,14). High intra-abdominal pressures have been recorded during

  17. Honda humanoid robots development.

    PubMed

    Hirose, Masato; Ogawa, Kenichi

    2007-01-15

    Honda has been doing research on robotics since 1986 with a focus upon bipedal walking technology. The research started with straight and static walking of the first prototype two-legged robot. Now, the continuous transition from walking in a straight line to making a turn has been achieved with the latest humanoid robot ASIMO. ASIMO is the most advanced robot of Honda so far in the mechanism and the control system. ASIMO's configuration allows it to operate freely in the human living space. It could be of practical help to humans with its ability of five-finger arms as well as its walking function. The target of further development of ASIMO is to develop a robot to improve life in human society. Much development work will be continued both mechanically and electronically, staying true to Honda's 'challenging spirit'.

  18. Intelligent Articulated Robot

    NASA Astrophysics Data System (ADS)

    Nyein, Aung Kyaw; Thu, Theint Theint

    2008-10-01

    In this paper, an articulated type of industrial used robot is discussed. The robot is mainly intended to be used in pick and place operation. It will sense the object at the specified place and move it to a desired location. A peripheral interface controller (PIC16F84A) is used as the main controller of the robot. Infrared LED and IR receiver unit for object detection and 4-bit bidirectional universal shift registers (74LS194) and high current and high voltage Darlington transistors arrays (ULN2003) for driving the arms' motors are used in this robot. The amount of rotation for each arm is regulated by the limit switches. The operation of the robot is very simple but it has the ability of to overcome resetting position after power failure. It can continue its work from the last position before the power is failed without needing to come back to home position.

  19. [The robotic surgeon training].

    PubMed

    Crestani, Alessandro; Rossanese, Marta; Abbinante, Maria; Calandriello, Mattia; Kungulli, Afrovita; Giannarini, Gianluca; Ficarra, Vincenzo

    2015-10-01

    The widespread robotic surgery in the world highlighted the relevance of the training programs for young urologists and residents. In the last years, urologic societies and some independent robotic surgeons strongly worked to standardize some general and specific training modules. Theoretical and practical sections of robotic training programs have been recently specified. The role of simulators, dry and wet laboratories, bedside assistance, and modular (step-by-step) training at console represent the most relevant elements of robotic surgeon training. Ideally, these didactic tools should be available in modern training centers. The development of structured robotic training programs should be considered as one of the priorities that the urologic community must take into account in the near future.

  20. Utilizing Robot Operating System (ROS) in Robot Vision and Control

    DTIC Science & Technology

    2015-09-01

    OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL by Joshua S. Lum September 2015 Thesis Advisor: Xiaoping Yun Co-Advisor: Zac Staples...Master’s Thesis 4. TITLE AND SUBTITLE UTILIZING ROBOT OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL 5. FUNDING NUMBERS 6. AUTHOR(S) Lum, Joshua S...release; distribution is unlimited UTILIZING ROBOT OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL Joshua S. Lum Captain, United States

  1. Expanding Frontiers of Humanoid Robotics

    DTIC Science & Technology

    2000-08-01

    From the IEEE Intelligent Systems Special Issue on Humanoid Robotics , July/August 2000 GUEST EDITORS’ Expanding Frontiers of Humanoid Robotics ...Mark L. Swinson, DARPA David J. Bruemmer, Strategic Analysis Mobile robots pose a unique set of challenges to artificial intelligence researchers...the constraints of logical correctness but also some assortment of crosscutting, physical constraints. Particularly interesting among these robots

  2. Robots in Space -Psychological Aspects

    NASA Technical Reports Server (NTRS)

    Sipes, Walter E.

    2006-01-01

    A viewgraph presentation on the psychological aspects of developing robots to perform routine operations associated with monitoring, inspection, maintenance and repair in space is shown. The topics include: 1) Purpose; 2) Vision; 3) Current Robots in Space; 4) Ground Based Robots; 5) AERCam; 6) Rotating Bladder Robot (ROBLR); 7) DART; 8) Robonaut; 9) Full Immersion Telepresence Testbed; 10) ERA; and 11) Psychological Aspects

  3. [Application of robots in stomatology].

    PubMed

    Zhou, Meng-Qi; Zhang, Jin-Ning; Hong, Jin

    2016-10-01

    Recently, the robot technology has been developed rapidly and the medical robot has been used in many clinical areas, especially in the field of stomatology. The application of robot in stomatology will break the traditional mode of treatment and bring a new technological revolution. This paper introduced the advantages, the current situation and the development prospect of applying robot in stomatology.

  4. A Survey of Space Robotics

    NASA Technical Reports Server (NTRS)

    Pedersen, L.; Kortenkamp, D.; Wettergreen, D.; Nourbakhsh, I.; Korsmeyer, David (Technical Monitor)

    2003-01-01

    In this paper we summarize a survey conducted by NASA to determine the state-of-the-art in space robotics and to predict future robotic capabilities under either nominal and intensive development effort. The space robotics assessment study examined both in-space operations including assembly, inspection, and maintenance and planetary surface operations like mobility and exploration. Applications of robotic autonomy and human-robot cooperation were considered. The study group devised a decomposition of robotic capabilities and then suggested metrics to specify the technical challenges associated with each. The conclusion of this paper identifies possible areas in which investment in space robotics could lead to significant advances of important technologies.

  5. 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

  6. Robotic Surgery for Thoracic Disease.

    PubMed

    Yamashita, Shin-Ichi; Yoshida, Yasuhiro; Iwasaki, Akinori

    2016-01-01

    Robotic surgeries have developed in the general thoracic field over the past decade, and publications on robotic surgery outcomes have accumulated. However, controversy remains about the application of robotic surgery, with a lack of well-established evidence. Robotic surgery has several advantages such as natural movement of the surgeon's hands when manipulating the robotic arms and instruments controlled by computer-assisted systems. Most studies have reported the feasibility and safety of robotic surgery based on acceptable morbidity and mortality compared to open or video-assisted thoracic surgery (VATS). Furthermore, there are accumulated data to indicate longer operation times and shorter hospital stay in robotic surgery. However, randomized controlled trials between robotic and open or VATS procedures are needed to clarify the advantage of robotic surgery. In this review, we focused the literature about robotic surgery used to treat lung cancer and mediastinal tumor.

  7. Lifting kernel-based sprite codec

    NASA Astrophysics Data System (ADS)

    Dasu, Aravind R.; Panchanathan, Sethuraman

    2000-12-01

    The International Standards Organization (ISO) has proposed a family of standards for compression of image and video sequences, including the JPEG, MPEG-1 and MPEG-2. The latest MPEG-4 standard has many new dimensions to coding and manipulation of visual content. A video sequence usually contains a background object and many foreground objects. Portions of this background may not be visible in certain frames due to the occlusion of the foreground objects or camera motion. MPEG-4 introduces the novel concepts of Video Object Planes (VOPs) and Sprites. A VOP is a visual representation of real world objects with shapes that need not be rectangular. Sprite is a large image composed of pixels belonging to a video object visible throughout a video segment. Since a sprite contains all parts of the background that were at least visible once, it can be used for direct reconstruction of the background Video Object Plane (VOP). Sprite reconstruction is dependent on the mode in which it is transmitted. In the Static sprite mode, the entire sprite is decoded as an Intra VOP before decoding the individual VOPs. Since sprites consist of the information needed to display multiple frames of a video sequence, they are typically much larger than a single frame of video. Therefore a static sprite can be considered as a large static image. In this paper, a novel solution to address the problem of spatial scalability has been proposed, where the sprite is encoded in Discrete Wavelet Transform (DWT). A lifting kernel method of DWT implementation has been used for encoding and decoding sprites. Modifying the existing lifting scheme while maintaining it to be shape adaptive results in a reduced complexity. The proposed scheme has the advantages of (1) avoiding the need for any extensions to image or tile border pixels and is hence superior to the DCT based low latency scheme (used in the current MPEG-4 verification model), (2) mapping the in place computed wavelet coefficients into a zero

  8. Effect of floor slope on submaximal lifting capacity.

    PubMed

    Wickel, Eric E; Reiser, Raoul F

    2004-01-01

    In order to reduce injuries due to lifting a box from the floor, maximal acceptable weights of lift (MAWL) have been established for a level surface. However, an inclined surface condition may be encountered on a jobsite. The purpose of this investigation was to determine if facing up or down a sloped surface affects MAWL. After obtaining university-approved informed consent, 20 apparently healthy men (age = 22.4 +/- 1.4 yrs) and 20 women (age = 22.0 +/- 1.9 yrs) determined floor to knuckle height MAWL using the psychophysical approach. After a familiarization day, two data collection days were completed with the uphill and level (+20, +10 and 0 degree) or downhill and level (-20, -10 and 0 degree) lifting capacities determined. A cadence of four lifts/min was used after starting with an unknown load that participants adjusted after each lift. No differences (p > 0.05) in level MAWL were found on the downhill day compared to the uphill day. While the men lifted significantly more than the women in every condition (p < 0.001), no differences were found across the lifting conditions (p > 0.05). The men averaged a MAWL of 24.7 kg across the five conditions (average standard deviation (SD) = 7.4 kg), the women averaged 14.8 kg (average SD = 3.1 kg). While these findings would suggest no changes in lifting guidelines for a sloped surface within 20 degrees of level, other factors such as lifting technique and the stress placed on the low-back should be examined to assess risk of injury in these different conditions.

  9. Lift evaluation of a two-dimensional pitching flat plate

    NASA Astrophysics Data System (ADS)

    Xia, X.; Mohseni, K.

    2013-09-01

    Several previous experimental and theoretical studies have shown that a leading edge vortex (LEV) on an airfoil or wing can provide lift enhancement. In this paper, unsteady two-dimensional (2D) potential flow theory is employed to model the flow field of a pitching flat plate wing. A multi-vortices model is developed to model both the leading edge and trailing edge vortices (TEVs), which offers improved accuracy compared with using only single vortex at each separation location. The lift is obtained by integrating the unsteady Blasius equation. It is found that the motion of vortices contributes significantly to the overall aerodynamic force on the flat plate. A Kutta-like condition is used to determine the vortex intensity and location at the leading edge for large angle of attack cases; however, it is proposed to relax this condition for small angle of attack cases and apply a 2D shear layer model to calculate the circulation of the new added vortex. The results of the simulation are then compared with classical numerical, theoretical, and experimental data for canonical unsteady flat plat problems. Good agreement with these data is observed. Moreover, these results suggested that the leading edge vortex shedding for small angles of attack should be modeled differently than that for large angles of attack. Finally, the results of vortex motion vs. lift indicate that the slow convection of the LEV creates less negative lift while the rapid shedding of the TEV creates more positive lift. The difference between these two contributions of lift results in a total positive lift that lasts for about two chord-length travel of the plate. It is therefore concluded that the lift enhancement during the LEV "stabilization" above the wing is a combined effect of both the LEV and TEV motion. This also provides the insights for future active flow control of micro aerial vehicles (MAVs) that the formation and shedding process of LEVs and TEVs can be manipulated to provide lift

  10. Robotic system for remote maintenance of a pulsed nuclear reactor

    SciTech Connect

    Thunborg, S.

    1986-01-01

    Guidelines recently established for occupational radiation exposure specify that exposure should be as low as reasonably achievable. In conformance with these guidelines, SNL has developed a remote maintenance robot (RMR) system for use in the Sandia Pulse Reactor III (SPR III) facility. The RMR should reduce occupational radiation exposure by a factor of 4 and decrease reactor downtime. Other goals include developing a technology base for a more advanced pulse reactor and for the nuclear fuel cycle programs of the US Department of Energy and US Nuclear Regulatory Commission. The RMR has five major subsystems: (a) a chain-driven cart to bring the system into the reactor room; (b) a Puma 560 robot to perform dextrous operations; (c) a programmable turntable to orient the robot to any of the reactor's four sides; (d) a programmable overhead hoist for lifting components weighing up to 400 lb onto or off of the reactor; and (e) a supervisory control console for the system operator. Figure 1 is a schematic diagram of the turntable, hoist, and robot system in position around the SPR III reactor.

  11. The dynamic lift of developmental process.

    PubMed

    Smith, Linda B; Breazeal, Cynthia

    2007-01-01

    What are the essential properties of human intelligence, currently unparalleled in its power relative to other biological forms and relative to artificial forms of intelligence? We suggest that answering this question depends critically on understanding developmental process. This paper considers three principles potentially essential to building human-like intelligence: the heterogeneity of the component processes, the embedding of development in a social world, and developmental processes that change the cognitive system as a function of the history of soft-assemblies of these heterogeneous processes in specific tasks. The paper uses examples from human development and from developmental robotics to show how these processes also may underlie biological intelligence and enable us to generate more advanced forms of artificial intelligence.

  12. Partner Ballroom Dance Robot -PBDR-

    NASA Astrophysics Data System (ADS)

    Kosuge, Kazuhiro; Takeda, Takahiro; Hirata, Yasuhisa; Endo, Mitsuru; Nomura, Minoru; Sakai, Kazuhisa; Koizumi, Mizuo; Oconogi, Tatsuya

    In this research, we have developed a dance partner robot, which has been developed as a platform for realizing the effective human-robot coordination with physical interaction. The robot could estimate the next dance step intended by a human and dance the step with the human. This paper introduce the robot referred to as PBDR (Partner Ballroom Dance Robot), which has performed graceful dancing with the human in EXPO 2005, Aichi, Japan.

  13. Guarded Motion for Mobile Robots

    SciTech Connect

    2005-03-30

    The Idaho National Laboratory (INL) has created codes that ensure that a robot will come to a stop at a precise, specified distance from any obstacle regardless of the robot's initial speed, its physical characteristics, and the responsiveness of the low-level motor control schema. This Guarded Motion for Mobile Robots system iteratively adjusts the robot's action in response to information about the robot's environment.

  14. EA-6B high-lift wing modifications

    NASA Technical Reports Server (NTRS)

    Waggoner, E. G.; Allison, D. O.

    1987-01-01

    NASA-Langley has accomplished the computational design and experimental verification of EA-6B aircraft wing modifications for improved high lift capability. The modifications are comparatively simple, and attempt to improve low speed high lift performance while maintaining high speed cruise efficiency. Several two- and three-dimensional low speed and transonic computational techniques were employed, together with extensive wind tunnel tests. The modified inboard and outboard edge slat/flap system sections yielded efficiency improvements that were verified by three-dimensional wind tunnel experiments to amount to an 11-percent wing-body lift coefficient enhancement at low speed.

  15. 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.

  16. Hydrofoils: optimum lift-off speed for sailboats.

    PubMed

    Baker, R M

    1968-12-13

    For a hydrofoil sailboat there is a unique optimum lift-off speed. Before this speed is reached, if there are no parasitic vertical hydrofoil appendages, the submerged or partially submerged hydrofoils increase drag and degrade performance. As soon as this speed is reached and the hydrofoils are fully and promptly deployed, the performance of a hydrofoil-borne craft is significantly improved. At speeds exceeding optimum lift-off speed, partially submerged hydrofoils impair performance if there is no significant effect of loading on the hydrofoil lift-to-drag ratio.

  17. 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.

  18. 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.

  19. Micro autonomous robotic system

    NASA Astrophysics Data System (ADS)

    Ishihara, Hidenori; Fukuda, Toshio

    1995-12-01

    This paper deals with the structural proposal of the micro autonomous robotic system, and shows the design of the prototype. We aim at developing the micro robot, which autonomously acts based on its detection, in order to propose a solution to constitute the micro autonomous robotic system. However, as miniaturizing the size, the number of the sensors gets restricted and the information from them becomes lack. Lack of the information makes it difficult to realize an intelligence of quality. Because of that, the micro robotic system needs to develop the simple algorithm. In this paper, we propose the simply logical algorithms to control the actuator, and show the performance of the micro robot controlled by them, and design the Micro Line Trace Robot, which dimension is about 1 cm cube and which moves along the black line on the white-colored ground, and the programmable micro autonomous robot, which dimension is about 2 cm cube and which performs according to the program optionally.

  20. Future of robotic surgery.

    PubMed

    Lendvay, Thomas Sean; Hannaford, Blake; Satava, Richard M

    2013-01-01

    In just over a decade, robotic surgery has penetrated almost every surgical subspecialty and has even replaced some of the most commonly performed open oncologic procedures. The initial reports on patient outcomes yielded mixed results, but as more medical centers develop high-volume robotics programs, outcomes appear comparable if not improved for some applications. There are limitations to the current commercially available system, and new robotic platforms, some designed to compete in the current market and some to address niche surgical considerations, are being developed that will change the robotic landscape in the next decade. Adoption of these new systems will be dependent on overcoming barriers to true telesurgery that range from legal to logistical. As additional surgical disciplines embrace robotics and open surgery continues to be replaced by robotic approaches, it will be imperative that adequate education and training keep pace with technology. Methods to enhance surgical performance in robotics through the use of simulation and telementoring promise to accelerate learning curves and perhaps even improve surgical readiness through brief virtual-reality warm-ups and presurgical rehearsal. All these advances will need to be carefully and rigorously validated through not only patient outcomes, but also cost efficiency.

  1. Robotic comfort zones

    NASA Astrophysics Data System (ADS)

    Likhachev, Maxim; Arkin, Ronald C.

    2000-10-01

    The paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in infants, is conducted with the goal being to determine the relevant characteristics for mapping it onto the robotics domain. Focus is place on the identification of the salient features in the environment that affect the comfort level. Factors involved include current state familiarity, working conditions, the amount and location of available resources, etc. As part of our newly developed comfort function theory, the notion of an object as a psychological attachment for a robot is also introduced, as espoused in Bowlby's theory of attachment. The output space of the comfort function and its dependency on the comfort level are analyzed. The results of the derivation of this comfort function are then presented in terms of the impact they have on robotic behavior. Justification for the use of the comfort function are then presented in terms of the impact they have on robotic behavior. Justification for the use of the comfort function in the domain of robotics is presented with relevance for real-world operations. Also, a transformation of the theoretical discussion into a mathematical framework suitable for implementation within a behavior-based control system is presented. The paper concludes with results of simulation studies and real robot experiments using the derived comfort function.

  2. Autonomous mobile robot

    SciTech Connect

    Mattaboni, P.J.

    1987-01-20

    This patent describes a mobile robot of the type having (a) a vision system, (b) memory means for storing data derived from the robot vision system, and (c) a computer for processing data derived from the robot's vision system, the improvement wherein the robot's vision system comprises (i) a first array of ranging transducers for obtaining data on the position and distance of far objects in a volume of space, the transducers of the first array being symmetrically disposed on the mobile robot with respect to an axis of symmetry within the mobile robot. Each transducer of the first array is fixed in position with respect to that axis of symmetry and sees a portion of the volume of space seen by its entire array; (ii) a second array of ranging transducers for obtaining data of the position and distance of near objects in the same or an overlapping volume of space, the transducers of the second array being symmetrically disposed on the mobile robot with respect to the axis of symmetry. Each transducer of the second array is fixed in position with respect to the axis of symmetry and sees a portion of the volume of space seen by its entire array, the angle of view of the transducers of the second array being different from the angle of view of the transducers of the first array with respect to the same object in space; and (iii) means for polling the ranging transducers in sequences determined by the computer.

  3. Toward cognitive robotics

    NASA Astrophysics Data System (ADS)

    Laird, John E.

    2009-05-01

    Our long-term goal is to develop autonomous robotic systems that have the cognitive abilities of humans, including communication, coordination, adapting to novel situations, and learning through experience. Our approach rests on the recent integration of the Soar cognitive architecture with both virtual and physical robotic systems. Soar has been used to develop a wide variety of knowledge-rich agents for complex virtual environments, including distributed training environments and interactive computer games. For development and testing in robotic virtual environments, Soar interfaces to a variety of robotic simulators and a simple mobile robot. We have recently made significant extensions to Soar that add new memories and new non-symbolic reasoning to Soar's original symbolic processing, which should significantly improve Soar abilities for control of robots. These extensions include episodic memory, semantic memory, reinforcement learning, and mental imagery. Episodic memory and semantic memory support the learning and recalling of prior events and situations as well as facts about the world. Reinforcement learning provides the ability of the system to tune its procedural knowledge - knowledge about how to do things. Mental imagery supports the use of diagrammatic and visual representations that are critical to support spatial reasoning. We speculate on the future of unmanned systems and the need for cognitive robotics to support dynamic instruction and taskability.

  4. Space Shuttle Discovery lifts off successfully

    NASA Technical Reports Server (NTRS)

    1998-01-01

    Clouds of exhaust fill Launch Pad 39B as Space Shuttle Discovery lifts off at 2:19 p.m. EST Oct. 29 on mission STS-95. Making his second voyage into space after 36 years is Payload Specialist John H. Glenn Jr., senator from Ohio. Other crew members are Mission Commander Curtis L. Brown Jr., Pilot Steven W. Lindsey, Payload Specialist Chiaki Mukai, (M.D., Ph.D.), with the National Space Development Agency of Japan (NASDA), Mission Specialist Stephen K. Robinson, Mission Specialist Pedro Duque of Spain, representing the European Space Agency (ESA), and Mission Specialist Scott E. Parazynski. The STS-95 mission includes research payloads such as the Spartan solar-observing deployable spacecraft, the Hubble Space Telescope Orbital Systems Test Platform, the International Extreme Ultraviolet Hitchhiker, as well as the SPACEHAB single module with experiments on space flight and the aging process. Discovery is expected to return to KSC at 11:49 a.m. EST on Nov. 7.

  5. Space Shuttle Discovery lifts off successfully

    NASA Technical Reports Server (NTRS)

    1998-01-01

    Against a curtain of blue sky, the Space Shuttle Discovery spews clouds of exhaust as it lifts off from Launch Pad 39B at 2:19 p.m. EST Oct. 29 on the 9-day mission STS-95. On board Discovery are Mission Commander Curtis L. Brown Jr., Pilot Steven W. Lindsey, Payload Specialist Chiaki Mukai, (M.D., Ph.D.), with the National Space Development Agency of Japan (NASDA), Payload Specialist John H. Glenn Jr., senator from Ohio, Mission Specialist Stephen K. Robinson, Mission Specialist Pedro Duque of Spain, representing the European Space Agency (ESA), and Mission Specialist Scott E. Parazynski. The STS-95 mission includes research payloads such as the Spartan solar-observing deployable spacecraft, the Hubble Space Telescope Orbital Systems Test Platform, the International Extreme Ultraviolet Hitchhiker, as well as the SPACEHAB single module with experiments on space flight and the aging process. Discovery is expected to return to KSC at 11:49 a.m. EST on Nov. 7.

  6. Space Shuttle Discovery lifts off successfully

    NASA Technical Reports Server (NTRS)

    1998-01-01

    Clouds of exhaust seem to fill the marsh near Launch Pad 39B as Space Shuttle Discovery lifts off at 2:19 p.m. EST Oct. 29 on mission STS-95. Making his second voyage into space after 36 years is Payload Specialist John H. Glenn Jr., senator from Ohio. Other crew members are Mission Commander Curtis L. Brown Jr., Pilot Steven W. Lindsey, Payload Specialist Chiaki Mukai, (M.D., Ph.D.), with the National Space Development Agency of Japan (NASDA), Mission Specialist Stephen K. Robinson, Mission Specialist Pedro Duque of Spain, representing the European Space Agency (ESA), and Mission Specialist Scott E. Parazynski. The STS-95 mission includes research payloads such as the Spartan solar-observing deployable spacecraft, the Hubble Space Telescope Orbital Systems Test Platform, the International Extreme Ultraviolet Hitchhiker, as well as the SPACEHAB single module with experiments on space flight and the aging process. Discovery is expected to return to KSC at 11:49 a.m. EST on Nov. 7.

  7. Space Shuttle Discovery lifts off successfully

    NASA Technical Reports Server (NTRS)

    1998-01-01

    Clouds of exhaust and blazing light fill Launch Pad 39B as Space Shuttle Discovery lifts off at 2:19 p.m. EST Oct. 29 on mission STS-95. Making his second voyage into space after 36 years is Payload Specialist John H. Glenn Jr., senator from Ohio. Other crew members are Mission Commander Curtis L. Brown Jr., Pilot Steven W. Lindsey, Payload Specialist Chiaki Mukai, (M.D., Ph.D.), with the National Space Development Agency of Japan (NASDA), Mission Specialist Stephen K. Robinson, Mission Specialist Pedro Duque of Spain, representing the European Space Agency (ESA), and Mission Specialist Scott E. Parazynski. The STS-95 mission includes research payloads such as the Spartan solar-observing deployable spacecraft, the Hubble Space Telescope Orbital Systems Test Platform, the International Extreme Ultraviolet Hitchhiker, as well as the SPACEHAB single module with experiments on space flight and the aging process. Discovery is expected to return to KSC at 11:49 a.m. EST on Nov. 7.

  8. Space Shuttle Discovery lifts off successfully

    NASA Technical Reports Server (NTRS)

    1998-01-01

    Framed by the foliage of the Canaveral National Sea Shore, Space Shuttle Discovery soars through bright blue skies as it lifts off from Launch Pad 39B at 2:19 p.m. EST Oct. 29 on mission STS-95. Making his second voyage into space after 36 years is Payload Specialist John H. Glenn Jr., senator from Ohio. Other crew members are Mission Commander Curtis L. Brown Jr., Pilot Steven W. Lindsey, Payload Specialist Chiaki Mukai, (M.D., Ph.D.), with the National agency for Space Development (NASDA), Mission Specialist Stephen K. Robinson, Mission Specialist Pedro Duque of Spain, representing the European Space Agency (ESA), and Mission Specialist Scott E. Parazynski. The STS-95 mission includes research payloads such as the Spartan solar-observing deployable spacecraft, the Hubble Space Telescope Orbital Systems Test Platform, the International Extreme Ultraviolet Hitchhiker, as well as the SPACEHAB single module with experiments on space flight and the aging process. Discovery is expected to return to KSC at 11:49 a.m. EST on Nov. 7.

  9. Space Shuttle Discovery lifts off successfully

    NASA Technical Reports Server (NTRS)

    1998-01-01

    Space Shuttle Discovery clears Launch Pad 39B at 2:19 p.m. EST Oct. 29 as it lifts off on mission STS-95. Making his second voyage into space after 36 years is Payload Specialist John H. Glenn Jr., senator from Ohio. Other crew members are Mission Commander Curtis L. Brown Jr., Pilot Steven W. Lindsey, Payload Specialist Chiaki Mukai, (M.D., Ph.D.), with the National Space Development Agency of Japan (NASDA), Mission Specialist Stephen K. Robinson, Mission Specialist Pedro Duque of Spain, representing the European Space Agency (ESA), and Mission Specialist Scott E. Parazynski. The STS-95 mission includes research payloads such as the Spartan solar-observing deployable spacecraft, the Hubble Space Telescope Orbital Systems Test Platform, the International Extreme Ultraviolet Hitchhiker, as well as the SPACEHAB single module with experiments on space flight and the aging process. Discovery is expected to return to KSC at 11:49 a.m. EST on Nov. 7.

  10. Space Shuttle Discovery lifts off successfully

    NASA Technical Reports Server (NTRS)

    1998-01-01

    Thousands of gallons of water released as part of the sound suppression system at the launch pad create clouds of steam and exhaust as Space Shuttle Discovery lifts off from Launch Pad 39B at 2:19 p.m. EST Oct. 29 on mission STS-95. Making his second voyage into space after 36 years is Payload Specialist John H. Glenn Jr., senator from Ohio. Other crew members are Mission Commander Curtis L. Brown Jr., Pilot Steven W. Lindsey, Payload Specialist Chiaki Mukai, (M.D., Ph.D.), with the National Space Development Agency of Japan (NASDA), Mission Specialist Stephen K. Robinson, Mission Specialist Pedro Duque of Spain, representing the European Space Agency (ESA), and Mission Specialist Scott E. Parazynski. The STS-95 mission includes research payloads such as the Spartan solar-observing deployable spacecraft, the Hubble Space Telescope Orbital Systems Test Platform, the International Extreme Ultraviolet Hitchhiker, as well as the SPACEHAB single module with experiments on space flight and the aging process. Discovery is expected to return to KSC at 11:49 a.m. EST on Nov. 7.

  11. Space Shuttle Discovery lifts off successfully

    NASA Technical Reports Server (NTRS)

    1998-01-01

    As if sprung from the rolling exhaust clouds below, Space Shuttle Discovery shoots into the heavens over the blue Atlantic Ocean from Launch Pad 39B on mission STS-95. Lifting off at 2:19 p.m. EST, Discovery carries a crew of six, including Payload Specialist John H. Glenn Jr., senator from Ohio, who is making his second voyage into space after 36 years. Other crew members are Mission Commander Curtis L. Brown Jr., Pilot Steven W. Lindsey, Payload Specialist Chiaki Mukai, (M.D., Ph.D.), with the National Space Development Agency of Japan (NASDA), Mission Specialist Stephen K. Robinson, Mission Specialist Pedro Duque of Spain, representing the European Space Agency (ESA), and Mission Specialist Scott E. Parazynski. The STS-95 mission includes research payloads such as the Spartan solar-observing deployable spacecraft, the Hubble Space Telescope Orbital Systems Test Platform, the International Extreme Ultraviolet Hitchhiker, as well as the SPACEHAB single module with experiments on space flight and the aging process. Discovery is expected to return to KSC at 11:49 a.m. EST on Nov. 7.

  12. Dignitaries Await Apollo 11 Lift Off

    NASA Technical Reports Server (NTRS)

    1969-01-01

    From the right, NASA administrator, Dr. Thomas O. Paine talks with U.S. Vice President Spiro T. Agnew while awaiting the launch of Saturn V (AS-506) that carried the Apollo 11 spacecraft to the Moon for man's historic first landing on the lunar surface. At center is astronaut William Anders, a member of the first crew to orbit the moon during the Apollo 8 mission. At left is Lee B. James, director of Program Management at the NASA Marshall Space Flight Center (MSFC) where the Saturn V was developed. The craft lifted off from launch pad 39 at Kennedy Space Flight Center (KSC) on July 16, 1969. The moon bound crew included astronauts Neil A. Armstrong, commander; Michael Collins, Command Module (CM) pilot; and Edwin E. Aldrin Jr., Lunar Module (M) pilot. The mission finalized with splashdown in the Pacific Ocean on July 24, 1969. With the success of Apollo 11, the national objective to land men on the Moon and return them safely to Earth had been accomplished.

  13. Insulation Test Cryostat with Lift Mechanism

    NASA Technical Reports Server (NTRS)

    Fesmire, James E. (Inventor); Dokos, Adam G. (Inventor)

    2014-01-01

    A multi-purpose, cylindrical thermal insulation test apparatus is used for testing insulation materials and systems of materials using a liquid boil-off calorimeter system for absolute measurement of the effective thermal conductivity (k-value) and heat flux of a specimen material at a fixed environmental condition (cold-side temperature, warm-side temperature, vacuum pressure level, and residual gas composition). The apparatus includes an inner vessel for receiving a liquid with a normal boiling point below ambient temperature, such as liquid nitrogen, enclosed within a vacuum chamber. A cold mass assembly, including the upper and lower guard chambers and a middle test vessel, is suspended from a lid of the vacuum canister. Each of the three chambers is filled and vented through a single feedthrough. All fluid and instrumentation feedthroughs are mounted and suspended from a top domed lid to allow easy removal of the cold mass. A lift mechanism allows manipulation of the cold mass assembly and insulation test article.

  14. Mars Reconnaissance Orbiter (MRO) Lifts Off

    NASA Technical Reports Server (NTRS)

    2005-01-01

    At 7:43 a.m. EDT an Atlas V launch vehicle, 19 stories tall, with a two-ton Mars Reconnaissance Orbiter (MRO) on top, lifts off the pad on Launch Complex 41 at Cape Canaveral Air Force Station in Florida. All systems performed nominally for NASA's first launch of an Atlas V on an interplanetary mission. MRO established radio contact with controllers 61 minutes after launch and within four minutes of separation from the upper stage. Initial contact came through an antenna at the Japan Aerospace Exploration Agency's Uchinoura Space Center in southern Japan. Mars is 72 million miles from Earth today, but the spacecraft will travel more than four times that distance on its outbound-arc trajectory to intercept the red planet on March 10, 2006. The orbiter carries six scientific instruments for examining the surface, atmosphere and subsurface of Mars in unprecedented detail from low orbit. NASA expects to get several times more data about Mars from MRO than from all previous Martian missions combined. Researchers will use the instruments to learn more about the history and distribution of Mars' water. That information will improve understanding of planetary climate change and will help guide the quest to answer whether Mars ever supported life. The orbiter will also evaluate potential landing sites for future missions.

  15. Microfluidic particle sorting utilizing inertial lift force.

    PubMed

    Nieuwstadt, Harm A; Seda, Robinson; Li, David S; Fowlkes, J Brian; Bull, Joseph L

    2011-02-01

    A simple passive microfluidic device that continuously separates microparticles is presented. Its development is motivated by the need for specific size micro perfluorocarbon (PFC) droplets to be used for a novel gas embolotherapy method. The device consists of a rectangular channel in which inertial lift forces are utilized to separate particles in lateral distance. At the entrance of the channel, particles are introduced at the center by focusing the flow from a center channel with flow from two side channels. Downstream, large particles will occupy a lateral equilibrium position in shorter axial distance than small particles. At the exit of the channel, flow containing large particles is separated from flow containing small particles. It is shown that 10.2-μm diameter microspheres can be separated from 3.0-μm diameter microspheres with a separation efficiency of 69-78% and a throughput in the order of 2 ·10⁴ particles per minute. Computational Fluid Dynamics (CFD) calculations were done to calculate flow fields and verify theoretical particle trajectories. Theory underlying this research shows that higher separation efficiencies for very specific diameter cut-off are possible. This microfluidic channel design has a simple structure and can operate without external forces which makes it feasible for lab-on-a-chip (LOC) applications.

  16. Door breaching robotic manipulator

    NASA Astrophysics Data System (ADS)

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

    2008-04-01

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

  17. 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

  18. Agile Walking Robot

    NASA Technical Reports Server (NTRS)

    Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.; Waldron, Kenneth J.

    1990-01-01

    Proposed agile walking robot operates over rocky, sandy, and sloping terrain. Offers stability and climbing ability superior to other conceptual mobile robots. Equipped with six articulated legs like those of insect, continually feels ground under leg before applying weight to it. If leg sensed unexpected object or failed to make contact with ground at expected point, seeks alternative position within radius of 20 cm. Failing that, robot halts, examines area around foot in detail with laser ranging imager, and replans entire cycle of steps for all legs before proceeding.

  19. Autonomous mobile robot teams

    NASA Technical Reports Server (NTRS)

    Agah, Arvin; Bekey, George A.

    1994-01-01

    This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

  20. Modelling robot construction systems

    NASA Technical Reports Server (NTRS)

    Grasso, Chris

    1990-01-01

    TROTER's are small, inexpensive robots that can work together to accomplish sophisticated construction tasks. To understand the issues involved in designing and operating a team of TROTER's, the robots and their components are being modeled. A TROTER system that features standardized component behavior is introduced. An object-oriented model implemented in the Smalltalk programming language is described and the advantages of the object-oriented approach for simulating robot and component interactions are discussed. The presentation includes preliminary results and a discussion of outstanding issues.