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Sample records for manipulating subject mass

  1. The Effect of Manipulating Subject Mass on Lower Extremity Torque Patterns During Locomotion

    NASA Technical Reports Server (NTRS)

    DeWitt, John K.; Cromwell, Ronita L.; Hagan, R. Donald

    2007-01-01

    During locomotion, humans adapt their motor patterns to maintain coordination despite changing conditions (Reisman et al., 2005). Bernstein (1967) proposed that in addition to the present state of a given joint, other factors, including limb inertia and velocity, must be taken into account to allow proper motion to occur. During locomotion with added mass counterbalanced using vertical suspension to maintain body weight, vertical ground reaction forces (GRF's) increase during walking but decrease during running, suggesting that adaptation may be velocity-specific (De Witt et al., 2006). It is not known, however, how lower extremity joint torques adapt to changes in inertial forces. The purpose of this investigation was to examine the effects of increasing body mass while maintaining body weight upon lower-limb joint torque during walking and running. We hypothesized that adaptations in joint torque patterns would occur with the addition of body mass.

  2. Pharmacology of manipulating lean body mass

    PubMed Central

    Sepulveda, Patricio V; Bush, Ernest D; Baar, Keith

    2015-01-01

    Summary Dysfunction and wasting of skeletal muscle as a consequence of illness decreases the length and quality of life. Currently, there are few, if any, effective treatments available to address these conditions. Hence, the existence of this unmet medical need has fuelled large scientific efforts.Fortunately, these efforts have shown many of the underlying mechanisms adversely affecting skeletal muscle health.With increased understanding have come breakthrough disease-specific and broad spectrum interventions, some progressing through clinical development.The present review focuses its attention on the role of the antagonistic process regulating skeletal muscle mass before branching into prospective promising therapeutic targets and interventions. Special attention is given to therapies in development against cancer cachexia and Duchenne muscular dystrophy before closing remarks on design and conceptualization of future therapies are presented to the reader. PMID:25311629

  3. Interleukin 2-regulated in vitro antibody production following a single spinal manipulative treatment in normal subjects

    PubMed Central

    2010-01-01

    Background Our recent investigations have demonstrated that cell cultures from subjects, who received a single spinal manipulative treatment in the upper thoracic spine, show increased capacity for the production of the key immunoregulatory cytokine, interleukin-2. However, it has not been determined if such changes influence the response of the immune effector cells. Thus, the purpose of the present study was to determine whether, in the same subjects, spinal manipulation-related augmentation of the in vitro interleukin-2 synthesis is associated with the modulation of interleukin 2-dependent and/or interleukin-2-induced humoral immune response (antibody synthesis). Methods A total of seventy-four age and sex-matched healthy asymptomatic subjects were studied. The subjects were assigned randomly to: venipuncture control (n = 22), spinal manipulative treatment without cavitation (n = 25) or spinal manipulative treatment associated with cavitation (n = 27) groups. Heparinized blood samples were obtained from the subjects before (baseline) and then at 20 minutes and 2 hours post-treatment. Immunoglobulin (antibody) synthesis was induced in cultures of peripheral blood mononuclear cells by stimulation with conventional pokeweed mitogen or by application of human recombinant interleukin-2. Determinations of the levels of immunoglobulin G and immunoglobulin M production in culture supernatants were performed by specific immunoassays. Results The baseline levels of immunoglobulin synthesis induced by pokeweed mitogen or human recombinant interleukin-2 stimulation were comparable in all groups. No significant changes in the production of pokeweed mitogen-induced immunoglobulins were observed during the post-treatment period in any of the study groups. In contrast, the production of interleukin-2 -induced immunoglobulin G and immunoglobulin M was significantly increased in cultures from subjects treated with spinal manipulation. At 20 min post-manipulation, immunoglobulin G

  4. Subjective Evaluations of Motion Area and Velocity Characteristics of Dual Manipulator in Young and Elderly People

    NASA Astrophysics Data System (ADS)

    Yoda, Mitsumasa; Yoda, Asako; Shiota, Yasuhito

    In this study, we conducted a subjective evaluation experiment of a dual manipulator, which exhibits different motion characteristics. There are three motion characteristics: two of which are age-related, and the third is a robot motion characteristic and is newly added to these two motions. The motions are evaluated from motion areas and motion velocities. Subjects are elderly and young people, and the impressions of the motions are compared in two of the different age groups by the Semantic Differential (SD) method. The obtained results indicate that there are age differences in the evaluation of three manipulator motion areas. The elderly people show a higher reliability and a higher familiarity in a robot motion area than in the other two motions. The elderly people seem to be more affected by the manipulator motion than the young people. Therefore, a careful consideration is required when planning the motion of a manipulator for elderly people.

  5. Immediate effects of bilateral manipulation of talocrural joints on standing stability in healthy subjects.

    PubMed

    Alburquerque-Sendín, Francisco; Fernández-de-las-Peñas, César; Santos-del-Rey, Miguel; Martín-Vallejo, Francisco Javier

    2009-02-01

    The purpose of this study was to investigate the immediate effects of bilateral talocrural joint manipulation on standing stability in healthy subjects. Sixty-two healthy subjects, 16 males and 46 females, aged from 18 to 32 years old (mean: 21+/-3 years old) participated in the study. Subjects were randomly divided into two groups: an intervention group (n=32), who received manipulation of bilateral talocrural joints and a control group (n=30) which did not receive any intervention. Baropodometric and stabilometric evaluations were assessed pre- and 5 min post-intervention by an assessor blinded to the treatment allocation. Intra-group and inter-group comparisons were analysed using appropriate parametric tests. The results indicated that changes on the X coordinate range, length of motion, and mean speed approximated to statistical significance (P=0.06), and changes on the Y coordinate range reached statistical significance (P=0.02). Average X and Y motions, and anterior-posterior or lateral velocities did not show significant differences. Our results showed that bilateral thrust manipulation of the talocrural joint did not modify standing stability, that is, the behavioural pattern of the projection of the centre of pressure, in healthy subjects.

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

    NASA Technical Reports Server (NTRS)

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

    2008-01-01

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

  7. Visuospatial viewpoint manipulation during full-body illusion modulates subjective first-person perspective.

    PubMed

    Pfeiffer, Christian; Schmutz, Valentin; Blanke, Olaf

    2014-12-01

    Self-consciousness is based on multisensory signals from the body. In full-body illusion (FBI) experiments, multisensory conflict was used to induce changes in three key aspects of bodily self-consciousness (BSC): self-identification (which body 'I' identify with), self-location (where 'I' am located), and first-person perspective (from where 'I' experience the world; 1PP). Here, we adapted a previous FBI protocol in which visuotactile stroking was administered by a robotic device (tactile stroking) and simultaneously rendered on the back of a virtual body (visual stroking) that participants viewed on a head-mounted display as if filmed from a posterior viewpoint of a camera. We compared the effects of two different visuospatial viewpoints on the FBI and thereby on these key aspects of BSC. During control manipulations, participants saw a no-body object instead of a virtual body (first experiment) or received asynchronous versus synchronous visuotactile stroking (second experiment). Results showed that within-subjects visuospatial viewpoint manipulations affected the subjective 1PP ratings if a virtual body was seen but had no effect for viewing a non-body object. However, visuospatial viewpoint had no effect on self-identification, but depended on the viewed object and visuotactile synchrony. Self-location depended on visuospatial viewpoint (first experiment) and visuotactile synchrony (second experiment). Our results show that the visuospatial viewpoint from which the virtual body is seen during FBIs modulates the subjective 1PP and that such viewpoint manipulations contribute to spatial aspects of BSC. We compare the present data with recent data revealing vestibular contributions to the subjective 1PP and discuss the multisensory nature of BSC and the subjective 1PP. PMID:25200173

  8. Effect of Painful and Non-Painful Sensorimotor Manipulations on Subjective Body Midline

    PubMed Central

    Bouffard, Jason; Gagné, Martin; Mercier, Catherine

    2013-01-01

    Patients with chronic pain often show disturbances in their body perception. Understanding the exact role played by pain is however complex, as confounding factors can contribute to the observed deficits in these clinical populations. To address this question, acute experimental pain was used to test the effect of lateralized pain on body perception in healthy subjects. Subjects were asked to indicate the position of their body midline (subjective body midline, SBM) by stopping a moving luminescent dot projected on a screen placed in front of them, in a completely dark environment. The effect of other non-painful sensorimotor manipulations was also tested to assess the potential unspecific attentional effects of stimulating one side of the body. SBM judgment was made in 17 volunteers under control and three experimental conditions: (1) painful (heat) stimulation; (2) non-painful vibrotactile stimulation; and (3) muscle contraction. The effects of the stimulated side and the type of trial (control vs. experimental condition), were tested separately for each condition with a 2 × 2 repeated measures ANOVA. The analyses revealed a significant interaction in both pain (p = 0.05) and vibration conditions (p = 0.04). Post hoc tests showed opposite effects of pain and vibration. Pain applied on the right arm deviated the SBM toward the right (stimulated) side (p = 0.03) while vibration applied on the left arm deviated the SBM toward the right (not stimulated) side (p = 0.01). These opposite patterns suggest that the shift in SBM is likely to be specifically linked to the stimulation modality. It is concluded that acute experimental pain can induce an SBM shift toward the stimulated side, which might be functionally beneficial to protect the painful area of the body. Interestingly, it appears to be easier to bias SBM toward the right side, regardless of the modality and of the stimulated side. PMID:23504448

  9. Tissue Damage Markers after a Spinal Manipulation in Healthy Subjects: A Preliminary Report of a Randomized Controlled Trial

    PubMed Central

    Achalandabaso, A.; Plaza-Manzano, G.; Lomas-Vega, R.; Martínez-Amat, A.; Camacho, M. V.; Gassó, M.; Hita-Contreras, F.; Molina, F.

    2014-01-01

    Spinal manipulation (SM) is a manual therapy technique frequently applied to treat musculoskeletal disorders because of its analgesic effects. It is defined by a manual procedure involving a directed impulse to move a joint past its physiologic range of movement (ROM). In this sense, to exceed the physiologic ROM of a joint could trigger tissue damage, which might represent an adverse effect associated with spinal manipulation. The present work tries to explore the presence of tissue damage associated with SM through the damage markers analysis. Thirty healthy subjects recruited at the University of Jaén were submitted to a placebo SM (control group; n = 10), a single lower cervical manipulation (cervical group; n = 10), and a thoracic manipulation (n = 10). Before the intervention, blood samples were extracted and centrifuged to obtain plasma and serum. The procedure was repeated right after the intervention and two hours after the intervention. Tissue damage markers creatine phosphokinase (CPK), lactate dehydrogenase (LDH), C-reactive protein (CRP), troponin-I, myoglobin, neuron-specific enolase (NSE), and aldolase were determined in samples. Statistical analysis was performed through a 3 × 3 mixed-model ANOVA. Neither cervical manipulation nor thoracic manipulation did produce significant changes in the CPK, LDH, CRP, troponin-I, myoglobin, NSE, or aldolase blood levels. Our data suggest that the mechanical strain produced by SM seems to be innocuous to the joints and surrounding tissues in healthy subjects. PMID:25609853

  10. Examination and Manipulation of Protein Surface Charge in Solution with Electrospray Ionization Mass Spectrometry

    ERIC Educational Resources Information Center

    Gross, Deborah S.; Van Ryswyk, Hal

    2014-01-01

    Electrospray ionization mass spectrometry (ESI-MS) is a powerful tool for examining the charge of proteins in solution. The charge can be manipulated through choice of solvent and pH. Furthermore, solution-accessible, protonated lysine side chains can be specifically tagged with 18-crown-6 ether to form noncovalent adducts. Chemical derivatization…

  11. The control of space manipulators subject to spacecraft attitude control saturation limits

    NASA Technical Reports Server (NTRS)

    Dubowsky, S.; Vance, E. E.; Torres, M. A.

    1989-01-01

    The motions of robotic manipulators mounted on spacecraft can disturb the spacecraft's positions and attitude. These disturbances can surpass the ability of the system's attitude control reaction jets to control them, for the disturbances increase as manipulator speeds increase. If the manipulator moves too quickly the resulting disturbances can exceed the saturation levels of the reaction jets, causing excessive spacecraft motions. A method for planning space manipulator's motions is presented, so that tasks can be performed as quickly as possible without saturating the system's attitude control jets.

  12. The robust application of computed torque control to manipulators subject to saturation

    NASA Technical Reports Server (NTRS)

    Lokshin, Anatole; Lee, Sukhan

    1988-01-01

    A technique is presented which allows use of an exact linearization (EL) control for robot manipulators for those cases when actuator saturation cannot be ignored. A modification of a nonlinear dynamic compensation technique that has been successfully used in the feedback amplifiers is applied to a case of a nonredundant manipulator. Computer simulation for a two-link planar robot arm illustrates the advantages of the modified computed torque technique compared to the traditional linear full state control.

  13. The impact of lower extremity mass and inertia manipulation on sprint kinematics.

    PubMed

    Bennett, John P; Sayers, Mark G L; Burkett, Brendan J

    2009-12-01

    Resistance sprint training is a sprint-specific training protocol commonly employed by athletes and coaches to enhance sprint performance. This research quantified the impact of lower extremity mass and inertia manipulation on key temporal and kinematic variables associated with sprint performance. A 3-dimensional analysis of 40 m sprinting was conducted on 8 elite sprinters under normal conditions and resisted sprint training. Results of the study showed that lower extremity additional mass training (at 10% individual segment weight) led to a significant reduction in sprint time for both the 10-m to 20-m and the 30-m to 40-m splits and the total 40 m measure. The stride velocity throughout the 20-m to 30-m phase of the sprint trials was also shown to be significantly reduced in the lower extremity mass and inertia manipulation condition. Importantly, no significant differences were observed across the remaining spatiotemporal variables of stride length, stride frequency, total stride time, and ground contact time. For coaches and athletes, the addition of specific lower extremity mass could improve the athlete's sprint performance without any measured effect on the technique of highly trained elite sprinters. PMID:19855307

  14. Mass balancing and spring element manipulation of micromechanical silicon-gyrometers with ultrashort laser pulses

    NASA Astrophysics Data System (ADS)

    Klug, U.; Rahn, B.; Stute, U.; Ostendorf, A.

    2005-07-01

    Utilisation of ultrashort laser pulses enables high precision in laser micromachining processes. Due to low thermal interaction between laser beam and matter, the vicinity of the laser ablation is free from melt and heat influenced zones. Established laser microstructuring processes on basis of femtosecond laser pulses have been applied for manipulation of micromechanical components of Silicon-gyrometers that are manufactured for the automotive industry. Compensation of mechanical imbalance, and adjustment of resonance frequencies have been successfully performed by mass balancing, and manipulation of the spring elements' geometries by laser ablation with a lateral resolution of 10-20 μm, and a vertical resolution of 500 nm-4 μm. The approach for automated laser processing on wafer-level is demonstrated.

  15. Living cell manipulation, manageable sampling, and shotgun picoliter electrospray mass spectrometry for profiling metabolites.

    PubMed

    Gholipour, Yousef; Erra-Balsells, Rosa; Hiraoka, Kenzo; Nonami, Hiroshi

    2013-02-01

    A modified cell pressure probe and an online Orbitrap mass spectrometer were used to sample in situ plant single cells without any additional manipulation. The cell pressure probe, a quartz capillary tip filled with an oil mixture, was penetrated to various depths into parenchyma cells of tulip bulb scale, followed by a hydraulic continuity test to determine the exact location of the tip inside target cells. The operation was conducted under a digital microscope, and the capillary tip was photographed to calculate the volume of the cell sap sucked. The cell sap sample was then directly nebulized/ionized under high-voltage conditions at the entrance of the mass spectrometer. Several sugars, amino acids, organic acids, vitamins, fatty acids, and secondary metabolites were detected. Because picoliter solutions can be accurately handled and measured, known volumes of standard solutions can be added to cell sap samples inside the capillary tip to be used as references for metabolite characterization and relative quantitation. The high precision and sensitivity of the cell pressure probe and Orbitrap mass spectrometer allow for the manipulation and analysis of both femtoliter cell sap samples and standard solutions.

  16. How to Estimate Fat Mass in Overweight and Obese Subjects

    PubMed Central

    Donini, Lorenzo Maria; Poggiogalle, Eleonora; del Balzo, Valeria; Lubrano, Carla; Faliva, Milena; Opizzi, Annalisa; Perna, Simone; Pinto, Alessandro; Rondanelli, Mariangela

    2013-01-01

    Background. The prevalence of overweight and obesity is increasing and represents a primary health concern. Body composition evaluation is rarely performed in overweight/obese subjects, and the diagnosis is almost always achieved just considering body mass index (BMI). In fact, whereas BMI can be considered an important tool in epidemiological surveys, different papers stated the limitations of the use of BMI in single individuals. Aim. To assess the determinants of body composition in overweight and obese subjects. Methods. In 103 overweight or obese subjects (74 women, aged 41.5 ± 10 years, and 29 men, aged 43.8 ± 8 years), a multidimensional evaluation was performed including the assessment of body composition using Dual Energy X-Ray Absorptiometry (DXA), anthropometry, bioimpedance analysis (BIA), and biochemical parameters (total cholesterol, triacylglycerol, HDL- and LDL-cholesterol, free fatty acids and glycerol, glucose, insulin, C-reactive protein, plasma acylated and unacylated ghrelin, adiponectin, and leptin serum levels). Results. BMI does not represent the main predictor of FM estimated by DXA; FM from BIA and hip circumference showed a better association with FM from DXA. Moreover, models omitting BMI explained a greater part of variance. These data are confirmed by the predictive value analysis where BMI showed a performance similar to a “coin flip.” PMID:23662101

  17. Sensory stimulation (TENS): effects of parameter manipulation on mechanical pain thresholds in healthy human subjects.

    PubMed

    Chesterton, Linda S; Barlas, Panos; Foster, Nadine E; Lundeberg, Thomas; Wright, Christine C; Baxter, G David

    2002-09-01

    Transcutaneous electrical nerve stimulation (TENS) is a popular form of electrostimulation. Despite an extensive research base, there remains no consensus regarding the parameter selection required to achieve maximal hypoalgesic effects. The aim of this double blind, sham-controlled study was to investigate the relative hypoalgesic effects of different TENS parameters (frequency, intensity and stimulation site) upon experimentally induced mechanical pain. Two hundred and forty participants were recruited in order to provide statistical analysis with 80% power at alpha = 0.05. Subjects were randomised to one of the six TENS groups, a control, and a sham TENS group (n = 30, 15 males, 15 females, per group). TENS groups differed in their combinations of stimulation; frequency (4 or 110 Hz), intensity ('to tolerance' or 'strong but comfortable') and stimulation site (segmental--over the distribution of the radial nerve or, extrasegmental--over acupuncture point 'gall bladder 34', or a combination of both segmental and extrasegmental). Pulse duration was fixed at 200 micros. Stimulation was delivered for 30 min and subjects were then monitored for a further 30 min. Mechanical pain threshold (MPT) was measured using a pressure algometer and taken from the first dorsal interosseous muscle of the dominant hand, ipsilateral to the stimulation site. MPT measures were taken, at baseline, and at 10-min intervals for 60 min. Difference scores were analysed using repeated measures and one-way ANOVA and relevant post hoc tests. Low frequency, high intensity, extrasegmental stimulation produced a rapid onset hypoalgesic effect, which increased during the stimulation period (P < 0.0005 control and sham) and was sustained for 30 min post-stimulation (P < 0.0005(control), P = 0.024(sham)). Whilst high frequency, 'strong but comfortable' intensity, segmental stimulation produced comparable hypoalgesic levels during stimulation, this effect was not sustained post

  18. Effects of Lumbosacral Manipulation on Isokinetic Strength of the Knee Extensors and Flexors in Healthy Subjects: A Randomized, Controlled, Single-Blind Crossover Trial

    PubMed Central

    Sanders, Grant D.; Nitz, Arthur J.; Abel, Mark G.; Symons, T. Brock; Shapiro, Robert; Black, W. Scott; Yates, James W.

    2015-01-01

    Objective The purpose of this study was to investigate the effect of manual manipulations targeting the lumbar spine and/or sacroiliac joint on concentric knee extension and flexion forces. Torque production was measured during isometric and isokinetic contractions. Methods This was a randomized, controlled, single-blind crossover design with 21 asymptomatic, college-aged subjects who had never received spinal manipulation. During 2 separate sessions, subjects’ peak torques were recorded while performing maximal voluntary contractions on an isokinetic dynamometer. Isometric knee extension and flexion were recorded at 60° of knee flexion, in addition to isokinetic measurements obtained at 60°/s and 180°/s. Baseline measurements were acquired before either treatment form of lumbosacral manipulation or sham manipulation, followed by identical peak torque measurements within 5 and 20 minutes posttreatment. Data were analyzed with a repeated measures analysis of variance. Results A statistically significant difference did not occur between the effects of lumbosacral manipulation or the sham manipulation in the percentage changes of knee extension and flexion peak torques at 5 and 20 minutes posttreatment. Similar, nonsignificant results were observed in the overall percentage changes of isometric contractions (spinal manipulation 4.0 ± 9.5 vs sham 1.2 ± 6.3, P = .067), isokinetic contractions at 60°/s (spinal manipulation − 4.0 ± 14.2 vs sham − 0.3 ± 8.2, P = .34), and isokinetic contractions at 180°/s (spinal manipulation − 1.4 ± 13.9 vs sham − 5.5 ± 20.0, P = .18). Conclusion The results of the current study suggest that spinal manipulation does not yield an immediate strength-enhancing effect about the knee in healthy, college-aged subjects when measured with isokinetic dynamometry. PMID:26793035

  19. The effect of talo-crural joint manipulation on range of motion at the ankle joint in subjects with a history of ankle injury.

    PubMed

    Andersen, Skye; Fryer, Gary A; McLaughlin, Patrick

    2003-07-01

    Introduction: There is little research available on the effects of peripheral joint manipulation. Only a few studies have examined the effect of manipulation on ankle range of motion, with conflicting results. This study aimed to determine whether a single high-velocity, low-amplitude (HVLA) thrust manipulation to the talo-crural joint altered ankle range of motion in subjects with a history of lateral ligament sprain.Methods: Male and female volunteers (N=52) with a history of lateral ligament sprain were randomly assigned into either an experimental group (n=26) or a control group (n=26). Those in the experimental group received a single HVLA thrust to the talo-crural joint, whilst those in the control group received no treatment intervention. Pre-test and post-test measurements of passive dorsiflexion range of motion were taken.Results: No significant changes in dorsiflexion range of motion were detected between manipulated ankles and those of control subjects using dependent and independent t-tests. Ankles that cavitated displayed a greater mean DFR and large effect size (d=0.8) compared to those that did not gap and cavitate, but analysis with ANOVA revealed these differences to be not significant.Conclusion: HVLA manipulation of the ankle did not increase dorsiflexion range of motion in subjects with a history of lateral ligament sprain.

  20. Apparent mass and cross-axis apparent mass of standing subjects during exposure to vertical whole-body vibration

    NASA Astrophysics Data System (ADS)

    Subashi, G. H. M. J.; Matsumoto, Y.; Griffin, M. J.

    2006-05-01

    The effects of posture and vibration magnitude on the vertical apparent mass and the fore-and-aft cross-axis apparent mass of the standing human body during exposure to vertical vibration have been investigated. Twelve male subjects were exposed to random vertical vibration over the frequency range 2.0-20 Hz at three vibration magnitudes: 0.125, 0.25 and 0.5 m s -2 rms. Subjects stood in five different postures: upright, lordotic, anterior lean, knees bent and knees more bent. The vertical acceleration at the floor and the forces in the vertical and fore-and-aft directions at the floor were used to obtain the apparent mass and the cross-axis apparent mass. The resonance frequency of the apparent mass was significantly reduced with knees bent and knees more bent postures, but there were only minor effects on the resonance frequency by changing the position of the upper body. Considerable cross-axis apparent mass, up to about 30% of the static mass of subjects, was found. The cross-axis apparent mass was influenced by all postural changes used in the study. In all postures the resonance frequencies of the apparent mass and the cross-axis apparent mass tended to decrease with increasing vibration magnitude. This nonlinear characteristic tended to be less clear in some postures in which subjects increased muscle tension.

  1. Mass Losses of Magnetized Rheological Mediums Subjected to Magnetic Field

    NASA Astrophysics Data System (ADS)

    Baev, A. R.; Matoussevitch, N. P.

    Theoretical analysis and experimental research of the film flowing of magnetorheologic fluids when infinitive solid plate is retrieving from the former mediums were carried out. We have got dependencies of fluids mass losses m vs: velocity of moving plate V; magnitude of magnetic intensity, its gradient and angle ϕ between direction of intensity lines and normal vector to plane of plate. It is shown that theoretical and experimental m(ϕ) is anisotropy one and may change its magnitude more than 10 times. Real behavior and extreme characteristics of m(ϕ) depends on rhelogiacal parameters of MRS and its magnetization. Obtained experimental data of dependence m(V) are in qualitative and quantitative agreement with the modernized theory.

  2. Mass-marking of otoliths of lake trout sac fry by temperature manipulation

    USGS Publications Warehouse

    Bergstedt, Roger A.; Eshenroder, Randy L.; Bowen, Charles; Seelye, James G.; Locke, Jeffrey C.

    1990-01-01

    The otoliths of 676,000 sac fry of lake trout Salvelinus namaycush in 1986, and of 1,100,000 in 1987, were marked by daily manipulation of water temperature. The fish were stocked into Lake Huron in the spring. Otolith marks consisted of groups of daily growth rings accentuated into recognizable patterns by steadily raising and lowering the temperature about 10 degrees C (from a base of 1-4 degrees C) over 14 h. In 1987, groups of marked and control fish were held for 6 months. The otoliths were removed from samples of the fish, embedded in epoxy, thin sectioned by grinding in the sagittal plane, etched, and viewed by using a combination of a compound microscope (400-1000x) and a video enhancement system. One or more readable otolith sections were obtained from 39 of a sample of 40 fish. Three independent readers examined 41 otoliths for marks and correctly classified the otoliths, with accuracies of 85, 98, and 100%, as being from marked or unmarked fish. The exact number of rings in a recognizable pattern sometimes differed from the number of temperature cycles to which the fish were exposed. Counts of daily rings within groups of six rings varied less than counts within groups of rings.

  3. Mass-marking of otoliths of lake trout sac fry by temperature manipulation

    USGS Publications Warehouse

    Bergstedt, R.A.; Eshenroder, R.L.; Bowen, C. II; Seelye, J.G.; Locke, J.C.; Parker, N.C.; Giorgi, A.E.; Heidenger, R.C.; Jester, D. B.; Prince, E.D.; Winans, G.A.

    1990-01-01

    The otoliths of 676,000 sac fry of lake trout Salvelinus namaycush in 1986, and of 1,100,000 in 1987, were marked by daily manipulation of water temperature. The fish were stocked into Lake Huron in the spring. Otolith marks consisted of groups of daily growth rings accentuated into recognizable patterns by steadily raising and lowering the temperature about IOA?C (from a base of 1-4A?C) over 14h. In 1987, groups of marked and control fish were held for 6 months. The otoliths were removed from samples of the fish, embedded in epoxy, thin-sectioned by grinding in the sagittal plane, etched, and viewed by using a combination of a compound microscope (400-1000x) and a video enhancement system. One or more readable otolith sections were obtained from 39 of a sample of 40 fish. Three independent readers examined 41 otoliths for marks and correctly classified the otoliths, with accuracies of 85, 98,and 100%, as being from marked or unmarked fish. The exact number of rings in a recognizable pattern sometimes differed from the number of temperature cycles to which the fish were exposed. Counts of daily rings within groups of six rings varied less than counts within groups of three rings.

  4. Underwater manipulator

    SciTech Connect

    Schrum, Phillip B.; Cohen, George H.

    1993-01-01

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

  5. Underwater manipulator

    SciTech Connect

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

    1992-12-31

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

  6. Underwater manipulator

    SciTech Connect

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

    1993-04-20

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

  7. Diet of southern toads (Bufo terrestris) in loblolly pine (Pinus taeda) stands subject to coarse woody debris manipulations.

    SciTech Connect

    Moseley, Kurtis R.; Steven B. Castleberry; James L. Hanula; Mark Ford.

    2005-04-01

    ABSTRACT In the southeastern United States, coarse woody debris (CWD) typically harbors high densities of invertebrates. However, its importance as a foraging substrate for southeastern amphibians is relatively unknown. We examined effects of CWD manipulations on diet composition of southern toads (Bufo terrestris) in upland loblolly pine (Pinus taeda) stands in the Coastal Plain of South Carolina. Twelve 9.3-ha plots were assigned one of the following treatments: removal- all CWD _10 cm in diameter and _60 cm long removed; downed- five-fold increase in volume of down CWD; and unmanipulated control stands. We collected southern toads _4 cm snout-vent length (SVL) during 14 d sampling periods in June and October 2002, June 2003 and during a 28 d sampling period in April 2003. We collected 80, 36 and 35 southern toads in control, downed and removal treatments, respectively. We found no difference in relative abundance or frequency of invertebrate groups consumed among treatments (P.0.05). Average body weight (g), SVL (cm) and stomach content weight (g wet) of individuals also were similar among treatments (P . 0.05). The role of CWD as a foraging substrate for southern toads in loblolly pine stands of the southeastern Coastal Plain may be negligible, at least in the early stages of decay.

  8. Apparent mass of the human body in the vertical direction: Inter-subject variability

    NASA Astrophysics Data System (ADS)

    Toward, Martin G. R.; Griffin, Michael J.

    2011-02-01

    The biodynamic responses of the seated human body to whole-body vibration vary considerably between people, but the reasons for the variability are not well understood. This study was designed to determine how the physical characteristics of people affect their apparent mass and whether inter-subject variability is influenced by the magnitude of vibration and the support of a seat backrest. The vertical apparent masses of 80 seated adults (41 males and 39 females aged 18-65) were measured at frequencies between 0.6 and 20 Hz with four backrest conditions (no backrest, upright rigid backrest, reclined rigid backrest, reclined foam backrest) and with three magnitudes of random vibration (0.5, 1.0 and 1.5 m s -2 rms). Relationships between subject physical characteristics (age, gender, weight, and anthropometry) and subject apparent mass were investigated with multiple regression models. The strongest predictor of the modulus of the vertical apparent mass at 0.6 Hz, at resonance, and at 12 Hz was body weight, with other factors having only a marginal effect. After correction for other variables, the principal resonance frequency was most consistently associated with age and body mass index. As age increased from 18 to 65 years, the resonance frequency increased by up to 1.7 Hz, and when the body mass index was increased from 18 to 34 kg m -2 the resonance frequency decreased by up to 1.7 Hz. These changes were greater than the 0.9-Hz increase in resonance frequency between sitting without a backrest and sitting with a reclined rigid backrest, and greater than the 1.0-Hz reduction in resonance frequency when the magnitude of vibration increased from 0.5 to 1.5 m s -2 rms. It is concluded that the effects of age, body mass index, posture, vibration magnitude, and weight should be taken into account when defining the vertical apparent mass of the seated human body.

  9. Design and Field Test of a Mass Efficient Crane for Lunar Payload Handling and Inspection: The Lunar Surface Manipulation System

    NASA Technical Reports Server (NTRS)

    Doggett, William R.; King, Bruce D.; Jones, Thomas Carno; Dorsey, John T.; Mikulas, Martin M.

    2008-01-01

    Devices for lifting, translating and precisely placing payloads are critical for efficient Earthbased construction operations. Both recent and past studies have demonstrated that devices with similar functionality will be needed to support lunar outpost operations. Lunar payloads include: a) prepackaged hardware and supplies which must be unloaded from landers and then accurately located at their operational site, b) sensor packages used for periodic inspection of landers, habitat surfaces, etc., and c) local materials such as regolith which require grading, excavation and placement. Although several designs have been developed for Earth based applications, these devices lack unique design characteristics necessary for transport to and use on the harsh lunar surface. These design characteristics include: a) composite components, b) compact packaging for launch, c) simple in-field reconfiguration and repair, and d) support for tele-operated or automated operations. Also, in contrast to Earth-based construction, where special purpose devices dominate a construction site, a lunar outpost will require versatile devices which provide operational benefit from initial construction through sustained operations. This paper will detail the design of a unique, high performance, versatile lifting device designed for operations on the lunar surface. The device is called the Lunar Surface Manipulation System to highlight the versatile nature of the device which supports conventional cable suspended crane operations as well as operations usually associated with a manipulator such as precise positioning where the payload is rigidly grappled by a tool attached to the tip of the device. A first generation test-bed to verify design methods and operational procedures is under development at the NASA Langley Research Center and recently completed field tests at Moses Lake Washington. The design relied on non-linear finite element analysis which is shown to correlate favorably with

  10. Body mass index and subjective well-being in young adults: a twin population study

    PubMed Central

    2013-01-01

    Background Body mass index (BMI) is associated with subjective well-being. Higher BMI is believed to be related with lower well-being. However, the association may not be linear. Therefore, we investigated whether a nonlinear (U-shaped) trend would better describe this relationship, and whether eating disorders might account for the association in young adults. Methods FinnTwin16 study evaluated multiple measures of subjective well-being, including life satisfaction, General Health Questionnaire (GHQ-20), satisfaction with leisure time, work, and family relationships, and satisfaction with sex life in young adulthood in the 1975–79 birth cohorts of Finnish twins (n=5240). We studied the relationship between indicators of subjective well-being and BMI both in full birth cohorts and in subgroups stratified by lifetime DSM-IV eating disorders. Results We found an inverse U-shaped relationship between all indicators of subjective well-being and BMI in men. There was no overall association between BMI and subjective well-being in women. However, there was an inverse U-shaped relationship between BMI and indicators of subjective well-being in women with a lifetime eating disorder and their healthy female co-twins. Subjective well-being was optimal in the overweight category. Conclusions Both underweight and obesity are associated with impaired subjective well-being in young men. The BMI reflecting optimal subjective well-being of young men may be higher than currently recognized. Categorization of body weight in terms of BMI may need to be reassessed in young men. BMI and subjective well-being are related in women with a lifetime eating disorder, but not in the general population of young women. PMID:23496885

  11. Using pliers in assembly work: short and long task duration effects of gloves on hand performance capabilities and subjective assessments of discomfort and ease of tool manipulation.

    PubMed

    Dianat, Iman; Haslegrave, Christine M; Stedmon, Alex W

    2012-03-01

    The present study investigated the effects of wearing typical industrial gloves on hand performance capabilities (muscle activity, wrist posture, touch sensitivity, hand grip and forearm torque strength) and subjective assessments for an extended duration of performing a common assembly task, wire tying with pliers, which requires a combination of manipulation and force exertion. Three commercially available gloves (cotton, nylon and nitrile gloves) were tested and compared with a bare hand condition while participants performed the simulated assembly task for 2 h. The results showed that wearing gloves significantly increased the muscle activity, wrist deviation, and discomfort whilst reducing hand grip strength, forearm torque strength and touch sensitivity. The combined results showed that the length of time for which gloves are worn does affect hand performance capability and that gloves need to be evaluated in a realistic working context. The results are discussed in terms of selection of gloves for industrial assembly tasks involving pliers.

  12. Selective use of visual information signaling objects' center of mass for anticipatory control of manipulative fingertip forces.

    PubMed

    Salimi, Iran; Frazier, Wendy; Reilmann, Ralf; Gordon, Andrew M

    2003-05-01

    The present study examines whether visual information indicating the center of mass (CM) of an object can be used for the appropriate scaling of fingertip forces at each digit during precision grip. In separate experiments subjects lifted an object with various types of visual cues concerning the CM location several times and then rotated and lifted it again to determine whether the visual cues signaling the new location of the CM could be used to appropriately scale the fingertip forces. Specifically, subjects had either no visual cues, visual instructional cues (i.e., an indicator) or visual geometric cues where the longer axis of the object indicated the CM. When no visual cues were provided, subjects were unable to appropriately scale the load forces at each digit following rotation despite their knowledge of the new weight distribution. When visual cues regarding the CM location were provided, the nature of the visual cues determined their effectiveness in retrieval of internal representations underlying the anticipatory scaling of fingertip forces. Specifically, when subjects were provided with visual instructional information, they were unable to appropriately scale the forces. More appropriate scaling of the load forces occurred when the visual cues were ecologically meaningful, i.e., when the shape of the object indicated the CM location. We suggest that visual instructional cues do not have access to the implicit processes underlying dynamic force control, whereas visual geometric cues can be used for the retrieval of the internal representation related to CM for appropriate partitioning of the forces in each digit.

  13. Motion times, hand forces, and trunk kinematics when using material handling manipulators in short-distance transfers of moderate mass objects.

    PubMed

    Nussbaum, M A; Chaffin, D B; Stump, B S; Baker, G; Foulke, J

    2000-06-01

    The risk of musculoskeletal injury associated with manual materials handling tasks has led in part to the use of material handling manipulators, yet there is limited empirical data to facilitate selection, design, and evaluation of these devices. A laboratory study of two types of mechanical manipulators (articulated arm and overhead hoist) was conducted of short-distance transfers of moderate loads, and the influence of various task parameters and transfer method on motion times, peak hand forces, and torso kinematics was obtained. Use of manipulators increased elemental motion times for symmetric sagittal plane transfers by 36-63%, and asymmetric transfers (in the frontal plane) by 62-115%, compared to similar transfers performed manually. Peak hand forces were significantly lower with both manipulators (40-50%), and approximately 10% higher for asymmetric versus symmetric transfers. Overall torso kinematics were grossly similar with and without a manipulator. These results suggest that for self-paced job tasks, moderate mass objects will be transferred slower over short distances and with lower levels of external (hand) forces when using mechanical aids. These simple effects, however, were influenced by object mass and transfer height. PMID:10855445

  14. [The manipulators].

    PubMed

    Tschui, M

    1997-01-01

    During their long careers of counseling couples, Giovanna Stoll and Maurice Hurni have encountered couples in which psychological violence is exercised. Their book, ¿The Hate of Love, the Oddness of the Place,¿ explores strategies used in couples by one or both partners to subjugate the other and to be victorious in an ongoing struggle between the two. Two case examples are presented. Confronted with such deliberate meanness, health professionals long ago adopted a neutral stance on such behavior in an attempt to maintain professional distance from their clients. However, Stoll and Hurni abandoned their neutrality in the face of certain particularly brutal behaviors. The author describes Stoll and Hurni¿s professional experiences and the children of manipulative parents. The employer who pits his employees against each other is also discussed. Such manipulators are unable to have true friends, just as they are unable to live within loving, communicative relationships. They behave in calculated fashion, having only relationships which they deem to be useful and opportune. Respect, the capacity to give and receive, and empathy are alien notions to those who manipulate others. 40% of 1500 women aged 20-60 years old interviewed in a study of violence within the family report having been subjected to psychological violence during their married lives. 14% of these women report being either often or always sad. Women risk being denigrated, humiliated, harassed, controlled, and deprived.

  15. Effect of licorice on the reduction of body fat mass in healthy subjects.

    PubMed

    Armanini, D; De Palo, C B; Mattarello, M J; Spinella, P; Zaccaria, M; Ermolao, A; Palermo, M; Fiore, C; Sartorato, P; Francini-Pesenti, F; Karbowiak, I

    2003-07-01

    The history of licorice, as a medicinal plant, is very old and has been used in many societies throughout the millennia. The active principle, glycyrrhetinic acid, is responsible for sodium retention and hypertension, which is the most common side-effect. We show an effect of licorice in reducing body fat mass. We studied 15 normal-weight subjects (7 males, age 22-26 yr, and 8 females, age 21-26 yr), who consumed for 2 months 3.5 g a day of a commercial preparation of licorice. Body fat mass (BFM, expressed as percentage of total body weight, by skinfold thickness and by bioelectrical impedance analysis, BIA) and extracellular water (ECW, percentage of total body water, by BIA) were measured. Body mass index (BMI) did not change. ECW increased (males: 41.8+/-2.0 before vs 47.0+/-2.3 after, p<0.001; females: 48.2+/-1.4 before vs 49.4+/-2.1 after, p<0.05). BFM was reduced by licorice: (male: before 12.0+/-2.1 vs after 10.8+/-2.9%, p<0.02; female: before 24.9+/-5.1 vs after 22.1+/-5.4, p<0.02); plasma renin activity (PRA) and aldosterone were suppressed. Licorice was able to reduce body fat mass and to suppress aldosterone, without any change in BMI. Since the subjects were consuming the same amount of calories during the study, we suggest that licorice can reduce fat by inhibiting 11beta-hydroxysteroid dehydrogenase Type 1 at the level of fat cells. PMID:14594116

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

    PubMed Central

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

    2015-01-01

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

  17. Vibration control of bridge subjected to multi-axle vehicle using multiple tuned mass friction dampers

    NASA Astrophysics Data System (ADS)

    Pisal, Alka Y.; Jangid, R. S.

    2016-06-01

    The effectiveness of tuned mass friction damper (TMFD) in reducing undesirable resonant response of the bridge subjected to multi-axle vehicular load is investigated. A Taiwan high-speed railway (THSR) bridge subjected to Japanese SKS (Salkesa) train load is considered. The bridge is idealized as a simply supported Euler-Bernoulli beam with uniform properties throughout the length of the bridge, and the train's vehicular load is modeled as a series of moving forces. Simplified model of vehicle, bridge and TMFD system has been considered to derive coupled differential equations of motion which is solved numerically using the Newmark's linear acceleration method. The critical train velocities at which the bridge undergoes resonant vibration are investigated. Response of the bridge is studied for three different arrangements of TMFD systems, namely, TMFD attached at mid-span of the bridge, multiple tuned mass friction dampers (MTMFD) system concentrated at mid-span of the bridge and MTMFD system with distributed TMFD units along the length of the bridge. The optimum parameters of each TMFD system are found out. It has been demonstrated that an optimized MTMFD system concentrated at mid-span of the bridge is more effective than an optimized TMFD at the same place with the same total mass and an optimized MTMFD system having TMFD units distributed along the length of the bridge. However, the distributed MTMFD system is more effective than an optimized TMFD system, provided that TMFD units of MTMFD system are distributed within certain limiting interval and the frequency of TMFD units is appropriately distributed.

  18. Older Subjects without Radiographic Knee Osteoarthritis: Weight, Height, and Body Mass Index

    PubMed Central

    Fahlman, Lissa; Sangeorzan, Emmeline; Chheda, Nimisha

    2013-01-01

    Osteoarthritis, the most common form of arthritis, conservatively affects 27 million American adults. While nearly all joints can be affected, knee osteoarthritis is of particular interest as it has the potential to severely limit mobility. Despite its ubiquity, not everyone is affected. Few studies on the characteristics of these persons exist. This descriptive paper examined older subjects without radiographic knee osteoarthritis (RKOA) at age 78, describing their height, weight and body mass index (BMI). Oldest subjects without RKOA at age 78 (n=143) were selected from the parent Clearwater Osteoarthritis Study, conducted from 1988–2009. Recalled weight and height for ages 25 and 45, as well as current weight and height were collected via questionnaire. Current measurements were also taken. BMI was derived. Absence of RKOA was determined using Kellgren-Lawrence criteria. Demographics: mostly female (72%), all Caucasian, better educated than the average US citizen, and more subjects lived with others. At all three life-stages, weights and BMI were lower, while heights were comparable to US 2000 figures. BMI was in the “normal” category at age 25 and in the “overweight” category at age 78. Weight was under reported and height was over reported, but by less than the general population. Both the increase in weight and decrease in height with age were statistically significant. Absence of RKOA appears to be related to lower weights, average heights, and lower BMI, relative to population norms at all three life-stages. These findings also suggest that the relationship may be more complicated. Higher BMI is ubiquitously recognized as a risk factor for RKOA, yet the average BMI of the subjects without RKOA was in the “overweight” category at age 78. A possible explanation may be an “inflated” BMI based on decrease in height, not just increase in weight. PMID:23936744

  19. Subjective Norms as a Driver of Mass Communication Students' Intentions to Adopt New Media Production Technologies

    ERIC Educational Resources Information Center

    Hopp, Toby M.

    2013-01-01

    In this study, the impact of subjective norms on mass communication students' intentions to adopt new media production technologies was explored. The results indicated that subjective norms play an instrumental role in explaining behavioral intentions to adopt new media technologies. Moreover, the data indicated that public relations students…

  20. Decreased β-Cell Function Is Associated with Reduced Skeletal Muscle Mass in Japanese Subjects without Diabetes

    PubMed Central

    Sakai, Satoshi; Tanimoto, Keiji; Imbe, Ayumi; Inaba, Yuiko; Shishikura, Kanako; Tanimoto, Yoshimi; Ushiroyama, Takahisa; Terasaki, Jungo; Hanafusa, Toshiaki

    2016-01-01

    Background Decreased insulin secretion has a great impact on the incidence of type 2 diabetes in Japanese subjects. It is not clear whether β-cell function is related to muscle mass in subjects without diabetes. We investigated the relationship between β-cell function and skeletal muscle mass in Japanese subjects without diabetes. Methods The study included 1098 subjects (538 men and 560 women) aged 40 to 79 years, without diabetes (fasting glucose lower than 126 mg/dL and glycosylated hemoglobin lower than 6.5%), who consulted Osaka Medical College Health Science Clinic for a medical examination. Appendicular muscle mass was measured by bioelectrical impedance analysis. Appendicular muscle mass index was calculated as appendicular muscle mass divided by height squared (kg/m2). The homeostatic model assessment of β-cell function was used to assess β-cell function. The homeostatic model assessment of insulin resistance was used as a measure of insulin resistance. The association between appendicular muscle mass index and clinical parameters of β-cell function and insulin resistance was examined. Results Log-transformed homeostatic model assessment of β-cell function and Log-transformed homeostatic model assessment of insulin resistance showed a normal distribution. In both men and women, there was a significant positive correlation between appendicular muscle mass index and clinical parameters of β-cell function and insulin resistance. Tertile analysis, following stratification according to appendicular muscle mass index, found that low appendicular muscle mass index was significantly associated with the Log homeostatic model assessment of β-cell function and Log-transformed homeostatic model assessment of insulin resistance. Conclusion This study shows that decreased β cell function is associated with reduced skeletal muscle mass in Japanese subjects without diabetes. PMID:27612202

  1. Kinetics of Beta-14[14C] Carotene in a Human Subject Using Accelerator Mass Spectrometry

    SciTech Connect

    Dueker, S.R.; Lin, Y.; Follett, J.R.; Clifford, A.J.; Buchholz, B.A.

    2000-01-31

    {beta}-Carotene is a tetraterpenoid distributed widely throughout the plant kingdom. It is a member of a group of pigments referred to as carotenoids that have the distinction of serving as metabolic precursors to vitamin A in humans and many animals [1,2]. We used Accelerator Mass Spectrometry (AMS) [3] to determine the metabolic behavior of a physiologic oral dose of {beta}-[{sup 14}C]carotene (200 nanoCuries; 0.57 {micro}mol) in a healthy human subject. Serial blood specimens were collected for 210-d and complete urine and feces were collected for 17 and 10-d, respectively. Balance data indicated that the dose was 42% bioavailable. The absorbed {beta}-carotene was lost slowly via urine in accord with the slow body turnover of {beta}-carotene and vitamin A [4]. HPLC fractionation of plasma taken at early time points (0-24-h) showed the label was distributed between {beta}-carotene and retinyl esters (vitamin A) derived from intestinal metabolism.

  2. Mobility-Resolved Ion Selection in Uniform Drift Field Ion Mobility Spectrometry/Mass Spectrometry: Dynamic Switching in Structures for Lossless Ion Manipulations

    PubMed Central

    2015-01-01

    A Structures for Lossless Ion Manipulations (SLIM) module that allows ion mobility separations and the switching of ions between alternative drift paths is described. The SLIM switch component has a “Tee” configuration and allows the efficient switching of ions between a linear path and a 90-degree bend. By controlling switching times, ions can be efficiently directed to an alternative channel as a function of their mobilities. In the initial evaluation the switch is used in a static mode and shown compatible with high performance ion mobility separations at 4 Torr. In the dynamic mode, we show that mobility-selected ions can be switched into the alternative channel, and that various ion species can be independently selected based on their mobilities for time-of-flight mass spectrometer (TOF MS) IMS detection and mass analysis. This development also provides the basis of, for example, the selection of specific mobilities for storage and accumulation, and the key component of modules for the assembly of SLIM devices enabling much more complex sequences of ion manipulations. PMID:25222548

  3. Soluble leptin receptor in serum of subjects with complete resistance to leptin: relation to fat mass.

    PubMed

    Lahlou, N; Clement, K; Carel, J C; Vaisse, C; Lotton, C; Le Bihan, Y; Basdevant, A; Lebouc, Y; Froguel, P; Roger, M; Guy-Grand, B

    2000-08-01

    Leptin resistance and obesity have been related to mutations of the leptin receptor gene in rodents and, recently, in a consanguineous family. The latter mutation results in a receptor lacking transmembrane and intracellular domains. Homozygous and heterozygous individuals with this mutation had serum leptin levels higher than expected, given their BMIs: 600, 670, and 526 ng/ml and 145, 362, 294, 240, and 212 ng/ml, respectively. Their serum leptin was fractionated by gel filtration: >80% was present as a high-molecular size complex vs. 7.5% in the nonmutated sister. Western blot analysis showed a band at 146 kDa reacting specifically with an antibody directed against the leptin receptor ectodomain. In 10 obese control subjects, as in the mutated patients, free leptin levels correlated with BMI (r = 0.70, P = 0.0011) and reflected fat mass, regardless of leptin receptor functioning. In the patients, bound leptin levels correlated with BMI (r = 0.99, P = 0.0002) and were related to the number of mutated alleles. These data demonstrate that the truncated receptor is secreted into blood and binds the majority of serum leptin, markedly increasing bound and total leptin. Free serum leptin was similarly correlated with BMI in the mutated and nonmutated obese individuals, providing evidence that the relationship between BMI and circulating free leptin is preserved in this family. This finding suggests that the leptin receptor itself may not be specifically involved in the control of leptin secretion, and it supports the concept of relative resistance to leptin in common obesity. PMID:10923636

  4. ANN-based mapping of febrile subjects in mass thermogram screening: facts and myths.

    PubMed

    Ng, E Y K; Chong, C

    2006-01-01

    Severe Acute Respiratory Syndrome (SARS) is a highly infectious disease caused by a coronavirus. Screening to detect potential SARS-infected subjects with elevated body temperature plays an important role in preventing the spread of SARS. Thermography is being used with ANN/AI to analyse the data collected from the designated SARS hospital in Singapore, and conclusive results are drawn. The current work evaluates the correlations (and classifications) between facial skin temperatures, including eye range and forehead, to aural temperature using a neural network (NN) approach, namely training backpropagation (BP) and Kohonen self-organizing map (SOM), to confirm the suitability of thermal imagers for human temperature screening. Both BP and SOM can form an opinion about the type of network that is better able to complement thermogram technology in fever diagnosis. This can produce better parameters for reducing the size of the NN classifier, while maintaining good classification accuracy. We observe that BP performs better than SOM NN. Confusion matrix (CM), an alternative display instrument, is able to process a high volume of input data and show the clustered output rapidly and accurately. The current research application will remain an interesting and useful reference for both local and overseas manufacturers of thermal scanners, users and various government and private establishments. As the elevation of body temperature is a common presenting symptom for many illnesses, including infectious diseases such as SARS, thermal imagers are useful and essential tools for mass screening of body temperature. This is true not only for SARS but also during other public health crises where widespread transmission of infection such as the danger of avian flu pandemic is a concern, in particular at places like hospitals and cross-border checkpoints.

  5. A Lie-Theoretic Perspective on O(n) Mass Matrix Inversion for Serial Manipulators and Polypeptide Chains

    PubMed Central

    Lee, Kiju; Wang, Yunfeng; Chirikjian, Gregory S.

    2010-01-01

    Over the past several decades a number of O(n) methods for forward and inverse dynamics computations have been developed in the multi-body dynamics and robotics literature. A method was developed in 1974 by Fixman for O(n) computation of the mass-matrix determinant for a serial polymer chain consisting of point masses. In other recent papers, we extended this method in order to compute the inverse of the mass matrix for serial chains consisting of point masses. In the present paper, we extend these ideas further and address the case of serial chains composed of rigid-bodies. This requires the use of relatively deep mathematics associated with the rotation group, SO(3), and the special Euclidean group, SE(3), and specifically, it requires that one differentiates functions of Lie-group-valued argument. PMID:20165563

  6. A Lie-Theoretic Perspective on O(n) Mass Matrix Inversion for Serial Manipulators and Polypeptide Chains.

    PubMed

    Lee, Kiju; Wang, Yunfeng; Chirikjian, Gregory S

    2007-11-01

    Over the past several decades a number of O(n) methods for forward and inverse dynamics computations have been developed in the multi-body dynamics and robotics literature. A method was developed in 1974 by Fixman for O(n) computation of the mass-matrix determinant for a serial polymer chain consisting of point masses. In other recent papers, we extended this method in order to compute the inverse of the mass matrix for serial chains consisting of point masses. In the present paper, we extend these ideas further and address the case of serial chains composed of rigid-bodies. This requires the use of relatively deep mathematics associated with the rotation group, SO(3), and the special Euclidean group, SE(3), and specifically, it requires that one differentiates functions of Lie-group-valued argument.

  7. Computerized determination scheme for histological classification of breast mass using objective features corresponding to clinicians' subjective impressions on ultrasonographic images.

    PubMed

    Hizukuri, Akiyoshi; Nakayama, Ryohei; Kashikura, Yumi; Takase, Haruhiko; Kawanaka, Hiroharu; Ogawa, Tomoko; Tsuruoka, Shinji

    2013-10-01

    It is often difficult for clinicians to decide correctly on either biopsy or follow-up for breast lesions with masses on ultrasonographic images. The purpose of this study was to develop a computerized determination scheme for histological classification of breast mass by using objective features corresponding to clinicians' subjective impressions for image features on ultrasonographic images. Our database consisted of 363 breast ultrasonographic images obtained from 363 patients. It included 150 malignant (103 invasive and 47 noninvasive carcinomas) and 213 benign masses (87 cysts and 126 fibroadenomas). We divided our database into 65 images (28 malignant and 37 benign masses) for training set and 298 images (122 malignant and 176 benign masses) for test set. An observer study was first conducted to obtain clinicians' subjective impression for nine image features on mass. In the proposed method, location and area of the mass were determined by an experienced clinician. We defined some feature extraction methods for each of nine image features. For each image feature, we selected the feature extraction method with the highest correlation coefficient between the objective features and the average clinicians' subjective impressions. We employed multiple discriminant analysis with the nine objective features for determining histological classification of mass. The classification accuracies of the proposed method were 88.4 % (76/86) for invasive carcinomas, 80.6 % (29/36) for noninvasive carcinomas, 86.0 % (92/107) for fibroadenomas, and 84.1 % (58/69) for cysts, respectively. The proposed method would be useful in the differential diagnosis of breast masses on ultrasonographic images as diagnosis aid.

  8. Ghrelin secretion in severely obese subjects before and after a 3-week integrated body mass reduction program.

    PubMed

    Morpurgo, P S; Resnik, M; Agosti, F; Cappiello, V; Sartorio, A; Spada, A

    2003-08-01

    Ghrelin, the endogenous ligand of GH-secretagogue receptors, has been implicated in the regulation of feeding behavior and energy balance. Aim of the study was to investigate ghrelin levels in fasting conditions and after a standard meal test in obese subjects before and after a 3-week integrated body weight reduction (BWR) program (consisting of energy-restricted diet, exercise training, psychological counselling and nutritional education). Weight, height, fat mass, fat free mass (by impedentiometry), circulating ghrelin, insulin and leptin levels were evaluated in 10 obese subjects (3 male, 7 female; mean age: 35 +/- 9.3 yr; body mass index BMI: 45.2 +/- 10.6 kg/m2) before and after weight reduction. At baseline, obese subjects showed significantly lower ghrelin levels than controls, which were negatively correlated with BMI, weight, insulin and leptin levels. Fasting ghrelin levels were not modified by standard meal test in obese subjects (from 110.8 +/- 69.7 to 91.8 +/- 70.2 pmol/l p=ns), while a significant reduction was observed in controls (from 352.4 +/- 176.7 to 199.0 +/- 105.2 pmol/l; p<0.01). After a 3-week integrated BWR program obese subjects significantly reduced weight, BMI and leptin levels, while no significant changes were found both in fasting ghrelin and in ghrelin response after the meal. In conclusion, 5% weight loss obtained after a short-term period of integrated BWR program is not sufficient to normalize fasting ghrelin levels nor to restore the normal ghrelin suppression after a meal in severely obese subjects.

  9. Robot Manipulators

    NASA Technical Reports Server (NTRS)

    1988-01-01

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

  10. Ion cloud manipulation using the radiofrequency-only-mode as an improvement for high mass detection in fourier transform mass spectrometry.

    PubMed

    Jacoby, C B; Holliman, C L; Rempel, D L; Gross, M L

    1993-02-01

    It has been difficult to achieve the expected high resolving power for high-mass biomolecule ions in Fourier transform mass spectrometry. Our hypothesis is that ion clouds produced by laser desorption or injection are diffuse and produce poor signals. To test the hypothesis, clouds of benzene molecular ions produced by electron ionization were purposefully expanded via magnetron mode excitation and characterized by a new experimental sequence for cloud sectional analysis. The expanded cloud was then successfully focused to the trap center by using a high-pressure dynamic event (radiofrequency-only mode). The expanded cloud in a conventional cubic trap produces no detectable signal, whereas the focused cloud in a compensated trap yields a high-resolution signal with good signal-to-noise ratio.

  11. Vibrations of rhombic plates subject to an in-plane state of hydrostatic stress and carrying a concentrated mass

    NASA Astrophysics Data System (ADS)

    Laura, P. A. A.; Gutierrez, R. H.

    1992-12-01

    An analysis is presented of simply supported and clamped rhombic plates subjected to a hydrostatic in-plane stress and carrying a concentrated mass. For this purpose, a unified approach is used, whereby the given shape is conformally transformed onto a unit circle, and the displacement amplitude is approximated in terms of simple polynomial coordinate functions which satisfy the essential conditions stated earlier by Laura and Gutierrez (1977).

  12. Manipulation of the microbiota of mass-reared Mediterranean fruit flies Ceratitis capitata (Diptera: Tephritidae) improves sterile male sexual performance.

    PubMed

    Ben Ami, Eyal; Yuval, Boaz; Jurkevitch, Edouard

    2010-01-01

    The sterile insect technique (SIT) is a method of biological control whereby millions of factory reared sterile male insects are released into the field. This technique is commonly used to combat the Mediterranean fruit fly (Ceratitis capitata, Diptera: Tephritidae). Sterile medfly males are less competent in attracting and mating with wild females, a property commonly linked to the irradiation process responsible for the sterilization. As bacteria are important partners in the fly's life cycle, we used molecular analytical methods to study the community structure of the gut microbiota in irradiated male medflies. We find that the sterilizing irradiation procedure affects the gut bacterial community structure of the Mediterranean fruit fly. Although the Enterobacteriaceae family remains the dominant bacterial group present in the gut, the levels of Klebsiella species decreases significantly in the days after sterilization. In addition, we detected substantial differences in some bacterial species between the mass rearing strain Vienna 8 and the wild strain. Most notable among these are the increased levels of the potentially pathogenic species Pseudomonas in the industrial strain. Testing the hypothesis that regenerating the original microbiota community could result in enhanced competitiveness of the sterile flies, we found that the addition of the bacterial species Klebsiella oxytoca to the postirradiation diet enables colonization of these bacteria in the gut while resulting in decreased levels of the Pseudomonas sp. Feeding on diets containing bacteria significantly improved sterile male performance in copulatory tests. Further studies will determine the feasibility of bacterial amelioration in SIT operations. PMID:19617877

  13. Total haemoglobin mass and spleen contraction: a study on competitive apnea divers, non-diving athletes and untrained control subjects.

    PubMed

    Prommer, Nicole; Ehrmann, Ulrich; Schmidt, Walter; Steinacker, Jürgen M; Radermacher, Peter; Muth, Claus-Martin

    2007-12-01

    In diving mammals splenic contraction increases circulating red cell volume, whereas in humans increased haemoglobin concentrations have been reported. It is unknown, however, whether repetitive apnea diving also comprises an adaptive increase in total red cell volume as reported in endurance athletes. The first aim of the study therefore was to investigate the effect of repeated apnea dives on splenic size and putative red cell release in trained apnea divers (n = 10) and control subjects (SCUBA divers performing apneas without long-term apnea training, n = 7). Long-term effects of repetitive apnea diving may elevate the oxygen transport capacity by an adaptive increase in total haemoglobin mass as reported in endurance athletes. The second goal, therefore, was to compare the trained apnea divers' and the control divers' total haemoglobin mass (tHb-mass) with that of endurance-trained (n = 9) and untrained (n = 10) non-divers. Before and immediately after a series of five dives to a depth of 4 m in a heated pool, spleen volume was assessed with ultrasound tomography. tHb-mass and plasma volume were measured using the CO-rebreathing method. In the trained apnea divers, repeated apnea dives resulted in a 25% reduction of spleen size (P < 0.001), whereas no significant effect was observed in the control subjects. While tHb-mass did not differ between trained apnea divers, untrained SCUBA divers performing apneas and untrained non-divers, it was 30% lower than in endurance-trained non-divers. We conclude that prolonged apnea training causes marked apnea-induced splenic contraction. In contrast to athletes in endurance sports, the trained apnea divers did not present with increased total haemoglobin mass and, hence, no increase in blood oxygen stores.

  14. The variation of polar firn subject to percolation - characterizing processes and glacier mass budget uncertainty using high-resolution instruments

    NASA Astrophysics Data System (ADS)

    Demuth, M. N.; Marshall, H.; Morris, E. M.; Burgess, D. O.; Gray, L.

    2009-12-01

    As the Earth's glaciers and ice sheets are subjected to the effects of recent and predicted warming, the distribution of their glaciological facies zones will alter. Percolation and wet snow facies zones will, in general, move upwards; encroaching upon, for some glacier configurations, regions of dry snow facies. Meltwater percolation and internal accumulation processes that characterize these highly variable facies may confound reliable estimates of surface mass budgets based on traditional point measurements alone. If the extents of these zones are indeed increasing, as has been documented through recent analysis of QuickScat data for the ice caps of the Canadian Arctic, then the certainty of glacier mass budget estimates using traditional techniques may be degraded to an as yet un-quantified degree. Indeed, the application of remote sensing, in particular that utilizing repeat altimetry to retrieve surface mass budget estimates, is also subject to the complexity of glacier facies from the standpoint of their near-surface stratigraphy, density variations and rates of compaction. We first review the problem of measuring glacier mass budgets in the context of nested scales of variability, where auto-correlation structure varies with the scale of observation. We then consider specifically firn subject to percolation and describe the application of high-resolution instruments to characterize variability at the field-scale. The data collected include measurements of micro-topography, snow hardness, and snow density and texture; retrieved using airborne scanning lidar, a snow micro-penetrometer, neutron probe and ground-penetrating radars. The analysis suggests corresponding scales of correlation as it concerns the influence of antecedent conditions (surface roughness and hardness, and stratigraphic variability) and post-depositional processes (percolation and refreezing of surface melt water).

  15. Stochastic resonance in a fractional harmonic oscillator subject to random mass and signal-modulated noise

    NASA Astrophysics Data System (ADS)

    Guo, Feng; Zhu, Cheng-Yin; Cheng, Xiao-Feng; Li, Heng

    2016-10-01

    Stochastic resonance in a fractional harmonic oscillator with random mass and signal-modulated noise is investigated. Applying linear system theory and the characteristics of the noises, the analysis expression of the mean output-amplitude-gain (OAG) is obtained. It is shown that the OAG varies non-monotonically with the increase of the intensity of the multiplicative dichotomous noise, with the increase of the frequency of the driving force, as well as with the increase of the system frequency. In addition, the OAG is a non-monotonic function of the system friction coefficient, as a function of the viscous damping coefficient, as a function of the fractional exponent.

  16. Effects of Carpal Tunnel Syndrome on adaptation of multi-digit forces to object mass distribution for whole-hand manipulation

    PubMed Central

    2012-01-01

    Background Carpal tunnel syndrome (CTS) is a compression neuropathy of the median nerve that results in sensorimotor deficits in the hand. Until recently, the effects of CTS on hand function have been studied using mostly two-digit grip tasks. The purpose of this study was to investigate the coordination of multi-digit forces as a function of object center of mass (CM) during whole-hand grasping. Methods Fourteen CTS patients and age- and gender-matched controls were instructed to grasp, lift, hold, and release a grip device with five digits for seven consecutive lifts while maintaining its vertical orientation. The object CM was changed by adding a mass at different locations at the base of the object. We measured forces and torques exerted by each digit and object kinematics and analyzed modulation of these variables to object CM at object lift onset and during object hold. Our task requires a modulation of digit forces at and after object lift onset to generate a compensatory moment to counteract the external moment caused by the added mass and to minimize object tilt. Results We found that CTS patients learned to generate a compensatory moment and minimized object roll to the same extent as controls. However, controls fully exploited the available degrees of freedom (DoF) in coordinating their multi-digit forces to generate a compensatory moment, i.e., digit normal forces, tangential forces, and the net center of pressure on the finger side of the device at object lift onset and during object hold. In contrast, patients modulated only one of these DoFs (the net center of pressure) to object CM by modulating individual normal forces at object lift onset. During object hold, however, CTS patients were able to modulate digit tangential force distribution to object CM. Conclusions Our findings suggest that, although CTS did not affect patients’ ability to perform our manipulation task, it interfered with the modulation of specific grasp control variables. This

  17. Association between indoor air pollutant exposure and blood pressure and heart rate in subjects according to body mass index.

    PubMed

    Jung, Chien-Cheng; Su, Huey-Jen; Liang, Hsiu-Hao

    2016-01-01

    This study investigates the effects of high body mass index (BMI) of subjects on individual who exhibited high cardiovascular disease indexes with blood pressure (BP) and heart rate (HR) when exposed to high levels of indoor air pollutants. We collected 115 office workers, and measured their systolic blood pressure (SBP), diastolic blood pressure (DBP) and HR at the end of the workday. The subjects were divided into three groups according to BMI: 18-24 (normal weight), 24-27 (overweight) and >27 (obese). This study also measured the levels of carbon dioxide (CO2), total volatile organic compounds (TVOC), particulate matter with an aerodynamic diameter less than 2.5μm (PM2.5), as well as the bacteria and fungi in the subjects' work-places. The pollutant effects were divided by median. Two-way analysis of variance (ANOVA) was used to analyze the health effects of indoor air pollution exposure according to BMI. Our study showed that higher levels of SBP, DBP and HR occurred in subjects who were overweight or obese as compared to those with normal weight. Moreover, there was higher level of SBP in subjects who were overweight or obese when they were exposed to higher levels of TVOC and fungi (p<0.05). We also found higher value for DBP and HR with increasing BMI to be associated with exposure to higher TVOC levels. This study suggests that individuals with higher BMI have higher cardiovascular disease risk when they are exposed to poor indoor air quality (IAQ), and specifically in terms of TVOC.

  18. Transfer of learned manipulation following changes in degrees of freedom.

    PubMed

    Fu, Qiushi; Hasan, Ziaul; Santello, Marco

    2011-09-21

    The present study was designed to determine whether manipulation learned with a set of digits can be transferred to grips involving a different number of digits, and possible mechanisms underlying such transfer. The goal of the task was to exert a torque and vertical forces on a visually symmetrical object at object lift onset to balance the external torque caused by asymmetrical mass distribution. Subjects learned this manipulation through consecutive practice using one grip type (two or three digits), after which they performed the same task but with another grip type (e.g., after adding or removing one digit, respectively). Subjects were able to switch grip type without compromising the behavioral outcome (i.e., the direction, timing, and magnitude of the torque exerted on the object was unchanged), despite the use of significantly different digit force-position coordination patterns in the two grip types. Our results support the transfer of learning for anticipatory control of manipulation and indicate that the CNS forms an internal model of the manipulation task independent of the effectors that are used to learn it. We propose that sensory information about the new digit placement--resulting from adding or removing a digit immediately after the switch in grip type--plays an important role in the accurate modulation of new digit force distributions. We discuss our results in relation to studies of manipulation reporting lack of learning transfer and propose a theoretical framework that accounts for failure or success of motor learning generalization.

  19. Synergistic Manipulation.

    ERIC Educational Resources Information Center

    Weingartner, Charles

    1979-01-01

    Discusses differences between the primary functions of the cerebral hemispheres, notes differences between conscious and subconscious responses of subjects in several research studies, and stresses the need for a whole series of questions (so far largely unasked) about how unconscious meanings are made from media. (GT)

  20. Generalization of Dexterous Manipulation Is Sensitive to the Frame of Reference in Which It Is Learned

    PubMed Central

    Marneweck, Michelle; Knelange, Elisabeth; Lee-Miller, Trevor; Santello, Marco; Gordon, Andrew M.

    2015-01-01

    Studies have shown that internal representations of manipulations of objects with asymmetric mass distributions that are generated within a specific orientation are not generalizable to novel orientations, i.e., subjects fail to prevent object roll on their first grasp-lift attempt of the object following 180° object rotation. This suggests that representations of these manipulations are specific to the reference frame in which they are formed. However, it is unknown whether that reference frame is specific to the hand, the body, or both, because rotating the object 180° modifies the relation between object and body as well as object and hand. An alternative, untested explanation for the above failure to generalize learned manipulations is that any rotation will disrupt grasp performance, regardless if the reference frame in which the manipulation was learned is maintained or modified. We examined the effect of rotations that (1) maintain and (2) modify relations between object and body, and object and hand, on the generalizability of learned two-digit manipulation of an object with an asymmetric mass distribution. Following rotations that maintained the relation between object and body and object and hand (e.g., rotating the object and subject 180°), subjects continued to use appropriate digit placement and load force distributions, thus generating sufficient compensatory moments to minimize object roll. In contrast, following rotations that modified the relation between (1) object and hand (e.g. rotating the hand around to the opposite object side), (2) object and body (e.g. rotating subject and hand 180°), or (3) both (e.g. rotating the subject 180°), subjects used the same, yet inappropriate digit placement and load force distribution, as those used prior to the rotation. Consequently, the compensatory moments were insufficient to prevent large object rolls. These findings suggest that representations of learned manipulation of objects with asymmetric mass

  1. Spatial Manipulation with Microfluidics

    PubMed Central

    Lin, Benjamin; Levchenko, Andre

    2015-01-01

    Biochemical gradients convey information through space, time, and concentration, and are ultimately capable of spatially resolving distinct cellular phenotypes, such as differentiation, proliferation, and migration. How these gradients develop, evolve, and function during development, homeostasis, and various disease states is a subject of intense interest across a variety of disciplines. Microfluidic technologies have become essential tools for investigating gradient sensing in vitro due to their ability to precisely manipulate fluids on demand in well-controlled environments at cellular length scales. This review will highlight their utility for studying gradient sensing along with relevant applications to biology. PMID:25905100

  2. Ferromagnetic mass fixed on a spring and subjected to an electromagnet powered by self-sustained oscillators

    NASA Astrophysics Data System (ADS)

    Abobda, L. T.; Woafo, P.

    2014-12-01

    The study of a ferromagnetic mass, fixed on a spring and subjected to an electromagnet powered by a Van der Pol (VDP) oscillator and by a Hindmarsh-Rose (HR) oscillator is performed, to serve as an electromechanical devices, but also to mimic the action of a natural pacemaker and nerves on a cardiac assist device or artificial heart. The excitation with the VDP oscillator shows in the mechanical part the transition from harmonic, periodic, biperiodic up to bursting oscillations, high displacement without pull-in instability in the free dynamics regime. Under DC plus square wave excitation, there is a coexistence of the bursting oscillations of the free dynamics and the one of the modulated dynamics. Considering the action of a HR oscillator, it is found transition from spikes, bursting oscillations, relaxation spikes, multiperiodic and sinusoidal oscillations under DC or DC plus square wave excitation. These electrical behaviors are transferred to the mechanical part which can then adopt spiking or bursting dynamics as the HR oscillator. For this electromechanical model, the VDP oscillator is more efficient than the HR oscillator to induce pulsatile pumping function with higher amplitude and to react to external influences without pull-in.

  3. Learned manipulation at unconstrained contacts does not transfer across hands.

    PubMed

    Fu, Qiushi; Choi, Jason Y; Gordon, Andrew M; Jesunathadas, Mark; Santello, Marco

    2014-01-01

    Recent studies about sensorimotor control of the human hand have focused on how dexterous manipulation is learned and generalized. Here we address this question by testing the extent to which learned manipulation can be transferred when the contralateral hand is used and/or object orientation is reversed. We asked subjects to use a precision grip to lift a grip device with an asymmetrical mass distribution while minimizing object roll during lifting by generating a compensatory torque. Subjects were allowed to grasp anywhere on the object's vertical surfaces, and were therefore able to modulate both digit positions and forces. After every block of eight trials performed in one manipulation context (i.e., using the right hand and at a given object orientation), subjects had to lift the same object in the second context for one trial (transfer trial). Context changes were made by asking subjects to switch the hand used to lift the object and/or rotate the object 180° about a vertical axis. Therefore, three transfer conditions, hand switch (HS), object rotation (OR), and both hand switch and object rotation (HS+OR), were tested and compared with hand matched control groups who did not experience context changes. We found that subjects in all transfer conditions adapted digit positions across multiple transfer trials similar to the learning of control groups, regardless of different changes of contexts. Moreover, subjects in both HS and HS+OR group also adapted digit forces similar to the control group, suggesting independent learning of the left hand. In contrast, the OR group showed significant negative transfer of the compensatory torque due to an inability to adapt digit forces. Our results indicate that internal representations of dexterous manipulation tasks may be primarily built through the hand used for learning and cannot be transferred across hands.

  4. Overweight in trained subjects - are we looking at wrong numbers? (Body mass index compared with body fat percentage in estimating overweight in athletes.).

    PubMed

    Mazic, Sanja; Djelic, Marina; Suzic, Jelena; Suzic, Slavica; Dekleva, Milica; Radovanovic, Dragan; Scepanovic, Ljiljana; Starcevic, Vesna

    2009-01-01

    Body mass index (BMI) is widely used as an index of obesity in adults. In trained population, individual with low body fat could be classified as overweight by BMI. To evaluate this problem, the purposes of this study were to determine the BMI and body fat percentage (BF%) of trained and untrained subjects and to evaluate the accuracy of BMI classification (> or =25 kg.m(-2)) as a prediction of overweight/obesity in trained subjects. The total number of 299 trained (basketball players) and 179 untrained male subjects participated in this study. Body height and body mass were measured; BMI was calculated for all subjects. BF% was determined via Tanita bioimpedance body composition analyzer. BMI >or = 25 kg.m(-2) and BF% > 20% were used to define overweight. There was no significant age differences. Body mass, height (p < 0.01) and BMI (p < 0.05) were significantly higher, although BF% was significantly lower (p < 0.01) in trained group when compared to untrained. Eighty-five trained subjects had a BMI of 25 or higher, indicating overweight. Of these, only three individuls had excess BF%. The results of the present study suggest that a BMI > or = 25 kg.m(-2) is not an accurate predictor of overweight in trained subjects.

  5. Manipulability and object recognition: is manipulability a semantic feature?

    PubMed

    Campanella, Fabio; Shallice, Tim

    2011-02-01

    Several lines of evidence exist, coming from neuropsychology, neuroimaging and behavioural investigations on healthy subjects, suggesting that an interaction might exist between the systems devoted to object identification and those devoted to online object-directed actions and that the way an object is acted upon (manipulability) might indeed influence object recognition. In this series of experiments on speeded word-to-picture-matching tasks, it is shown how the presentation of pairs of objects sharing similar manipulation causes greater interference with respect to objects sharing only visual similarity (experiment 1). Moreover, (experiment 2) it is shown how the repeated presentation of pairs of objects sharing a similar type of manipulation leads to a 'negative' serial position effect, with the number of errors increasing across presentations, a behaviour that is typically found in patients with access deficits to semantic representations. By contrast, the repeated presentation of pairs of objects sharing only visual similarity leads to an opposite 'positive' serial position effect, with errors decreasing across presentations. It is argued that a negative serial position effect is linked to interference occurring within the semantic system, and therefore that the way an object is manipulated is indeed a semantic feature, critical in defining manipulable object properties at a semantic level. To our knowledge, this constitutes the first direct evidence of manipulability being a semantic dimension. The results are discussed in the light of current models of semantic memory organization.

  6. Mass

    SciTech Connect

    Quigg, Chris

    2007-12-05

    In the classical physics we inherited from Isaac Newton, mass does not arise, it simply is. The mass of a classical object is the sum of the masses of its parts. Albert Einstein showed that the mass of a body is a measure of its energy content, inviting us to consider the origins of mass. The protons we accelerate at Fermilab are prime examples of Einsteinian matter: nearly all of their mass arises from stored energy. Missing mass led to the discovery of the noble gases, and a new form of missing mass leads us to the notion of dark matter. Starting with a brief guided tour of the meanings of mass, the colloquium will explore the multiple origins of mass. We will see how far we have come toward understanding mass, and survey the issues that guide our research today.

  7. Mass loss of a TEOS-coated, reinforced carbon-carbon composite subjected to a simulted shuttle entry environment

    NASA Technical Reports Server (NTRS)

    Stroud, C. W.; Rummler, D. R.

    1980-01-01

    Coated, reinforced carbon-carbon (RCC) is used for the leading edges of the space shuttle. The mass loss characteristics of RCC specimens coated with tetraethyl orthosilicate (TEOS) were determine for conditions which simulated the environment expected at the lug attachment area of the leading edge. Mission simulation included simultaneous application of load, temperature, and oxygen partial pressure. Maximum specimen temperature was 900 K (1160 F). Specimens were exposed for up to 80 simulated missions. Stress levels up to 6.8 MPa (980 psi) did not significantly affect the mass loss characteristics of the TEOS-coated RCC material. Mass loss was correlated with the bulk density of the specimens.

  8. Employee involvement: motivation or manipulation?

    PubMed

    McConnell, C R

    1998-03-01

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

  9. Experimental Evaluation and Optimization of Structures for Lossless Ion Manipulations for Ion Mobility Spectrometry with Time-of-Flight Mass Spectrometry

    SciTech Connect

    Webb, Ian K.; Garimella, Venkata BS; Tolmachev, Aleksey V.; Chen, Tsung-Chi; Zhang, Xinyu; Norheim, Randolph V.; Prost, Spencer A.; Lamarche, Brian L.; Anderson, Gordon A.; Ibrahim, Yehia M.; Smith, Richard D.

    2014-09-05

    We report on the performance of Structures for Lossless Ion Manipulation (SLIM) devices as a means for transmitting ions and performing ion mobility separations (IMS). Ions were successfully transferred from an electrospray ionization (ESI) source to the TOF MS analyzer by means of a linear SLIM device and an alternative arrangement including a 90° turn. First, the linear geometry was optimized for radial confinement by tuning RF on the central ‘rung’ electrodes and potentials on the DC-only guard electrodes. Selecting an appropriate DC guard bias (2-6 V) and RF amplitude (≥160 Vp-p at 750 kHz) resulted in the greatest ion intensities. Close to ideal IMS resolving power was maintained over a range of applied voltages. Second, the 90° turn was optimized for radial confinement by tuning the RF on the rung electrodes and DC on the guard electrodes; however, both resolving power and ion transmission showed a dependence on these voltages and the best conditions for both were > 300 Vp-p RF (685 kHz) and 7-11 V guard DC bias. Both geometries provide IMS resolving powers at the theoretical limit (R~58), showing that the negative “racetrack” effect from turning around a corner can be successfully avoided, as well as the capability for essentially lossless ion transmission.

  10. Study on optimum maneuverability in horizontal manipulation of objects with power-assist based on weight perception

    NASA Astrophysics Data System (ADS)

    Rahman, S. M. Mizanoor; Ikeura, Ryojun; Nobe, Masaya; Sawai, Hideki

    2009-12-01

    This paper presents the design of a 1-DOF (horizontal forward-backward translational motion) power assist system (PAS) for manipulating objects in horizontal direction based on human operator's perception of object weight. We adopt a hypothesis that pertains to human's weight perception. The hypothesis means that the human must consider the mass parameter for the inertial force different from the mass parameter for the gravitational force when programming (feedforward) the load force (tangential to grip surfaces) for manipulating an object with a PAS because the perception and the reality regarding the object weight are different in this case. We simulated the system using Matlab/Simulink. Five subjects manipulated objects of three different sizes with the PAS during the simulation. Subjects subjectively determined the optimum values for the mass parameters of the inertial and the gravitational force components. Optimum mass parameters resulted in optimum maneuverability. Finally, we proposed using the findings to develop humanfriendly PASs for manipulating heavy objects in industries such as manufacturing and assembly, mining, logistics and transport, construction, disaster management, military operations etc.

  11. Study on optimum maneuverability in horizontal manipulation of objects with power-assist based on weight perception

    NASA Astrophysics Data System (ADS)

    Rahman, S. M. Mizanoor; Ikeura, Ryojun; Nobe, Masaya; Sawai, Hideki

    2010-01-01

    This paper presents the design of a 1-DOF (horizontal forward-backward translational motion) power assist system (PAS) for manipulating objects in horizontal direction based on human operator's perception of object weight. We adopt a hypothesis that pertains to human's weight perception. The hypothesis means that the human must consider the mass parameter for the inertial force different from the mass parameter for the gravitational force when programming (feedforward) the load force (tangential to grip surfaces) for manipulating an object with a PAS because the perception and the reality regarding the object weight are different in this case. We simulated the system using Matlab/Simulink. Five subjects manipulated objects of three different sizes with the PAS during the simulation. Subjects subjectively determined the optimum values for the mass parameters of the inertial and the gravitational force components. Optimum mass parameters resulted in optimum maneuverability. Finally, we proposed using the findings to develop humanfriendly PASs for manipulating heavy objects in industries such as manufacturing and assembly, mining, logistics and transport, construction, disaster management, military operations etc.

  12. Progress in nonprehensile manipulation

    SciTech Connect

    Mason, M.T.

    1999-11-01

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

  13. A comparison of measurements of lean body mass derived by bioelectrical impedance, skinfold thickness and total body potassium. A study in obese and non-obese normal subjects.

    PubMed

    Fulcher, G R; Farrer, M; Walker, M; Rodham, D; Clayton, B; Alberti, K M

    1991-05-01

    The measurement of body composition is an important part of metabolic and epidemiological research, but most currently available methods are complex and expensive. We have, therefore, compared measurements of fat mass (FM) and lean body mass (LBM), obtained using a commercially available bioelectrical impedance monitor (The Holtain Body Composition Monitor) (IMP), and by measuring skinfold thickness (SFT), with values obtained by measuring total body potassium (TBK). Twenty subjects, 10 with a body mass index (BMI) less than 30 (kg m-2), (non-obese) and 10 with BMI greater than or equal to 30 (obese) took part in the study. There was a strongly significant linear relationship between LBM calculated from TBK and that calculated from impedance (IMP), in both non-obese and obese groups analysed separately (non-obese: r = 0.92; p less than 0.001 and obese: r = 0.92; p less than 0.001) and together (all: r = 0.89; p less than 0.001). LBM calculated from TBK was strongly linearly correlated with values derived from SFT for non-obese (r = 0.91; p less than 0.001) but not for obese subjects. Mean values of LBM of non-obese subjects derived by each method were not significantly different (TBK: 51.3 +/- 10.40 kg; IMP: 53.18 +/- 10.37 kg; SFT: 48.87 +/- 9.48 kg), but significant differences existed when the subjects were obese (TBK: 51.86 +/- 9.65 kg; IMP: 58.69 +/- 8.55 kg; SFT: 67.61 +/- 8.14 kg; p less than 0.01).(ABSTRACT TRUNCATED AT 250 WORDS)

  14. Reversed phase liquid chromatography hyphenated to continuous flow-extractive desorption electrospray ionization-mass spectrometry for analysis and charge state manipulation of undigested proteins.

    PubMed

    Li, Li; Yang, Samuel H; Vidova, Veronika; Rice, Elisa M; Wijeratne, Aruna B; Havlíček, Vladimír; Schug, Kevin A

    2015-01-01

    The application of continuous flow-extractive desorption electrospray ionization (CF-EDESI), an ambient ionization source demonstrated previously for use with intact protein analysis, is expanded here for the coupling of reversed phase protein separations to mass spectrometry. This configuration allows the introduction of charging additives to enhance detection without affecting the chromatographic separation mechanism. Two demonstrations of the advantages of CF-EDESI are presented in this work. First, a proof-of- principle is presented to demonstrate the applicability of hyphenation of liquid chromatography (LC) to CF- EDESI. LC-CF-EDESI-MS has good sensitivity compared to LC-electrospray ionization (ESI)-mass spectrometry. Second, the supercharging mechanism investigated in CF-EDESI provides an insight into a highly debated supercharging process in ESI. The results indicate that the mechanism of protein charging seen in HPLC-CF-EDESI is different from supercharging phenomena in conventional ESI. The surface tension mechanism and binding mechanism may both contribute to protein supercharging in ESI. PMID:26307717

  15. Offspring pay sooner, parents pay later: experimental manipulation of body mass reveals trade-offs between immune function, reproduction and survival

    PubMed Central

    2013-01-01

    Introduction Life-history theory predicts that organisms trade off survival against reproduction. However, the time scales on which various consequences become evident and the physiology mediating the cost of reproduction remain poorly understood. Yet, explaining not only which mechanisms mediate this trade-off, but also how fast or slow the mechanisms act, is crucial for an improved understanding of life-history evolution. We investigated three time scales on which an experimental increase in body mass could affect this trade-off: within broods, within season and between years. We handicapped adult skylarks (Alauda arvensis) by attaching extra weight during first broods to both adults of a pair. We measured body mass, immune function and return rates in these birds. We also measured nest success, feeding rates, diet composition, nestling size, nestling immune function and recruitment rates. Results When nestlings of first broods fledged, parent body condition had not changed, but experimental birds experienced higher nest failure. Depending on the year, immune parameters of nestlings from experimental parents were either higher or lower than of control nestlings. Later, when parents were feeding their second brood, the balance between self-maintenance and nest success had shifted. Control and experimental adults differed in immune function, while mass and immune function of their nestlings did not differ. Although weights were removed after breeding, immune measurements during the second brood had the capacity to predict return rates to the next breeding season. Among birds that returned the next year, body condition and reproductive performance a year after the experiment did not differ between treatment groups. Conclusions We conclude that the balance between current reproduction and survival shifts from affecting nestlings to affecting parents as the reproductive season progresses. Furthermore, immune function is apparently one physiological mechanism involved

  16. Effect of Muscle Tension on Non-Linearities in the Apparent Masses of Seated Subjects Exposed to Vertical Whole-Body Vibration

    NASA Astrophysics Data System (ADS)

    MATSUMOTO, Y.; GRIFFIN, M. J.

    2002-05-01

    In subjects exposed to whole-body vibration, the cause of non-linear dynamic characteristics with changes in vibration magnitude is not understood. The effect of muscle tension on the non-linearity in apparent mass has been investigated in this study. Eight seated male subjects were exposed to random and sinusoidal vertical vibration at five magnitudes (0·35-1·4 m/s2 r.m.s.). The random vibration was presented for 60 s over the frequency range 2·0-20 Hz; the sinusoidal vibration was presented for 10 s at five frequencies (3·15, 4·0, 5·0, 6·3 and 8·0 Hz). Three sitting conditions were adopted such that, in two conditions, muscle tension in the buttocks and the abdomen was controlled. It was assumed that, in these two conditions, involuntary changes in muscle tension would be minimized. The force and acceleration at the seat surface were used to obtain apparent masses of subjects. With both sinusoidal and random vibration, there was statistical support for the hypothesis that non-linear characteristics were less clear when muscle tension in the buttocks and the abdomen was controlled. With increases in the magnitude of random vibration from 0·35 to 1·4 m/s2 r.m.s., the apparent mass resonance frequency decreased from 5·25 to 4·25 Hz with normal muscle tension, from 5·0 to 4·38 Hz with the buttocks muscles tensed, and from 5·13 to 4·5 Hz with the abdominal muscles tensed. Involuntary changes in muscle tension during whole-body vibration may be partly responsible for non-linear biodynamic responses.

  17. On a relativistic particle and a relativistic position-dependent mass particle subject to the Klein-Gordon oscillator and the Coulomb potential

    NASA Astrophysics Data System (ADS)

    Vitória, R. L. L.; Furtado, C.; Bakke, K.

    2016-07-01

    The relativistic quantum dynamics of an electrically charged particle subject to the Klein-Gordon oscillator and the Coulomb potential is investigated. By searching for relativistic bound states, a particular quantum effect can be observed: a dependence of the angular frequency of the Klein-Gordon oscillator on the quantum numbers of the system. The meaning of this behaviour of the angular frequency is that only some specific values of the angular frequency of the Klein-Gordon oscillator are permitted in order to obtain bound state solutions. As an example, we obtain both the angular frequency and the energy level associated with the ground state of the relativistic system. Further, we analyse the behaviour of a relativistic position-dependent mass particle subject to the Klein-Gordon oscillator and the Coulomb potential.

  18. The Effect of Upper Body Mass and Initial Knee Flexion on the Injury Outcome of Post Mortem Human Subject Pedestrian Isolated Legs.

    PubMed

    Petit, Philippe; Trosseille, Xavier; Dufaure, Nicolas; Dubois, Denis; Potier, Pascal; Vallancien, Guy

    2014-11-01

    In the ECE 127 Regulation on pedestrian leg protection, as well as in the Euro NCAP test protocol, a legform impactor hits the vehicle at the speed of 40 kph. In these tests, the knee is fully extended and the leg is not coupled to the upper body. However, the typical configuration of a pedestrian impact differs since the knee is flexed during most of the gait cycle and the hip joint applies an unknown force to the femur. This study aimed at investigating the influence of the inertia of the upper body (modelled using an upper body mass fixed at the proximal end of the femur) and the initial knee flexion angle on the lower limb injury outcome. In total, 18 tests were conducted on 18 legs from 9 Post Mortem Human Subjects (PMHS). The principle of these tests was to impact the leg at 40 kph using a sled equipped with 3 crushing steel tubes, the stiffness of which were representative of the front face of a European sedan (bonnet leading edge, bumper and spoiler). The mass of the equipped sled was 74.5 kg. The test matrix was designed to perform 4 tests in 4 configurations combining two upper body masses (either 0 or 3 kg) and two knee angles (0 or 20 degrees) at 40 kph (11 m/s) plus 2 tests at 9 m/s. Autopsies were performed on the lower limbs and an injury assessment was established. The findings of this study were first that the increase of the upper body mass resulted in more severe injuries, second that an initial flexion of the knee, corresponding to its natural position during the gait cycle, decreased the severity of the injuries, and third that based on the injury outcome, a test conducted with no upper body mass and the knee fully extended was as severe as a test conducted with a 3 kg upper body mass and an initial knee flexion of 20°. PMID:26192955

  19. The Effect of Upper Body Mass and Initial Knee Flexion on the Injury Outcome of Post Mortem Human Subject Pedestrian Isolated Legs.

    PubMed

    Petit, Philippe; Trosseille, Xavier; Dufaure, Nicolas; Dubois, Denis; Potier, Pascal; Vallancien, Guy

    2014-11-01

    In the ECE 127 Regulation on pedestrian leg protection, as well as in the Euro NCAP test protocol, a legform impactor hits the vehicle at the speed of 40 kph. In these tests, the knee is fully extended and the leg is not coupled to the upper body. However, the typical configuration of a pedestrian impact differs since the knee is flexed during most of the gait cycle and the hip joint applies an unknown force to the femur. This study aimed at investigating the influence of the inertia of the upper body (modelled using an upper body mass fixed at the proximal end of the femur) and the initial knee flexion angle on the lower limb injury outcome. In total, 18 tests were conducted on 18 legs from 9 Post Mortem Human Subjects (PMHS). The principle of these tests was to impact the leg at 40 kph using a sled equipped with 3 crushing steel tubes, the stiffness of which were representative of the front face of a European sedan (bonnet leading edge, bumper and spoiler). The mass of the equipped sled was 74.5 kg. The test matrix was designed to perform 4 tests in 4 configurations combining two upper body masses (either 0 or 3 kg) and two knee angles (0 or 20 degrees) at 40 kph (11 m/s) plus 2 tests at 9 m/s. Autopsies were performed on the lower limbs and an injury assessment was established. The findings of this study were first that the increase of the upper body mass resulted in more severe injuries, second that an initial flexion of the knee, corresponding to its natural position during the gait cycle, decreased the severity of the injuries, and third that based on the injury outcome, a test conducted with no upper body mass and the knee fully extended was as severe as a test conducted with a 3 kg upper body mass and an initial knee flexion of 20°.

  20. Alterations in energy properties of eucalyptus wood and bark subjected to torrefaction: the potential of mass loss as a synthetic indicator.

    PubMed

    Almeida, G; Brito, J O; Perré, P

    2010-12-01

    Torrefaction is a mild pyrolysis process (usually up to 300 degrees C) that changes the chemical and physical properties of biomass. This process is a possible pre-treatment prior to further processes (transport, grinding, combustion, gasification, etc) to generate energy or biofuels. In this study, three eucalyptus wood species and bark were subjected to different torrefaction conditions to determine the alterations in their structural and energy properties. The most severe treatment (280 degrees C, 5h) causes mass losses of more than 35%, with severe damage to anatomical structure, and an increase of about 27% in the specific energy content. Bark is more sensitive to heat than wood. Energy yields are always higher than mass yields, thereby demonstrating the benefits of torrefaction in concentrating biomass energy. The overall mass loss is proposed as a relevant parameter to synthesize the effect of torrefaction conditions (temperature and duration). Accordingly, all results are summarised by analytical expressions able to predict the energy properties as a function of the overall mass loss. These expressions are intended to be used in any optimization procedure, from production in the field to the final use.

  1. CFD modeling and experimental validation of heat and mass transfer in wood poles subjected to high temperatures: a conjugate approach

    NASA Astrophysics Data System (ADS)

    Younsi, R.; Kocaefe, D.; Poncsak, S.; Kocaefe, Y.; Gastonguay, L.

    2008-03-01

    In this article, a coupling method is presented in the case of high thermal treatment of a wood pole and a three-dimensional numerical simulation is proposed. The conservation equations for the wood sample are obtained using diffusion equation with variables diffusion coefficients and the incompressible Reynolds averaged Navier Stokes equations have been solved for the flow field. The connection between the two problems is achieved by expressing the continuity of the state variables and their respective fluxes through the interface. Turbulence closure is obtained by the use of the standard k ɛ model with the usual wall function treatment. The model equations are solved numerically by the commercial package ANSYS-CFX10. The wood pole was subjected to high temperature treatment under different operating conditions. The model validation is carried out via a comparison between the predicted values with those obtained experimentally. The comparison of the numerical and experimental results shows good agreement, implying that the proposed numerical algorithm can be used as a useful tool in designing high-temperature wood treatment processes. A parametric study was also carried out to determine the effects of several parameters such as initial moisture content, wood aspect ratio and final gas temperature on temperature and moisture content distributions within the samples during heat treatment.

  2. Changes in muscle fibre type, muscle mass and IGF-I gene expression in rabbit skeletal muscle subjected to stretch

    PubMed Central

    YANG, SHIYU; ALNAQEEB, MAJED; SIMPSON, HAMISH; GOLDSPINK, GEOFFREY

    1997-01-01

    The relationship between IGF-I and changes in muscle fibre phenotype in response to 6 d of stretch or disuse of the lower limb muscles of the rabbit was studied by combining in situ hybridisation and immunohistochemistry procedures. Passive stretch by plaster cast immobilisation of the muscle in its lengthened position not only induced an increase in IGF-I mRNA expression within the individual muscle fibres but also an increase in the percentage of fibres expressing neonatal and slow myosin. This change in phenotype was also found to be accompanied by a rapid and marked increase of muscle mass, total RNA content as well as IGF-I gene expression. In contrast, IGF-I appears not to be involved in muscle atrophy induced by immobilisation in the shortened position and the inactivity which results from this procedure. The level of increase in expression of IGF-I mRNA varied from fibre to fibre. By using adjacent serial sections, the fibres which expressed IGF-I mRNA at the highest levels were identified as expressing neonatal and the slow type 1 myosin. These data suggest that the expression of IGF-I within individual muscle fibres is correlated not only with hypertrophy but also with the muscle phenotypic adaptation that results from stretch and overload. PMID:9183683

  3. Manipulator mounted transfer platform

    DOEpatents

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

    1990-01-01

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

  4. Microfluidics for manipulating cells.

    PubMed

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

    2013-01-14

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

  5. The Combined Effect of Subjective Body Image and Body Mass Index (Distorted Body Weight Perception) on Suicidal Ideation

    PubMed Central

    Shin, Jaeyong; Choi, Young; Han, Kyu-Tae; Cheon, Sung-Youn; Kim, Jae-Hyun; Lee, Sang Gyu; Park, Eun-Cheol

    2015-01-01

    Objectives: Mental health disorders and suicide are an important and growing public health concern in Korea. Evidence has shown that both globally and in Korea, obesity is associated with an increased risk of developing some psychiatric disorders. Therefore, we examined the association between distorted body weight perception (BWP) and suicidal ideation. Methods: Data were obtained from the 2007-2012 Korea National Health and Nutritional Evaluation Survey (KNHANES), an annual cross-sectional nationwide survey that included 14 276 men and 19 428 women. Multiple logistic regression analyses were conducted to investigate the associations between nine BWP categories, which combined body image (BI) and body mass index (BMI) categories, and suicidal ideation. Moreover, the fitness of our models was verified using the Akaike information criterion. Results: Consistent with previous studies, suicidal ideation was associated with marital status, household income, education level, and perceived health status in both genders. Only women were significantly more likely to have distorted BWP; there was no relationship among men. In category B1 (low BMI and normal BI), women (odds ratio [OR], 2.25; 95% confidence interval [CI], 1.48 to 3.42) were more likely to express suicidal ideation than women in category B2 (normal BMI and normal BI) were. Women in overweight BWP category C2 (normal BMI and fat BI) also had an increased OR for suicidal ideation (OR, 2.25; 95% CI, 1.48 to 3.42). Those in normal BWP categories were not likely to have suicidal ideation. Among women in the underweight BWP categories, only the OR for those in category A2 (normal BMI and thin BI) was significant (OR, 1.34; 95% CI, 1.13 to 1.59). Conclusions: Distorted BWP should be considered an important factor in the prevention of suicide and for the improvement of mental health among Korean adults, especially Korean women with distorted BWPs. PMID:25857647

  6. Revisiting Mathematics Manipulative Materials

    ERIC Educational Resources Information Center

    Swan, Paul; Marshall, Linda

    2010-01-01

    It is over 12 years since "APMC" published Bob Perry and Peter Howard's research on the use of mathematics manipulative materials in primary mathematics classrooms. Since then the availability of virtual manipulatives and associated access to computers and interactive whiteboards have caused educators to rethink the use of mathematics manipulative…

  7. Mass Balance and Metabolite Profiling of Steady-State Faldaprevir, a Hepatitis C Virus NS3/4 Protease Inhibitor, in Healthy Male Subjects

    PubMed Central

    Rose, Peter; Mao, Yanping; Yong, Chan-Loi; St. George, Roger; Huang, Fenglei; Latli, Bachir; Mandarino, Debra; Li, Yongmei

    2014-01-01

    The pharmacokinetics, mass balance, and metabolite profiles of faldaprevir, a selective peptide-mimetic hepatitis C virus NS3/NS4 protease inhibitor, were assessed at steady state in 7 healthy male subjects. Subjects received oral doses of 480 mg faldaprevir on day 1, followed by 240 mg faldaprevir on days 2 to 8 and 10 to 15. [14C]faldaprevir (240 mg containing 100 μCi) was administered on day 9. Blood, urine, feces, and saliva samples were collected at intervals throughout the study. Metabolite profiling was performed using radiochromatography, and metabolite identification was conducted using liquid chromatography-tandem mass spectrometry. The overall recovery of radioactivity was high (98.8%), with the majority recovered from feces (98.7%). There was minimal radioactivity in urine (0.113%) and saliva. Circulating radioactivity was predominantly confined to plasma with minimal partitioning into red blood cells. The terminal half-life of radioactivity in plasma was approximately 23 h with no evidence of any long-lasting metabolites. Faldaprevir was the predominant circulating form, accounting for 98 to 100% of plasma radioactivity from each subject. Faldaprevir was the only drug-related component detected in urine. Faldaprevir was also the major drug-related component in feces, representing 49.8% of the radioactive dose. The majority of the remainder of radioactivity in feces (41% of the dose) was accounted for in almost equal quantities by 2 hydroxylated metabolites. The most common adverse events were nausea, diarrhea, and constipation, all of which were related to study drug. In conclusion, faldaprevir is predominantly excreted in feces with negligible urinary excretion. PMID:24514093

  8. Cell manipulation in microfluidics.

    PubMed

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

    2013-06-01

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

  9. Osteopathic Manipulative Treatment

    PubMed Central

    Campbell, Shannon M.; Walkowski, Stevan

    2012-01-01

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

  10. Manipulator comparative testing program

    SciTech Connect

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

    1986-01-01

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

  11. Learning Spinal Manipulation

    PubMed Central

    Harvey, Marie-Pierre; Wynd, Shari; Richardson, Lance; Dugas, Claude; Descarreaux, Martin

    2011-01-01

    Purpose: The goal of the present study was to quantify the high-velocity, low-amplitude spinal manipulation biomechanical parameters in two cohorts of students from different teaching institutions. The first cohort of students was taught chiropractic techniques in a patient–doctor positioning practice setting, while the second cohort of students was taught in a “complete practice” manipulation setting, thus performing spinal manipulation skills on fellow student colleagues. It was hypothesized that the students exposed to complete practice would perform the standardized spinal manipulation with better biomechanical parameters. Methods: Participants (n = 88) were students enrolled in two distinct chiropractic programs. Thoracic spine manipulation skills were assessed using an instrumented manikin, which allowed the measurement of applied force. Dependent variables included peak force, time to peak force, rate of force production, peak force variability, and global coordination. Results: The results revealed that students exposed to complete practice demonstrated lower time to peak force values, higher peak force, and a steeper rate of force production compared with students in the patient–doctor positioning scenario. A significant group by gender interaction was also noted for the time to peak force and rate of force production variables. Conclusion: The results of the present study confirm the importance of chiropractic technique curriculum and perhaps gender in spinal manipulation skill learning. It also stresses the importance of integrating spinal manipulation skills practice early in training to maximize the number and the quality of significant learner–instructor interactions. PMID:22069337

  12. Manipulating light using nanostructures

    NASA Astrophysics Data System (ADS)

    Ghimire, Anil

    This dissertation describes progress made towards the control of emission direction and polarization from a single emitter using a sharp gold-coated atomic force microscope tip. When a metallic tip is scanned in the emitter near-field, the probe acts as a secondary emitter such that the superposition of electromagnetic fields from these two emitters modifies the emission polarization and pattern in the far-field. The physical mechanism underlying this ability to manipulate the emission polarization and direction is studied in detail using a unique data acquisition technique and finite-difference time domain (FDTD) simulations. This technique enables us to reveal how the polarization of emitted photons from a quantum dot (QD) is modified as a gold-coated tip is scanned laterally and vertically in its proximity, and the FDTD simulations are used to calculate the angular emission pattern. The simulated emission pattern at the back-focal plane enables us to identify how the direction of emitted photons is altered as the gold tip is scanned in the proximity of a dipole emitter. This dissertation also highlights a novel back-focal imaging technique correlated with the vertically oscillating probe. By pulsing the continuous-wave laser at various phases of tip oscillation and using the near-field interaction of the tip-sample, the exact tip-sample distance can be identified. Tip-induced modification of the angular emission pattern from an individual quantum dot is experimentally demonstrated. This work also includes the study of the emission properties of GaN nanowires. A hyper-spectral imaging technique combined with spectral center of mass (SCOM) analysis helps us to identify the spectral inhomogeneity within a nanowire. The spectral information within a diffraction-limited spot of a nanowire provides the insight regarding the distribution of mid-gap defect states within a nanowire.

  13. Distribution of body mass index among subjects with COPD in the Middle East and North Africa region: data from the BREATHE study

    PubMed Central

    Koniski, Marie-Louise; Salhi, Hocine; Lahlou, Aïcha; Rashid, Nauman; El Hasnaoui, Abdelkader

    2015-01-01

    Background Data describing the potential relationship between chronic obstructive pulmonary disease (COPD) and body mass index (BMI) are limited within the Middle East and North Africa (MENA) region. Objective To evaluate the distribution of BMI among subjects with COPD in the general population of the MENA region. Methods This study was a subanalysis of the BREATHE study, a cross-sectional survey of COPD conducted in the general population of ten countries in the MENA region and Pakistan. The study population consisted of subjects screened for COPD who documented their weight and height. A COPD questionnaire was administered to subjects who screened positively for COPD in order to collect data on patient characteristics, symptom severity, management and burden of disease, comorbidities, and health care resource utilization and data allowing calculation of the BMI. The COPD Assessment Test (CAT) was administered to those screened positively for COPD to collect data on the impact of respiratory symptoms. Results Nine hundred and ninety-six subjects with COPD, who completed the detailed COPD questionnaire and documented their weight and height, were included in this analysis. The mean BMI was 27.7±5.7 kg/m2. The proportion of COPD patients with a BMI ≥25 kg/m2 is significantly higher than the proportion with a BMI <25 kg/m2 (64.6% [n=643] vs 35.4% [n=353], respectively; P<0.0001). There were no significant differences between the distribution of BMI, ages, sex, COPD symptoms, exacerbations, CAT scores, COPD-associated health care resource consumption, and GOLD severity groups. However, the occurrence of comorbidities such as diabetes and cardiovascular diseases seemed to be significantly associated with obese or morbidly obese status (P=0.02). Conclusion In the MENA region, the majority of COPD subjects were overweight or obese, and comorbidities such as diabetes or cardiovascular diseases are likely to be associated with COPD when BMI is in the obese or morbidly

  14. Update: Biochemistry of Genetic Manipulation.

    ERIC Educational Resources Information Center

    Barker, G. R.

    1983-01-01

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

  15. Osteopathic Manipulative Treatment

    MedlinePlus

    ... what patients really need is a healing touch. Osteopathic physicians haven't forgotten. Osteopathic manipulative treatment, or OMT, ... and prevent illness or injury. Using OMT, your osteopathic physician will move your muscles and joints using techniques ...

  16. Manipulation by physiotherapists.

    PubMed

    Cyriax, J

    1970-03-01

    Divergent opinions exist on whether or not physiotherapists should manipulate. The controversy can be simply resolved by pointing out that the past policy of withholding such tuition from physiotherapists has in no way diminished the public demand for manipulation; it has merely forced potential patients to the bonesetter. Even those doctors who resent the idea of physiotherapists manipulating must surely prefer its performance by trained personnel working under doctors' guidance to indiscriminate recourse to all sorts of largely untrained laymen without doctors' prior approval. Come what may, the patients are going to be manipulated; at least let this then be sought from trained physiotherapists who give treatment ethically to patients sent to them by doctors.

  17. Dielectrophoresis for Bioparticle Manipulation

    PubMed Central

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

    2014-01-01

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

  18. Association of Waist Circumference and Body Fat Weight with Insulin Resistance in Male Subjects with Normal Body Mass Index and Normal Glucose Tolerance.

    PubMed

    Sasaki, Ryoma; Yano, Yutaka; Yasuma, Taro; Onishi, Yuki; Suzuki, Toshinari; Maruyama-Furuta, Noriko; Gabazza, Esteban C; Sumida, Yasuhiro; Takei, Yoshiyuki

    2016-01-01

    Objective We investigated the relationship of the waist circumference (WC) and body fat weight (BF) with insulin resistance in subjects with normal body mass index (BMI) and normal glucose tolerance (NGT) during a routine medical check-up. Methods We categorized 167 male subjects in three groups as follows: a group with normal BMI but high WC (normal-BMI/high-WC group; 22≤BMI<25 kg/m(2), waist ≥85 cm; n=31), a group with normal BMI and normal WC (normal-BMI/normal-WC group, waist <85 cm; n=68), and a group with low normal BMI and normal WC (low normal-BMI/normal-WC group; 18.5≤BMI<22 kg/m(2) and waist<85 cm; n=68). We measured the plasma glucose and serum insulin levels before glucose loading and after 30 and 120 minutes and calculated several indexes of insulin secretion and sensitivity. Results Subjects from the normal-BMI/high-WC group showed significantly decreased Matsuda index and increased homeostasis model assessment for insulin resistance (HOMA-IR) compared with normal-BMI/normal-WC group. Univariate regression analyses showed significant correlation of HOMA-IR with WC (r=0.39) and BF (r=0.37). Matsuda index was significantly correlated with WC (r=-0.39) and BF (r=-0.47). The multiple regression analysis showed that the BF is significantly correlated with HOMA-IR (p<0.05) and Masuda index (p<0.005) among the clinical variables and with HOMA-IR (p<0.05) and Masuda index (p<0.0001) among the anthropometric variables but not with WC in either analysis. Conclusion Decreased Matsuda index and increased HOMA-IR were observed in subjects from the normal-BMI/high-WC group. Multivariate analysis showed that BF is associated with decreased Matsuda index and increased HOMA-IR and that WC is not associated with either factors. PMID:27250047

  19. Spatial-Operator Algebra For Flexible-Link Manipulators

    NASA Technical Reports Server (NTRS)

    Jain, Abhinandan; Rodriguez, Guillermo

    1994-01-01

    Method of computing dynamics of multiple-flexible-link robotic manipulators based on spatial-operator algebra, which originally applied to rigid-link manipulators. Aspects of spatial-operator-algebra approach described in several previous articles in NASA Tech Briefs-most recently "Robot Control Based on Spatial-Operator Algebra" (NPO-17918). In extension of spatial-operator algebra to manipulators with flexible links, each link represented by finite-element model: mass of flexible link apportioned among smaller, lumped-mass rigid bodies, coupling of motions expressed in terms of vibrational modes. This leads to operator expression for modal-mass matrix of link.

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

    SciTech Connect

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

    1995-02-01

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

  1. Manipulator comparative testing program

    SciTech Connect

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

    1986-01-01

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

  2. Blade manipulators in turbulent channel flow

    NASA Astrophysics Data System (ADS)

    Vasudevan, B.; Prabhu, A.; Narasimha, R.

    1992-01-01

    We report here the results of a series of careful experiments in turbulent channel flow, using various configurations of blade manipulators suggested as optimal in earlier boundary layer studies. The mass flow in the channel could be held constant to better than 0.1%, and the uncertainties in pressure loss measurements were less than 0.1 mm of water; it was therefore possible to make accurate estimates of the global effects of blade manipulation of a kind that are difficult in boundary layer flows. The flow was fully developed at the station where the blades were mounted, and always relaxed to the same state sufficiently far downstream. It is found that, for a given mass flow, the pressure drop to any station downstream is always higher in the manipulated than in the unmanipulated flow, demonstrating that none of the blade manipulators tried reduces net duct losses. However the net increase in duct losses is less than the drag of the blade even in laminar flow, showing that there is a net reduction in the total skin friction drag experienced by the duct, but this relief is only about 20% of the manipulator drag at most.

  3. 19 CFR 134.13 - Imported articles repacked or manipulated.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 19 Customs Duties 1 2012-04-01 2012-04-01 false Imported articles repacked or manipulated. 134.13...; DEPARTMENT OF THE TREASURY COUNTRY OF ORIGIN MARKING Articles Subject to Marking § 134.13 Imported articles repacked or manipulated. (a) Marking requirement. An article within the provisions of this section shall...

  4. 19 CFR 134.13 - Imported articles repacked or manipulated.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 19 Customs Duties 1 2010-04-01 2010-04-01 false Imported articles repacked or manipulated. 134.13...; DEPARTMENT OF THE TREASURY COUNTRY OF ORIGIN MARKING Articles Subject to Marking § 134.13 Imported articles repacked or manipulated. (a) Marking requirement. An article within the provisions of this section shall...

  5. Association between cerebral cannabinoid 1 receptor availability and body mass index in patients with food intake disorders and healthy subjects: a [(18)F]MK-9470 PET study.

    PubMed

    Ceccarini, J; Weltens, N; Ly, H G; Tack, J; Van Oudenhove, L; Van Laere, K

    2016-07-12

    Although of great public health relevance, the mechanisms underlying disordered eating behavior and body weight regulation remain insufficiently understood. Compelling preclinical evidence corroborates a critical role of the endocannabinoid system (ECS) in the central regulation of appetite and food intake. However, in vivo human evidence on ECS functioning in brain circuits involved in food intake regulation as well as its relationship with body weight is lacking, both in health and disease. Here, we measured cannabinoid 1 receptor (CB1R) availability using positron emission tomography (PET) with [(18)F]MK-9470 in 54 patients with food intake disorders (FID) covering a wide body mass index (BMI) range (anorexia nervosa, bulimia nervosa, functional dyspepsia with weight loss and obesity; BMI range=12.5-40.6 kg/m(2)) and 26 age-, gender- and average BMI-matched healthy subjects (BMI range=18.5-26.6 kg/m(2)). The association between regional CB1R availability and BMI was assessed within predefined homeostatic and reward-related regions of interest using voxel-based linear regression analyses. CB1R availability was inversely associated with BMI in homeostatic brain regions such as the hypothalamus and brainstem areas in both patients with FID and healthy subjects. However, in FID patients, CB1R availability was also negatively correlated with BMI throughout the mesolimbic reward system (midbrain, striatum, insula, amygdala and orbitofrontal cortex), which constitutes the key circuit implicated in processing appetitive motivation and hedonic value of perceived food rewards. Our results indicate that the cerebral homeostatic CB1R system is inextricably linked to BMI, with additional involvement of reward areas under conditions of disordered body weight.

  6. Association between cerebral cannabinoid 1 receptor availability and body mass index in patients with food intake disorders and healthy subjects: a [(18)F]MK-9470 PET study.

    PubMed

    Ceccarini, J; Weltens, N; Ly, H G; Tack, J; Van Oudenhove, L; Van Laere, K

    2016-01-01

    Although of great public health relevance, the mechanisms underlying disordered eating behavior and body weight regulation remain insufficiently understood. Compelling preclinical evidence corroborates a critical role of the endocannabinoid system (ECS) in the central regulation of appetite and food intake. However, in vivo human evidence on ECS functioning in brain circuits involved in food intake regulation as well as its relationship with body weight is lacking, both in health and disease. Here, we measured cannabinoid 1 receptor (CB1R) availability using positron emission tomography (PET) with [(18)F]MK-9470 in 54 patients with food intake disorders (FID) covering a wide body mass index (BMI) range (anorexia nervosa, bulimia nervosa, functional dyspepsia with weight loss and obesity; BMI range=12.5-40.6 kg/m(2)) and 26 age-, gender- and average BMI-matched healthy subjects (BMI range=18.5-26.6 kg/m(2)). The association between regional CB1R availability and BMI was assessed within predefined homeostatic and reward-related regions of interest using voxel-based linear regression analyses. CB1R availability was inversely associated with BMI in homeostatic brain regions such as the hypothalamus and brainstem areas in both patients with FID and healthy subjects. However, in FID patients, CB1R availability was also negatively correlated with BMI throughout the mesolimbic reward system (midbrain, striatum, insula, amygdala and orbitofrontal cortex), which constitutes the key circuit implicated in processing appetitive motivation and hedonic value of perceived food rewards. Our results indicate that the cerebral homeostatic CB1R system is inextricably linked to BMI, with additional involvement of reward areas under conditions of disordered body weight. PMID:27404285

  7. Ecological consequences of manipulative parasites: chapter 9

    USGS Publications Warehouse

    Lafferty, Kevin D.; Kuris, A. M.

    2012-01-01

    Parasitic "puppet masters", with their twisted, self-serving life history strategies and impressive evolutionary takeovers of host minds, capture the imagination of listeners—even those that might not normally fi nd the topic of parasitism appealing (which includes most everyone). A favorite anecdote concerns the trematode Leucochloridium paradoxum migrating to the eyestalks of its intermediate host snail and pulsating its colored body, presumably to attract the predatory birds that are the final hosts for the worm. Identifying a parasite as “manipulative” infers that a change in host behavior or appearance is a direct consequence of the parasite’s adaptive actions that, on average, will increase the fi tness of the parasite. The list of parasites that manipulate their hosts is long and growing. Holmes and Bethel (1972) presented the earliest comprehensive review and brought the subject to mainstream ecologists. Over two decades ago, Andy Dobson (1988) listed seven cestodes, seven trematodes, ten acanthocephalans, and three nematodes that manipulated host behavior. Fifteen years later, Janice Moore (2002) filled a book with examples. The five infectious trophic strategies, typical parasites (macroparasites), pathogens, trophically transmitted parasites, parasitic castrators, and parasitoids (Kuris and Lafferty 2000; Lafferty and Kuris 2002, 2009) can modify host behavior, but the likelihood that a parasite manipulates behavior differs among strategies. The most studied infectious agents, non-trophically transmitted pathogens and macroparasites, have enormous public health, veterinary, and wildlife disease importance, yet few manipulate host behavior. The beststudied manipulative infectious agents are trophically transmitted parasites in their prey intermediate hosts. Parasitoids and parasitic castrators can also manipulate host behavior, but for different purposes and with different implications. Several studies of manipulative parasites conclude with

  8. Simulation of robot manipulators

    SciTech Connect

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

    1995-03-01

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

  9. Momentum management in redundant manipulators for vibration suppression

    NASA Technical Reports Server (NTRS)

    Barbieri, Enrique

    1993-01-01

    This research project dealt with the development of control methodologies which would effectively use existing inertial devices as control actuators in the manipulation of Remote Manipulator System (RMS)-type robotic arms. The existing devices proposed to be investigated are the Torque-Wheel (TW) and the Proof-Mass actuator (PM). This report presents a succinct summary of our results.

  10. ELECTRONIC MASTER SLAVE MANIPULATOR

    DOEpatents

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

    1958-08-01

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

  11. Model based manipulator control

    NASA Technical Reports Server (NTRS)

    Petrosky, Lyman J.; Oppenheim, Irving J.

    1989-01-01

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

  12. Trust versus Manipulation

    ERIC Educational Resources Information Center

    Lewis, Anne C.

    2005-01-01

    This article discusses the issue of trust in the education system. What is different about the issue of trust in the education system is the assault upon it, sometimes overt but most often subtle. There is a difference between strong criticism and willful manipulation. The nation's schools are responding to the former--perhaps too slowly for…

  13. Manipulating Combinatorial Structures.

    ERIC Educational Resources Information Center

    Labelle, Gilbert

    This set of transparencies shows how the manipulation of combinatorial structures in the context of modern combinatorics can easily lead to interesting teaching and learning activities at every level of education from elementary school to university. The transparencies describe: (1) the importance and relations of combinatorics to science and…

  14. Kinematically redundant robot manipulators

    NASA Technical Reports Server (NTRS)

    Baillieul, J.; Hollerbach, J.; Brockett, R.; Martin, D.; Percy, R.; Thomas, R.

    1987-01-01

    Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques.

  15. Computer Algebra versus Manipulation

    ERIC Educational Resources Information Center

    Zand, Hossein; Crowe, David

    2004-01-01

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

  16. Self mobile space manipulator project

    NASA Technical Reports Server (NTRS)

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

    1992-01-01

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

  17. 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.

  18. Force reflecting hand controller for manipulator teleoperation

    NASA Technical Reports Server (NTRS)

    Bryfogle, Mark D.

    1991-01-01

    A force reflecting hand controller based upon a six degree of freedom fully parallel mechanism, often termed a Stewart Platform, has been designed, constructed, and tested as an integrated system with a slave robot manipulator test bed. A force reflecting hand controller comprises a kinesthetic device capable of transmitting position and orientation commands to a slave robot manipulator while simultaneously representing the environmental interaction forces of the slave manipulator back to the operator through actuators driving the hand controller mechanism. The Stewart Platform was chosen as a novel approach to improve force reflecting teleoperation because of its inherently high ratio of load generation capability to system mass content and the correspondingly high dynamic bandwidth. An additional novelty of the program was to implement closed loop force and torque control about the hand controller mechanism by equipping the handgrip with a six degree of freedom force and torque measuring cell. The mechanical, electrical, computer, and control systems are discussed and system tests are presented.

  19. Force reflecting hand controller for manipulator teleoperation

    NASA Astrophysics Data System (ADS)

    Bryfogle, Mark D.

    1991-12-01

    A force reflecting hand controller based upon a six degree of freedom fully parallel mechanism, often termed a Stewart Platform, has been designed, constructed, and tested as an integrated system with a slave robot manipulator test bed. A force reflecting hand controller comprises a kinesthetic device capable of transmitting position and orientation commands to a slave robot manipulator while simultaneously representing the environmental interaction forces of the slave manipulator back to the operator through actuators driving the hand controller mechanism. The Stewart Platform was chosen as a novel approach to improve force reflecting teleoperation because of its inherently high ratio of load generation capability to system mass content and the correspondingly high dynamic bandwidth. An additional novelty of the program was to implement closed loop force and torque control about the hand controller mechanism by equipping the handgrip with a six degree of freedom force and torque measuring cell. The mechanical, electrical, computer, and control systems are discussed and system tests are presented.

  20. Comparative study of linear and curvilinear ultrasound probes to assess quadriceps rectus femoris muscle mass in healthy subjects and in patients with chronic respiratory disease

    PubMed Central

    Mandal, S; Suh, E; Thompson, A; Connolly, B; Ramsay, M; Harding, R; Puthucheary, Z; Moxham, J; Hart, N

    2016-01-01

    Introduction Ultrasound measurements of rectus femoris cross-sectional area (RFCSA) are clinically useful measurements in chronic obstructive pulmonary disease (COPD) and critically ill patients. Technical considerations as to the type of probe used, which affects image resolution, have limited widespread clinical application. We hypothesised that measurement of RFCSA would be similar with linear and curvilinear probes. Methods Four studies were performed to compare the use of the curvilinear probe in measuring RFCSA. Study 1 investigated agreement of RFCSA measurements using linear and curvilinear probes in healthy subjects, and in patients with chronic respiratory disease. Study 2 investigated the intra-rater and inter-rater agreement using the curvilinear probe. Study 3 investigated the agreement of RFCSA measured from whole and spliced images using the linear probe. Study 4 investigated the applicability of ultrasound in measuring RFCSA during the acute and recovery phases of an exacerbation of COPD. Results Study 1 showed demonstrated no difference in the measurement of RFCSA using the curvilinear and linear probes (308±104 mm2 vs 320±117 mm2, p=0.80; intraclass correlation coefficient (ICC)>0.97). Study 2 demonstrated high intra-rater and inter-rater reliability of RFCSA measurement with ICC>0.95 for both. Study 3 showed that the spliced image from the linear probe was similar to the whole image RFCSA (308±103.5 vs 263±147 mm2, p=0.34; ICC>0.98). Study 4 confirmed the clinical acceptability of using the curvilinear probe during an exacerbation of COPD. There were relationships observed between admission RFCSA and body mass index (r=+0.65, p=0.018), and between RFCSA at admission and physical activity levels at 4 weeks post-hospital discharge (r=+0.75, p=0.006). Conclusions These studies have demonstrated that clinicians can employ whole and spliced images from the linear probe or use images from the curvilinear probe, to measure RFCSA. This will extend

  1. A spatial operator algebra for manipulator modeling and control

    NASA Technical Reports Server (NTRS)

    Rodriguez, G.; Kreutz, K.; Milman, M.

    1988-01-01

    A powerful new spatial operator algebra for modeling, control, and trajectory design of manipulators is discussed along with its implementation in the Ada programming language. Applications of this algebra to robotics include an operator representation of the manipulator Jacobian matrix; the robot dynamical equations formulated in terms of the spatial algebra, showing the complete equivalence between the recursive Newton-Euler formulations to robot dynamics; the operator factorization and inversion of the manipulator mass matrix which immediately results in O(N) recursive forward dynamics algorithms; the joint accelerations of a manipulator due to a tip contact force; the recursive computation of the equivalent mass matrix as seen at the tip of a manipulator; and recursive forward dynamics of a closed chain system. Finally, additional applications and current research involving the use of the spatial operator algebra are discussed in general terms.

  2. No Evidence for Genome-Wide Interactions on Plasma Fibrinogen by Smoking, Alcohol Consumption and Body Mass Index: Results from Meta-Analyses of 80,607 Subjects

    PubMed Central

    Chu, Audrey Y.; Trompet, Stella; Lopez, Lorna M.; Fornage, Myriam; Teumer, Alexander; Tang, Weihong; Rudnicka, Alicja R.; Mälarstig, Anders; Hottenga, Jouke-Jan; Kavousi, Maryam; Lahti, Jari; Tanaka, Toshiko; Hayward, Caroline; Huffman, Jennifer E.; Morange, Pierre-Emmanuel; Rose, Lynda M.; Basu, Saonli; Rumley, Ann; Stott, David J.; Buckley, Brendan M.; de Craen, Anton J. M.; Sanna, Serena; Masala, Marco; Biffar, Reiner; Homuth, Georg; Silveira, Angela; Sennblad, Bengt; Goel, Anuj; Watkins, Hugh; Müller-Nurasyid, Martina; Rückerl, Regina; Taylor, Kent; Chen, Ming-Huei; de Geus, Eco J. C.; Hofman, Albert; Witteman, Jacqueline C. M.; de Maat, Moniek P. M.; Palotie, Aarno; Davies, Gail; Siscovick, David S.; Kolcic, Ivana; Wild, Sarah H.; Song, Jaejoon; McArdle, Wendy L.; Ford, Ian; Sattar, Naveed; Schlessinger, David; Grotevendt, Anne; Franzosi, Maria Grazia; Illig, Thomas; Waldenberger, Melanie; Lumley, Thomas; Tofler, Geoffrey H.; Willemsen, Gonneke; Uitterlinden, André G.; Rivadeneira, Fernando; Räikkönen, Katri; Chasman, Daniel I.; Folsom, Aaron R.; Lowe, Gordon D.; Westendorp, Rudi G. J.; Slagboom, P. Eline; Cucca, Francesco; Wallaschofski, Henri; Strawbridge, Rona J.; Seedorf, Udo; Koenig, Wolfgang; Bis, Joshua C.; Mukamal, Kenneth J.; van Dongen, Jenny; Widen, Elisabeth; Franco, Oscar H.; Starr, John M.; Liu, Kiang; Ferrucci, Luigi; Polasek, Ozren; Wilson, James F.; Oudot-Mellakh, Tiphaine; Campbell, Harry; Navarro, Pau; Bandinelli, Stefania; Eriksson, Johan; Boomsma, Dorret I.; Dehghan, Abbas; Clarke, Robert; Hamsten, Anders; Boerwinkle, Eric; Jukema, J. Wouter; Naitza, Silvia; Ridker, Paul M.; Völzke, Henry; Deary, Ian J.; Reiner, Alexander P.; Trégouët, David-Alexandre; O'Donnell, Christopher J.; Strachan, David P.; Peters, Annette; Smith, Nicholas L.

    2014-01-01

    Plasma fibrinogen is an acute phase protein playing an important role in the blood coagulation cascade having strong associations with smoking, alcohol consumption and body mass index (BMI). Genome-wide association studies (GWAS) have identified a variety of gene regions associated with elevated plasma fibrinogen concentrations. However, little is yet known about how associations between environmental factors and fibrinogen might be modified by genetic variation. Therefore, we conducted large-scale meta-analyses of genome-wide interaction studies to identify possible interactions of genetic variants and smoking status, alcohol consumption or BMI on fibrinogen concentration. The present study included 80,607 subjects of European ancestry from 22 studies. Genome-wide interaction analyses were performed separately in each study for about 2.6 million single nucleotide polymorphisms (SNPs) across the 22 autosomal chromosomes. For each SNP and risk factor, we performed a linear regression under an additive genetic model including an interaction term between SNP and risk factor. Interaction estimates were meta-analysed using a fixed-effects model. No genome-wide significant interaction with smoking status, alcohol consumption or BMI was observed in the meta-analyses. The most suggestive interaction was found for smoking and rs10519203, located in the LOC123688 region on chromosome 15, with a p value of 6.2×10−8. This large genome-wide interaction study including 80,607 participants found no strong evidence of interaction between genetic variants and smoking status, alcohol consumption or BMI on fibrinogen concentrations. Further studies are needed to yield deeper insight in the interplay between environmental factors and gene variants on the regulation of fibrinogen concentrations. PMID:25551457

  3. A Comparison of the Abdominal Fat Distribution and Coronary Risk Markers in Body Mass Index-matched Subjects with and without Fatty Liver.

    PubMed

    Shiina, Yutaka; Homma, Koichiro; Ozawa, Hideki; Yoshizawa, Joe; Kobayashi, Takako; Igarashi, Mihoko; Aikawa, Minoru; Shibata, Takeo; Homma, Yasuhiko

    2016-01-01

    Objective The close relationship between fatty liver and metabolic syndrome suggests that individuals with fatty liver may have multiple coronary risk factors. In the present study, we investigated the relationships among fatty liver, abdominal fat distribution, and coronary risk markers. Methods and Results Eighty-seven pairs of men and 42 pairs of women who were matched for age and body mass index were enrolled in the present study. The obesity-related markers, abdominal fat distribution (examined by CT), and coronary risk markers were compared in subjects with and without fatty liver. The visceral fat area was significantly larger in the men with fatty liver than in the men without fatty liver. The plasma levels of triglyceride and low-density lipoprotein cholesterol (LDL-C), as well as the homeostasis model assessment-insulin resistance level, were higher in both males and females with fatty liver than in those without fatty liver, while the plasma levels of high-density lipoprotein cholesterol (HDL-C) and adiponectin were lower in the males and females with fatty liver. The plasma levels of apolipoprotein B, remnant-like particle cholesterol (RLP-C), and oxidized LDL were higher in men with fatty liver, but not in women with fatty liver. Conclusion Both males and females with fatty liver had lower insulin sensitivity, lower plasma levels of HDL-C and adiponectin, and higher triglyceride and LDL-C levels. However, the plasma levels of apolipoprotein B, RLP-C, and oxidized LDL were only higher and closely associated with fatty liver in men. Men with fatty liver had a higher risk of coronary disease than women with fatty liver. PMID:27629946

  4. REMOTELY OPERATED MANIPULATOR

    DOEpatents

    Hutto, E.L.

    1961-08-15

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

  5. Manipulation of quantum evolution

    NASA Technical Reports Server (NTRS)

    Cabera, David Jose Fernandez; Mielnik, Bogdan

    1994-01-01

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

  6. Microradiographic microsphere manipulator

    DOEpatents

    Singleton, R.M.

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

  7. Microradiographic microsphere manipulator

    DOEpatents

    Singleton, Russell M.

    1980-01-01

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

  8. MANIPULATOR FOR SLAVE ROBOT

    DOEpatents

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

    1961-04-01

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

  9. Endocavity Ultrasound Probe Manipulators

    PubMed Central

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

    2014-01-01

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

  10. Welding nozzle position manipulator

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

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

  11. The immediate effects of spinal thoracic manipulation on respiratory functions

    PubMed Central

    Shin, Doo Chul; Lee, Yong Woo

    2016-01-01

    [Purpose] The purpose of this study was to investigate the effects of thoracic spinal manipulation therapy on respiratory function including forced vital capacity and forced expiratory volume in one second in young healthy individuals. [Subjects and Methods] Thirty young healthy subjects recruited from a local university participated in this study. Subjects were randomly allocated into an experimental group (n=15) and a control group (n=15). The experimental group received thoracic spinal manipulation and the control group received placebo thoracic spinal manipulation. Respiratory function tests, including forced vital capacity and forced expiratory volume in one second, were measured before and after intervention. [Results] The values for both tests were significantly higher in the experimental group. The control group showed no changes after the intervention. Differences in pre- and post-intervention values for both tests were significantly different between the 2 groups. [Conclusion] Spinal manipulation therapy applied to the thoracic region improved respiratory function test results of participants in this study. PMID:27799691

  12. Study of modeling and evaluation of remote manipulation tasks with force feedback

    NASA Technical Reports Server (NTRS)

    Hill, J. W.

    1979-01-01

    The use of time and motion study methods to evaluate force feedback in remote manipulation tasks are described. Several systems of time measurement derived for industrial workers were studied and adapted for manipulator use. A task board incorporating a set of basic motions was designed and built. Results obtained from two subjects in three manipulation situations for each are reported: a force-reflective manipulator, a unilateral manipulator, and the unaided human hand. The results indicate that: (1) a time-and-motion study techniques are applicable to manipulation; and that (2) force feedback facilitates some motions (notably fitting), but not others (such as positioning).

  13. Single Molecule Manipulation

    NASA Astrophysics Data System (ADS)

    Kiang, Ching-Hwa

    2011-10-01

    Single-molecule manipulation studies open a door for a close-up investigation of complex biological interactions at the molecular level. In these studies, single biomolecules are pulled while their force response is being monitored. The process is often nonequilibrium, and interpretation of the results has been challenging. We used the atomic force microscope to pull proteins and DNA, and determined the equilibrium properties of the molecules using the recently derived nonequilibrium work theorem. I will present applications of the technique in areas ranging from fundamental biological problems such as DNA mechanics, to complex medical processes such as the mechanical activation of von Willebrand Factor, a key protein in blood coagulation.

  14. Performance measurement of mobile manipulators

    NASA Astrophysics Data System (ADS)

    Bostelman, Roger; Hong, Tsai; Marvel, Jeremy

    2015-05-01

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

  15. Eye-hand coordination in object manipulation.

    PubMed

    Johansson, R S; Westling, G; Bäckström, A; Flanagan, J R

    2001-09-01

    We analyzed the coordination between gaze behavior, fingertip movements, and movements of the manipulated object when subjects reached for and grasped a bar and moved it to press a target-switch. Subjects almost exclusively fixated certain landmarks critical for the control of the task. Landmarks at which contact events took place were obligatory gaze targets. These included the grasp site on the bar, the target, and the support surface where the bar was returned after target contact. Any obstacle in the direct movement path and the tip of the bar were optional landmarks. Subjects never fixated the hand or the moving bar. Gaze and hand/bar movements were linked concerning landmarks, with gaze leading. The instant that gaze exited a given landmark coincided with a kinematic event at that landmark in a manner suggesting that subjects monitored critical kinematic events for phasic verification of task progress and subgoal completion. For both the obstacle and target, subjects directed saccades and fixations to sites that were offset from the physical extension of the objects. Fixations related to an obstacle appeared to specify a location around which the extending tip of the bar should travel. We conclude that gaze supports hand movement planning by marking key positions to which the fingertips or grasped object are subsequently directed. The salience of gaze targets arises from the functional sensorimotor requirements of the task. We further suggest that gaze control contributes to the development and maintenance of sensorimotor correlation matrices that support predictive motor control in manipulation.

  16. 19 CFR 134.26 - Imported articles repacked or manipulated.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... articles repacked or manipulated. (a) Certification requirements. If an article subject to these... by Importer—Repacked Articles Subject to Marking (Port of entry) I, ____ of ____, certify that if the... ultimate purchaser(s) in accordance with the requirements of 19 U.S.C. 1304 and 19 CFR part 134. I...

  17. Hydraulic manipulator research at ORNL

    SciTech Connect

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

    1997-03-01

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

  18. Flexible manipulator control experiments and analysis

    NASA Technical Reports Server (NTRS)

    Yurkovich, S.; Ozguner, U.; Tzes, A.; Kotnik, P. T.

    1987-01-01

    Modeling and control design for flexible manipulators, both from an experimental and analytical viewpoint, are described. From the application perspective, an ongoing effort within the laboratory environment at the Ohio State University, where experimentation on a single link flexible arm is underway is described. Several unique features of this study are described here. First, the manipulator arm is slewed by a direct drive dc motor and has a rigid counterbalance appendage. Current experimentation is from two viewpoints: (1) rigid body slewing and vibration control via actuation with the hub motor, and (2) vibration suppression through the use of structure-mounted proof-mass actuation at the tip. Such an application to manipulator control is of interest particularly in design of space-based telerobotic control systems, but has received little attention to date. From an analytical viewpoint, parameter estimation techniques within the closed-loop for self-tuning adaptive control approaches are discussed. Also introduced is a control approach based on output feedback and frequency weighting to counteract effects of spillover in reduced-order model design. A model of the flexible manipulator based on experimental measurements is evaluated for such estimation and control approaches.

  19. Memory and subjective workload assessment

    NASA Technical Reports Server (NTRS)

    Staveland, L.; Hart, S.; Yeh, Y. Y.

    1986-01-01

    Recent research suggested subjective introspection of workload is not based upon specific retrieval of information from long term memory, and only reflects the average workload that is imposed upon the human operator by a particular task. These findings are based upon global ratings of workload for the overall task, suggesting that subjective ratings are limited in ability to retrieve specific details of a task from long term memory. To clarify the limits memory imposes on subjective workload assessment, the difficulty of task segments was varied and the workload of specified segments was retrospectively rated. The ratings were retrospectively collected on the manipulations of three levels of segment difficulty. Subjects were assigned to one of two memory groups. In the Before group, subjects knew before performing a block of trials which segment to rate. In the After group, subjects did not know which segment to rate until after performing the block of trials. The subjective ratings, RTs (reaction times) and MTs (movement times) were compared within group, and between group differences. Performance measures and subjective evaluations of workload reflected the experimental manipulations. Subjects were sensitive to different difficulty levels, and recalled the average workload of task components. Cueing did not appear to help recall, and memory group differences possibly reflected variations in the groups of subjects, or an additional memory task.

  20. Ion manipulation device

    DOEpatents

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

    2014-09-16

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

  1. Genetic manipulation of Agrobacterium.

    PubMed

    Morton, Elise R; Fuqua, Clay

    2012-05-01

    Agrobacterium species are plant-associated relatives of the rhizobia. Several species cause plant diseases such as crown gall and hairy root, although there are also avirulent species. A. tumefaciens is the most intensively studied species and causes crown gall, a neoplastic disease that occurs on a variety of plants. Virulence is specified by large plasmids, and in the case of A. tumefaciens, this is called the Ti (tumor-inducing) plasmid. During pathogenesis virulent agrobacteria copy a segment of the Ti plasmid and transfer it to the plant, where it subsequently integrates into the plant genome, and expresses genes that result in the disease symptoms. A. tumefaciens has been used extensively as a plant genetic engineering tool and is also a model microorganism that has been well studied for host-microbe associations, horizontal gene transfer, cell-cell communication, and biofilm formation. This unit describes standard protocols for genetic manipulation of A. tumefaciens. PMID:22549163

  2. Vacuum tool manipulator

    DOEpatents

    Zollinger, W.T.

    1993-11-23

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

  3. Vacuum tool manipulator

    DOEpatents

    Zollinger, William T.

    1993-01-01

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

  4. REMOTE CONTROL MANIPULATOR

    DOEpatents

    Coffman, R.T.

    1962-11-27

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

  5. Advanced servo manipulator

    DOEpatents

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

    1988-01-01

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

  6. Advanced servo manipulator

    DOEpatents

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

    1988-10-25

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

  7. A History of Manipulative Therapy

    PubMed Central

    Pettman, Erland

    2007-01-01

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

  8. Adaptive control of robotic manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1987-01-01

    The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

  9. Bilateral and multiple cavitation sounds during upper cervical thrust manipulation

    PubMed Central

    2013-01-01

    Background The popping produced during high-velocity, low-amplitude (HVLA) thrust manipulation is a common sound; however to our knowledge, no study has previously investigated the location of cavitation sounds during manipulation of the upper cervical spine. The primary purpose was to determine which side of the spine cavitates during C1-2 rotatory HVLA thrust manipulation. Secondary aims were to calculate the average number of pops, the duration of upper cervical thrust manipulation, and the duration of a single cavitation. Methods Nineteen asymptomatic participants received two upper cervical thrust manipulations targeting the right and left C1-2 articulation, respectively. Skin mounted microphones were secured bilaterally over the transverse process of C1, and sound wave signals were recorded. Identification of the side, duration, and number of popping sounds were determined by simultaneous analysis of spectrograms with audio feedback using custom software developed in Matlab. Results Bilateral popping sounds were detected in 34 (91.9%) of 37 manipulations while unilateral popping sounds were detected in just 3 (8.1%) manipulations; that is, cavitation was significantly (P < 0.001) more likely to occur bilaterally than unilaterally. Of the 132 total cavitations, 72 occurred ipsilateral and 60 occurred contralateral to the targeted C1-2 articulation. In other words, cavitation was no more likely to occur on the ipsilateral than the contralateral side (P = 0.294). The mean number of pops per C1-2 rotatory HVLA thrust manipulation was 3.57 (95% CI: 3.19, 3.94) and the mean number of pops per subject following both right and left C1-2 thrust manipulations was 6.95 (95% CI: 6.11, 7.79). The mean duration of a single audible pop was 5.66 ms (95% CI: 5.36, 5.96) and the mean duration of a single manipulation was 96.95 ms (95% CI: 57.20, 136.71). Conclusions Cavitation was significantly more likely to occur bilaterally than unilaterally during upper cervical HVLA

  10. Host specificity of parasite manipulation

    PubMed Central

    2012-01-01

    Recently we presented how Camponotus ants in Thailand infected with the fungus Ophiocordyceps unilateralis are behaviorally manipulated into dying where the conditions are optimal for fungal development. Death incurred in a very narrow zone of space and here we compare this highly specific manipulation with a related system in Brazil. We show that the behavioral manipulation is less fine-tuned and discuss the potential explanations for this by examining differences in ant host and environmental characteristics. PMID:22808322

  11. Subject Classification.

    ERIC Educational Resources Information Center

    Thompson, Gayle; And Others

    Three newspaper librarians described how they manage the files of newspaper clippings which are a necessary part of their collections. The development of a new subject classification system for the clippings files was outlined. The new subject headings were based on standard subject heading lists and on local need. It was decided to use a computer…

  12. Investigation of Manipulation Technique of Microbubbles Using Focused Ultrasound.

    NASA Astrophysics Data System (ADS)

    Osaki, Taichi; Inoue, Kazuhito; Matsumoto, Yoichiro; Takagi, Shu; Azuma, Takashi; Ichiyanagi, Mitsuhisa

    2015-11-01

    Recently, it has been thought that the application of ultrasound and microbubbles(MB) is utility to the medical field. Should MB be manipulated contactlessly, it will contribute to the mechanism investigation on the drug delivery system using MB as drug carrier. However no technique has yet to be established that can trap MB at any desired position, manipulate them along any desired path. Accordingly in this research, we investigated whether it was possible to trap MB at desired position, manipulate them along desired paths through experiments aimed at the development of MB manipulation tools that utilize ultrasound. Moreover, we analyzed the microbubble behaviors in ultrasound field. Bubbles in the ultrasound wave field are subjected to the primary Bjerknes force. Our method aimed that MB are trapped at the antinode or the node and manipulated with moving the antinode or node. We fabricated a concave transducer which radiates focused ultrasound and used sonazoid as MB and they were trapped at the focus as a cluster. The transducer moves its own position to move its focus and manipulate MB. Besides, we observed the trapped cluster with several incident frequencies. MB were trapped and manipulated along a locus of alphabet ?M? about 100 µm. From this result, it is implied that MB can be manipulated along any desired path. Moreover, there was the inverse correlation between the trapped cluster size and the incident frequency.

  13. Manipulation hardware for microgravity research

    SciTech Connect

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

    1990-01-01

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

  14. Torque-Limiting Manipulation Device

    NASA Technical Reports Server (NTRS)

    Moetteli, John B. (Inventor)

    1999-01-01

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

  15. Manipulating duckweed through genome duplication.

    PubMed

    Vunsh, R; Heinig, U; Malitsky, S; Aharoni, A; Avidov, A; Lerner, A; Edelman, M

    2015-01-01

    Significant inter- and intraspecific genetic variation exists in duckweed, thus the potential for genome plasticity and manipulation is high. Polyploidy is recognised as a major mechanism of adaptation and speciation in plants. We produced several genome-duplicated lines of Landoltia punctata (Spirodela oligorrhiza) from both whole plants and regenerating explants using a colchicine-based cocktail. These lines stably maintained an enlarged frond and root morphology. DNA ploidy levels determined by florescence-activated cell sorting indicated genome duplication. Line A4 was analysed after 75 biomass doublings. Frond area, fresh and dry weights, rhizoid number and length were significantly increased versus wild type, while the growth rate was unchanged. This resulted in accumulation of biomass 17-20% faster in the A4 plants. We sought to determine if specific differences in gene products are found in the genome duplicated lines. Non-targeted ultra performance LC-quadrupole time of flight mass spectrometry was employed to compare some of the lines and the wild type to seek identification of up-regulated metabolites. We putatively identified differential metabolites in Line A65 as caffeoyl hexoses. The combination of directed genome duplication and metabolic profiling might offer a path for producing stable gene expression, leading to altered production of secondary metabolites. PMID:25040392

  16. Manipulating duckweed through genome duplication.

    PubMed

    Vunsh, R; Heinig, U; Malitsky, S; Aharoni, A; Avidov, A; Lerner, A; Edelman, M

    2015-01-01

    Significant inter- and intraspecific genetic variation exists in duckweed, thus the potential for genome plasticity and manipulation is high. Polyploidy is recognised as a major mechanism of adaptation and speciation in plants. We produced several genome-duplicated lines of Landoltia punctata (Spirodela oligorrhiza) from both whole plants and regenerating explants using a colchicine-based cocktail. These lines stably maintained an enlarged frond and root morphology. DNA ploidy levels determined by florescence-activated cell sorting indicated genome duplication. Line A4 was analysed after 75 biomass doublings. Frond area, fresh and dry weights, rhizoid number and length were significantly increased versus wild type, while the growth rate was unchanged. This resulted in accumulation of biomass 17-20% faster in the A4 plants. We sought to determine if specific differences in gene products are found in the genome duplicated lines. Non-targeted ultra performance LC-quadrupole time of flight mass spectrometry was employed to compare some of the lines and the wild type to seek identification of up-regulated metabolites. We putatively identified differential metabolites in Line A65 as caffeoyl hexoses. The combination of directed genome duplication and metabolic profiling might offer a path for producing stable gene expression, leading to altered production of secondary metabolites.

  17. Manipulating and Visualizing Proteins

    SciTech Connect

    Simon, Horst D.

    2003-12-05

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

  18. Image Manipulation: Then and Now.

    ERIC Educational Resources Information Center

    Sutton, Ronald E.

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

  19. Modeling Manipulation in Medical Education

    ERIC Educational Resources Information Center

    Dailey, Jason I.

    2010-01-01

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

  20. Stereoscopically Observing Manipulative Actions.

    PubMed

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

    2016-08-01

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

  1. Stereoscopically Observing Manipulative Actions

    PubMed Central

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

    2016-01-01

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

  2. Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

    NASA Technical Reports Server (NTRS)

    Dorsey, John T.; Doggett, William R.; Komendera, Erik E.

    2015-01-01

    The robotic architecture of State-of-the-Art (SOA) space manipulators, represented by the Shuttle Remote Manipulator System (SRMS), inherently limits their capabilities to extend reach, reduce mass, apply force and package efficiently. TALISMAN uses a new and innovative robotic architecture that incorporates a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening to achieve revolutionary performance. A TALISMAN with performance similar to the SRMS has 1/10th of its mass and packages in 1/7th of its volume. The TALISMAN architecture allows its reach to be scaled over a large range; from 10 to over 300 meters. In addition, the dexterity (number of degrees-of-freedom) can be easily adjusted without significantly impacting manipulator mass because the joints are very lightweight.

  3. Raw data for the identification of SUMOylated proteins in S. cerevisiae subjected to two types of osmotic shock, using affinity purification coupled with mass spectrometry

    PubMed Central

    Srikumar, Tharan; Lewicki, Megan C.; Raught, Brian

    2014-01-01

    The small ubiquitin-related modifier (SUMO) “stress response” (SSR) is a poorly understood evolutionarily conserved phenomenon in which steady-state SUMO conjugate levels are dramatically increased in response to environmental stresses. Here we describe the data acquired using affinity-purification coupled with mass spectrometry to identify proteins that are SUMOylated in response to two different types of osmotic stress, 1 M sorbitol and 1 M KCl. The mass spectrometry dataset described here has been uploaded to the MassIVE repository with ID: MSV000078739, and consists of 32 raw MS files acquired in data-dependent mode on a Thermo Q-Exactive instrument. iProphet-processed MS/MS search results and associated SAINT scores are also included as a reference. These data are discussed and interpreted in “The S. cerevisiae SUMO stress response is a conjugation–deconjugation cycle that targets the transcription machinery”, by Lewicki et al. in the Journal of Proteomics, 2014 [1]. PMID:26217701

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

    NASA Technical Reports Server (NTRS)

    Gravagne, Ian A.; Walker, Ian D.

    2002-01-01

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

  5. Direct Manipulation in Virtual Reality

    NASA Technical Reports Server (NTRS)

    Bryson, Steve

    2003-01-01

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

  6. Energy margins in dynamic object manipulation

    PubMed Central

    Shen, Tian; Sternad, Dagmar

    2012-01-01

    Many tasks require humans to manipulate dynamically complex objects and maintain appropriate safety margins, such as placing a cup of coffee on a coaster without spilling. This study examined how humans learn such safety margins and how they are shaped by task constraints and changing variability with improved skill. Eighteen subjects used a manipulandum to transport a shallow virtual cup containing a ball to a target without losing the ball. Half were to complete the cup transit in a comfortable target time of 2 s (a redundant task with infinitely many equivalent solutions), and the other half in minimum time (a nonredundant task with one explicit cost to optimize). The safety margin was defined as the ball energy relative to escape, i.e., as an energy margin. The first hypothesis, that subjects converge to a single strategy in the minimum-time task but choose different strategies in the less constrained target-time task, was not supported. Both groups developed individualized strategies with practice. The second hypothesis, that subjects decrease safety margins in the minimum-time task but increase them in the target-time task, was supported. The third hypothesis, that in both tasks subjects modulate energy margins according to their execution variability, was partially supported. In the target-time group, changes in energy margins correlated positively with changes in execution variability; in the minimum-time group, such a relation was observed only at the end of practice, not across practice. These results show that when learning a redundant object manipulation task, most subjects increase their safety margins and shape their movement strategies in accordance with their changing variability. PMID:22592302

  7. Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator

    PubMed Central

    Katzschmann, Robert K.; Marchese, Andrew D.

    2015-01-01

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

  8. Disrupting reconsolidation: pharmacological and behavioral manipulations.

    PubMed

    Soeter, Marieke; Kindt, Merel

    2011-06-01

    We previously demonstrated that disrupting reconsolidation by pharmacological manipulations "deleted" the emotional expression of a fear memory in humans. If we are to target reconsolidation in patients with anxiety disorders, the disruption of reconsolidation should produce content-limited modifications. At the same time, the fear-erasing effects should not be restricted to the feared cue itself considering that fear generalization is a main characteristic of anxiety disorders. In Experiment I and Experiment I(b), we addressed these issues using a within-subject differential startle fear conditioning paradigm and a test of fear generalization. In Experiment II, we tested whether a behavioral approach targeting the reconsolidation through extinction learning was also effective in weakening the original fear memory. A behavioral procedure is evidently preferred over drug manipulations provided that similar effects can be obtained. Here, the extinction procedure subsequent to retrieval did not "erase" the emotional expression of the fear memory as the retrieval techniques (i.e., reminder shocks and reacquisition) unveiled a return of the startle fear response to the fear-relevant stimuli. In contrast, β-adrenergic receptor blockade during reconsolidation selectively deleted the fear-arousing aspects of the memory (i.e., startle fear response) along with its category-related information. The pharmacological manipulation rendered the core memory trace too weak to observe fear generalization after successful reacquisition. Hence, relearning following the disruption of reconsolidation seems to be qualitatively different from initial learning. Our findings demonstrate that disrupting reconsolidation by pharmacological manipulations, although selective, undermines the generalization of fear, a key feature of anxiety disorders. PMID:21576515

  9. Building Fractal Models with Manipulatives.

    ERIC Educational Resources Information Center

    Coes, Loring

    1993-01-01

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

  10. Chaos motion in robot manipulators

    NASA Technical Reports Server (NTRS)

    Lokshin, A.; Zak, M.

    1987-01-01

    It is shown that a simple two-link planar manipulator exhibits a phenomenon of global instability in a subspace of its configuration space. A numerical example, as well as results of a graphic simulation, is given.

  11. Control algorithm implementation for a redundant degree of freedom manipulator

    NASA Technical Reports Server (NTRS)

    Cohan, Steve

    1991-01-01

    This project's purpose is to develop and implement control algorithms for a kinematically redundant robotic manipulator. The manipulator is being developed concurrently by Odetics Inc., under internal research and development funding. This SBIR contract supports algorithm conception, development, and simulation, as well as software implementation and integration with the manipulator hardware. The Odetics Dexterous Manipulator is a lightweight, high strength, modular manipulator being developed for space and commercial applications. It has seven fully active degrees of freedom, is electrically powered, and is fully operational in 1 G. The manipulator consists of five self-contained modules. These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly/disassembly for reconfiguration, transport, or servicing. Each joint incorporates a unique drive train design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. The sensing system is also designed to be single fault tolerant. Although the initial prototype is not space qualified, the design is well-suited to meeting space qualification requirements. The control algorithm design approach is to develop a hierarchical system with well defined access and interfaces at each level. The high level endpoint/configuration control algorithm transforms manipulator endpoint position/orientation commands to joint angle commands, providing task space motion. At the same time, the kinematic redundancy is resolved by controlling the configuration (pose) of the manipulator, using several different optimizing criteria. The center level of the hierarchy servos the joints to their commanded trajectories using both linear feedback and model-based nonlinear control techniques. The lowest control level uses sensed joint torque to close torque servo loops, with the goal of improving the manipulator dynamic behavior

  12. Review of orthopaedic manipulator arms.

    PubMed

    Hurst, K S; Phillips, R; Viant, W J; Mohsen, A M; Sherman, K P; Bielby, M

    1998-01-01

    Trajectory planning and implementation forms a substantial part of current and future orthopaedic practice. This type of surgery is governed by a basic orthopaedic principle [1] which involves the placement of a surgical tool at a specific site within a region, via a trajectory which is planned from X-ray based 2D images and governed by 3D anatomical constraints. The accuracy and safety of procedures utilising the basic orthopaedic principle depends on the surgeon's judgement, experience, ability to integrate images, utilisation of intra-operative X-ray, knowledge of anatomical-biomechanical constraints and eye hand dexterity. The surgeon must remain as the responsible medical expert in charge of the overall system. At the same time the surgeon covets the accuracy offered by Computer Assisted Surgery including a manipulator. A summary of current inadequacies of manipulators indicates that the main drivers for future work are that accuracy is critical in close contact with the environment, safety concerns dictate manipulator geometry and technological limitations are many. In any effort to develop an optimal manipulator to guide surgical instruments and tools it is an obvious first step to review and categorise current manipulators. The aim of this paper is to review all aspects of manipulator design against the five main criteria of ergonomics; safety; accuracy; sterility and measurable benefits such as reduced operative time, reduced surgical trauma and improved clinical results.

  13. Multi-platform mass spectrometry analysis of the CSF and plasma metabolomes of rigorously matched amyotrophic lateral sclerosis, Parkinson's disease and control subjects.

    PubMed

    Wuolikainen, Anna; Jonsson, Pär; Ahnlund, Maria; Antti, Henrik; Marklund, Stefan L; Moritz, Thomas; Forsgren, Lars; Andersen, Peter M; Trupp, Miles

    2016-04-01

    Amyotrophic lateral sclerosis (ALS) and Parkinson's disease (PD) are protein-aggregation diseases that lack clear molecular etiologies. Biomarkers could aid in diagnosis, prognosis, planning of care, drug target identification and stratification of patients into clinical trials. We sought to characterize shared and unique metabolite perturbations between ALS and PD and matched controls selected from patients with other diagnoses, including differential diagnoses to ALS or PD that visited our clinic for a lumbar puncture. Cerebrospinal fluid (CSF) and plasma from rigorously age-, sex- and sampling-date matched patients were analyzed on multiple platforms using gas chromatography (GC) and liquid chromatography (LC)-mass spectrometry (MS). We applied constrained randomization of run orders and orthogonal partial least squares projection to latent structure-effect projections (OPLS-EP) to capitalize upon the study design. The combined platforms identified 144 CSF and 196 plasma metabolites with diverse molecular properties. Creatine was found to be increased and creatinine decreased in CSF of ALS patients compared to matched controls. Glucose was increased in CSF of ALS patients and α-hydroxybutyrate was increased in CSF and plasma of ALS patients compared to matched controls. Leucine, isoleucine and ketoleucine were increased in CSF of both ALS and PD. Together, these studies, in conjunction with earlier studies, suggest alterations in energy utilization pathways and have identified and further validated perturbed metabolites to be used in panels of biomarkers for the diagnosis of ALS and PD. PMID:26883206

  14. Experimental manipulation of egg carotenoids affects immunity of barn swallow nestlings.

    PubMed Central

    Saino, Nicola; Ferrari, Raffaella; Romano, Maria; Martinelli, Roberta; Møller, Anders Pape

    2003-01-01

    The yolk of bird eggs contains maternal carotenoids that may act as antioxidants thus influencing offspring performance and survival. However, to our knowledge, this hypothesis has not been subjected to experimental tests and the function of transmission of carotenoids to the egg is largely unknown. We directly manipulated the concentration of the main carotenoid (lutein) in the eggs of barn swallows (Hirundo rustica) and analysed the effect of experimental manipulation on growth of nestlings and two fundamental components of their acquired immunity. Nestlings hatched from lutein-inoculated eggs had larger T-cell-mediated immune response compared with those of two control groups. T-cell-mediated immune response predicted nestling survival until fledging. However, lutein inoculation did not affect antibody response to an immunogen, body mass, tarsus length or plumage development. Nestling body mass and plumage development declined with egg laying order, but the effects of lutein inoculation were independent of egg laying order for all traits. Our results show that maternal yolk carotenoids can have a major effect in promoting a fundamental component of immunity that predicts offspring survival and suggests that adaptive early maternal effects can be mediated by transmission of antioxidants to eggs. PMID:14667340

  15. Effects of non-specific vs individualized exercise training protocols on aerobic, anaerobic and strength performance in severely obese subjects during a short-term body mass reduction program.

    PubMed

    Lafortuna, C L; Resnik, M; Galvani, C; Sartorio, A

    2003-03-01

    The purpose of the present study was to compare aerobic, anaerobic and strength performance changes induced by two short-term (3-week) body mass reduction programs based on the same low-calory diet (1200-1500 kcal/day), nutritional education and psychological counseling, but entailing different exercise training protocols. An individualized, low-volume and moderate-intensity exercise training (IET) was contrasted with a non-specific, high-volume, low-intensity exercise training (NET). Thirty obese in-patients (12 males, 18 females; mean age +/- SD: 33.9 +/- 9.4 yr, range: 19-51yr; mean BMI: 40.5 +/- 3.8 kg/m2, range: 35.3-51.4 kg/m2) were randomly divided in two gender-matched groups of 15 subjects each undergoing a different exercise training protocol. Maximum oxygen uptake (VO2max) determined with a submaximal indirect test on a bicycle ergometer, lower limb maximum power output (W(max)) determined with the jumping method, global motor capabilities determined by analysis of locomotor pattern during a short (8 m) running, maximum strength (1-RM) of upper and lower limb muscle groups determined with isotonic machines were tested before and after the program. Adherence to an individual exercise activity and maintenance of body weight (bw) loss were evaluated with a telephonic interview 6 months after the completion of the program. In both groups a significant (p < 0.001) and comparable weight loss was observed (IET: -4.27%; NET: -4.17%). In both groups VO2max and W(max) increased significantly (p < 0.05-0.001) when expressed relatively to body mass, while in absolute terms they were significantly (p < 0.001) improved only in IET group. 1-RM in all tested muscle groups was significantly increased in both IET and NET subjects (p < 0.001-0.01), but improvements were significantly greater in IET as compared with NET (p < 0.05-0.001). The analysis of locomotor pattern during the short running indicated that IET subjects significantly improved their global motor

  16. Mass Separation by Metamaterials

    PubMed Central

    Restrepo-Flórez, Juan Manuel; Maldovan, Martin

    2016-01-01

    Being able to manipulate mass flow is critically important in a variety of physical processes in chemical and biomolecular science. For example, separation and catalytic systems, which requires precise control of mass diffusion, are crucial in the manufacturing of chemicals, crystal growth of semiconductors, waste recovery of biological solutes or chemicals, and production of artificial kidneys. Coordinate transformations and metamaterials are powerful methods to achieve precise manipulation of molecular diffusion. Here, we introduce a novel approach to obtain mass separation based on metamaterials that can sort chemical and biomolecular species by cloaking one compound while concentrating the other. A design strategy to realize such metamaterial using homogeneous isotropic materials is proposed. We present a practical case where a mixture of oxygen and nitrogen is manipulated using a metamaterial that cloaks nitrogen and concentrates oxygen. This work lays the foundation for molecular mass separation in biophysical and chemical systems through metamaterial devices. PMID:26912419

  17. Mass Separation by Metamaterials

    NASA Astrophysics Data System (ADS)

    Restrepo-Flórez, Juan Manuel; Maldovan, Martin

    2016-02-01

    Being able to manipulate mass flow is critically important in a variety of physical processes in chemical and biomolecular science. For example, separation and catalytic systems, which requires precise control of mass diffusion, are crucial in the manufacturing of chemicals, crystal growth of semiconductors, waste recovery of biological solutes or chemicals, and production of artificial kidneys. Coordinate transformations and metamaterials are powerful methods to achieve precise manipulation of molecular diffusion. Here, we introduce a novel approach to obtain mass separation based on metamaterials that can sort chemical and biomolecular species by cloaking one compound while concentrating the other. A design strategy to realize such metamaterial using homogeneous isotropic materials is proposed. We present a practical case where a mixture of oxygen and nitrogen is manipulated using a metamaterial that cloaks nitrogen and concentrates oxygen. This work lays the foundation for molecular mass separation in biophysical and chemical systems through metamaterial devices.

  18. Mass Separation by Metamaterials.

    PubMed

    Restrepo-Flórez, Juan Manuel; Maldovan, Martin

    2016-01-01

    Being able to manipulate mass flow is critically important in a variety of physical processes in chemical and biomolecular science. For example, separation and catalytic systems, which requires precise control of mass diffusion, are crucial in the manufacturing of chemicals, crystal growth of semiconductors, waste recovery of biological solutes or chemicals, and production of artificial kidneys. Coordinate transformations and metamaterials are powerful methods to achieve precise manipulation of molecular diffusion. Here, we introduce a novel approach to obtain mass separation based on metamaterials that can sort chemical and biomolecular species by cloaking one compound while concentrating the other. A design strategy to realize such metamaterial using homogeneous isotropic materials is proposed. We present a practical case where a mixture of oxygen and nitrogen is manipulated using a metamaterial that cloaks nitrogen and concentrates oxygen. This work lays the foundation for molecular mass separation in biophysical and chemical systems through metamaterial devices. PMID:26912419

  19. Mass Separation by Metamaterials.

    PubMed

    Restrepo-Flórez, Juan Manuel; Maldovan, Martin

    2016-02-25

    Being able to manipulate mass flow is critically important in a variety of physical processes in chemical and biomolecular science. For example, separation and catalytic systems, which requires precise control of mass diffusion, are crucial in the manufacturing of chemicals, crystal growth of semiconductors, waste recovery of biological solutes or chemicals, and production of artificial kidneys. Coordinate transformations and metamaterials are powerful methods to achieve precise manipulation of molecular diffusion. Here, we introduce a novel approach to obtain mass separation based on metamaterials that can sort chemical and biomolecular species by cloaking one compound while concentrating the other. A design strategy to realize such metamaterial using homogeneous isotropic materials is proposed. We present a practical case where a mixture of oxygen and nitrogen is manipulated using a metamaterial that cloaks nitrogen and concentrates oxygen. This work lays the foundation for molecular mass separation in biophysical and chemical systems through metamaterial devices.

  20. Quantification of key red blood cell folates from subjects with defined MTHFR 677C>T genotypes using stable isotope dilution liquid chromatography/mass spectrometry

    PubMed Central

    Huang, Yuehua; Khartulyari, Stefanie; Morales, Megan E.; Stanislawska-Sachadyn, Anna; Von Feldt, Joan M.; Whitehead, Alexander S.; Blair, Ian A.

    2014-01-01

    Red blood cell (RBC) folate levels are established at the time of erythropoiesis and therefore provide a surrogate biomarker for the average folate status of an individual over the preceding four months. Folates are present as folylpolyglutamates, highly polar molecules that cannot be secreted from the RBCs, and must be converted into their monoglutamate forms prior to analysis. This was accomplished using an individual’s plasma pteroylpolyglutamate hydrolase by lysing the RBCs in whole blood at pH 5 in the presence of ascorbic acid. Quantitative conversion of formylated tetrahydrofolate derivatives into the stable 5,10-methenyltetrahydrofolate (5,10-MTHF) form was conducted at pH 1.5 in the presence of [13C5]-5-formyltetrahydrofolate. The resulting [13C5]-5,10-MTHF was then used as an internal standard for the formylated forms of tetrahydrofolate that had been converted into 5,10-MTHF as well any 5,10-MTHF that had been present in the original sample. A stable isotope dilution liquid chromatography-multiple reaction monitoring/mass spectrometry method was validated and then used for the accurate and precise quantification of RBC folic acid, 5-methyltetrahydrofolate (5-MTHF), tetrahydrofolate (THF), and 5,10-MTHF. The method was sensitive and robust and was used to assess the relationship between different methylenetetrahydrofolate reductase (MTHFR) 677C>T genotypes and RBC folate phenotypes. Four distinct RBC folate phenotypes could be identified. These were classified according to the relative amounts of individual RBC folates as type I (5-MTHF >95%; THF <5%; 5,10-MTHF <5%), type II (5-MTHF <95%; THF 5% to 20%; 5,10-MTHF <5%), type III (5-MTHF >55%; THF >20%; 5,10-MTHF >5%), and type IV (5-MTHF <55%; THF >20%; 5,10-MTHF >5%). PMID:18634122

  1. Automatic calibration of space based manipulators and mechanisms

    NASA Technical Reports Server (NTRS)

    Everett, Louis J.

    1988-01-01

    Four tasks in manipulator kinematic calibration are summarized. Calibration of a seven degree of freedom manipulator was simulated. A calibration model is presented that can be applied on a closed-loop robot. It is an expansion of open-loop kinematic calibration algorithms subject to constraints. A closed-loop robot with a five-bar linkage transmission was tested. Results show that the algorithm converges within a few iterations. The concept of model differences is formalized. Differences are categorized as structural and numerical, with emphasis on the structural. The work demonstrates that geometric manipulators can be visualized as points in a vector space with the dimension of the space depending solely on the number and type of manipulator joint. Visualizing parameters in a kinematic model as the coordinates locating the manipulator in vector space enables a standard evaluation of the models. Key results include a derivation of the maximum number of parameters necessary for models, a formal discussion on the inclusion of extra parameters, and a method to predetermine a minimum model structure for a kinematic manipulator. A technique is presented that enables single point sensors to gather sufficient information to complete a calibration.

  2. High precision redundant robotic manipulator

    DOEpatents

    Young, K.K.D.

    1998-09-22

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

  3. High precision redundant robotic manipulator

    DOEpatents

    Young, Kar-Keung David

    1998-01-01

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

  4. Mobile camera-space manipulation

    NASA Technical Reports Server (NTRS)

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

    2001-01-01

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

  5. Analysis of a closed-kinematic chain robot manipulator

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Pooran, Farhad J.

    1988-01-01

    Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

  6. Digit Position and Forces Covary during Anticipatory Control of Whole-Hand Manipulation

    PubMed Central

    Marneweck, Michelle; Lee-Miller, Trevor; Santello, Marco; Gordon, Andrew M.

    2016-01-01

    Theoretical perspectives on anticipatory planning of object manipulation have traditionally been informed by studies that have investigated kinematics (hand shaping and digit position) and kinetics (forces) in isolation. This poses limitations on our understanding of the integration of such domains, which have recently been shown to be strongly interdependent. Specifically, recent studies revealed strong covariation of digit position and load force during the loading phase of two-digit grasping. Here, we determined whether such digit force-position covariation is a general feature of grasping. We investigated the coordination of digit position and forces during five-digit whole-hand manipulation of an object with a variable mass distribution. Subjects were instructed to prevent object roll during the lift. As found in precision grasping, there was strong trial-to-trial covariation of digit position and force. This suggests that the natural variation of digit position that is compensated for by trial-to-trial variation in digit forces is a fundamental feature of grasp control, and not only specific to precision grasp. However, a main difference with precision grasping was that modulation of digit position to the object’s mass distribution was driven predominantly by the thumb, with little to no modulation of finger position. Modulation of thumb position rather than fingers is likely due to its greater range of motion and therefore adaptability to object properties. Our results underscore the flexibility of the central nervous system in implementing a range of solutions along the digit force-to-position continuum for dexterous manipulation.

  7. Digit Position and Forces Covary during Anticipatory Control of Whole-Hand Manipulation

    PubMed Central

    Marneweck, Michelle; Lee-Miller, Trevor; Santello, Marco; Gordon, Andrew M.

    2016-01-01

    Theoretical perspectives on anticipatory planning of object manipulation have traditionally been informed by studies that have investigated kinematics (hand shaping and digit position) and kinetics (forces) in isolation. This poses limitations on our understanding of the integration of such domains, which have recently been shown to be strongly interdependent. Specifically, recent studies revealed strong covariation of digit position and load force during the loading phase of two-digit grasping. Here, we determined whether such digit force-position covariation is a general feature of grasping. We investigated the coordination of digit position and forces during five-digit whole-hand manipulation of an object with a variable mass distribution. Subjects were instructed to prevent object roll during the lift. As found in precision grasping, there was strong trial-to-trial covariation of digit position and force. This suggests that the natural variation of digit position that is compensated for by trial-to-trial variation in digit forces is a fundamental feature of grasp control, and not only specific to precision grasp. However, a main difference with precision grasping was that modulation of digit position to the object’s mass distribution was driven predominantly by the thumb, with little to no modulation of finger position. Modulation of thumb position rather than fingers is likely due to its greater range of motion and therefore adaptability to object properties. Our results underscore the flexibility of the central nervous system in implementing a range of solutions along the digit force-to-position continuum for dexterous manipulation. PMID:27695406

  8. Learning Area and Perimeter with Virtual Manipulatives

    ERIC Educational Resources Information Center

    Bouck, Emily; Flanagan, Sara; Bouck, Mary

    2015-01-01

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

  9. Manipulation strategies for massive space payloads

    NASA Technical Reports Server (NTRS)

    Book, Wayne J.

    1991-01-01

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

  10. Manipulating Complex Light with Metamaterials

    PubMed Central

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

    2013-01-01

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

  11. Particle manipulation using vibrating cilia

    NASA Astrophysics Data System (ADS)

    Tallapragada, Phanindra; Kelly, Scott

    2012-11-01

    The ability to manipulate small particles suspended in fluids has many practical applications, ranging from the mechanical testing of macromolecules like DNA to the controlled abrasion of brittle surfaces for precision polishing. A natural method is non-contact manipulation of particles through boundary excitations. Particle-manipulation via a vibrating cilia to establish controlled fluid flows with desired patterns of transport is one such bioinspired method. We show experimental results on the clustering and transport of finite-sized particles in the streaming flow set up by the oscillating cilia. We further show computations to explain the effects of hyperbolic structures in the four dimensional phase space of the dynamics of finite-sized particles.

  12. Mapping and manipulating facial expression.

    PubMed

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

    2009-01-01

    Nonverbal visual cues accompany speech to supplement the meaning of spoken words, signify emotional state, indicate position in discourse, and provide back-channel feedback. This visual information includes head movements, facial expressions and body gestures. In this article we describe techniques for manipulating both verbal and nonverbal facial gestures in video sequences of people engaged in conversation. We are developing a system for use in psychological experiments, where the effects of manipulating individual components of nonverbal visual behavior during live face-to-face conversation can be studied. In particular, the techniques we describe operate in real-time at video frame-rate and the manipulation can be applied so both participants in a conversation are kept blind to the experimental conditions. PMID:19624037

  13. Mass spectrometry.

    NASA Technical Reports Server (NTRS)

    Burlingame, A. L.; Johanson, G. A.

    1972-01-01

    Review of the current state of mass spectrometry, indicating its unique importance for advanced scientific research. Mass spectrometry applications in computer techniques, gas chromatography, ion cyclotron resonance, molecular fragmentation and ionization, and isotope labeling are covered. Details are given on mass spectrometry applications in bio-organic chemistry and biomedical research. As the subjects of these applications are indicated alkaloids, carbohydrates, lipids, terpenes, quinones, nucleic acid components, peptides, antibiotics, and human and animal metabolisms. Particular attention is given to the mass spectra of organo-inorganic compounds, inorganic mass spectrometry, surface phenomena such as secondary ion and electron emission, and elemental and isotope analysis. Further topics include mass spectrometry in organic geochemistry, applications in geochronology and cosmochemistry, and organic mass spectrometry.

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

    PubMed

    Brown, Abigail

    2013-01-01

    The problem of the manipulation of data that arises when there is both opportunity and incentive to mislead is better accepted and studied - though by no means solved - in financial accounting than in medicine. This article analyzes pharmaceutical company manipulation of medical research as part of a broader problem of corporate manipulation of data in the creation of accounting profits. The article explores how our understanding of accounting fraud and misinformation helps us understand the risk of similar information manipulation in the medical sciences. This understanding provides a framework for considering how best to improve the quality of medical research and analysis in light of the current system of medical information production. I offer three possible responses: (1) use of the Dodd-Frank whistleblower provisions to encourage reporting of medical research fraud; (2) a two-step academic journal review process for clinical trials; and (3) publicly subsidized trial-failure insurance. These would improve the release of negative information about drugs, thereby increasing the reliability of positive information. PMID:24088151

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

    PubMed

    Brown, Abigail

    2013-01-01

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

  16. Genetic Manipulation of Neisseria gonorrhoeae.

    PubMed

    Dillard, Joseph P

    2011-11-01

    The sexually transmitted pathogen, Neisseria gonorrhoeae, undergoes natural transformation at high frequency. This property has led to the rapid dissemination of antibiotic resistance markers and to the panmictic structure of the gonococcal population. However, high-frequency transformation also makes N. gonorrhoeae one of the easiest bacterial species to manipulate genetically in the laboratory. Techniques have been developed that result in transformation frequencies >50%, allowing the identification of mutants by screening and without selection. Constructs have been created to take advantage of this high-frequency transformation, facilitating genetic mutation, complementation, and heterologous gene expression. Techniques are described for genetic manipulation of N. gonorrhoeae, as well as for growth of this fastidious organism.

  17. Genetic manipulation of Neisseria gonorrhoeae.

    PubMed

    Dillard, Joseph P

    2006-01-01

    The sexually-transmitted pathogen, Neisseria gonorrhoeae, undergoes natural transformation at high frequency. This property has led to the rapid dissemination of antibiotic resistance markers and to the panmictic structure of the gonococcal population. However, high frequency transformation also makes N. gonorrhoeae one of the easiest bacterial species to manipulate genetically in the laboratory. Techniques have been developed that result in transformation frequencies >50%, allowing the identification of mutants by screening and without selection. Constructs have been created to take advantage of this high frequency transformation, facilitating genetic mutation, complementation, and heterologous gene expression. Techniques are described for genetic manipulation of N. gonorrhoeae, as well as for growth of this fastidious organism.

  18. Precision Manipulation with Cooperative Robots

    NASA Technical Reports Server (NTRS)

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

    2005-01-01

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

  19. New techniques on embryo manipulation.

    PubMed

    Escribá, M J; Valbuena, D; Remohí, J; Pellicer, A; Simón, C

    2002-01-01

    For many years, experience has been accumulated on embryo and gamete manipulation in livestock animals. The present work is a review of these techniques and their possible application in human embryology in specific cases. It is possible to manipulate gametes at different levels, producing paternal or maternal haploid embryos (hemicloning), using different techniques including nuclear transfer. At the embryonic stage, considering practical, ethical and legal issues, techniques will be reviewed that include cloning and embryo splitting at the cleavage stage, morula, or blastocyst stage.

  20. Learning control of robotic manipulators

    NASA Astrophysics Data System (ADS)

    Tai, Heng-Ming; Chen, Yu-Che

    1992-09-01

    In this paper, we propose a learning control scheme for direct trajectory control of robotic manipulators. The main features are that we use a priori structure knowledge of robot dynamics in the design and the neural networks are not used to learn inverse dynamic models. The neural network controller is utilized to compensate the deviation due to the approximate models of robotic manipulators. In addition, true teaching signals of the neural network compensators are employed in the learning phase. Simulations are conducted to show the feasibility of the proposed method.

  1. Sample Manipulation System for Sample Analysis at Mars

    NASA Technical Reports Server (NTRS)

    Mumm, Erik; Kennedy, Tom; Carlson, Lee; Roberts, Dustyn

    2008-01-01

    The Sample Analysis at Mars (SAM) instrument will analyze Martian samples collected by the Mars Science Laboratory Rover with a suite of spectrometers. This paper discusses the driving requirements, design, and lessons learned in the development of the Sample Manipulation System (SMS) within SAM. The SMS stores and manipulates 74 sample cups to be used for solid sample pyrolysis experiments. Focus is given to the unique mechanism architecture developed to deliver a high packing density of sample cups in a reliable, fault tolerant manner while minimizing system mass and control complexity. Lessons learned are presented on contamination control, launch restraint mechanisms for fragile sample cups, and mechanism test data.

  2. Experiments evaluating compliance and force feedback effect on manipulator performance

    NASA Technical Reports Server (NTRS)

    Kugath, D. A.

    1972-01-01

    The performance capability was assessed of operators performing simulated space tasks using manipulator systems which had compliance and force feedback varied. Two manipulators were used, the E-2 electromechanical man-equivalent (force, reach, etc.) master-slave system and a modified CAM 1400 hydraulic master-slave with 100 lbs force capability at reaches of 24 ft. The CAM 1400 was further modified to operate without its normal force feedback. Several experiments and simulations were performed. The first two involved the E-2 absorbing the energy of a moving mass and secondly, guiding a mass thru a maze. Thus, both work and self paced tasks were studied as servo compliance was varied. Three simulations were run with the E-2 mounted on the CAM 1400 to evaluate the concept of a dexterous manipulator as an end effector of a boom-manipulator. Finally, the CAM 1400 performed a maze test and also simulated the capture of a large mass as the servo compliance was varied and with force feedback included and removed.

  3. Human-manipulator interface using particle filter.

    PubMed

    Du, Guanglong; Zhang, Ping; Wang, Xueqian

    2014-01-01

    This paper utilizes a human-robot interface system which incorporates particle filter (PF) and adaptive multispace transformation (AMT) to track the pose of the human hand for controlling the robot manipulator. This system employs a 3D camera (Kinect) to determine the orientation and the translation of the human hand. We use Camshift algorithm to track the hand. PF is used to estimate the translation of the human hand. Although a PF is used for estimating the translation, the translation error increases in a short period of time when the sensors fail to detect the hand motion. Therefore, a methodology to correct the translation error is required. What is more, to be subject to the perceptive limitations and the motor limitations, human operator is hard to carry out the high precision operation. This paper proposes an adaptive multispace transformation (AMT) method to assist the operator to improve the accuracy and reliability in determining the pose of the robot. The human-robot interface system was experimentally tested in a lab environment, and the results indicate that such a system can successfully control a robot manipulator. PMID:24757430

  4. Human-manipulator interface using particle filter.

    PubMed

    Du, Guanglong; Zhang, Ping; Wang, Xueqian

    2014-01-01

    This paper utilizes a human-robot interface system which incorporates particle filter (PF) and adaptive multispace transformation (AMT) to track the pose of the human hand for controlling the robot manipulator. This system employs a 3D camera (Kinect) to determine the orientation and the translation of the human hand. We use Camshift algorithm to track the hand. PF is used to estimate the translation of the human hand. Although a PF is used for estimating the translation, the translation error increases in a short period of time when the sensors fail to detect the hand motion. Therefore, a methodology to correct the translation error is required. What is more, to be subject to the perceptive limitations and the motor limitations, human operator is hard to carry out the high precision operation. This paper proposes an adaptive multispace transformation (AMT) method to assist the operator to improve the accuracy and reliability in determining the pose of the robot. The human-robot interface system was experimentally tested in a lab environment, and the results indicate that such a system can successfully control a robot manipulator.

  5. Manipulating Genetic Material in Bacteria

    NASA Technical Reports Server (NTRS)

    1998-01-01

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

  6. ISL - A String Manipulating Language.

    ERIC Educational Resources Information Center

    Kelley, K.C.; And Others.

    The Information Search Language (ISL), described in this report, is a problem-oriented language designed to facilitate the manipulation of real character strings with the Control Data 1604 computer. The report gives instructions for the language; these may be classified as Pseudo-ops, Word-Oriented instructions, Character-string instructions,…

  7. Mapping and Manipulating Facial Expression

    ERIC Educational Resources Information Center

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

    2009-01-01

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

  8. COGNITION, ACTION, AND OBJECT MANIPULATION

    PubMed Central

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

    2012-01-01

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

  9. Cognition, action, and object manipulation.

    PubMed

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

    2012-09-01

    Although psychology is the science of mental life and behavior, little attention has been paid to the means by which mental life is translated into behavior. One domain in which links between cognition and action have been explored is the manipulation of objects. This article reviews psychological research on this topic, with special emphasis on the tendency to grasp objects differently depending on what one plans to do with the objects. Such differential grasping has been demonstrated in a wide range of object manipulation tasks, including grasping an object in a way that reveals anticipation of the object's future orientation, height, and required placement precision. Differential grasping has also been demonstrated in a wide range of behaviors, including 1-hand grasps, 2-hand grasps, walking, and transferring objects from place to place as well as from person to person. The populations in which the tendency has been shown are also diverse, including nonhuman primates as well as human adults, children, and babies. The tendency is compromised in a variety of clinical populations and in children of a surprisingly advanced age. Verbal working memory is compromised as well if words are memorized while object manipulation tasks are performed; the recency portion of the serial position curve is reduced in this circumstance. In general, the research reviewed here points to rich connections between cognition and action as revealed through the study of object manipulation. Other implications concern affordances, Donders' law, naturalistic observation, and the teaching of psychology.

  10. Teaching Integration Applications Using Manipulatives

    ERIC Educational Resources Information Center

    Bhatia, Kavita; Premadasa, Kirthi; Martin, Paul

    2014-01-01

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

  11. DATACUBE: A datacube manipulation package

    NASA Astrophysics Data System (ADS)

    Allan, Alasdair; Currie, Malcolm J.

    2014-05-01

    DATACUBE is a command-line package for manipulating and visualizing data cubes. It was designed for integral field spectroscopy but has been extended to be a generic data cube tool, used in particular for sub-millimeter data cubes from the James Clerk Maxwell Telescope. It is part of the Starlink software collection (ascl:1110.012).

  12. Master/slave manipulator system

    NASA Technical Reports Server (NTRS)

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

    1973-01-01

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

  13. Adaptive Control Of Remote Manipulator

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun

    1989-01-01

    Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

  14. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    SciTech Connect

    Joseph W. Geisinger, Ph.D.

    2001-07-31

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

  15. Analytical dynamic solution of a flexible cable-suspended manipulator

    NASA Astrophysics Data System (ADS)

    Bamdad, Mahdi

    2013-12-01

    Cable-suspended manipulators are used in large scale applications with, heavy in weight and long in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the coupled dynamic analysis. The structural flexibility of the cables becomes more pronounced in large manipulators. In this paper, an analytic solution is provided to solve cable vibration. Also, a closed form solution can be adopted to improve the dynamic response to flexibility. The output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic sense. Finally, the performance of the proposed algorithm is examined through simulations.

  16. Microbial Manipulation of the Amyloid Fold

    PubMed Central

    DePas, William H.

    2012-01-01

    Microbial biofilms are encased in a protein, DNA and polysaccharide matrix that protects the community, promotes interactions with the environment, and helps cells to adhere together. The protein component of these matrices is often a remarkably stable, β-sheet-rich polymer called amyloid. Amyloids form ordered, self-templating fibers that are highly aggregative, making them a valuable biofilm component. Some eukaryotic proteins inappropriately adopt the amyloid fold and these misfolded protein aggregates disrupt normal cellular proteostasis, which can cause significant cytotoxicity. Indeed, until recently amyloids were considered solely the result of protein misfolding. However, research over the past decade has revealed how various organisms have capitalized on the amyloid fold by developing sophisticated biogenesis pathways that coordinate gene expression, protein folding, and secretion so that amyloid-related toxicities are minimized. How microbes manipulate amyloids, by augmenting their advantageous properties and by reducing their undesirable properties, will be the subject of this review. PMID:23108148

  17. Inertial-space disturbance rejection for space-based manipulators

    NASA Technical Reports Server (NTRS)

    Holt, Kevin; Desrochers, Alan A.

    1993-01-01

    The implementation of a disturbance rejection controller for a 6-DOF PUMA manipulator mounted on a 3-DOF platform was described. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Experimental results are presented for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities. Robotic manipulators were proposed as a means of reducing the amount of extra vehicular activity time required for space station assembly and maintenance. The proposed scenario involves a robotic manipulator attached to some mobile platform, such as a spacecraft, satellite, or the space station itself. Disturbances in the platform position and attitude may prevent the manipulator from successfully completing the task. The possibility of using the manipulator to compensate for platform disturbances was explored. The problem of controlling a robotic manipulator on a mobile platform has received considerable attention in the past few years. Joshi and Desrochers designed a nonlinear feedback control law to carry out tasks (with respect to the robot base frame) in the presence of roll, pitch and yaw disturbances in the platform axes. Dubowsky, Vance, and Torres proposed a time-optimal planning algorithm for a robotic manipulator mounted on a spacecraft, subject to saturation limits in the attitude control reaction jets. Papadopoulos and Dubowsky developed a general framework for analyzing the control of free-floating space manipulator systems. Most recently, Torres and Dubowsky have presented a technique called the enhanced disturbance map to find manipulator trajectories that reduce the effect of disturbances in the spacecraft position and attitude. One common assumption in the literature is that the disturbance signal is exactly known. If this is the case, then the end-effector location can be calculated without

  18. Automatic Bone Drilling - More Precise, Reliable and Safe Manipulation in the Orthopaedic Surgery

    NASA Astrophysics Data System (ADS)

    Boiadjiev, George; Kastelov, Rumen; Boiadjiev, Tony; Delchev, Kamen; Zagurski, Kazimir

    2016-06-01

    Bone drilling manipulation often occurs in the orthopaedic surgery. By statistics, nowadays, about one million people only in Europe need such an operation every year, where bone implants are inserted. Almost always, the drilling is performed handily, which cannot avoid the subjective factor influence. The question of subjective factor reduction has its answer - automatic bone drilling. The specific features and problems of orthopaedic drilling manipulation are considered in this work. The automatic drilling is presented according the possibilities of robotized system Orthopaedic Drilling Robot (ODRO) for assuring the manipulation accuracy, precision, reliability and safety.

  19. Nutrient-rich dairy proteins improve appendicular skeletal muscle mass and physical performance, and attenuate the loss of muscle strength in older men and women subjects: a single-blind randomized clinical trial

    PubMed Central

    Alemán-Mateo, Heliodoro; Carreón, Virginia Ramírez; Macías, Liliana; Astiazaran-García, Humberto; Gallegos-Aguilar, Ana Cristina; Ramos Enríquez, José Rogelio

    2014-01-01

    Background At present, it is unknown whether the use of nutrient-rich dairy proteins improves the markers of sarcopenia syndrome. Therefore, our proposal was to investigate whether adding 210 g of ricotta cheese daily would improve skeletal muscle mass, handgrip strength, and physical performance in non-sarcopenic older subjects. Subjects and methods This was a single-blind randomized clinical trial that included two homogeneous, randomized groups of men and women over 60 years of age. Participants in the intervention group were asked to consume their habitual diet but add 210 g of ricotta cheese (IG/HD + RCH), while the control group was instructed to consume only their habitual diet (CG/HD). Basal and 12-week follow-up measurements included appendicular skeletal muscle mass (ASMM) by dual-energy X-ray absorptiometry, handgrip strength by a handheld dynamometer, and physical performance using the short physical performance battery (SPPB) and the stair-climb power test (SCPT). The main outcomes were relative changes in ASMM, strength, SPPB, and SCPT. Results ASMM increased in the IG/HD + RCH (0.6±3.5 kg), but decreased in the CG/HD (−1.0±2.6). The relative change between groups was statistically significant (P=0.009). The relative change in strength in both groups was negative, but the loss of muscle strength was more pronounced in CG/HD, though in this regard statistical analysis found only a tendency (P=0.07). The relative change in the balance-test scores was positive for the IG/HD + RCH, while in the CG/HD it was negative, as those individuals had poorer balance. In this case, the relative change between groups did reach statistical significance. Conclusion The addition of 210 g of ricotta cheese improves ASMM and balance-test scores, while attenuating the loss of muscle strength. These results suggest that adding ricotta cheese to the habitual diet is a promising dietetic strategy that may improve the markers of sarcopenia in subjects without a pronounced

  20. Extraction of time and frequency features from grip force rates during dexterous manipulation.

    PubMed

    Mojtahedi, Keivan; Fu, Qiushi; Santello, Marco

    2015-05-01

    The time course of grip force from object contact to onset of manipulation has been extensively studied to gain insight into the underlying control mechanisms. Of particular interest to the motor neuroscience and clinical communities is the phenomenon of bell-shaped grip force rate (GFR) that has been interpreted as indicative of feedforward force control. However, this feature has not been assessed quantitatively. Furthermore, the time course of grip force may contain additional features that could provide insight into sensorimotor control processes. In this study, we addressed these questions by validating and applying two computational approaches to extract features from GFR in humans: 1) fitting a Gaussian function to GFR and quantifying the goodness of the fit [root-mean-square error, (RMSE)]; and 2) continuous wavelet transform (CWT), where we assessed the correlation of the GFR signal with a Mexican Hat function. Experiment 1 consisted of a classic pseudorandomized presentation of object mass (light or heavy), where grip forces developed to lift a mass heavier than expected are known to exhibit corrective responses. For Experiment 2, we applied our two techniques to analyze grip force exerted for manipulating an inverted T-shaped object whose center of mass was changed across blocks of consecutive trials. For both experiments, subjects were asked to grasp the object at either predetermined or self-selected grasp locations ("constrained" and "unconstrained" task, respectively). Experiment 1 successfully validated the use of RMSE and CWT as they correctly distinguished trials with versus without force corrective responses. RMSE and CWT also revealed that grip force is characterized by more feedback-driven corrections when grasping at self-selected contact points. Future work will examine the application of our analytical approaches to a broader range of tasks, e.g., assessment of recovery of sensorimotor function following clinical intervention, interlimb

  1. Resonant Wave-Particle Manipulation Techniques

    NASA Astrophysics Data System (ADS)

    Zhmoginov, Andrey I.

    Charged particle dynamics can be altered considerably even by weak electromagnetic waves if some of the particles are in resonance. Depending on the wave parameters, the resonances in the phase space can either be well separated, in which case the particle dynamics is regular almost everywhere, or they can overlap leading to stochastic particle motion in a large volume of the phase space. Although different, both of these regimes allow one to manipulate particle ensembles by arranging resonant interactions with appropriate waves. This thesis is devoted to studying two wave-particle manipulation techniques having potential applications in fusion and laser-plasma interaction research. Specifically, we study the alpha-channeling effect (which relies on stochastic diffusion of resonant particles) and the so-called negative-mass effect (NME) (which involves the conservation of the adiabatic invariant). The alpha-channeling effect entails the use of radio-frequency waves to expel and cool high-energetic alpha particles born in a fusion reactor; the device reactivity can then be increased even further by redirecting the extracted energy to fuel ions. Recently, the alpha-channeling technique, originally proposed for tokamaks, was shown to be suitable for application in mirror machines as well. In the first part of this thesis, we deepen the understanding of issues and possibilities of the alpha-channeling implementation in open-ended reactors. We verify the feasibility of this technique and identify specific waves and supplementary techniques, which can potentially be used for implementing the alpha-channeling in realistic mirror devices. We also propose a new technique for using the alpha-channeling wave energy to catalyze fusion reaction by employing minority ions as a mediator species. In the second part of this thesis, the NME manifesting itself as an unusual response of a resonant particle to external adiabatic perturbations mimicking the behavior of a particle with a

  2. The laboratory telerobotic manipulator program

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

  3. Viruses manipulate the marine environment.

    PubMed

    Rohwer, Forest; Thurber, Rebecca Vega

    2009-05-14

    Marine viruses affect Bacteria, Archaea and eukaryotic organisms and are major components of the marine food web. Most studies have focused on their role as predators and parasites, but many of the interactions between marine viruses and their hosts are much more complicated. A series of recent studies has shown that viruses have the ability to manipulate the life histories and evolution of their hosts in remarkable ways, challenging our understanding of this almost invisible world.

  4. Manipulation of Biofilm Microbial Ecology

    SciTech Connect

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

    1998-08-15

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

  5. Visualizing Motion Patterns in Acupuncture Manipulation.

    PubMed

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

    2016-01-01

    Acupuncture manipulation varies widely among practitioners in clinical settings, and it is difficult to teach novice students how to perform acupuncture manipulation techniques skillfully. The Acupuncture Manipulation Education System (AMES) is an open source software system designed to enhance acupuncture manipulation skills using visual feedback. Using a phantom acupoint and motion sensor, our method for acupuncture manipulation training provides visual feedback regarding the actual movement of the student's acupuncture manipulation in addition to the optimal or intended movement, regardless of whether the manipulation skill is lifting, thrusting, or rotating. Our results show that students could enhance their manipulation skills by training using this method. This video shows the process of manufacturing phantom acupoints and discusses several issues that may require the attention of individuals interested in creating phantom acupoints or operating this system. PMID:27501193

  6. An evolutionary resolution of manipulation conflict.

    PubMed

    González-Forero, Mauricio

    2014-07-01

    Individuals can manipulate the behavior of social partners. However, manipulation may conflict with the fitness interests of the manipulated individuals. Manipulated individuals can then be favored to resist manipulation, possibly reducing or eliminating the manipulated behavior in the long run. I use a mathematical model to show that conflicts where manipulation and resistance coevolve can disappear as a result of the coevolutionary process. I find that while manipulated individuals are selected to resist, they can simultaneously be favored to express the manipulated behavior at higher efficiency (i.e., providing increasing fitness effects to recipients of the manipulated behavior). Efficiency can increase to a point at which selection for resistance disappears. This process yields an efficient social behavior that is induced by social partners, and over which the inducing and induced individuals are no longer in conflict. A necessary factor is costly inefficiency. I develop the model to address the evolution of advanced eusociality via maternal manipulation (AEMM). The model predicts AEMM to be particularly likely in taxa with ancestrally imperfect resistance to maternal manipulation. Costly inefficiency occurs if the cost of delayed dispersal is larger than the benefit of exploiting the maternal patch. I discuss broader implications of the process.

  7. ERPs Differentially Reflect Automatic and Deliberate Processing of the Functional Manipulability of Objects.

    PubMed

    Madan, Christopher R; Chen, Yvonne Y; Singhal, Anthony

    2016-01-01

    It is known that the functional properties of an object can interact with perceptual, cognitive, and motor processes. Previously we have found that a between-subjects manipulation of judgment instructions resulted in different manipulability-related memory biases in an incidental memory test. To better understand this effect we recorded electroencephalography (EEG) while participants made judgments about images of objects that were either high or low in functional manipulability (e.g., hammer vs. ladder). Using a between-subjects design, participants judged whether they had seen the object recently (Personal Experience), or could manipulate the object using their hand (Functionality). We focused on the P300 and slow-wave event-related potentials (ERPs) as reflections of attentional allocation. In both groups, we observed higher P300 and slow wave amplitudes for high-manipulability objects at electrodes Pz and C3. As P300 is thought to reflect bottom-up attentional processes, this may suggest that the processing of high-manipulability objects recruited more attentional resources. Additionally, the P300 effect was greater in the Functionality group. A more complex pattern was observed at electrode C3 during slow wave: processing the high-manipulability objects in the Functionality instruction evoked a more positive slow wave than in the other three conditions, likely related to motor simulation processes. These data provide neural evidence that effects of manipulability on stimulus processing are further mediated by automatic vs. deliberate motor-related processing. PMID:27536224

  8. ERPs Differentially Reflect Automatic and Deliberate Processing of the Functional Manipulability of Objects

    PubMed Central

    Madan, Christopher R.; Chen, Yvonne Y.; Singhal, Anthony

    2016-01-01

    It is known that the functional properties of an object can interact with perceptual, cognitive, and motor processes. Previously we have found that a between-subjects manipulation of judgment instructions resulted in different manipulability-related memory biases in an incidental memory test. To better understand this effect we recorded electroencephalography (EEG) while participants made judgments about images of objects that were either high or low in functional manipulability (e.g., hammer vs. ladder). Using a between-subjects design, participants judged whether they had seen the object recently (Personal Experience), or could manipulate the object using their hand (Functionality). We focused on the P300 and slow-wave event-related potentials (ERPs) as reflections of attentional allocation. In both groups, we observed higher P300 and slow wave amplitudes for high-manipulability objects at electrodes Pz and C3. As P300 is thought to reflect bottom-up attentional processes, this may suggest that the processing of high-manipulability objects recruited more attentional resources. Additionally, the P300 effect was greater in the Functionality group. A more complex pattern was observed at electrode C3 during slow wave: processing the high-manipulability objects in the Functionality instruction evoked a more positive slow wave than in the other three conditions, likely related to motor simulation processes. These data provide neural evidence that effects of manipulability on stimulus processing are further mediated by automatic vs. deliberate motor-related processing. PMID:27536224

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

    NASA Astrophysics Data System (ADS)

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

    2016-03-01

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

  10. Manipulating the Gut Microbiota: Methods and Challenges

    PubMed Central

    Ericsson, Aaron C.; Franklin, Craig L.

    2015-01-01

    Eukaryotic organisms are colonized by rich and dynamic communities of microbes, both internally (e.g., in the gastrointestinal and respiratory tracts) and externally (e.g., on skin and external mucosal surfaces). The vast majority of bacterial microbes reside in the lower gastrointestinal (GI) tract, and it is estimated that the gut of a healthy human is home to some 100 trillion bacteria, roughly an order of magnitude greater than the number of host somatic cells. The development of culture-independent methods to characterize the gut microbiota (GM) has spurred a renewed interest in its role in host health and disease. Indeed, associations have been identified between various changes in the composition of the GM and an extensive list of diseases, both enteric and systemic. Animal models provide a means whereby causal relationships between characteristic differences in the GM and diseases or conditions can be formally tested using genetically identical animals in highly controlled environments. Clearly, the GM and its interactions with the host and myriad environmental factors are exceedingly complex, and it is rare that a single microbial taxon associates with, much less causes, a phenotype with perfect sensitivity and specificity. Moreover, while the exact numbers are the subject of debate, it is well recognized that only a minority of gut bacteria can be successfully cultured ex vivo. Thus, to perform studies investigating causal roles of the GM in animal model phenotypes, researchers need clever techniques to experimentally manipulate the GM of animals, and several ingenious methods of doing so have been developed, each providing its own type of information and with its own set of advantages and drawbacks. The current review will focus on the various means of experimentally manipulating the GM of research animals, drawing attention to the factors that would aid a researcher in selecting an experimental approach, and with an emphasis on mice and rats, the

  11. Manipulability measure of dual-arm space robot and its application to design an optimal configuration

    NASA Astrophysics Data System (ADS)

    Zhang, Bo; Liang, Bin; Wang, Xueqian; Li, Gang; Chen, Zhang; Zhu, Xiaojun

    2016-11-01

    Coupling effect exists among different arms and the base in a multi-arm space robot. The manipulability measure of one arm can be affected by the base and the other arms, which has important effects on the configuration optimization, the singularity avoidance and the compliant control. The manipulability measure for a multi-arm space robot is more complex than that of a single-arm space robot. At present, the manipulability measure of a multi-arm space robot has not been studied. In the paper, a new concept of manipulability measure is applied to analyze the manipulability measure for a dual-arm space robot, especially for the manipulability measure of the mission arm subjecting to the influence from coupling effect of auxiliary arm and the base. Based on the manipulability measure of mission arm, a performance index is introduced and used to design and choose an optimization configuration for a dual-arm space robot. Finally, a plane dual-arm space robot is simulated, which is illustrated the influence of joint angles and the base attitude on mission arm's manipulability measure. Simulation results show that the proposed manipulability measure is useful for a multi-arm space robot and optimal configuration can be extended and applied to the coordinated soft rendezvous and docking and the target capture in the field of on-orbit servicing.

  12. Earth orbital teleoperator manipulator system evaluation program

    NASA Technical Reports Server (NTRS)

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

    1977-01-01

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

  13. Models of remote manipulation in space

    NASA Technical Reports Server (NTRS)

    Hannaford, Blake

    1991-01-01

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

  14. Technology for concrete pipe manipulator

    NASA Astrophysics Data System (ADS)

    Li, Bin; Wang, Dan; Lin, Renzhi

    2010-01-01

    The pipe manipulator is a developing mechatronic system to enhance productivity and protects workers from cave-ins in the trench while excavating and laying pipe. The pipe manipulator is for installing concrete pipe into the trench. It is an optical-electro-mechanical system. The mechanism is make up of two parts, the upside and underside. The upside is for lifting the equipment by backhoe and rotating the underside mechanism. It includes rigidity lift beams, holding pad, four-bar linkages, hydraulic cylinder, rotating support, and rotating mechanism. Holding pad will press the bucket back to keep the bucket hooking the pipe man safely and stably. The underside mechanism is for lifting, holding and adjusting the pipe section's stance. The underside mechanism includes support trolley, and lift fork. The support trolley is driven by hydraulic cylinder for moving the fork forward or backward while laying a pipe into trench. The fork is with a self-lock mechanism for preventing the pipe from slide out of the prongs. A new photoelectric locating system is developed for auto-measuring the installing pipe section's stance within the work area. The laser target has been developed as a key part in the photoelectric locating systems. The photoelectric target is a rotating polar coordinate. Photodiodes are used for making the polar radius. There is an angular displacement sensor sitting on the heart-axis of the target for measuring angle of the target rotating. The pipe manipulator can be located by the system, and the locating methods have been presented at last of the paper.

  15. Technology for concrete pipe manipulator

    NASA Astrophysics Data System (ADS)

    Li, Bin; Wang, Dan; Lin, Renzhi

    2009-12-01

    The pipe manipulator is a developing mechatronic system to enhance productivity and protects workers from cave-ins in the trench while excavating and laying pipe. The pipe manipulator is for installing concrete pipe into the trench. It is an optical-electro-mechanical system. The mechanism is make up of two parts, the upside and underside. The upside is for lifting the equipment by backhoe and rotating the underside mechanism. It includes rigidity lift beams, holding pad, four-bar linkages, hydraulic cylinder, rotating support, and rotating mechanism. Holding pad will press the bucket back to keep the bucket hooking the pipe man safely and stably. The underside mechanism is for lifting, holding and adjusting the pipe section's stance. The underside mechanism includes support trolley, and lift fork. The support trolley is driven by hydraulic cylinder for moving the fork forward or backward while laying a pipe into trench. The fork is with a self-lock mechanism for preventing the pipe from slide out of the prongs. A new photoelectric locating system is developed for auto-measuring the installing pipe section's stance within the work area. The laser target has been developed as a key part in the photoelectric locating systems. The photoelectric target is a rotating polar coordinate. Photodiodes are used for making the polar radius. There is an angular displacement sensor sitting on the heart-axis of the target for measuring angle of the target rotating. The pipe manipulator can be located by the system, and the locating methods have been presented at last of the paper.

  16. EVA manipulation and assembly of space structure columns

    NASA Technical Reports Server (NTRS)

    Loughead, T. E.; Pruett, E. C.

    1980-01-01

    Assembly techniques and hardware configurations used in assembly of the basic tetrahedral cell by A7LB pressure-suited subjects in a neutral bouyancy simulator were studied. Eleven subjects participated in assembly procedures which investigated two types of structural members and two configurations of attachment hardware. The assembly was accomplished through extra-vehicular activity (EVA) only, EVA with simulated manned maneuvering unit (MMU), and EVA with simulated MMU and simulated remote manipulator system (RMS). Assembly times as low as 10.20 minutes per tetrahedron were achieved. Task element data, as well as assembly procedures, are included.

  17. Intuitive control of robotic manipulators

    NASA Astrophysics Data System (ADS)

    Rusbarsky, David; Gray, Jeremy; Peters, Douglas

    2011-01-01

    As part of the Modular Intelligent Manipulation system with Intuitive Control program, industry is working with the U.S. Army to explore technologies that will allow a user to intuitively control multiple degree of freedom robotic arms and maintain better awareness of the operating environment through haptic feedback. In addition to reporting resistance, haptic feedback can help make operators feel like they are actually there with the robot, opening doors, unscrewing blast caps, cutting wires, or removing batteries. Coupled with intuitive controls and advanced video feedback, the goal of this project is to provide users with the sensation that the robot is an extension of their body, all from a safe distance.

  18. Spin-manipulating polarized deuterons

    SciTech Connect

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

    2011-03-01

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

  19. Algorithm For Control Of Underactuated Manipulators

    NASA Technical Reports Server (NTRS)

    Jain, Abhinandan; Rodriguez, Guillermo

    1994-01-01

    Algorithm for improved control of underactuated multiple-link robotic manipulators developed via spatial-algebra-operator approach. Aspects of this approach described in several previous articles in NASA Tech Briefs-most recently "Robot Control Based on Spatial-Operator Algebra" (NPO-17918). Underactuated manipulator has fewer actuators than it has degrees of freedom. Complexity of underactuated systems managed by unified analysis. It has implications for fault-tolerant control, and many practical manipulators underactuated. Examples include manipulators with flexible joints and/or flexible links; space/underwater robots; manipulators that operate with some actuators that turned off because of failure or because of need to conserve energy; manipulators that grasp objects loosely, and manipulators that grasp objects with internal degrees of freedom (e.g., plungers, rollers).

  20. Mobilization and Manipulation of the Cervical Spine in Patients with Cervicogenic Headache: Any Scientific Evidence?

    PubMed Central

    Garcia, Jodan D.; Arnold, Stephen; Tetley, Kylie; Voight, Kiel; Frank, Rachael Anne

    2016-01-01

    Cervical mobilization and manipulation are frequently used to treat patients diagnosed with cervicogenic headache (CEH); however, there is conflicting evidence on the efficacy of these manual therapy techniques. The purpose of this review is to investigate the effects of cervical mobilization and manipulation on pain intensity and headache frequency, compared to traditional physical therapy interventions in patients diagnosed with CEH. A total of 66 relevant studies were originally identified through a review of the literature, and the 25 most suitable articles were fully evaluated via a careful review of the text. Ultimately, 10 studies met the inclusion criteria: (1) randomized controlled trial (RCT) or open RCT; the study contained at least two separate groups of subjects that were randomly assigned either to a cervical spine mobilization or manipulation or a group that served as a comparison; (2) subjects must have had a diagnosis of CEH; (3) the treatment group received either spinal mobilization or spinal manipulation, while the control group received another physical therapy intervention or placebo control; and (4) the study included headache pain and frequency as outcome measurements. Seven of the 10 studies had statistically significant findings that subjects who received mobilization or manipulation interventions experienced improved outcomes or reported fewer symptoms than control subjects. These results suggest that mobilization or manipulation of the cervical spine may be beneficial for individuals who suffer from CEH, although heterogeneity of the studies makes it difficult to generalize the findings. PMID:27047446

  1. Ball's motion, sliding friction, and internal load distribution in a high-speed ball bearing subjected to a combined radial, thrust, and moment load, applied to the inner ring's center of mass: Mathematical model

    NASA Astrophysics Data System (ADS)

    César Ricci, Mário

    2015-10-01

    A set of non-linear algebraic equations, which must to be solved using a numerical procedure, for ball's motion, sliding friction and internal loading distribution computation in a high-speed, single-row, angular-contact ball bearing, subjected to a known combined radial, thrust and moment load, which must be applied to the inner ring's centre of mass, is introduced. For each step of the procedure it is required the iterative solution of 9Z + 3 simultaneous non-linear equations—where Z is the number of the balls—to yield exact solution for contact angles, ball attitude angles, rolling radii, normal contact deformations and axial, radial, and angular deflections of the inner ring with respect the outer ring. While the focus of this work is obtaining the steady state forces and moments equilibrium conditions on the balls, under the selected loading, the numerical aspects of the procedure are treated in a companion paper. The numerical results derived from the described procedure shall be published later.

  2. Delays in Admittance-Controlled Haptic Devices Make Simulated Masses Feel Heavier.

    PubMed

    Kuling, Irene A; Smeets, Jeroen B J; Lammertse, Piet; Onneweer, Bram; Mugge, Winfred

    2015-01-01

    In an admittance-controlled haptic device, input forces are used to calculate the movement of the device. Although developers try to minimize delays, there will always be delays between the applied force and the corresponding movement in such systems, which might affect what the user of the device perceives. In this experiment we tested whether these delays in a haptic human-robot interaction influence the perception of mass. In the experiment an admittance-controlled manipulator was used to simulate various masses. In a staircase design subjects had to decide which of two virtual masses was heavier after gently pushing them leftward with the right hand in mid-air (no friction, no gravity). The manipulator responded as quickly as possible or with an additional delay (25 or 50 ms) to the forces exerted by the subject on the handle of the haptic device. The perceived mass was ~10% larger for a delay of 25 ms and ~20% larger for a delay of 50 ms. Based on these results, we estimated that the delays that are present in nowadays admittance-controlled haptic devices (up to 20ms) will give an increase in perceived mass which is smaller than the Weber fraction for mass (~10% for inertial mass). Additional analyses showed that the subjects' decision on mass when the perceptual differences were small did not correlate with intuitive variables such as force, velocity or a combination of these, nor with any other measured variable, suggesting that subjects did not have a consistent strategy during guessing or used other sources of information, for example the efference copy of their pushes.

  3. Symbolic manipulation and transport benchmarks

    SciTech Connect

    Ganapol, B.D.

    1986-01-01

    The establishment of reliable benchmark solutions is an integral part of the development of computational algorithms to solve the Boltzmann equation of particle motion. These solutions provide standards by which code developers can assess new numerical algorithms as well as ensure proper programming. A transport benchmark solution, as defined here, is the accurate numerical evaluation (3 to 5 digits) of an analytical solution to the transport equation. The basic elements of such a solution are an analytical representation free from discretization and a numerical evaluation for which an error estimate can be obtained. Symbolic manipulation software such as REDUCE, MACSYMA, and SMP can greatly aid in the generation of benchmark solutions. The benefit of these manipulators lies both in their ability to perform lengthy algebraic calculations and to write a code that can be incorporated directly into existing programs. Using two fundamental problems from particle transport theory, the author explores the advantages and limitations of the application of the REDUCE software package in generating time dependent benchmark solutions.

  4. Actuators for a space manipulator

    NASA Technical Reports Server (NTRS)

    Chun, W.; Brunson, P.

    1987-01-01

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

  5. Genetic manipulation of Methanosarcina spp.

    PubMed Central

    Kohler, Petra R. A.; Metcalf, William W.

    2012-01-01

    The discovery of the third domain of life, the Archaea, is one of the most exciting findings of the last century. These remarkable prokaryotes are well known for their adaptations to extreme environments; however, Archaea have also conquered moderate environments. Many of the archaeal biochemical processes, such as methane production, are unique in nature and therefore of great scientific interest. Although formerly restricted to biochemical and physiological studies, sophisticated systems for genetic manipulation have been developed during the last two decades for methanogenic archaea, halophilic archaea and thermophilic, sulfur-metabolizing archaea. The availability of these tools has allowed for more complete studies of archaeal physiology and metabolism and most importantly provides the basis for the investigation of gene expression, regulation and function. In this review we provide an overview of methods for genetic manipulation of Methanosarcina spp., a group of methanogenic archaea that are key players in the global carbon cycle and which can be found in a variety of anaerobic environments. PMID:22837755

  6. Mobile remote manipulator vehicle system

    NASA Technical Reports Server (NTRS)

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

    1987-01-01

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

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

    NASA Technical Reports Server (NTRS)

    Lewis, R. A.

    1974-01-01

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

  8. Modeling and control for micro and nano manipulation

    NASA Astrophysics Data System (ADS)

    Wejinya, Uchechukwu C.

    Manipulation of micro and nano entities implies the movement of micro and nano entities from an initial position (location) to the desire position (location). This operation is not only necessary, but a required task with great precision. The tools needed for the manipulation needs to be chosen properly because the capabilities of the human hand are very restricted. Smart micro and nano manipulation are becoming of great interest in many applications including medicine and industry. In industry, high precision manipulation systems are especially needed for mass production of both micro and nano systems which consist of different component in respective scales. The transition from assembling and manipulating micro and nano entities manually to mass products with high quality is only attainable by automated assembly and manipulation systems. An example is the testing of integrated circuits which can be carried out by exchanging the manipulation tool by an electric probe. Furthermore, in medical research it is customary to pick up a single cell (human, plant, or animal), and carry it to another device which is used to further analyze the cell. Consequently, the cell of interest has to be separated from the other cells and picked up using the appropriate micro/nano tool. Hence it becomes absolutely necessary that the appropriate tool be used for specific micro or nano entity manipulation and assembly. In this research, we focus on developing micro tool for manipulating micro and nano entities in liquid environment using a micro fluidic end effector system with in-situ Polyvinylidene Fluoride (PVDF) sensing. The microfluidic end effector system consists of a DC micro-diaphragm pump and compressor, one region of flexible latex tube, a Polyvinylidene Fluoride (PVDF) sensor for in-situ measurement of micro drag force, and a micro pipette. The micro pipette of the novel microfluidic end effector system has an internal diameter (ID) smaller than 20mum used for microfluidic

  9. Human coffee drinking: manipulation of concentration and caffeine dose.

    PubMed Central

    Griffiths, R R; Bigelow, G E; Liebson, I A; O'Keeffe, M; O'Leary, D; Russ, N

    1986-01-01

    In a residential research ward coffee drinking was studied in 9 volunteer human subjects with histories of heavy coffee drinking. A series of five experiments was undertaken to characterize adlibitum coffee consumption and to investigate the effects of manipulating coffee concentration, caffeine dose per cup, and caffeine preloads prior to coffee drinking. Manipulations were double-blind and scheduled in randomized sequences across days. When cups of coffee were freely available, coffee drinking tended to be rather regularly spaced during the day with intercup intervals becoming progressively longer throughout the day; experimental manipulations showed that this lengthening of intercup intervals was not due to accumulating caffeine levels. Number of cups of coffee consumed was an inverted U-shaped function of both coffee concentration and caffeine dose per cup; however, coffee-concentration and dose-per-cup manipulations did not produce similar effects on other measures of coffee drinking (intercup interval, time to drink a cup, within-day distribution of cups). Caffeine preload produced dose-related decreases in number of cups consumed. As a whole, these experiments provide some limited evidence for both the suppressive and the reinforcing effects of caffeine on coffee consumption. Examination of total daily coffee and caffeine intake across experiments, however, provides no evidence for precise regulation (i.e., titration) of coffee or caffeine intake. PMID:3958660

  10. A systematic review of current and emergent manipulator control approaches

    NASA Astrophysics Data System (ADS)

    Ajwad, Syed Ali; Iqbal, Jamshed; Ullah, Muhammad Imran; Mehmood, Adeel

    2015-06-01

    Pressing demands of productivity and accuracy in today's robotic applications have highlighted an urge to replace classical control strategies with their modern control counterparts. This recent trend is further justified by the fact that the robotic manipulators have complex nonlinear dynamic structure with uncertain parameters. Highlighting the authors' research achievements in the domain of manipulator design and control, this paper presents a systematic and comprehensive review of the state-of-the-art control techniques that find enormous potential in controlling manipulators to execute cuttingedge applications. In particular, three kinds of strategies, i.e., intelligent proportional-integral-derivative (PID) scheme, robust control and adaptation based approaches, are reviewed. Future trend in the subject area is commented. Open-source simulators to facilitate controller design are also tabulated. With a comprehensive list of references, it is anticipated that the review will act as a firsthand reference for researchers, engineers and industrialinterns to realize the control laws for multi-degree of freedom (DOF) manipulators.

  11. Robust Task Space Trajectory Tracking Control of Robotic Manipulators

    NASA Astrophysics Data System (ADS)

    Galicki, M.

    2016-08-01

    This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to reduce both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of chattering-free robust controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

  12. Structural Sizing Methodology for the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) System

    NASA Technical Reports Server (NTRS)

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

    2015-01-01

    The Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) is a versatile long-reach robotic manipulator that is currently being tested at NASA Langley Research Center. TALISMAN is designed to be highly mass-efficient and multi-mission capable, with applications including asteroid retrieval and manipulation, in-space servicing, and astronaut and payload positioning. The manipulator uses a modular, periodic, tension-compression design that lends itself well to analytical modeling. Given the versatility of application for TALISMAN, a structural sizing methodology was developed that could rapidly assess mass and configuration sensitivities for any specified operating work space, applied loads and mission requirements. This methodology allows the systematic sizing of the key structural members of TALISMAN, which include the truss arm links, the spreaders and the tension elements. This paper summarizes the detailed analytical derivations and methodology that support the structural sizing approach and provides results from some recent TALISMAN designs developed for current and proposed mission architectures.

  13. Controlling multiple manipulators using RIPS

    NASA Technical Reports Server (NTRS)

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

    1989-01-01

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

  14. Genetic Manipulation of Stenotrophomonas maltophilia

    PubMed Central

    Welker, Elliott; Domfeh, Yayra; Tyagi, Deepti; Sinha, Sanjivni; Fisher, Nathan

    2015-01-01

    Stenotrophomonas maltophilia is a Gram-negative, aerobic, motile, environmental bacterium that is emerging as an important nosocomial pathogen (Brooke, 2012; Looney, Narita, & Mühlemann, 2009) with high rates of attributable mortality in severely ill patients (Falagas et al., 2009; Paez & Costa, 2008; Sattler, Mason, & Kaplan, 2000; Senol, DesJardin, Stark, Barefoot, & Snydman, 2002; Weber et al., 2007). S. maltophilia is of particular concern to patients suffering from cystic fibrosis (CF) as it has been shown to colonize airway epithelial and establish a chronic infection (Goncalves-Vidigal et al., 2011). Here we describe several molecular techniques for the genetic manipulation of this bacterium, including DNA extraction, RNA extraction, conjugation of plasmids from E. coli and allelic exchange. PMID:26344220

  15. A General Precompiler for Algebraic Manipulation

    NASA Astrophysics Data System (ADS)

    Ricklefs, Randall L.; Jefferys, William H.; Broucke, Roger A.

    1983-02-01

    A generalized precompiler for systems performing algebraic manipulation of Poisson series has been written. It accepts a trigonometric superset of FORTRAN IV similar to Jefferys' TRIGRUN language (Jefferys, 1972) and generates a valid FORTRAN IV program which drives an abstract formula manipulation machine. This machine is designed to be generally compatible with any manipulation system, and has been implemented with two such systems. The precompiler is written in standard FORTRAN IV and was designed to allow simple conversion for use on most computers.

  16. Bracing micro/macro manipulators control

    SciTech Connect

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

    1994-05-01

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

  17. Spatial-Operator Algebra For Robotic Manipulators

    NASA Technical Reports Server (NTRS)

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

    1991-01-01

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

  18. On The Control Of Robot Manipulator

    NASA Astrophysics Data System (ADS)

    Lee, C. S.

    1983-12-01

    The purpose of robot arm control is to maintain a prescribed motion for the manipulator along a desired trajectory by applying corrective compensation torques to the actuators to adjust for any deviations of the manipulator from the trajectory. This paper presents various control methods for industrial robots. It begins with the discussion of various dynamic models for manipulators and covers several existing control methods from simple servomechanism to advanced controls such as adaptive control with identification algorithm.

  19. Neural Control Adaptation to Motor Noise Manipulation.

    PubMed

    Hasson, Christopher J; Gelina, Olga; Woo, Garrett

    2016-01-01

    Antagonistic muscular co-activation can compensate for movement variability induced by motor noise at the expense of increased energetic costs. Greater antagonistic co-activation is commonly observed in older adults, which could be an adaptation to increased motor noise. The present study tested this hypothesis by manipulating motor noise in 12 young subjects while they practiced a goal-directed task using a myoelectric virtual arm, which was controlled by their biceps and triceps muscle activity. Motor noise was increased by increasing the coefficient of variation (CV) of the myoelectric signals. As hypothesized, subjects adapted by increasing antagonistic co-activation, and this was associated with reduced noise-induced performance decrements. A second hypothesis was that a virtual decrease in motor noise, achieved by smoothing the myoelectric signals, would have the opposite effect: co-activation would decrease and motor performance would improve. However, the results showed that a decrease in noise made performance worse instead of better, with no change in co-activation. Overall, these findings suggest that the nervous system adapts to virtual increases in motor noise by increasing antagonistic co-activation, and this preserves motor performance. Reducing noise may have failed to benefit performance due to characteristics of the filtering process itself, e.g., delays are introduced and muscle activity bursts are attenuated. The observed adaptations to increased noise may explain in part why older adults and many patient populations have greater antagonistic co-activation, which could represent an adaptation to increased motor noise, along with a desire for increased joint stability. PMID:26973487

  20. Neural Control Adaptation to Motor Noise Manipulation

    PubMed Central

    Hasson, Christopher J.; Gelina, Olga; Woo, Garrett

    2016-01-01

    Antagonistic muscular co-activation can compensate for movement variability induced by motor noise at the expense of increased energetic costs. Greater antagonistic co-activation is commonly observed in older adults, which could be an adaptation to increased motor noise. The present study tested this hypothesis by manipulating motor noise in 12 young subjects while they practiced a goal-directed task using a myoelectric virtual arm, which was controlled by their biceps and triceps muscle activity. Motor noise was increased by increasing the coefficient of variation (CV) of the myoelectric signals. As hypothesized, subjects adapted by increasing antagonistic co-activation, and this was associated with reduced noise-induced performance decrements. A second hypothesis was that a virtual decrease in motor noise, achieved by smoothing the myoelectric signals, would have the opposite effect: co-activation would decrease and motor performance would improve. However, the results showed that a decrease in noise made performance worse instead of better, with no change in co-activation. Overall, these findings suggest that the nervous system adapts to virtual increases in motor noise by increasing antagonistic co-activation, and this preserves motor performance. Reducing noise may have failed to benefit performance due to characteristics of the filtering process itself, e.g., delays are introduced and muscle activity bursts are attenuated. The observed adaptations to increased noise may explain in part why older adults and many patient populations have greater antagonistic co-activation, which could represent an adaptation to increased motor noise, along with a desire for increased joint stability. PMID:26973487

  1. Culture and Manipulation of Embryonic Cells

    PubMed Central

    Edgar, Lois G.; Goldstein, Bob

    2012-01-01

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

  2. Research on reconfigurable and reliable manipulators

    NASA Astrophysics Data System (ADS)

    Khosla, P. K.; Kanade, T.

    We have proposed the concept of reconfigurable manipulators as a solution to tasks that require varied configurations of manipulators. Using modules of varying sizes and performance specifications, it is possible to build manipulators to suit the task at hand. Our research is not only addressing the issue of creating such manipulators but also the interesting theoretical challenges posed in mapping tasks to manipulators. We have developed strategies that allow us to determine the kinematic and dynamic configuration of a non-redundant manipulator from task specifications such as reachability, obstacle avoidance, manipulability, joint, limits, and joint velocities and accelerations. We are presently extending this design methodology for design of redundant and fault tolerant manipulator systems. Further, we are also addressing issues in automatic generation of software for kinematics, dynamics, and controllers for the configured manipulators. During the next year, we will be demonstrating automatic generation of software on the prototype system that we are building. We expect to have 4 joint and link modules available for this demonstration. The joint and link modules will also incorporate concepts for making power and data connections when the mechanical connection is made. Further, they will also include electronics, housed within the module, for communication and real-time control.

  3. Earth orbital teleoperator manipulator system evaluation program

    NASA Technical Reports Server (NTRS)

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

    1975-01-01

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

  4. Robust Force Control of a 6-Link Electro-Hydraulic Manipulator

    NASA Astrophysics Data System (ADS)

    Ahn, Kyoungkwan; Yokota, Shinichi

    Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulator because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electic line is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H∞ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

  5. Manipulation of Dirac Cones in Mechanical Graphene.

    PubMed

    Kariyado, Toshikaze; Hatsugai, Yasuhiro

    2015-01-01

    Recently, quantum Hall state analogs in classical mechanics attract much attention from topological points of view. Topology is not only for mathematicians but also quite useful in a quantum world. Further it even governs the Newton's law of motion. One of the advantages of classical systems over solid state materials is its clear controllability. Here we investigate mechanical graphene, which is a spring-mass model with the honeycomb structure as a typical mechanical model with nontrivial topological phenomena. The vibration spectrum of mechanical graphene is characterized by Dirac cones serving as sources of topological nontriviality. We find that the spectrum has dramatic dependence on the spring tension at equilibrium as a natural control parameter, i.e., creation and annihilation of the Dirac particles are realized as the tension increases. Just by rotating the system, the manipulated Dirac particles lead to topological transition, i.e., a jump of the "Chern number" occurs associated with flipping of propagating direction of chiral edge modes. This is a bulk-edge correspondence governed by the Newton's law. A simple observation that in-gap edge modes exist only at the fixed boundary, but not at the free one, is attributed to the symmetry protection of topological phases. PMID:26667580

  6. Manipulation of Dirac Cones in Mechanical Graphene

    NASA Astrophysics Data System (ADS)

    Kariyado, Toshikaze; Hatsugai, Yasuhiro

    2015-12-01

    Recently, quantum Hall state analogs in classical mechanics attract much attention from topological points of view. Topology is not only for mathematicians but also quite useful in a quantum world. Further it even governs the Newton’s law of motion. One of the advantages of classical systems over solid state materials is its clear controllability. Here we investigate mechanical graphene, which is a spring-mass model with the honeycomb structure as a typical mechanical model with nontrivial topological phenomena. The vibration spectrum of mechanical graphene is characterized by Dirac cones serving as sources of topological nontriviality. We find that the spectrum has dramatic dependence on the spring tension at equilibrium as a natural control parameter, i.e., creation and annihilation of the Dirac particles are realized as the tension increases. Just by rotating the system, the manipulated Dirac particles lead to topological transition, i.e., a jump of the “Chern number” occurs associated with flipping of propagating direction of chiral edge modes. This is a bulk-edge correspondence governed by the Newton’s law. A simple observation that in-gap edge modes exist only at the fixed boundary, but not at the free one, is attributed to the symmetry protection of topological phases.

  7. Manipulation of Dirac Cones in Mechanical Graphene

    PubMed Central

    Kariyado, Toshikaze; Hatsugai, Yasuhiro

    2015-01-01

    Recently, quantum Hall state analogs in classical mechanics attract much attention from topological points of view. Topology is not only for mathematicians but also quite useful in a quantum world. Further it even governs the Newton’s law of motion. One of the advantages of classical systems over solid state materials is its clear controllability. Here we investigate mechanical graphene, which is a spring-mass model with the honeycomb structure as a typical mechanical model with nontrivial topological phenomena. The vibration spectrum of mechanical graphene is characterized by Dirac cones serving as sources of topological nontriviality. We find that the spectrum has dramatic dependence on the spring tension at equilibrium as a natural control parameter, i.e., creation and annihilation of the Dirac particles are realized as the tension increases. Just by rotating the system, the manipulated Dirac particles lead to topological transition, i.e., a jump of the “Chern number” occurs associated with flipping of propagating direction of chiral edge modes. This is a bulk-edge correspondence governed by the Newton’s law. A simple observation that in-gap edge modes exist only at the fixed boundary, but not at the free one, is attributed to the symmetry protection of topological phases. PMID:26667580

  8. A theoretical and experimental investigation of impact control for manipulators

    NASA Technical Reports Server (NTRS)

    Volpe, Richard; Khosla, Pradeep

    1993-01-01

    This article describes a simple control strategy for stable hardon-hard contact of a manipulator with the environment. The strategy is motivated by recognition of the equivalence of proportional gain explicit force control and impedance control. It is shown that negative proportional force gains, or impedance mass ratios less than unity, can equivalently provide excellent impact response without bouncing. This result is indicated by an analysis performed with an experimentally determined arm/sensor/environment model. The results are corroborated by experimental data from implementation of the control algorithms on the CMU DD Arm II system. The results confirm that manipulator impact against a stiff environment without bouncing can be readily handled by this novel control strategy.

  9. Testing a New Design for Subject Access to Online Catalogs.

    ERIC Educational Resources Information Center

    Drabenstott, Karen M.; Weller, Marjorie S.

    Over the last decade, studies of online catalogs have revealed that they frequently discourage users. Subject queries often fail to produce retrievals or produce retrieval sets that are too large and unwieldy to be easily scanned. Research shows that users are seeking alternative approaches to those that manipulate the subject headings in catalog…

  10. Kinematics and Control of Robot Manipulators

    NASA Astrophysics Data System (ADS)

    Paden, Bradley Evan

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

  11. Delays in Admittance-Controlled Haptic Devices Make Simulated Masses Feel Heavier

    PubMed Central

    Kuling, Irene A.; Smeets, Jeroen B. J.; Lammertse, Piet; Onneweer, Bram; Mugge, Winfred

    2015-01-01

    In an admittance-controlled haptic device, input forces are used to calculate the movement of the device. Although developers try to minimize delays, there will always be delays between the applied force and the corresponding movement in such systems, which might affect what the user of the device perceives. In this experiment we tested whether these delays in a haptic human-robot interaction influence the perception of mass. In the experiment an admittance-controlled manipulator was used to simulate various masses. In a staircase design subjects had to decide which of two virtual masses was heavier after gently pushing them leftward with the right hand in mid-air (no friction, no gravity). The manipulator responded as quickly as possible or with an additional delay (25 or 50 ms) to the forces exerted by the subject on the handle of the haptic device. The perceived mass was ~10% larger for a delay of 25 ms and ~20% larger for a delay of 50 ms. Based on these results, we estimated that the delays that are present in nowadays admittance-controlled haptic devices (up to 20ms) will give an increase in perceived mass which is smaller than the Weber fraction for mass (~10% for inertial mass). Additional analyses showed that the subjects’ decision on mass when the perceptual differences were small did not correlate with intuitive variables such as force, velocity or a combination of these, nor with any other measured variable, suggesting that subjects did not have a consistent strategy during guessing or used other sources of information, for example the efference copy of their pushes. PMID:26361353

  12. Validation of a novel sham cervical manipulation procedure

    PubMed Central

    Vernon, Howard; Triano, John J.; Ross, Kim; Tran, Steven; Soave, David; Dinulos, Maricelle

    2012-01-01

    Background Context No clinical trial of spinal manipulation for chronic neck pain, either for single or multiple intervention session(s), has employed an effective sham-manipulation control group. Purpose Validate a practical sham cervical high velocity, low amplitude (HVLA) spinal manipulation. Study design/Setting Randomized, experimental validation study in an institutional clinical research laboratory Patient Sample Eligible subjects were males and females, 18–60 years of age with mechanical neck pain (as defined by the International Association for the Study of Pain Classification) of at least 3 months duration. Subjects with arm pain, any pathologic cause of neck pain or any contra-indication to spinal manipulation were excluded. Outcome Measures The primary outcome was the patient’s self-report or “registration” of group allocation following treatment. Secondary outcomes were NRS-101 for neck pain, range of motion (by goniometer), tenderness (by pressure algometry). Methods Eligible subjects were randomly allocated to one of two groups: “real” or sham cervical manipulation (RM or SM). All subjects were given two procedures in sequence, either RM+SM or SM+SM. Immediately following the two procedures, subjects were asked to register any pain experienced during the procedures and to identify their treatment group allocation. Force-time profiles were recorded during all procedures. Secondary clinical outcome measures were obtained at baseline, 5 and 15 minutes after the intervention including range of motion, self-report of pain and local spinous process tenderness. Data for each variable were summarized and tested for normality in distribution. Summary statistics were obtained for each variable and statistically tested. Funding for this study was obtained from the National Institutes of Health (NCCAM: R21 AT004396-01A1) and the Canadian Institutes of Health Research (BMT91926). No conflicts of interest exist in this study. Results Sixty

  13. Visual Manipulatives for Proportional Reasoning.

    ERIC Educational Resources Information Center

    Moore, Joyce L.; Schwartz, Daniel L.

    The use of a visual representation in learning about proportional relations was studied, examining students' understandings of the invariance of a multiplicative relation on both sides of a proportion equation and the invariance of the structural relations that exist in different semantic types of proportion problems. Subjects were 49 high-ability…

  14. The Stealth Curriculum: Manipulating America's History Teachers

    ERIC Educational Resources Information Center

    Stotsky, Sandra

    2004-01-01

    The purpose of this report is: (1) To point out the features of a number of manipulative supplemental resources for history and social studies teachers; and (2) to show how similarly manipulative professional development workshops propagate the distorted content and recommended teaching practices of such materials to teachers and their…

  15. Welding torch and wire feed manipulator

    NASA Technical Reports Server (NTRS)

    Williams, R. T.

    1967-01-01

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

  16. Teachers' Beliefs and Teaching Mathematics with Manipulatives

    ERIC Educational Resources Information Center

    Golafshani, Nahid

    2013-01-01

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

  17. Count on It: Congruent Manipulative Displays

    ERIC Educational Resources Information Center

    Morin, Joe; Samelson, Vicki M.

    2015-01-01

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

  18. Coanda-assisted Spray Manipulation

    NASA Astrophysics Data System (ADS)

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

    2009-11-01

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

  19. Manipulating resource allocation in plants.

    PubMed

    Bennett, Emma; Roberts, Jeremy A; Wagstaff, Carol

    2012-05-01

    The distribution of nutrients and assimilates in different organs and tissues is in a constant state of flux throughout the growth and development of a plant. At key stages during the life cycle profound changes occur, and perhaps one of the most critical of these is during seed filling. By restricting the competition for reserves in Arabidopsis plants, the ability to manipulate seed size, seed weight, or seed content has been explored. Removal of secondary inflorescences and lateral branches resulted in a stimulation of elongation of the primary inflorescence and an increase in the distance between siliques. The pruning treatment also led to the development of longer and larger siliques that contained fewer, bigger seeds. This seems to be a consequence of a reduction in the number of ovules that develop and an increase in the fatty acid content of the seeds that mature. The data show that shoot architecture could have a substantial impact on the partitioning of reserves between vegetative and reproductive tissues and could be an important trait for selection in rapid phenotyping screens to optimize crop performance. PMID:22291133

  20. Interactive digital image manipulation system

    NASA Technical Reports Server (NTRS)

    Henze, J.; Dezur, R.

    1975-01-01

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

  1. Microcrystal manipulation with laser tweezers

    PubMed Central

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

    2013-01-01

    X-ray crystallography is the method of choice to deduce atomic resolution structural information from macromolecules. In recent years, significant investments in structural genomics initiatives have been undertaken to automate all steps in X-ray crystallography from protein expression to structure solution. Robotic systems are widely used to prepare crystallization screens and change samples on synchrotron beamlines for macromolecular crystallography. The only remaining manual handling step is the transfer of the crystal from the mother liquor onto the crystal holder. Manual mounting is relatively straightforward for crystals with dimensions of >25 µm; however, this step is nontrivial for smaller crystals. The mounting of microcrystals is becoming increasingly important as advances in microfocus synchrotron beamlines now allow data collection from crystals with dimensions of only a few micrometres. To make optimal usage of these beamlines, new approaches have to be taken to facilitate and automate this last manual handling step. Optical tweezers, which are routinely used for the manipulation of micrometre-sized objects, have successfully been applied to sort and mount macromolecular crystals on newly designed crystal holders. Diffraction data from CPV type 1 polyhedrin microcrystals mounted with laser tweezers are presented. PMID:23793156

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

    SciTech Connect

    Baker, C.P.

    1994-08-01

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

  3. Influence of MCHR2 and MCHR2-AS1 Genetic Polymorphisms on Body Mass Index in Psychiatric Patients and In Population-Based Subjects with Present or Past Atypical Depression.

    PubMed

    Delacrétaz, Aurélie; Preisig, Martin; Vandenberghe, Frederik; Saigi Morgui, Nuria; Quteineh, Lina; Choong, Eva; Gholam-Rezaee, Mehdi; Kutalik, Zoltan; Magistretti, Pierre; Aubry, Jean-Michel; von Gunten, Armin; Castelao, Enrique; Vollenweider, Peter; Waeber, Gerard; Conus, Philippe; Eap, Chin B

    2015-01-01

    Obesity development during psychotropic treatments represents a major health issue in psychiatry. Melanin-concentrating hormone receptor 2 (MCHR2) is a central receptor involved in energy homeostasis. MCHR2 shares its promoter region with MCHR2-AS1, a long antisense non-coding RNA. The aim of this study was to determine whether tagging single nucleotide polymorphisms (tSNPs) of MCHR2 and MCHR2-AS1 are associated with the body mass index (BMI) in the psychiatric and in the general population. The influence of MCHR2 and MCHR2-AS1 tSNPs on BMI was firstly investigated in a discovery psychiatric sample (n1 = 474). Positive results were tested for replication in two other psychiatric samples (n2 = 164, n3 = 178) and in two population-based samples (CoLaus, n4 = 5409; GIANT, n5 = 113809). In the discovery sample, TT carriers of rs7754794C>T had 1.08 kg/m2 (p = 0.04) lower BMI as compared to C-allele carriers. This observation was replicated in an independent psychiatric sample (-2.18 kg/m2; p = 0.009). The association of rs7754794C>T and BMI seemed stronger in subjects younger than 45 years (median of age). In the population-based sample, a moderate association was observed (-0.17 kg/m2; p = 0.02) among younger individuals (<45y). Interestingly, this association was totally driven by patients meeting lifetime criteria for atypical depression, i.e. major depressive episodes characterized by symptoms such as an increased appetite. Indeed, patients with atypical depression carrying rs7754794-TT had 1.17 kg/m2 (p = 0.04) lower BMI values as compared to C-allele carriers, the effect being stronger in younger individuals (-2.50 kg/m2; p = 0.03; interaction between rs7754794 and age: p-value = 0.08). This study provides new insights on the possible influence of MCHR2 and/or MCHR2-AS1 on obesity in psychiatric patients and on the pathophysiology of atypical depression. PMID:26461262

  4. Inertial-space disturbance rejection for robotic manipulators

    NASA Technical Reports Server (NTRS)

    Holt, Kevin

    1992-01-01

    The disturbance rejection control problem for a 6-DOF (degree of freedom) PUMA manipulator mounted on a 3-DOF platform is investigated. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Conditions for the stability of the closed-loop system are derived. The performance of the controller is compared for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities.

  5. Changes in proprioception and pain in patients with neck pain after upper thoracic manipulation

    PubMed Central

    Yang, Jinmo; Lee, Byoungkwon; Kim, Changbeom

    2015-01-01

    [Purpose] The purpose of this study was to conduct cervical stability training and upper thoracic manipulation for patients with chronic neck pain and then investigate the changes of cervical proprioception and pain. [Subjects and Methods] Subjects were 30 workers with mechanical neck pain, who were randomly divided into an upper thoracic manipulation group and a cervical stability training group. Upper thoracic manipulation after cervical stability training was conducted for the upper thoracic manipulation group, and only stability training was conducted for the cervical stability training group. The intervention period was six weeks, and consisted of three sessions a week, each of which lasted for 30 minutes. For proprioception measurement, an electro-goniometer was used to measure reposition sense before and after the intervention. The visual analogue scale was used to assess pain. [Results] After the intervention, the error angle was significantly smaller in flexion and right left side-bending, and pain was significantly reduced in the upper thoracic manipulation group. According to the post intervention comparison of the two groups, there were significant differences in the proprioception and pain values. [Conclusion] Conducting both cervical stability training and upper thoracic manipulation for patients with chronic neck pain was more helpful for the improvement of proprioception and pain than cervical stability training alone. PMID:25931733

  6. Spatial operator approach to flexible manipulator inverse and forward dynamics

    NASA Technical Reports Server (NTRS)

    Rodriguez, G.

    1990-01-01

    This study extends to flexible multibody manipulators the recent results of the author on the use of spatially recursive filtering and smoothing techniques for robot arm dynamics. The configuration analyzed is that of a mechanical system of flexible bodies joined together by articulated joints. The inverse and forward dynamics problems are solved using the techniques of spatially recursive Kalman filtering and smoothing. The algorithms are easily developed using a set of identities associated with mass matrix factorization and inversion. The identities are easily derived using a spatial operator algebra developed by the author.

  7. Task based synthesis of serial manipulators

    PubMed Central

    Patel, Sarosh; Sobh, Tarek

    2015-01-01

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

  8. Fuzzy logic control of telerobot manipulators

    NASA Technical Reports Server (NTRS)

    Franke, Ernest A.; Nedungadi, Ashok

    1992-01-01

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

  9. Causes of dissociation between subjective workload measures and performance - Caveats for the use of subjective assessments

    NASA Technical Reports Server (NTRS)

    Vidulich, M. A.; Wickens, C. D.

    1985-01-01

    Dissociations between subjective workload assessments and performance were investigated. The difficulty of a Sternberg memory search task was manipulated by varying stimulus presentation rate, stimulus discernibility, value of good performance, and automaticity of performance. All Sternberg task conditions were performed both alone and concurrently with a tracking task. Bipolar subjective workload assessments were collected. Dissociations between workload and performance were found related to automaticity, presentation rate, and motivation level. The results were interpreted as supporting the hypothesis that the specific cognitive processes responsible for subjective assessments can differ from those responsible for performance. The potential contamination these dissociations could inflict on operational workload assessments is discussed.

  10. Motion planning for redundant prismatic-jointed manipulators in the free-floating mode

    NASA Astrophysics Data System (ADS)

    Liu, Xiao-Dong; Baoyin, He-Xi; Ma, Xing-Rui

    2012-10-01

    This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution (PSODE) is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The coefficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simultaneously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method provides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.

  11. Large planar maneuvers for articulated flexible manipulators

    NASA Technical Reports Server (NTRS)

    Huang, Jen-Kuang; Yang, Li-Farn

    1988-01-01

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

  12. Dynamically consistent Jacobian inverse for mobile manipulators

    NASA Astrophysics Data System (ADS)

    Ratajczak, Joanna; Tchoń, Krzysztof

    2016-06-01

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

  13. Osteopathic manipulative medicine for carpal tunnel syndrome.

    PubMed

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

    2012-03-01

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

  14. Eye-Hand Coordination: Dexterous Object Manipulation in New Gravity Fields

    NASA Astrophysics Data System (ADS)

    Thonnard, J. L.; Smith, A.; Wing, A.; McIntyre, J.; Lefèvre, P.; White, O.; Augurelle, A. S.; Langlais, J. S.; Witney, A.; Blohm, G.; Penta, M.; Elmann-Larsen, B.; Bracewell, R. M.; Stramigioli, S.

    2005-06-01

    The stabilisation of an object manipulated with the hand depends on applying a sufficiently strong force with each finger such that sufficient friction is generated to resist the load force acting tangentially to the contact surfaces. Gravity normally provides a constant force acting on the object (depending on its weight) which is adequately taken into account by an appropriate level of grip force.Variations in inertial forces caused by the subject's own arm movements over a range of accelerations also produce synchronous changes in grip forces that rise and fall with the changes in the tangential load forces on the fingers.That is, grip force reflects an anticipatory adjustment to the fluctuations in inertial forces.The modulation of grip force in anticipation of load force implies that the nervous system has access to information concerning the object's weight, mass and the kinematics of the forthcoming movement, since changes in any of these require a different grip force.This suggests that the internal models used to predict load forces and generate appropriate grip forces are pretty good. It remains to be proved, however, whether the entire control process of grip-force compensation is based on feedforward, model-based control, or if some components of the required grip responses are generated through reflex actions. Microgravity presents a significant challenge to dexterous object manipulation for a number of reasons. Owing to all the potential deviations from the expected characteristics of the load forces, planning movement under microgravity conditions might involve a greater reliance on visual, tactile and/or memory cues to an object's mass. In addition, there might be over- gripping to reduce the consequence of an erroneous estimate of mass. Alternatively, the hand might initially be moved more slowly than normal to allow more time for feedback-based adjustments to grip force. In this regard, a series of experiments has been designed in order to study

  15. Instrumentation for mass spectrometry: 1997

    SciTech Connect

    McLuckey, S.A.

    1997-08-01

    All mass spectrometry experiments involve the manipulation of material, an interface with the mass spectrometer, ionization, ion manipulation/analysis, detection and data collection/reduction. Each of these elements involve instrumentation. The wide range of species now amenable to mass spectrometry and the diverse areas of physical science in which it plays a role have led to a seemingly unlimited array of instrumental combinations. However, only a limited number of mass analyzers, and their combinations, dominate. The dominant analyzers include time-of-flight, Fourier transform ion cyclotron resonance, the Paul trap, the mass filter, and the sector mass spectrometer. Why there are so few (or so many, depending upon one`s point of view) can be understood upon consideration of a set of mass analyzer figures of merit. These include mass resolution, mass accuracy, mass range, dynamic range, abundance sensitivity, precision, efficiency, speed, MS{sup n} capability, compatibility with the ionizer, cost, and size. The most appropriate form of mass spectrometry is determined by the priorities of the particular measurement placed on the various mass analyzer characteristics and the relative strengths of the analyzers in meeting the requirements. Each of the analyzer types has a unique set of figures of merit that makes it optimally suited for particular applications. This paper discusses these figures of merit, provides data illustrating recent developments for each analyzer type, and gives the figures of merit of each type of analyzer as they stand in 1997. 101 refs., 24 figs.

  16. Dietary manipulation of platelet function.

    PubMed

    Bachmair, E M; Ostertag, L M; Zhang, X; de Roos, B

    2014-11-01

    Activated platelets contribute to plaque formation within blood vessels in the early and late stages of atherogenesis, and therefore they have been proposed as risk factor for cardiovascular disease. Anti-platelet drugs, such as aspirin, are now the most prescribed pharmacological treatment in Europe. Certain dietary bioactives also beneficially affect platelet function, and with less side effects, albeit that effects are generally more subtle. Therefore, consumption of dietary bioactives could play a role in the prevention of atherothrombotic vascular disease. Here we review the efficacy of dietary treatment strategies, especially those involving certain dietary fatty acids and polyphenols, to modulate platelet function in healthy subjects or in patients with cardiovascular disease. Variation in study populations, small study sizes and lack of comparability between methods to assess platelet function currently limit robust evidence on the efficacy of dietary bioactives in healthy subjects or specific patient groups. Also, limited knowledge of the metabolism of dietary bioactives, and therefore of the bioavailability of bioactive ingredients, restricts our ability to identify the most effective dietary regimes to improve platelet function. Implementation of uniform point-of-care tests to assess platelet function, and enhanced knowledge of the efficacy by which specific dietary compounds and their metabolites affect platelet function, may enable the identification of functional anti-platelet ingredients that are eligible for a health claim, or combined treatment strategies, including both pharmacological anti-platelet treatment as well as dietary intervention, to tackle atherothrombotic vascular disease. PMID:24858060

  17. Control of free-flying space robot manipulator systems

    NASA Technical Reports Server (NTRS)

    Cannon, Robert H., Jr.

    1989-01-01

    Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

  18. Optoelectronic Tweezers for Microparticle and Cell Manipulation

    NASA Technical Reports Server (NTRS)

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

    2014-01-01

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

  19. Reconfigurable mobile manipulation for accident response

    SciTech Connect

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

    2000-06-06

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

  20. Optoelectronic tweezers for microparticle and cell manipulation

    NASA Technical Reports Server (NTRS)

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

    2009-01-01

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

  1. The Frankfurt School's Theory of Manipulation

    ERIC Educational Resources Information Center

    Petryszak, Nicholas

    1977-01-01

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

  2. Manipulating bacteria with opto-electrokinetic methods

    NASA Astrophysics Data System (ADS)

    Wereley, Steve; Kwon, Jae-Sung; Ravindranath, Sandeep; Irudayaraj, Joseph

    2010-11-01

    Recently we developed an opto-electrokinetic method for manipulating particles and cells called Rapid Electrokinetic Patterning (REP). REP is a very fast method for manipulating thousands of particles simultaneously and controllably owing to the creation of an electrothermal vortex that transports particles rapidly and in parallel to a site determined by the focal point of a laser beam. Whether particles are trapped at the center of the vortex or not is determined by their electrical properties (conductivity and permittivity). In this talk we demonstrate that REP can be used to manipulate the bacterium Shewanella oneidensis MR-1. The bacteria are assembled into large planar arrays of organisms. The dependence of this assembly process on voltage and frequency is quantified. REP can even be used to selectively manipulate and collect live or dead bacteria.

  3. Tension Stiffened and Tendon Actuated Manipulator

    NASA Technical Reports Server (NTRS)

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

    2015-01-01

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

  4. Hybrid Image-Plane/Stereo Manipulation

    NASA Technical Reports Server (NTRS)

    Baumgartner, Eric; Robinson, Matthew

    2004-01-01

    Hybrid Image-Plane/Stereo (HIPS) manipulation is a method of processing image data, and of controlling a robotic manipulator arm in response to the data, that enables the manipulator arm to place an end-effector (an instrument or tool) precisely with respect to a target (see figure). Unlike other stereoscopic machine-vision-based methods of controlling robots, this method is robust in the face of calibration errors and changes in calibration during operation. In this method, a stereoscopic pair of cameras on the robot first acquires images of the manipulator at a set of predefined poses. The image data are processed to obtain image-plane coordinates of known visible features of the end-effector. Next, there is computed an initial calibration in the form of a mapping between (1) the image-plane coordinates and (2) the nominal three-dimensional coordinates of the noted end-effector features in a reference frame fixed to the main robot body at the base of the manipulator. The nominal three-dimensional coordinates are obtained by use of the nominal forward kinematics of the manipulator arm that is, calculated by use of the currently measured manipulator joint angles and previously measured lengths of manipulator arm segments under the assumption that the arm segments are rigid, that the arm lengths are constant, and that there is no backlash. It is understood from the outset that these nominal three-dimensional coordinates are likely to contain possibly significant calibration errors, but the effects of the errors are progressively reduced, as described next. As the end-effector is moved toward the target, the calibration is updated repeatedly by use of data from newly acquired images of the end-effector and of the corresponding nominal coordinates in the manipulator reference frame. By use of the updated calibration, the coordinates of the target are computed in manipulator-reference-frame coordinates and then used to the necessary manipulator joint angles to position

  5. Parasite-induced trophic facilitation exploited by a non-host predator: a manipulator's nightmare.

    PubMed

    Mouritsen, Kim N; Poulin, Robert

    2003-09-15

    Parasites with complex life cycles, relying on trophic transmission to a definitive host, very often induce changes in the behaviour or appearance of their intermediate hosts. Because this usually makes the intermediate host vulnerable to predation by the definitive host, it is generally assumed that the parasite's transmission rate is increased, and that the modification of the host is, therefore, of great adaptive significance to the parasite. However, in the ecological "real world" other predators unsuitable as hosts may just as well take advantage of the facilitation process and significantly erode the benefit of host manipulation. Here we show that the intertidal New Zealand cockle (Austrovenus stutchburyi), manipulated by its echinostome trematode (Curtuteria australis) to rest on the sediment surface fully exposed to predation from the avian definitive host, is also subject to sublethal predation from a benthic feeding fish (Notolabrus celidotus, Labridae). The fish is targeting only the cockle-foot, in which the parasite preferentially encysts, reducing the infection intensity of manipulated cockles to levels comparable with those in non-manipulated, buried cockles. Based on the frequency and intensity of the foot cropping and predation rates on surfaced cockles by avian hosts, it is estimated that 2.5% of the parasite population in manipulated cockles is transmitted successfully whereas 17.1% is lost to fish. We argue that the adaptive significance of manipulation in the present system depends critically on the feeding behaviour of the definitive host. If cockles constitute the majority of prey items, there will be selection against manipulation. If manipulated cockles are taken as an easily accessible supplement to a diet composed mostly of other prey organisms, behavioural manipulation of the cockle host appears a high risk, high profit transmission strategy. Both these feeding behaviours of birds are known to occur in the field.

  6. On the manipulability of dual cooperative robots

    NASA Technical Reports Server (NTRS)

    Chiacchio, P.; Chiaverini, S.; Sciavicco, L.; Siciliano, B.

    1989-01-01

    The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed.

  7. Efficient Computation Of Manipulator Inertia Matrix

    NASA Technical Reports Server (NTRS)

    Fijany, Amir; Bejczy, Antal K.

    1991-01-01

    Improved method for computation of manipulator inertia matrix developed, based on concept of spatial inertia of composite rigid body. Required for implementation of advanced dynamic-control schemes as well as dynamic simulation of manipulator motion. Motivated by increasing demand for fast algorithms to provide real-time control and simulation capability and, particularly, need for faster-than-real-time simulation capability, required in many anticipated space teleoperation applications.

  8. A Spin Manipulator for Electron Accelerators

    SciTech Connect

    Dunham, Bruce; Sinclair, Charles; Engwall, David; Heddle, David; Cardman, Lawrence

    1992-06-01

    We have designed and constructed a novel optical system capable of manipulating the orientation of the polarization direction. vector P, of a 100 keV beam of polarized electrons relative to the momentum vector, k, in an arbitrary manner. This spin manipulator is fully compatible with the UHV requirements of the photocathode sources that are typically used for accelerator-based experiments involving polarized electrons. We describe the design and operation of the system and its components, and document its performance.

  9. Osteopathic manipulative treatment for colonic inertia.

    PubMed

    Cohen-Lewe, Adam

    2013-03-01

    Surgical treatment options for patients with colonic inertia are costly and do not always relieve the pain associated with the condition. The author describes a case of a 41-year-old woman with colonic inertia who received osteopathic manipulative treatment targeted at the neuromusculoskeletal and gastrointestinal systems. The patient reported temporary improvement in pain and bowel function without pharmacotherapy or surgical intervention. Osteopathic manipulative treatment should be considered in patients with visceral as well as neuromusculoskeletal symptoms.

  10. Direct manipulation of virtual objects

    NASA Astrophysics Data System (ADS)

    Nguyen, Long K.

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

  11. Intelligent modular manipulation for mobile robots

    NASA Astrophysics Data System (ADS)

    Culbertson, John

    2008-04-01

    As mobile robots continue to gain acceptance across a variety of applications within the defense and civilian markets, the number of tasks that these robot platforms are expected to accomplish are expanding. Robot operators are asked to do more with the same platforms - from EOD missions to reconnaissance and inspection operations. Due to the fact that a majority of missions are dangerous in nature, it is critical that users are able to make remote adjustments to the systems to ensure that they are kept out of harm's way. An efficient way to expand the capabilities of existing robot platforms, improve the efficiency of robot missions, and to ultimately improve the operator's safety is to integrate JAUS-enabled Intelligent Modular Manipulation payloads. Intelligent Modular Manipulation payloads include both simple and dexterous manipulator arms with plug-and-play end-effector tools that can be changed based on the specific mission. End-effectors that can be swapped down-range provide an added benefit of decreased time-on-target. The intelligence in these systems comes from semi-autonomous mobile manipulation actions that enable the robot operator to perform manipulation task with the touch of a button on the OCU. RE2 is supporting Unmanned Systems Interoperability by utilizing the JAUS standard as the messaging protocol for all of its manipulation systems. Therefore, they can be easily adapted and integrated onto existing JAUS-enabled robot platforms.

  12. Optimal and robust control of robot manipulators

    NASA Astrophysics Data System (ADS)

    Grabbe, Michael Thomas

    1992-01-01

    The problem of controlling a robot manipulator typically requires determining the actuating torques at each joint, in the form of a feedback control law, which force the manipulator joint angles to follow a prescribed trajectory. This problem is often referred to as the trajectory tracking problem, and is difficult to solve due to the highly nonlinear dynamics associated with the robot manipulator and the time variance of the system induced by the prescribed trajectory. The complexity of the problem is compounded in cases where the manipulator end effector is constrained by contact with a surface, there are modeling or parametric uncertainties in the manipulator dynamics, or there are disturbances to the system. The trajectory tracking problem is addressed in two distinct cases. The first case involves the ideal situation in which the manipulator is unconstrained in its motion and there are no uncertainties or disturbances in the system. Optimal control theory is used to develop a class of feedback control laws which produce a globally uniformly asymptotically stable (GUAS) system. The second case involves both constrained motion and the possibilities of uncertainties and disturbances in the system. Two feedback control laws are developed which are robust with respect to uncertainties and disturbances, provide globally exponentially stable (GES) position tracking error, and provide a means of regulating the force applied.

  13. Manipulation of optically levitated particles

    NASA Astrophysics Data System (ADS)

    Isaksson, Oscar; Karlsteen, Magnus; Rostedt, Mats; Hanstorp, Dag

    2013-09-01

    The development of an experimental system in which optical levitation combined with Millikańs classical oil drop experiment will be presented. The focus of the apparatus is a glass cell (25x72x25 mm3) in which an oil drop is levitated using a vertically aligned laser beam. A laser power of about 0.9 W is needed to capture a drop, whereas typically 0.3 W is sufficient to maintain it in the trap. An alternating electric field is applied vertically across the cell, causing the drop to oscillate in the vertical direction. The amplitude of the oscillations depends on the strength of the electric field and the q/m ratio of the oil drop. The oscillations are observed by imaging scattered laser light onto either a screen or a position sensitive detector. The number of discrete charges on the drop can be reduced by exposing it to either UV-light or a radioactive source. The radius of the drop is measured by detecting the diffraction pattern produced when illuminated with a horizontally aligned He-Ne laser beam. The mass of the drop can then be determined since the density of the oil is known. Hence, absolute measurements of both the mass and the charge of the drop can be obtained. The goal of the experiment is to design a system which can be used to demonstrate several fundamental physical phenomena using the bare eye as the only detector. The experimental set-up will be further developed for studies of light scattering and spectroscopy of liquids and for studies of interactions between liquid drops.

  14. The Function of Words: Distinct Neural Correlates for Words Denoting Differently Manipulable Objects

    ERIC Educational Resources Information Center

    Rueschemeyer, Shirley-Ann; van Rooij, Daan; Lindemann, Oliver; Willems, Roel M.; Bekkering, Harold

    2010-01-01

    Recent research indicates that language processing relies on brain areas dedicated to perception and action. For example, processing words denoting manipulable objects has been shown to activate a fronto-parietal network involved in actual tool use. This is suggested to reflect the knowledge the subject has about how objects are moved and used.…

  15. The Mental Manipulation of 2-D Representations of Knots as Deformable Structures.

    ERIC Educational Resources Information Center

    McLeay, Heather; Piggins, David

    1996-01-01

    Spatial tests involving the comparison of diagrams of interlaced ropes or knots at varying orientations were given to (n=21) subjects, mostly English college undergraduates, to determine an ordering in terms of complexity of tasks involving the mental manipulation of the knots. Certain knot shapes were processed faster than others and greater…

  16. The Effects of Explicit Instruction with Manipulatives on the Fraction Skills of Students with Autism

    ERIC Educational Resources Information Center

    Agrawal, Jugnu

    2013-01-01

    This single-subject multiple-baseline across participants study was designed to investigate the effects of explicit instruction with manipulatives on the conceptual and procedural knowledge of addition and subtraction of like and unlike fractions of elementary school students with autism. This study included six 8- to 12-year-old students with…

  17. Beliefs and Practice Patterns in Spinal Manipulation and Spinal Motion Palpation Reported by Canadian Manipulative Physiotherapists

    PubMed Central

    Macdermid, Joy C.; Santaguida, P. Lina; Thabane, Lehana; Giulekas, Kevin; Larocque, Leo; Millard, James; Williams, Caitlin; Miller, Jack; Chesworth, Bert M.

    2013-01-01

    ABSTRACT Purpose: This practice survey describes how Fellows of the Canadian Academy of Manipulative Physiotherapy (FCAMPT) use spinal manipulation and mobilization and how they perceive their competence in performing spinal assessment; it also quantifies relationships between clinical experience and use of spinal manipulation. Methods: A cross-sectional survey was designed based on input from experts and the literature was administered to a random sample of the FCAMPT mailing list. Descriptive (including frequencies) and inferential statistical analyses (including linear regression) were performed. Results: The response rate was 82% (278/338 eligible FCAMPTs). Most (99%) used spinal manipulation. Two-thirds (62%) used clinical presentation as a factor when deciding to mobilize or manipulate. The least frequently manipulated spinal region was the cervical spine (2% of patients); 60% felt that cervical manipulation generated more adverse events. Increased experience was associated with increased use of upper cervical manipulation among male respondents (14% more often for every 10 years after certification; β, 95% CI=1.37, 0.89–1.85, p<0.001) but not among female respondents. Confidence in palpation accuracy decreased in lower regions of the spine. Conclusion: The use of spinal manipulation/mobilization is prevalent among FCAMPTs, but is less commonly used in the neck because of a perceived association with adverse events. PMID:24403681

  18. Manipulation of a fragile object

    PubMed Central

    Gorniak, Stacey L.; Zatsiorsky, Vladimir M.; Latash, Mark L.

    2010-01-01

    We investigated strategies of adjustments in kinetic and kinematic patterns, and in multi-digit synergies during quick vertical transport of an instrumented handle that collapsed when the grasping force exceeded a certain magnitude (quantified with a fragility index). The collapse threshold of the object was set using a novel electromagnetic device. Moving a fragile object is viewed as a task with two constraints on the grip force defined by the slipping and crushing thresholds, respectively. When moving more fragile objects, subjects decreased object peak acceleration, increased movement time, showed a drop in the safety margin (extra force over the slipping threshold), and showed a tendency towards violating the minimum-jerk criterion. Linear regression analysis of grip force against load force has shown tight coupling between the two with a decline in the regression coefficient with increased fragility index. The safety margin was lower in bimanual tasks, compared to unimanual tasks, for both fragile and non-fragile objects. Two novel indices have been introduced and studied, the safety margin due to fragility and the drop-crush index. Both indices showed a decrease with increased object fragility. Changes in the drop-crush index showed that the subjects would rather crush the fragile objects as opposed to dropping them, possibly reflecting the particular experimental procedure. We did not find differences between the performance indices of the dominant and non-dominant hand thus failing to support the recently formulated dominance hypothesis. The synergies stabilizing grip force were quantified at two levels of an assumed two-level control hierarchy using co-variation indices between elemental variables across trials. There were strong synergies at the upper level of the hierarchy (the task is shared between the opposing groups of digits) that weakened with an increase in object fragility. At the lower level (action of an effector is shared among the four

  19. Choice of contact points during multidigit grasping: effect of predictability of object center of mass location.

    PubMed

    Lukos, Jamie; Ansuini, Caterina; Santello, Marco

    2007-04-01

    It has been shown that when subjects can predict object properties [e.g., weight or center of mass (CM)], fingertip forces are appropriately scaled before the object is lifted, i.e., before somatosensory feedback can be processed. However, it is not known whether subjects, in addition to these anticipatory force mechanisms, exploit the ability to choose where digits can be placed to facilitate object manipulation. We addressed this question by asking subjects to reach and grasp an object whose CM was changed to the left, center, or right of the object in either a predictable or unpredictable manner. The only task requirement was to minimize object roll during lift. We hypothesized that subjects would modulate contact points but only when object CM location could be predicted. As expected, object roll was significantly smaller in the predictable condition. This experimental condition was also associated with statistically distinct spatial distributions of contact points as a function of object CM location but primarily when large torques had to be counteracted, i.e., for right and left CM locations. In contrast, when subjects could not anticipate CM location, a "default" distribution of contact points was used, this being statistically indistinguishable from that adopted for the center CM location in the predictable condition. We conclude that choice of contact points is integrated with anticipatory force control mechanisms to facilitate object manipulation. These results demonstrate that planning of digit placement is an important component of grasp control.

  20. Pyrolysis gas chromatography-mass spectrometry of polychlorinated biphenyls on sediment

    SciTech Connect

    McMurtrey, K.D.; Wildman, N.J.; Tai, H.

    1983-12-01

    Polychlorinated biphenyls (PCBs) are common environmental contaminants which were freely employed for many years in numerous industrial applications but whose use has now been regulated. Many analytical schemes for monitoring these materials in environmental samples have been developed over the last decades, however, PCBs remain difficult analytical subjects. Most protocols rely on a combination of wet chemical pre-analytical isolation and purification whose complexity depends on the sample matrix. The time required for these manipulations may greatly hamper efforts directed towards emergency cleanup of accidental or illicit contamination of the environment. Thus, a clear need exists for methods which will allow rapid analysis of relatively intransigent samples for PCB contamination. Preliminary experiments directed to assessing the use of pyrolysis/gas chromatography/mass spectrometry in determining PCB contamination of soils and sediments are reported. In these experiments pyrolytic desorption at 1000/sup 0/C during 10 sec was used to completely replace more lengthy wet chemical manipulations.

  1. Spatial selectivity to manipulate portable objects in wedge-capped capuchins (Cebus olivaceus).

    PubMed

    Dubois, Michel Jean; Gerard, Jean-François; Pontes, Fernando

    2005-04-01

    We studied the manipulative activity of five wedge-capped capuchins (Cebus olivaceus) confronted with different types of unfamiliar and portable objects: wooden blocks, plastic rings, spoons, and coconuts. Combinatorial manipulations involving two portable objects of the same type were quite frequent. The lately introduced objects, whatever their kind, appeared as the most attractive. Nevertheless, some objects remained very attractive throughout the overall experiment, especially the wooden blocks which elicited more combinatorial and striking behaviors than the other objects. Concerning space, we observed that the individuals choose specific locations to perform their manipulative acts. The spatial distributions of these acts were more concentrated, and less concordant between individuals, in the present study than in two others conducted with the same group but involving the manipulation of familiar objects. This suggests that individual differences were more marked when the subjects manipulated unfamiliar objects than when they manipulated familiar ones. This finding may have applications when the members of a group have to benefit from an enrichment of their environment. PMID:15549610

  2. Precision manipulation with a dextrous robot hand

    NASA Astrophysics Data System (ADS)

    Michelman, Paul

    1994-01-01

    In this thesis, we discuss a framework for describing and synthesizing precision manipulation tasks with a robot hand. Precision manipulations are those in which the motions of grasped objects are caused by finger motions alone (as distinct from arm or wrist motion). Experiments demonstrating the capabilities of the Utah-MIT hand are presented. This work begins by examining current research on biological motor control to raise a number of questions. For example, is the control centralized and organized by a central processor? Or is the control distributed throughout the nervous system? Motor control research on manipulation has focused on developing classifications of hand motions, concentrating solely on finger motions, while neglecting grasp stability and interaction forces that occur in manipulation. In addition, these taxonomies have not been explicitly functional. This thesis defines and analyzes a basic set of manipulation strategies that includes both position and force trajectories. The fundamental purposes of the manipulations are: (1) rectilinear and rotational motion of grasped objects of different geometries; and (2) the application of forces and moments against the environment by the grasped objects. First, task partitioning is described to allocate the fingers their roles in the task. Second, for each strategy, the mechanics and workspace of the tasks are analyzed geometrically to determine the gross finger trajectories required to achieve the tasks. Techniques illustrating the combination of simple manipulations into complex, multiple degree-of-freedom tasks are presented. There is a discussion of several tasks that use multiple elementary strategies. The tasks described are removing the top of a childproof medicine bottle, putting the top back on, rotating and regrasping a block and a cylinder within the grasp. Finally, experimental results are presented. The experimental setup at Columbia University's Center for Research in Intelligent Systems and

  3. Distinguishing manipulated stocks via trading network analysis

    NASA Astrophysics Data System (ADS)

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

    2011-10-01

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

  4. Dynamic whole-body robotic manipulation

    NASA Astrophysics Data System (ADS)

    Abe, Yeuhi; Stephens, Benjamin; Murphy, Michael P.; Rizzi, Alfred A.

    2013-05-01

    The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the field. We are investigating how the coordinated use of the body, legs, and integrated manipulator, on a mobile robot, can improve the strength, velocity, and workspace when handling heavy objects. We envision that such a capability would aid in a search and rescue scenario when clearing obstacles from a path or searching a rubble pile quickly. Manipulating heavy objects is especially challenging because the dynamic forces are high and a legged system must coordinate all its degrees of freedom to accomplish tasks while maintaining balance. To accomplish these types of manipulation tasks, we use trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning trajectories in a 13 dimensional space. We apply the Covariance Matrix Adaptation (CMA) algorithm to solve for trajectories that optimize task performance while also obeying important constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate desired feed-forward body forces and foot step locations, which enable tracking on the robot. Some hardware results for cinderblock throwing are demonstrated on the BigDog quadruped platform augmented with a human-arm-like manipulator. The results are analogous to how a human athlete maximizes distance in the discus event by performing a precise sequence of choreographed steps.

  5. Immediate effects of spinal manipulation on nitric oxide, substance P and pain perception.

    PubMed

    Molina-Ortega, Francisco; Lomas-Vega, Rafael; Hita-Contreras, Fidel; Plaza Manzano, Gustavo; Achalandabaso, Alexander; Ramos-Morcillo, Antonio J; Martínez-Amat, Antonio

    2014-10-01

    Previous studies have analyzed the effects of spinal manipulation on pain sensitivity by using several sensory modalities, but to our knowledge, no studies have focused on serum biomarkers involved in the nociceptive pathway after spinal manipulation. Our objectives were to determine the immediate effect of cervical and dorsal manipulation over the production of nitric oxide and substance P, and establishing their relationship with changes in pressure pain thresholds in asymptomatic subjects. In this single-blind randomized controlled trial, 30 asymptomatic subjects (16 men) were randomly distributed into 3 groups (n = 10 per group): control, cervical and dorsal manipulation groups. Blood samples were extracted to obtain serum. ELISA assay for substance P and chemiluminescence analysis for nitric oxide determination were performed. Pressure pain thresholds were measured with a pressure algometer at the C5-C6 joint, the lateral epicondyle and the tibialis anterior muscle. Outcome measures were obtained before intervention, just after intervention and 2 h after intervention. Our results indicated an increase in substance P plasma level in the cervical manipulation group (70.55%) when compared with other groups (p < 0.05). This group also showed an elevation in the pressure pain threshold at C5-C6 (26.75%) and lateral epicondyle level (21.63%) immediately after the intervention (p < 0.05). No changes in nitric oxide production were observed. In conclusion, mechanical stimulus provided by cervical manipulation increases substance P levels and pressure pain threshold but does not change nitric oxide concentrations. Part of the hypoalgesic effect of spinal manipulation may be due to the action of substance P.

  6. A Molecular Analysis of Training Multiple versus Single Manipulations to Establish a Generalized Manipulative Imitation Repertoire

    ERIC Educational Resources Information Center

    Hartley, Breanne K.

    2009-01-01

    This study evaluates the necessity of training multiple versus single manipulative-imitations per object in order to establish generalized manipulative-imitation. Training took place in Croyden Avenue School's Early Childhood Developmental Delay preschool classroom in Kalamazoo, MI. Two groups of 3 children each were trained to imitate in order to…

  7. Manipulators live better, but are they always parasites?

    PubMed

    Heil, Martin

    2015-09-01

    A recent study reports partner manipulation for an interaction that was considered a reward-for-defence mutualism. Secretions of lycaenid caterpillars altered ant locomotion and aggressiveness, likely by manipulating dopaminergic signalling. This study opens the question whether such manipulation is common and whether manipulation necessarily characterises an interaction as parasitism. PMID:26298610

  8. Manipulation of the Microbiota Using Probiotics.

    PubMed

    Grimm, Verena; Riedel, Christian U

    2016-01-01

    A number of diseases are associated with alterations in the composition of the microbiota of various niches of the human body. Although, in most cases, it is unclear if these alterations are the cause or the consequence of disease, they provide a rationale for therapeutic or prophylactic manipulation of a dysbiotic microbiota. Approaches to manipulate the microbiome include administration of either live bacteria, which are underrepresented in the diseased individual, substances that aim at increasing the populations of these bacteria, or a combination of the two. This chapter summarizes the available data in therapeutic manipulation of a various diseased states including irritable bowel syndrome, inflammatory bowel disease, necrotizing enterocolitis, atopic and allergic diseases, and antibiotic-associated and infectious diarrhoea. PMID:27161354

  9. Electrochemical Processes Enhanced by Acoustic Liquid Manipulation

    NASA Technical Reports Server (NTRS)

    Oeftering, Richard C.

    2004-01-01

    Acoustic liquid manipulation is a family of techniques that employ the nonlinear acoustic effects of acoustic radiation pressure and acoustic streaming to manipulate the behavior of liquids. Researchers at the NASA Glenn Research Center are exploring new methods of manipulating liquids for a variety of space applications, and we have found that acoustic techniques may also be used in the normal Earth gravity environment to enhance the performance of existing fluid processes. Working in concert with the NASA Commercial Technology Office, the Great Lakes Industrial Technology Center, and Alchemitron Corporation (Elgin, IL), researchers at Glenn have applied nonlinear acoustic principles to industrial applications. Collaborating with Alchemitron Corporation, we have adapted the devices to create acoustic streaming in a conventional electroplating process.

  10. Sensing Temperatures Via Prostheses And Manipulators

    NASA Technical Reports Server (NTRS)

    Zerkus, Mike

    1991-01-01

    Proposed temperature-sensing system applies heat to (or removes heat from) human user's skin according to temperature of remote object. Used in artificial limbs and in telerobotic manipulators. In prosthetic arm and hand, sensors on tips of artificial fingers send signals to electronic control network that drives small, lightweight thermoelectric heat pump worn on back of user's shoulder. Heat pump heats or cools skin according to signals from sensors. Heat pump and control network worn like article of clothing. In manual control of remote robot, sensors placed in fingers of remote manipulator. Sensors drive, via similar electronic control network, thermoelectric heat pumps in fingers of glove worn by operator, who then has benefit of information about temperatures on manipulated object.

  11. Dynamic Analysis of a Two Member Manipulator

    NASA Technical Reports Server (NTRS)

    McGinley, W. Mark; Shen, Ji Y.

    1997-01-01

    Attenuating start-up and stopping vibrations when maneuvering large payloads attached to flexible manipulator systems is a great concern for many space missions. To address this concern, it was proposed that the use of smart materials, and their applications in smart structures, may provide an effective method of control for aerospace structures. In this paper, a modified finite element model has been developed to simulate the performance of piezoelectric ceramic actuators, and was applied to a flexible two-arm manipulator system. Connected to a control voltage, the piezoelectric actuators produce control moments based on the optimal control theory. The computer simulation modeled the end-effector vibration suppression of the NASA manipulator testbed for berthing operations of the Space Shuttle to the Space Station. The results of the simulation show that the bonded piezoelectric actuators can effectively suppress follow-up vibrations of the end-effector, stimulated by some external disturbance.

  12. Manipulating cyanobacteria: Spirulina for potential CELSS diet

    NASA Technical Reports Server (NTRS)

    Tadros, Mahasin G.; Smith, Woodrow; Mbuthia, Peter; Joseph, Beverly

    1989-01-01

    Spirulina sp. as a bioregenerative photosynthetic and an edible alga for spacecraft crew in a CELSS, was characterized for the biomass yield in batch cultures, under various environmental conditions. The partitioning of the assimalitory products (proteins, carbohydrates, lipids) were manipulated by varying the environmental growth conditions. Experiments with Spirulina have shown that under stress conditions (i.e., high light 160 uE/sq m/s, temperature 38 C, nitrogen or phosphate limitation; 0.1 M sodium chloride) carbohydrates increased at the expense of proteins. In other experiments, where the growth media were sufficient in nutrients and incubated under optimum growth conditions, the total of the algal could be manipulated by growth conditions. These results support the feasibility of considering Spirulina as a subsystem in CELSS because of the ease with which its nutrient content can be manipulated.

  13. Space station erectable manipulator placement system

    NASA Technical Reports Server (NTRS)

    Grimaldi, Margaret E. (Inventor)

    1988-01-01

    A habitable space station was proposed for low earth orbit, to be constructed from components which will be separately carried up from the earth and thereafter assembled. A suitable manipulating system having extraordinary manipulative capability is required. The invention is an erectable manipulator placement system for use on a space station and comprises an elongate, lattice-like boom having guide tracks attached thereto, a carriage-like assembly pivotally mounted on and extending from said dolly. The system further includes a turntable base pivotally interconnected with the proximal end of the boom and positioned either on a part of a transferring vehicle, or on another payload component being carried by the said transferring vehicle, or on the space station. Novelty resides in the use of a turntable base having a hinged boom with a dolly translatable therealong to carry the arm-like assembly, thus providing an additional 3 degrees of freedom to the arm.

  14. Planning Robotic Manipulation Strategies for Sliding Objects

    NASA Astrophysics Data System (ADS)

    Peshkin, Michael A.

    Automated planning of grasping or manipulation requires an understanding of both the physics and the geometry of manipulation, and a representation of that knowledge which facilitates the search for successful strategies. We consider manipulation on a level conveyor belt or tabletop, on which a part may slide when touched by a robot. Manipulation plans for a given part must succeed in the face of two types of uncertainty: that of the details of surfaces in contact, and that of the initial configuration of the part. In general the points of contact between the part and the surface it slides on will be unknown, so the motion of the part in response to a push cannot be predicted exactly. Using a simple variational principle (which is derived), we find the set of possible motions of a part for a given push, for all collections of points of contact. The answer emerges as a locus of centers of rotation (CORs). Manipulation plans made using this locus will succeed despite unknown details of contact. Results of experimental tests of the COR loci are presented. Uncertainty in the initial configuration of a part is usually also present. To plan in the presence of uncertainty, configuration maps are defined, which map all configurations of a part before an elementary operation to all possible outcomes, thus encapsulating the physics and geometry of the operation. The configuration map for an operation sequence is a product of configuration maps of elementary operations. Using COR loci we compute configuration maps for elementary sliding operations. Appropriate search techniques are applied to find operation sequences which succeed in the presence of uncertainty in the initial configuration and unknown details of contact. Such operation sequences may be used as parts feeder designs or as manipulation or grasping strategies for robots. As an example we demonstrate the automated design of a class of passive parts feeders consisting of multiple sequential fences across a conveyor

  15. Design of a reconfigurable modular manipulator system

    NASA Technical Reports Server (NTRS)

    Schmitz, D.; Kanade, T.

    1987-01-01

    Using manipulators with a fixed configuration for specific tasks is appropriate when the task requirements are known beforehand. However, in less predictable situations, such as an outdoor construction site or aboard a space station, a manipulator system requires a wide range of capabilities, probably beyond the limitations of a single, fixed-configuration manipulator. To fulfill this need, researchers have been working on a Reconfigurable Modular Manipulator System (RMMS). Researchers have designed and are constructing a prototype RMMS. The prototype currently consists of two joint modules and four link modules. The joints utilize a conventional harmonic drive and torque motor actuator, with a small servo amplifier included in the assembly. A brushless resolver is used to sense the joint position and velocity. For coupling the modules together, a standard electrical connector and V-band clamps for mechanical connection are used, although more sophisticated designs are under way for future versions. The joint design yields an output torque to 50 ft-lbf at joint speeds up to 1 radian/second. The resolver and associated electronics have resolutions of 0.0001 radians, and absolute accuracies of plus or minus 0.001 radians. Manipulators configured from these prototype modules will have maximum reaches in the 0.5 to 2 meter range. The real-time RMMS controller consists of a Motorola 68020 single-board computer which will perform real time servo control and path planning of the manipulator. This single board computer communicates via shared memory with a SUN3 workstation, which serves as a software development system and robot programming environment. Researchers have designed a bus communication network to provide multiplexed communication between the joint modules and the computer controller. The bus supports identification of modules, sensing of joint states, and commands to the joint actuator. This network has sufficient bandwidth to allow servo sampling rates in

  16. Fish genome manipulation and directional breeding.

    PubMed

    Ye, Ding; Zhu, ZuoYan; Sun, YongHua

    2015-02-01

    Aquaculture is one of the fastest developing agricultural industries worldwide. One of the most important factors for sustainable aquaculture is the development of high performing culture strains. Genome manipulation offers a powerful method to achieve rapid and directional breeding in fish. We review the history of fish breeding methods based on classical genome manipulation, including polyploidy breeding and nuclear transfer. Then, we discuss the advances and applications of fish directional breeding based on transgenic technology and recently developed genome editing technologies. These methods offer increased efficiency, precision and predictability in genetic improvement over traditional methods.

  17. Adaptive control of a robotic manipulator

    NASA Technical Reports Server (NTRS)

    Lewis, R. A.

    1977-01-01

    A control hierarchy for a robotic manipulator is described. The hierarchy includes perception and robot/environment interaction, the latter consisting of planning, path control, and terminal guidance loops. Environment-sensitive features include the provision of control governed by proximity, tactile, and visual sensors as well as the usual kinematic sensors. The manipulator is considered as part of an overall robot system. 'Adaptive control' in the present context refers to both the hierarchical nature of the control system and to its environment-responsive nature.

  18. Segmented magnetic nanofibers for single cell manipulation

    NASA Astrophysics Data System (ADS)

    Liu, Jun; Shi, Jian; Jiang, Lianmei; Zhang, Fan; Wang, Li; Yamamoto, Shinpei; Takano, Mikio; Chang, Mengjie; Zhang, Haoli; Chen, Yong

    2012-07-01

    We report a simple but straightforward approach to fabricate magnetic nanofiber segments for cell manipulation. Electrospinning was used to produce nanofibers from a magnetic nanoparticles containing polymethylglutarimide (PMGI) precursor solution. After sonication, the fabricated nanofibers were uniformly segmented. When dispersed in an aqueous solution, the orientation of the fiber segments could easily be controlled by an external magnetic field. NIH 3T3 cells were then cultured in a medium containing magnetic fibers, resulting in stable cell-nanofiber hybrids which can be conveniently manipulated with a magnet.

  19. Holographic assembly workstation for optical manipulation

    NASA Astrophysics Data System (ADS)

    Gibson, Graham; Carberry, David M.; Whyte, Graeme; Leach, Jonathan; Courtial, Johannes; Jackson, Joseph C.; Robert, Daniel; Miles, Mervyn; Padgett, Miles

    2008-04-01

    We report a holographic assembler workstation for optical trapping and micro-manipulation. The workstation is based on a titanium sapphire laser, making it particularly suited for biomaterials and incorporates a choice of user interfaces for different applications. The system is designed around a commercial inverted microscope and is configured such that it can be easily used by the non-specialist. We demonstrate the bio-capabilities of our system by manipulating a group of yeast cells, a single red blood cell and a single cell of the green algae colony Volvox.

  20. TV requirements for manipulation in space

    NASA Technical Reports Server (NTRS)

    Freedman, L. A.; Crooks, W. H.; Coan, P. P.

    1977-01-01

    Four tasks (docking, coupling, manipulation, and transportation), stressing work volume and element relationships, are outlined to test a video system for remote manipulation in space. A 4 degree of freedom motion frame was used to evaluate operating parameters, which grouped the visual dimensions into major areas of influence, e.g., depth precision, object differentiation, reference, dynamics, and resolution. Four video systems were included in the simulation testing: a black and white and a color monoscopic system, a stereoscopic system, and a black and white two-view system. The two-view system was found best suited for the operations described.

  1. Manipulator for rotating and examining small spheres

    DOEpatents

    Weinstein, Berthold W. [Livermore, CA; Willenborg, David L. [Livermore, CA

    1980-02-12

    A manipulator which provides fast, accurate rotational positioning of a small sphere, such as an inertial confinement fusion target, which allows inspecting of the entire surface of the sphere. The sphere is held between two flat, flexible tips which move equal amounts in opposite directions. This provides rolling of the ball about two orthogonal axes without any overall translation. The manipulator may be controlled, for example, by an x- and y-axis driven controlled by a mini-computer which can be programmed to generate any desired scan pattern.

  2. Manipulator for rotating and examining small spheres

    DOEpatents

    Weinstein, B.W.; Willenborg, D.L.

    1980-02-12

    A manipulator is disclosed which provides fast, accurate rotational positioning of a small sphere, such as an inertial confinement fusion target, which allows inspecting of the entire surface of the sphere. The sphere is held between two flat, flexible tips which move equal amounts in opposite directions. This provides rolling of the ball about two orthogonal axes without any overall translation. The manipulator may be controlled, for example, by an x- and y-axis driven controlled by a mini-computer which can be programmed to generate any desired scan pattern. 8 figs.

  3. Adaptive Impedance Control Of Redundant Manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun; Colbaugh, Richard D.; Glass, Kristin L.

    1994-01-01

    Improved method of controlling mechanical impedance of end effector of redundant robotic manipulator based on adaptive-control theory. Consists of two subsystems: adaptive impedance controller generating force-control inputs in Cartesian space of end effector to provide desired end-effector-impedance characteristics, and subsystem implementing algorithm that maps force-control inputs into torques applied to joints of manipulator. Accurate control of end effector and effective utilization of redundancy achieved simultaneously by use of method. Potential use to improve performance of such typical impedance-control tasks as deburring edges and accommodating transitions between unconstrained and constrained motions of end effectors.

  4. On-site manipulation of single whole-genome DNA molecules using optical tweezers

    NASA Astrophysics Data System (ADS)

    Oana, Hidehiro; Kubo, Koji; Yoshikawa, Kenichi; Atomi, Haruyuki; Imanaka, Tadayuki

    2004-11-01

    In this letter, we describe a noninvasive methodology for manipulating single Mb-size whole-genome DNA molecules. Cells were subjected to osmotic shock and the genome DNA released from the burst cells was transferred to a region of higher salt concentration using optical tweezers. The transferred genome DNA exhibits a conformational transition from a compact state into an elongated state, accompanied by the change in its environment. The applicability of optical tweezers to the on-site manipulation of giant genome DNA is suggested, i.e., lab-on-a-plate.

  5. Algorithms for adaptive control of two-arm flexible manipulators under uncertainty

    NASA Technical Reports Server (NTRS)

    Skowronski, J. M.

    1987-01-01

    A nonlinear extension of model reference adaptive control (MRAC) technique is used to guide a double arm nonlinearizable robot manipulator with flexible links, driven by actuators collocated with joints subject to uncertain payload and inertia. The objective is to track a given simple linear and rigid but compatible dynamical model in real, possible stipulated time and within stipulated degree of accuracy of convergence while avoiding collision of the arms. The objective is attained by a specified signal adaptive feedback controller and by adaptive laws, both given in closed form. A case of 4 DOF manipulator illustrates the technique.

  6. Simulation analysis of control strategies for a tank waste retrieval manipulator system

    SciTech Connect

    Schryver, J.C.; Draper, J.V.

    1995-02-01

    A network simulation model was developed for the Tank Waste Retrieval Manipulator System, incorporating two distinct levels of control: teleoperation and supervisory control. The model included six error modes, an attentional resource model, and a battery of timing variables. A survey questionnaire administered to subject matter experts provided data for estimating timing distributions for level of control-critical tasks. Simulation studies were performed to evaluate system behavior as a function of control level and error modes. The results provide important insights for development of waste retrieval manipulators.

  7. Reassessing Subjectivity, Criticality, and Inclusivity: Marcuse's Challenge to Adult Education.

    ERIC Educational Resources Information Center

    Brookfield, Stephen

    2002-01-01

    Although Herbert Marcuse did not write as an adult educator, his analysis of subjectivity, criticality, and inclusivity has implications for adult education. He demonstrated how apparently humanistic tolerance for diversity can be manipulated to reinforce dominant ideology, and he made a case for aesthetic education as a site for critical…

  8. Confidentiality and Professional Affiliation Effects on Subject Ratings of Interviewers.

    ERIC Educational Resources Information Center

    Drake, David W.; And Others

    The purpose of this research was to study the effects of different statements regarding confidentiality (absolute; limited; nondirective) on subject impressions of interviewers. In addition, the professional affiliation of the interviewer was manipulated (psychologist, minister/pastoral counselor, social worker) to assess potential influence of…

  9. Pragmatic Approach to Subject Indexing: A New Concept.

    ERIC Educational Resources Information Center

    Dutta, S.; Sinha, P. K.

    1984-01-01

    Describes adoption at Sorghum and Millets Information Center (India) of Pragmatic Approach to Subject Index (PASI), computer-manipulative indexing procedure in which key words are arranged in meaningful sequence. Indexing problems, search for suitable system, PASI indexing steps, and computerization are discussed. Thirteen references and…

  10. Limits of the manipulative-fixed method for measurement of shoulder joint horizontal adduction muscle strength using a handheld dynamometer.

    PubMed

    Hirano, Masahiro; Katoh, Munenori

    2015-01-01

    [Purpose] The aim of this study was to verify the limit of isometric muscle strength of shoulder joint horizontal adduction using handheld dynamometer (HHD) manipulated by hand (referred to as the manipulative-fixed method). [Subjects and Methods] The subjects were 33 healthy college students. The examiner was a healthy college student. Shoulder joint horizontal adductor muscle strength was measured using HHD with the subject in the supine position. The belt-fixed and manipulative-fixed methods were used to secure the HHD sensor unit. The limitations of the manipulative-fixed method were assessed by simple regression analysis, in which the participants were divided into 2 groups according to a branch point. The slope of the straight line of the graph was visualized. [Results] Single regression analysis of the <30 kgf group revealed significant results. The results of single regression of the >30 kgf group were not significant. [Conclusion] The manipulative-fixed method is simple to perform. However, there exists the possibility that the actual muscle strength is not measurable by this method. The measurement limit of the shoulder horizontal adduction strength with the manipulative-fixed method was 30 kgf in the case of the examiner in the present study. The fixed limit was also found to influence in the muscle strength of the upper limbs. PMID:25642081

  11. Limits of the manipulative-fixed method for measurement of shoulder joint horizontal adduction muscle strength using a handheld dynamometer.

    PubMed

    Hirano, Masahiro; Katoh, Munenori

    2015-01-01

    [Purpose] The aim of this study was to verify the limit of isometric muscle strength of shoulder joint horizontal adduction using handheld dynamometer (HHD) manipulated by hand (referred to as the manipulative-fixed method). [Subjects and Methods] The subjects were 33 healthy college students. The examiner was a healthy college student. Shoulder joint horizontal adductor muscle strength was measured using HHD with the subject in the supine position. The belt-fixed and manipulative-fixed methods were used to secure the HHD sensor unit. The limitations of the manipulative-fixed method were assessed by simple regression analysis, in which the participants were divided into 2 groups according to a branch point. The slope of the straight line of the graph was visualized. [Results] Single regression analysis of the <30 kgf group revealed significant results. The results of single regression of the >30 kgf group were not significant. [Conclusion] The manipulative-fixed method is simple to perform. However, there exists the possibility that the actual muscle strength is not measurable by this method. The measurement limit of the shoulder horizontal adduction strength with the manipulative-fixed method was 30 kgf in the case of the examiner in the present study. The fixed limit was also found to influence in the muscle strength of the upper limbs.

  12. Physics of electromagnetic and material stresses in optical manipulation

    NASA Astrophysics Data System (ADS)

    Kemp, Brandon A.; Sheppard, Cheyenne J.

    2015-08-01

    Modeling the dynamics of optical manipulation experiments relies upon a precise mathematical representation of electromagnetic fields and the interpretation of optical momentum and stresses in materials. However, the momentum of light within media has been an issue of debate over the past century. Multiple energy-momentum models have been advanced, each, under certain conditions, agreeing with experimental observation and mathematically consistent with classical electromagnetism. The modern view is that the various formulations of electrodynamics represent different divisions of the total energy-momentum tensor, with the separation of field and matter being ambiguous. Recently, a proposed view of photon momentum identified two leading forms as the kinetic and canonical momenta. The Abraham momentum is responsible for the overall center-of-mass translation of a material, while the Minkowski momentum is responsible for translations with respect to the surrounding medium. However, the Abraham momentum corresponds to multiple, unique electromagnetic energy-momentum tensors that attempt to separate field from material responses (e.g. Abraham, Chu, and Einstein-Laub). However, only the form of the kinetic momentum density has been revealed, while the formulation that uniquely separates the kinetic stress tensor has remained ambiguous. In this correspondence, multiple formulations are considered within the framework of relativistic electrodynamics. We apply various mathematical techniques to identify the kinetic subsystem of electrodynamics. While optical manipulation is usually modeled using a stationary medium approximation, the lessons from relativistic electrodynamics reveal a specific distribution of electromagnetic stress in media. The physics of optical and static manipulation of dielectric particles are described within this framework.

  13. Intelligent Behaviour Modelling and Control for Mobile Manipulators

    NASA Astrophysics Data System (ADS)

    Elkady, Ayssam; Mohammed, Mohammed; Gebriel, Eslam; Sobh, Tarek

    In the last several years, mobile manipulators have been increasingly utilized and developed from a theoretical viewpoint as well as for practical applications in space, underwater, construction and service environments. The work presented in this chapter deals with the problem of intelligent behaviour modelling and control of a mobile manipulator for the purpose of simultaneously following desired end-effector and platform trajectories. Our mobile manipulator comprised a manipulator arm mounted on a motorized mobile base wheelchair. The need for accurate modelling of the mobile manipulator is crucial in designing and controlling the motion of the robot to achieve the target precision and manipulability requirements. In this chapter, we propose a new method for measuring the manipulability index used for serial manipulators. Furthermore, we provide some simulations that are implemented on different serial manipulators, such as the Puma 560 manipulator, a six degrees of freedom (DOF) manipulator and the Mitsubishi Movemaster manipulator. We then extend the manipulability concept commonly used for serial manipulators to general mobile manipulator systems.

  14. The Subject of Policy

    ERIC Educational Resources Information Center

    Bansel, Peter

    2015-01-01

    I work selectively with poststructuralist theories in order to give an account of the subject of policy as a constitutive relationship between social policy and the embodied human subject. Drawing on theories of subjectivity, narrative and governmentality, I articulate possibilities for analysing narrated accounts of experience as a mode of…

  15. Gendered Subjectivities of Spacetimematter

    ERIC Educational Resources Information Center

    Juelskjaer, Malou

    2013-01-01

    This paper investigates enactments of human subjectivities with a focus on how subjectivities may be studied if spatiality and temporality are taken up as constituting forces in the production of subjectivities. By reading poststructuralist feminist theorising, agential realism and empirical material diffractively through each other I re-situate…

  16. Dynamic nonprehensile manipulation: Controllability, planning, and experiments

    SciTech Connect

    Lynch, K.M.; Mason, M.T.

    1999-01-01

    The authors are interested in using low-degree-of-freedom robots to perform complex tasks by nonprehensile manipulation (manipulation without a form- or force-closure grasp). By not grasping, the robot can use gravitational, centrifugal, and Coriolis forces as virtual motors to control more degrees of freedom of the part. The part`s extra motion freedoms are exhibited as rolling, slipping, and free flight. This paper describes controllability, motion planning, and implementation of planar dynamic nonprehensile manipulation. The authors show that almost any planar object is controllable by point contact, and the controlling robot requires only two degrees of freedom (a point translating in the plane). They then focus on a one-joint manipulator (with a two-dimensional state space), and show that even this simplest of robots, by using slipping and rolling, can control a planar object to a full-dimensional subset of its six-0dimensional state space. The authors have developed a one-joint robot to perform a variety of dynamic tasks, including snatching an object from a table, rolling an object on the surface of the arm, and throwing and catching. Nonlinear optimization is used to plan robot trajectories that achieve the desired object motion via coupling forces through the nonprehensile contact.

  17. Motorized manipulator for positioning a TEM specimen

    DOEpatents

    Schmid, Andreas Karl; Andresen, Nord

    2010-12-14

    The invention relates to a motorized manipulator for positioning a TEM specimen holder with sub-micron resolution parallel to a y-z plane and rotating the specimen holder in the y-z plane, the manipulator comprising a base (2), and attachment means (30) for attaching the specimen holder to the manipulator, characterized in that the manipulator further comprises at least three nano-actuators (3.sup.a, 3.sup.b, 3.sup.c) mounted on the base, each nano-actuator showing a tip (4.sup.a, 4.sup.b, 4.sup.c), the at least three tips defining the y-z plane, each tip capable of moving with respect to the base in the y-z plane; a platform (5) in contact with the tips of the nano-actuators; and clamping means (6) for pressing the platform against the tips of the nano-actuators; as a result of which the nano-actuators can rotate the platform with respect to the base in the y-z plane and translate the platform parallel to the y-z plane.

  18. Automatic camera tracking for remote manipulators

    SciTech Connect

    Stoughton, R.S.; Martin, H.L.; Bentz, R.R.

    1984-07-01

    The problem of automatic camera tracking of mobile objects is addressed with specific reference to remote manipulators and using either fixed or mobile cameras. The technique uses a kinematic approach employing 4 x 4 coordinate transformation matrices to solve for the needed camera PAN and TILT angles. No vision feedback systems are used, as the required input data are obtained entirely from position sensors from the manipulator and the camera-positioning system. All hardware requirements are generally satisfied by currently available remote manipulator systems with a supervisory computer. The system discussed here implements linear plus on/off (bang-bang) closed-loop control with a +-2-deg deadband. The deadband area is desirable to avoid operator seasickness caused by continuous camera movement. Programming considerations for camera control, including operator interface options, are discussed. The example problem presented is based on an actual implementation using a PDP 11/34 computer, a TeleOperator Systems SM-229 manipulator, and an Oak Ridge National Laboratory (ORNL) camera-positioning system. 3 references, 6 figures, 2 tables.

  19. Automatic camera tracking for remote manipulators

    SciTech Connect

    Stoughton, R.S.; Martin, H.L.; Bentz, R.R.

    1984-04-01

    The problem of automatic camera tracking of mobile objects is addressed with specific reference to remote manipulators and using either fixed or mobile cameras. The technique uses a kinematic approach employing 4 x 4 coordinate transformation matrices to solve for the needed camera PAN and TILT angles. No vision feedback systems are used, as the required input data are obtained entirely from position sensors from the manipulator and the camera-positioning system. All hardware requirements are generally satisfied by currently available remote manipulator systems with a supervisory computer. The system discussed here implements linear plus on/off (bang-bang) closed-loop control with a +-2/sup 0/ deadband. The deadband area is desirable to avoid operator seasickness caused by continuous camera movement. Programming considerations for camera control, including operator interface options, are discussed. The example problem presented is based on an actual implementation using a PDP 11/34 computer, a TeleOperator Systems SM-229 manipulator, and an Oak Ridge National Laboratory (ORNL) camera-positioning system. 3 references, 6 figures, 2 tables.

  20. Remote manipulator system steering capability for SVDS

    NASA Technical Reports Server (NTRS)

    Martin, D. T.

    1977-01-01

    Details of the remote manipulator system steering capability to be implemented into the space vehicle dynamics simulator are reported. The resolve rate law is included as part of the overall steering capability. The steering model includes three automatic modes, four manual augmented modes, and a single joint rate mode.

  1. Spider management in agroecosystems: Habitat manipulation

    NASA Astrophysics Data System (ADS)

    Mansour, Fadel; Richman, David B.; Whitcomb, W. H.

    1983-01-01

    Based on the literature and on work conducted in Israel, the management of spider populations through habitat manipulation was found to be very helpful in controlling pest insects in various crops. Spiders were found to be reduced or eliminated by non-selective insecticides, although some resistance has been noted

  2. A Fundamental Breakdown. Part II: Manipulative Skills

    ERIC Educational Resources Information Center

    Townsend, J. Scott; Mohr, Derek J.

    2005-01-01

    In the May, 2005, issue of "TEPE," the "Research to Practice" section initiated a two-part series focused on assessing fundamental locomotor and manipulative skills. The series was generated in response to research by Pappa, Evanggelinou, & Karabourniotis (2005), recommending that curricular programming in physical education at the elementary…

  3. Subpicosecond Coherent Manipulation of X-Rays

    SciTech Connect

    Adams, Bernhard W.

    2004-05-12

    The Takagi-Taupin theory is synthesized with the eikonal theory in a unified space-time approach, based upon microscopic electromagnetism. It is designed specifically to address x-ray diffraction in crystal structures being modified within down to a few femtosconds. Possible applications in the subpicosecond coherent manipulation of x-rays are given.

  4. Opto-electrokinetic manipulation technique for highperformance

    SciTech Connect

    Kwon, Jae-Sung; Ravindranath, Sandeep; Kumar, Aloke; Irudayaraj, Joseph; Wereley, Steven T.

    2012-01-01

    This communication first demonstrates bio-compatibility of a recently developed opto-electrokinetic manipulation technique, using microorganisms. Aggregation, patterning, translation, trapping and size-based separation of microorganisms performed with the technique firmly establishes its usefulness for development of a high-performance on-chip bioassay system.

  5. Manipulation strategies for massive space payloads

    NASA Technical Reports Server (NTRS)

    Book, Wayne J.

    1991-01-01

    The industrial and environmental applications for robots with a relatively large workspace has increased significantly in the last few years. To accommodate the demands, the manipulator is usually designed with long, lightweight links that are inherently flexible. Ongoing research at Georgia Tech into the behavior and design of these flexible links is discussed.

  6. Manipulation Action Understanding for Observation and Execution

    ERIC Educational Resources Information Center

    Yang, Yezhou

    2015-01-01

    Modern intelligent agents will need to learn the actions that humans perform. They will need to recognize these actions when they see them and they will need to perform these actions themselves. We want to propose a cognitive system that interprets human manipulation actions from perceptual information (image and depth data) and consists of…

  7. Using magnetic nanoparticles to manipulate biological objects

    NASA Astrophysics Data System (ADS)

    Liu, Yi; Gao, Yu; Xu, Chenjie

    2013-09-01

    The use of magnetic nanoparticles (MNPs) for the manipulation of biological objects, including proteins, genes, cellular organelles, bacteria, cells, and organs, are reviewed. MNPs are popular candidates for controlling and probing biological objects with a magnetic force. In the past decade, progress in the synthesis and surface engineering of MNPs has further enhanced this popularity.

  8. The Problem-Solving Nemesis: Mindless Manipulation.

    ERIC Educational Resources Information Center

    Hawkins, Vincent J.

    1987-01-01

    Indicates that only 21% of respondents (secondary school math teachers) used computer-assisted instruction for tutorial work, physical models to interpret abstract concepts, or real-life application of the arithmetic or algebraic manipulation. Recommends that creative teaching methods be applied to problem solving. (NKA)

  9. Disrupting Reconsolidation: Pharmacological and Behavioral Manipulations

    ERIC Educational Resources Information Center

    Soeter, Marieke; Kindt, Merel

    2011-01-01

    We previously demonstrated that disrupting reconsolidation by pharmacological manipulations "deleted" the emotional expression of a fear memory in humans. If we are to target reconsolidation in patients with anxiety disorders, the disruption of reconsolidation should produce content-limited modifications. At the same time, the fear-erasing effects…

  10. 75 FR 67657 - Prohibition of Market Manipulation

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-11-03

    ... Manipulation, 71 FR 4244, 4253 (Jan. 26, 2006) (`` inal rule prohibits the use or employment of any device...-4, Comm. Fut. L. Rep. (CCH) ] 20,271 at 21,477. (CFTC Feb. 18, 1977). 6. Materiality Sections (1)(b) and (2) of the Commission's proposed rule incorporate the concept of materiality. In the...

  11. Improved electromechanical master-slave manipulator

    NASA Technical Reports Server (NTRS)

    Forster, G.; Goertz, R.; Grimson, J.; Mingesz, D.; Potts, C.

    1968-01-01

    Electric master-slave manipulator uses force multiplication and allows the operator to remotely control the slave arm. Both the master and slave arms execute seven distinct motions by a specially designed force-reflecting servo having a one to one correspondence between the motion at the master and slave.

  12. An anthropomorphic master-slave manipulator system.

    NASA Technical Reports Server (NTRS)

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

    1973-01-01

    Review of some of the results of a teleoperator systems technology program devoted to the development of an anthropomorphic unilateral master-slave manipulator system. Following a discussion of the mechanical design details and servo design considerations, the developed system's test results are presented.

  13. High degree-of-freedom dynamic manipulation

    NASA Astrophysics Data System (ADS)

    Murphy, Michael P.; Stephens, Benjamin; Abe, Yeuhi; Rizzi, Alfred A.

    2012-06-01

    The creation of high degree of freedom dynamic mobile manipulation techniques and behaviors will allow robots to accomplish difficult tasks in the field. We are investigating the use of the body and legs of legged robots to improve the strength, velocity, and workspace of an integrated manipulator to accomplish dynamic manipulation. This is an especially challenging task, as all of the degrees of freedom are active at all times, the dynamic forces generated are high, and the legged system must maintain robust balance throughout the duration of the tasks. To accomplish this goal, we are utilizing trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning the trajectories in a 13 dimensional space. Covariance Matrix Adaptation techniques are utilized to optimize for several criteria such as payload capability and task completion speed while also obeying constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate feed-forward terms, which are subsequently used online to improve tracking and maintain low controller gains. Some initial results on one of our existing balancing quadruped robots with an additional human-arm-like manipulator are demonstrated on robot hardware, including dynamic lifting and throwing of heavy objects 16.5kg cinder blocks, using motions that resemble a human athlete more than typical robotic motions. Increased payload capacity is accomplished through coordinated body motion.

  14. The evolution of teleoperated manipulators at ORNL

    SciTech Connect

    Kress, R.L.; Jansen, J.F.; Noakes, M.W.; Herndon, J.N.

    1996-12-31

    ORNL has made significant contributions to teleoperator and telerobotics technology for two decades and continues with an aggressive program today. Examples of past projects are: (1) the M2 servomanipulator, which was the first digitally controlled teleoperator; (2) the Advanced Servomanipulator (ASM), which was the first remotely maintainable teleoperator; (3) the CESARm/Kraft dissimilar teleoperated system; and (4) the Laboratory Telerobotic Manipulator (LTM), a 7-Degree-of-Freedom (7-DOF) telerobot built as a prototype for work in space. More recently, ORNL has become heavily involved with Environmental Restoration and Waste Management (ERWM) robotics programs funded by the Department of Energy (DOE). The ERWM program requires high payloads and high dexterity. As a result, a hydraulically actuated, dual-arm system comprised of two 6-DOF arms mounted on a 5-DOF base has been constructed and is being used today for various research tasks and for decontamination and dismantlement activities. All of these teleoperated manipulator systems build upon the experiences gained throughout the almost two decades of development. Each system incorporates not only the latest technology in computers, sensors, and electronics, but each new . system also adds at least one new feature to the technologies already developed and demonstrated in the previous system(s). As a result of this process, a serious study of these manipulator systems is a study in the evolution of teleoperated manipulator the systems in general. This provides insight not only into the research and development paths chosen in the past, but also into the appropriate directions for future teleoperator and telerobotics research. This paper examines each of the teleoperated/telerobotic systems developed at ORNL, summarizes their features and capabilities, examines the state of the most current telerobotic system (the Dual Arm Work Module), PM provides direction for a Next Generation Telerobotic Manipulator system.

  15. Ultrafast optical manipulation of magnetic order

    NASA Astrophysics Data System (ADS)

    Kirilyuk, Andrei; Kimel, Alexey V.; Rasing, Theo

    2010-07-01

    The interaction of subpicosecond laser pulses with magnetically ordered materials has developed into a fascinating research topic in modern magnetism. From the discovery of subpicosecond demagnetization over a decade ago to the recent demonstration of magnetization reversal by a single 40fs laser pulse, the manipulation of magnetic order by ultrashort laser pulses has become a fundamentally challenging topic with a potentially high impact for future spintronics, data storage and manipulation, and quantum computation. Understanding the underlying mechanisms implies understanding the interaction of photons with charges, spins, and lattice, and the angular momentum transfer between them. This paper will review the progress in this field of laser manipulation of magnetic order in a systematic way. Starting with a historical introduction, the interaction of light with magnetically ordered matter is discussed. By investigating metals, semiconductors, and dielectrics, the roles of (nearly) free electrons, charge redistributions, and spin-orbit and spin-lattice interactions can partly be separated, and effects due to heating can be distinguished from those that are not. It will be shown that there is a fundamental distinction between processes that involve the actual absorption of photons and those that do not. It turns out that for the latter, the polarization of light plays an essential role in the manipulation of the magnetic moments at the femtosecond time scale. Thus, circularly and linearly polarized pulses are shown to act as strong transient magnetic field pulses originating from the nonabsorptive inverse Faraday and inverse Cotton-Mouton effects, respectively. The recent progress in the understanding of magneto-optical effects on the femtosecond time scale together with the mentioned inverse, optomagnetic effects promises a bright future for this field of ultrafast optical manipulation of magnetic order or femtomagnetism.

  16. Manipulator Performance Evaluation Using Fitts' Taping Task

    SciTech Connect

    Draper, J.V.; Jared, B.C.; Noakes, M.W.

    1999-04-25

    Metaphorically, a teleoperator with master controllers projects the user's arms and hands into a re- mote area, Therefore, human users interact with teleoperators at a more fundamental level than they do with most human-machine systems. Instead of inputting decisions about how the system should func- tion, teleoperator users input the movements they might make if they were truly in the remote area and the remote machine must recreate their trajectories and impedance. This intense human-machine inter- action requires displays and controls more carefully attuned to human motor capabilities than is neces- sary with most systems. It is important for teleoperated manipulators to be able to recreate human trajectories and impedance in real time. One method for assessing manipulator performance is to observe how well a system be- haves while a human user completes human dexterity tasks with it. Fitts' tapping task has been, used many times in the past for this purpose. This report describes such a performance assessment. The International Submarine Engineering (ISE) Autonomous/Teleoperated Operations Manipulator (ATOM) servomanipulator system was evalu- ated using a generic positioning accuracy task. The task is a simple one but has the merits of (1) pro- ducing a performance function estimate rather than a point estimate and (2) being widely used in the past for human and servomanipulator dexterity tests. Results of testing using this task may, therefore, allow comparison with other manipulators, and is generically representative of a broad class of tasks. Results of the testing indicate that the ATOM manipulator is capable of performing the task. Force reflection had a negative impact on task efficiency in these data. This was most likely caused by the high resistance to movement the master controller exhibited with the force reflection engaged. Measurements of exerted forces were not made, so it is not possible to say whether the force reflection helped partici- pants

  17. Manipulator Comparative Testing Program: Final report

    SciTech Connect

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

    1987-02-01

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

  18. Adaptive neural control for an uncertain robotic manipulator with joint space constraints

    NASA Astrophysics Data System (ADS)

    Tang, Zhong-Liang; Ge, Shuzhi Sam; Tee, Keng Peng; He, Wei

    2016-07-01

    In this paper, adaptive neural tracking control is proposed for a robotic manipulator with uncertainties in both manipulator dynamics and joint actuator dynamics. The manipulator joints are subject to inequality constraints, i.e., the joint angles are required to remain in some compact sets. Integral barrier Lyapunov functionals (iBLFs) are employed to address the joint space constraints directly without performing an additional mapping to the error space. Neural networks (NNs) are utilised to compensate for the unknown robot dynamics and external force. Adapting parameters are developed to estimate the unknown bounds on NN approximations. By the Lyapunov synthesis, the proposed control can guarantee the semi-global uniform ultimate boundedness of the closed-loop system, and the practical tracking of joint reference trajectory is achieved without the violation of predefined joint space constraints. Simulation results are given to validate the effectiveness of the proposed control scheme.

  19. Osteopathic Manipulative Treatment as a Useful Adjunctive Tool for Pneumonia

    PubMed Central

    Yao, Sheldon; Hassani, John; Gagne, Martin; George, Gebe; Gilliar, Wolfgang

    2014-01-01

    Pneumonia, the inflammatory state of lung tissue primarily due to microbial infection, claimed 52,306 lives in the United States in 20071 and resulted in the hospitalization of 1.1 million patients2. With an average length of in-patient hospital stay of five days2, pneumonia and influenza comprise significant financial burden costing the United States $40.2 billion in 20053. Under the current Infectious Disease Society of America/American Thoracic Society guidelines, standard-of-care recommendations include the rapid administration of an appropriate antibiotic regiment, fluid replacement, and ventilation (if necessary). Non-standard therapies include the use of corticosteroids and statins; however, these therapies lack conclusive supporting evidence4. (Figure 1) Osteopathic Manipulative Treatment (OMT) is a cost-effective adjunctive treatment of pneumonia that has been shown to reduce patients’ length of hospital stay, duration of intravenous antibiotics, and incidence of respiratory failure or death when compared to subjects who received conventional care alone5. The use of manual manipulation techniques for pneumonia was first recorded as early as the Spanish influenza pandemic of 1918, when patients treated with standard medical care had an estimated mortality rate of 33%, compared to a 10% mortality rate in patients treated by osteopathic physicians6. When applied to the management of pneumonia, manual manipulation techniques bolster lymphatic flow, respiratory function, and immunological defense by targeting anatomical structures involved in the these systems7,8, 9, 10. The objective of this review video-article is three-fold: a) summarize the findings of randomized controlled studies on the efficacy of OMT in adult patients with diagnosed pneumonia, b) demonstrate established protocols utilized by osteopathic physicians treating pneumonia, c) elucidate the physiological mechanisms behind manual manipulation of the respiratory and lymphatic systems

  20. Osteopathic manipulative treatment as a useful adjunctive tool for pneumonia.

    PubMed

    Yao, Sheldon; Hassani, John; Gagne, Martin; George, Gebe; Gilliar, Wolfgang

    2014-05-06

    Pneumonia, the inflammatory state of lung tissue primarily due to microbial infection, claimed 52,306 lives in the United States in 2007 (1) and resulted in the hospitalization of 1.1 million patients (2). With an average length of in-patient hospital stay of five days (2), pneumonia and influenza comprise significant financial burden costing the United States $40.2 billion in 2005 (3). Under the current Infectious Disease Society of America/American Thoracic Society guidelines, standard-of-care recommendations include the rapid administration of an appropriate antibiotic regiment, fluid replacement, and ventilation (if necessary). Non-standard therapies include the use of corticosteroids and statins; however, these therapies lack conclusive supporting evidence (4). (Figure 1) Osteopathic Manipulative Treatment (OMT) is a cost-effective adjunctive treatment of pneumonia that has been shown to reduce patients' length of hospital stay, duration of intravenous antibiotics, and incidence of respiratory failure or death when compared to subjects who received conventional care alone (5). The use of manual manipulation techniques for pneumonia was first recorded as early as the Spanish influenza pandemic of 1918, when patients treated with standard medical care had an estimated mortality rate of 33%, compared to a 10% mortality rate in patients treated by osteopathic physicians (6). When applied to the management of pneumonia, manual manipulation techniques bolster lymphatic flow, respiratory function, and immunological defense by targeting anatomical structures involved in the these systems(7,8, 9, 10). The objective of this review video-article is three-fold: a) summarize the findings of randomized controlled studies on the efficacy of OMT in adult patients with diagnosed pneumonia, b) demonstrate established protocols utilized by osteopathic physicians treating pneumonia, c) elucidate the physiological mechanisms behind manual manipulation of the respiratory and

  1. Bifunctional metamaterials with simultaneous and independent manipulation of thermal and electric fields

    NASA Astrophysics Data System (ADS)

    Lan, Chuwen; Bi, Ke; Fu, Xiaojian; Li, Bo; Zhou, Ji

    2016-10-01

    Metamaterials offer a powerful way to manipulate a variety of physical fields ranging from wave fields (electromagnetic field, acoustic field, elastic wave, etc.), static fields (static magnetic field, static electric field) to diffusive fields (thermal field, diffusive mass). However, the relevant reports and studies are usually conducted on a single physical field or functionality. In this study, we proposed and experimentally demonstrated a bifunctional metamaterial which can manipulate thermal and electric fields simultaneously and independently. Specifically, a composite with independently controllable thermal and electric conductivity was introduced, on the basis of which a bifunctional device capable of shielding thermal flux and concentrating electric current simultaneously was designed, fabricated and characterized. This work provides an encouraging example of metamaterials transcending their natural limitations, which offers a promising future in building a broad platform for manipulation of multi-physics field.

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

    PubMed

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

    2015-04-01

    This study investigates whether spinal manipulation leads to neural plastic changes involving cortical drive and the H-reflex pathway. Soleus evoked V-wave, H-reflex, and M-wave recruitment curves and maximum voluntary contraction (MVC) in surface electromyography (SEMG) signals of the plantar flexors were recorded from ten subjects before and after manipulation or control intervention. Dependent measures were compared with 2-way ANOVA and Tukey's HSD as post hoc test, p was set at 0.05. Spinal manipulation resulted in increased MVC (measured with SEMG) by 59.5 ± 103.4 % (p = 0.03) and force by 16.05 ± 6.16 4 % (p = 0.0002), increased V/M max ratio by 44.97 ± 36.02 % (p = 0.006), and reduced H-reflex threshold (p = 0.018). Following the control intervention, there was a decrease in MVC (measured with SEMG) by 13.31 ± 7.27 % (p = 0.001) and force by 11.35 ± 9.99 % (p = 0.030), decreased V/M max ratio (23.45 ± 17.65 %; p = 0.03) and a decrease in the median frequency of the power spectrum (p = 0.04) of the SEMG during MVC. The H-reflex pathway is involved in the neural plastic changes that occur following spinal manipulation. The improvements in MVC following spinal manipulation are likely attributed to increased descending drive and/or modulation in afferents. Spinal manipulation appears to prevent fatigue developed during maximal contractions. Spinal manipulation appears to alter the net excitability of the low-threshold motor units, increase cortical drive, and prevent fatigue. PMID:25579661

  3. Naming manipulable objects: anatomy of a category specific effect in left temporal tumours.

    PubMed

    Campanella, Fabio; D'Agostini, Serena; Skrap, Miran; Shallice, Tim

    2010-05-01

    Whether semantic knowledge is categorically organized or is based in an undifferentiated distributed network within the temporal lobes or it is at least partially organized in property-based networks is still an open issue. With a naming task involving living and nonliving entities, the latter divided according to degree of manipulability, we studied a group of 30 tumour patients with either right, left anterior or left posterior temporal lobes' lesions and a herpes simplex encephalitis patient (MU). Both cross-subject and cross-stimulus analyses were conducted. Left hemisphere patients were overall worse than both right hemisphere patients and controls in the naming task. They moreover named nonliving items worse than living. This effect was larger in left posterior temporal than both right temporal and also left anterior temporal patients and significant both at a cross-subject and cross-stimulus levels of analysis. In addition the left posterior temporal group had more difficulties with highly manipulable objects than left anterior temporal patients, but the effect was significant only on a cross-subject analysis. VLSM lesion analysis revealed that the area most critically associated with the larger naming deficit for manipulable objects was the posterior superior portion of the left temporal lobe, particularly the posterior middle temporal gyrus. These results support a 'property-based networks' account of semantic knowledge rather than an 'undifferentiated network' account. For manipulable objects, this would be a posterior-temporal/inferior-parietal left hemisphere "action/manipulation-property-based" network related to the dorsal pathways which is thought to be important in action control, as suggested by neuroimaging results. PMID:20144630

  4. Graphene plasmonic lens for manipulating energy flow

    NASA Astrophysics Data System (ADS)

    Wang, Guoxi; Liu, Xueming; Lu, Hua; Zeng, Chao

    2014-02-01

    Manipulating the energy flow of light is at the heart of modern information and communication technologies. Because photons are uncharged, it is still difficult to effectively control them by electrical means. Here, we propose a graphene plasmonic (GP) lens to efficiently manipulate energy flow by elaborately designing the thickness of the dielectric spacer beneath the graphene sheet. Different from traditional metal-based lenses, the proposed graphene plasmonic lens possesses the advantages of tunability and excellent confinement of surface plasmons. It is found that the proposed lens can be utilized to focus and collimate the GP waves propagating along the graphene sheet. Particularly, the lens is dispersionless over a wide frequency range and the performance of lens can be flexibly tuned by adjusting the bias voltage. As an application of such a lens, the image transfer of two point sources with a separation of λ0/30 is demonstrated.

  5. Milestones in Candida albicans Gene Manipulation

    PubMed Central

    Samaranayake, Dhanushki P.; Hanes, Steven D.

    2011-01-01

    In the United States, candidemia is one of the most common hospital-acquired infections and is estimated to cause 10,000 deaths per year. The species Candida albicans is responsible for the majority of these cases. As C. albicans is capable of developing resistance against the currently available drugs, understanding the molecular basis of drug resistance, finding new cellular targets, and further understanding the overall mechanism of C. albicans pathogenesis are important goals. To study this pathogen it is advantageous to manipulate its genome. Numerous strategies of C. albicans gene manipulation have been introduced. This review evaluates a majority of these strategies and should be a helpful guide for researchers to identify gene targeting strategies to suit their requirements. PMID:21511047

  6. Bone manipulation procedures in dental implants

    PubMed Central

    Mittal, Yuvika; Jindal, Govind; Garg, Sandeep

    2016-01-01

    The use of dental implants for the rehabilitation of missing teeth has broadened the treatment options for patients and clinicians equally. As a result of advances in research in implant design, materials, and techniques, the use of dental implants has increased dramatically in the past two decades and is expected to expand further in the future. Success of dental implants depends largely on the quality and quantity of the available bone in the recipient site. This however may be compromised or unavailable due to tumor, trauma, periodontal disease, etc., which in turn necessitates the need for additional bone manipulation. This review outlines the various bone manipulation techniques that are used to achieve a predictable long-term success of dental implants. PMID:27433052

  7. Bone manipulation procedures in dental implants.

    PubMed

    Mittal, Yuvika; Jindal, Govind; Garg, Sandeep

    2016-01-01

    The use of dental implants for the rehabilitation of missing teeth has broadened the treatment options for patients and clinicians equally. As a result of advances in research in implant design, materials, and techniques, the use of dental implants has increased dramatically in the past two decades and is expected to expand further in the future. Success of dental implants depends largely on the quality and quantity of the available bone in the recipient site. This however may be compromised or unavailable due to tumor, trauma, periodontal disease, etc., which in turn necessitates the need for additional bone manipulation. This review outlines the various bone manipulation techniques that are used to achieve a predictable long-term success of dental implants. PMID:27433052

  8. Reversible Bergman cyclization by atomic manipulation

    NASA Astrophysics Data System (ADS)

    Schuler, Bruno; Fatayer, Shadi; Mohn, Fabian; Moll, Nikolaj; Pavliček, Niko; Meyer, Gerhard; Peña, Diego; Gross, Leo

    2016-03-01

    The Bergman cyclization is one of the most fascinating rearrangements in chemistry, with important implications in organic synthesis and pharmacology. Here we demonstrate a reversible Bergman cyclization for the first time. We induced the on-surface transformation of an individual aromatic diradical into a highly strained ten-membered diyne using atomic manipulation and verified the products by non-contact atomic force microscopy with atomic resolution. The diyne and diradical were stabilized by using an ultrathin NaCl film as the substrate, and the diyne could be transformed back into the diradical. Importantly, the diradical and the diyne exhibit different reactivity, electronic, magnetic and optical properties associated with the changes in the bond topology, and spin multiplicity. With this reversible, triggered Bergman cyclization we demonstrated switching on demand between the two reactive intermediates by means of selective C-C bond formation or cleavage, which opens up the field of radical chemistry for on-surface reactions by atomic manipulation.

  9. A Plasmonic Spanner for Metal Particle Manipulation

    PubMed Central

    Zhang, Yuquan; Shi, Wei; Shen, Zhe; Man, Zhongsheng; Min, Changjun; Shen, Junfeng; Zhu, Siwei; Urbach, H. Paul; Yuan, Xiaocong

    2015-01-01

    Typically, metal particles are difficult to manipulate with conventional optical vortex (OV) tweezers, because of their strong absorption and scattering. However, it has been shown that the vortex field of surface plasmonic polaritons, called plasmonic vortex (PV), is capable of stable trapping and dynamic rotation of metal particles, especially those of mesoscopic and Mie size. To uncover the different physical mechanisms of OV and PV tweezers, we investigated the force distribution and trapping potential of metal particles. In OV tweezers the stronger scattering force causes a positive potential barrier that repels particles, whereas in PV tweezers the dominant gradient force contributes to a negative potential well, resulting in stably trapped particles. Compared with OV, the orbital angular momentum of PV produces an azimuthal scattering force that rotates the trapped particles with more precise radius and position. Our results demonstrate that PV tweezers are superior in manipulation of metal particles. PMID:26481689

  10. Acoustic Resonator Optimisation for Airborne Particle Manipulation

    NASA Astrophysics Data System (ADS)

    Devendran, Citsabehsan; Billson, Duncan R.; Hutchins, David A.; Alan, Tuncay; Neild, Adrian

    Advances in micro-electromechanical systems (MEMS) technology and biomedical research necessitate micro-machined manipulators to capture, handle and position delicate micron-sized particles. To this end, a parallel plate acoustic resonator system has been investigated for the purposes of manipulation and entrapment of micron sized particles in air. Numerical and finite element modelling was performed to optimise the design of the layered acoustic resonator. To obtain an optimised resonator design, careful considerations of the effect of thickness and material properties are required. Furthermore, the effect of acoustic attenuation which is dependent on frequency is also considered within this study, leading to an optimum operational frequency range. Finally, experimental results demonstrated good particle levitation and capture of various particle properties and sizes ranging to as small as 14.8 μm.

  11. Analyzing Array Manipulating Programs by Program Transformation

    NASA Technical Reports Server (NTRS)

    Cornish, J. Robert M.; Gange, Graeme; Navas, Jorge A.; Schachte, Peter; Sondergaard, Harald; Stuckey, Peter J.

    2014-01-01

    We explore a transformational approach to the problem of verifying simple array-manipulating programs. Traditionally, verification of such programs requires intricate analysis machinery to reason with universally quantified statements about symbolic array segments, such as "every data item stored in the segment A[i] to A[j] is equal to the corresponding item stored in the segment B[i] to B[j]." We define a simple abstract machine which allows for set-valued variables and we show how to translate programs with array operations to array-free code for this machine. For the purpose of program analysis, the translated program remains faithful to the semantics of array manipulation. Based on our implementation in LLVM, we evaluate the approach with respect to its ability to extract useful invariants and the cost in terms of code size.

  12. QX MAN: Q and X file manipulation

    NASA Technical Reports Server (NTRS)

    Krein, Mark A.

    1992-01-01

    QX MAN is a grid and solution file manipulation program written primarily for the PARC code and the GRIDGEN family of grid generation codes. QX MAN combines many of the features frequently encountered in grid generation, grid refinement, the setting-up of initial conditions, and post processing. QX MAN allows the user to manipulate single block and multi-block grids (and their accompanying solution files) by splitting, concatenating, rotating, translating, re-scaling, and stripping or adding points. In addition, QX MAN can be used to generate an initial solution file for the PARC code. The code was written to provide several formats for input and output in order for it to be useful in a broad spectrum of applications.

  13. Manipulator Controlled since a Smartphone by Bluetooth

    NASA Astrophysics Data System (ADS)

    Sánchez-Niño, F.; Rodríguez Pedroza, G.; Castillo Baldivia, E. G.

    2015-01-01

    We present the design of transmitter interface of data between a microcontroller and Smartphone to control a robot. We used a Bluetooth module to send the commands to control the moving of the manipulator. The system is formed by three parts: the first part, the program made in Android. It is run on the Smartphone that controls the position of the robot. The second part is the reception board based in the PIC18F4550 that energizes the joints of the manipulator. The last part is the driver. It use an integrated circuit L293D that is configured in two full bridges H. This system is a good tool for learning of programing, sensors, actuators, robotic, electronic and design electronic.

  14. Control strategy for cooperating disparate manipulators

    NASA Technical Reports Server (NTRS)

    Lew, Jae Young

    1989-01-01

    To manipulate large payloads typical of space construction, the concept of a small arm mounted on the end of a large arm is introduced. The main purposes of such a configuration are to increase the structural stiffness of the robot by bracing against or locking to a stationary frame, and to maintain a firm position constraint between the robot's base and workpieces by grasping them. Possible topologies for a combination of disparate large and small arms are discussed, and kinematics, dynamics, controls, and coordination of the two arms, especially when they brace at the tip of the small arm, are developed. The feasibility and improvement in performance are verified, not only with analytical work and simulation results but also with experiments on the existing arrangement Robotic Arm Large and Flexible and Small Articulated Manipulator.

  15. Robotic-Movement Payload Lifter and Manipulator

    NASA Technical Reports Server (NTRS)

    Doggett, William R. (Inventor); King, Bruce D. (Inventor); Collins, Timothy J. (Inventor); Dorsey, John T. (Inventor)

    2011-01-01

    A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules.

  16. Extended SQL for manipulating clinical warehouse data.

    PubMed

    Johnson, S B; Chatziantoniou, D

    1999-01-01

    Health care institutions are beginning to collect large amounts of clinical data through patient care applications. Clinical data warehouses make these data available for complex analysis across patient records, benefiting administrative reporting, patient care and clinical research. Data gathered for patient care purposes are difficult to manipulate for analytic tasks; the schema presents conceptual difficulties for the analyst, and many queries perform poorly. An extension to SQL is presented that enables the analyst to designate groups of rows. These groups can then be manipulated and aggregated in various ways to solve a number of useful analytic problems. The extended SQL is concise and runs in linear time, while standard SQL requires multiple statements with polynomial performance. The extensions are extremely powerful for performing aggregations on large amounts of data, which is useful in clinical data mining applications.

  17. Resolution of dacryostenosis after osteopathic manipulative treatment.

    PubMed

    Apoznanski, Theresa E; Abu-Sbaih, Reem; Terzella, Michael J; Yao, Sheldon

    2015-02-01

    Dacryostenosis is an obstruction of the nasolacrimal duct and is the most common cause of epiphora and ocular discharge in newborns. Whereas most cases resolve spontaneously, invasive treatment may become necessary if symptoms persist past age 6 to 12 months. In the present case, a 9-month-old boy with persistent dacryostenosis was scheduled for lacrimal duct probing after first-line treatments failed. After a single session of osteopathic manipulative treatment, the patient's epiphora and other symptoms resolved, and he no longer needed surgical probing. A review of the literature highlights key pathophysiologic processes, management options, and musculoskeletal aspects of dacryostenosis. Physicians should consider osteopathic manipulative treatment in the management of dacryostenosis.

  18. Bone manipulation procedures in dental implants.

    PubMed

    Mittal, Yuvika; Jindal, Govind; Garg, Sandeep

    2016-01-01

    The use of dental implants for the rehabilitation of missing teeth has broadened the treatment options for patients and clinicians equally. As a result of advances in research in implant design, materials, and techniques, the use of dental implants has increased dramatically in the past two decades and is expected to expand further in the future. Success of dental implants depends largely on the quality and quantity of the available bone in the recipient site. This however may be compromised or unavailable due to tumor, trauma, periodontal disease, etc., which in turn necessitates the need for additional bone manipulation. This review outlines the various bone manipulation techniques that are used to achieve a predictable long-term success of dental implants.

  19. Graphene plasmonic lens for manipulating energy flow

    PubMed Central

    Wang, Guoxi; Liu, Xueming; Lu, Hua; Zeng, Chao

    2014-01-01

    Manipulating the energy flow of light is at the heart of modern information and communication technologies. Because photons are uncharged, it is still difficult to effectively control them by electrical means. Here, we propose a graphene plasmonic (GP) lens to efficiently manipulate energy flow by elaborately designing the thickness of the dielectric spacer beneath the graphene sheet. Different from traditional metal-based lenses, the proposed graphene plasmonic lens possesses the advantages of tunability and excellent confinement of surface plasmons. It is found that the proposed lens can be utilized to focus and collimate the GP waves propagating along the graphene sheet. Particularly, the lens is dispersionless over a wide frequency range and the performance of lens can be flexibly tuned by adjusting the bias voltage. As an application of such a lens, the image transfer of two point sources with a separation of λ0/30 is demonstrated. PMID:24517981

  20. Force override rate control for robotic manipulators

    NASA Technical Reports Server (NTRS)

    Driels, Morris

    1994-01-01

    The work reported deals with the problem of operating a robot manipulator under a rate control mode while the end effector is not in contact with the external environment, and then switching to a force control mode when contact is made. The paper details how the modal changeover may be accomplished in a manner transparent to the operator, and will allow operator applied forces to be reflected at the robot end effector. A one degree of freedom demonstration system is used to illustrate the concept, which is then applied to a PUMA manipulator. Sample code for the implementation of the control is provided, experimental results show that the optimum setting for the gain is a function of the compliance of the end effector, and the compliance of the external constraint.

  1. Selective impairment in manipulating Arabic numerals.

    PubMed

    Cipolotti, L; Warrington, E K; Butterworth, B

    1995-03-01

    This paper describes an acalculic patient (B.A.L.) with an unusual selective deficit in manipulating arabic numerals. The patient was unimpaired in reading aloud letters, words and written number names but unable to read aloud single arabic numerals. Furthermore, his ability to produce the next number in the sequence and his ability to produce answers to simple addition and subtraction was relatively spared when the stimuli were presented as number names but impaired when the stimuli were presented as arabic numerals. Using magnitude comparison tasks it was demonstrated that his knowledge of cardinal values of arabic numerals was preserved. His impairment in manipulating arabic numerals was interpreted in terms of a deficit in the connection between format specific number codes and the verbal numeral production system.

  2. Controlling robot manipulators by dynamic programming

    NASA Astrophysics Data System (ADS)

    Richard, Marc J.; Cheng, Li

    1995-02-01

    A certain number of considerations should be taken into account in the dynamic control of robot manipulators as highly complex non-linear systems. In this article, we provide a detailed presentation of the mechanical and electrical implications of robots equipped with DC motor actuators. This model takes into account all non-linear aspects of the system. Then, we develop computational algorithms for optimal control based on dynamic programming. The robot's trajectory must be predefined, but performance criteria and constraints applying to the system are not limited and we may adapt them freely to the robot and the task being studied. As an example, a manipulator arm with 3 degress of freedom is analyzed.

  3. Application of a rapid and selective method for the simultaneous determination of carebastine and pseudoephedrine in human plasma by liquid chromatography-electrospray mass spectrometry for bioequivalence study in Korean subjects.

    PubMed

    Lee, Myung-Jae; Lee, Heon-Woo; Kang, Jong-Min; Seo, Ji-Hyung; Tak, Seong-Kun; Shim, Wangseob; Yim, Sung-Vin; Hong, Seung Jae; Lee, Kyung-Tae

    2010-10-01

    We describe a simple, rapid and sensitive high-performance liquid chromatography-electrospray ionization tandem mass spectrometric method that was developed for the simultaneous determination of carebastine and pseudoephedrine in human plasma using cisapride as an internal standard. Acquisition was performed in multiple-reaction monitoring mode by monitoring the transitions: m/z 500.43 > 167.09 for carebastine and m/z 166.04 > 147.88 for pseudoephedrine. The devised method involves a simple single-step liquid-liquid extraction with ethyl acetate. Chromatographic separation was performed on a C(18) reversed-phase chromatographic column at 0.2  mL/min by isocratic elution with 10  mM ammonium formate buffer-acetonitrile (30:70, v/v; adjusted to pH 3.3 with formic acid). The devised method was validated over 0.5-100  ng/mL of carebastine and 5-1000  ng/mL of pseudoephedrine with acceptable accuracy and precision, and was successfully applied to a bioequivalence study involving a single oral dose (10  mg of ebastine plus 120  mg of pseudoephedrine complex) to healthy Korean volunteers.

  4. Brotherly Love? The Manipulation of Body Boundaries

    ERIC Educational Resources Information Center

    Beck, Benjamin

    2011-01-01

    This article is about a street-wise boy who is unaware that his younger brother has been using clever manipulation to get him into trouble. Nicholas is a 12-year-old boy whose father was recently given a life sentence for murder. Nicholas is in a boxing league and uses his fighting skills on the streets. Angel is Nicholas' nine-year-old brother…

  5. Magnus force effect in optical manipulation

    SciTech Connect

    Cipparrone, Gabriella; Pagliusi, Pasquale; Hernandez, Raul Josue; Provenzano, Clementina

    2011-07-15

    The effect of the Magnus force in optical micromanipulation has been observed. An ad hoc experiment has been designed based on a one-dimensional optical trap that carries angular momentum. The observed particle dynamics reveals the occurrence of this hydrodynamic force, which is neglected in the common approach. Its measured value is larger than the one predicted by the existing theoretical models for micrometric particles and low Reynolds number, showing that the Magnus force can contribute to unconventional optohydrodynamic trapping and manipulation.

  6. Magnus force effect in optical manipulation

    NASA Astrophysics Data System (ADS)

    Cipparrone, Gabriella; Hernandez, Raul Josue; Pagliusi, Pasquale; Provenzano, Clementina

    2011-07-01

    The effect of the Magnus force in optical micromanipulation has been observed. An ad hoc experiment has been designed based on a one-dimensional optical trap that carries angular momentum. The observed particle dynamics reveals the occurrence of this hydrodynamic force, which is neglected in the common approach. Its measured value is larger than the one predicted by the existing theoretical models for micrometric particles and low Reynolds number, showing that the Magnus force can contribute to unconventional optohydrodynamic trapping and manipulation.

  7. Evolution of the Space Station Robotic Manipulator

    NASA Technical Reports Server (NTRS)

    Razvi, Shakeel; Burns, Susan H.

    2007-01-01

    The Space Station Remote Manipulator System (SSRMS), Canadarm2, was launched in 2001 and deployed on the International Space Station (ISS). The Canadarm2 has been instrumental in ISS assembly and maintenance. Canadarm2 shares its heritage with the Space Shuttle Arm (Canadarm). This article explores the evolution from the Shuttle Canadarm to the Space Station Canadarm2 design, which incorporates a 7 degree of freedom design, larger joints, and changeable operating base. This article also addresses phased design, redundancy, life and maintainability requirements. The design of Canadarm2 meets unique ISS requirements, including expanded handling capability and the ability to be maintained on orbit. The size of ISS necessitated a mobile manipulator, resulting in the unique capability of Canadarm2 to relocate by performing a walk off to base points located along the Station, and interchanging the tip and base of the manipulator. This provides the manipulator with reach and access to a large part of the Station, enabling on-orbit assembly of the Station and providing support to Extra-Vehicular Activity (EVA). Canadarm2 is evolving based on on-orbit operational experience and new functionality requirements. SSRMS functionality is being developed in phases to support evolving ISS assembly and operation as modules are added and the Station becomes more complex. Changes to sustaining software, hardware architecture, and operations have significantly enhanced SSRMS capability to support ISS mission requirements. As a result of operational experience, SSRMS changes have been implemented for Degraded Joint Operations, Force Moment Sensor Thermal Protection, Enabling Ground Controlled Operations, and Software Commutation. Planned Canadarm2 design modifications include: Force Moment Accommodation, Smart Safing, Separate Safing, and Hot Backup. In summary, Canadarm2 continues to evolve in support of new ISS requirements and improved operations. It is a tribute to the design that

  8. Mycobacterium tuberculosis: Manipulator of Protective Immunity

    PubMed Central

    Korb, Vanessa C.; Chuturgoon, Anil A.; Moodley, Devapregasan

    2016-01-01

    Mycobacterium tuberculosis (MTB) is one of the most successful pathogens in human history and remains a global health challenge. MTB has evolved a plethora of strategies to evade the immune response sufficiently to survive within the macrophage in a bacterial-immunological equilibrium, yet causes sufficient immunopathology to facilitate its transmission. This review highlights MTB as the driver of disease pathogenesis and presents evidence of the mechanisms by which MTB manipulates the protective immune response into a pathological productive infection. PMID:26927066

  9. Data structures for DNA sequence manipulation.

    PubMed Central

    Lawrence, C B

    1986-01-01

    Two data structures designated Fragment and Construct are described. The Fragment data structure defines a continuous nucleic acid sequence from a unique genetic origin. The Construct defines a continuous sequence composed of sequences from multiple genetic origins. These data structures are manipulated by a set of software tools to simulate the construction of mosaic recombinant DNA molecules. They are also used as an interface between sequence data banks and analytical programs. PMID:3753765

  10. BASIC Data Manipulation And Display System (BDMADS)

    NASA Technical Reports Server (NTRS)

    Szuch, J. R.

    1983-01-01

    BDMADS, a BASIC Data Manipulation and Display System, is a collection of software programs that run on an Apple II Plus personal computer. BDMADS provides a user-friendly environment for the engineer in which to perform scientific data processing. The computer programs and their use are described. Jet engine performance calculations are used to illustrate the use of BDMADS. Source listings of the BDMADS programs are provided and should permit users to customize the programs for their particular applications.

  11. Manipulating Cells with Static Magnetic Fields

    NASA Astrophysics Data System (ADS)

    Valles, J. M.; Guevorkian, K.

    2005-07-01

    We review our investigations of the use of static magnetic fields, B, for manipulating cells and cellular processes. We describe how B fields modify the cell division pattern of frog embryos and consequently can be used to probe the pattern determinants. We also observe that magnetic fields modify the swimming behavior of Paramecium Caudatum. We describe these modifications and their potential application to investigations of their swimming behavior.

  12. Telerobotic operation of conventional robot manipulators

    SciTech Connect

    Boissiere, P.T.; Harrigan, R.W.

    1988-01-01

    This paper discusses a new telerobotic control concept and its implementation using a PUMA-560 robot manipulator. The control concept couples human supervisory commands with computer reasoning. The control system is responsive and accomplishes an operator's commands while providing obstacle avoidance and controlled interactions with the environment where desired. This provides a system which not only assists the operator in accomplishing tasks but modifies inappropriate operator commands which can result in safety hazards and/or equipment damage. 15 refs., 6 figs.

  13. Manipulator control and mechanization: A telerobot subsystem

    NASA Technical Reports Server (NTRS)

    Hayati, S.; Wilcox, B.

    1987-01-01

    The short- and long-term autonomous robot control activities in the Robotics and Teleoperators Research Group at the Jet Propulsion Laboratory (JPL) are described. This group is one of several involved in robotics and is an integral part of a new NASA robotics initiative called Telerobot program. A description of the architecture, hardware and software, and the research direction in manipulator control is given.

  14. Rainfall Manipulation Plot Study (RaMPS)

    DOE Data Explorer

    Blair, John [Kansas State University; Fay, Phillip [USDA-ARS; Knapp, Alan [Colorado State University; Collins, Scott [University of New Mexico; Smith, Melinda [Yale University

    Rainfall Manipulation Plots facility (RaMPs) is a unique experimental infrastructure that allows us to manipulate precipitation events and temperature, and assess population community, and ecosystem responses in native grassland. This facility allows us to manipulate the amount and timing of individual precipitation events in replicated field plots at the Konza Prairie Long-Term Ecological Research (LTER) site. Questions we are addressing include: • What is the relative importance of more extreme precipitation patterns (increased climatic variability) vs. increased temperatures (increased climatic mean) with regard to their impact on grassland ecosystem structure and function? Both projected climate change factors are predicted to decrease soil water availability, but the mechanisms by which this resource depletion occurs differ. • Will altered precipitation patterns, increased temperatures and their interaction increase opportunities for invasion by exotic species? • Will long-term (6-10 yr) trajectories of community and ecosystem change in response to more extreme precipitation patterns continue at the same rate as initial responses from years 1-6? Or will non-linear change occur as potential ecological thresholds are crossed? And will increased temperatures accelerate these responses? Data sets are available as ASCII files, in Excel spreadsheets, and in SAS format. (Taken from http://www.konza.ksu.edu/ramps/backgrnd.html

  15. Optogenetic Glia Manipulation: Possibilities and Future Prospects

    PubMed Central

    Cho, Woo-Hyun; Barcelon, Ellane

    2016-01-01

    Our brains are composed of two distinct cell types: neurons and glia. Emerging data from recent investigations show that glial cells, especially astrocytes and microglia, are able to regulate synaptic transmission and thus brain information processing. This suggests that, not only neuronal activity, but communication between neurons and glia also plays a key role in brain function. Thus, it is currently well known that the physiology and pathophysiology of brain function can only be completely understood by considering the interplay between neurons and glia. However, it has not yet been possible to dissect glial cell type-specific roles in higher brain functions in vivo. Meanwhile, the recent development of optogenetics techniques has allowed investigators to manipulate neural activity with unprecedented temporal and spatial precision. Recently, a series of studies suggested the possibility of applying this cutting-edge technique to manipulate glial cell activity. This review briefly discusses the feasibility of optogenetic glia manipulation, which may provide a technical innovation in elucidating the in vivo role of glial cells in complex higher brain functions. PMID:27790054

  16. Biological cell manipulation by magnetic nanoparticles

    NASA Astrophysics Data System (ADS)

    Gertz, Frederick; Khitun, Alexander

    2016-02-01

    We report a manipulation of biological cells (erythrocytes) by magnetite (Fe3O4) nanoparticles in the presence of a magnetic field. The experiment was accomplished on the top of a micro-electromagnet consisting of two magnetic field generating contours. An electric current flowing through the contour(s) produces a non-uniform magnetic field, which is about 1.4 mT/μm in strength at 100 mA current in the vicinity of the current-carrying wire. In responses to the magnetic field, magnetic nanoparticles move towards the systems energy minima. In turn, magnetic nanoparticles drag biological cells in the same direction. We present experimental data showing cell manipulation through the control of electric current. This technique allows us to capture and move cells located in the vicinity (10-20 microns) of the current-carrying wires. One of the most interesting results shows a periodic motion of erythrocytes between the two conducting contours, whose frequency is controlled by an electric circuit. The obtained results demonstrate the feasibility of non-destructive cell manipulation by magnetic nanoparticles with micrometer-scale precision.

  17. Genetic Manipulation of Human Embryonic Stem Cells.

    PubMed

    Eiges, Rachel

    2016-01-01

    One of the great advantages of embryonic stem (ES) cells over other cell types is their accessibility to genetic manipulation. They can easily undergo genetic modifications while remaining pluripotent, and can be selectively propagated, allowing the clonal expansion of genetically altered cells in culture. Since the first isolation of ES cells in mice, many effective techniques have been developed for gene delivery and manipulation of ES cells. These include transfection, electroporation, and infection protocols, as well as different approaches for inserting, deleting, or changing the expression of genes. These methods proved to be extremely useful in mouse ES cells, for monitoring and directing differentiation, discovering unknown genes, and studying their function, and are now being extensively implemented in human ES cells (HESCs). This chapter describes the different approaches and methodologies that have been applied for the genetic manipulation of HESCs and their applications. Detailed protocols for generating clones of genetically modified HESCs by transfection, electroporation, and infection will be described, with special emphasis on the important technical details that are required for this purpose. All protocols are equally effective in human-induced pluripotent stem (iPS) cells.

  18. Body as subject1

    PubMed Central

    MEIR, IRIT; PADDEN, CAROL A.; ARONOFF, MARK; SANDLER, WENDY

    2011-01-01

    The notion of subject in human language has a privileged status relative to other arguments. This special status is manifested in the behavior of subjects at the morphological, syntactic, semantic and discourse levels. Here we bring evidence that subjects have privileged status at the lexical level as well, by analyzing lexicalization patterns of verbs in three different sign languages. Our analysis shows that the sublexical structure of iconic signs denoting state of affairs in these languages manifests an inherent pattern of form–meaning correspondence: the signer’s body consistently represents one argument of the verb, the subject. The hands, moving in relation to the body, represent all other components of the event – including all other arguments. This analysis shows that sign languages provide novel evidence in support of the centrality of the notion of subject in human language. It also solves a typological puzzle about the apparent primacy of object in sign language verb agreement, a primacy not usually found in spoken languages, in which subject agreement ranks higher. Our analysis suggests that the subject argument is represented by the body and is part of the lexical structure of the verb. Because it is always inherently represented in the structure of the sign, the subject is more basic than the object, and tolerates the omission of agreement morphology. PMID:23066169

  19. Development and validation of a liquid chromatography/atmospheric pressure photoionization-tandem mass spectrometric method for the analysis of mycotoxins subjected to commission regulation (EC) No. 1881/2006 in cereals.

    PubMed

    Capriotti, Anna Laura; Foglia, Patrizia; Gubbiotti, Riccardo; Roccia, Claudia; Samperi, Roberto; Laganà, Aldo

    2010-09-24

    A sensitive and reliable liquid chromatography/photoionization (APPI) tandem mass spectrometry method has been developed for determining nine selected mycotoxins in wheat and maize samples. The analytes were chosen on the basis of the mycotoxins under EU Commission Regulation (EC) No. 1881/2006, i.e., deoxynivalenol (DON), zearalenone (ZON), aflatoxins (AFs), and ochratoxin A (OTA), and considering the possibility of a near future regulation for T-2 and HT-2 toxins. Mycotoxins were extracted from samples by means of an one-step solvent extraction without any cleanup. The developed multi-mycotoxin method permits simultaneous, simple, and rapid determination of several co-existing toxins separated in a single chromatographic run, in which AFs, T-2 and HT-2 toxin are acquired in positive, while OTA, DON and ZON in negative mode. Although a moderate signal suppression was noticeable, matrix effect did not give significant differences at p=0.05. Then, calibration in standard solution were used for quantitation. Based on the EU Commission Decision 2002/657/EC, the method was in-house validated in terms of ruggedness, specificity, linearity, trueness, within-laboratory reproducibility, decision limit (CCalpha) and detection capability (CCbeta). For all the analytes, the regression coefficient r ranged between 0.8752 (DON in wheat) and 0.9465 (ZON in maize), biases related to mean concentrations were from -13% to +12% of the nominal spiking level, and the overall within-laboratory reproducibility ranged 3-16%; finally, CCalpha values did not differ more than 20% and CCbeta not more than 42% from their respective maximum limit. Method quantification limits ranged from 1/20 (AFG1) to 1/4 (AFG2 and OTA) the maximum limit established by European Union in the Commission Regulation (EC) No. 1881/2006 and its subsequent amendments.

  20. Accuracy of aggregate 2- and 3-component models of body composition relative to 4-component for the measurement of changes in fat mass during weight loss in overweight and obese subjects.

    PubMed

    Lara, Jose; Johnstone, Alexandra M; Wells, Jonathan; Jebb, Susan; Siervo, Mario

    2014-08-01

    The 4-component (4-C) model is the reference method to measure fat mass (FM). Simpler 2-component (2-C) models are widely used to assess FM. We hypothesised that an aggregate 2-C model may improve accuracy of FM assessment during weight loss (WL). One hundred and six overweight and obese men and women were enrolled in different WL programs (fasting, very low energy diet, low energy diet). Body density, bone mineral content, and total body water were measured. FM was calculated using 2-C, 3-C, and 4-C models. Aggregate equations for 2-C, 3-C, and 4-C models were calculated, with the aggregate 4-C model assumed as the reference method. The aggregate approach postulates that the average of the individual estimates obtained from each model is more accurate than the best single measurement. The average WL was -7.5 kg. The agreement between 3-C and 4-C models for FM change was excellent (R(2) = 0.99). The aggregate 2-C equation was more accurate than individual 2-C estimates in measuring changes in FM. The aggregate model was characterised by a lower measurement error at baseline and post-WL. The relationship between the aggregate 3-C and 4-C component models was highly linear (R(2) = 0.99), whereas a lower linearity was found for the aggregate 2-C and 4-C model (R(2) = 0.72). The aggregate 2-C model is characterised by a greater accuracy than commonly applied 2-C equations for the measurement of FM during WL in overweight and obese men and women.

  1. On-chip particle trapping and manipulation

    NASA Astrophysics Data System (ADS)

    Leake, Kaelyn Danielle

    The ability to control and manipulate the world around us is human nature. Humans and our ancestors have used tools for millions of years. Only in recent years have we been able to control objects at such small levels. In order to understand the world around us it is frequently necessary to interact with the biological world. Optical trapping and manipulation offer a non-invasive way to move, sort and interact with particles and cells to see how they react to the world around them. Optical tweezers are ideal in their abilities but they require large, non-portable, and expensive setups limiting how and where we can use them. A cheap portable platform is required in order to have optical manipulation reach its full potential. On-chip technology offers a great solution to this challenge. We focused on the Liquid-Core Anti-Resonant Reflecting Optical Waveguide (liquid-core ARROW) for our work. The ARROW is an ideal platform, which has anti-resonant layers which allow light to be guided in liquids, allowing for particles to easily be manipulated. It is manufactured using standard silicon manufacturing techniques making it easy to produce. The planner design makes it easy to integrate with other technologies. Initially I worked to improve the ARROW chip by reducing the intersection losses and by reducing the fluorescence and background on the ARROW chip. The ARROW chip has already been used to trap and push particles along its channel but here I introduce several new methods of particle trapping and manipulation on the ARROW chip. Traditional two beam traps use two counter propagating beams. A trapping scheme that uses two orthogonal beams which counter to first instinct allow for trapping at their intersection is introduced. This scheme is thoroughly predicted and analyzed using realistic conditions. Simulations of this method were done using a program which looks at both the fluidics and optical sources to model complex situations. These simulations were also used to

  2. 14 CFR 135.115 - Manipulation of controls.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Manipulation of controls. 135.115 Section 135.115 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED... Operations § 135.115 Manipulation of controls. No pilot in command may allow any person to manipulate...

  3. 19 CFR 146.33 - Temporary deposit for manipulation.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 19 Customs Duties 2 2011-04-01 2011-04-01 false Temporary deposit for manipulation. 146.33 Section... deposit for manipulation. Imported merchandise for which an entry has been made and which has remained in continuous Customs custody may be brought temporarily to a zone for manipulation and return to...

  4. Improving Children's Listening Comprehension with a Manipulation Strategy

    ERIC Educational Resources Information Center

    Marley, Scott C.; Szabo, Zsuzsanna

    2010-01-01

    The authors examined the cognitive benefits of physical manipulation. Participants were 76 kindergarten and first-grade students randomly assigned to 2 strategies: stories with pictures or manipulation. In the pictures strategy, participants listened to story content and viewed pictures. In the manipulation strategy, participants moved…

  5. An Embedded and Embodied Cognition Review of Instructional Manipulatives

    ERIC Educational Resources Information Center

    Pouw, Wim T. J. L.; van Gog, Tamara; Paas, Fred

    2014-01-01

    Recent literature on learning with instructional manipulatives seems to call for a moderate view on the effects of perceptual and interactive richness of instructional manipulatives on learning. This "moderate view" holds that manipulatives' perceptual and interactive richness may compromise learning in two ways: (1) by imposing a…

  6. Investigating Preservice Mathematics Teachers' Manipulative Material Design Processes

    ERIC Educational Resources Information Center

    Sandir, Hakan

    2016-01-01

    Students use concrete manipulatives to form an imperative affiliation between conceptual and procedural knowledge (Balka, 1993). Hence, it is necessary to design specific mathematics manipulatives that focus on different mathematical concepts. Preservice teachers need to know how to make and use manipulatives that stimulate students' thinking as…

  7. Mathematical Manipulative Models: In Defense of "Beanbag Biology"

    ERIC Educational Resources Information Center

    Jungck, John R.; Gaff, Holly; Weisstein, Anton E.

    2010-01-01

    Mathematical manipulative models have had a long history of influence in biological research and in secondary school education, but they are frequently neglected in undergraduate biology education. By linking mathematical manipulative models in a four-step process--1) use of physical manipulatives, 2) interactive exploration of computer…

  8. Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator

    PubMed Central

    Yahya, Samer; Moghavvemi, Mahmoud; Almurib, Haider Abbas F.

    2012-01-01

    Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed to control the joint angle, leading to a decrease in the weight of the manipulator. Many efforts have been focused on decreasing the weight of manipulators, such as using lightweight joints design or setting the actuators at the base of the manipulator and using tendons for the transmission of power to these joints. By using the design of this paper, only three motors are needed to control any n degrees of freedom in a three dimensional planar redundant manipulator instead of n motors. Therefore this design is very effective to decrease the weight of the manipulator as well as the number of motors needed to control the manipulator. In this paper, the torque of all the joints are calculated for the proposed manipulator (with three motors) and the conventional three dimensional planar manipulator (with one motor for each degree of freedom) to show the effectiveness of the proposed manipulator for decreasing the weight of the manipulator and minimizing driving joint torques. PMID:22969326

  9. A Prototype Manipulation System for Mars Rover Science Operations

    NASA Technical Reports Server (NTRS)

    Volpe, R.; Ohm, T.; Petras, R.; Welch, R.; Ivlev, R.

    1997-01-01

    This paper provides an overview of a new manipulation system developed for sampling and instrument placement from small autonomous mobile robots for Mars exploration. Selected out of the design space, two manipulators have been constructed and integrated into the Rocky 7 Mars rover prototype. This paper describes objectives and constraints for these manipulators, and presents the finished system and some results from its operation.

  10. 19 CFR 146.33 - Temporary deposit for manipulation.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 19 Customs Duties 2 2010-04-01 2010-04-01 false Temporary deposit for manipulation. 146.33 Section... deposit for manipulation. Imported merchandise for which an entry has been made and which has remained in continuous Customs custody may be brought temporarily to a zone for manipulation and return to...

  11. 14 CFR 135.115 - Manipulation of controls.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Manipulation of controls. 135.115 Section 135.115 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED... Operations § 135.115 Manipulation of controls. No pilot in command may allow any person to manipulate...

  12. Cavity-Assisted Manipulation of Freely Rotating Silicon Nanorods in High Vacuum

    PubMed Central

    2015-01-01

    Optical control of nanoscale objects has recently developed into a thriving field of research with far-reaching promises for precision measurements, fundamental quantum physics and studies on single-particle thermodynamics. Here, we demonstrate the optical manipulation of silicon nanorods in high vacuum. Initially, we sculpture these particles into a silicon substrate with a tailored geometry to facilitate their launch into high vacuum by laser-induced mechanical cleavage. We manipulate and trace their center-of-mass and rotational motion through the interaction with an intense intracavity field. Our experiments show that the anisotropy of the nanorotors leads to optical forces that are three times stronger than on silicon nanospheres of the same mass. The optical torque experienced by the spinning rods will enable cooling of the rotational motion and torsional optomechanics in a dissipation-free environment. PMID:26167662

  13. Immediate reduction in temporal sensory summation after thoracic spinal manipulation

    PubMed Central

    Bishop, Mark D; Beneciuk, Jason M; George, Steven Z

    2011-01-01

    Background Context Spinal manipulative therapy (SMT) has shown clinical effectiveness in some patients with musculoskeletal pain. Purpose We performed the current experiment to test whether regional pain modulation is to be expected from thoracic SMT. Study Design/Setting Randomized experimental design performed in a university pain laboratory. Outcome Measures The primary outcome was experimental pain sensitivity in cervical and lumbar innervated area. Methods Ninety healthy volunteers were randomly assigned to receive one of three interventions (SMT, exercise or rest) to the upper thoracic spine. Participants completed questionnaires about pain-related affect and expectations regarding each of the interventions. We collected experimental pain sensitivity measures of cervical and lumbar innervated areas before and immediately after randomly assigned intervention. Mixed-model analysis of co-variance was used to test changes in measures of experimental pain sensitivity. Results No interactions or intervention (group) effects were noted for pressure or A-delta mediated thermal pain responses. Participants receiving SMT had greater reductions in temporal sensory summation (TSS). Conclusions This current study indicates thoracic SMT reduces TSS in healthy subjects. These findings extend our previous work in healthy and clinical subjects by indicating change in the nocioceptive afferent system occurred caudal to the region of SMT application. However, the duration of reduction in TSS is an unknown, and more work needs to be completed in clinical populations for confirm the relevance of these findings. PMID:21463970

  14. Electro-optic bandwidth manipulation of quantum light (Conference Presentation)

    NASA Astrophysics Data System (ADS)

    Karpinski, Michal; Jachura, Michal; Wright, Laura J.; Smith, Brian J.

    2016-04-01

    Spectral-temporal manipulation of optical pulses has enabled numerous developments within a broad range of research topics, ranging from fundamental science to practical applications. Within quantum optics spectral-temporal degree of freedom of light offers a promising platform for integrated photonic quantum information processing. An important challenge in experimentally realizing spectral-temporal manipulation of quantum states of light is the need for highly efficient manipulation tools. In this context the intrinsically deterministic electro-optic methods show great promise for quantum applications. We experimentally demonstrate application of electro-optic platform for spectral-temporal manipulation of ultrashort pulsed quantum light. Using techniques analogous to serrodyne frequency shifting we show active spectral translation of few-picosecond single photon pulses by up to 0.5 THz. By employing an approach based on an electro-optic time lens we demonstrate up to 6-fold spectral compression of heralded single photon pulses with efficiency that enables us to significantly increase single photon flux through a narrow bandpass filter. We realize the required temporal phase manipulation by driving a lithium niobate waveguided electrooptic modulator with 33 dBm sinusoidal RF field at the frequency of either 10 GHz or 40 GHz. We use a phase lock loop to temporally lock the RF field to the 80 MHz repetition rate of approximately 1 ps long optical pulses. Heralded single photon wavepackets are generated by means of spontaneous parametric down-conversion in potassium dihydrogen phosphate (KDP) crystal, which enables preparation of spectrally pure single photon wavepackets without the need for spectral filtering. Spectral shifting is achieved by locking single-photon pulses to the linear slope of sinusoidal 40 GHz RF phase modulation. We verify the spectral shift by performing spectrally resolved heralded single photon counting, using frequency-to-time conversion by

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

    PubMed

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

    2012-05-01

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

  16. Note on hand use in the manipulation of joysticks by rhesus monkeys (Macaca mulatta) and chimpanzees (Pan troglodytes)

    NASA Technical Reports Server (NTRS)

    Hopkins, William D.; Washburn, David A.; Rumbaugh, Duane M.

    1989-01-01

    MacNeilage et al. (1987) have proposed that nonhuman primate handedness may be contingent on the specific task requirements, with visual-spatial tasks yielding left-hand preferences and fine-motor tasks producing right-hand preferences. This study reports hand preferences in the manipulation of joysticks by 2 rhesus monkeys and 3 chimpanzees. Reach data were also collected for comparison with preference data for manipulation of the joystick. The data indicated that all 5 subjects demonstrated significant right-hand preferences in manipulating the joystick. In contrast, no significant hand preferences were found for the reach data. Reaction-time data also indicated that the right hand could perform a perceptual-motor task better than the left hand in all 5 subjects. Overall, the data indicate that reach tasks may not be sensitive enough measures to produce reliable hand preferences, whereas tasks that assess fine-motor control produce significant hand preferences.

  17. Metabolic rate of carrying added mass: a function of walking speed, carried mass and mass location.

    PubMed

    Schertzer, Eliran; Riemer, Raziel

    2014-11-01

    The effort of carrying additional mass at different body locations is important in ergonomics and in designing wearable robotics. We investigate the metabolic rate of carrying a load as a function of its mass, its location on the body and the subject's walking speed. Novel metabolic rate prediction equations for walking while carrying loads at the ankle, knees and back were developed based on experiments where subjects walked on a treadmill at 4, 5 or 6km/h bearing different amounts of added mass (up to 2kg per leg and 22kg for back). Compared to previously reported equations, ours are 7-69% more accurate. Results also show that relative cost for carrying a mass at a distal versus a proximal location changes with speed and mass. Contrary to mass carried on the back, mass attached to the leg cannot be modeled as an increase in body mass. PMID:24793822

  18. Anthropomorphic teleoperation: Controlling remote manipulators with the DataGlove

    NASA Technical Reports Server (NTRS)

    Hale, J. P., II

    1992-01-01

    A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs.

  19. Modification of tumor response by manipulation of tumor oxygenation

    NASA Astrophysics Data System (ADS)

    Chen, Qun; Beckers, Jill; Hetzel, Fred W.

    1999-07-01

    Photodynamic therapy (PDT) requires tissue oxygenation during light irradiation. Tumor hypoxia, either pre-existing or induced by PDT during light irradiation, can severely hamper the effectiveness of a PDT treatment. Lowering the light irradiation does rate or fractionating a light dose may improve cell kill of PDT induced hypoxic cells, but will have no effects on pre-existing hypoxic cells. In the current study, we used hyper-oxygenation during PDT to overcome cell hypoxia in PDT. C3H mice with transplanted mammary carcinoma tumor were injected with 12.5 mg/kg Photofrin and irradiated with 630 nm laser light 24 hours later. Tumor oxygenation was manipulated by subjecting the animals to 3 a.t.p. hyperbaric oxygen or normobaric oxygen during PDT light irradiation. The results show a significant improvement in tumor response when PDT was delivered during hyper-oxygenation. With hyper-oxygenation, up to 80% of treated tumors showed no re-growth after 60 days. In comparison, only 20% of tumors treated while animals breathed normal room air, did not re-grow. To quantitatively evaluate the effects of manipulating tumor oxygenation, tumor p02 was measured with microelectrodes positioned in pre-existing hypoxic regions before and during the PDT light irradiation. The results show that hyper-oxygenation may oxygenate pre-existing hypoxic cells and compensate oxygen depletion induced by PDT light irradiation. In conclusion, hyper-oxygenation may provide effective ways to improve PDT treatment efficiency by oxygenating both pre-existing and treatment induced cell hypoxia.

  20. Nano-manipulation of diamond-based single photon sources.

    PubMed

    Ampem-Lassen, E; Simpson, D A; Gibson, B C; Trpkovski, S; Hossain, F M; Huntington, S T; Ganesan, K; Hollenberg, L C L; Prawer, S

    2009-07-01

    The ability to manipulate nano-particles at the nano-scale is critical for the development of active quantum systems. This paper presents a technique to manipulate diamond nano-crystals at the nano-scale using a scanning electron microscope, nano-manipulator and custom tapered optical fibre probes. The manipulation of a approximately 300 nm diamond crystal, containing a single nitrogen-vacancy centre, onto the endface of an optical fibre is demonstrated. The emission properties of the single photon source post manipulation are in excellent agreement with those observed on the original substrate.

  1. [Operation and essence of Toutianliang manipulation by professor ZHANG Jin].

    PubMed

    Zou, Wei; Wang, Long; Yu, Xueping; Sun, Xiaowei; Liu, Jinrui

    2016-01-01

    Toutianliang manipulation is the most representative compound needling technique of traditional reinforcing and reducing and has the remarkable efficacy on heat syndrome with muscle and bone involved for example. Professor ZHANG Jin is one of the famous acupuncture master in China and has contributed his lifelong to the research of acupuncture manipulation techniques. He has summarized 24 single-type manipulations and has given the comprehensive explanation of the manipulations for meridian conduction, reinforcing or reducing techniques for the excess or deficiency. In the paper, Toutianliang manipulation was introduced briefly and the key operation steps had been discussed. PMID:26946736

  2. On the nature of control algorithms for space manipulators

    NASA Technical Reports Server (NTRS)

    Papadopoulos, Evangelos; Dubowsky, Steven

    1990-01-01

    A study of the characteristics of control algorithms that can be applied to the motion control of space manipulators is reported. The results obtained show that nearly any control algorithm that can be applied to conventional terrestrial fixed-base manipulators, with a few additional conditions, can be directly applied to free-floating space manipulators. Barycenters are used to formulate efficiently the kinematic and dynamic equations of free-floating space manipulators. A control algorithm for a space manipulator system is designed to demonstrate the value of the analysis.

  3. Metamorphic manipulating mechanism design for MCCB using index reduced iteration

    NASA Astrophysics Data System (ADS)

    Xu, Jinghua; Zhang, Shuyou; Zhao, Zhen; Lin, Xiaoxia

    2013-03-01

    The present research on moulded case circuit breaker(MCCB) focuses on the enhancement of current-limiting interrupting performance during short circuit, overload, under voltage and phase failure, involving electrics, magnetic, mechanics, thermal, material, friction, arc extinguishing, impact vibration, skin effect, etc. The rigid-flexible coupling of the parts and components of the metamorphic manipulating mechanism in multi-fields leads to the non-rigid, high frequency, high damping, singularity of the Euler-Lagrange equations which represents the multi-body dynamics. The small step iteration which is used for obtaining the instantaneous and short time critical interrupting performance of metamorphic mechanism appears inaccuracy. It is difficult to realize top-down design by existing CAD systems. Therefore, a metamorphic manipulating mechanism design method for MCCB using index reduced iteration(IRI) is put forward. The metamorphic manipulating mechanism of MCCB is decomposed into three mechanisms: main switch connector mechanism, electromagnet-drawbar-jump buckle mechanism, and bimetallic strip-drawbar mechanism, which is respectively described by electro-dynamic force, electromagnet force, and bimetallic strip force. The dummy part(virtual rigid) without moment of inertia and mass is employed as intermediate to join the flexible body and rigid body. The model of rigid-flexible coupling metamorphic mechanism multi-body dynamics is built. The differential algebraic equations(DAEs) of the multibody dynamics model are converted to pure ordinary differential equations(ODEs) by coordinate partition. Order reduced integration with multi-step and variable step-size is preceded based on IRI. The non-linear algebraic equations are solved in each integration step by Newton-Rapson iteration. There is no ill-condition and singularity of Jacobian matrix when step size reduces to zero. The independent prototype design system using ACIS R13, HOOPS V11.0 and Visual C++.NET 2003

  4. Manipulation of microstructure in laser additive manufacturing

    NASA Astrophysics Data System (ADS)

    Bai, Shuang; Yang, Lihmei; Liu, Jian

    2016-05-01

    In this paper, additive manufacturing (AM) of tungsten parts is investigated by using femtosecond fiber lasers. For the first time, manipulating microstructures of AM parts is systematically investigated and reported. Various processing conditions are studied, which leads to desired characteristics in terms of morphology, porosity, hardness, and microstructural and mechanical properties of the processed components. Fully dense tungsten part with refined grain and increased hardness was obtained for femtosecond laser, compared with parts made with different pulse widths and CW laser. Micro-hardness is investigated for the fabricated samples. This can greatly benefit to the make of complicated structures and materials that could not be achieved before.

  5. Control and Manipulation of Electron Beams

    SciTech Connect

    Piot, Philippe

    2009-01-22

    The concepts of the advanced accelerators and light source rely on the production of bright electron beams. The rms areas of the beam phase space often need to be tailored to the specific applications. Furthermore, a new class of the forefront research calls for detailed specific distribution such as the particle density in the time coordinate. Several groups are tackling these various challenges and in this report we attempt to give a review of the state-of-the-art of the control and manipulation of the electron beams.

  6. Staphylococcal manipulation of host immune responses

    PubMed Central

    Thammavongsa, Vilasack; Kim, Hwan Keun; Missiakas, Dominique; Schneewind, Olaf

    2015-01-01

    Staphylococcus aureus, a bacterial commensal of the human nares and skin, is a frequent cause of soft tissue and bloodstream infections. A hallmark of staphylococcal infections is their frequent recurrence, even when treated with antibiotics and surgical intervention, which demonstrates the bacterium’s ability to manipulate innate and adaptive immune responses. In this Review, we highlight how S. aureus virulence factors inhibit complement activation, block and destroy phagocytic cells and modify host B and T cell responses, and we discuss how these insights might be useful for the development of novel therapies against infections with antibiotic resistant strains such as methicillin-resistant S. aureus. PMID:26272408

  7. Osiris: a medical image-manipulation system.

    PubMed

    Ligier, Y; Ratib, O; Logean, M; Girard, C

    1994-01-01

    We designed a general-purpose computer program, Osiris, for the display, manipulation, and analysis of digital medical images. The program offers an intuitive, window-based interface with direct access to generic tools. Characterized by user-friendliness, portability, and extensibility, Osiris is compatible with both Unix-based and Macintosh-based platforms. It is readily modified and can be used to develop new tools. It is able to monitor the entries made during a work session and thus provide data on its use. Osiris and its source code are being distributed, free of charge, to universities and research groups around the world.

  8. Sound beam manipulation based on temperature gradients

    NASA Astrophysics Data System (ADS)

    Qian, Feng; Quan, Li; Liu, Xiaozhou; Gong, Xiufen

    2015-10-01

    Previous research with temperature gradients has shown the feasibility of controlling airborne sound propagation. Here, we present a temperature gradients based airborne sound manipulation schemes: a cylindrical acoustic omnidirectional absorber (AOA). The proposed AOA has high absorption performance which can almost completely absorb the incident wave. Geometric acoustics is used to obtain the refractive index distributions with different radii, which is then utilized to deduce the desired temperature gradients. Since resonant units are not applied in the scheme, its working bandwidth is expected to be broadband. The scheme is temperature-tuned and easy to realize, which is of potential interest to fields such as noise control or acoustic cloaking.

  9. Active control of robot manipulator compliance

    NASA Technical Reports Server (NTRS)

    Nguyen, C. C.; Pooran, F. J.

    1986-01-01

    Work performed at Catholic University on the research grant entitled Active Control of Robot Manipulator Compliance, supported by NASA/Goddard space Flight Center during the period of May 15th, 1986 to November 15th, 1986 is described. The modelling of the two-degree-of-freedom robot is first presented. Then the complete system including the robot and the hybrid controller is simulated on an IBM-XT Personal Computer. Simulation results showed that proper adjustments of controller gains enable the robot to perform successful operations. Further research should focus on developing a guideline for the controller gain design to achieve system stability.

  10. Optimizing Motion Planning for Hyper Dynamic Manipulator

    NASA Astrophysics Data System (ADS)

    Aboura, Souhila; Omari, Abdelhafid; Meguenni, Kadda Zemalache

    2012-01-01

    This paper investigates the optimal motion planning for an hyper dynamic manipulator. As case study, we consider a golf swing robot which is consisting with two actuated joint and a mechanical stoppers. Genetic Algorithm (GA) technique is proposed to solve the optimal golf swing motion which is generated by Fourier series approximation. The objective function for GA approach is to minimizing the intermediate and final state, minimizing the robot's energy consummation and maximizing the robot's speed. Obtained simulation results show the effectiveness of the proposed scheme.

  11. Robotics For High Power Laser Beam Manipulation

    NASA Astrophysics Data System (ADS)

    Watson, Henry E.

    1989-03-01

    The research and development programs in manufacturing science at The Pennsylvania State University have a major emphasis on laser materials processing technology development. A major thrust of this program is the development of an intelligent robotic system which can manipulate a laser beam in three dimension with the precision required for welding. The robot is called LARS for Laser Articulated Robotic System. A gantry based robot was selected as the foundation for LARS and the system is divided into five major subsystems: robot, electronic control, vision, workhead, beam transport, and software. An overview of the Laser Robotics program including laser materials processing research programs will be provided.

  12. Elegant Gaussian beams for enhanced optical manipulation

    SciTech Connect

    Alpmann, Christina Schöler, Christoph; Denz, Cornelia

    2015-06-15

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

  13. Sound beam manipulation based on temperature gradients

    SciTech Connect

    Qian, Feng; Quan, Li; Liu, Xiaozhou Gong, Xiufen

    2015-10-28

    Previous research with temperature gradients has shown the feasibility of controlling airborne sound propagation. Here, we present a temperature gradients based airborne sound manipulation schemes: a cylindrical acoustic omnidirectional absorber (AOA). The proposed AOA has high absorption performance which can almost completely absorb the incident wave. Geometric acoustics is used to obtain the refractive index distributions with different radii, which is then utilized to deduce the desired temperature gradients. Since resonant units are not applied in the scheme, its working bandwidth is expected to be broadband. The scheme is temperature-tuned and easy to realize, which is of potential interest to fields such as noise control or acoustic cloaking.

  14. Shuttle-Attached Manipulator System requirements.

    NASA Technical Reports Server (NTRS)

    Bodey, C. E.; Cepollina, F. J.

    1973-01-01

    Shuttle mission requirements and cost objectives have led to the selection of a Shuttle-Attached Manipulator System (SAMS) as a general purpose mechanism for docking, payload handling, and the general launch and retrieval of free-flying satellites. SAMS design requirements are discussed, giving attention to end effectors, kinematics, timelines, dynamics, load ratings, TV cameras and lights. Requirements for low-cost payload satellites are considered, taking into account satellites with modular subsystems which are designed for replacement and for resupply in orbit by SAMS.

  15. Compound droplet manipulations on fiber arrays.

    PubMed

    Weyer, F; Lismont, M; Dreesen, L; Vandewalle, N

    2015-09-28

    Recent works demonstrated that fiber arrays may constitute new means of designing open digital microfluidic systems. Various processes, such as droplet motion, fragmentation, trapping, release, mixing and encapsulation, may be achieved on fiber arrays. However, handling a large number of tiny droplets resulting from the mixing of several liquid components is required for developing microreactors, smart sensors or microemulsifying drugs. Here, we show that the manipulation of tiny droplets onto fiber networks allows for creating compound droplets with a high complexity level. Moreover, this cost-effective and adjustable method may also be implemented with optical fibers in order to develop fluorescence-based biosensor.

  16. Genetic manipulation of lignocellulosic biomass for bioenergy.

    PubMed

    Wang, Peng; Dudareva, Natalia; Morgan, John A; Chapple, Clint

    2015-12-01

    Lignocellulosic biomass represents an abundant and sustainable raw material for biofuel production. The recalcitrance of biomass to degradation increases the estimated cost of biofuel production and limits its competitiveness in the market. Genetic engineering of lignin, a major recalcitrance factor, improves saccharification and thus the potential yield of biofuels. Recently, our understanding of lignification and its regulation has been advanced by new studies in various systems, all of which further enhances our ability to manipulate the biosynthesis and deposition of lignin in energy crops for producing cost-effective second generation biofuels.

  17. From laser ultrasonics to optical manipulation.

    PubMed

    Požar, Tomaž; Babnik, Aleš; Možina, Janez

    2015-03-23

    During the interaction of a laser pulse with the surface of a solid object, the object always gains momentum. The delivered force impulse is manifested as propulsion. Initially, the motion of the object is composed of elastic waves that carry and redistribute the acquired momentum as they propagate and reflect within the solid. Even though only ablation- and light-pressure-induced mechanical waves are involved in propulsion, they are always accompanied by the ubiquitous thermoelastic waves. This paper describes 1D elastodynamics of pulsed optical manipulation and presents two diametrical experimental observations of elastic waves generated in the confined ablation and in the radiation pressure regime.

  18. Quantum control and pathway manipulation in rubidium

    NASA Astrophysics Data System (ADS)

    Gao, Fang; Wang, Yaoxiong; Rey-de-Castro, Roberto; Rabitz, Herschel; Shuang, Feng

    2015-09-01

    There is an increasing interest in the extraction and control of the interfering quantum pathway amplitudes induced by control fields during laser-matter interactions. The Hamiltonian-encoding and observable-decoding (HE-OD) technique has been introduced for extracting the amplitudes of the pathways present in the dynamics and has recently been experimentally applied to the pathway manipulation of atomic rubidium. This paper theoretically explores various strategies for manipulating pathway amplitudes in the context of a laser field interacting with a multilevel system similar to atomic rubidium for both narrow-band and broadband ultrafast fields. In the perturbation regime, two second-order quantum pathways connecting the Rb states 5 S1 /2 and 5 D3 /2 dominate the dynamics, namely, 5 S1 /2→5 P3 /2→5 D3 /2 (pathway 1) and 5 S1 /2→5 P1 /2→5 D3 /2 (pathway 2). For narrow-band field control, the analysis is carried out in the time domain with the laser field including only four narrow-band envelope subpulses centered at the resonant frequencies. When the two pathways cooperate constructively, temporal oscillations appear in the ratio of the two pathway amplitudes, and we conclude in this case that the period corresponds to the detuning between transitions 5 S1 /2→5 P3 /2 and 5 P3 /2→5 D3 /2 . For broadband field control, the dynamics are treated in the frequency domain with the laser field including both resonant and continuous nonresonant frequency components. Various control strategies based on manipulating the phase of selected spectral components are tested. Compared to the outcome from a transform limited pulse, a π/2 step scheme can increase the dynamic range of the ratio between the two pathway amplitudes by a factor of ˜3 . A scheme that manipulates eight spectral blocks, in which the spectral boundaries depend on the resonant frequencies, can increase the ratio by several orders of magnitude. Numerical simulations show that further dividing the

  19. Anthropomorphic master/slave manipulator system

    NASA Technical Reports Server (NTRS)

    Vykukal, H. C.; King, R. F.; Vallotton, W. C. (Inventor)

    1977-01-01

    An anthropomorphic master/slave manipulator system including master arm apparatus with a plurality of master tubular articulated portions is outlined. Objectives of this investion were to provide a system that accurately and smoothly simulates human limb movement at a remote location. The system has a high frequency response, a high structural stiffness and a design that protects the components of the slave mechanism. Simulation of human movements is possible in outer space, underwater, and in a hazardous environment such as in a high radiation area. The equivalent ability, dexterity, and strength of a human arm are simulated.

  20. Micro-objective manipulated with optical tweezers

    SciTech Connect

    Sasaki, M.; Kurosawa, T.; Hane, K.

    1997-02-01

    A microscope is described that uses a {mu}m-sized ball lens, which is here termed micro-objective, manipulated with optical tweezers to image the side view of the arbitrary region of a sample. Since this micro-objective is small in size, it can go into a concave region to produce a local image of the inside which the conventional microscope cannot observe. Preliminary results show good lens performance from the micro-objective when combined with optical tweezers. {copyright} {ital 1997 American Institute of Physics.}

  1. NASA Laboratory telerobotic manipulator control system architecture

    NASA Technical Reports Server (NTRS)

    Rowe, J. C.; Butler, P. L.; Glassell, R. L.; Herndon, J. N.

    1991-01-01

    In support of the National Aeronautics and Space Administration (NASA) goals to increase the utilization of dexterous robotic systems in space, the Oak Ridge National Laboratory (ORNL) has developed the Laboratory Telerobotic Manipulator (LTM) system. It is a dexterous, dual-arm, force reflecting teleoperator system with robotic features for NASA ground-based research. This paper describes the overall control system architecture, including both the hardware and software. The control system is a distributed, modular, and hierarchical design with flexible expansion capabilities for future enhancements of both the hardware and software.

  2. Understanding and manipulating antibiotic production in actinomycetes.

    PubMed

    Bibb, Mervyn J

    2013-12-01

    Actinomycetes are prolific producers of natural products with a wide range of biological activities. Many of the compounds that they make (and derivatives thereof) are used extensively in medicine, most notably as clinically important antibiotics, and in agriculture. Moreover, these organisms remain a source of novel and potentially useful molecules, but maximizing their biosynthetic potential requires a better understanding of natural product biosynthesis. Recent developments in genome sequencing have greatly facilitated the identification of natural product biosynthetic gene clusters. In the present article, I summarize the recent contributions of our laboratory in applying genomic technologies to better understand and manipulate natural product biosynthesis in a range of different actinomycetes.

  3. Illumination requirements for operating a space remote manipulator

    NASA Technical Reports Server (NTRS)

    Chandlee, George O.; Smith, Randy L.; Wheelwright, Charles D.

    1993-01-01

    Critical issues and requirements involved in illuminating remote manipulator operations in space help establish engineering designs for these manipulators. A remote manipulator is defined as any mechanical device that is controlled indirectly or from a distance by a human operator for the purpose of performing potentially dangerous or hazardous tasks to increase safety, reliability, and efficiency. Future space flights will rely on remote manipulators for a variety of tasks including satellite repair and servicing, structural assembly, data collection and analysis, and performance of contingency tasks. Carefully designed illumination of these manipulators will assure that these tasks will be completed efficiently and successfully. Studies concerning the influence of illumination on operation of a remote manipulator are few. Available results show that illumination can influence how successfully a human operates a remote manipulator. The intent of this study was to more fully examine this topic.

  4. A descriptive study of the usage of spinal manipulative therapy techniques within a randomized clinical trial in acute low back pain.

    PubMed

    Hurley, Deirdre A; McDonough, Suzanne M; Baxter, G David; Dempster, Martin; Moore, Ann P

    2005-02-01

    The majority of randomized clinical trials (RCTs) of spinal manipulative therapy have not adequately defined the terms 'mobilization' and 'manipulation', nor distinguished between these terms in reporting the trial interventions. The purpose of this study was to describe the spinal manipulative therapy techniques utilized within a RCT of manipulative therapy (MT; n = 80), interferential therapy (IFT; n = 80), and a combination of both (CT; n = 80) for people with acute low back pain (LBP). Spinal manipulative therapy was defined as any 'mobilization' (low velocity manual force without a thrust) or 'manipulation' (high velocity thrust) techniques of the spine described by Maitland and Cyriax. The 16 physiotherapists, all members of the Society of Orthopaedic Medicine, utilized three spinal manipulative therapy patterns in the RCT: Maitland Mobilization (40.4%, n = 59), Maitland Mobilization/Cyriax Manipulation (40.4%, n = 59) and Cyriax Manipulation (19.1%, n = 28). There was a significant difference between the MT and CT groups in their usage of spinal manipulative therapy techniques (chi2 = 9.178; df = 2; P = 0.01); subjects randomized to the CT group received three times more Cyriax Manipulation (29.2%, n = 21/72) than those randomized to the MT group (9.5%, n = 7/74; df = 1; P = 0.003). The use of mobilization techniques within the trial was comparable with their usage by the general population of physiotherapists in Britain and Ireland for LBP management. However, the usage of manipulation techniques was considerably higher than reported in physiotherapy surveys and may reflect the postgraduate training of trial therapists.

  5. A Psychophysiological Comparison of the Effects of Three Relaxation Techniques: Respiratory Manipulation Training, Progressive Muscle Relaxation, and Pleasant Imagery.

    ERIC Educational Resources Information Center

    Longo, David J.

    A within-subjects, three condition design was employed to examine the effects of three relaxation techniques on blood pressures, pulse rates, and self-report measures of relaxation for 12 college students. Respiratory Manipulation Training incorporated instructions to exhale and not to inhale for as long as possible. When breathing could no longer…

  6. SINTERED REFRACTORY MASS

    DOEpatents

    Williams, A.E.

    1955-09-01

    A method is given for joining sintered masses of refractory compounds. It consists in maintaining the masses in contact with each other by application of a moderate pressure, while they are at sintering temperature. The sintered masses are subjected to am applied pressure of about 1/2 to 1 ton per square inch of the surface in contact for about 10 minutes, and the temperature employed may be fropn about 1400 deg C to 2000 deg C. Refractory oxides to which the invention may be applied are beryllia, alumina, thoria, and magnesia.

  7. Placebo manipulations reduce hyperalgesia in neuropathic pain.

    PubMed

    Petersen, Gitte Laue; Finnerup, Nanna Brix; Nørskov, Kathrine Næsted; Grosen, Kasper; Pilegaard, Hans K; Benedetti, Fabrizio; Price, Donald D; Jensen, Troels Staehelin; Vase, Lene

    2012-06-01

    Several studies have shown that placebo analgesia effects can be obtained in healthy volunteers, as well as patients suffering from acute postoperative pain and chronic pain conditions such as irritable bowel syndrome. However, it is unknown whether placebo analgesia effects can be elicited in chronic pain conditions with a known pathophysiology such as a nerve injury. Nineteen patients who had developed neuropathic pain after thoracotomy were exposed to a placebo manipulation in which they received either open or hidden administrations of lidocaine. Before the treatment, the patients rated their levels of spontaneous pain and expected pain and completed a questionnaire on their emotional feelings (Positive Affect Negative Affect Schedule) and went through quantitative sensory testing of evoked pain (brush and cold allodynia, heat pain tolerance, area of pinprick hyperalgesia, wind-up-like pain after pinprick stimulation). The placebo manipulation significantly reduced the area of pinprick hyperalgesia (P=.027), and this placebo effect was significantly related to low levels of negative affect (P=.008; R(2)=0.362) but not to positive affect or expected pain levels. No placebo effect was observed in relation to spontaneous pain or evoked pain, which is most likely due to low pain levels resulting in floor effects. This is the first study to demonstrate a placebo effect in neuropathic pain. The possible mechanisms underlying the placebo effects in hyperalgesia are discussed, and implications for treatment are outlined.

  8. Behavior-Based Assists for Telerobotic Manipulation

    SciTech Connect

    Noakes, Mark W; Hamel, Dr. William R.

    2008-01-01

    Teleoperated manipulation has been a critical tool in hazardous operations where the presence of humans has been precluded since the early days of nuclear material handling. Performance levels and limitations were understood and accepted. However, in the current era of decontamination and decommissioning (D&D) of facilities owned by the U.S. Department of Energy, there has been criticism that traditional remote systems are too expensive, too slow, and too difficult to use by cost-driven demolition companies. Previous research in telerobotics has attempted to alleviate some of these issues; however, it has been difficult to get capabilities generated in the research lab into the field. One major difficulty is the severely unstructured environments found in real D&D type environments. Behavior-based robotics (BBR) is based on concepts specifically designed to permit autonomous robots to function in unstructured environments. BBR schemes use sensor data to interact with the world directly rather than to generate models that are manipulated. Because the robot is immersed in its environment and since sensors are mounted on the robot, sensing and motion are inherently calibrated with respect to the robot. This paper presents a behavior-based approach and architecture for executing telerobotic D&D type tooling tasks.

  9. A hazard control system for robot manipulators

    NASA Technical Reports Server (NTRS)

    Carter, Ruth Chiang; Rad, Adrian

    1991-01-01

    A robot for space applications will be required to complete a variety of tasks in an uncertain, harsh environment. This fact presents unusual and highly difficult challenges to ensuring the safety of astronauts and keeping the equipment they depend on from becoming damaged. The systematic approach being taken to control hazards that could result from introducing robotics technology in the space environment is described. First, system safety management and engineering principles, techniques, and requirements are discussed as they relate to Shuttle payload design and operation in general. The concepts of hazard, hazard category, and hazard control, as defined by the Shuttle payload safety requirements, is explained. Next, it is shown how these general safety management and engineering principles are being implemented on an actual project. An example is presented of a hazard control system for controlling one of the hazards identified for the Development Test Flight (DTF-1) of NASA's Flight Telerobotic Servicer, a teleoperated space robot. How these schemes can be applied to terrestrial robots is discussed as well. The same software monitoring and control approach will insure the safe operation of a slave manipulator under teleoperated or autonomous control in undersea, nuclear, or manufacturing applications where the manipulator is working in the vicinity of humans or critical hardware.

  10. The relationships between Internet addiction, subjective vitality, and subjective happiness.

    PubMed

    Akın, Ahmet

    2012-08-01

    The aim of the present study is to examine the relationships between Internet addiction, subjective vitality, and subjective happiness. The participants were 328 university students who completed a questionnaire package that included the Online Cognition Scale, the Subjective Vitality Scale, and the Subjective Happiness Scale. According to the results, subjective vitality and subjective happiness were negatively predicted by Internet addiction. On the other hand, subjective happiness was positively predicted by subjective vitality. In addition, subjective vitality mediated the relationship between Internet addiction and subjective happiness. Results were discussed in light of the literature.

  11. Phoneme Manipulation Not Onset-Rime Manipulation Ability Is a Unique Predictor of Early Reading

    ERIC Educational Resources Information Center

    Savage, Robert; Carless, Sue

    2005-01-01

    Background: Phonological awareness is known to be an excellent predictor of later reading acquisition. It remains unclear, however, whether phoneme manipulation alone best explains this association or whether an additional direct contribution of onset-rime awareness is predictive. This issue is explored here. Method: A longitudinal study is…

  12. Manipulations of attention during eating and their effects on later snack intake.

    PubMed

    Higgs, Suzanne

    2015-09-01

    Manipulation of attention during eating has been reported to affect later consumption via changes in meal memory. The aim of the present studies was to examine the robustness of these effects and investigate moderating factors. Across three studies, attention to eating was manipulated via distraction (via a computer game or TV watching) or focusing of attention to eating, and effects on subsequent snack consumption and meal memory were assessed. The participants were predominantly lean, young women students and the designs were between-subjects. Distraction increased later snack intake and this effect was larger when participants were more motivated to engage with the distracter and were offset when the distractor included food-related cues. Attention to eating reduced later snacking and this effect was larger when participants imagined eating from their own perspective than when they imagined eating from a third person perspective. Meal memory was impaired after distraction but focusing on eating did not affect later meal memory, possibly explained by ceiling effects for the memory measure. The pattern of results suggests that attention manipulations during eating have robust effects on later eating and the effect sizes are medium to large. The data are consistent with previous reports and add to the literature by suggesting that type of attention manipulation is important in determining effects on later eating. The results further suggest that attentive eating may be a useful target in interventions to help with appetite control.

  13. Manipulations of attention during eating and their effects on later snack intake.

    PubMed

    Higgs, Suzanne

    2015-09-01

    Manipulation of attention during eating has been reported to affect later consumption via changes in meal memory. The aim of the present studies was to examine the robustness of these effects and investigate moderating factors. Across three studies, attention to eating was manipulated via distraction (via a computer game or TV watching) or focusing of attention to eating, and effects on subsequent snack consumption and meal memory were assessed. The participants were predominantly lean, young women students and the designs were between-subjects. Distraction increased later snack intake and this effect was larger when participants were more motivated to engage with the distracter and were offset when the distractor included food-related cues. Attention to eating reduced later snacking and this effect was larger when participants imagined eating from their own perspective than when they imagined eating from a third person perspective. Meal memory was impaired after distraction but focusing on eating did not affect later meal memory, possibly explained by ceiling effects for the memory measure. The pattern of results suggests that attention manipulations during eating have robust effects on later eating and the effect sizes are medium to large. The data are consistent with previous reports and add to the literature by suggesting that type of attention manipulation is important in determining effects on later eating. The results further suggest that attentive eating may be a useful target in interventions to help with appetite control. PMID:26032197

  14. Comfort and learnability assessment of a new soft robotic manipulator for minimally invasive surgery.

    PubMed

    Shafti, A; Andorno, F; Marchese, N; Arolfo, S; Aydin, A; Elhage, O; Noh, Y; Wurdemann, H A; Arezzo, A; Dasgupta, P; Althoefer, K

    2015-08-01

    Laparoscopic surgeons perform precise and time consuming procedures while holding awkward poses in their upper body and arms. There is an ongoing effort to produce robotic tools for laparoscopic surgery that will simplify these tasks and reduce risk of errors to help both the surgeon and the patient. STIFF-FLOP is an ongoing EU FP7 project focusing on this by creating a stiffness controllable soft robotic manipulator. This paper reports on a study to test the soft manipulator's learnability and the effort associated with its use. The tests involved a limited prototype of the manipulator with a custom built test rig and EMG acquisition system. Task times and video recordings along with EMG waveforms from the forearm muscles of participants (n=25) were measured for objective assessment. A questionnaire was also provided to the participants for subjective assessment. The data shows that in average EMG levels were 25.9% less in RMS when using the STIFF-FLOP arm than when conventional laparoscopic tools were used. In terms of learnability, from the first to the second attempt on the STIFF-FLOP manipulator, elapsed time was reduced by an average of 32.1%. Further details and analysis of the EMG signals as well as time and questionnaire results is presented in the paper. PMID:26737382

  15. Portraits made to measure: manipulating social judgments about individuals with a statistical face model.

    PubMed

    Walker, Mirella; Vetter, Thomas

    2009-01-01

    The social judgments people make on the basis of the facial appearance of strangers strongly affect their behavior in different contexts. However, almost nothing is known about the physical information underlying these judgments. In this article, we present a new technology (a) to quantify the information in faces that is used for social judgments and (b) to manipulate the image of a human face in a way which is almost imperceptible but changes the personality traits ascribed to the depicted person. This method was developed in a high-dimensional face space by identifying vectors that capture maximum variability in judgments of personality traits. Our method of manipulating the salience of these vectors in faces was successfully transferred to novel photographs from an independent database. We evaluated this method by showing pairs of face photographs which differed only in the salience of one of six personality traits. Subjects were asked to decide which face was more extreme with respect to the trait in question. Results show that the image manipulation produced the intended attribution effect. All response accuracies were significantly above chance level. This approach to understanding and manipulating how a person is socially perceived could be useful in psychological research and could also be applied in advertising or the film industries. PMID:20053075

  16. Classical subjective expected utility.

    PubMed

    Cerreia-Vioglio, Simone; Maccheroni, Fabio; Marinacci, Massimo; Montrucchio, Luigi

    2013-04-23

    We consider decision makers who know that payoff-relevant observations are generated by a process that belongs to a given class M, as postulated in Wald [Wald A (1950) Statistical Decision Functions (Wiley, New York)]. We incorporate this Waldean piece of objective information within an otherwise subjective setting à la Savage [Savage LJ (1954) The Foundations of Statistics (Wiley, New York)] and show that this leads to a two-stage subjective expected utility model that accounts for both state and model uncertainty. PMID:23559375

  17. Mechanical and biological properties of acrylic resins manipulated and polished by different methods.

    PubMed

    dos Santos, Rogério Lacerda; Pithon, Matheus Melo; Carvalho, Fabiola Galbiatti; Ramos, Aretha Aliny dos Santos; Romanos, Maria Teresa Villela

    2013-01-01

    This study evaluated the influence of the manipulation technique and polishing method on the flexural strength and cytotoxicity of acrylic resins. Two manipulation techniques and three polishing methods were used in the fabrication of acrylic plates that were divided into 6 groups (n=10). Groups MM, MC and MW: mass technique with mechanical polishing, chemical polishing and without polishing, respectively; and Groups SM, SC and SW: Saturation technique with mechanical polishing, chemical polishing and without polishing, respectively). Flexural strength was tested in a universal testing machine and the cytotoxicity assay used cell cultures (L-929) for periods of 24 h to 168 h. Flexural strength and cytotoxicity data were assessed using two-way and three-way ANOVA, respectively (α=0.05), followed by post hoc Bonferroni test for multiple comparisons. The effect of combinations of manipulation techniques and polishing methods on flexural strength showed significant differences only between Group SC and Groups MW, MM and MC (p<0.01). Cell viability ranged from 51% (3.9%) to 87,6% (3.2) in the 24-h time interval, and from 87.8% (5.0) to 95.7% (3.1%) in the 168-h time interval. With the increase of cell viability, from the third day (72 h), there was no significant difference among the groups, except between MM and SC (p<0.01) at 72 h. In conclusion, the manipulation technique and polishing method had more influence on the cytotoxicity than on flexural strength.

  18. Dust cloud manipulation in microgravity experiments

    NASA Astrophysics Data System (ADS)

    Vedernikov, Andrei; Blum, Jurgen; Ingo Von Borstel, Olaf; Schraepler, Rainer; Balapanov, Daniyar; Cecere, Anselmo

    The European Space Agency’s scientific program Interactions in Cosmic and Atmospheric Particle Systems (ICAPS) [1] attributed for the International Space Station is aimed at increasing our knowledge about dust agglomeration in astrophysical processes mostly related to proto-planetary matter formation. These processes are simulated experimentally in clouds initially composed of about micrometre-sized solid particles. Relatively low gas pressure provides intensive enough particle Brownian motion but considerably reduces the experimentation time at normal gravity. Microgravity removes this problem but long duration experiments result in cloud depletion due to grain diffusion to the chamber walls and particle number density decrease due to agglomeration. The main problem comes from the fact that residual forces quickly sweep away the cloud from the observation volume thus drastically reducing the experiment duration. We developed different cloud manipulation systems that solve these problems and provide additional research opportunities in investigation of dust clouds. Particularly, they counterbalance external perturbations and solve the most challenging task of the increase of particle number concentration (cloud squeezing). There are several driving forces that may be used separately or in combination. Thermophoresis and gas flows induced by thermal creep are most favourable for cloud manipulation because they are nearly independent from particle properties. Electrostatic force allows detect charged particles, while photophoresis is sensitive to particle dimensions. The system provides two main regimes - 1) cloud positioning or displacement and 2) dynamic trapping. In absence of repulsive forces between particles the latter regime leads to cloud squeezing and intensive forced particle agglomeration. The cloud manipulation system additionally provides temperature stabilization or, on the contrary, high temperature variation in the observation volume; formation of

  19. Optical manipulation and sensing with silicon photonics

    NASA Astrophysics Data System (ADS)

    Lin, Shiyun

    Optical trapping enables the non-contact manipulation of micro and nanoparticles with extremely high precision. Recent research on integrated optical trapping using the evanescent fields of photonic devices has opened up new opportunities for the manipulation of nano- and microparticles in lab-on-a-chip devices. Considerable interest has emerged for the use of optical microcavities as "sensors-on-a-chip", due to the possibility for the label-free detection of nanoparticles and molecules with high sensitivity. This dissertation focuses on the demonstration of an on-chip optical manipulation system with multiple functionalities, including trapping, buffering, sorting, and sensing. We demonstrate the optically trapping of polystyrene particles with diameters from 110 nm to 5.6 microm using silicon microrings and photonic crystal cavities. By integrating multiple microrings with different resonant wavelengths, we show that tuning the laser wavelength to the resonance wavelengths of different rings enables trapped particles to be transferred back and forth between the rings in a controllable manner. We term this functionality "buffering". We furthermore demonstrate an integrated microparticle passive sorting system based on the near-field optical forces exerted by a 3-dB optical power splitter that consists of a slot waveguide and a conventional channel waveguide. In related work, we demonstrate an ultra-compact polarization splitter design leveraging the giant birefringence of silicon-on-insulator slot waveguides to achieve a high extinction ratio over the entire C band. We demonstrate trapping-assisted particle sensing, using the shift in the microcavity resonance induced by the trapped particle. We show that this permits the sensing of proteins via a binding assay approach, in which the presence of green fluorescent protein causes the particles to bind. By detecting the size distribution of particles clusters using the microcavity, we quantitatively detect the GFP

  20. Introducing Behavioral Subjectives

    ERIC Educational Resources Information Center

    Evans, Steven

    1976-01-01

    A true elaboration of educational goals will include a set of both more and less well-structured aims, corresponding to behavioral objectives and subjectives, which can be tested respectively by direct methods and by less direct methods such as the native speaker or Turing tests. (Author/LS)

  1. Native Americans: Subject Guide.

    ERIC Educational Resources Information Center

    Bonanni, Mimmo; Etter, Patricia A.

    This annotated subject guide lists reference material that deals with Native Americans and is available in the Arizona State University Libraries. Entries were published 1933-98, but mostly in the 1980s-90s. The guide is not comprehensive, but rather a selective list of resources useful for researching a topic in a variety of fields. The guide…

  2. Curriculum Costs: Vocational Subjects.

    ERIC Educational Resources Information Center

    Cumming, C. E.

    To establish a definition of costs in education, a "concept map" is established to which inevitable questions of inclusion and exclusion can be addressed. A specific case, namely the costs of practical/vocational subjects, is then presented. It also includes a profile of benefits, since with regard to vocational education, much more than with…

  3. Mass loss

    NASA Technical Reports Server (NTRS)

    Goldberg, Leo

    1987-01-01

    Observational evidence for mass loss from cool stars is reviewed. Spectra line profiles are used for the derivation of mass-loss rates with the aid of the equation of continuity. This equation implies steady mass loss with spherical symmetry. Data from binary stars, Mira variables, and red giants in globular clusters are examined. Silicate emission is discussed as a useful indicator of mass loss in the middle infrared spectra. The use of thermal millimeter-wave radiation, Very Large Array (VLA) measurement of radio emission, and OH/IR masers are discussed as a tool for mass loss measurement. Evidence for nonsteady mass loss is also reviewed.

  4. Improvements to the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

    NASA Technical Reports Server (NTRS)

    Doggett, William R.; Dorsey, John T.; Jones, Thomas C.; Lodding, Kenneth N.; Ganoe, George G.; Mercer, David; King, Bruce D.

    2015-01-01

    Devices for manipulating and precisely placing payloads are critical for efficient space operations including berthing of spacecraft, in-space assembly, construction and repair. Key to the success of many NASA space activities has been the availability of long-reach crane-like devices such as the Shuttle Remote Manipulation System (SRMS) and the Space Station Remote Manipulation System (SSRMS). These devices have been used for many operations including berthing visiting spacecraft to the International Space Station, deployment of spacecraft, space station assembly, astronaut positioning, payload transfer, and spacecraft inspection prior to atmospheric re-entry. Retiring the Space Transportation System has led to the removal of the SRMS from consideration for in-space missions, thus creating a capability gap. Recognizing this gap, work was initiated at NASA on a new architecture for long-reach space manipulators. Most current devices are constructed by joining revolute joints with carbon composite tubes, with the joints accounting for the majority of the device mass. For example in the case of the SRMS, the entire device mass is 410 kg (904 lbm); the joint structure, motors, gear train, cabling, etc., accounts for the majority of the system mass because the carbon composite tubes mass is 46 kg (101 lbm). An alternate space manipulator concept, the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) was created to address deficiencies in the current state-of-the-art in long-reach manipulators. The antagonistic tendon actuated joint architecture allows the motors actuating the joint to be removed from the joint axis, which simplifies the joint design while simultaneously providing mechanical advantage for the motors. The improved mechanical advantage, in turn, reduces the size and power requirements for the motor and gear train. This paper will describe recent architectural improvements to the TALISMAN design that: 1) improve the operational robustness of the

  5. The biomechanics of spinal manipulative treatments

    PubMed Central

    Herzog, Walter

    1994-01-01

    The purpose of this manuscript is to review the work that has been performed on the biomechanics of spinal manipulative treatments (SMT) over the past three years at The University of Calgary. The forces delivered to different segments of the spine during SMT vary considerably, and so do the treatment forces delivered by one chiropractor to different patients. Also, it was found that the speed of force application during SMT facilitates cavitation and is responsible for eliciting an electromyographical (reflex) response of the back musculature. We also found significant movement of thoracic vertebra T11 relative to thoracic vertebrae T10 and T12 during applications of straight posterior-to-anterior thrusts to the transverse process of T11. The relative movements occurred predominantly in the axial and sagittal rotation directions, and not as expected, in the direction of the primary thrust (posterior to anterior).

  6. Ultrafast optics: Imaging and manipulating biological systems

    NASA Astrophysics Data System (ADS)

    Sheetz, Kraig E.; Squier, Jeff

    2009-03-01

    The rapid evolution of ultrafast optics technology over the past two decades has opened the window to a broad range of applications in biology and medicine. Compact, reliable, and turn-key ultrafast laser systems are enabling cutting-edge science to take place in everyday laboratories and clinics. Led by the discovery of two-photon excitation fluorescence microscopy nearly 20 years ago, the biological imaging community is exploring unique image contrast mechanisms and pushing spatial and temporal resolution to new limits. Concurrent with advancements in imaging are developments in the precision application of extremely high peak intensities available in ultrashort pulses for disrupting or manipulating targeted locations in biological systems on the submicron scale while leaving surrounding tissue healthy. The ability for scientists to selectively discriminate structures of interest at the cellular and subcellular levels under relevant physiological conditions shows tremendous promise for accelerating the path to understanding biological functions at the most fundamental level.

  7. Therapeutic RNA Manipulation in Liver Disease

    PubMed Central

    Kerr, Thomas A.; Davidson, Nicholas O.

    2010-01-01

    Summary Posttranscriptional regulation of gene expression is increasingly recognized as a model for inherited and acquired disease. Recent work has expanded understanding of the range of mechanisms that regulate several of these distinct steps including mRNA splicing, trafficking, and/or stability. Each of these pathways is implicated in disease pathogenesis and each represent important avenues for therapeutic intervention. This review will summarize important mechanisms controlling mRNA processing and the regulation of mRNA degradation, including the role of miRNAs and RNA binding proteins. These pathways provide important opportunities for therapeutic targeting directed at splicing and degradation in order to attenuate genetic defects in RNA metabolism. We will highlight developments in vector development and validation for therapeutic manipulation of mRNA expression with a focus on potential applications in metabolic and immune-mediated liver disease. PMID:19918970

  8. New approaches to manipulating the epigenome.

    PubMed

    Day, Jeremy J

    2014-09-01

    Cellular processes that control transcription of genetic information are critical for cellular function, and are often implicated in psychiatric and neurological disease states. Among the most critical of these processes are epigenetic mechanisms, which serve to link the cellular environment with genomic material. Until recently our understanding of epigenetic mechanisms has been limited by the lack of tools that can selectively manipulate the epigenome with genetic, cellular, and temporal precision, which in turn diminishes the potential impact of epigenetic processes as therapeutic targets. This review highlights an emerging suite of tools that enable robust yet selective interrogation of the epigenome. In addition to allowing site-specific epigenetic editing, these tools can be paired with optogenetic approaches to provide temporal control over epigenetic processes, allowing unparalleled insight into the function of these mechanisms. This improved control promises to revolutionize our understanding of epigenetic modifications in human health and disease states.

  9. Laser manipulation of atomic and molecular flows

    NASA Astrophysics Data System (ADS)

    Lilly, Taylor C.

    The continuing advance of laser technology enables a range of broadly applicable, laser-based flow manipulation techniques. The characteristics of these laser-based flow manipulations suggest that they may augment, or be superior to, such traditional electro-mechanical methods as ionic flow control, shock tubes, and small scale wind tunnels. In this study, methodology was developed for investigating laser flow manipulation techniques, and testing their feasibility for a number of aerospace, basic physics, and micro technology applications. Theories for laser-atom and laser-molecule interactions have been under development since the advent of laser technology. The theories have yet to be adequately integrated into kinetic flow solvers. Realizing this integration would greatly enhance the scaling of laser-species interactions beyond the realm of ultra-cold atomic physics. This goal was realized in the present study. A representative numerical investigation, of laser-based neutral atomic and molecular flow manipulations, was conducted using near-resonant and non-resonant laser fields. To simulate the laser interactions over a range of laser and flow conditions, the following tools were employed: a custom collisionless gas particle trajectory code and a specifically modified version of the Direct Simulation Monte Carlo statistical kinetic solver known as SMILE. In addition to the numerical investigations, a validating experiment was conducted. The experimental results showed good agreement with the numerical simulations when experimental parameters, such as finite laser line width, were taken into account. Several areas of interest were addressed: laser induced neutral flow steering, collimation, direct flow acceleration, and neutral gas heating. Near-resonant continuous wave laser, and non-resonant pulsed laser, interactions with cesium and nitrogen were simulated. These simulations showed trends and some limitations associated with these interactions, used for flow

  10. Manipulating the Microvasculature and Its Microenvironment

    PubMed Central

    Krishnan, Laxminarayanan; Chang, Carlos C.; Nunes, Sara S; Williams, Stuart K.; Weiss, Jeffrey A.; Hoying, James B.

    2014-01-01

    The microvasculature is a dynamic cellular system necessary for tissue health and function. Therapeutic strategies that target the microvasculature are expanding and evolving, including those promoting angiogenesis and microvascular expansion. When considering how to manipulate angiogenesis, either as part of a tissue construction approach or a therapy to improve tissue blood flow, it is important to know the microenvironmental factors that regulate and direct neovessel sprouting and growth. Much is known concerning both diffusible and matrix-bound angiogenic factors, which stimulate and guide angiogenic activity. How the other aspects of the extravascular microenvironment, including tissue biomechanics and structure, influence new vessel formation is less well known. Recent research, however, is providing new insights into these mechanisms and demonstrating that the extent and character of angiogenesis (and the resulting new microcirculation) is significantly affected. These observations and the resulting implications with respect to tissue construction and microvascular therapy are addressed. PMID:24580565

  11. Acoustic levitation and manipulation for space applications

    NASA Technical Reports Server (NTRS)

    Wang, T. G.

    1979-01-01

    A wide spectrum of experiments to be performed in space in a microgravity environment require levitation and manipulation of liquid or molten samples. A novel acoustic method has been developed at JPL for controlling liquid samples without physical contacts. This method utilizes the static pressure generated by three orthogonal acoustic standing waves excited within an enclosure. Furthermore, this method will allow the sample to be rotated and/or oscillated by modifying the phase angles and/or the amplitude of the acoustic field. This technique has been proven both in our laboratory and in a microgravity environment provided by KC-135 flights. Samples placed within our chamber driven at (1,0,0), (0,1,0), and (0,0,1), modes were indeed levitated, rotated, and oscillated.

  12. Self-locking telescoping manipulator arm

    NASA Technical Reports Server (NTRS)

    Nesmith, M. F. (Inventor)

    1985-01-01

    A telescoping manipulator arm and pivotable finger assembly are disclosed. The telescoping arm assembly includes a generally T-shaped arm having three outwardly extending fingers guided on grooved roller guides to compensate for environmental variations. The pivotable finger assembly includes four pivoting fingers. Arcuate teeth are formed on the ends of the fingers. A rack having teeth on four sides meshes with each one of the fingers. One surface of the rack includes teeth along its entire surface which mesh with teeth of one of the fingers. The teeth at the remote end of the rack engage teeth of a gear wheel. The wheel includes a worm which meshes with a worn drive shaft of the drive motor providing a ninety degree self-locking drive for locking the fingers in a desired position. A similar drive provides a self-locking drive for positioning the telescoping arm.

  13. Cholinergic manipulations bidirectionally regulate object memory destabilization.

    PubMed

    Stiver, Mikaela L; Jacklin, Derek L; Mitchnick, Krista A; Vicic, Nevena; Carlin, Justine; O'Hara, Matthew; Winters, Boyer D

    2015-04-01

    Consolidated memories can become destabilized and open to modification upon retrieval. Destabilization is most reliably prompted when novel information is present during memory reactivation. We hypothesized that the neurotransmitter acetylcholine (ACh) plays an important role in novelty-induced memory destabilization because of its established involvement in new learning. Accordingly, we investigated the effects of cholinergic manipulations in rats using an object recognition paradigm that requires reactivation novelty to destabilize object memories. The muscarinic receptor antagonist scopolamine, systemically or infused directly into the perirhinal cortex, blocked this novelty-induced memory destabilization. Conversely, systemic oxotremorine or carbachol, muscarinic receptor agonists, administered systemically or intraperirhinally, respectively, mimicked the destabilizing effect of novel information during reactivation. These bidirectional effects suggest a crucial influence of ACh on memory destabilization and the updating functions of reconsolidation. This is a hitherto unappreciated mnemonic role for ACh with implications for its potential involvement in cognitive flexibility and the dynamic process of long-term memory storage.

  14. Manipulating bubbles with secondary Bjerknes forces

    SciTech Connect

    Lanoy, Maxime; Derec, Caroline; Leroy, Valentin; Tourin, Arnaud

    2015-11-23

    Gas bubbles in a sound field are submitted to a radiative force, known as the secondary Bjerknes force. We propose an original experimental setup that allows us to investigate in detail this force between two bubbles, as a function of the sonication frequency, as well as the bubbles radii and distance. We report the observation of both attractive and, more interestingly, repulsive Bjerknes force, when the two bubbles are driven in antiphase. Our experiments show the importance of taking multiple scatterings into account, which leads to a strong acoustic coupling of the bubbles when their radii are similar. Our setup demonstrates the accuracy of secondary Bjerknes forces for attracting or repealing a bubble, and could lead to new acoustic tools for noncontact manipulation in microfluidic devices.

  15. Manipulation and control of a bichromatic lattice

    NASA Astrophysics Data System (ADS)

    Thomas, Claire; Barter, Thomas; Daiss, Severin; Leung, Zephy; Stamper-Kurn, Dan

    2015-05-01

    Recent experiments with ultracold atoms in optical lattices have had great success emulating the simple models of condensed matter systems. These experiments are typically performed with a single site per unit cell. We realize a lattice with up to four sites per unit cell by overlaying an attractive triangular lattice with a repulsive one at twice the wavelength. The relative displacement of the two lattices determines the particular structure. One available configuration is the kagome lattice, which has a flat energy band. In the flat band all kinetic energy states are degenerate, so we have the opportunity to explore a regime where interactions dominate. This bichromatic lattice requires careful stabilization, but offers an opportunity to manipulate the unit cell and band structure by perturbing the lattices relative to one another. I will discuss recent progress.

  16. Pattern recognition and control in manipulation

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.; Tomovic, R.

    1976-01-01

    A new approach to the use of sensors in manipulator or robot control is discussed. The concept addresses the problem of contact or near-contact type of recognition of three-dimensional forms of objects by proprioceptive and/or exteroceptive sensors integrated with the terminal device. This recognition of object shapes both enhances and simplifies the automation of object handling. Several examples have been worked out for the 'Belgrade hand' and for a parallel jaw terminal device, both equipped with proprioceptive (position) and exteroceptive (proximity) sensors. The control applications are discussed in the framework of a multilevel man-machine system control. The control applications create interesting new issues which, in turn, invite novel theoretical considerations. An important issue is the problem of stability in control when the control is referenced to patterns.

  17. [Suicide with a manipulated hand grenade].

    PubMed

    Preuss-Wössner, Johanna; Kroll, Jürgen

    2010-01-01

    Explosion injuries in civilians are rare. An uncommon case of suicide with a manipulated hand grenade is presented. The findings at the scene and on the body (i.a. massive soot blackening of the skin, singeing, size and number of splinters) gave reason to doubt the use of trinitrotoluene (TNT), the usual explosive charge in hand grenades. Further investigations showed that parts of several hand grenades and black powder from standard fire-crackers commercially available without legal restriction had been used as propelling charge. The victim, who was in a sitting position, held the hand grenade in the left hand and triggered it with the right. He bled to death due to a fracture of the right femur and lacerations of the liver. The chronological course and total circumstances of the case suggested suicide in a strongly intoxicated condition (BAC 2.5 per mille). In the flat, a larger number of unlicensed weapons and weapon parts were found.

  18. Soft Robots: Manipulation, Mobility, and Fast Actuation

    NASA Astrophysics Data System (ADS)

    Shepherd, Robert; Ilievski, Filip; Choi, Wonjae; Stokes, Adam; Morin, Stephen; Mazzeo, Aaron; Kramer, Rebecca; Majidi, Carmel; Wood, Rob; Whitesides, George

    2012-02-01

    Material innovation will be a key feature in the next generation of robots. A simple, pneumatically powered actuator composed of only soft-elastomers can perform the function of a complex arrangement of mechanical components and electric motors. This talk will focus on soft-lithography as a simple method to fabricate robots--composed of exclusively soft materials (elastomeric polymers). These robots have sophisticated capabilities: a gripper (with no electrical sensors) can manipulate delicate and irregularly shaped objects and a quadrupedal robot can walk to an obstacle (a gap smaller than its walking height) then shrink its body and squeeze through the gap using an undulatory gait. This talk will also introduce a new method of rapidly actuating soft robots. Using this new method, a robot can be caused to jump more than 30 times its height in under 200 milliseconds.

  19. Optical manipulation of single flux quanta

    PubMed Central

    Veshchunov, I. S.; Magrini, W.; Mironov, S. V.; Godin, A. G.; Trebbia, J.-B.; Buzdin, A. I.; Tamarat, Ph.; Lounis, B.

    2016-01-01

    Magnetic field can penetrate into type II superconductors in the form of Abrikosov vortices, which are magnetic flux tubes surrounded by circulating supercurrents often trapped at defects referred to as pinning sites. Although the average properties of the vortex matter in superconductors can be tuned with magnetic fields, temperature or electric currents, handling of individual Abrikosov vortices remains challenging and has been demonstrated only with sophisticated scanning local probe microscopies. Here we introduce a far-field optical method based on local heating of the superconductor with a focused laser beam to realize a fast and precise manipulation of individual vortices, in the same way as with optical tweezers. This simple approach provides the perfect basis for sculpting the magnetic flux profile in superconducting devices like a vortex lens or a vortex cleaner, without resorting to static pinning or ratchet effects. PMID:27677835

  20. Manipulating Polymer Connectivity to Control Interfacial Fracture

    SciTech Connect

    Stevens, Mark J.

    1999-08-23

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