Analysis of Multiple Precipitation Products and Preliminary Assessment of Their Impact on Global Land Data Assimilation System (GLDAS) Land Surface States

NASA Technical Reports Server (NTRS)

Gottschalck, Jon; Meng, Jesse; Rodel, Matt; Houser, paul

2005-01-01

Land surface models (LSMs) are computer programs, similar to weather and climate prediction models, which simulate the stocks and fluxes of water (including soil moisture, snow, evaporation, and runoff) and energy (including the temperature of and sensible heat released from the soil) after they arrive on the land surface as precipitation and sunlight. It is not currently possible to measure all of the variables of interest everywhere on Earth with sufficient accuracy and space-time resolution. Hence LSMs have been developed to integrate the available observations with our understanding of the physical processes involved, using powerful computers, in order to map these stocks and fluxes as they change in time. The maps are used to improve weather forecasts, support water resources and agricultural applications, and study the Earth's water cycle and climate variability. NASA's Global Land Data Assimilation System (GLDAS) project facilitates testing of several different LSMs with a variety of input datasets (e.g., precipitation, plant type). Precipitation is arguably the most important input to LSMs. Many precipitation datasets have been produced using satellite and rain gauge observations and weather forecast models. In this study, seven different global precipitation datasets were evaluated over the United States, where dense rain gauge networks contribute to reliable precipitation maps. We then used the seven datasets as inputs to GLDAS simulations, so that we could diagnose their impacts on output stocks and fluxes of water. In terms of totals, the Climate Prediction Center (CPC) Merged Analysis of Precipitation (CMAP) had the closest agreement with the US rain gauge dataset for all seasons except winter. The CMAP precipitation was also the most closely correlated in time with the rain gauge data during spring, fall, and winter, while the satellitebased estimates performed best in summer. The GLDAS simulations revealed that modeled soil moisture is highly sensitive to precipitation, with differences in spring and summer as large as 45% depending on the choice of precipitation input.

Error sources in the real-time NLDAS incident surface solar radiation and an evaluation against field observations and the NARR

NASA Astrophysics Data System (ADS)

Park, G.; Gao, X.; Sorooshian, S.

2005-12-01

The atmospheric model is sensitive to the land surface interactions and its coupling with Land surface Models (LSMs) leads to a better ability to forecast weather under extreme climate conditions, such as droughts and floods (Atlas et al. 1993; Beljaars et al. 1996). However, it is still questionable how accurately the surface exchanges can be simulated using LSMs, since terrestrial properties and processes have high variability and heterogeneity. Examinations with long-term and multi-site surface observations including both remotely sensed and ground observations are highly needed to make an objective evaluation on the effectiveness and uncertainty of LSMs at different circumstances. Among several atmospheric forcing required for the offline simulation of LSMs, incident surface solar radiation is one of the most significant components, since it plays a major role in total incoming energy into the land surface. The North American Land Data Assimilation System (NLDAS) and North American Regional Reanalysis (NARR) are two important data sources providing high-resolution surface solar radiation data for the use of research communities. In this study, these data are evaluated against field observations (AmeriFlux) to identify their advantages, deficiencies and sources of errors. The NLDAS incident solar radiation shows a pretty good agreement in monthly mean prior to the summer of 2001, while it overestimates after the summer of 2001 and its bias is pretty close to the EDAS. Two main error sources are identified: 1) GOES solar radiation was not used in the NLDAS for several months in 2001 and 2003, and 2) GOES incident solar radiation when available, was positively biased in year 2002. The known snow detection problem is sometimes identified in the NLDAS, since it is inherited from GOES incident solar radiation. The NARR consistently overestimates incident surface solar radiation, which might produce erroneous outputs if used in the LSMs. Further attention is given to the diurnal cycle of NLDAS. Because LSMs are designed to simulate radiation diurnal variation, they are always running at high temporal resolution (30-minutes to several hours). The NLDAS solar radiation data clearly show much smoothened diurnal cycles than observation in cloudy days, which is due to the lower spatial resolution of the NLDAS inherited from the GOES and the EDAS. Taking these problems discovered above into consideration, it is suggested that the NLDAS project work on reducing the systematic biases in the surface solar radiation estimates, so that the users could take full advantage from the data.

Decomposition of Sources of Errors in Seasonal Streamflow Forecasting over the U.S. Sunbelt

NASA Technical Reports Server (NTRS)

Mazrooei, Amirhossein; Sinah, Tusshar; Sankarasubramanian, A.; Kumar, Sujay V.; Peters-Lidard, Christa D.

2015-01-01

Seasonal streamflow forecasts, contingent on climate information, can be utilized to ensure water supply for multiple uses including municipal demands, hydroelectric power generation, and for planning agricultural operations. However, uncertainties in the streamflow forecasts pose significant challenges in their utilization in real-time operations. In this study, we systematically decompose various sources of errors in developing seasonal streamflow forecasts from two Land Surface Models (LSMs) (Noah3.2 and CLM2), which are forced with downscaled and disaggregated climate forecasts. In particular, the study quantifies the relative contributions of the sources of errors from LSMs, climate forecasts, and downscaling/disaggregation techniques in developing seasonal streamflow forecast. For this purpose, three month ahead seasonal precipitation forecasts from the ECHAM4.5 general circulation model (GCM) were statistically downscaled from 2.8deg to 1/8deg spatial resolution using principal component regression (PCR) and then temporally disaggregated from monthly to daily time step using kernel-nearest neighbor (K-NN) approach. For other climatic forcings, excluding precipitation, we considered the North American Land Data Assimilation System version 2 (NLDAS-2) hourly climatology over the years 1979 to 2010. Then the selected LSMs were forced with precipitation forecasts and NLDAS-2 hourly climatology to develop retrospective seasonal streamflow forecasts over a period of 20 years (1991-2010). Finally, the performance of LSMs in forecasting streamflow under different schemes was analyzed to quantify the relative contribution of various sources of errors in developing seasonal streamflow forecast. Our results indicate that the most dominant source of errors during winter and fall seasons is the errors due to ECHAM4.5 precipitation forecasts, while temporal disaggregation scheme contributes to maximum errors during summer season.

Seasonal scale water deficit forecasting in Africa and the Middle East using NASA's Land Information System (LIS)

NASA Astrophysics Data System (ADS)

Shukla, Shraddhanand; Arsenault, Kristi R.; Getirana, Augusto; Kumar, Sujay V.; Roningen, Jeanne; Zaitchik, Ben; McNally, Amy; Koster, Randal D.; Peters-Lidard, Christa

2017-04-01

Drought and water scarcity are among the important issues facing several regions within Africa and the Middle East. A seamless and effective monitoring and early warning system is needed by regional/national stakeholders. Such system should support a proactive drought management approach and mitigate the socio-economic losses up to the extent possible. In this presentation, we report on the ongoing development and validation of a seasonal scale water deficit forecasting system based on NASA's Land Information System (LIS) and seasonal climate forecasts. First, our presentation will focus on the implementation and validation of the LIS models used for drought and water availability monitoring in the region. The second part will focus on evaluating drought and water availability forecasts. Finally, details will be provided of our ongoing collaboration with end-user partners in the region (e.g., USAID's Famine Early Warning Systems Network, FEWS NET), on formulating meaningful early warning indicators, effective communication and seamless dissemination of the monitoring and forecasting products through NASA's web-services. The water deficit forecasting system thus far incorporates NOAA's Noah land surface model (LSM), version 3.3, the Variable Infiltration Capacity (VIC) model, version 4.12, NASA GMAO's Catchment LSM, and the Noah Multi-Physics (MP) LSM (the latter two incorporate prognostic water table schemes). In addition, the LSMs' surface and subsurface runoff are routed through the Hydrological Modeling and Analysis Platform (HyMAP) to simulate surface water dynamics. The LSMs are driven by NASA/GMAO's Modern-Era Retrospective analysis for Research and Applications, Version 2 (MERRA-2), and the USGS and UCSB Climate Hazards Group InfraRed Precipitation with Station (CHIRPS) daily rainfall dataset. The LIS software framework integrates these forcing datasets and drives the four LSMs and HyMAP. The Land Verification Toolkit (LVT) is used for the evaluation of the LSMs, as it provides model ensemble metrics and the ability to compare against a variety of remotely sensed measurements, like different evapotranspiration (ET) and soil moisture products, and other reanalysis datasets that are available for this region. Comparison of the models' energy and hydrological budgets will be shown for this region (and sub-basin level, e.g., Blue Nile River) and time period (1981-2015), along with evaluating ET, streamflow, groundwater storage and soil moisture, using evaluation metrics (e.g., anomaly correlation, RMSE, etc.). The system uses seasonal climate forecasts from NASA's GMAO (the Goddard Earth Observing System Model, version 5) and NCEP's Climate Forecast System, version 2, and it produces forecasts of soil moisture, ET and streamflow out to 6 months in the future. Forecasts of those variables are formulated in terms of indicators to provide forecasts of drought and water availability in the region.

Role of large-scale motions to turbulent inertia in turbulent pipe and channel flows

NASA Astrophysics Data System (ADS)

Hwang, Jinyul; Lee, Jin; Sung, Hyung Jin

2015-11-01

The role of large-scale motions (LSMs) to the turbulent inertia (TI) term (the wall-normal gradient of the Reynolds shear stress) is examined in turbulent pipe and channel flows at Reτ ~ 930 . The TI term in the mean momentum equation represents the net force of inertia exerted by the Reynolds shear stress. Although the turbulence statistics characterizing the internal turbulent flows are similar close to the wall, the TI term differs in the logarithmic region due to the different characteristics of LSMs (λx > 3 δ) . The contribution of the LSMs to the TI term and the Reynolds shear stress in the channel flow is larger than that in the pipe flow. The LSMs in the logarithmic region act like a mean momentum source (where TI >0) even the TI profile is negative above the peak of the Reynolds shear stress. The momentum sources carried by the LSMs are related to the low-speed regions elongated in the downstream, revealing that momentum source-like motions occur in the upstream position of the low-speed structure. The streamwise extent of this structure is relatively long in the channel flow, whereas the high-speed regions on the both sides of the low-speed region in the channel flow are shorter and weaker than those in the pipe flow. This work was supported by the Creative Research Initiatives (No. 2015-001828) program of the National Research Foundation of Korea (MSIP) and partially supported by KISTI under the Strategic Supercomputing Support Program.

Reconciling Land-Ocean Moisture Transport Variability in Reanalyses with P-ET in Observationally-Driven Land Surface Models

NASA Technical Reports Server (NTRS)

Robertson, Franklin R.; Bosilovich, Michael G.; Roberts, Jason B.

2016-01-01

Vertically integrated atmospheric moisture transport from ocean to land [vertically integrated atmospheric moisture flux convergence (VMFC)] is a dynamic component of the global climate system but remains problematic in atmospheric reanalyses, with current estimates having significant multidecadal global trends differing even in sign. Continual evolution of the global observing system, particularly stepwise improvements in satellite observations, has introduced discrete changes in the ability of data assimilation to correct systematic model biases, manifesting as nonphysical variability. Land surface models (LSMs) forced with observed precipitation P and near-surface meteorology and radiation provide estimates of evapotranspiration (ET). Since variability of atmospheric moisture storage is small on interannual and longer time scales, VMFC equals P minus ET is a good approximation and LSMs can provide an alternative estimate. However, heterogeneous density of rain gauge coverage, especially the sparse coverage over tropical continents, remains a serious concern. Rotated principal component analysis (RPCA) with prefiltering of VMFC to isolate the artificial variability is used to investigate artifacts in five reanalysis systems. This procedure, although ad hoc, enables useful VMFC corrections over global land. The P minus ET estimates from seven different LSMs are evaluated and subsequently used to confirm the efficacy of the RPCA-based adjustments. Global VMFC trends over the period 1979-2012 ranging from 0.07 to minus 0.03 millimeters per day per decade are reduced by the adjustments to 0.016 millimeters per day per decade, much closer to the LSM P minus ET estimate (0.007 millimeters per day per decade). Neither is significant at the 90 percent level. ENSO (El Nino-Southern Oscillation)-related modulation of VMFC and P minus ET remains the largest global interannual signal, with mean LSM and adjusted reanalysis time series correlating at 0.86.

Similarity Assessment of Land Surface Model Outputs in the North American Land Data Assimilation System

NASA Astrophysics Data System (ADS)

Kumar, Sujay V.; Wang, Shugong; Mocko, David M.; Peters-Lidard, Christa D.; Xia, Youlong

2017-11-01

Multimodel ensembles are often used to produce ensemble mean estimates that tend to have increased simulation skill over any individual model output. If multimodel outputs are too similar, an individual LSM would add little additional information to the multimodel ensemble, whereas if the models are too dissimilar, it may be indicative of systematic errors in their formulations or configurations. The article presents a formal similarity assessment of the North American Land Data Assimilation System (NLDAS) multimodel ensemble outputs to assess their utility to the ensemble, using a confirmatory factor analysis. Outputs from four NLDAS Phase 2 models currently running in operations at NOAA/NCEP and four new/upgraded models that are under consideration for the next phase of NLDAS are employed in this study. The results show that the runoff estimates from the LSMs were most dissimilar whereas the models showed greater similarity for root zone soil moisture, snow water equivalent, and terrestrial water storage. Generally, the NLDAS operational models showed weaker association with the common factor of the ensemble and the newer versions of the LSMs showed stronger association with the common factor, with the model similarity increasing at longer time scales. Trade-offs between the similarity metrics and accuracy measures indicated that the NLDAS operational models demonstrate a larger span in the similarity-accuracy space compared to the new LSMs. The results of the article indicate that simultaneous consideration of model similarity and accuracy at the relevant time scales is necessary in the development of multimodel ensemble.

Proposed Hydrodynamic Model Improves Resolution of Species-Specific Responses to Drought and Disturbance

NASA Astrophysics Data System (ADS)

Matheny, A. M.; Bohrer, G.; Fiorella, R.; Mirfenderesgi, G.

2015-12-01

Plant functional types in land surface models (LSMs) are broadly defined, and often represent species with different physiologies within the same category. For example, trees of opposing hydraulic strategies and traits are commonly grouped together, as is the case of red oak and red maple. As a result, LSMs generate typical patterns of errors in predictions of transpiration and production. We studied sap flux, stem water storage, stomatal conductance, photosynthesis, rooting depth, and bole growth of these species at disturbed and undisturbed field sites in Michigan. Species-specific differences significantly impact temporal patterns of stomatal conductance and overall transpiration responses to both drought and disturbance. During drought, maples relied heavily on stem-stored water, while oaks did not. After disturbance, oaks increased stomatal conductance while maple conductance declined. Isotopic analysis of xylem water revealed that oak roots can access a deep groundwater source, which maple roots cannot. This deep rooting strategy permits transpiration and growth to continue in oaks during periods of water limitation, even when maples cease transpiration. Using 16 years of bole growth data, we show that maple growth is strongly correlated with mean annual precipitation, yet oak growth is not. We propose a framework to incorporate these species-specific differences into LSMs using the Finite-Element Tree-Crown Hydrodynamics model version 2 (FETCH2) that resolves the fast dynamics and diurnal hysteresis of stomatal conductance at the tree level. FETCH2 uses atmospheric and biological forcings from the LSM, simulates water movement through trees as flow through a system of porous media conduits, and calculates realistic hydraulic restrictions to stomatal conductance. This model replaces the current, non-physical link which empirically connects soil moisture to stomatal conductance in LSMs. FETCH2 resolved transpiration is then easily scaled to the plot level using remote sensing data. By incorporating species-specific constraints on water flux into predictions of transpiration, growth, and mortality, we can improve simulations of the surface energy budget and global carbon and water balances.

Closing the loop: integrating human impacts on water resources to advanced land surface models

NASA Astrophysics Data System (ADS)

Zaitchik, B. F.; Nie, W.; Rodell, M.; Kumar, S.; Li, B.

2016-12-01

Advanced Land Surface Models (LSMs), including those used in the North American Land Data Assimilation System (NLDAS), offer a physically consistent and spatially and temporally complete analysis of the distributed water balance. These models are constrained both by physically-based process representation and by observations ingested as meteorological forcing or as data assimilation updates. As such, they have become important tools for hydrological monitoring and long-term climate analysis. The representation of water management, however, is extremely limited in these models. Recent advances have brought prognostic irrigation routines into models used in NLDAS, while assimilation of Gravity Recovery and Climate Experiment (GRACE) derived estimates of terrestrial water storage anomaly has made it possible to nudge models towards observed states in water storage below the root zone. But with few exceptions these LSMs do not account for the source of irrigation water, leading to a disconnect between the simulated water balance and the observed human impact on water resources. This inconsistency is unacceptable for long-term studies of climate change and human impact on water resources in North America. Here we define the modeling challenge, review instances of models that have begun to account for water withdrawals (e.g., CLM), and present ongoing efforts to improve representation of human impacts on water storage across models through integration of irrigation routines, water withdrawal information, and GRACE Data Assimilation in NLDAS LSMs.

Seasonal scale water deficit forecasting in Africa and the Middle East using NASA's Land Information System (LIS)

NASA Astrophysics Data System (ADS)

Peters-Lidard, C. D.; Arsenault, K. R.; Shukla, S.; Getirana, A.; McNally, A.; Koster, R. D.; Zaitchik, B. F.; Badr, H. S.; Roningen, J. M.; Kumar, S.; Funk, C. C.

2017-12-01

A seamless and effective water deficit monitoring and early warning system is critical for assessing food security in Africa and the Middle East. In this presentation, we report on the ongoing development and validation of a seasonal scale water deficit forecasting system based on NASA's Land Information System (LIS) and seasonal climate forecasts. First, our presentation will focus on the implementation and validation of drought and water availability monitoring products in the region. Next, it will focus on evaluating drought and water availability forecasts. Finally, details will be provided of our ongoing collaboration with end-user partners in the region (e.g., USAID's Famine Early Warning Systems Network, FEWS NET), on formulating meaningful early warning indicators, effective communication and seamless dissemination of the products through NASA's web-services. The water deficit forecasting system thus far incorporates NASA GMAO's Catchment and the Noah Multi-Physics (MP) LSMs. In addition, the LSMs' surface and subsurface runoff are routed through the Hydrological Modeling and Analysis Platform (HyMAP) to simulate surface water dynamics. To establish a climatology from 1981-2015, the two LSMs are driven by NASA/GMAO's Modern-Era Retrospective analysis for Research and Applications, Version 2 (MERRA-2), and the USGS and UCSB Climate Hazards Group InfraRed Precipitation with Station (CHIRPS) daily rainfall dataset. Comparison of the models' energy and hydrological budgets with independent observations suggests that major droughts are well-reflected in the climatology. The system uses seasonal climate forecasts from NASA's GEOS-5 (the Goddard Earth Observing System Model-5) and NCEP's Climate Forecast System-2, and it produces forecasts of soil moisture, ET and streamflow out to 6 months in the future. Forecasts of those variables are formulated in terms of indicators to provide forecasts of drought and water availability in the region. Current work suggests that for the Blue Nile basin, (1) the combination of GEOS-5 and CFSv2 is equivalent in skill to the full North American Multimodel Ensemble (NMME); and (2) the seasonal water deficit forecasting system skill for both soil moisture and streamflow anomalies is greater than the standard Ensemble Streamflow Prediction (ESP) approach.

Implementing dynamic root optimization in Noah-MP for simulating phreatophytic root water uptake

USDA-ARS?s Scientific Manuscript database

Plants are known to adjust their root systems to adapt to changing subsurface water conditions. However, most current land surface models (LSMs) use a prescribed, static root profile, which cuts off the interactions between soil moisture and root dynamics. In this paper, we implemented an optimality...

GPU acceleration of the Locally Selfconsistent Multiple Scattering code for first principles calculation of the ground state and statistical physics of materials

NASA Astrophysics Data System (ADS)

Eisenbach, Markus; Larkin, Jeff; Lutjens, Justin; Rennich, Steven; Rogers, James H.

2017-02-01

The Locally Self-consistent Multiple Scattering (LSMS) code solves the first principles Density Functional theory Kohn-Sham equation for a wide range of materials with a special focus on metals, alloys and metallic nano-structures. It has traditionally exhibited near perfect scalability on massively parallel high performance computer architectures. We present our efforts to exploit GPUs to accelerate the LSMS code to enable first principles calculations of O(100,000) atoms and statistical physics sampling of finite temperature properties. We reimplement the scattering matrix calculation for GPUs with a block matrix inversion algorithm that only uses accelerator memory. Using the Cray XK7 system Titan at the Oak Ridge Leadership Computing Facility we achieve a sustained performance of 14.5PFlop/s and a speedup of 8.6 compared to the CPU only code.

GPU acceleration of the Locally Selfconsistent Multiple Scattering code for first principles calculation of the ground state and statistical physics of materials

DOE PAGES

Eisenbach, Markus; Larkin, Jeff; Lutjens, Justin; ...

2016-07-12

The Locally Self-consistent Multiple Scattering (LSMS) code solves the first principles Density Functional theory Kohn–Sham equation for a wide range of materials with a special focus on metals, alloys and metallic nano-structures. It has traditionally exhibited near perfect scalability on massively parallel high performance computer architectures. In this paper, we present our efforts to exploit GPUs to accelerate the LSMS code to enable first principles calculations of O(100,000) atoms and statistical physics sampling of finite temperature properties. We reimplement the scattering matrix calculation for GPUs with a block matrix inversion algorithm that only uses accelerator memory. Finally, using the Craymore » XK7 system Titan at the Oak Ridge Leadership Computing Facility we achieve a sustained performance of 14.5PFlop/s and a speedup of 8.6 compared to the CPU only code.« less

Exploiting Soil Moisture, Precipitation, and Streamflow Observations to Evaluate Soil Moisture/Runoff Coupling in Land Surface Models

NASA Astrophysics Data System (ADS)

Crow, W. T.; Chen, F.; Reichle, R. H.; Xia, Y.; Liu, Q.

2018-05-01

Accurate partitioning of precipitation into infiltration and runoff is a fundamental objective of land surface models tasked with characterizing the surface water and energy balance. Temporal variability in this partitioning is due, in part, to changes in prestorm soil moisture, which determine soil infiltration capacity and unsaturated storage. Utilizing the National Aeronautics and Space Administration Soil Moisture Active Passive Level-4 soil moisture product in combination with streamflow and precipitation observations, we demonstrate that land surface models (LSMs) generally underestimate the strength of the positive rank correlation between prestorm soil moisture and event runoff coefficients (i.e., the fraction of rainfall accumulation volume converted into stormflow runoff during a storm event). Underestimation is largest for LSMs employing an infiltration-excess approach for stormflow runoff generation. More accurate coupling strength is found in LSMs that explicitly represent subsurface stormflow or saturation-excess runoff generation processes.

Upper Blue Nile basin water budget from a multi-model perspective

NASA Astrophysics Data System (ADS)

Jung, Hahn Chul; Getirana, Augusto; Policelli, Frederick; McNally, Amy; Arsenault, Kristi R.; Kumar, Sujay; Tadesse, Tsegaye; Peters-Lidard, Christa D.

2017-12-01

Improved understanding of the water balance in the Blue Nile is of critical importance because of increasingly frequent hydroclimatic extremes under a changing climate. The intercomparison and evaluation of multiple land surface models (LSMs) associated with different meteorological forcing and precipitation datasets can offer a moderate range of water budget variable estimates. In this context, two LSMs, Noah version 3.3 (Noah3.3) and Catchment LSM version Fortuna 2.5 (CLSMF2.5) coupled with the Hydrological Modeling and Analysis Platform (HyMAP) river routing scheme are used to produce hydrological estimates over the region. The two LSMs were forced with different combinations of two reanalysis-based meteorological datasets from the Modern-Era Retrospective analysis for Research and Applications datasets (i.e., MERRA-Land and MERRA-2) and three observation-based precipitation datasets, generating a total of 16 experiments. Modeled evapotranspiration (ET), streamflow, and terrestrial water storage estimates were evaluated against the Atmosphere-Land Exchange Inverse (ALEXI) ET, in-situ streamflow observations, and NASA Gravity Recovery and Climate Experiment (GRACE) products, respectively. Results show that CLSMF2.5 provided better representation of the water budget variables than Noah3.3 in terms of Nash-Sutcliffe coefficient when considering all meteorological forcing datasets and precipitation datasets. The model experiments forced with observation-based products, the Climate Hazards group Infrared Precipitation with Stations (CHIRPS) and the Tropical Rainfall Measuring Mission (TRMM) Multi-Satellite Precipitation Analysis (TMPA), outperform those run with MERRA-Land and MERRA-2 precipitation. The results presented in this paper would suggest that the Famine Early Warning Systems Network (FEWS NET) Land Data Assimilation System incorporate CLSMF2.5 and HyMAP routing scheme to better represent the water balance in this region.

Diagnosing hydrological limitations of a Land Surface Model: application of JULES to a deep-groundwater chalk basin

NASA Astrophysics Data System (ADS)

Le Vine, N.; Butler, A.; McIntyre, N.; Jackson, C.

2015-08-01

Land Surface Models (LSMs) are prospective starting points to develop a global hyper-resolution model of the terrestrial water, energy and biogeochemical cycles. However, there are some fundamental limitations of LSMs related to how meaningfully hydrological fluxes and stores are represented. A diagnostic approach to model evaluation is taken here that exploits hydrological expert knowledge to detect LSM inadequacies through consideration of the major behavioural functions of a hydrological system: overall water balance, vertical water redistribution in the unsaturated zone, temporal water redistribution and spatial water redistribution over the catchment's groundwater and surface water systems. Three types of information are utilised to improve the model's hydrology: (a) observations, (b) information about expected response from regionalised data, and (c) information from an independent physics-based model. The study considers the JULES (Joint UK Land Environmental Simulator) LSM applied to a deep-groundwater chalk catchment in the UK. The diagnosed hydrological limitations and the proposed ways to address them are indicative of the challenges faced while transitioning to a global high resolution model of the water cycle.

Diagnosing hydrological limitations of a land surface model: application of JULES to a deep-groundwater chalk basin

NASA Astrophysics Data System (ADS)

Le Vine, N.; Butler, A.; McIntyre, N.; Jackson, C.

2016-01-01

Land surface models (LSMs) are prospective starting points to develop a global hyper-resolution model of the terrestrial water, energy, and biogeochemical cycles. However, there are some fundamental limitations of LSMs related to how meaningfully hydrological fluxes and stores are represented. A diagnostic approach to model evaluation and improvement is taken here that exploits hydrological expert knowledge to detect LSM inadequacies through consideration of the major behavioural functions of a hydrological system: overall water balance, vertical water redistribution in the unsaturated zone, temporal water redistribution, and spatial water redistribution over the catchment's groundwater and surface-water systems. Three types of information are utilized to improve the model's hydrology: (a) observations, (b) information about expected response from regionalized data, and (c) information from an independent physics-based model. The study considers the JULES (Joint UK Land Environmental Simulator) LSM applied to a deep-groundwater chalk catchment in the UK. The diagnosed hydrological limitations and the proposed ways to address them are indicative of the challenges faced while transitioning to a global high resolution model of the water cycle.

Does oxytocin modulate variation in maternal caregiving in healthy new mothers?

PubMed

Elmadih, Alya; Wan, Ming Wai; Numan, Michael; Elliott, Rebecca; Downey, Darragh; Abel, Kathryn M

2014-09-11

Maternal sensitivity to infant cues and developmental needs may be pivotal for social and cognitive development. Animal and recent human studies emphasise a major role for Oxytocin (OT) in mediating sensitive caregiving but no study has examined the relationship between OT and extreme variation in human maternal sensitivity. From 105 expectant mothers, 80 underwent blind-rating of maternal sensitivity at 4-6 months postpartum through free-play interaction with their infants. At 7-9 months postpartum, 30 mothers at extremes of maternal sensitivity: 15 'sensitive mothers' (high sensitivity mothers - HSMs, mean=4.47; SD=0.74) and 15 'less sensitive mothers' (low sensitivity mothers - LSMs, mean=2.13; SD=0.52) underwent plasma OT measurements before and after 10 min infant play. Baseline and post-interaction plasma OT was higher in LSMs than HSMs [F(1, 26)=8.42; p=0.01]. HSMs showed a trend towards significant reduction in plasma OT [t(14)=2.01; p=0.06] following play-interaction; no change was shown by LSMs [t(13)=-0.14; p=0.89]. Conclusion Higher baseline OT levels in healthy LSMs may imply greater stress responses to the demands of caring for an infant, or past deficiencies in own parenting relationship and act as a biomarker for poor parental sensitivity. OT may be acting to reduce stress and anxiety in LSMs consistent with studies of plasma OT and stress in women. By contrast, in HSMs, play interaction with their infants maybe relaxing as indicated by significant reduction in plasma OT from baseline. Ascertainment of mothers in well-defined sensitivity groups might facilitate examination of distinct coping strategies in parents and better understanding of variation in parental caregiving behaviour and its potential for modulation by OT. This article is part of a Special Issue entitled Oxytocin and Social Behav. Copyright © 2014 Elsevier B.V. All rights reserved.

First principles statistical mechanics of alloys and magnetism

NASA Astrophysics Data System (ADS)

Eisenbach, Markus; Khan, Suffian N.; Li, Ying Wai

Modern high performance computing resources are enabling the exploration of the statistical physics of phase spaces with increasing size and higher fidelity of the Hamiltonian of the systems. For selected systems, this now allows the combination of Density Functional based first principles calculations with classical Monte Carlo methods for parameter free, predictive thermodynamics of materials. We combine our locally selfconsistent real space multiple scattering method for solving the Kohn-Sham equation with Wang-Landau Monte-Carlo calculations (WL-LSMS). In the past we have applied this method to the calculation of Curie temperatures in magnetic materials. Here we will present direct calculations of the chemical order - disorder transitions in alloys. We present our calculated transition temperature for the chemical ordering in CuZn and the temperature dependence of the short-range order parameter and specific heat. Finally we will present the extension of the WL-LSMS method to magnetic alloys, thus allowing the investigation of the interplay of magnetism, structure and chemical order in ferrous alloys. This research was supported by the U.S. Department of Energy, Office of Science, Basic Energy Sciences, Materials Science and Engineering Division and it used Oak Ridge Leadership Computing Facility resources at Oak Ridge National Laboratory.

Extending the Confrontation of Weather and Climate Models from Soil Moisture to Surface Flux Data

NASA Astrophysics Data System (ADS)

Dirmeyer, P.; Chen, L.; Wu, J.

2016-12-01

The atmosphere and land components of weather and climate models are typically developed separately and coupled as a last step before new model versions are released. Separate testing of land surface models (LSMs) and atmospheric models is often quite extensive in the development phase, but validation of coupled land-atmosphere behavior is often minimal if performed at all. This is partly because of this piecemeal model development approach and partly because the necessary in situ data to confront coupled land-atmosphere models (LAMs) has been meager until quite recently. Over the past 10-20 years there has been a growing number of networks of measurements of land surface states, surface fluxes, radiation and near-surface meteorology, although they have been largely uncoordinated and frequently incomplete across the range of variables necessary to validate LAMs. We extend recent work "confronting" a variety of LSMs and LAMs with in situ observations of soil moisture from cross-standardized networks to comparisons with measurements of surface latent and sensible heat fluxes at FLUXNET sites in a variety of climate regimes around the world. The motivation is to determine how well LSMs represent observed statistics of variability and co-variability, how much models differ from one another, and how those statistics change when the LSMs are coupled to atmospheric models. Furthermore, comparisons are made to several LAMs in both open-loop (free running) and reanalysis configurations. This shows to what extent data assimilation can constrain the processes involved in flux variability, and helps illuminate model development pathways to improve coupled land-atmosphere interactions in weather and climate models.

Modeling evapotranspiration over China's landmass from 1979-2012 using three surface models

NASA Astrophysics Data System (ADS)

Sun, Shaobo; Chen, Baozhang; Zhang, Huifang; Lin, Xiaofeng

2017-04-01

Land surface models (LSMs) are useful tools to estimate land evapotranspiration at a grid scale and for a long-term applications. Here, the Community Land Model 4.0 (CLM4.0), Dynamic Land Model (DLM) and Variable Infiltration Capacity (VIC) model were driven with observation-based forcing data sets, and a multiple LSM ensemble-averaged evapotranspiration (ET) product (LSMs-ET) was developed and its spatial-temporal variations were analyzed for the China landmass over the period 1979-2012. Evaluations against measurements from nine flux towers at site scale and surface water budget based ET at regional scale showed that the LSMs-ET had good performance in most areas of China's landmass. The inter-comparisons between the ET estimates and the independent ET products from remote sensing and upscaling methods suggested that there were a fairly consistent patterns between each data sets. The LSMs-ET produced a mean annual ET of 351.24±10.7 mm yr-1 over 1979-2012, and its spatial-temporal variation analyses showed that (i) there was an overall significant ET increasing trend, with a value of 0.72 mm yr-1 (p < 0.01); (ii) 36.01% of Chinese land had significant increasing trends, ranging from 1 to 9 mm yr-1, while only 6.41% of the area showed significant decreasing trends, ranging from -6.28 to -0.08 mm yr-1. Analyses of ET variations in each climate region clearly showed that the Tibetan Plateau areas were the main contributors to the overall increasing ET trends of China.

Large- and Very-Large-Scale Motions in Katabatic Flows Over Steep Slopes

NASA Astrophysics Data System (ADS)

Giometto, M. G.; Fang, J.; Salesky, S.; Parlange, M. B.

2016-12-01

Evidence of large- and very-large-scale motions populating the boundary layer in katabatic flows over steep slopes is presented via direct numerical simulations (DNSs). DNSs are performed at a modified Reynolds number (Rem = 967), considering four sloping angles (α = 60°, 70°, 80° and 90°). Large coherent structures prove to be strongly dependent on the inclination of the underlying surface. Spectra and co-spectra consistently show signatures of large-scale motions (LSMs), with streamwise extension on the order of the boundary layer thickness. A second low-wavenumber mode characterizes pre-multiplied spectra and co-spectra when the slope angle is below 70°, indicative of very-large-scale motions (VLSMs). In addition, conditional sampling and averaging shows how LSMs and VLSMs are induced by counter-rotating roll modes, in agreement with findings from canonical wall-bounded flows. VLSMs contribute to the stream-wise velocity variance and shear stress in the above-jet regions up to 30% and 45% respectively, whereas both LSMs and VLSMs are inactive in the near-wall regions.

Towards a satellite driven land surface model using SURFEX modelling platform Offline Data Assimilation: an assessment of the method over Europe and the Mediterranean basin

NASA Astrophysics Data System (ADS)

Albergel, Clément; Munier, Simon; Leroux, Delphine; Fairbairn, David; Dorigo, Wouter; Decharme, Bertrand; Calvet, Jean-Christophe

2017-04-01

Modelling platforms including Land Surface Models (LSMs), forced by gridded atmospheric variables and coupled to river routing models are necessary to increase our understanding of the terrestrial water cycle. These LSMs need to simulate biogeophysical variables like Surface and Root Zone Soil Moisture (SSM, RZSM), Leaf Area Index (LAI) in a way that is fully consistent with the representation of surface/energy fluxes and river discharge simulations. Global SSM and LAI products are now operationally available from spaceborne instruments and they can be used to constrain LSMs through Data Assimilation (DA) techniques. In this study, an offline data assimilation system implemented in Météo-France's modelling platform (SURFEX) is tested over Europe and the Mediterranean basin to increase prediction accuracy for land surface variables. The resulting Land Data Assimilation System (LDAS) makes use of a simplified Extended Kalman Filter (SEKF). It is able to ingests information from satellite derived (i) SSM from the latest version of the ESA Climate Change Initiative as well as (ii) LAI from the Copernicus GLS project to constrain the multilayer, CO2-responsive version of the Interactions Between Soil, Biosphere, and Atmosphere model (ISBA) coupled with Météo-France's version of the Total Runoff Integrating Pathways continental hydrological system (ISBA-CTRIP). ERA-Interim observations based atmospheric forcing with precipitations corrected from Global Precipitation Climatology Centre observations (GPCC) is used to force ISBA-CTRIP at a resolution of 0.5 degree over 2000-2015. The model sensitivity to the assimilated observations is presented and a set of statistical diagnostics used to evaluate the impact of assimilating SSM and LAI on different model biogeophysical variables are provided. It is demonstrated that the assimilation scheme works effectively. The SEKF is able to extract useful information from the data signal at the grid scale and distribute the RZSM and LAI increments throughout the model impacting soil moisture, terrestrial vegetation and water cycle, surface carbon and energy fluxes.

On the appropriate definition of soil profile configuration and initial conditions for land surface-hydrology models in cold regions

NASA Astrophysics Data System (ADS)

Sapriza-Azuri, Gonzalo; Gamazo, Pablo; Razavi, Saman; Wheater, Howard S.

2018-06-01

Arctic and subarctic regions are amongst the most susceptible regions on Earth to global warming and climate change. Understanding and predicting the impact of climate change in these regions require a proper process representation of the interactions between climate, carbon cycle, and hydrology in Earth system models. This study focuses on land surface models (LSMs) that represent the lower boundary condition of general circulation models (GCMs) and regional climate models (RCMs), which simulate climate change evolution at the global and regional scales, respectively. LSMs typically utilize a standard soil configuration with a depth of no more than 4 m, whereas for cold, permafrost regions, field experiments show that attention to deep soil profiles is needed to understand and close the water and energy balances, which are tightly coupled through the phase change. To address this gap, we design and run a series of model experiments with a one-dimensional LSM, called CLASS (Canadian Land Surface Scheme), as embedded in the MESH (Modélisation Environmentale Communautaire - Surface and Hydrology) modelling system, to (1) characterize the effect of soil profile depth under different climate conditions and in the presence of parameter uncertainty; (2) assess the effect of including or excluding the geothermal flux in the LSM at the bottom of the soil column; and (3) develop a methodology for temperature profile initialization in permafrost regions, where the system has an extended memory, by the use of paleo-records and bootstrapping. Our study area is in Norman Wells, Northwest Territories of Canada, where measurements of soil temperature profiles and historical reconstructed climate data are available. Our results demonstrate a dominant role for parameter uncertainty, that is often neglected in LSMs. Considering such high sensitivity to parameter values and dependency on the climate condition, we show that a minimum depth of 20 m is essential to adequately represent the temperature dynamics. We further show that our proposed initialization procedure is effective and robust to uncertainty in paleo-climate reconstructions and that more than 300 years of reconstructed climate time series are needed for proper model initialization.

Do land surface models need to include differential plant species responses to drought? Examining model predictions across a mesic-xeric gradient in Europe

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

De Kauwe, M. G.; Zhou, S. -X.; Medlyn, B. E.

Future climate change has the potential to increase drought in many regions of the globe, making it essential that land surface models (LSMs) used in coupled climate models realistically capture the drought responses of vegetation. Recent data syntheses show that drought sensitivity varies considerably among plants from different climate zones, but state-of-the-art LSMs currently assume the same drought sensitivity for all vegetation. We tested whether variable drought sensitivities are needed to explain the observed large-scale patterns of drought impact on the carbon, water and energy fluxes. We implemented data-driven drought sensitivities in the Community Atmosphere Biosphere Land Exchange (CABLE) LSMmore » and evaluated alternative sensitivities across a latitudinal gradient in Europe during the 2003 heatwave. The model predicted an overly abrupt onset of drought unless average soil water potential was calculated with dynamic weighting across soil layers. We found that high drought sensitivity at the most mesic sites, and low drought sensitivity at the most xeric sites, was necessary to accurately model responses during drought. Furthermore, our results indicate that LSMs will over-estimate drought impacts in drier climates unless different sensitivity of vegetation to drought is taken into account.« less

Do land surface models need to include differential plant species responses to drought? Examining model predictions across a mesic-xeric gradient in Europe

DOE PAGES

De Kauwe, M. G.; Zhou, S. -X.; Medlyn, B. E.; ...

2015-12-21

Future climate change has the potential to increase drought in many regions of the globe, making it essential that land surface models (LSMs) used in coupled climate models realistically capture the drought responses of vegetation. Recent data syntheses show that drought sensitivity varies considerably among plants from different climate zones, but state-of-the-art LSMs currently assume the same drought sensitivity for all vegetation. We tested whether variable drought sensitivities are needed to explain the observed large-scale patterns of drought impact on the carbon, water and energy fluxes. We implemented data-driven drought sensitivities in the Community Atmosphere Biosphere Land Exchange (CABLE) LSMmore » and evaluated alternative sensitivities across a latitudinal gradient in Europe during the 2003 heatwave. The model predicted an overly abrupt onset of drought unless average soil water potential was calculated with dynamic weighting across soil layers. We found that high drought sensitivity at the most mesic sites, and low drought sensitivity at the most xeric sites, was necessary to accurately model responses during drought. Furthermore, our results indicate that LSMs will over-estimate drought impacts in drier climates unless different sensitivity of vegetation to drought is taken into account.« less

ORCHIDEE-SOM: modeling soil organic carbon (SOC) and dissolved organic carbon (DOC) dynamics along vertical soil profiles in Europe

NASA Astrophysics Data System (ADS)

Camino-Serrano, Marta; Guenet, Bertrand; Luyssaert, Sebastiaan; Ciais, Philippe; Bastrikov, Vladislav; De Vos, Bruno; Gielen, Bert; Gleixner, Gerd; Jornet-Puig, Albert; Kaiser, Klaus; Kothawala, Dolly; Lauerwald, Ronny; Peñuelas, Josep; Schrumpf, Marion; Vicca, Sara; Vuichard, Nicolas; Walmsley, David; Janssens, Ivan A.

2018-03-01

Current land surface models (LSMs) typically represent soils in a very simplistic way, assuming soil organic carbon (SOC) as a bulk, and thus impeding a correct representation of deep soil carbon dynamics. Moreover, LSMs generally neglect the production and export of dissolved organic carbon (DOC) from soils to rivers, leading to overestimations of the potential carbon sequestration on land. This common oversimplified processing of SOC in LSMs is partly responsible for the large uncertainty in the predictions of the soil carbon response to climate change. In this study, we present a new soil carbon module called ORCHIDEE-SOM, embedded within the land surface model ORCHIDEE, which is able to reproduce the DOC and SOC dynamics in a vertically discretized soil to 2 m. The model includes processes of biological production and consumption of SOC and DOC, DOC adsorption on and desorption from soil minerals, diffusion of SOC and DOC, and DOC transport with water through and out of the soils to rivers. We evaluated ORCHIDEE-SOM against observations of DOC concentrations and SOC stocks from four European sites with different vegetation covers: a coniferous forest, a deciduous forest, a grassland, and a cropland. The model was able to reproduce the SOC stocks along their vertical profiles at the four sites and the DOC concentrations within the range of measurements, with the exception of the DOC concentrations in the upper soil horizon at the coniferous forest. However, the model was not able to fully capture the temporal dynamics of DOC concentrations. Further model improvements should focus on a plant- and depth-dependent parameterization of the new input model parameters, such as the turnover times of DOC and the microbial carbon use efficiency. We suggest that this new soil module, when parameterized for global simulations, will improve the representation of the global carbon cycle in LSMs, thus helping to constrain the predictions of the future SOC response to global warming.

GPU Acceleration of the Locally Selfconsistent Multiple Scattering Code for First Principles Calculation of the Ground State and Statistical Physics of Materials

NASA Astrophysics Data System (ADS)

Eisenbach, Markus

The Locally Self-consistent Multiple Scattering (LSMS) code solves the first principles Density Functional theory Kohn-Sham equation for a wide range of materials with a special focus on metals, alloys and metallic nano-structures. It has traditionally exhibited near perfect scalability on massively parallel high performance computer architectures. We present our efforts to exploit GPUs to accelerate the LSMS code to enable first principles calculations of O(100,000) atoms and statistical physics sampling of finite temperature properties. Using the Cray XK7 system Titan at the Oak Ridge Leadership Computing Facility we achieve a sustained performance of 14.5PFlop/s and a speedup of 8.6 compared to the CPU only code. This work has been sponsored by the U.S. Department of Energy, Office of Science, Basic Energy Sciences, Material Sciences and Engineering Division and by the Office of Advanced Scientific Computing. This work used resources of the Oak Ridge Leadership Computing Facility, which is supported by the Office of Science of the U.S. Department of Energy under Contract No. DE-AC05-00OR22725.

Using Historical Precipitation, Temperature, and Runoff Observations to Evaluate Evaporation Formulations in Land Surface Models

NASA Technical Reports Server (NTRS)

Koster, Randal D.; Mahanama, P. P.

2012-01-01

Key to translating soil moisture memory into subseasonal precipitation and air temperature forecast skill is a realistic treatment of evaporation in the forecast system used - in particular, a realistic treatment of how evaporation responds to variations in soil moisture. The inherent soil moisture-evaporation relationships used in today's land surface models (LSMs), however, arguably reflect little more than guesswork given the lack of evaporation and soil moisture data at the spatial scales represented by regional and global models. Here we present a new approach for evaluating this critical aspect of LSMs. Seasonally averaged precipitation is used as a proxy for seasonally-averaged soil moisture, and seasonally-averaged air temperature is used as a proxy for seasonally-averaged evaporation (e.g., more evaporative cooling leads to cooler temperatures) the relationship between historical precipitation and temperature measurements accordingly mimics in certain important ways nature's relationship between soil moisture and evaporation. Additional information on the relationship is gleaned from joint analysis of precipitation and streamflow measurements. An experimental framework that utilizes these ideas to guide the development of an improved soil moisture-evaporation relationship is described and demonstrated.

Recent Progresses in Incorporating Human Land-Water Management into Global Land Surface Models Toward Their Integration into Earth System Models

NASA Technical Reports Server (NTRS)

Pokhrel, Yadu N.; Hanasaki, Naota; Wada, Yoshihide; Kim, Hyungjun

2016-01-01

The global water cycle has been profoundly affected by human land-water management. As the changes in the water cycle on land can affect the functioning of a wide range of biophysical and biogeochemical processes of the Earth system, it is essential to represent human land-water management in Earth system models (ESMs). During the recent past, noteworthy progress has been made in large-scale modeling of human impacts on the water cycle but sufficient advancements have not yet been made in integrating the newly developed schemes into ESMs. This study reviews the progresses made in incorporating human factors in large-scale hydrological models and their integration into ESMs. The study focuses primarily on the recent advancements and existing challenges in incorporating human impacts in global land surface models (LSMs) as a way forward to the development of ESMs with humans as integral components, but a brief review of global hydrological models (GHMs) is also provided. The study begins with the general overview of human impacts on the water cycle. Then, the algorithms currently employed to represent irrigation, reservoir operation, and groundwater pumping are discussed. Next, methodological deficiencies in current modeling approaches and existing challenges are identified. Furthermore, light is shed on the sources of uncertainties associated with model parameterizations, grid resolution, and datasets used for forcing and validation. Finally, representing human land-water management in LSMs is highlighted as an important research direction toward developing integrated models using ESM frameworks for the holistic study of human-water interactions within the Earths system.

The Continuing Evolution of Land Surface Parameterizations

NASA Technical Reports Server (NTRS)

Koster, Randal; Houser, Paul (Technical Monitor)

2001-01-01

Land surface models (LSMs) play a critical role in the simulation of climate, for they determine the character of a large fraction of the atmosphere's lower boundary. The LSM partitions the net radiative energy at the land surface into sensible heat, latent heat, and energy storage, and it partitions incident precipitation water into evaporation, runoff, and water storage. Numerous modeling experiments and the existing (though very scant) observational evidence suggest that variations in these partitionings can feed back on the atmospheric processes that induce them. This land-atmosphere feedback can in turn have a significant impact on the generation of continental precipitation. For this and other reasons (including the role of the land surface in converting various atmospheric quantities, such as precipitation, into quantities of perhaps higher societal relevance, such as runoff), many modeling groups are placing a high emphasis on improving the treatment of land surface processes in their models. LSMs have evolved substantially from the original bucket model of Manabe et al. This evolution, which is still ongoing, has been documented considerably. The present paper also takes a look at the evolution of LSMs. The perspective here, though, is different - the evolution is considered strictly in terms of the 'balance' between the formulations of evaporation and runoff processes. The paper will argue that a proper balance is currently missing, largely due to difficulties in treating subgrid variability in soil moisture and its impact on the generation of runoff.

Assessment of simulated water balance from Noah, Noah-MP, CLM, and VIC over CONUS using the NLDAS test bed

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

Cai, Xitian; Yang, Zong-Liang; Xia, Youlong

2014-12-27

This study assesses the hydrologic performance of four land surface models (LSMs) for the conterminous United States using the North American Land Data Assimilation System (NLDAS) test bed. The four LSMs are the baseline community Noah LSM (Noah, version 2.8), the Variable Infiltration Capacity (VIC, version 4.0.5) model, the substantially augmented Noah LSM with multiparameterization options (hence Noah-MP), and the Community Land Model version 4 (CLM4). All four models are driven by the same NLDAS-2 atmospheric forcing. Modeled terrestrial water storage (TWS), streamflow, evapotranspiration (ET), and soil moisture are compared with each other and evaluated against the identical observations. Relativemore » to Noah, the other three models offer significant improvements in simulating TWS and streamflow and moderate improvements in simulating ET and soil moisture. Noah-MP provides the best performance in simulating soil moisture and is among the best in simulating TWS, CLM4 shows the best performance in simulating ET, and VIC ranks the highest in performing the streamflow simulations. Despite these improvements, CLM4, Noah-MP, and VIC exhibit deficiencies, such as the low variability of soil moisture in CLM4, the fast growth of spring ET in Noah-MP, and the constant overestimation of ET in VIC.« less

Uncertainty in solid precipitation and snow depth prediction for Siberia using the Noah and Noah-MP land surface models

NASA Astrophysics Data System (ADS)

Suzuki, Kazuyoshi; Zupanski, Milija

2018-01-01

In this study, we investigate the uncertainties associated with land surface processes in an ensemble predication context. Specifically, we compare the uncertainties produced by a coupled atmosphere-land modeling system with two different land surface models, the Noah- MP land surface model (LSM) and the Noah LSM, by using the Maximum Likelihood Ensemble Filter (MLEF) data assimilation system as a platform for ensemble prediction. We carried out 24-hour prediction simulations in Siberia with 32 ensemble members beginning at 00:00 UTC on 5 March 2013. We then compared the model prediction uncertainty of snow depth and solid precipitation with observation-based research products and evaluated the standard deviation of the ensemble spread. The prediction skill and ensemble spread exhibited high positive correlation for both LSMs, indicating a realistic uncertainty estimation. The inclusion of a multiple snowlayer model in the Noah-MP LSM was beneficial for reducing the uncertainties of snow depth and snow depth change compared to the Noah LSM, but the uncertainty in daily solid precipitation showed minimal difference between the two LSMs. The impact of LSM choice in reducing temperature uncertainty was limited to surface layers of the atmosphere. In summary, we found that the more sophisticated Noah-MP LSM reduces uncertainties associated with land surface processes compared to the Noah LSM. Thus, using prediction models with improved skill implies improved predictability and greater certainty of prediction.

A novel representation of groundwater dynamics in large-scale land surface modelling

NASA Astrophysics Data System (ADS)

Rahman, Mostaquimur; Rosolem, Rafael; Kollet, Stefan

2017-04-01

Land surface processes are connected to groundwater dynamics via shallow soil moisture. For example, groundwater affects evapotranspiration (by influencing the variability of soil moisture) and runoff generation mechanisms. However, contemporary Land Surface Models (LSM) generally consider isolated soil columns and free drainage lower boundary condition for simulating hydrology. This is mainly due to the fact that incorporating detailed groundwater dynamics in LSMs usually requires considerable computing resources, especially for large-scale applications (e.g., continental to global). Yet, these simplifications undermine the potential effect of groundwater dynamics on land surface mass and energy fluxes. In this study, we present a novel approach of representing high-resolution groundwater dynamics in LSMs that is computationally efficient for large-scale applications. This new parameterization is incorporated in the Joint UK Land Environment Simulator (JULES) and tested at the continental-scale.

A Review on Regional Convection-Permitting Climate Modeling: Demonstrations, Prospects, and Challenges

NASA Astrophysics Data System (ADS)

Prein, A. F.; Langhans, W.; Fosser, G.; Ferrone, A.; Ban, N.; Goergen, K.; Keller, M.; Tölle, M.; Gutjahr, O.; Feser, F.; Brisson, E.; Kollet, S. J.; Schmidli, J.; Van Lipzig, N. P. M.; Leung, L. R.

2015-12-01

Regional climate modeling using convection-permitting models (CPMs; horizontal grid spacing <4 km) emerges as a promising framework to provide more reliable climate information on regional to local scales compared to traditionally used large-scale models (LSMs; horizontal grid spacing >10 km). CPMs no longer rely on convection parameterization schemes, which had been identified as a major source of errors and uncertainties in LSMs. Moreover, CPMs allow for a more accurate representation of surface and orography fields. The drawback of CPMs is the high demand on computational resources. For this reason, first CPM climate simulations only appeared a decade ago. We aim to provide a common basis for CPM climate simulations by giving a holistic review of the topic. The most important components in CPMs such as physical parameterizations and dynamical formulations are discussed critically. An overview of weaknesses and an outlook on required future developments is provided. Most importantly, this review presents the consolidated outcome of studies that addressed the added value of CPM climate simulations compared to LSMs. Improvements are evident mostly for climate statistics related to deep convection, mountainous regions, or extreme events. The climate change signals of CPM simulations suggest an increase in flash floods, changes in hail storm characteristics, and reductions in the snowpack over mountains. In conclusion, CPMs are a very promising tool for future climate research. However, coordinated modeling programs are crucially needed to advance parameterizations of unresolved physics and to assess the full potential of CPMs.

A review on regional convection-permitting climate modeling: Demonstrations, prospects, and challenges.

PubMed

Prein, Andreas F; Langhans, Wolfgang; Fosser, Giorgia; Ferrone, Andrew; Ban, Nikolina; Goergen, Klaus; Keller, Michael; Tölle, Merja; Gutjahr, Oliver; Feser, Frauke; Brisson, Erwan; Kollet, Stefan; Schmidli, Juerg; van Lipzig, Nicole P M; Leung, Ruby

2015-06-01

Regional climate modeling using convection-permitting models (CPMs; horizontal grid spacing <4 km) emerges as a promising framework to provide more reliable climate information on regional to local scales compared to traditionally used large-scale models (LSMs; horizontal grid spacing >10 km). CPMs no longer rely on convection parameterization schemes, which had been identified as a major source of errors and uncertainties in LSMs. Moreover, CPMs allow for a more accurate representation of surface and orography fields. The drawback of CPMs is the high demand on computational resources. For this reason, first CPM climate simulations only appeared a decade ago. In this study, we aim to provide a common basis for CPM climate simulations by giving a holistic review of the topic. The most important components in CPMs such as physical parameterizations and dynamical formulations are discussed critically. An overview of weaknesses and an outlook on required future developments is provided. Most importantly, this review presents the consolidated outcome of studies that addressed the added value of CPM climate simulations compared to LSMs. Improvements are evident mostly for climate statistics related to deep convection, mountainous regions, or extreme events. The climate change signals of CPM simulations suggest an increase in flash floods, changes in hail storm characteristics, and reductions in the snowpack over mountains. In conclusion, CPMs are a very promising tool for future climate research. However, coordinated modeling programs are crucially needed to advance parameterizations of unresolved physics and to assess the full potential of CPMs.

Implementation of 5-layer thermal diffusion scheme in weather research and forecasting model with Intel Many Integrated Cores

NASA Astrophysics Data System (ADS)

Huang, Melin; Huang, Bormin; Huang, Allen H.

2014-10-01

For weather forecasting and research, the Weather Research and Forecasting (WRF) model has been developed, consisting of several components such as dynamic solvers and physical simulation modules. WRF includes several Land- Surface Models (LSMs). The LSMs use atmospheric information, the radiative and precipitation forcing from the surface layer scheme, the radiation scheme, and the microphysics/convective scheme all together with the land's state variables and land-surface properties, to provide heat and moisture fluxes over land and sea-ice points. The WRF 5-layer thermal diffusion simulation is an LSM based on the MM5 5-layer soil temperature model with an energy budget that includes radiation, sensible, and latent heat flux. The WRF LSMs are very suitable for massively parallel computation as there are no interactions among horizontal grid points. The features, efficient parallelization and vectorization essentials, of Intel Many Integrated Core (MIC) architecture allow us to optimize this WRF 5-layer thermal diffusion scheme. In this work, we present the results of the computing performance on this scheme with Intel MIC architecture. Our results show that the MIC-based optimization improved the performance of the first version of multi-threaded code on Xeon Phi 5110P by a factor of 2.1x. Accordingly, the same CPU-based optimizations improved the performance on Intel Xeon E5- 2603 by a factor of 1.6x as compared to the first version of multi-threaded code.

A review on regional convection-permitting climate modeling: Demonstrations, prospects, and challenges

NASA Astrophysics Data System (ADS)

Prein, Andreas F.; Langhans, Wolfgang; Fosser, Giorgia; Ferrone, Andrew; Ban, Nikolina; Goergen, Klaus; Keller, Michael; Tölle, Merja; Gutjahr, Oliver; Feser, Frauke; Brisson, Erwan; Kollet, Stefan; Schmidli, Juerg; van Lipzig, Nicole P. M.; Leung, Ruby

2015-06-01

Regional climate modeling using convection-permitting models (CPMs; horizontal grid spacing <4 km) emerges as a promising framework to provide more reliable climate information on regional to local scales compared to traditionally used large-scale models (LSMs; horizontal grid spacing >10 km). CPMs no longer rely on convection parameterization schemes, which had been identified as a major source of errors and uncertainties in LSMs. Moreover, CPMs allow for a more accurate representation of surface and orography fields. The drawback of CPMs is the high demand on computational resources. For this reason, first CPM climate simulations only appeared a decade ago. In this study, we aim to provide a common basis for CPM climate simulations by giving a holistic review of the topic. The most important components in CPMs such as physical parameterizations and dynamical formulations are discussed critically. An overview of weaknesses and an outlook on required future developments is provided. Most importantly, this review presents the consolidated outcome of studies that addressed the added value of CPM climate simulations compared to LSMs. Improvements are evident mostly for climate statistics related to deep convection, mountainous regions, or extreme events. The climate change signals of CPM simulations suggest an increase in flash floods, changes in hail storm characteristics, and reductions in the snowpack over mountains. In conclusion, CPMs are a very promising tool for future climate research. However, coordinated modeling programs are crucially needed to advance parameterizations of unresolved physics and to assess the full potential of CPMs.

The Role of Surface Energy Exchange for Simulating Wind Inflow: An Evaluation of Multiple Land Surface Models in WRF for the Southern Great Plains Site Field Campaign Report

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

Wharton, Sonia; Simpson, Matthew; Osuna, Jessica

The Weather Research and Forecasting (WRF) model is used to investigate choice of land surface model (LSM) on the near-surface wind profile, including heights reached by multi-megawatt wind turbines. Simulations of wind profiles and surface energy fluxes were made using five LSMs of varying degrees of sophistication in dealing with soil-plant-atmosphere feedbacks for the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Climate Research Facility’s Southern Great Plains (SGP) Central Facility in Oklahoma. Surface-flux and wind-profile measurements were available for validation. The WRF model was run for three two-week periods during which varying canopy and meteorological conditions existed. Themore » LSMs predicted a wide range of energy-flux and wind-shear magnitudes even during the cool autumn period when we expected less variability. Simulations of energy fluxes varied in accuracy by model sophistication, whereby LSMs with very simple or no soil-plant-atmosphere feedbacks were the least accurate; however, the most complex models did not consistently produce more accurate results. Errors in wind shear also were sensitive to LSM choice and were partially related to the accuracy of energy flux data. The variability of LSM performance was relatively high, suggesting that LSM representation of energy fluxes in the WRF model remains a significant source of uncertainty for simulating wind turbine inflow conditions.« less

Modelling evapotranspiration during precipitation deficits: Identifying critical processes in a land surface model

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

Ukkola, Anna M.; Pitman, Andy J.; Decker, Mark

Surface fluxes from land surface models (LSMs) have traditionally been evaluated against monthly, seasonal or annual mean states. The limited ability of LSMs to reproduce observed evaporative fluxes under water-stressed conditions has been previously noted, but very few studies have systematically evaluated these models during rainfall deficits. We evaluated latent heat fluxes simulated by the Community Atmosphere Biosphere Land Exchange (CABLE) LSM across 20 flux tower sites at sub-annual to inter-annual timescales, in particular focusing on model performance during seasonal-scale rainfall deficits. The importance of key model processes in capturing the latent heat flux was explored by employing alternative representations of hydrology, leafmore » area index, soil properties and stomatal conductance. We found that the representation of hydrological processes was critical for capturing observed declines in latent heat during rainfall deficits. By contrast, the effects of soil properties, LAI and stomatal conductance were highly site-specific. Whilst the standard model performs reasonably well at annual scales as measured by common metrics, it grossly underestimates latent heat during rainfall deficits. A new version of CABLE, with a more physically consistent representation of hydrology, captures the variation in the latent heat flux during seasonal-scale rainfall deficits better than earlier versions, but remaining biases point to future research needs. Lastly, our results highlight the importance of evaluating LSMs under water-stressed conditions and across multiple plant functional types and climate regimes.« less

Modelling evapotranspiration during precipitation deficits: Identifying critical processes in a land surface model

DOE PAGES

Ukkola, Anna M.; Pitman, Andy J.; Decker, Mark; ...

2016-06-21

Surface fluxes from land surface models (LSMs) have traditionally been evaluated against monthly, seasonal or annual mean states. The limited ability of LSMs to reproduce observed evaporative fluxes under water-stressed conditions has been previously noted, but very few studies have systematically evaluated these models during rainfall deficits. We evaluated latent heat fluxes simulated by the Community Atmosphere Biosphere Land Exchange (CABLE) LSM across 20 flux tower sites at sub-annual to inter-annual timescales, in particular focusing on model performance during seasonal-scale rainfall deficits. The importance of key model processes in capturing the latent heat flux was explored by employing alternative representations of hydrology, leafmore » area index, soil properties and stomatal conductance. We found that the representation of hydrological processes was critical for capturing observed declines in latent heat during rainfall deficits. By contrast, the effects of soil properties, LAI and stomatal conductance were highly site-specific. Whilst the standard model performs reasonably well at annual scales as measured by common metrics, it grossly underestimates latent heat during rainfall deficits. A new version of CABLE, with a more physically consistent representation of hydrology, captures the variation in the latent heat flux during seasonal-scale rainfall deficits better than earlier versions, but remaining biases point to future research needs. Lastly, our results highlight the importance of evaluating LSMs under water-stressed conditions and across multiple plant functional types and climate regimes.« less

Advancing land surface model development with satellite-based Earth observations

NASA Astrophysics Data System (ADS)

Orth, Rene; Dutra, Emanuel; Trigo, Isabel F.; Balsamo, Gianpaolo

2017-04-01

The land surface forms an essential part of the climate system. It interacts with the atmosphere through the exchange of water and energy and hence influences weather and climate, as well as their predictability. Correspondingly, the land surface model (LSM) is an essential part of any weather forecasting system. LSMs rely on partly poorly constrained parameters, due to sparse land surface observations. With the use of newly available land surface temperature observations, we show in this study that novel satellite-derived datasets help to improve LSM configuration, and hence can contribute to improved weather predictability. We use the Hydrology Tiled ECMWF Scheme of Surface Exchanges over Land (HTESSEL) and validate it comprehensively against an array of Earth observation reference datasets, including the new land surface temperature product. This reveals satisfactory model performance in terms of hydrology, but poor performance in terms of land surface temperature. This is due to inconsistencies of process representations in the model as identified from an analysis of perturbed parameter simulations. We show that HTESSEL can be more robustly calibrated with multiple instead of single reference datasets as this mitigates the impact of the structural inconsistencies. Finally, performing coupled global weather forecasts we find that a more robust calibration of HTESSEL also contributes to improved weather forecast skills. In summary, new satellite-based Earth observations are shown to enhance the multi-dataset calibration of LSMs, thereby improving the representation of insufficiently captured processes, advancing weather predictability and understanding of climate system feedbacks. Orth, R., E. Dutra, I. F. Trigo, and G. Balsamo (2016): Advancing land surface model development with satellite-based Earth observations. Hydrol. Earth Syst. Sci. Discuss., doi:10.5194/hess-2016-628

Experimentally observed evolution between dynamic patterns and intrinsic localized modes in a driven nonlinear electrical cyclic lattice

NASA Astrophysics Data System (ADS)

Shige, S.; Miyasaka, K.; Shi, W.; Soga, Y.; Sato, M.; Sievers, A. J.

2018-02-01

Locked intrinsic localized modes (ILMs) and large amplitude lattice spatial modes (LSMs) have been experimentally measured for a driven 1-D nonlinear cyclic electric transmission line, where the nonlinear element is a saturable capacitor. Depending on the number of cells and electrical lattice damping an LSM of fixed shape can be tuned across the modal spectrum. Interestingly, by tuning the driver frequency away from this spectrum the LSM can be continuously converted into ILMs and vice versa. The differences in pattern formation between simulations and experimental findings are due to a low concentration of impurities. Through this novel nonlinear excitation and switching channel in cyclic lattices either energy balanced or unbalanced LSMs and ILMs may occur. Because of the general nature of these dynamical results for nonintegrable lattices applications are to be expected. The ultimate stability of driven aero machinery containing nonlinear periodic structures may be one example.

A New Scheme for Considering Soil Water-Heat Transport Coupling Based on Community Land Model: Model Description and Preliminary Validation

NASA Astrophysics Data System (ADS)

Wang, Chenghai; Yang, Kai

2018-04-01

Land surface models (LSMs) have developed significantly over the past few decades, with the result that most LSMs can generally reproduce the characteristics of the land surface. However, LSMs fail to reproduce some details of soil water and heat transport during seasonal transition periods because they neglect the effects of interactions between water movement and heat transfer in the soil. Such effects are critical for a complete understanding of water-heat transport within a soil thermohydraulic regime. In this study, a fully coupled water-heat transport scheme (FCS) is incorporated into the Community Land Model (version 4.5) to replaces its original isothermal scheme, which is more complete in theory. Observational data from five sites are used to validate the performance of the FCS. The simulation results at both single-point and global scale show that the FCS improved the simulation of soil moisture and temperature. FCS better reproduced the characteristics of drier and colder surface layers in arid regions by considering the diffusion of soil water vapor, which is a nonnegligible process in soil, especially for soil surface layers, while its effects in cold regions are generally inverse. It also accounted for the sensible heat fluxes caused by liquid water flow, which can contribute to heat transfer in both surface and deep layers. The FCS affects the estimation of surface sensible heat (SH) and latent heat (LH) and provides the details of soil heat and water transportation, which benefits to understand the inner physical process of soil water-heat migration.

Revising Hydrology of a Land Surface Model

NASA Astrophysics Data System (ADS)

Le Vine, Nataliya; Butler, Adrian; McIntyre, Neil; Jackson, Christopher

2015-04-01

Land Surface Models (LSMs) are key elements in guiding adaptation to the changing water cycle and the starting points to develop a global hyper-resolution model of the terrestrial water, energy and biogeochemical cycles. However, before this potential is realised, there are some fundamental limitations of LSMs related to how meaningfully hydrological fluxes and stores are represented. An important limitation is the simplistic or non-existent representation of the deep subsurface in LSMs; and another is the lack of connection of LSM parameterisations to relevant hydrological information. In this context, the paper uses a case study of the JULES (Joint UK Land Environmental Simulator) LSM applied to the Kennet region in Southern England. The paper explores the assumptions behind JULES hydrology, adapts the model structure and optimises the coupling with the ZOOMQ3D regional groundwater model. The analysis illustrates how three types of information can be used to improve the model's hydrology: a) observations, b) regionalized information, and c) information from an independent physics-based model. It is found that: 1) coupling to the groundwater model allows realistic simulation of streamflows; 2) a simple dynamic lower boundary improves upon JULES' stationary unit gradient condition; 3) a 1D vertical flow in the unsaturated zone is sufficient; however there is benefit in introducing a simple dual soil moisture retention curve; 4) regionalized information can be used to describe soil spatial heterogeneity. It is concluded that relatively simple refinements to the hydrology of JULES and its parameterisation method can provide a substantial step forward in realising its potential as a high-resolution multi-purpose model.

Modeling spatial-temporal dynamics of global wetlands: Comprehensive evaluation of a new sub-grid TOPMODEL parameterization and uncertainties

NASA Astrophysics Data System (ADS)

Zhang, Z.; Zimmermann, N. E.; Poulter, B.

2015-12-01

Simulations of the spatial-temporal dynamics of wetlands is key to understanding the role of wetland biogeochemistry under past and future climate variability. Hydrologic inundation models, such as TOPMODEL, are based on a fundamental parameter known as the compound topographic index (CTI) and provide a computationally cost-efficient approach to simulate global wetland dynamics. However, there remains large discrepancy in the implementations of TOPMODEL in land-surface models (LSMs) and thus their performance against observations. This study describes new improvements to TOPMODEL implementation and estimates of global wetland dynamics using the LPJ-wsl DGVM, and quantifies uncertainties by comparing three digital elevation model products (HYDRO1k, GMTED, and HydroSHEDS) at different spatial resolution and accuracy on simulated inundation dynamics. We found that calibrating TOPMODEL with a benchmark dataset can help to successfully predict the seasonal and interannual variations of wetlands, as well as improve the spatial distribution of wetlands to be consistent with inventories. The HydroSHEDS DEM, using a river-basin scheme for aggregating the CTI, shows best accuracy for capturing the spatio-temporal dynamics of wetland among three DEM products. This study demonstrates the feasibility to capture spatial heterogeneity of inundation and to estimate seasonal and interannual variations in wetland by coupling a hydrological module in LSMs with appropriate benchmark datasets. It additionally highlight the importance of an adequate understanding of topographic indices for simulating global wetlands and show the opportunity to converge wetland estimations in LSMs by identifying the uncertainty associated with existing wetland products.

A NEW LAND-SURFACE MODEL IN MM5

EPA Science Inventory

There has recently been a general realization that more sophisticated modeling of land-surface processes can be important for mesoscale meteorology models. Land-surface models (LSMs) have long been important components in global-scale climate models because of their more compl...

Babies, soft drinks and snacks: a concern in low- and middle-income countries?

PubMed

Huffman, Sandra L; Piwoz, Ellen G; Vosti, Stephen A; Dewey, Kathryn G

2014-10-01

Undernutrition in infants and young children is a global health priority while overweight is an emerging issue. Small-scale studies in low- and middle-income countries have demonstrated consumption of sugary and savoury snack foods and soft drinks by young children. We assessed the proportion of children 6-23 months of age consuming sugary snack foods in 18 countries in Asia and Africa using data from selected Demographic and Health Surveys and household expenditures on soft drinks and biscuits using data from four Living Standards Measurement Studies (LSMS). Consumption of sugary snack foods increased with the child's age and household wealth, and was generally higher in urban vs. rural areas. In one-third of countries, >20% of infants 6-8 months consumed sugary snacks. Up to 75% of Asian children and 46% of African children consumed these foods in the second year of life. The proportion of children consuming sugary snack foods was generally higher than the proportion consuming fortified infant cereals, eggs or fruit. Household per capita daily expenditures on soft drinks ranged from $0.03 to $0.11 in three countries for which LSMS data were available, and from $0.01 to $0.04 on biscuits in two LSMS. Future surveys should include quantitative data on the purchase and consumption of snack foods by infants and young children, using consistent definitions and methods for identifying and categorising snack foods across surveys. Researchers should assess associations between snack food consumption and stunting and overweight, and characterise household, maternal and child characteristics associated with snack food consumption. © 2014 The Authors. Maternal & Child Nutrition published by John Wiley & Sons Ltd.

Modeling spatial-temporal dynamics of global wetlands: comprehensive evaluation of a new sub-grid TOPMODEL parameterization and uncertainties

NASA Astrophysics Data System (ADS)

Zhang, Z.; Zimmermann, N. E.; Poulter, B.

2015-11-01

Simulations of the spatial-temporal dynamics of wetlands are key to understanding the role of wetland biogeochemistry under past and future climate variability. Hydrologic inundation models, such as TOPMODEL, are based on a fundamental parameter known as the compound topographic index (CTI) and provide a computationally cost-efficient approach to simulate wetland dynamics at global scales. However, there remains large discrepancy in the implementations of TOPMODEL in land-surface models (LSMs) and thus their performance against observations. This study describes new improvements to TOPMODEL implementation and estimates of global wetland dynamics using the LPJ-wsl dynamic global vegetation model (DGVM), and quantifies uncertainties by comparing three digital elevation model products (HYDRO1k, GMTED, and HydroSHEDS) at different spatial resolution and accuracy on simulated inundation dynamics. In addition, we found that calibrating TOPMODEL with a benchmark wetland dataset can help to successfully delineate the seasonal and interannual variations of wetlands, as well as improve the spatial distribution of wetlands to be consistent with inventories. The HydroSHEDS DEM, using a river-basin scheme for aggregating the CTI, shows best accuracy for capturing the spatio-temporal dynamics of wetlands among the three DEM products. The estimate of global wetland potential/maximum is ∼ 10.3 Mkm2 (106 km2), with a mean annual maximum of ∼ 5.17 Mkm2 for 1980-2010. This study demonstrates the feasibility to capture spatial heterogeneity of inundation and to estimate seasonal and interannual variations in wetland by coupling a hydrological module in LSMs with appropriate benchmark datasets. It additionally highlights the importance of an adequate investigation of topographic indices for simulating global wetlands and shows the opportunity to converge wetland estimates across LSMs by identifying the uncertainty associated with existing wetland products.

The role of the antecedent soil moisture condition on the distributed hydrologic modelling of the Toce alpine basin floods.

NASA Astrophysics Data System (ADS)

Ravazzani, G.; Montaldo, N.; Mancini, M.; Rosso, R.

2003-04-01

Event-based hydrologic models need the antecedent soil moisture condition, as critical boundary initial condition for flood simulation. Land-surface models (LSMs) have been developed to simulate mass and energy transfers, and to update the soil moisture condition through time from the solution of water and energy balance equations. They are recently used in distributed hydrologic modeling for flood prediction systems. Recent developments have made LSMs more complex by inclusion of more processes and controlling variables, increasing parameter number and uncertainty of their estimates. This also led to increasing of computational burden and parameterization of the distributed hydrologic models. In this study we investigate: 1) the role of soil moisture initial conditions in the modeling of Alpine basin floods; 2) the adequate complexity level of LSMs for the distributed hydrologic modeling of Alpine basin floods. The Toce basin is the case study; it is located in the North Piedmont (Italian Alps), and it has a total drainage area of 1534 km2 at Candoglia section. Three distributed hydrologic models of different level of complexity are developed and compared: two (TDLSM and SDLSM) are continuous models, one (FEST02) is an event model based on the simplified SCS-CN method for rainfall abstractions. In the TDLSM model a two-layer LSM computes both saturation and infiltration excess runoff, and simulates the evolution of the water table spatial distribution using the topographic index; in the SDLSM model a simplified one-layer distributed LSM only computes hortonian runoff, and doesn’t simulate the water table dynamic. All the three hydrologic models simulate the surface runoff propagation through the Muskingum-Cunge method. TDLSM and SDLSM models have been applied for the two-year (1996 and 1997) simulation period, during which two major floods occurred in the November 1996 and in the June 1997. The models have been calibrated and tested comparing simulated and observed hydrographs at Candoglia. Sensitivity analysis of the models to significant LSM parameters were also performed. The performances of the three models in the simulation of the two major floods are compared. Interestingly, the results indicate that the SDLSM model is able to sufficiently well predict the major floods of this Alpine basin; indeed, this model is a good compromise between the over-parameterized and too complex TDLSM model and the over-simplified FEST02 model.

Optimal averaging of soil moisture predictions from ensemble land surface model simulations

USDA-ARS?s Scientific Manuscript database

The correct interpretation of ensemble information obtained from the parallel implementation of multiple land surface models (LSMs) requires information concerning the LSM ensemble’s mutual error covariance. Here we propose a new technique for obtaining such information using an instrumental variabl...

Observations of Coherent Flow Structures Over Subaqueous High- and Low- Angle Dunes

NASA Astrophysics Data System (ADS)

Kwoll, E.; Venditti, J. G.; Bradley, R. W.; Winter, C.

2017-11-01

Large-scale coherent flow structures (CFSs) above dunes are the dominant source of flow resistance and constitute the principal mechanism for sediment transport and mixing in sand bed river and estuarine systems. Based on laboratory observations, CFS formation has been previously linked to flow separation downstream of high-angle dunes with lee slopes of 30°. How CFSs form in natural, deep rivers and estuaries where dunes exhibit lower lee slopes and intermittent flow separation is not well understood. Here we present particle image velocimetry measurements from an experiment where dune lee slope was systematically varied (30°, 20°, and 10°), while other geometric and hydraulic parameters were held constant. We show that CFSs form downstream of all three dune geometries from shear layer vortices in the dune lee. The mode of CFS formation undergoes a low-frequency oscillation with periods of intense vortex shedding interspersed with periods of rare vortex shedding. Streamwise alignment of several vortices during periods of intense shedding results in wedge-shaped CFSs that are advected above the dune stoss side. Streamwise length scales of wedge-shaped CFS correspond to large-scale motions (LSMs). We hypothesize that the advection of LSM over the dune crest triggers the periods of intense shedding in the dune lee. LSMs are weaker and smaller above low-angle dunes; however, the low-frequency oscillation in CFS formation periods persists. The formation of smaller and weaker CFS results in a reduction of flow resistance over low-angle dunes.

Optimal averaging of soil moisture predictions from ensemble land surface model simulations

USDA-ARS?s Scientific Manuscript database

The correct interpretation of ensemble 3 soil moisture information obtained from the parallel implementation of multiple land surface models (LSMs) requires information concerning the LSM ensemble’s mutual error covariance. Here we propose a new technique for obtaining such information using an inst...

Comparison of algorithms and parameterisations for infiltration into organic-covered permafrost soils

USDA-ARS?s Scientific Manuscript database

Infiltration into frozen and unfrozen soils is critical in hydrology, controlling active layer soil water dynamics and influencing runoff. Few Land Surface Models (LSMs) and Hydrological Models (HMs) have been developed, adapted or tested for frozen conditions and permafrost soils. Considering the v...

Benchmarking LSM root-zone soil mositure predictions using satellite-based vegetation indices

USDA-ARS?s Scientific Manuscript database

The application of modern land surface models (LSMs) to agricultural drought monitoring is based on the premise that anomalies in LSM root-zone soil moisture estimates can accurately anticipate the subsequent impact of drought on vegetation productivity and health. In addition, the water and energy ...

Degradation and mineralization of 2,4,6-trinitroresorcine in various photochemical systems.

PubMed

Khue, Do Ngoc; Chat, Nguyen Van; Minh, Do Binh; Lam, Tran Dai; Lan, Pham Hong; Loi, Vu Duc

2013-05-01

Comparison was observed for degradation and mineralization of the explosive 2,4,6-trinitroresorcine (TNR) in different photochemical systems TNR/UV, TNR/UV/TiO2, TNR/UV/H2O2, TNR/UV/O3, TNR/UV/TiO2/H2O2 and TNR/UV/TiO2/O3 using High Performance Liquid Chromatography coupled with Mass Spectrometry (HPLC/MS) and Total Organic Carbon (TOC) analysis. Addition of oxidizing agents such as H2O2 or O3 accelerated the rate of TNR conversion and mineralization. Highest reaction rate was obtained in TNR/UV/TiO2/H2O2 system. The intermediate products were characterized and identified by LS-MS technique. The similarity in intermediate products of TNR suggested the analogous reaction pathways of the TNR degradation by these different systems. Copyright © 2013 Elsevier B.V. All rights reserved.

Parameter optimisation for a better representation of drought by LSMs: inverse modelling vs. sequential data assimilation

NASA Astrophysics Data System (ADS)

Dewaele, Hélène; Munier, Simon; Albergel, Clément; Planque, Carole; Laanaia, Nabil; Carrer, Dominique; Calvet, Jean-Christophe

2017-09-01

Soil maximum available water content (MaxAWC) is a key parameter in land surface models (LSMs). However, being difficult to measure, this parameter is usually uncertain. This study assesses the feasibility of using a 15-year (1999-2013) time series of satellite-derived low-resolution observations of leaf area index (LAI) to estimate MaxAWC for rainfed croplands over France. LAI interannual variability is simulated using the CO2-responsive version of the Interactions between Soil, Biosphere and Atmosphere (ISBA) LSM for various values of MaxAWC. Optimal value is then selected by using (1) a simple inverse modelling technique, comparing simulated and observed LAI and (2) a more complex method consisting in integrating observed LAI in ISBA through a land data assimilation system (LDAS) and minimising LAI analysis increments. The evaluation of the MaxAWC estimates from both methods is done using simulated annual maximum above-ground biomass (Bag) and straw cereal grain yield (GY) values from the Agreste French agricultural statistics portal, for 45 administrative units presenting a high proportion of straw cereals. Significant correlations (p value < 0.01) between Bag and GY are found for up to 36 and 53 % of the administrative units for the inverse modelling and LDAS tuning methods, respectively. It is found that the LDAS tuning experiment gives more realistic values of MaxAWC and maximum Bag than the inverse modelling experiment. Using undisaggregated LAI observations leads to an underestimation of MaxAWC and maximum Bag in both experiments. Median annual maximum values of disaggregated LAI observations are found to correlate very well with MaxAWC.

Influence of high-latitude warming and land-use changes in the early 20th century northern Eurasian CO2 sink

NASA Astrophysics Data System (ADS)

Bastos, Ana; Peregon, Anna; Gani, Érico A.; Khudyaev, Sergey; Yue, Chao; Li, Wei; Gouveia, Célia M.; Ciais, Philippe

2018-06-01

While the global carbon budget (GCB) is relatively well constrained over the last decades of the 20th century [1], observations and reconstructions of atmospheric CO2 growth rate present large discrepancies during the earlier periods [2]. The large uncertainty in GCB has been attributed to the land biosphere, although it is not clear whether the gaps between observations and reconstructions are mainly because land-surface models (LSMs) underestimate inter-annual to decadal variability in natural ecosystems, or due to inaccuracies in land-use change reconstructions. As Eurasia encompasses about 15% of the terrestrial surface, 20% of the global soil organic carbon pool and constitutes a large CO2 sink, we evaluate the potential contribution of natural and human-driven processes to induce large anomalies in the biospheric CO2 fluxes in the early 20th century. We use an LSM specifically developed for high-latitudes, that correctly simulates Eurasian C-stocks and fluxes from observational records [3], in order to evaluate the sensitivity of the Eurasian sink to the strong high-latitude warming occurring between 1930 and 1950. We show that the LSM with improved high-latitude phenology, hydrology and soil processes, contrary to the group of LSMs in [2], is able to represent enhanced vegetation growth linked to boreal spring warming, consistent with tree-ring time-series [4]. By compiling a dataset of annual agricultural area in the Former Soviet Union that better reflects changes in cropland area linked with socio-economic fluctuations during the early 20th century, we show that land-abadonment during periods of crisis and war may result in reduced CO2 emissions from land-use change (44%–78% lower) detectable at decadal time-scales. Our study points to key processes that may need to be improved in LSMs and LUC datasets in order to better represent decadal variability in the land CO2 sink, and to better constrain the GCB during the pre-observational record.

Impacts of future deforestation and climate change on the hydrology of the Amazon Basin: a multi-model analysis with a new set of land-cover change scenarios

NASA Astrophysics Data System (ADS)

Guimberteau, Matthieu; Ciais, Philippe; Ducharne, Agnès; Boisier, Juan Pablo; Dutra Aguiar, Ana Paula; Biemans, Hester; De Deurwaerder, Hannes; Galbraith, David; Kruijt, Bart; Langerwisch, Fanny; Poveda, German; Rammig, Anja; Andres Rodriguez, Daniel; Tejada, Graciela; Thonicke, Kirsten; Von Randow, Celso; Von Randow, Rita C. S.; Zhang, Ke; Verbeeck, Hans

2017-03-01

Deforestation in Amazon is expected to decrease evapotranspiration (ET) and to increase soil moisture and river discharge under prevailing energy-limited conditions. The magnitude and sign of the response of ET to deforestation depend both on the magnitude and regional patterns of land-cover change (LCC), as well as on climate change and CO2 levels. On the one hand, elevated CO2 decreases leaf-scale transpiration, but this effect could be offset by increased foliar area density. Using three regional LCC scenarios specifically established for the Brazilian and Bolivian Amazon, we investigate the impacts of climate change and deforestation on the surface hydrology of the Amazon Basin for this century, taking 2009 as a reference. For each LCC scenario, three land surface models (LSMs), LPJmL-DGVM, INLAND-DGVM and ORCHIDEE, are forced by bias-corrected climate simulated by three general circulation models (GCMs) of the IPCC 4th Assessment Report (AR4). On average, over the Amazon Basin with no deforestation, the GCM results indicate a temperature increase of 3.3 °C by 2100 which drives up the evaporative demand, whereby precipitation increases by 8.5 %, with a large uncertainty across GCMs. In the case of no deforestation, we found that ET and runoff increase by 5.0 and 14 %, respectively. However, in south-east Amazonia, precipitation decreases by 10 % at the end of the dry season and the three LSMs produce a 6 % decrease of ET, which is less than precipitation, so that runoff decreases by 22 %. For instance, the minimum river discharge of the Rio Tapajós is reduced by 31 % in 2100. To study the additional effect of deforestation, we prescribed to the LSMs three contrasted LCC scenarios, with a forest decline going from 7 to 34 % over this century. All three scenarios partly offset the climate-induced increase of ET, and runoff increases over the entire Amazon. In the south-east, however, deforestation amplifies the decrease of ET at the end of dry season, leading to a large increase of runoff (up to +27 % in the extreme deforestation case), offsetting the negative effect of climate change, thus balancing the decrease of low flows in the Rio Tapajós. These projections are associated with large uncertainties, which we attribute separately to the differences in LSMs, GCMs and to the uncertain range of deforestation. At the subcatchment scale, the uncertainty range on ET changes is shown to first depend on GCMs, while the uncertainty of runoff projections is predominantly induced by LSM structural differences. By contrast, we found that the uncertainty in both ET and runoff changes attributable to uncertain future deforestation is low.

Improved Rainfall Estimates and Predictions for 21st Century Drought Early Warning

NASA Technical Reports Server (NTRS)

Funk, Chris; Peterson, Pete; Shukla, Shraddhanand; Husak, Gregory; Landsfeld, Marty; Hoell, Andrew; Pedreros, Diego; Roberts, J. B.; Robertson, F. R.; Tadesse, Tsegae;

Children's Work and Schooling: Does Gender Matter? Evidence from the Peru LSMS Panel Data. Working Paper.

ERIC Educational Resources Information Center

Ilahi, Nadeem

Using panel data from Peru, this paper investigates the determinants of the allocation of boys' and girls' time to schooling, housework, and income-generating activities. Specifically, it explores whether sickness, employment of adult women, infrastructure, and female headship have different impacts on the time use of boys and girls. Girls mostly…

Comparing crop growth and carbon budgets simulated across AmeriFlux agricultural sites using the community land model (CLM)

USDA-ARS?s Scientific Manuscript database

Improving process-based crop models is needed to achieve high fidelity forecasts of regional energy, water, and carbon exchange. However, most state-of-the-art Land Surface Models (LSMs) assessed in the fifth phase of the Coupled Model Inter-comparison project (CMIP5) simulated crops as simple C3 or...

Extremely high wall-shear stress events in a turbulent boundary layer

NASA Astrophysics Data System (ADS)

Pan, Chong; Kwon, Yongseok

2018-04-01

The present work studies the fluctuating characteristics of the streamwise wall-shear stress in a DNS of a turbulent boundary layer at Re τ =1500 from a structural view. The two-dimensional field of the fluctuating friction velocity u‧ τ (x,z) is decomposed into the large- and small-scale components via a recently proposed scale separation algorithm, Quasi-bivariate Variational Mode Decomposition (QB-VMD). Both components are found to be dominated by streak-like structures, which can be regarded as the wall signature of the inner-layer streaks and the outer-layer LSMs, respectively. Extreme positive/negative wall-shear stress fluctuation events are detected in the large-scale component. The former’s occurrence frequency is nearly one order of magnitude higher than the latter; therefore, they contribute a significant portion of the long tail of the wall-shear stress distribution. Both two-point correlations and conditional averages show that these extreme positive wall-shear stress events are embedded in the large-scale positive u‧ τ streaks. They seem to be formed by near-wall ‘splatting’ process, which are related to strong finger-like sweeping (Q4) events originated from the outer-layer positive LSMs.

The Interplay Between Transpiration and Runoff Formulations in Land Surface Schemes Used with Atmospheric Models

NASA Technical Reports Server (NTRS)

Koster, Rindal D.; Milly, P. C. D.

1997-01-01

The Project for Intercomparison of Land-surface Parameterization Schemes (PILPS) has shown that different land surface models (LSMS) driven by the same meteorological forcing can produce markedly different surface energy and water budgets, even when certain critical aspects of the LSMs (vegetation cover, albedo, turbulent drag coefficient, and snow cover) are carefully controlled. To help explain these differences, the authors devised a monthly water balance model that successfully reproduces the annual and seasonal water balances of the different PILPS schemes. Analysis of this model leads to the identification of two quantities that characterize an LSM's formulation of soil water balance dynamics: (1) the efficiency of the soil's evaporation sink integrated over the active soil moisture range, and (2) the fraction of this range over which runoff is generated. Regardless of the LSM's complexity, the combination of these two derived parameters with rates of interception loss, potential evaporation, and precipitation provides a reasonable estimate for the LSM's simulated annual water balance. The two derived parameters shed light on how evaporation and runoff formulations interact in an LSM, and the analysis as a whole underscores the need for compatibility in these formulations.

The interplay between transpiration and Runoff formulations in land surface schemes used with atmospheric models

USGS Publications Warehouse

Koster, R.D.; Milly, P.C.D.

1997-01-01

The Project for Intercomparison of Land-surface Parameterization Schemes (PILPS) has shown that different land surface models (LSMs) driven by the same meteorological forcing can produce markedly different surface energy and water budgets, even when certain critical aspects of the LSMs (vegetation cover, albedo, turbulent drag coefficient, and snowcover) are carefully controlled. To help explain these differences, the authors devised a monthly water balance model that successfully reproduces the annual and seasonal water balances of the different PILPS schemes. Analysis of this model leads to the identification of two quantities that characterize an LSM's formulation of soil water balance dynamics: 1) the efficiency of the soil's evaporation sink integrated over the active soil moisture range, and 2) the fraction of this range over which runoff is generated. Regardless of the LSM's complexity, the combination of these two derived parameters with rates of interception loss, potential evaporation, and precipitation provides a reasonable estimate for the LSM's simulated annual water balance. The two derived parameters shed light on how evaporation and runoff formulations interact in an LSM, and the analysis as a whole underscores the need for compatibility in these formulations.

Deriving Scaling Factors Using a Global Hydrological Model to Restore GRACE Total Water Storage Changes for China's Yangtze River Basin

NASA Technical Reports Server (NTRS)

Long, Di; Yang, Yuting; Yoshihide, Wada; Hong, Yang; Liang, Wei; Chen, Yaning; Yong, Bin; Hou, Aizhong; Wei, Jiangfeng; Chen, Lu

2015-01-01

This study used a global hydrological model (GHM), PCR-GLOBWB, which simulates surface water storage changes, natural and human induced groundwater storage changes, and the interactions between surface water and subsurface water, to generate scaling factors by mimicking low-pass filtering of GRACE signals. Signal losses in GRACE data were subsequently restored by the scaling factors from PCR-GLOBWB. Results indicate greater spatial heterogeneity in scaling factor from PCR-GLOBWB and CLM4.0 than that from GLDAS-1 Noah due to comprehensive simulation of surface and subsurface water storage changes for PCR-GLOBWB and CLM4.0. Filtered GRACE total water storage (TWS) changes applied with PCR-GLOBWB scaling factors show closer agreement with water budget estimates of TWS changes than those with scaling factors from other land surface models (LSMs) in China's Yangtze River basin. Results of this study develop a further understanding of the behavior of scaling factors from different LSMs or GHMs over hydrologically complex basins, and could be valuable in providing more accurate TWS changes for hydrological applications (e.g., monitoring drought and groundwater storage depletion) over regions where human-induced interactions between surface water and subsurface water are intensive.

Methodological challenges in evaluating health care financing equity in data-poor contexts: lessons from Ghana, South Africa and Tanzania.

PubMed

Borghi, Josephine; Ataguba, John; Mtei, Gemini; Akazili, James; Meheus, Filip; Rehnberg, Clas; Di, McIntyre

2009-01-01

Measurement of the incidence of health financing contributions across socio-economic groups has proven valuable in informing health care financing reforms. However, there is little evidence as to how to carry out financing incidence analysis (FIA) in lower income settings. We outline some of the challenges faced when carrying out a FIA in Ghana, Tanzania and South Africa and illustrate how innovative techniques were used to overcome data weaknesses in these settings. FIA was carried out for tax, insurance and out-of-pocket (OOP) payments. The primary data sources were Living Standards Measurement Surveys (LSMS) and household surveys conducted in each of the countries; tax authorities and insurance funds also provided information. Consumption expenditure and a composite index of socioeconomic status (SES) were used to assess financing equity. Where possible conventional methods of FIA were applied. Numerous challenges were documented and solution strategies devised. LSMS are likely to underestimate financial contributions to health care by individuals. For tax incidence analysis, reported income tax payments from secondary sources were severely under-reported. Income tax payers and shareholders could not be reliably identified. The use of income or consumption expenditure to estimate income tax contributions was found to be a more reliable method of estimating income tax incidence. Assumptions regarding corporate tax incidence had a huge effect on the progressivity of corporate tax and on overall tax progressivity. LSMS consumption categories did not always coincide with tax categories for goods subject to excise tax (e.g., wine and spirits were combined, despite differing tax rates). Tobacco companies, alcohol distributors and advertising agencies were used to provide more detailed information on consumption patterns for goods subject to excise tax by income category. There was little guidance on how to allocate fuel levies associated with 'public transport' use. Hence, calculations of fuel tax on public transport were based on individual expenditure on public transport, the average cost per kilometre and average rates of fuel consumption for each form of transport. For insurance contributions, employees will not report on employer contributions unless specifically requested to and are frequently unsure of their contributions. Therefore, we collected information on total health insurance contributions from individual schemes and regulatory authorities. OOP payments are likely to be under-reported due to long recall periods; linking OOP expenditure and illness incidence questions--omitting preventive care; and focusing on the last service used when people may have used multiple services during an illness episode. To derive more robust estimates of financing incidence, we collected additional primary data on OOP expenditures together with insurance enrolment rates and associated payments. To link primary data to the LSMS, a composite index of SES was used in Ghana and Tanzania and non-durable expenditure was used in South Africa. We show how data constraints can be overcome for FIA in lower income countries and provide recommendations for future studies.

A land data assimilation system for sub-Saharan Africa food and water security applications

PubMed Central

McNally, Amy; Arsenault, Kristi; Kumar, Sujay; Shukla, Shraddhanand; Peterson, Pete; Wang, Shugong; Funk, Chris; Peters-Lidard, Christa D.; Verdin, James P.

2017-01-01

Seasonal agricultural drought monitoring systems, which rely on satellite remote sensing and land surface models (LSMs), are important for disaster risk reduction and famine early warning. These systems require the best available weather inputs, as well as a long-term historical record to contextualize current observations. This article introduces the Famine Early Warning Systems Network (FEWS NET) Land Data Assimilation System (FLDAS), a custom instance of the NASA Land Information System (LIS) framework. The FLDAS is routinely used to produce multi-model and multi-forcing estimates of hydro-climate states and fluxes over semi-arid, food insecure regions of Africa. These modeled data and derived products, like soil moisture percentiles and water availability, were designed and are currently used to complement FEWS NET’s operational remotely sensed rainfall, evapotranspiration, and vegetation observations. The 30+ years of monthly outputs from the FLDAS simulations are publicly available from the NASA Goddard Earth Science Data and Information Services Center (GES DISC) and recommended for use in hydroclimate studies, early warning applications, and by agro-meteorological scientists in Eastern, Southern, and Western Africa. PMID:28195575

A land data assimilation system for sub-Saharan Africa food and water security applications

USGS Publications Warehouse

McNally, Amy; Arsenault, Kristi; Kumar, Sujay; Shukla, Shraddhanand; Peterson, Pete; Wang, Shugong; Funk, Chris; Peters-Lidard, Christa; Verdin, James

2017-01-01

Seasonal agricultural drought monitoring systems, which rely on satellite remote sensing and land surface models (LSMs), are important for disaster risk reduction and famine early warning. These systems require the best available weather inputs, as well as a long-term historical record to contextualize current observations. This article introduces the Famine Early Warning Systems Network (FEWS NET) Land Data Assimilation System (FLDAS), a custom instance of the NASA Land Information System (LIS) framework. The FLDAS is routinely used to produce multi-model and multi-forcing estimates of hydro-climate states and fluxes over semi-arid, food insecure regions of Africa. These modeled data and derived products, like soil moisture percentiles and water availability, were designed and are currently used to complement FEWS NET’s operational remotely sensed rainfall, evapotranspiration, and vegetation observations. The 30+ years of monthly outputs from the FLDAS simulations are publicly available from the NASA Goddard Earth Science Data and Information Services Center (GES DISC) and recommended for use in hydroclimate studies, early warning applications, and by agro-meteorological scientists in Eastern, Southern, and Western Africa.

A land data assimilation system for sub-Saharan Africa food and water security applications.

PubMed

McNally, Amy; Arsenault, Kristi; Kumar, Sujay; Shukla, Shraddhanand; Peterson, Pete; Wang, Shugong; Funk, Chris; Peters-Lidard, Christa D; Verdin, James P

2017-02-14

Seasonal agricultural drought monitoring systems, which rely on satellite remote sensing and land surface models (LSMs), are important for disaster risk reduction and famine early warning. These systems require the best available weather inputs, as well as a long-term historical record to contextualize current observations. This article introduces the Famine Early Warning Systems Network (FEWS NET) Land Data Assimilation System (FLDAS), a custom instance of the NASA Land Information System (LIS) framework. The FLDAS is routinely used to produce multi-model and multi-forcing estimates of hydro-climate states and fluxes over semi-arid, food insecure regions of Africa. These modeled data and derived products, like soil moisture percentiles and water availability, were designed and are currently used to complement FEWS NET's operational remotely sensed rainfall, evapotranspiration, and vegetation observations. The 30+ years of monthly outputs from the FLDAS simulations are publicly available from the NASA Goddard Earth Science Data and Information Services Center (GES DISC) and recommended for use in hydroclimate studies, early warning applications, and by agro-meteorological scientists in Eastern, Southern, and Western Africa.

Data Descriptor: A Land Data Assimilation System for Sub-Saharan Africa Food and Water Security Applications

NASA Technical Reports Server (NTRS)

McNally, Amy; Arsenault, Krist; Kumar, Sujay; Shukla, Shraddhanand; Peter, Pete; Wang, Shugong; Funk, Chris; Peters-Lidard, Christa D.; Verdin, James

2017-01-01

Seasonal agricultural drought monitoring systems, which rely on satellite remote sensing and land surface models (LSMs), are important for disaster risk reduction and famine early warning. These systems require the best available weather inputs, as well as a long-term historical record to contextualize current observations. This article introduces the Famine Early Warning Systems Network (FEWS NET) Land Data Assimilation System (FLDAS), a custom instance of the NASA Land Information System (LIS) framework. The FLDAS is routinely used to produce multi-model and multi-forcing estimates of hydro-climate states and fluxes over semi-arid, food insecure regions of Africa. These modeled data and derived products, like soil moisture percentiles and water availability, were designed and are currently used to complement FEWSNETs operational remotely sensed rainfall, evapotranspiration, and vegetation observations. The 30+ years of monthly outputs from the FLDAS simulations are publicly available from the NASA Goddard Earth Science Data and Information Services Center (GES DISC) and recommended for use in hydroclimate studies, early warning applications, and by agro-meteorological scientists in Eastern, Southern, and Western Africa.

A land data assimilation system for sub-Saharan Africa food and water security applications

NASA Astrophysics Data System (ADS)

McNally, Amy; Arsenault, Kristi; Kumar, Sujay; Shukla, Shraddhanand; Peterson, Pete; Wang, Shugong; Funk, Chris; Peters-Lidard, Christa D.; Verdin, James P.

2017-02-01

Seasonal agricultural drought monitoring systems, which rely on satellite remote sensing and land surface models (LSMs), are important for disaster risk reduction and famine early warning. These systems require the best available weather inputs, as well as a long-term historical record to contextualize current observations. This article introduces the Famine Early Warning Systems Network (FEWS NET) Land Data Assimilation System (FLDAS), a custom instance of the NASA Land Information System (LIS) framework. The FLDAS is routinely used to produce multi-model and multi-forcing estimates of hydro-climate states and fluxes over semi-arid, food insecure regions of Africa. These modeled data and derived products, like soil moisture percentiles and water availability, were designed and are currently used to complement FEWS NET's operational remotely sensed rainfall, evapotranspiration, and vegetation observations. The 30+ years of monthly outputs from the FLDAS simulations are publicly available from the NASA Goddard Earth Science Data and Information Services Center (GES DISC) and recommended for use in hydroclimate studies, early warning applications, and by agro-meteorological scientists in Eastern, Southern, and Western Africa.

New and Improved GLDAS Data Sets and Data Services at NASA GES DISC

NASA Technical Reports Server (NTRS)

Rui, Hualan; Beaudoing, Hiroko; Teng, William; Vollmer, Bruce; Rodell, Matthew; Lei, Guang-Dih

2012-01-01

The goal of a Land Data Assimilation System (LDAS) is to ingest satellite- and ground-based observational data products, using advanced land surface modeling and data assimilation techniques, in order to generate optimal fields of land surface states and fluxes data and, thereby, facilitate hydrology and climate modeling, research, and forecast. With the motivation of creating more climatologically consistent data sets, NASA GSFC's Hydrological Sciences Laboratory has generated more than 60 years (Jan. 1948-- Dec. 2008) of Global LDAS Version 2 (GLDAS-2) data, by using the Princeton Forcing Data Set and upgraded versions of Land Surface Models (LSMs). GLDAS data and data services are provided at NASA GES DISC Hydrology Data and Information Services Center (HDISC), in collaboration with HSL and LDAS.

A warm-season comparison of WRF coupled to the CLM4.0, Noah-MP, and Bucket hydrology land surface schemes over the central USA

NASA Astrophysics Data System (ADS)

Van Den Broeke, Matthew S.; Kalin, Andrew; Alavez, Jose Abraham Torres; Oglesby, Robert; Hu, Qi

2017-11-01

In climate modeling studies, there is a need to choose a suitable land surface model (LSM) while adhering to available resources. In this study, the viability of three LSM options (Community Land Model version 4.0 [CLM4.0], Noah-MP, and the five-layer thermal diffusion [Bucket] scheme) in the Weather Research and Forecasting model version 3.6 (WRF3.6) was examined for the warm season in a domain centered on the central USA. Model output was compared to Parameter-elevation Relationships on Independent Slopes Model (PRISM) data, a gridded observational dataset including mean monthly temperature and total monthly precipitation. Model output temperature, precipitation, latent heat (LH) flux, sensible heat (SH) flux, and soil water content (SWC) were compared to observations from sites in the Central and Southern Great Plains region. An overall warm bias was found in CLM4.0 and Noah-MP, with a cool bias of larger magnitude in the Bucket model. These three LSMs produced similar patterns of wet and dry biases. Model output of SWC and LH/SH fluxes were compared to observations, and did not show a consistent bias. Both sophisticated LSMs appear to be viable options for simulating the effects of land use change in the central USA.

Toward seamless hydrologic predictions across spatial scales

NASA Astrophysics Data System (ADS)

Samaniego, Luis; Kumar, Rohini; Thober, Stephan; Rakovec, Oldrich; Zink, Matthias; Wanders, Niko; Eisner, Stephanie; Müller Schmied, Hannes; Sutanudjaja, Edwin H.; Warrach-Sagi, Kirsten; Attinger, Sabine

2017-09-01

Land surface and hydrologic models (LSMs/HMs) are used at diverse spatial resolutions ranging from catchment-scale (1-10 km) to global-scale (over 50 km) applications. Applying the same model structure at different spatial scales requires that the model estimates similar fluxes independent of the chosen resolution, i.e., fulfills a flux-matching condition across scales. An analysis of state-of-the-art LSMs and HMs reveals that most do not have consistent hydrologic parameter fields. Multiple experiments with the mHM, Noah-MP, PCR-GLOBWB, and WaterGAP models demonstrate the pitfalls of deficient parameterization practices currently used in most operational models, which are insufficient to satisfy the flux-matching condition. These examples demonstrate that J. Dooge's 1982 statement on the unsolved problem of parameterization in these models remains true. Based on a review of existing parameter regionalization techniques, we postulate that the multiscale parameter regionalization (MPR) technique offers a practical and robust method that provides consistent (seamless) parameter and flux fields across scales. Herein, we develop a general model protocol to describe how MPR can be applied to a particular model and present an example application using the PCR-GLOBWB model. Finally, we discuss potential advantages and limitations of MPR in obtaining the seamless prediction of hydrological fluxes and states across spatial scales.

Improving Land-Surface Model Hydrology: Is an Explicit Aquifer Model Better than a Deeper Soil Profile?

NASA Technical Reports Server (NTRS)

Gulden, L. E.; Rosero, E.; Yang, Z.-L.; Rodell, Matthew; Jackson, C. S.; Niu, G.-Y.; Yeh, P. J.-F.; Famiglietti, J. S.

2007-01-01

Land surface models (LSMs) are computer programs, similar to weather and climate prediction models, which simulate the storage and movement of water (including soil moisture, snow, evaporation, and runoff) after it falls to the ground as precipitation. It is not currently possible to measure all of the variables of interest everywhere on Earth with sufficient accuracy. Hence LSMs have been developed to integrate the available information, including satellite observations, using powerful computers, in order to track water storage and redistribution. The maps are used to improve weather forecasts, support water resources and agricultural applications, and study the Earth's water cycle and climate variability. Recently, the models have begun to simulate groundwater storage. In this paper, we compare several possible approaches, and examine the pitfalls associated with trying to estimate aquifer parameters (such as porosity) that are required by the models. We find that explicit representation of groundwater, as opposed to the addition of deeper soil layers, considerably decreases the sensitivity of modeled terrestrial water storage to aquifer parameter choices. We also show that approximate knowledge of parameter values is not sufficient to guarantee realistic model performance: because interaction among parameters is significant, they must be prescribed as a harmonious set.

Uncertainty in Land Cover observations and its impact on near surface climate

NASA Astrophysics Data System (ADS)

Georgievski, Goran; Hagemann, Stefan

2017-04-01

Land Cover (LC) and its bio-geo-physical feedbacks are important for the understanding of climate and its vulnerability to changes on the surface of the Earth. Recently ESA has published a new LC map derived by combining remotely sensed surface reflectance and ground-truth observations. For each grid-box at 300m resolution, an estimate of confidence is provided. This LC data set can be used in climate modelling to derive land surface boundary parameters for the respective Land Surface Model (LSM). However, the ESA LC classes are not directly suitable for LSMs, therefore they need to be converted into the model specific surface presentations. Due to different design and processes implemented in various climate models they might differ in the treatment of artificial, water bodies, ice, bare or vegetated surfaces. Nevertheless, usually vegetation distribution in models is presented by means of plant functional types (PFT), which is a classification system used to simplify vegetation representation and group different vegetation types according to their biophysical characteristics. The method of LC conversion into PFT is also called "cross-walking" (CW) procedure. The CW procedure is another source of uncertainty, since it depends on model design and processes implemented and resolved by LSMs. These two sources of uncertainty, (i) due to surface reflectance conversion into LC classes, (ii) due to CW procedure, have been studied by Hartley et al (2016) to investigate their impact on LSM state variables (albedo, evapotranspiration (ET) and primary productivity) by using three standalone LSMs. The present study is a follow up to that work and aims at quantifying the impact of these two uncertainties on climate simulations performed with the Max Planck Institute for Meteorology Earth System Model (MPI-ESM) using prescribed sea surface temperature and sea ice. The main focus is on the terrestrial water cycle, but the impacts on surface albedo, wind patterns, 2m temperatures, as well as plant productivity are also examined. The analysis of vegetation covered area indicates that the range of uncertainty might be about the same order of magnitude as the estimated historical anthropogenic LC change. For example, the area covered with managed grasses (crops and pasture in MPI-ESM PFT classification) varies from 17 to 26 million km2, and area covered with trees ranges from 15 million km2 up to 51 million km2. These uncertainties in vegetation distribution lead to noticeable variations in atmospheric temperature, humidity, cloud cover, circulation, and precipitation as well as local, regional and global climate forcing. For example, the amount of terrestrial ET ranges from 73 to 77 × 103 km3yr-1in MPI-ESM simulations and this range has about the same order of magnitude as the current estimate of the reduction of annual ET due to recent anthropogenic LC change. This and more impacts of LC uncertainty on the near surface climate will be presented and discussed in the context of LC change. Hartley, A.J., MacBean, N., Georgievski, G., Bontemps, S.: Uncertainty in plant functional type distributions and its impact on land surface models (in review with Remote Sensing of Environment Special Issue)

Benchmarking sensitivity of biophysical processes to leaf area changes in land surface models

NASA Astrophysics Data System (ADS)

Forzieri, Giovanni; Duveiller, Gregory; Georgievski, Goran; Li, Wei; Robestson, Eddy; Kautz, Markus; Lawrence, Peter; Ciais, Philippe; Pongratz, Julia; Sitch, Stephen; Wiltshire, Andy; Arneth, Almut; Cescatti, Alessandro

2017-04-01

Land surface models (LSM) are widely applied as supporting tools for policy-relevant assessment of climate change and its impact on terrestrial ecosystems, yet knowledge of their performance skills in representing the sensitivity of biophysical processes to changes in vegetation density is still limited. This is particularly relevant in light of the substantial impacts on regional climate associated with the changes in leaf area index (LAI) following the observed global greening. Benchmarking LSMs on the sensitivity of the simulated processes to vegetation density is essential to reduce their uncertainty and improve the representation of these effects. Here we present a novel benchmark system to assess model capacity in reproducing land surface-atmosphere energy exchanges modulated by vegetation density. Through a collaborative effort of different modeling groups, a consistent set of land surface energy fluxes and LAI dynamics has been generated from multiple LSMs, including JSBACH, JULES, ORCHIDEE, CLM4.5 and LPJ-GUESS. Relationships of interannual variations of modeled surface fluxes to LAI changes have been analyzed at global scale across different climatological gradients and compared with satellite-based products. A set of scoring metrics has been used to assess the overall model performances and a detailed analysis in the climate space has been provided to diagnose possible model errors associated to background conditions. Results have enabled us to identify model-specific strengths and deficiencies. An overall best performing model does not emerge from the analyses. However, the comparison with other models that work better under certain metrics and conditions indicates that improvements are expected to be potentially achievable. A general amplification of the biophysical processes mediated by vegetation is found across the different land surface schemes. Grasslands are characterized by an underestimated year-to-year variability of LAI in cold climates, ultimately affecting the amount of absorbed radiation. In addition patterns of simulated turbulent fluxes appear opposite to observations. Such systematic errors shed light on the current partial understanding of some of the mechanisms controlling the surface energy balance. In contrast forests appear reasonably well represented with respect to the interactions between LAI and turbulent fluxes across most climatological gradients, while for net radiation this is only true for warm climates. These proven strengths increase the confidence on how certain processes are simulated in LSMs. The model capacity to mimic the vegetation-biophysics interplay has been tested over the real scenario of greening that occurred in the last 30 years. We found that the modeled trends in surface heat fluxes associated with the long-term changes in leaf area could vary largely from those observed, with different discrepancies across models and climate zones. Our findings help to identify knowledge gaps and improve model representation of the sensitivity of biophysical processes to changes in leaf area density. In particular, comparing models and observations over a wide range of climate and vegetation conditions, as analyzed here, allowed capturing non-linearity of system responses that may emerge more frequently in future climate scenarios.

Improved Modeling of Land-Atmosphere Interactions using a Coupled Version of WRF with the Land Information System

NASA Technical Reports Server (NTRS)

Case, Jonathan L.; LaCasse, Katherine M.; Santanello, Joseph A., Jr.; Lapenta, William M.; Petars-Lidard, Christa D.

2007-01-01

The exchange of energy and moisture between the Earth's surface and the atmospheric boundary layer plays a critical role in many hydrometeorological processes. Accurate and high-resolution representations of surface properties such as sea-surface temperature (SST), vegetation, soil temperature and moisture content, and ground fluxes are necessary to better understand the Earth-atmosphere interactions and improve numerical predictions of weather and climate phenomena. The NASA/NWS Short-term Prediction Research and Transition (SPORT) Center is currently investigating the potential benefits of assimilating high-resolution datasets derived from the NASA moderate resolution imaging spectroradiometer (MODIS) instruments using the Weather Research and Forecasting (WRF) model and the Goddard Space Flight Center Land Information System (LIS). The LIS is a software framework that integrates satellite and ground-based observational and modeled data along with multiple land surface models (LSMs) and advanced computing tools to accurately characterize land surface states and fluxes. The LIS can be run uncoupled to provide a high-resolution land surface initial condition, and can also be run in a coupled mode with WRF to integrate surface and soil quantities using any of the LSMs available in LIS. The LIS also includes the ability to optimize the initialization of surface and soil variables by tuning the spin-up time period and atmospheric forcing parameters, which cannot be done in the standard WRF. Among the datasets available from MODIS, a leaf-area index field and composite SST analysis are used to improve the lower boundary and initial conditions to the LIS/WRF coupled model over both land and water. Experiments will be conducted to measure the potential benefits from using the coupled LIS/WRF model over the Florida peninsula during May 2004. This month experienced relatively benign weather conditions, which will allow the experiments to focus on the local and mesoscale impacts of the high-resolution MODIS datasets and optimized soil and surface initial conditions. Follow-on experiments will examine the utility of such an optimized WRF configuration for more complex weather scenarios such as convective initiation. This paper will provide an overview of the experiment design and present preliminary results from selected cases in May 2004.

Integrating Nutrient Enrichment and Forest Management Experiments in Sweden to Constrain the Process-Based Land Surface Model ORCHIDEE

NASA Astrophysics Data System (ADS)

Resovsky, A.; Luyssaert, S.; Guenet, B.; Peylin, P.; Lansø, A. S.; Vuichard, N.; Messina, P.; Smith, B.; Ryder, J.; Naudts, K.; Chen, Y.; Otto, J.; McGrath, M.; Valade, A.

2017-12-01

Understanding coupling between carbon (C) and nitrogen (N) cycling in forest ecosystems is key to predicting global change. Numerous experimental studies have demonstrated the positive response of stand-level photosynthesis and net primary production (NPP) to atmospheric CO2 enrichment, while N availability has been shown to exert an important control on the timing and magnitude of such responses. However, several factors complicate efforts to precisely represent ecosystem-level C and N cycling in the current generation of land surface models (LSMs), including sparse in-situ data, uncertainty with regard to key state variables and disregard for the effects of natural and anthropogenic forest management. In this study, we incorporate empirical data from N-fertilization experiments at two long-term manipulation sites in Sweden to improve the representation of C and N interaction in the ORCHIDEE land surface model. Our version of the model represents the union of two existing ORCHIDEE branches: 1) ORCHIDEE-CN, which resolves processes related to terrestrial C and N cycling, and 2) ORCHIDEE-CAN, which integrates a multi-layer canopy structure and includes representation of forest management practices. Using this new model branch (referred to as ORCHIDEE-CN-CAN), we aim to replicate the growth patterns of managed forests both with and without N limitations. Our hope is that the results, in combination with measurements of various ecosystem parameters (such as soil N) will facilitate LSM optimization, inform future model development, and reduce structural uncertainty in global change predictions.

Characteristics of the Unexpected Message Queue of MPI applications

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

Keller, Rainer; Graham, Richard L

2010-01-01

High Performance Computing systems are used on a regular basis to run a myriad of application codes, yet a surprising dearth of information exists with respect to communications characteristics. Even less information is available on the low-level communication libraries, such as the length of MPI Unexpected Message Queues (UMQs) and the length of time such messages spend in these queues. Such information is vital to developing appropriate strategies for handling such data at the library and system level. In this paper we present data on the communication characteristics of three applications GTC, LSMS, and S3D. We present data on themore » size of their UMQ, the time spend searching the UMQ and the length of time such messages spend in these queues. We find that for the particular inputs used, these applications have widely varying characteristics with regard to UMQ length and show patterns for specific applications which persist over various scales.« less

Modeling and Characterization of the Magnetocaloric Effect in Ni2MnGa Materials

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

Nicholson, Don M; Odbadrakh, Khorgolkhuu; Rios, Orlando

2012-01-01

Magnetic shape memory alloys have great promise as magneto-caloric effect refrigerant materials due to their combined magnetic and structural transitions. Computational and experimental research is reported on the Ni2MnGa material system. The magnetic states of this system have been explored using the Wang-Landau statistical approach in conjunction with the Locally Self-consistent Multiple-Scattering (LSMS) method to explore the magnetic states responsible for the magnet-caloric effect in this material. The effects of alloying agents on the transition temperatures of the Ni2MnGa alloy were investigated using differential scanning calorimetry (DSC) and superconducting quantum interference device (SQUID). Neutron scattering experiments were performed to observemore » the structural and magnetic phase transformations at the Spallation Neutron Source (SNS) at Oak Ridge National Laboratory (ORNL) on alloys of Ni-Mn-Ga and Ni-Mn-Ga-Cu-Fe. Data from the observations are discussed in comparison with the computational studies.« less

LDAS-Monde: Global scale satellite driven Land Data Assimilation System based on SURFEX modelling platform

NASA Astrophysics Data System (ADS)

Munier, Simon; Albergel, Clément; Leroux, Delphine; Calvet, Jean-Christophe

2017-04-01

In the past decades, large efforts have been made to improve our understanding of the dynamics of the terrestrial water cycle, including vertical and horizontal water fluxes as well as water stored in the biosphere. The soil water content is closely related to the development of the vegetation, which is in turn closely related to the water and energy exchanges with the atmosphere (through evapotranspiration) as well as to carbon fluxes. Land Surface Models (LSMs) are usually designed to represent biogeophysical variables, such as Surface and Root Zone Soil Moisture (SSM, RZSM) or Leaf Area Index (LAI), in order to simulate water, energy and carbon fluxes at the interface between land and atmosphere. With the recent increase of satellite missions and derived products, LSMs can benefit from Earth Observations via Data Assimilation systems to improve their representation of different biogeophysical variables. This study, which is part of the eartH2Observe European project (http://www.earth2observe.eu), presents LDAS-Monde, a global Land Data Assimilation System using an implementation of the Simplified Extended Kalman Filter (SEKF) in the Météo-France's modelling platform (SURFEX). SURFEX is based on the coupling of the multilayer, CO2-responsive version of the Interactions Between Soil, Biosphere, and Atmosphere model (ISBA) coupled with Météo-France's version of the Total Runoff Integrating Pathways continental hydrological system (CTRIP). Two global operational datasets derived from satellite observations are assimilated simultaneously: (i) SSM from the ESA Climate Change Initiative and (ii) LAI from the Copernicus Global Land Service project. Atmospheric forcing used in SURFEX are derived from the ERA-Interim reanalysis and corrected from GPCC precipitations. The simulations are conducted at the global scale at a 1 degree spatial resolution over the period 2000-2014. An analysis of the model sensitivity to the assimilated observations is performed over different regions of the globe under various hydro-climatic conditions. The impact of the SEKF on different biogeophysical and hydrological variables is assessed. It is shown that the assimilation scheme greatly improves the representation of the observed variables (SSM and LAI) and that it effectively affects most of the other variables related to the terrestrial water and vegetation cycles. Future developments include the optimization of LDAS-Monde in order to improve the spatial resolution and then take full advantage of the potential of Earth Observations.

Analysis of Water and Energy Budgets and Trends Using the NLDAS Monthly Data Sets

NASA Technical Reports Server (NTRS)

Vollmer, Bruce E.; Rui, Hualan; Mocko, David M.; Teng, William L.; Lei, Guang-Dih

2012-01-01

The North American Land Data Assimilation System (NLDAS) is a collaborative project between NASA GSFC, NOAA, Princeton University, and the University of Washington. NLDAS has created surface meteorological forcing data sets using the best-available observations and reanalyses. The forcing data sets are used to drive four separate land-surface models (LSMs), Mosaic, Noah, VIC, and SAC, to produce data sets of soil moisture, snow, runoff, and surface fluxes. NLDAS hourly data, accessible from the NASA GES DISC Hydrology Data Holdings Portal, http://disc.sci.gsfc.nasa.gov/hydrology/data-holdings, are widely used by various user communities in modeling, research, and applications, such as drought and flood monitoring, watershed and water quality management, and case studies of extreme events. More information is available at http://ldas.gsfc.nasa.gov/. To further facilitate analysis of water and energy budgets and trends, NLDAS monthly data sets have been recently released by NASA GES DISC.

Inner-outer interactions in the convective atmospheric boundary layer

NASA Astrophysics Data System (ADS)

Salesky, S.

2017-12-01

Recently, observational and numerical studies have revealed the existence of so-called large scale motions (LSMs) that populate the logarithmic layer of wall-bounded turbulent shear flows and modulate the amplitude and frequency of turbulence dynamics near the ground. Properties of LSMs are well understood in neutrally stratified flows over smooth and rough walls. However, the implications of previous studies for the convective atmospheric boundary layer (CBL) are not entirely clear, since the morphology of both small-scale and large-scale turbulent structures is known to be strongly affected by buoyancy [e.g. Salesky et al., Bound.-Layer Meteorol. 163:41-68 (2017)]. In the present study, inner-outer interactions in the CBL are investigated using a suite of large eddy simulations spanning neutral to highly convective conditions. Simulation results reveal that, as the atmosphere becomes increasingly unstable, the inclination angle of structures near the ground increases from 12-15° to nearly 90°. Furthermore, the scale separation between the inner and outer peaks in the premultiplied velocity spectra decreases until only a single peak remains (comparable in magnitude to the boundary layer depth). The extent to which the amplitude modulation of surface layer turbulence by outer layer structures changes with increasing instability will be considered, following the decoupling procedure proposed by Mathis et al. [J. Fluid Mech., vol 628, 311-337 (2009)]. Frequency modulation of surface layer turbulence also will be examined, following the wavelet analysis approach of Baars et al. [Exp. Fluids, 56:188, (2015)].

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

Prein, Andreas; Langhans, Wolfgang; Fosser, Giorgia

Regional climate modeling using convection permitting models (CPMs) emerges as a promising framework to provide more reliable climate information on regional to local scales compared to traditionally used large-scale models (LSMs). CPMs do not use convection parameterization schemes, known as a major source of errors and uncertainties, and have more accurate surface and orography elds. The drawback of CPMs is their high demand on computational resources. For this reason, the CPM climate simulations only appeared a decade ago. In this study we aim to provide a common basis for CPM climate simulations by giving a holistic review of the topic.more » The most important components in CPM, such as physical parameterizations and dynamical formulations are discussed, and an outlook on required future developments and computer architectures that would support the application of CPMs is given. Most importantly, this review presents the consolidated outcome of studies that addressed the added value of CPM climate simulations compared to LSMs. Most improvements are found for processes related to deep convection (e.g., precipitation during summer), for mountainous regions, and for the soil-vegetation-atmosphere interactions. The climate change signals of CPM simulations reveal increases in short and extreme rainfall events and an increased ratio of liquid precipitation at the surface (a decrease of hail) potentially leading to more frequent ash oods. Concluding, CPMs are a very promising tool for future climate research. However, coordinated modeling programs are crucially needed to assess their full potential and support their development.« less

A review on regional convection-permitting climate modeling: Demonstrations, prospects, and challenges

DOE PAGES

Prein, Andreas; Langhans, Wolfgang; Fosser, Giorgia; ...

2015-05-27

Regional climate modeling using convection permitting models (CPMs) emerges as a promising framework to provide more reliable climate information on regional to local scales compared to traditionally used large-scale models (LSMs). CPMs do not use convection parameterization schemes, known as a major source of errors and uncertainties, and have more accurate surface and orography elds. The drawback of CPMs is their high demand on computational resources. For this reason, the CPM climate simulations only appeared a decade ago. In this study we aim to provide a common basis for CPM climate simulations by giving a holistic review of the topic.more » The most important components in CPM, such as physical parameterizations and dynamical formulations are discussed, and an outlook on required future developments and computer architectures that would support the application of CPMs is given. Most importantly, this review presents the consolidated outcome of studies that addressed the added value of CPM climate simulations compared to LSMs. Most improvements are found for processes related to deep convection (e.g., precipitation during summer), for mountainous regions, and for the soil-vegetation-atmosphere interactions. The climate change signals of CPM simulations reveal increases in short and extreme rainfall events and an increased ratio of liquid precipitation at the surface (a decrease of hail) potentially leading to more frequent ash oods. Concluding, CPMs are a very promising tool for future climate research. However, coordinated modeling programs are crucially needed to assess their full potential and support their development.« less

How Accurate is Land/Ocean Moisture Transport Variability in Reanalyses?

NASA Technical Reports Server (NTRS)

Robertson, F. R.; Bosilovich, M. G.

2014-01-01

Quantifying the global hydrological cycle and its variability across various time scales remains a challenge to the climate community. Direct measurements of evaporation (E), evapotranspiration (ET), and precipitation (P) are not feasible on a global scale, nor is the transport of water vapor over the global oceans and sparsely populated land areas. Expanding satellite data streams have enabled development of various water (and energy) flux products, complementing reanalyses and facilitating observationally constrained modeling. But the evolution of the global observing system has produced additional complications--improvements in satellite sensor resolution and accuracy have resulted in "epochs" of observational quasi-uniformity that can adversely affect reanalysis trends. In this work we focus on vertically integrated moisture flux convergence (VMFC) variations within the period 1979 - present integrated over global land. We show that VMFC in recent reanalyses (e.g. ERA-I, NASA MERRA, NOAA CFSR and JRA55) suffers from observing system changes, though differently in each product. Land Surface Models (LSMs) forced with observations-based precipitation, radiation and near-surface meteorology share closely the interannual P-ET variations of the reanalyses associated with ENSO events. (VMFC over land and P-ET estimates are equivalent quantities since atmospheric storage changes are small on these scales.) But the long-term LSM trend over the period since 1979 is approximately one-fourth that of the reanalyses. Additional reduced observation reanalyses assimilating only surface pressure and /or specifying seasurface temperature also have a much smaller trend in P-ET like the LSMs. We explore the regional manifestation of the reanalysis P-ET / VMFC problems, particularly over land. Both principal component analysis and a simple time series changepoint analysis highlight problems associated with data poor regions such as Equatorial Africa and, for one reanalysis, the Equatorial Andes region. Onset of the availability of passive microwave Special Sensor Microwave Imager (SSMI) moisture data in July 1987 and the transition from the Microwave Sounder Unit (MSU) to an advanced version (AMSU) have significant impacts on VMFC variability. Simple accounting for these errors of leading importance results in modified reanalysis VMFC estimates that agree much better with the LSM results. Regional details of the modified reanalysis VMFC and LSM P-ET are related to changes in Pacific Decadal Variability as manifest in SST changes after the late 1990s.

Comprehensive evaluation of long-term hydrological data sets: Constraints of the Budyko framework

NASA Astrophysics Data System (ADS)

Greve, Peter; Orlowsky, Boris; Seneviratne, Sonia I.

2013-04-01

An accurate estimate of the climatological land water balance is essential for a wide range of socio-economical issues. Despite the simplicity of the underlying water balance equation, its individual variables are of complex nature. Global estimates, either derived from observations or from models, of precipitation (P ) and especially evapotranspiration (ET) are characterized by high uncertainties. This leads to inconsistent results in determining conditions related to the land water balance and its components. In this study, we consider the Budyko framework as a constraint to evaluate long-term hydrological data sets within the period from 1984 to 2005. The Budyko framework is a well established empirically based relationsship between ET-P and Ep-P , with Ep being the potential evaporation. We use estimates of ET associated with the LandFlux-EVAL initiative (Mueller et. al., 2012), either derived from observations, CMIP5 models or land-surface models (LSMs) driven with observation-based forcing or atmospheric reanalyses. Data sets of P comprise all commonly used global observation-based estimates. Ep is determined by methods of differing complexity with recent global temperature and radiation data sets. Based on this comprehensive synthesis of data sets and methods to determine Ep, more than 2000 possible combinations for ET-P in conjunction with Ep-P are created. All combinations are validated against the Budyko curve and against physical limits within the Budyko phase space. For this purpose we develop an error measure based on the root mean square error which combines both constraints. We find that uncertainties are mainly induced by the ET data sets. In particular, reanalysis and CMIP5 data sets are characterized by low realism. The realism of LSMs is further not primarily controlled by the forcing, as different LSMs driven with the same forcing show significantly different error measures. Our comprehensive approach is thus suitable to detect uncertainties associated with individual data sets. Furthermore, combinations performing well within the Budyko phase space are identified and could be used for future studies, like e.g. to investigate decadal changes of the land water balance. B. MUELLER, M. HIRSCHI, C. JIMENEZ, P. CIAIS, P.A. DIRMEYER, A.J. DOLMAN, J.B. FISHER, Z. GUO, M. JUNG, F. LUDWIG, F. MAIGNAN, D. MIRALLES, M.F. MCCABE, M. REICHSTEIN, J. SHEELD, K. WANG, E.F.WOOD, Y. ZHANG, S.I. SENEVIRATNE (2012): Benchmark products for land evapotranspiration: LandFlux-EVAL multi-dataset synthesis, Hydrol. Earth Syst. Sci., submitted.

Dual Assimilation of Microwave and Thermal-Infrared Satellite Observations of Soil Moisture into NLDAS for Improved Drought Monitoring

NASA Astrophysics Data System (ADS)

Hain, C.; Crow, W. T.; Anderson, M. C.; Zhan, X.; Wardlow, B.; Svoboda, M. D.; Mecikalski, J. R.

2011-12-01

Our research group is currently developing an operational data assimilation (DA) system for the optimal assimilation of thermal infrared (TIR) and microwave (MV) soil moisture (SM) and insertion of near real-time green vegetation fraction (GVF) into the Noah land-surface model component of the National Land Data Assimilation System (NLDAS). NLDAS produces the hydrologic products (e.g. soil moisture, evapotranspiration, and runoff) used by NCEP for operational drought monitoring, but these products are sensitive to model input errors in soil texture (affecting infiltration rates) and prescribed precipitation rates. Periodic updates of SM state variables in LSMs achieved by assimilating diagnostic moisture information retrieved using satellite remote sensing have been shown to compensate for model errors and result in improved hydrologic output. The work proposed here will build on a project currently funded under the Climate Test Bed Program entitled "A GOES Thermal-Based Drought Early Warning Index for NIDIS", which is developing an operational TIR SM index (Evaporative Stress Index; ESI) based on maps of the ratio of actual to potential ET (fPET) generated with the Atmosphere-Land Exchange Inverse (ALEXI) surface energy balance algorithm. The research team has demonstrated that diagnostic information about SM and evapotranspiration (ET) from MW and TIR remote sensing can significantly reduce SM drifts in LSMs such as Noah. The two different SM retrievals have been shown to be quite complementary: TIR provides relatively high spatial (down to 100 m) and low temporal resolution (due to cloud cover) retrievals over a wide range of GVF, while MW provides relatively low spatial (25 to 60 km) and high temporal resolution (can retrieve through cloud cover), but only over areas with low GVF. Furthermore, MW retrievals are sensitive to SM only in the first few centimeters of the soil profile, while TIR provides information about SM conditions integrated over the full root-zone, reflected in the observed canopy temperature. The added value of TIR over MW alone is most significant in areas of moderate to dense vegetation cover where MW retrievals have very little sensitivity to SM at any depth. Finally, climatological estimates of GVF currently used in the operational NLDAS are not always representative of observed seasonal and intra-seasonal GVF conditions, especially in regions experiencing drought conditions. A detailed methodology of the assimilation system will be presented along with an analysis of initial results, with an emphasis on comparisons with in-situ SM observations and standard drought metrics.

Testing the Joint UK Land Environment Simulator (JULES) for flood forecasting

NASA Astrophysics Data System (ADS)

Batelis, Stamatios-Christos; Rosolem, Rafael; Han, Dawei; Rahman, Mostaquimur

2017-04-01

Land Surface Models (LSM) are based on physics principles and simulate the exchanges of energy, water and biogeochemical cycles between the land surface and lower atmosphere. Such models are typically applied for climate studies or effects of land use changes but as the resolution of LSMs and supporting observations are continuously increasing, its representation of hydrological processes need to be addressed adequately. For example, changes in climate and land use can alter the hydrology of a region, for instance, by altering its flooding regime. LSMs can be a powerful tool because of their ability to spatially represent a region with much finer resolution. However, despite such advantages, its performance has not been extensively assessed for flood forecasting simply because its representation of typical hydrological processes, such as overland flow and river routing, are still either ignored or roughly represented. In this study, we initially test the Joint UK Land Environment Simulator (JULES) as a flood forecast tool focusing on its river routing scheme. In particular, JULES river routing parameterization is based on the Rapid Flow Model (RFM) which relies on six prescribed parameters (two surface and two subsurface wave celerities, and two return flow fractions). Although this routing scheme is simple, the prescription of its six default parameters is still too generalized. Our aim is to understand the importance of each RFM parameter in a series of JULES simulations at a number of catchments in the UK for the 2006-2015 period. This is carried out, for instance, by making a number of assumptions of parameter behaviour (e.g., spatially uniform versus varying and/or temporally constant or time-varying parameters within each catchment). Hourly rainfall radar in combination with the CHESS (Climate, Hydrological and Ecological research Support System) meteorological daily data both at 1 km2 resolution are used. The evaluation of the model is based on hourly runoff data provided by the National River Flood Archive using a number of model performance metrics. We use a calibrated conceptually-based lumped model, more typically applied in flood studies, as a benchmark for our analysis.

The role of groundwater in hydrological processes and memory

NASA Astrophysics Data System (ADS)

Lo, Min-Hui

The interactions between soil moisture and groundwater play important roles in controlling Earth's climate, by changing the terrestrial water cycle. However, most contemporary land surface models (LSMs) used for climate modeling lack any representation of groundwater aquifers. In this dissertation, the effects of water table dynamics on the National Center for Atmospheric Research (NCAR) Community Land Model (CLM) and Community Atmosphere Model (CAM) hydrology and land-atmosphere simulations are investigated. First, a simple, lumped unconfined aquifer model is incorporated into the CLM, in which the water table is interactively coupled to the soil moisture through groundwater recharge fluxes. The recent availability of GRACE water storage data provides a unique opportunity to constrain LSMs simulations of terrestrial hydrology. A multi-objective calibration framework using GRACE and streamflow data is developed. This approach improves parameter estimation and reduces the uncertainty of water table simulations in the CLM. Next, experiments are conducted with the off-line CLM to explore the effects of groundwater on land surface memory. Results show that feedbacks of groundwater on land surface memory can be positive, negative, or neutral depending on water table dynamics. The CAM-CLM is further utilized to investigate the effects of water table dynamics on spatial-temporal variations of precipitation. Results indicate that groundwater can increase short-term (seasonal) and long-term (interannual) memory of precipitation for some regions with suitable groundwater table depth. Finally, lower tropospheric water vapor is increased due to the presence of groundwater in the model. However, the impact of groundwater on the spatial distribution of precipitation is not globally homogeneous. In the boreal summer, tropical land regions show a positive (negative) anomaly over the Northern (Southern) Hemisphere. The increased tropical precipitation follows the climatology of the convective zone rather than that of evapotranspiration. In contrast, evapotranspiration is the major contribution to the increased precipitation in the transition climatic zone (e.g., Central North America), where the land and atmosphere are strongly coupled. This dissertation reveals the highly nonlinear responses of precipitation and soil moisture to the groundwater representation in the model, and also underscores the importance of subsurface hydrological memory processes in the climate system.

Utilization of data and modeling at multiple scales to compare varying formulations of the soil resistance term affecting evaporative flux from the soil surface.

NASA Astrophysics Data System (ADS)

Smits, K. M.; Forsythe, L.; Riley, W. J.; Bisht, G.

2016-12-01

Land Surface Models (LSMs) are used to predict heat, energy, and momentum fluxesoccurring at the land surface and the resulting effects in the soil and atmosphere at various scales.Evaporation from bare soil is an integral component of the water balance that is very difficult toaccurately predict since it is complexly affected by the coupled effects of atmospheric conditions andsoil properties. Inaccurate or simplifying assumptions can have drastic effects on regional and globalLSM predictions and cause available LSMs to predict conflicting values for the soil moistureconditions and surface fluxes (e.g. evapotranspiration, infiltration, run off). The goal of this work isto see how heterogeneities in soil properties can be properly represented with a soil resistance termthat accounts for physically based parameters of the soil system at the land-atmosphere interface.Utilizing a comprehensive, experimental dataset generated from a soil with known, heterogeneousproperties under highly controlled atmospheric conditions, we are able to compare the effectivenessof various parameterizations in two different models. The first being a multiphase, non-equilibrium,and non-isothermal model that minimizes the dependence on fitting parameters. The effects ofcertain mechanisms are better understood at this fine scale and incorporated into the land surfacecomponent of the Accelerated Climate Modeling for Energy project (ALM), which is focused oncapturing the interactions between the surface and the atmosphere at larger scales. The formulationsof the resistance parameter, soil water retention curve (SWRC), and diffusivity through partiallysaturated porous media are of particular interest. The fine scale model was used in conjunction withthe experimental data to test formulations before implementing them into the ACME Land Model(ALM). Effects of these alterations were compared to the existing mechanisms in ALM and thentested against lab and field scale data sets. Initial findings suggest the Tang and Riley (2013a) soilresistance more accurately reproduces results lab and field results on multiple scales whereheterogeneity is present. Further understanding of soil resistance will lead to more robust landsurface models which decrease the reliance on such empirical relationships.

On the dynamic singularities in the control of free-floating space manipulators

NASA Technical Reports Server (NTRS)

Papadopoulos, E.; Dubowsky, S.

1989-01-01

It is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a dynamically singular position, the manipulator is unable to move its end effector in some direction. This problem appears in any free-floating space manipulator system that permits the vehicle to move in response to manipulator motion without correction from the vehicle's attitude control system. Dynamic singularities are functions of the dynamic properties of the system; their existence and locations cannot be predicted solely from the kinematic structure of the manipulator, unlike the singularities for fixed base manipulators. It is also shown that the location of these dynamic singularities in the workplace is dependent upon the path taken by the manipulator in reaching them. Dynamic singularities must be considered in the control, planning and design of free-floating space manipulator systems. A method for calculating these dynamic singularities is presented, and it is shown that the system parameters can be selected to reduce the effect of dynamic singularities on a system's performance.

On the use of a physically-based baseflow timescale in land surface models.

NASA Astrophysics Data System (ADS)

Jost, A.; Schneider, A. C.; Oudin, L.; Ducharne, A.

2017-12-01

Groundwater discharge is an important component of streamflow and estimating its spatio-temporal variation in response to changes in recharge is of great value to water resource planning, and essential for modelling accurate large scale water balance in land surface models (LSMs). First-order representation of groundwater as a single linear storage element is frequently used in LSMs for the sake of simplicity, but requires a suitable parametrization of the aquifer hydraulic behaviour in the form of the baseflow characteristic timescale (τ). Such a modelling approach can be hampered by the lack of available calibration data at global scale. Hydraulic groundwater theory provides an analytical framework to relate the baseflow characteristics to catchment descriptors. In this study, we use the long-time solution of the linearized Boussinesq equation to estimate τ at global scale, as a function of groundwater flow length and aquifer hydraulic diffusivity. Our goal is to evaluate the use of this spatially variable and physically-based τ in the ORCHIDEE surface model in terms of simulated river discharges across large catchments. Aquifer transmissivity and drainable porosity stem from GLHYMPS high-resolution datasets whereas flow length is derived from an estimation of drainage density, using the GRIN global river network. ORCHIDEE is run in offline mode and its results are compared to a reference simulation using an almost spatially constant topographic-dependent τ. We discuss the limits of our approach in terms of both the relevance and accuracy of global estimates of aquifer hydraulic properties and the extent to which the underlying assumptions in the analytical method are valid.

The Plumbing of Land Surface Models: Is Poor Performance a Result of Methodology or Data Quality?

NASA Technical Reports Server (NTRS)

Haughton, Ned; Abramowitz, Gab; Pitman, Andy J.; Or, Dani; Best, Martin J.; Johnson, Helen R.; Balsamo, Gianpaolo; Boone, Aaron; Cuntz, Matthais; Decharme, Bertrand;

Global evaluation of runoff from 10 state-of-the-art hydrological models

NASA Astrophysics Data System (ADS)

Beck, Hylke E.; van Dijk, Albert I. J. M.; de Roo, Ad; Dutra, Emanuel; Fink, Gabriel; Orth, Rene; Schellekens, Jaap

2017-06-01

Observed streamflow data from 966 medium sized catchments (1000-5000 km2) around the globe were used to comprehensively evaluate the daily runoff estimates (1979-2012) of six global hydrological models (GHMs) and four land surface models (LSMs) produced as part of tier-1 of the eartH2Observe project. The models were all driven by the WATCH Forcing Data ERA-Interim (WFDEI) meteorological dataset, but used different datasets for non-meteorologic inputs and were run at various spatial and temporal resolutions, although all data were re-sampled to a common 0. 5° spatial and daily temporal resolution. For the evaluation, we used a broad range of performance metrics related to important aspects of the hydrograph. We found pronounced inter-model performance differences, underscoring the importance of hydrological model uncertainty in addition to climate input uncertainty, for example in studies assessing the hydrological impacts of climate change. The uncalibrated GHMs were found to perform, on average, better than the uncalibrated LSMs in snow-dominated regions, while the ensemble mean was found to perform only slightly worse than the best (calibrated) model. The inclusion of less-accurate models did not appreciably degrade the ensemble performance. Overall, we argue that more effort should be devoted on calibrating and regionalizing the parameters of macro-scale models. We further found that, despite adjustments using gauge observations, the WFDEI precipitation data still contain substantial biases that propagate into the simulated runoff. The early bias in the spring snowmelt peak exhibited by most models is probably primarily due to the widespread precipitation underestimation at high northern latitudes.

Improving irrigation and groundwater parameterizations in the Community Land Model (CLM) using in-situ observations and satellite data

NASA Astrophysics Data System (ADS)

Felfelani, F.; Pokhrel, Y. N.

2017-12-01

In this study, we use in-situ observations and satellite data of soil moisture and groundwater to improve irrigation and groundwater parameterizations in the version 4.5 of the Community Land Model (CLM). The irrigation application trigger, which is based on the soil moisture deficit mechanism, is enhanced by integrating soil moisture observations and the data from the Soil Moisture Active Passive (SMAP) mission which is available since 2015. Further, we incorporate different irrigation application mechanisms based on schemes used in various other land surface models (LSMs) and carry out a sensitivity analysis using point simulations at two different irrigated sites in Mead, Nebraska where data from the AmeriFlux observational network are available. We then conduct regional simulations over the entire High Plains region and evaluate model results with the available irrigation water use data at the county-scale. Finally, we present results of groundwater simulations by implementing a simple pumping scheme based on our previous studies. Results from the implementation of current irrigation parameterization used in various LSMs show relatively large difference in vertical soil moisture content profile (e.g., 0.2 mm3/mm3) at point scale which is mostly decreased when averaged over relatively large regions (e.g., 0.04 mm3/mm3 in the High Plains region). It is found that original irrigation module in CLM 4.5 tends to overestimate the soil moisture content compared to both point observations and SMAP, and the results from the improved scheme linked with the groundwater pumping scheme show better agreement with the observations.

Determinants of child morbidity in Latin America: a pooled analysis of interactions between parental education and economic status.

PubMed

Hatt, Laurel E; Waters, Hugh R

2006-01-01

Diarrhea and respiratory infections account for more than two-fifths of all deaths among children under five. Parental education and economic status are well-known risk factors for child morbidity, but little is known about whether education and economic status operate synergistically or independently to influence children's health. Confirming the presence and direction of such interactions is important to better target education and development policies. Our objective is to test for interactions between parental education and economic status in predicting the risk of diarrhea and respiratory illness among children under five, before and after adjusting for key proximate risk factors. We pool 12 Demographic and Health Surveys (DHS) and nine Living Standards Measurement Surveys (LSMS) from Latin America, creating two large databases. Quintiles of economic status are constructed from principal components asset indices. We use logistic regression to analyze episodes of diarrhea and respiratory illness, and interactions between economic quintile and maternal and paternal education are evaluated via likelihood ratio tests. We find that mother's education and quintile interact synergistically in the DHS data, while results are inconclusive in the LSMS data. The effect of increasing maternal education appears to be more protective for children in wealthy families than for children in poor families. Conversely, improvements in economic status reduce health risks more for children whose mothers are better educated. Father's education is protective and operates independently of economic status. Our findings imply that poverty alleviation efforts occurring in concert with programs to educate women and girls will be more effective for improving children's health than either approach alone.

A multi-mode manipulator display system for controlling remote robotic systems

NASA Technical Reports Server (NTRS)

Massimino, Michael J.; Meschler, Michael F.; Rodriguez, Alberto A.

1994-01-01

The objective and contribution of the research presented in this paper is to provide a Multi-Mode Manipulator Display System (MMDS) to assist a human operator with the control of remote manipulator systems. Such systems include space based manipulators such as the space shuttle remote manipulator system (SRMS) and future ground controlled teleoperated and telescience space systems. The MMDS contains a number of display modes and submodes which display position control cues position data in graphical formats, based primarily on manipulator position and joint angle data. Therefore the MMDS is not dependent on visual information for input and can assist the operator especially when visual feedback is inadequate. This paper provides descriptions of the new modes and experiment results to date.

The microcomputer scientific software series 1: the numerical information manipulation system.

Treesearch

Harold M. Rauscher

1983-01-01

The Numerical Information Manipulation System extends the versatility provided by word processing systems for textual data manipulation to mathematical or statistical data in numeric matrix form. Numeric data, stored and processed in the matrix form, may be manipulated in a wide variety of ways. The system allows operations on single elements, entire rows, or columns...

Visualizing Motion Patterns in Acupuncture Manipulation.

PubMed

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

2016-07-16

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.

Vision-guided micromanipulation system for biomedical application

NASA Astrophysics Data System (ADS)

Shim, Jae-Hong; Cho, Sung-Yong; Cha, Dong-Hyuk

2004-10-01

In these days, various researches for biomedical application of robots have been carried out. Particularly, robotic manipulation of the biological cells has been studied by many researchers. Usually, most of the biological cell's shape is sphere. Commercial biological manipulation systems have been utilized the 2-Dimensional images through the optical microscopes only. Moreover, manipulation of the biological cells mainly depends on the subjective viewpoint of an operator. Due to these reasons, there exist lots of problems such as slippery and destruction of the cell membrane and damage of the pipette tip etc. In order to overcome the problems, we have proposed a vision-guided biological cell manipulation system. The newly proposed manipulation system makes use of vision and graphic techniques. Through the proposed procedures, an operator can inject the biological cell scientifically and objectively. Also, the proposed manipulation system can measure the contact force occurred at injection of a biological cell. It can be transmitted a measured force to the operator by the proposed haptic device. Consequently, the proposed manipulation system could safely handle the biological cells without any damage. This paper presents the introduction of our vision-guided manipulation techniques and the concept of the contact force sensing. Through a series of experiments the proposed vision-guided manipulation system shows the possibility of application for precision manipulation of the biological cell such as DNA.

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.

Attached manipulator system design and concept verification for zero-g simulation

NASA Technical Reports Server (NTRS)

Booker, R.; Burkitt, W.; Corveleyn, P.; Cramer, P.; Duwaik, O.; Flatau, C.; Garber, P.; Grant, C.; Greeb, F.; Johnson, C.

1973-01-01

The attached manipulator system (AMS) is to simulate and demonstrate zero-g shuttle manipulator cargo handling operations. It is not the design or development of the shuttle attached manipulator system (SAMS); however, every effort is being made, to insure that the AMS will be functionally similar to the SAMS.

Modelling and Closed-Loop System Identification of a Quadrotor-Based Aerial Manipulator

NASA Astrophysics Data System (ADS)

Dube, Chioniso; Pedro, Jimoh O.

2018-05-01

This paper presents the modelling and system identification of a quadrotor-based aerial manipulator. The aerial manipulator model is first derived analytically using the Newton-Euler formulation for the quadrotor and Recursive Newton-Euler formulation for the manipulator. The aerial manipulator is then simulated with the quadrotor under Proportional Derivative (PD) control, with the manipulator in motion. The simulation data is then used for system identification of the aerial manipulator. Auto Regressive with eXogenous inputs (ARX) models are obtained from the system identification for linear accelerations \\ddot{X} and \\ddot{Y} and yaw angular acceleration \\ddot{\\psi }. For linear acceleration \\ddot{Z}, and pitch and roll angular accelerations \\ddot{θ } and \\ddot{φ }, Auto Regressive Moving Average with eXogenous inputs (ARMAX) models are identified.

A case study of field-scale maize irrigation patterns in western Nebraska: implications for water managers and recommendations for hyper-resolution land surface modeling

NASA Astrophysics Data System (ADS)

Gibson, Justin; Franz, Trenton E.; Wang, Tiejun; Gates, John; Grassini, Patricio; Yang, Haishun; Eisenhauer, Dean

2017-02-01

In many agricultural regions, the human use of water for irrigation is often ignored or poorly represented in land surface models (LSMs) and operational forecasts. Because irrigation increases soil moisture, feedback on the surface energy balance, rainfall recycling, and atmospheric dynamics is not represented and may lead to reduced model skill. In this work, we describe four plausible and relatively simple irrigation routines that can be coupled to the next generation of hyper-resolution LSMs operating at scales of 1 km or less. The irrigation output from the four routines (crop model, precipitation delayed, evapotranspiration replacement, and vadose zone model) is compared against a historical field-scale irrigation database (2008-2014) from a 35 km2 study area under maize production and center pivot irrigation in western Nebraska (USA). We find that the most yield-conservative irrigation routine (crop model) produces seasonal totals of irrigation that compare well against the observed irrigation amounts across a range of wet and dry years but with a low bias of 80 mm yr-1. The most aggressive irrigation saving routine (vadose zone model) indicates a potential irrigation savings of 120 mm yr-1 and yield losses of less than 3 % against the crop model benchmark and historical averages. The results of the various irrigation routines and associated yield penalties will be valuable for future consideration by local water managers to be informed about the potential value of irrigation saving technologies and irrigation practices. Moreover, the routines offer the hyper-resolution LSM community a range of irrigation routines to better constrain irrigation decision-making at critical temporal (daily) and spatial scales (< 1 km).

Impact of vegetation dynamics on hydrological processes in a semi-arid basin by using a land surface-hydrology coupled model

NASA Astrophysics Data System (ADS)

Jiao, Yang; Lei, Huimin; Yang, Dawen; Huang, Maoyi; Liu, Dengfeng; Yuan, Xing

2017-08-01

Land surface models (LSMs) are widely used to understand the interactions between hydrological processes and vegetation dynamics, which is important for the attribution and prediction of regional hydrological variations. However, most LSMs have large uncertainties in their representations of eco-hydrological processes due to deficiencies in hydrological parameterizations. In this study, the Community Land Model version 4 (CLM4) LSM was modified with an advanced runoff generation and flow routing scheme, resulting in a new land surface-hydrology coupled model, CLM-GBHM. Both models were implemented in the Wudinghe River Basin (WRB), which is a semi-arid basin located in the middle reaches of the Yellow River, China. Compared with CLM, CLM-GBHM increased the Nash Sutcliffe efficiency for daily river discharge simulation (1965-1969) from -0.03 to 0.23 and reduced the relative bias in water table depth simulations (2010-2012) from 32.4% to 13.4%. The CLM-GBHM simulations with static, remotely sensed and model-predicted vegetation conditions showed that the vegetation in the WRB began to recover in the 2000s due to the Grain for Green Program but had not reached the same level of vegetation cover as regions in natural eco-hydrological equilibrium. Compared with a simulation using remotely sensed vegetation cover, the simulation with a dynamic vegetation model that considers only climate-induced change showed a 10.3% increase in evapotranspiration, a 47.8% decrease in runoff, and a 62.7% and 71.3% deceleration in changing trend of the outlet river discharge before and after the year 2000, respectively. This result suggests that both natural and anthropogenic factors should be incorporated in dynamic vegetation models to better simulate the eco-hydrological cycle.

Child malnutrition in Vietnam and its transition in an era of economic growth.

PubMed

Thang, N M; Popkin, B

2003-08-01

In the past decade, Vietnam has achieved an impressive rate of socioeconomic development paralleled by broad improvements in the health sector--but child malnutrition still lags far behind that of most other health indicators. The purpose of this study is to discover inequality in the near-present situation (1997-98; hereafter referred to as the present situation), changes of child malnutrition over the period from 1992-93 to 1997-98, and factors that might affect the inability to rapidly reduce child malnutrition among the poor, rural, and minority populations. Data from two nationally representative surveys--the 1992-93 and 1997-98 Vietnam Living Standards Measurement Surveys (LSMS)--of Vietnamese households were utilized in this study. Descriptive and logistic procedures were used for the analyses. The focus was on the variables related to household poverty status, total expenditure levels, rural residence, and minority status with controls for other key economic and demographic measures. A cross-sectional analysis was conducted on data using 4305 households and 4367 children (2-11 years of age in 1992-93) that were included in both surveys of the Vietnam Living Standard Survey (VLSS) in 1992-93 and 1997-98, conducted under the framework of the LSMS. Children of rural households, poor households, and ethnic minority backgrounds are significantly more likely to be malnourished than urban residents, children of nonpoor households, and the majority Kinh population. Additionally, avenues to escape malnourishment are limited in the former categories. These results suggest that economic improvements in Vietnam have, for the most part, bypassed the rural poor and minorities, and targeting economic resources towards these groups will be most critical to reduce malnutrition in Vietnam.

Impact of vegetation dynamics on hydrological processes in a semi-arid basin by using a land surface-hydrology coupled model

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

Jiao, Yang; Lei, Huimin; Yang, Dawen

Land surface models (LSMs) are widely used to understand the interactions between hydrological processes and vegetation dynamics, which is important for the attribution and prediction of regional hydrological variations. However, most LSMs have large uncertainties in their representations of ecohydrological processes due to deficiencies in hydrological parameterizations. In this study, the Community Land Model version 4 (CLM4) LSM was modified with an advanced runoff generation and flow routing scheme, resulting in a new land surface-hydrology coupled model, CLM-GBHM. Both models were implemented in the Wudinghe River Basin (WRB), which is a semi-arid basin located in the middle reaches of themore » Yellow River, China. Compared with CLM, CLM-GBHM increased the Nash Sutcliffe efficiency for daily river discharge simulation (1965–1969) from 0.03 to 0.23 and reduced the relative bias in water table depth simulations (2010–2012) from 32.4% to 13.4%. The CLM-GBHM simulations with static, remotely sensed and model-predicted vegetation conditions showed that the vegetation in the WRB began to recover in the 2000s due to the Grain for Green Program but had not reached the same level of vegetation cover as regions in natural eco-hydrological equilibrium. Compared with a simulation using remotely sensed vegetation cover, the simulation with a dynamic vegetation model that considers only climate-induced change showed a 10.3% increase in evapotranspiration, a 47.8% decrease in runoff, and a 62.7% and 71.3% deceleration in changing trend of the outlet river discharge before and after the year 2000, respectively. This result suggests that both natural and anthropogenic factors should be incorporated in dynamic vegetation models to better simulate the eco-hydrological cycle.« less

Theoretical linear approach to the combined man-manipulator system in manual control of an aircraft

NASA Technical Reports Server (NTRS)

Brauser, K.

1981-01-01

An approach to the calculation of the dynamic characteristics of the combined man manipulator system in manual aircraft control was derived from a model of the neuromuscular system. This model combines the neuromuscular properties of man with the physical properties of the manipulator system which is introduced as pilot manipulator model into the manual aircraft control. The assumption of man as a quasilinear and time invariant control operator adapted to operating states, depending on the flight phases, of the control system gives rise to interesting solutions of the frequency domain transfer functions of both the man manipulator system and the closed loop pilot aircraft control system. It is shown that it is necessary to introduce the complete precision pilot manipulator model into the closed loop pilot aircraft transfer function in order to understand the well known handling quality criteria, and to derive these criteria directly from human operator properties.

Configuration and design study of manipulator systems applicable to the free flying teleoperator. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

Tewell, J. R.

1974-01-01

A preliminary design of a manipulator system, applicable to a free flying teleoperator spacecraft operating in conjunction with the shuttle or tug, is presented. A new control technique is proposed for application to the manipulator system. This technique, a range/azimuth/elevation rate-rate mode, was selected based upon the results of man-in-the-loop simulations. Several areas are identified in which additional emphasis must be placed prior to the development of the manipulator system. The study results in a manipulator system which will provide an effective method for servicing, maintaining, and repairing satellites to increase their useful life.

Improving the Fit of a Land-Surface Model to Data Using its Adjoint

NASA Astrophysics Data System (ADS)

Raoult, N.; Jupp, T. E.; Cox, P. M.; Luke, C.

2015-12-01

Land-surface models (LSMs) are of growing importance in the world of climate prediction. They are crucial components of larger Earth system models that are aimed at understanding the effects of land surface processes on the global carbon cycle. The Joint UK Land Environment Simulator (JULES) is the land-surface model used by the UK Met Office. It has been automatically differentiated using commercial software from FastOpt, resulting in an analytical gradient, or 'adjoint', of the model. Using this adjoint, the adJULES parameter estimation system has been developed, to search for locally optimum parameter sets by calibrating against observations. adJULES presents an opportunity to confront JULES with many different observations, and make improvements to the model parameterisation. In the newest version of adJULES, multiple sites can be used in the calibration, to giving a generic set of parameters that can be generalised over plant functional types. We present an introduction to the adJULES system and its applications to data from a variety of flux tower sites. We show that calculation of the 2nd derivative of JULES allows us to produce posterior probability density functions of the parameters and how knowledge of parameter values is constrained by observations.

The life sciences mass spectrometry research unit.

PubMed

Hopfgartner, Gérard; Varesio, Emmanuel

2012-01-01

The Life Sciences Mass Spectrometry (LSMS) research unit focuses on the development of novel analytical workflows based on innovative mass spectrometric and software tools for the analysis of low molecular weight compounds, peptides and proteins in complex biological matrices. The present article summarizes some of the recent work of the unit: i) the application of matrix-assisted laser desorption/ionization (MALDI) for mass spectrometry imaging (MSI) of drug of abuse in hair, ii) the use of high resolution mass spectrometry for simultaneous qualitative/quantitative analysis in drug metabolism and metabolomics, and iii) the absolute quantitation of proteins by mass spectrometry using the selected reaction monitoring mode.

Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

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

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

1996-09-01

To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators,more » hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical results are included.« less

Aerial cooperative transporting and assembling control using multiple quadrotor-manipulator systems

NASA Astrophysics Data System (ADS)

Qi, Yuhua; Wang, Jianan; Shan, Jiayuan

2018-02-01

In this paper, a fully distributed control scheme for aerial cooperative transporting and assembling is proposed using multiple quadrotor-manipulator systems with each quadrotor equipped with a robotic manipulator. First, the kinematic and dynamic models of a quadrotor with multi-Degree of Freedom (DOF) robotic manipulator are established together using Euler-Lagrange equations. Based on the aggregated dynamic model, the control scheme consisting of position controller, attitude controller and manipulator controller is presented. Regarding cooperative transporting and assembling, multiple quadrotor-manipulator systems should be able to form a desired formation without collision among quadrotors from any initial position. The desired formation is achieved by the distributed position controller and attitude controller, while the collision avoidance is guaranteed by an artificial potential function method. Then, the transporting and assembling tasks request the manipulators to reach the desired angles cooperatively, which is achieved by the distributed manipulator controller. The overall stability of the closed-loop system is proven by a Lyapunov method and Matrosov's theorem. In the end, the proposed control scheme is simplified for the real application and then validated by two formation flying missions of four quadrotors with 2-DOF manipulators.

Human factor roles in design of teleoperator systems

NASA Technical Reports Server (NTRS)

Janow, C.; Malone, T. B.

1973-01-01

Teleoperator systems are considered, giving attention to types of teleoperators, a manned space vehicle attached manipulator, a free-flying teleoperator, a surface exploration roving vehicle, the human factors role in total system design, the manipulator system, the sensor system, the communication system, the control system, and the mobility system. The role of human factors in the development of teleoperator systems is also discussed, taking into account visual systems, an operator control station, and the manipulators.

Modelling Soil Heat and Water Flow as a Coupled Process in Land Surface Models

NASA Astrophysics Data System (ADS)

García González, Raquel; Verhoef, Anne; Vidale, Pier Luigi; Braud, Isabelle

2010-05-01

To improve model estimates of soil water and heat flow by land surface models (LSMs), in particular in the first few centimetres of the near-surface soil profile, we have to consider in detail all the relevant physical processes involved (see e.g. Milly, 1982). Often, thermal and iso-thermal vapour fluxes in LSMs are neglected and the simplified Richard's equation is used as a result. Vapour transfer may affect the water fluxes and heat transfer in LSMs used for hydrometeorological and climate simulations. Processes occurring in the top 50 cm soil may be relevant for water and heat flux dynamics in the deeper layers, as well as for estimates of evapotranspiration and heterotrophic respiration, or even for climate and weather predictions. Water vapour transfer, which was not incorporated in previous versions of the MOSES/JULES model (Joint UK Land Environment Simulator; Cox et al., 1999), has now been implemented. Furthermore, we also assessed the effect of the soil vertical resolution on the simulated soil moisture and temperature profiles and the effect of the processes occurring at the upper boundary, mainly in terms of infiltration rates and evapotranspiration. SiSPAT (Simple Soil Plant Atmosphere Transfer Model; Braud et al., 1995) was initially used to quantify the changes that we expect to find when we introduce vapour transfer in JULES, involving parameters such as thermal vapour conductivity and diffusivity. Also, this approach allows us to compare JULES to a more complete and complex numerical model. Water vapour flux varied with soil texture, depth and soil moisture content, but overall our results suggested that water vapour fluxes change temperature gradients in the entire soil profile and introduce an overall surface cooling effect. Increasing the resolution smoothed and reduced temperature differences between liquid (L) and liquid/vapour (LV) simulations at all depths, and introduced a temperature increase over the entire soil profile. Thermal gradients rather than soil water potential gradients seem to cause temporal and spatial (vertical) soil temperature variability. We conclude that a multi-soil layer configuration may improve soil water dynamics, heat transfer and coupling of these processes, as well as evapotranspiration estimates and land surface-atmosphere coupling. However, a compromise should be reached between numerical and process-simulation aspects. References: Braud I., A.C. Dantas-Antonino, M. Vauclin, J.L. Thony and P. Ruelle, 1995b: A Simple Soil Plant Atmo- sphere Transfer model (SiSPAT), Development and field verification, J. Hydrol, 166: 213-250 Cox, P.M., R.A. Betts, C.B. Bunton, R.L.H. Essery, P.R. Rowntree, and J. Smith (1999), The impact of new land surface physics on the GCM simulation of climate and climate sensitivity. Clim. Dyn., 15, 183-203. Milly, P.C.D., 1982. Moisture and heat transport in hysteric inhomogeneous porous media: a matric head- based formulation and a numerical model, Water Resour. Res., 18:489-498

TeleOperator/telePresence System (TOPS) Concept Verification Model (CVM) development

NASA Technical Reports Server (NTRS)

Shimamoto, Mike S.

1993-01-01

The development of an anthropomorphic, undersea manipulator system, the TeleOperator/telePresence System (TOPS) Concept Verification Model (CVM) is described. The TOPS system's design philosophy, which results from NRaD's experience in undersea vehicles and manipulator systems development and operations, is presented. The TOPS design approach, task teams, manipulator, and vision system development and results, conclusions, and recommendations are presented.

Systems and methods for dismantling a nuclear reactor

DOEpatents

Heim, Robert R; Adams, Scott Ryan; Cole, Matthew Denver; Kirby, William E; Linnebur, Paul Damon

2014-10-28

Systems and methods for dismantling a nuclear reactor are described. In one aspect the system includes a remotely controlled heavy manipulator ("manipulator") operatively coupled to a support structure, and a control station in a non-contaminated portion of a workspace. The support structure provides the manipulator with top down access into a bioshield of a nuclear reactor. At least one computing device in the control station provides remote control to perform operations including: (a) dismantling, using the manipulator, a graphite moderator, concrete walls, and a ceiling of the bioshield, the manipulator being provided with automated access to all internal portions of the bioshield; (b) loading, using the manipulator, contaminated graphite blocks from the graphite core and other components from the bioshield into one or more waste containers; and (c) dispersing, using the manipulator, dust suppression and contamination fixing spray to contaminated matter.

A Robust Control of Two-Wheeled Mobile Manipulator with Underactuated Joint by Nonlinear Backstepping Method

NASA Astrophysics Data System (ADS)

Acar, Cihan; Murakami, Toshiyuki

In this paper, a robust control of two-wheeled mobile manipulator with underactuated joint is considered. Two-wheeled mobile manipulators are dynamically balanced two-wheeled driven systems that do not have any caster or extra wheels to stabilize their body. Two-wheeled mobile manipulators mainly have an important feature that makes them more flexible and agile than the statically stable mobile manipulators. However, two-wheeled mobile manipulator is an underactuated system due to its two-wheeled structure. Therefore, it is required to stabilize the underactuated passive body and, at the same time, control the position of the center of gravity (CoG) of the manipulator in this system. To realize this, nonlinear backstepping based control method with virtual double inverted pendulum model is proposed in this paper. Backstepping is used with sliding mode to increase the robustness of the system against modeling errors and other perturbations. Then robust acceleration control is also achieved by utilizing disturbance observer. Performance of the proposed method is evaluated by several experiments.

Modular telerobot control system for accident response

NASA Astrophysics Data System (ADS)

Anderson, Richard J. M.; Shirey, David L.

1999-08-01

The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera-frame teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements seven different behavior modes. This paper describes the integration of SMART into the ARMMS system.

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

Manipulator system man-machine interface evaluation program. [technology assessment

NASA Technical Reports Server (NTRS)

Malone, T. B.; Kirkpatrick, M.; Shields, N. L.

1974-01-01

Application and requirements for remote manipulator systems for future space missions were investigated. A manipulator evaluation program was established to study the effects of various systems parameters on operator performance of tasks necessary for remotely manned missions. The program and laboratory facilities are described. Evaluation criteria and philosophy are discussed.

A Hierarchical Learning Control Framework for an Aerial Manipulation System

NASA Astrophysics Data System (ADS)

Ma, Le; Chi, yanxun; Li, Jiapeng; Li, Zhongsheng; Ding, Yalei; Liu, Lixing

2017-07-01

A hierarchical learning control framework for an aerial manipulation system is proposed. Firstly, the mechanical design of aerial manipulation system is introduced and analyzed, and the kinematics and the dynamics based on Newton-Euler equation are modeled. Secondly, the framework of hierarchical learning for this system is presented, in which flight platform and manipulator are controlled by different controller respectively. The RBF (Radial Basis Function) neural networks are employed to estimate parameters and control. The Simulation and experiment demonstrate that the methods proposed effective and advanced.

Manipulation based on sensor-directed control: An integrated end effector and touch sensing system

NASA Technical Reports Server (NTRS)

Hill, J. W.; Sword, A. J.

1973-01-01

A hand/touch sensing system is described that, when mounted on a position-controlled manipulator, greatly expands the kinds of automated manipulation tasks that can be undertaken. Because of the variety of coordinate conversions, control equations, and completion criteria, control is necessarily dependent upon a small digital computer. The sensing system is designed both to be rugged and to sense the necessary touch and force information required to execute a wide range of manipulation tasks. The system consists of a six-axis wrist sensor, external touch sensors, and a pair of matrix jaw sensors. Details of the construction of the particular sensors, the integration of the end effector into the sensor system, and the control algorithms for using the sensor outputs to perform manipulation tasks automatically are discussed.

Underwater manipulator's kinematic analysis for sustainable and energy efficient water hydraulics system

NASA Astrophysics Data System (ADS)

Hassan, Siti Nor Habibah; Yusof, Ahmad Anas; Tuan, Tee Boon; Saadun, Mohd Noor Asril; Ibrahim, Mohd Qadafie; Nik, Wan Mohd Norsani Wan

2015-05-01

In promoting energy saving and sustainability, this paper presents research development of water hydraulics manipulator test rig for underwater application. Kinematic analysis of the manipulator has been studied in order to identify the workspace of the fabricated manipulator. The workspace is important as it will define the working area suitable to be developed on the test rig, in order to study the effectiveness of using water hydraulics system for underwater manipulation application. Underwater manipulator that has the ability to utilize the surrounding sea water itself as the power and energy carrier should have better advantages over sustainability and performance.

On the nature of control algorithms for free-floating space manipulators

NASA Technical Reports Server (NTRS)

Papadopoulos, Evangelos; Dubowsky, Steven

1991-01-01

It is suggested that nearly any control algorithm that can be used for fixed-based manipulators also can be employed in the control of free-floating space manipulator systems, with the additional conditions of estimating or measuring a spacecraft's orientation and of avoiding dynamic singularities. This result is based on the structural similarities between the kinematic and dynamic equations for the same manipulator but with a fixed base. Barycenters are used to formulate 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.

Weather Observers: A Manipulative Augmented Reality System for Weather Simulations at Home, in the Classroom, and at a Museum

ERIC Educational Resources Information Center

Hsiao, Hsien-Sheng; Chang, Cheng-Sian; Lin, Chien-Yu; Wang, Yau-Zng

2016-01-01

This study focused on how to enhance the interactivity and usefulness of augmented reality (AR) by integrating manipulative interactive tools with a real-world environment. A manipulative AR (MAR) system, which included 3D interactive models and manipulative aids, was designed and developed to teach the unit "Understanding Weather" in a…

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.

Method and system for assembling miniaturized devices

DOEpatents

Montesanti, Richard C.; Klingmann, Jeffrey L.; Seugling, Richard M.

2013-03-12

An apparatus for assembling a miniaturized device includes a manipulator system including six manipulators operable to position and orient components of the miniaturized device with submicron precision and micron-level accuracy. The manipulator system includes a first plurality of motorized axes, a second plurality of manual axes, and force and torque and sensors. Each of the six manipulators includes at least one translation stage, at least one rotation stage, tooling attached to the at least one translation stage or the at least one rotation stage, and an attachment mechanism disposed at a distal end of the tooling and operable to attach at least a portion of the miniaturized device to the tooling. The apparatus also includes an optical coordinate-measuring machine (OCMM) including a machine-vision system, a laser-based distance-measuring probe, and a touch probe. The apparatus also includes an operator control system coupled to the manipulator system and the OCMM.

A precompiler for the formula manipulation system TRIGMAN.

NASA Technical Reports Server (NTRS)

Jefferys, W. H.

1972-01-01

Discussion of a translator designed to simplify the programming of problems involving the TRIGMAN formula manipulation system. The translator allows for the introduction of a new data type, SERIES, into a FORTRAN program and translates a user's program into legal FORTRAN. The translator is adaptable to other formula manipulation systems presently used in celestial mechanics.

Biological effects of direct and indirect manipulation of the fascial system. Narrative review.

PubMed

Parravicini, Giovanni; Bergna, Andrea

2017-04-01

Osteopathic Manipulative Treatment (OMT) is effective in improving function, movement and restoring pain conditions. Despite clinical results, the mechanisms of how OMT achieves its' effects remain unclear. The fascial system is described as a tensional network that envelops the human body. Direct or indirect manipulations of the fascial system are a distinctive part of OMT. This review describes the biological effects of direct and indirect manipulation of the fascial system. Literature search was performed in February 2016 in the electronic databases: Cochrane, Medline, Scopus, Ostmed, Pedro and authors' publications relative to Fascia Research Congress Website. Manipulation of the fascial system seems to interfere with some cellular processes providing various pro-inflammatory and anti-inflammatory cells and molecules. Despite growing research in the osteopathic field, biological effects of direct or indirect manipulation of the fascial system are not conclusive. To elevate manual medicine as a primary intervention in clinical settings, it's necessary to clarify how OMT modalities work in order to underpin their clinical efficacies. Copyright © 2017 Elsevier Ltd. All rights reserved.

Object impedance control for cooperative manipulation - Theory and experimental results

NASA Technical Reports Server (NTRS)

Schneider, Stanley A.; Cannon, Robert H., Jr.

1992-01-01

This paper presents the dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system are used to compare the object impedance controller with other strategies, both for free-motion slews and environmental contact.

Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly

PubMed Central

Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

2016-01-01

Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system. PMID:27649180

Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly.

PubMed

Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

2016-09-14

Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system.

A shuttle and space station manipulator system for assembly, docking, maintenance cargo handling and spacecraft retrieval (preliminary design). Volume 1: Management summary

NASA Technical Reports Server (NTRS)

1972-01-01

A preliminary design is established for a general purpose manipulator system which can be used interchangeably on the shuttle and station and can be transferred back and forth between them. Control of the manipulator is accomplished by hard wiring from internal control stations in the shuttle or station. A variety of shuttle and station manipulator operations are considered including servicing the Large Space Telescope; however, emphasis is placed on unloading modules from the shuttle and assembling the space station. Simulation studies on foveal stereoscopic viewing and manipulator supervisory computer control have been accomplished to investigate the feasibility of their use in the manipulator system. The basic manipulator system consists of a single 18.3 m long, 7 degree of freedom (DOF), electrically acutated main boom with an auxiliary 3 DOF electrically actuated, extendible 18.3 m maximum length, lighting, and viewing boom. A 3 DOF orientor assembly is located at the tip of the viewing boom to provide camera pan, tilt, and roll.

The environmental impact of poverty: evidence from firewood collection in rural Nepal.

PubMed

Baland, Jean-Marie; Bardhan, Pranab; Das, Sanghamitra; Mookherjee, Dilip; Sarkar, Rinki

2010-01-01

We investigate determinants of household firewood collection in rural Nepal, using 1995-96 and 2002-3 World Bank Living Standards Measurement Survey (LSMS) data. We incorporate village fixed effects, endogenous censoring, measurement error in living standards and heterogeneous effects of different household assets. We find no evidence in favor of the poverty-environment hypothesis. The evidence for the environmental Kuznets curve depends on the precise measure of living standards and time period studied. Firewood collections fall with a transition to modern occupations and rise with increasing population and household division. The local interhousehold collection externality is negligible, indicating that policy interventions are justified only by ecological considerations or nonlocal spillovers.

How verbal and spatial manipulation networks contribute to calculation: an fMRI study.

PubMed

Zago, Laure; Petit, Laurent; Turbelin, Marie-Renée; Andersson, Frédéric; Vigneau, Mathieu; Tzourio-Mazoyer, Nathalie

2008-01-01

The manipulation of numbers required during calculation is known to rely on working memory (WM) resources. Here, we investigated the respective contributions of verbal and/or spatial WM manipulation brain networks during the addition of four numbers performed by adults, using functional magnetic resonance imaging (fMRI). Both manipulation and maintenance tasks were proposed with syllables, locations, or two-digit numbers. As compared to their maintenance, numbers manipulation (addition) elicited increased activation within a widespread cortical network including inferior temporal, parietal, and prefrontal regions. Our results demonstrate that mastery of arithmetic calculation requires the cooperation of three WM manipulation systems: an executive manipulation system conjointly recruited by the three manipulation tasks, including the anterior cingulate cortex (ACC), the orbital part of the inferior frontal gyrus, and the caudate nuclei; a left-lateralized, language-related, inferior fronto-temporal system elicited by numbers and syllables manipulation tasks required for retrieval, selection, and association of symbolic information; and a right superior and posterior fronto-parietal system elicited by numbers and locations manipulation tasks for spatial WM and attentional processes. Our results provide new information that the anterior intraparietal sulcus (IPS) is involved in tasks requiring a magnitude processing with symbolic (numbers) and nonsymbolic (locations) stimuli. Furthermore, the specificity of arithmetic processing is mediated by a left-hemispheric specialization of the anterior and posterior parts of the IPS as compared to a spatial task involving magnitude processing with nonsymbolic material.

Remotely manned systems: Exploration and operation in space; Proceedings of the First National Conference, California Institute of Technology, Pasadena, Calif., September 13-15, 1972.

NASA Technical Reports Server (NTRS)

Heer, E.

1973-01-01

Free-flying teleoperator systems are discussed, giving attention to earth-orbit mission considerations and Space Tug requirements, free-flying teleoperator requirements and conceptual design, system requirements for a free-flying teleoperator to despin, and the experimental evaluation of remote manipulator systems. Shuttle-Attached Manipulator Systems are considered, together with remote surface vehicle systems, manipulator systems technology, remote sensor and display technology, the man-machine interface, and control and machine intelligence. Nonspace applications are also explored, taking into account implications of nonspace applications, naval applications of remote manipulators, and hand tools and mechanical accessories for a deep submersible. Individual items are announced in this issue.

Collision Detection for Underwater ROV Manipulator Systems

PubMed Central

Rossi, Matija; Dooly, Gerard; Toal, Daniel

2018-01-01

Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations. PMID:29642396

Collision Detection for Underwater ROV Manipulator Systems.

PubMed

Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel

2018-04-06

Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

Decoupled macro/micro-manipulator for fast and precise assembly operations: design and experiments

NASA Astrophysics Data System (ADS)

Hodac, Agathe; Siegwart, Roland Y.

1999-08-01

This paper presents a high performance single arm robot configuration, based on a macro-manipulator coupled with a micro-manipulator. The system is well suited to fast and precise positioning tasks for repetitive pick and place applications in the manufacturing industry. Firstly, the paper focuses on the design of the micro-manipulator, particularly on the selection of the proper micro-actuator type and location. We show that the micro-manipulator's design with an actuator placed between endpoint and ground and with a flexible suspension system can reduce the dynamic coupling between the macro-manipulator and the micro- manipulator. The overall system performance can then be improved. We describe two different designs of compact and fast micro-manipulators composed of voice coil actuators and a monolithic flexure suspension with notch hinges. Secondly, the paper presents a control strategy that allows both correction of possible misalignments of the end-effector relative to the target and compensation of tip oscillations. The dynamic interaction is analyzed and stability is verified. Finally, experimental results demonstrate significant improvements in acceleration, endpoint accuracy and settling time achieved by the novel configuration of the macro/micro-manipulator.

The locating ways of laying pipe manipulator

NASA Astrophysics Data System (ADS)

Wang, Dan; Li, Bin; Lei, DongLiang

2010-01-01

The laying pipe manipulator is a new equipment to lay concrete pipe. This kind of manipulator makes the work of laying pipes mechanized and automated. We report here a new laying pipe manipulator. The manipulator has 5 free degrees, and is driven by the hydraulic system. In the paper, one critical question of manipulator is studied: the locating ways of the manipulator to lay concrete pipe. During the process of laying concrete pipe, how to locate the manipulator is realized by the locating system of manipulator. The locating system consists of photoelectric target, laser producer, and computer. According to different construction condition, one or two or three photoelectric targets can be used. During the process of laying concrete pipe, if the interface of pipes are jointed together, and the other segment of pipe deviates from the pipe way, one target can be used, if the angle that the manipulator rotates around the holding pipe's axes is 0°, two targets can be used, three targets can be used at any site. In the paper, according to each locating way, the theory analysis is done. And the mathematical models of the manipulator moving from original position to goal position are obtained by different locating way. And the locating experiment was done. According to the experiment result, the work principle and mathematical models of different locating way was turned out to be well adopted for requirement, the mathematical model of different locating way supplies the basic control theory for the manipulator to lay and joint concrete pipe automatically.

Improving the Fit of a Land-Surface Model to Data Using its Adjoint

NASA Astrophysics Data System (ADS)

Raoult, Nina; Jupp, Tim; Cox, Peter; Luke, Catherine

2016-04-01

Land-surface models (LSMs) are crucial components of the Earth System Models (ESMs) which are used to make coupled climate-carbon cycle projections for the 21st century. The Joint UK Land Environment Simulator (JULES) is the land-surface model used in the climate and weather forecast models of the UK Met Office. In this study, JULES is automatically differentiated using commercial software from FastOpt, resulting in an analytical gradient, or adjoint, of the model. Using this adjoint, the adJULES parameter estimation system has been developed, to search for locally optimum parameter sets by calibrating against observations. We present an introduction to the adJULES system and demonstrate its ability to improve the model-data fit using eddy covariance measurements of gross primary production (GPP) and latent heat (LE) fluxes. adJULES also has the ability to calibrate over multiple sites simultaneously. This feature is used to define new optimised parameter values for the 5 Plant Functional Types (PFTS) in JULES. The optimised PFT-specific parameters improve the performance of JULES over 90% of the FLUXNET sites used in the study. These reductions in error are shown and compared to reductions found due to site-specific optimisations. Finally, we show that calculation of the 2nd derivative of JULES allows us to produce posterior probability density functions of the parameters and how knowledge of parameter values is constrained by observations.

Land-surface parameter optimisation using data assimilation techniques: the adJULES system V1.0

NASA Astrophysics Data System (ADS)

Raoult, Nina M.; Jupp, Tim E.; Cox, Peter M.; Luke, Catherine M.

2016-08-01

Land-surface models (LSMs) are crucial components of the Earth system models (ESMs) that are used to make coupled climate-carbon cycle projections for the 21st century. The Joint UK Land Environment Simulator (JULES) is the land-surface model used in the climate and weather forecast models of the UK Met Office. JULES is also extensively used offline as a land-surface impacts tool, forced with climatologies into the future. In this study, JULES is automatically differentiated with respect to JULES parameters using commercial software from FastOpt, resulting in an analytical gradient, or adjoint, of the model. Using this adjoint, the adJULES parameter estimation system has been developed to search for locally optimum parameters by calibrating against observations. This paper describes adJULES in a data assimilation framework and demonstrates its ability to improve the model-data fit using eddy-covariance measurements of gross primary production (GPP) and latent heat (LE) fluxes. adJULES also has the ability to calibrate over multiple sites simultaneously. This feature is used to define new optimised parameter values for the five plant functional types (PFTs) in JULES. The optimised PFT-specific parameters improve the performance of JULES at over 85 % of the sites used in the study, at both the calibration and evaluation stages. The new improved parameters for JULES are presented along with the associated uncertainties for each parameter.

A disturbance observer-based adaptive control approach for flexure beam nano manipulators.

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-01-01

This paper presents a systematic modeling and control methodology for a two-dimensional flexure beam-based servo stage supporting micro/nano manipulations. Compared with conventional mechatronic systems, such systems have major control challenges including cross-axis coupling, dynamical uncertainties, as well as input saturations, which may have adverse effects on system performance unless effectively eliminated. A novel disturbance observer-based adaptive backstepping-like control approach is developed for high precision servo manipulation purposes, which effectively accommodates model uncertainties and coupling dynamics. An auxiliary system is also introduced, on top of the proposed control scheme, to compensate the input saturations. The proposed control architecture is deployed on a customized-designed nano manipulating system featured with a flexure beam structure and voice coil actuators (VCA). Real time experiments on various manipulating tasks, such as trajectory/contour tracking, demonstrate precision errors of less than 1%. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Study of design and control of remote manipulators. Part 4: Experiments in video camera positioning with regard to remote manipulation

NASA Technical Reports Server (NTRS)

Mackro, J.

1973-01-01

The results are presented of a study involving closed circuit television as the means of providing the necessary task-to-operator feedback for efficient performance of the remote manipulation system. Experiments were performed to determine the remote video configuration that will result in the best overall system. Two categories of tests were conducted which include: those which involved remote control position (rate) of just the video system, and those in which closed circuit TV was used along with manipulation of the objects themselves.

A Null Space Control of Two Wheels Driven Mobile Manipulator Using Passivity Theory

NASA Astrophysics Data System (ADS)

Shibata, Tsuyoshi; Murakami, Toshiyuki

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

Novel graphical environment for virtual and real-world operations of tracked mobile manipulators

NASA Astrophysics Data System (ADS)

Chen, ChuXin; Trivedi, Mohan M.; Azam, Mir; Lassiter, Nils T.

1993-08-01

A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of an integrated mobile manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

Virtual- and real-world operation of mobile robotic manipulators: integrated simulation, visualization, and control environment

NASA Astrophysics Data System (ADS)

Chen, ChuXin; Trivedi, Mohan M.

1992-03-01

This research is focused on enhancing the overall productivity of an integrated human-robot system. A simulation, animation, visualization, and interactive control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for multisensor simulation, kinematics and locomotion animation, dynamic motion and manipulation animation, transformation between real and virtual modes within the same graphics system, ease in exchanging software modules and hardware devices between real and virtual world operations, and interfacing with a real robotic system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation, and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

A Study of Multi-Representation of Geometry Problem Solving with Virtual Manipulatives and Whiteboard System

ERIC Educational Resources Information Center

Hwang, Wu-Yuin; Su, Jia-Han; Huang, Yueh-Min; Dong, Jian-Jie

2009-01-01

In this paper, the development of an innovative Virtual Manipulatives and Whiteboard (VMW) system is described. The VMW system allowed users to manipulate virtual objects in 3D space and find clues to solve geometry problems. To assist with multi-representation transformation, translucent multimedia whiteboards were used to provide a virtual 3D…

Rigid hoist articulated grapple system development for enhanced remote maintenance

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

Witham, C.; White, P.; Garin, J.

1979-01-01

Remote maintenance and repair within nuclear environments have become more demanding of remote manipulation equipment in the last few years. A deficiency exists in the array of tools available for dexterous operations of loads in the 180-kg range. The development of a manipulation system with enhanced operator controls is discussed. This system is a six-degree-of-freedom manipulator with bilateral servo control. It is to be attached to a mobile support boom in order to operate throughout the nuclear cell. The manipulator is intended to work in conjunction with light duty servomanipulators, overhead crane systems, and through-the-wall mechanical master slaves.

Comparison of System Identification Techniques for the Hydraulic Manipulator Test Bed (HMTB)

NASA Technical Reports Server (NTRS)

Morris, A. Terry

1996-01-01

In this thesis linear, dynamic, multivariable state-space models for three joints of the ground-based Hydraulic Manipulator Test Bed (HMTB) are identified. HMTB, housed at the NASA Langley Research Center, is a ground-based version of the Dexterous Orbital Servicing System (DOSS), a representative space station manipulator. The dynamic models of the HMTB manipulator will first be estimated by applying nonparametric identification methods to determine each joint's response characteristics using various input excitations. These excitations include sum of sinusoids, pseudorandom binary sequences (PRBS), bipolar ramping pulses, and chirp input signals. Next, two different parametric system identification techniques will be applied to identify the best dynamical description of the joints. The manipulator is localized about a representative space station orbital replacement unit (ORU) task allowing the use of linear system identification methods. Comparisons, observations, and results of both parametric system identification techniques are discussed. The thesis concludes by proposing a model reference control system to aid in astronaut ground tests. This approach would allow the identified models to mimic on-orbit dynamic characteristics of the actual flight manipulator thus providing astronauts with realistic on-orbit responses to perform space station tasks in a ground-based environment.

Kinematics modeling and experimentation of the multi-manipulator tooth-arrangement robot for full denture manufacturing.

PubMed

Zhang, Yong-de; Jiang, Jin-gang; Liang, Ting; Hu, Wei-ping

2011-12-01

Artificial teeth are very complicated in shape, and not easy to be grasped and manipulated accurately by a single robot. The method of tooth-arrangement by multi-manipulator for complete denture manufacturing proposed in this paper. A novel complete denture manufacturing mechanism is designed based on multi-manipulator and dental arch generator. Kinematics model of the multi-manipulator tooth-arrangement robot is built by analytical method based on tooth-arrangement principle for full denture. Preliminary experiments on tooth-arrangement are performed using the multi-manipulator tooth-arrangement robot prototype system. The multi-manipulator tooth-arrangement robot prototype system can automatically design and manufacture a set of complete denture that is suitable for a patient according to the jaw arch parameters. The experimental results verified the validity of kinematics model of the multi-manipulator tooth-arrangement robot and the feasibility of the manufacture strategy of complete denture fulfilled by multi-manipulator tooth-arrangement robot.

CMIP5 land surface models systematically underestimate inter-annual variability of net ecosystem exchange in semi-arid southwestern North America.

NASA Astrophysics Data System (ADS)

MacBean, N.; Scott, R. L.; Biederman, J. A.; Vuichard, N.; Hudson, A.; Barnes, M.; Fox, A. M.; Smith, W. K.; Peylin, P. P.; Maignan, F.; Moore, D. J.

2017-12-01

Recent studies based on analysis of atmospheric CO2 inversions, satellite data and terrestrial biosphere model simulations have suggested that semi-arid ecosystems play a dominant role in the interannual variability and long-term trend in the global carbon sink. These studies have largely cited the response of vegetation activity to changing moisture availability as the primary mechanism of variability. However, some land surface models (LSMs) used in these studies have performed poorly in comparison to satellite-based observations of vegetation dynamics in semi-arid regions. Further analysis is therefore needed to ensure semi-arid carbon cycle processes are well represented in global scale LSMs before we can fully establish their contribution to the global carbon cycle. In this study, we evaluated annual net ecosystem exchange (NEE) simulated by CMIP5 land surface models using observations from 20 Ameriflux sites across semi-arid southwestern North America. We found that CMIP5 models systematically underestimate the magnitude and sign of NEE inter-annual variability; therefore, the true role of semi-arid regions in the global carbon cycle may be even more important than previously thought. To diagnose the factors responsible for this bias, we used the ORCHIDEE LSM to test different climate forcing data, prescribed vegetation fractions and model structures. Climate and prescribed vegetation do contribute to uncertainty in annual NEE simulations, but the bias is primarily caused by incorrect timing and magnitude of peak gross carbon fluxes. Modifications to the hydrology scheme improved simulations of soil moisture in comparison to data. This in turn improved the seasonal cycle of carbon uptake due to a more realistic limitation on photosynthesis during water stress. However, the peak fluxes are still too low, and phenology is poorly represented for desert shrubs and grasses. We provide suggestions on model developments needed to tackle these issues in the future.

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

Pau, G. S. H.; Bisht, G.; Riley, W. J.

Existing land surface models (LSMs) describe physical and biological processes that occur over a wide range of spatial and temporal scales. For example, biogeochemical and hydrological processes responsible for carbon (CO 2, CH 4) exchanges with the atmosphere range from the molecular scale (pore-scale O 2 consumption) to tens of kilometers (vegetation distribution, river networks). Additionally, many processes within LSMs are nonlinearly coupled (e.g., methane production and soil moisture dynamics), and therefore simple linear upscaling techniques can result in large prediction error. In this paper we applied a reduced-order modeling (ROM) technique known as "proper orthogonal decomposition mapping method" thatmore » reconstructs temporally resolved fine-resolution solutions based on coarse-resolution solutions. We developed four different methods and applied them to four study sites in a polygonal tundra landscape near Barrow, Alaska. Coupled surface–subsurface isothermal simulations were performed for summer months (June–September) at fine (0.25 m) and coarse (8 m) horizontal resolutions. We used simulation results from three summer seasons (1998–2000) to build ROMs of the 4-D soil moisture field for the study sites individually (single-site) and aggregated (multi-site). The results indicate that the ROM produced a significant computational speedup (> 10 3) with very small relative approximation error (< 0.1%) for 2 validation years not used in training the ROM. We also demonstrate that our approach: (1) efficiently corrects for coarse-resolution model bias and (2) can be used for polygonal tundra sites not included in the training data set with relatively good accuracy (< 1.7% relative error), thereby allowing for the possibility of applying these ROMs across a much larger landscape. By coupling the ROMs constructed at different scales together hierarchically, this method has the potential to efficiently increase the resolution of land models for coupled climate simulations to spatial scales consistent with mechanistic physical process representation.« less

A reduced-order modeling approach to represent subgrid-scale hydrological dynamics for land-surface simulations: application in a polygonal tundra landscape

DOE PAGES

Pau, G. S. H.; Bisht, G.; Riley, W. J.

2014-09-17

Existing land surface models (LSMs) describe physical and biological processes that occur over a wide range of spatial and temporal scales. For example, biogeochemical and hydrological processes responsible for carbon (CO 2, CH 4) exchanges with the atmosphere range from the molecular scale (pore-scale O 2 consumption) to tens of kilometers (vegetation distribution, river networks). Additionally, many processes within LSMs are nonlinearly coupled (e.g., methane production and soil moisture dynamics), and therefore simple linear upscaling techniques can result in large prediction error. In this paper we applied a reduced-order modeling (ROM) technique known as "proper orthogonal decomposition mapping method" thatmore » reconstructs temporally resolved fine-resolution solutions based on coarse-resolution solutions. We developed four different methods and applied them to four study sites in a polygonal tundra landscape near Barrow, Alaska. Coupled surface–subsurface isothermal simulations were performed for summer months (June–September) at fine (0.25 m) and coarse (8 m) horizontal resolutions. We used simulation results from three summer seasons (1998–2000) to build ROMs of the 4-D soil moisture field for the study sites individually (single-site) and aggregated (multi-site). The results indicate that the ROM produced a significant computational speedup (> 10 3) with very small relative approximation error (< 0.1%) for 2 validation years not used in training the ROM. We also demonstrate that our approach: (1) efficiently corrects for coarse-resolution model bias and (2) can be used for polygonal tundra sites not included in the training data set with relatively good accuracy (< 1.7% relative error), thereby allowing for the possibility of applying these ROMs across a much larger landscape. By coupling the ROMs constructed at different scales together hierarchically, this method has the potential to efficiently increase the resolution of land models for coupled climate simulations to spatial scales consistent with mechanistic physical process representation.« less

An evaluation of the performance of a WRF multi-physics ensemble for heatwave events over the city of Melbourne in southeast Australia

NASA Astrophysics Data System (ADS)

Imran, H. M.; Kala, J.; Ng, A. W. M.; Muthukumaran, S.

2018-04-01

Appropriate choice of physics options among many physics parameterizations is important when using the Weather Research and Forecasting (WRF) model. The responses of different physics parameterizations of the WRF model may vary due to geographical locations, the application of interest, and the temporal and spatial scales being investigated. Several studies have evaluated the performance of the WRF model in simulating the mean climate and extreme rainfall events for various regions in Australia. However, no study has explicitly evaluated the sensitivity of the WRF model in simulating heatwaves. Therefore, this study evaluates the performance of a WRF multi-physics ensemble that comprises 27 model configurations for a series of heatwave events in Melbourne, Australia. Unlike most previous studies, we not only evaluate temperature, but also wind speed and relative humidity, which are key factors influencing heatwave dynamics. No specific ensemble member for all events explicitly showed the best performance, for all the variables, considering all evaluation metrics. This study also found that the choice of planetary boundary layer (PBL) scheme had largest influence, the radiation scheme had moderate influence, and the microphysics scheme had the least influence on temperature simulations. The PBL and microphysics schemes were found to be more sensitive than the radiation scheme for wind speed and relative humidity. Additionally, the study tested the role of Urban Canopy Model (UCM) and three Land Surface Models (LSMs). Although the UCM did not play significant role, the Noah-LSM showed better performance than the CLM4 and NOAH-MP LSMs in simulating the heatwave events. The study finally identifies an optimal configuration of WRF that will be a useful modelling tool for further investigations of heatwaves in Melbourne. Although our results are invariably region-specific, our results will be useful to WRF users investigating heatwave dynamics elsewhere.

Human-induced Terrestrial Water Storage Change: A Global Analysis using Hydrological Models and GRACE

NASA Astrophysics Data System (ADS)

Felfelani, F.; Pokhrel, Y. N.

2016-12-01

Hydrological models and data derived from the Gravity Recovery and Climate Experiment (GRACE) satellite mission are used to study terrestrial water storage (TWS) change; however, both have disadvantages that necessitate the integrated use of them. While GRACE doesn't disintegrate the vertical storage into its components, most models do not account for human activities. Here we use two Land Surface Models (LSMs), i.e., HiGW-MAT and PCRGLOBWB that fully couple natural and human drivers of changes in water cycle, explicitly simulating the changes in various TWS compartments. We first evaluate the models performance with GRACE observations. Then, we quantify the human footprint over global river basins located in different geographic and climate regions. To quantify human impacts, a new framework is proposed based on the GRACE observations (representing both climate variability and human activities) together with the natural simulation of LSMs using water budget equation (P-ET-R; P for precipitation, ET for evapotranspiration, and R for runoff). Finally, we examine the uncertainty in TWS simulations arising from the uncertainties in forcing data. Results indicate that, in snow-dominated regions, PCRGLOBWB generally fails to reproduce neither the interannual variability of observed TWS nor the seasonal cycle, while HiGW-MAT model shows significantly better results. In basins with human signatures, PCRGLOBWB generally shows better agreement with GRACE compared to HiGW-MAT. It is found that HiGW-MAT tends to overestimate groundwater depletion in basins with human impacts (e.g., Amudarya, Colorado, Euphrates and Indus), which results in larger negative interannual TWS trend compared to GRACE. Euphrates and Ganges river basins experience the highest human-induced TWS deficit rates (2.08 cm/yr and 1.94 cm/yr, respectively) during the simulation period of 2002-2010. Uncertainty analysis of results from the same model but with different forcing data suggests a high standard deviation in the order of 10 cm/yr.

A Gas-Spring-Loaded X-Y-Z Stage System for X-ray Microdiffraction Sample Manipulation

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

Shu Deming; Cai Zhonghou; Lai, Barry

2007-01-19

We have designed and constructed a gas-spring-loaded x-y-z stage system for x-ray microdiffraction sample manipulation at the Advanced Photon Source XOR 2-ID-D station. The stage system includes three DC-motor-driven linear stages and a gas-spring-based heavy preloading structure, which provides antigravity forces to ensure that the stage system keeps high-positioning performance under variable goniometer orientation. Microdiffraction experiments with this new stage system showed significant sample manipulation performance improvement.

A Gas-Spring-Loaded X-Y-Z Stage System for X-ray Microdiffraction Sample Manipulation

NASA Astrophysics Data System (ADS)

Shu, Deming; Cai, Zhonghou; Lai, Barry

2007-01-01

We have designed and constructed a gas-spring-loaded x-y-z stage system for x-ray microdiffraction sample manipulation at the Advanced Photon Source XOR 2-ID-D station. The stage system includes three DC-motor-driven linear stages and a gas-spring-based heavy preloading structure, which provides antigravity forces to ensure that the stage system keeps high-positioning performance under variable goniometer orientation. Microdiffraction experiments with this new stage system showed significant sample manipulation performance improvement.

Evaluating the effect of alternative carbon allocation schemes in a land surface model (CLM4.5) on carbon fluxes, pools, and turnover in temperate forests

NASA Astrophysics Data System (ADS)

Montané, Francesc; Fox, Andrew M.; Arellano, Avelino F.; MacBean, Natasha; Alexander, M. Ross; Dye, Alex; Bishop, Daniel A.; Trouet, Valerie; Babst, Flurin; Hessl, Amy E.; Pederson, Neil; Blanken, Peter D.; Bohrer, Gil; Gough, Christopher M.; Litvak, Marcy E.; Novick, Kimberly A.; Phillips, Richard P.; Wood, Jeffrey D.; Moore, David J. P.

2017-09-01

How carbon (C) is allocated to different plant tissues (leaves, stem, and roots) determines how long C remains in plant biomass and thus remains a central challenge for understanding the global C cycle. We used a diverse set of observations (AmeriFlux eddy covariance tower observations, biomass estimates from tree-ring data, and leaf area index (LAI) measurements) to compare C fluxes, pools, and LAI data with those predicted by a land surface model (LSM), the Community Land Model (CLM4.5). We ran CLM4.5 for nine temperate (including evergreen and deciduous) forests in North America between 1980 and 2013 using four different C allocation schemes: i. dynamic C allocation scheme (named "D-CLM4.5") with one dynamic allometric parameter, which allocates C to the stem and leaves to vary in time as a function of annual net primary production (NPP); ii. an alternative dynamic C allocation scheme (named "D-Litton"), where, similar to (i), C allocation is a dynamic function of annual NPP, but unlike (i) includes two dynamic allometric parameters involving allocation to leaves, stem, and coarse roots; iii.-iv. a fixed C allocation scheme with two variants, one representative of observations in evergreen (named "F-Evergreen") and the other of observations in deciduous forests (named "F-Deciduous"). D-CLM4.5 generally overestimated gross primary production (GPP) and ecosystem respiration, and underestimated net ecosystem exchange (NEE). In D-CLM4.5, initial aboveground biomass in 1980 was largely overestimated (between 10 527 and 12 897 g C m-2) for deciduous forests, whereas aboveground biomass accumulation through time (between 1980 and 2011) was highly underestimated (between 1222 and 7557 g C m-2) for both evergreen and deciduous sites due to a lower stem turnover rate in the sites than the one used in the model. D-CLM4.5 overestimated LAI in both evergreen and deciduous sites because the leaf C-LAI relationship in the model did not match the observed leaf C-LAI relationship at our sites. Although the four C allocation schemes gave similar results for aggregated C fluxes, they translated to important differences in long-term aboveground biomass accumulation and aboveground NPP. For deciduous forests, D-Litton gave more realistic Cstem / Cleaf ratios and strongly reduced the overestimation of initial aboveground biomass and aboveground NPP for deciduous forests by D-CLM4.5. We identified key structural and parameterization deficits that need refinement to improve the accuracy of LSMs in the near future. These include changing how C is allocated in fixed and dynamic schemes based on data from current forest syntheses and different parameterization of allocation schemes for different forest types. Our results highlight the utility of using measurements of aboveground biomass to evaluate and constrain the C allocation scheme in LSMs, and suggest that stem turnover is overestimated by CLM4.5 for these AmeriFlux sites. Understanding the controls of turnover will be critical to improving long-term C processes in LSMs.

Evaluating the effect of alternative carbon allocation schemes in a land surface model (CLM4.5) on carbon fluxes, pools, and turnover in temperate forests

DOE PAGES

Montané, Francesc; Fox, Andrew M.; Arellano, Avelino F.; ...

2017-09-22

How carbon (C) is allocated to different plant tissues (leaves, stem, and roots) determines how long C remains in plant biomass and thus remains a central challenge for understanding the global C cycle. We used a diverse set of observations (AmeriFlux eddy covariance tower observations, biomass estimates from tree-ring data, and leaf area index (LAI) measurements) to compare C fluxes, pools, and LAI data with those predicted by a land surface model (LSM), the Community Land Model (CLM4.5). We ran CLM4.5 for nine temperate (including evergreen and deciduous) forests in North America between 1980 and 2013 using four different C allocationmore » schemes: i. dynamic C allocation scheme (named "D-CLM4.5") with one dynamic allometric parameter, which allocates C to the stem and leaves to vary in time as a function of annual net primary production (NPP); ii. an alternative dynamic C allocation scheme (named "D-Litton"), where, similar to (i), C allocation is a dynamic function of annual NPP, but unlike (i) includes two dynamic allometric parameters involving allocation to leaves, stem, and coarse roots; iii.–iv. a fixed C allocation scheme with two variants, one representative of observations in evergreen (named "F-Evergreen") and the other of observations in deciduous forests (named "F-Deciduous"). D-CLM4.5 generally overestimated gross primary production (GPP) and ecosystem respiration, and underestimated net ecosystem exchange (NEE). In D-CLM4.5, initial aboveground biomass in 1980 was largely overestimated (between 10 527 and 12 897 g C m -2) for deciduous forests, whereas aboveground biomass accumulation through time (between 1980 and 2011) was highly underestimated (between 1222 and 7557 g C m -2) for both evergreen and deciduous sites due to a lower stem turnover rate in the sites than the one used in the model. D-CLM4.5 overestimated LAI in both evergreen and deciduous sites because the leaf C–LAI relationship in the model did not match the observed leaf C–LAI relationship at our sites. Although the four C allocation schemes gave similar results for aggregated C fluxes, they translated to important differences in long-term aboveground biomass accumulation and aboveground NPP. For deciduous forests, D-Litton gave more realistic C stem/C leaf ratios and strongly reduced the overestimation of initial aboveground biomass and aboveground NPP for deciduous forests by D-CLM4.5. We identified key structural and parameterization deficits that need refinement to improve the accuracy of LSMs in the near future. These include changing how C is allocated in fixed and dynamic schemes based on data from current forest syntheses and different parameterization of allocation schemes for different forest types. Our results highlight the utility of using measurements of aboveground biomass to evaluate and constrain the C allocation scheme in LSMs, and suggest that stem turnover is overestimated by CLM4.5 for these AmeriFlux sites. Understanding the controls of turnover will be critical to improving long-term C processes in LSMs.« less

Evaluating the effect of alternative carbon allocation schemes in a land surface model (CLM4.5) on carbon fluxes, pools, and turnover in temperate forests

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

Montané, Francesc; Fox, Andrew M.; Arellano, Avelino F.

How carbon (C) is allocated to different plant tissues (leaves, stem, and roots) determines how long C remains in plant biomass and thus remains a central challenge for understanding the global C cycle. We used a diverse set of observations (AmeriFlux eddy covariance tower observations, biomass estimates from tree-ring data, and leaf area index (LAI) measurements) to compare C fluxes, pools, and LAI data with those predicted by a land surface model (LSM), the Community Land Model (CLM4.5). We ran CLM4.5 for nine temperate (including evergreen and deciduous) forests in North America between 1980 and 2013 using four different C allocationmore » schemes: i. dynamic C allocation scheme (named "D-CLM4.5") with one dynamic allometric parameter, which allocates C to the stem and leaves to vary in time as a function of annual net primary production (NPP); ii. an alternative dynamic C allocation scheme (named "D-Litton"), where, similar to (i), C allocation is a dynamic function of annual NPP, but unlike (i) includes two dynamic allometric parameters involving allocation to leaves, stem, and coarse roots; iii.–iv. a fixed C allocation scheme with two variants, one representative of observations in evergreen (named "F-Evergreen") and the other of observations in deciduous forests (named "F-Deciduous"). D-CLM4.5 generally overestimated gross primary production (GPP) and ecosystem respiration, and underestimated net ecosystem exchange (NEE). In D-CLM4.5, initial aboveground biomass in 1980 was largely overestimated (between 10 527 and 12 897 g C m -2) for deciduous forests, whereas aboveground biomass accumulation through time (between 1980 and 2011) was highly underestimated (between 1222 and 7557 g C m -2) for both evergreen and deciduous sites due to a lower stem turnover rate in the sites than the one used in the model. D-CLM4.5 overestimated LAI in both evergreen and deciduous sites because the leaf C–LAI relationship in the model did not match the observed leaf C–LAI relationship at our sites. Although the four C allocation schemes gave similar results for aggregated C fluxes, they translated to important differences in long-term aboveground biomass accumulation and aboveground NPP. For deciduous forests, D-Litton gave more realistic C stem/C leaf ratios and strongly reduced the overestimation of initial aboveground biomass and aboveground NPP for deciduous forests by D-CLM4.5. We identified key structural and parameterization deficits that need refinement to improve the accuracy of LSMs in the near future. These include changing how C is allocated in fixed and dynamic schemes based on data from current forest syntheses and different parameterization of allocation schemes for different forest types. Our results highlight the utility of using measurements of aboveground biomass to evaluate and constrain the C allocation scheme in LSMs, and suggest that stem turnover is overestimated by CLM4.5 for these AmeriFlux sites. Understanding the controls of turnover will be critical to improving long-term C processes in LSMs.« less

Hydraulic manipulator research at ORNL

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

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 Nationalmore » 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.« less

A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 3: Concept analysis. Part 1: Technical

NASA Technical Reports Server (NTRS)

1972-01-01

Information backing up the key features of the manipulator system concept and detailed technical information on the subsystems are presented. Space station assembly and shuttle cargo handling tasks are emphasized in the concept analysis because they involve shuttle berthing, transferring the manipulator boom between shuttle and station, station assembly, and cargo handling. Emphasis is also placed on maximizing commonality in the system areas of manipulator booms, general purpose end effectors, control and display, data processing, telemetry, dedicated computers, and control station design.

Studies to design and develop improved remote manipulator systems

NASA Technical Reports Server (NTRS)

Hill, J. W.; Sword, A. J.

1973-01-01

Remote manipulator control considered is based on several levels of automatic supervision which derives manipulator commands from an analysis of sensor states and task requirements. Principle sensors are manipulator joint position, tactile, and currents. The tactile sensor states can be displayed visually in perspective or replicated in the operator's control handle of perceived by the automatic supervisor. Studies are reported on control organization, operator performance and system performance measures. Unusual hardware and software details are described.

Assessment of the water and energy budget simulation of three land surface models: CLM4.5, CoLM2014, and CoLM2005

NASA Astrophysics Data System (ADS)

Li, C.; Lu, H.; Wen, X.

2015-12-01

Land surface model (LSM), which simulates energy, water and momentum exchanges between land and atmosphere, is an important component of Earth System Models (ESM). As shown in CMIP5, different ESMs usually use different LSMs and represent various land surface status. In order to select a land surface model which could be embedded into the ESM developed in Tsinghua University, we firstly evaluate the performance of three LSMs: Community Land Model (CLM4.5) and two different versions of Common Land Model (CoLM2005 and CoLM2014). All of three models were driven by CRUNCEP data and simulation results from 1980 to 2010 were used in this study. Diagnostic data provided by NCAR, global latent and sensible heat flux map estimated by Jung, net radiation from SRB, and in situ observation collected from FluxNet were used as reference data. Two variables, surface runoff and snow depth, were used for evaluating the model performance in water budget simulation, while three variables including net radiation, sensible heat, and latent heat were used for assessing energy budget simulation. For 30 years averaged runoff, global average value of Colm2014 is 0.44mm/day and close to the diagnostic value of 0.75 mm/day, while that of Colm2005 is 0.44mm/day and that of CLM is 0.20mm/day. For snow depth simulation, three models all have overestimation in the Northern Hemisphere and underestimation in the Southern Hemisphere compare to diagnostic data. For 30 years energy budget simulation, at global scale, CoLM2005 performs best in latent heat estimation, CoLM2014 performs best in sensible heat simulation, and CoLM2005 and CoLM2014 make similar performance in net radiation estimation but is still better than CLM. At regional and local scale, comparing to the four years average of flux tower observation, RMSE of CoLM2005 is the smallest for latent heat (9.717 W/m2) , and for sensible heat simulation, RMSE of CoLM2005 (13.048 W/m2) is slightly greater than CLM(10.767 W/m2) but still better than CoLM2014(30.085 W/m2). Our analysis shows that both CoLM 2005 and CoLM 2014 are able to reproduce comparable land surface water and energy fluxes. It implies that the ESM developed in Tsinghua University may use CoLM, a LSM developed and maintained in China, as the land surface component. .

Study to design and develop remote manipulator systems

NASA Technical Reports Server (NTRS)

Hill, J. W.; Salisbury, J. K., Jr.

1977-01-01

A description is given of part of a continuing effort both to develop models for and to augment the performance of humans controlling remote manipulators. The project plan calls for the performance of several standard tasks with a number of different manipulators, controls, and viewing conditions, using an automated performance measuring system; in addition, the project plan calls for the development of a force-reflecting joystick and supervisory display system.

3D Laser Scanner for Underwater Manipulation.

PubMed

Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

2018-04-04

Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.

Redundant arm control in a supervisory and shared control system

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Long, Mark K.

1992-01-01

The Extended Task Space Control approach to robotic operations based on manipulator behaviors derived from task requirements is described. No differentiation between redundant and non-redundant robots is made at the task level. The manipulation task behaviors are combined into a single set of motion commands. The manipulator kinematics are used subsequently in mapping motion commands into actuator commands. Extended Task Space Control is applied to a Robotics Research K-1207 seven degree-of-freedom manipulator in a supervisory telerobot system as an example.

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.

Design of the laser acupuncture therapeutic instrument.

PubMed

Li, Chengwei; Zhen, Huang

2006-01-01

Laser acupuncture is defined as the stimulation of traditional acupuncture points with low-intensity, non-thermal laser irradiation. It has been well applied in clinic since the 1970s; however, some traditional acupuncture manipulating methods still cannot be implemented in the design of this kind of instruments, such as lifting and thrusting manipulating method, and twisting and twirling manipulating method, which are the essential acupuncture method in traditional acupuncture. The objective of this work was to design and build a low cost portable laser acupuncture therapeutic instrument, which can implement the two essential acupuncture manipulating methods. Digital PID control theory is used to control the power of laser diode (LD), and to implement the lifting and thrusting manipulating method. Special optical system is designed to implement twisting and twirling manipulating method. M5P430 microcontroller system is used as the control centre of the instrument. The realization of lifting and thrusting manipulating method and twisting and twirling manipulating method are technological innovations in traditional acupuncture coming true in engineering.

Control of an automated mobile manipulator using artificial immune system

NASA Astrophysics Data System (ADS)

Deepak, B. B. V. L.; Parhi, Dayal R.

2016-03-01

This paper addresses the coordination and control of a wheeled mobile manipulator (WMM) using artificial immune system. The aim of the developed methodology is to navigate the system autonomously and transport jobs and tools in manufacturing environments. This study integrates the kinematic structures of a four-axis manipulator and a differential wheeled mobile platform. The motion of the developed WMM is controlled by the complete system of parametric equation in terms of joint velocities and makes the robot to follow desired trajectories by the manipulator and platform within its workspace. The developed robot system performs its action intelligently according to the sensed environmental criteria within its search space. To verify the effectiveness of the proposed immune-based motion planner for WMM, simulations as well as experimental results are presented in various unknown environments.

Perspectives on object manipulation and action grammar for percussive actions in primates

PubMed Central

Hayashi, Misato

2015-01-01

The skill of object manipulation is a common feature of primates including humans, although there are species-typical patterns of manipulation. Object manipulation can be used as a comparative scale of cognitive development, focusing on its complexity. Nut cracking in chimpanzees has the highest hierarchical complexity of tool use reported in non-human primates. An analysis of the patterns of object manipulation in naive chimpanzees after nut-cracking demonstrations revealed the cause of difficulties in learning nut-cracking behaviour. Various types of behaviours exhibited within a nut-cracking context can be examined in terms of the application of problem-solving strategies, focusing on their basis in causal understanding or insightful intentionality. Captive chimpanzees also exhibit complex forms of combinatory manipulation, which is the precursor of tool use. A new notation system of object manipulation was invented to assess grammatical rules in manipulative actions. The notation system of action grammar enabled direct comparisons to be made between primates including humans in a variety of object-manipulation tasks, including percussive-tool use. PMID:26483528

Perspectives on object manipulation and action grammar for percussive actions in primates.

PubMed

Hayashi, Misato

2015-11-19

The skill of object manipulation is a common feature of primates including humans, although there are species-typical patterns of manipulation. Object manipulation can be used as a comparative scale of cognitive development, focusing on its complexity. Nut cracking in chimpanzees has the highest hierarchical complexity of tool use reported in non-human primates. An analysis of the patterns of object manipulation in naive chimpanzees after nut-cracking demonstrations revealed the cause of difficulties in learning nut-cracking behaviour. Various types of behaviours exhibited within a nut-cracking context can be examined in terms of the application of problem-solving strategies, focusing on their basis in causal understanding or insightful intentionality. Captive chimpanzees also exhibit complex forms of combinatory manipulation, which is the precursor of tool use. A new notation system of object manipulation was invented to assess grammatical rules in manipulative actions. The notation system of action grammar enabled direct comparisons to be made between primates including humans in a variety of object-manipulation tasks, including percussive-tool use. © 2015 The Author(s).

Dielectrophoretic manipulation and separation of microparticles using microarray dot electrodes.

PubMed

Yafouz, Bashar; Kadri, Nahrizul Adib; Ibrahim, Fatimah

2014-04-03

This paper introduces a dielectrophoretic system for the manipulation and separation of microparticles. The system is composed of five layers and utilizes microarray dot electrodes. We validated our system by conducting size-dependent manipulation and separation experiments on 1, 5 and 15 μm polystyrene particles. Our findings confirm the capability of the proposed device to rapidly and efficiently manipulate and separate microparticles of various dimensions, utilizing positive and negative dielectrophoresis (DEP) effects. Larger size particles were repelled and concentrated in the center of the dot by negative DEP, while the smaller sizes were attracted and collected by the edge of the dot by positive DEP.

Development of a 2-dof uterine manipulator with LED illumination system as a new transvaginal uterus amputation device for gynecological surgeries.

PubMed

Dikici, Serkan; Aldemir Dikici, Betül; Eser, Hakan; Gezgin, Erkin; Başer, Özgün; Şahin, Savaş; Yılmaz, Bülent; Oflaz, Hakan

2018-06-01

Hysterectomy, the most common major gynecological operation worldwide, consists of removal of the uterus and can be performed abdominally, vaginally, or laparoscopically. A uterine manipulator is a key device used for uterine manipulation and cannulation in hysterectomies. The challenges of conventional manipulators are to move the uterus in two distinct planes and to identify cervical landmarks during circular cut and coagulation. In this study, a structural synthesis of the two degrees of freedom parallel manipulator was performed considering the constraints noted by surgeons. Computer-aided design and assembly of the manipulator, the cervicovaginal cap with LEDs, and the external parts were performed before rapid prototyping. The final design of the uterine manipulator was then manufactured from stainless steel and tested on an artificial uterus model using a test chamber. This article presents the design, production and testing processes of an innovative manipulator with a motion capability up to 80° workspace both in the sagittal and coronal planes and an illumination system, easily detectable by the laparoscope, was successfully implemented on the manipulator's cervical cap in order to overcome the drawbacks of conventional uterine manipulators. Despite all the current studies and uterine manipulators on the market, no research has incorporated all the features mentioned above.

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.

Shared Autonomy Manipulation Data with a Seabotix vLBV300

DOE Data Explorer

Hollinger, Geoffrey; Lawrance, Nicholas

2017-06-19

This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.

Attitude dynamics and control of a spacecraft like a robotic manipulator when implementing on-orbit servicing

NASA Astrophysics Data System (ADS)

Da Fonseca, Ijar M.; Goes, Luiz C. S.; Seito, Narumi; da Silva Duarte, Mayara K.; de Oliveira, Élcio Jeronimo

2017-08-01

In space the manipulators working space is characterized by the microgravity environment. In this environment the spacecraft floats and its rotational/translational motion may be excited by any internal and external disturbances. The complete system, i.e., the spacecraft and the associated robotic manipulator, floats and is sensitive to any reaction force and torque related to the manipulator's operation. In this sense the effort done by the robot may result in torque about the system center of mass and also in forces changing its translational motion. This paper analyzes the impact of the robot manipulator dynamics on the attitude motion and the associated control effort to keep the attitude stable during the manipulator's operation. The dynamics analysis is performed in the close proximity phase of rendezvous docking/berthing operation. In such scenario the linear system equations for the translation and attitude relative motions are appropriate. The computer simulations are implemented for the relative translational and rotational motion. The equations of motion have been simulated through computer by using the MatLab software. The LQR and the PID control laws are used for linear and nonlinear control, respectively, aiming to keep the attitude stable while the robot is in and out of service. The gravity-gradient and the residual magnetic torque are considered as external disturbances. The control efforts are analyzed for the manipulator in and out of service. The control laws allow the system stabilization and good performance when the manipulator is in service.

A Catchment-Based Approach to Modeling Land Surface Processes in a GCM. Part 1; Model Structure

NASA Technical Reports Server (NTRS)

Koster, Randal D.; Suarez, Max J.; Ducharne, Agnes; Stieglitz, Marc; Kumar, Praveen

2000-01-01

A new strategy for modeling the land surface component of the climate system is described. The strategy is motivated by an arguable deficiency in most state-of-the-art land surface models (LSMs), namely the disproportionately higher emphasis given to the formulation of one-dimensional, vertical physics relative to the treatment of horizontal heterogeneity in surface properties -- particularly subgrid soil moisture variability and its effects on runoff generation. The new strategy calls for the partitioning of the continental surface into a mosaic of hydrologic catchments, delineated through analysis of high-resolution surface elevation data. The effective "grid" used for the land surface is therefore not specified by the overlying atmospheric grid. Within each catchment, the variability of soil moisture is related to characteristics of the topography and to three bulk soil moisture variables through a well-established model of catchment processes. This modeled variability allows the partitioning of the catchment into several areas representing distinct hydrological regimes, wherein distinct (regime-specific) evaporation and runoff parameterizations are applied. Care is taken to ensure that the deficiencies of the catchment model in regions of little to moderate topography are minimized.

Magneto Caloric Effect in Ni-Mn-Ga alloys: First Principles and Experimental studies

NASA Astrophysics Data System (ADS)

Odbadrakh, Khorgolkhuu; Nicholson, Don; Brown, Gregory; Rusanu, Aurelian; Rios, Orlando; Hodges, Jason; Safa-Sefat, Athena; Ludtka, Gerard; Eisenbach, Markus; Evans, Boyd

2012-02-01

Understanding the Magneto-Caloric Effect (MCE) in alloys with real technological potential is important to the development of viable MCE based products. We report results of computational and experimental investigation of a candidate MCE materials Ni-Mn-Ga alloys. The Wang-Landau statistical method is used in tandem with Locally Self-consistent Multiple Scattering (LSMS) method to explore magnetic states of the system. A classical Heisenberg Hamiltonian is parametrized based on these states and used in obtaining the density of magnetic states. The Currie temperature, isothermal entropy change, and adiabatic temperature change are then calculated from the density of states. Experiments to observe the structural and magnetic phase transformations were performed at the Spallation Neutron Source (SNS) at Oak Ridge National Laboratory (ORNL) on alloys of Ni-Mn-Ga and Fe-Ni-Mn-Ga-Cu. Data from the observations are discussed in comparison with the computational studies. This work was sponsored by the Laboratory Directed Research and Development Program (ORNL), by the Mathematical, Information, and Computational Sciences Division; Office of Advanced Scientific Computing Research (US DOE), and by the Materials Sciences and Engineering Division; Office of Basic Energy Sciences (US DOE).

Manipulators inspired by the tongue of the chameleon.

PubMed

Debray, Alexis

2011-06-01

Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s(-1) and accelerations 350 m s(-2), with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s(-1) with an acceleration of 573 m s(-2) while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.

Reducing Actuator Requirements in Continuum Robots Through Optimized Cable Routing.

PubMed

Case, Jennifer C; White, Edward L; SunSpiral, Vytas; Kramer-Bottiglio, Rebecca

2018-02-01

Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currently control each segment individually. For example, a planar cable-driven system is typically controlled by a pair of cables for each segment, which implies two actuators per segment. In this article, we demonstrate how highly coupled crossing cable configurations can reduce both actuator count and actuator torque requirements in a planar continuum manipulator, while maintaining workspace reachability and manipulability. We achieve highly coupled actuation by allowing cables to cross through the manipulator to create new cable configurations. We further derive an analytical model to predict the underactuated manipulator workspace and experimentally verify the model accuracy with a physical system. We use this model to compare crossing cable configurations to the traditional cable configuration using workspace performance metrics. Our work here focuses on a simplified planar robot, both in simulation and in hardware, with the goal of extending this to spiraling-cable configurations on full 3D continuum robots in future work.

Robotic Sample Manipulator for Handling Astromaterials Inside the Geolab Microgravity Glovebox

NASA Technical Reports Server (NTRS)

Bell, Mary S.; Calaway, M. J.; Evans, C. A.; Li,Z.; Tong, S.; Zhong, Y.; Dahiwala, R.; Wang, L.; Porter, F.

2013-01-01

Future human and robotic sample return missions will require isolation containment systems with strict protocols and procedures for reducing inorganic and organic contamination. Robotic handling and manipulation of astromaterials may be required for preliminary examination inside such an isolation containment system. In addition, examination of astromaterials in microgravity will require constant contact to secure samples during manipulation. The National Space Grant Foundation exploration habitat (XHab) academic innovative challenge 2012 administered through the NASA advanced exploration systems (AES) deep space habitat (DSH) project awarded funding to the University of Bridgeport team to develop an engineering design for tools to facilitate holding and handling geological samples for analysis in a microgravity glovebox environment. The Bridgeport XHab team developed a robotic arm system with a three-finger gripper that could manipulate geologic samples within the existing GeoLab glovebox integrated into NASA's DSH called the GeoLab Robotic Sample Manipulator (see fig. 1 and 2). This hardware was deployed and tested during the 2012 DSH mission operations tests [1].

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and E

NASA Technical Reports Server (NTRS)

Lowrie, J. W.; Fermelia, A. J.; Haley, D. C.; Gremban, K. D.; Vanbaalen, J.; Walsh, R. W.

1982-01-01

The derivation of the equations is presented, the rate control algorithm described, and simulation methodologies summarized. A set of dynamics equations that can be used recursively to calculate forces and torques acting at the joints of an n link manipulator given the manipulator joint rates are derived. The equations are valid for any n link manipulator system with any kind of joints connected in any sequence. The equations of motion for the class of manipulators consisting of n rigid links interconnected by rotary joints are derived. A technique is outlined for reducing the system of equations to eliminate contraint torques. The linearized dynamics equations for an n link manipulator system are derived. The general n link linearized equations are then applied to a two link configuration. The coordinated rate control algorithm used to compute individual joint rates when given end effector rates is described. A short discussion of simulation methodologies is presented.

Interactive Digital Image Manipulation System (IDIMS)

NASA Technical Reports Server (NTRS)

Fleming, M. D.

1981-01-01

The implementation of an interactive digital image manipulation system (IDIMS) is described. The system is run on an HP-3000 Series 3 minicomputer. The IDIMS system provides a complete image geoprocessing capability for raster formatted data in a self-contained system. It is easily installed, documentation is provided, and vendor support is available.

Concept Design of the Payload Handling Manipulator System. [space shuttle orbiters

NASA Technical Reports Server (NTRS)

1975-01-01

The design, requirements, and interface definition of a remote manipulator system developed to handle orbiter payloads are presented. End effector design, control system concepts, and man-machine engineering are considered along with crew station requirements and closed circuit television system performance requirements.

Remote manipulator system flexibility analysis program: Mission planning, mission analysis, and software formulation

NASA Technical Reports Server (NTRS)

Kumar, L.

1978-01-01

A computer program is described for calculating the flexibility coefficients as arm design changes are made for the remote manipulator system. The coefficients obtained are required as input for a second program which reduces the number of payload deployment and retrieval system simulation runs required to simulate the various remote manipulator system maneuvers. The second program calculates end effector flexibility and joint flexibility terms for the torque model of each joint for any arbitrary configurations. The listing of both programs is included in the appendix.

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation

NASA Technical Reports Server (NTRS)

Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

1984-01-01

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation.

Application of identification techniques to remote manipulator system flight data

NASA Technical Reports Server (NTRS)

Shepard, G. D.; Lepanto, J. A.; Metzinger, R. W.; Fogel, E.

1983-01-01

This paper addresses the application of identification techniques to flight data from the Space Shuttle Remote Manipulator System (RMS). A description of the remote manipulator, including structural and control system characteristics, sensors, and actuators is given. A brief overview of system identification procedures is presented, and the practical aspects of implementing system identification algorithms are discussed. In particular, the problems posed by desampling rate, numerical error, and system nonlinearities are considered. Simulation predictions of damping, frequency, and system order are compared with values identified from flight data to support an evaluation of RMS structural and control system models. Finally, conclusions are drawn regarding the application of identification techniques to flight data obtained from a flexible space structure.

Land-surface parameter optimisation using data assimilation techniques: the adJULES system V1.0

DOE PAGES

Raoult, Nina M.; Jupp, Tim E.; Cox, Peter M.; ...

2016-08-25

Land-surface models (LSMs) are crucial components of the Earth system models (ESMs) that are used to make coupled climate–carbon cycle projections for the 21st century. The Joint UK Land Environment Simulator (JULES) is the land-surface model used in the climate and weather forecast models of the UK Met Office. JULES is also extensively used offline as a land-surface impacts tool, forced with climatologies into the future. In this study, JULES is automatically differentiated with respect to JULES parameters using commercial software from FastOpt, resulting in an analytical gradient, or adjoint, of the model. Using this adjoint, the adJULES parameter estimationmore » system has been developed to search for locally optimum parameters by calibrating against observations. This paper describes adJULES in a data assimilation framework and demonstrates its ability to improve the model–data fit using eddy-covariance measurements of gross primary production (GPP) and latent heat (LE) fluxes. adJULES also has the ability to calibrate over multiple sites simultaneously. This feature is used to define new optimised parameter values for the five plant functional types (PFTs) in JULES. The optimised PFT-specific parameters improve the performance of JULES at over 85 % of the sites used in the study, at both the calibration and evaluation stages. Furthermore, the new improved parameters for JULES are presented along with the associated uncertainties for each parameter.« less

Multi-RCM ensemble downscaling of global seasonal forecasts (MRED)

NASA Astrophysics Data System (ADS)

Arritt, R. W.

2008-12-01

The Multi-RCM Ensemble Downscaling (MRED) project was recently initiated to address the question, Can regional climate models provide additional useful information from global seasonal forecasts? MRED will use a suite of regional climate models to downscale seasonal forecasts produced by the new National Centers for Environmental Prediction (NCEP) Climate Forecast System (CFS) seasonal forecast system and the NASA GEOS5 system. The initial focus will be on wintertime forecasts in order to evaluate topographic forcing, snowmelt, and the potential usefulness of higher resolution, especially for near-surface fields influenced by high resolution orography. Each regional model will cover the conterminous US (CONUS) at approximately 32 km resolution, and will perform an ensemble of 15 runs for each year 1982-2003 for the forecast period 1 December - 30 April. MRED will compare individual regional and global forecasts as well as ensemble mean precipitation and temperature forecasts, which are currently being used to drive macroscale land surface models (LSMs), as well as wind, humidity, radiation, turbulent heat fluxes, which are important for more advanced coupled macro-scale hydrologic models. Metrics of ensemble spread will also be evaluated. Extensive analysis will be performed to link improvements in downscaled forecast skill to regional forcings and physical mechanisms. Our overarching goal is to determine what additional skill can be provided by a community ensemble of high resolution regional models, which we believe will eventually define a strategy for more skillful and useful regional seasonal climate forecasts.

An integrated open-cavity system for magnetic bead manipulation.

PubMed

Abu-Nimeh, F T; Salem, F M

2013-02-01

Superparamagnetic beads are increasingly used in biomedical assays to manipulate, transport, and maneuver biomaterials. We present a low-cost integrated system designed in bulk CMOS to manipulate and separate biomedical magnetic beads. The system consists of 8 × 8 coil-arrays suitable for single bead manipulation, or collaborative multi-bead manipulation, using pseudo-parallel executions. We demonstrate the flexibility of the design in terms of different coil sizes, DC current levels, and layout techniques. In one array module example, the size of a single coil is 30 μm × 30 μm and the full array occupies an area of 248 μm × 248 μm in 0.5 μm CMOS technology. The programmable DC current source supports 8 discrete levels up to 1.5 mA. The total power consumption of the entire module is 9 mW when running at full power.

Analysis of a concentric-tube robot design and feasibility for endoscopic deployment

NASA Astrophysics Data System (ADS)

Ponten, Ryan; Black, Caroline B.; Russ, Andrew J.; Rucker, D. Caleb

2017-03-01

An intraluminal endoscopic approach is desirable for most colonoscopic procedures and is growing in favor for other surgeries as tools are enhanced. Flexible robotic manipulators could further enhance the dexterity and precision of commercial endoscopic systems. In this paper, we explore the capabilities of concentric tube robots to work as tool manipulators at the tip of a colonoscope to perform endoscopic submucousal dissection (ESD) and endoscopic full thickness resection (EFTR). We provide an overview of the kinematic modeling of these manipulators, a design of a prototype manipulator and the transmission actuation system. Our analysis examines the workspace and stiffness of these manipulators being controlled at the tip of a colonoscope. We compare the results to reported surgical requirements and propose solutions for enhancing their effectiveness including notching tubes with a larger Young's Modulus. We also determine the resolution and accuracy of the actuation system.

Unaware Processing of Tools in the Neural System for Object-Directed Action Representation.

PubMed

Tettamanti, Marco; Conca, Francesca; Falini, Andrea; Perani, Daniela

2017-11-01

The hypothesis that the brain constitutively encodes observed manipulable objects for the actions they afford is still debated. Yet, crucial evidence demonstrating that, even in the absence of perceptual awareness, the mere visual appearance of a manipulable object triggers a visuomotor coding in the action representation system including the premotor cortex, has hitherto not been provided. In this fMRI study, we instantiated reliable unaware visual perception conditions by means of continuous flash suppression, and we tested in 24 healthy human participants (13 females) whether the visuomotor object-directed action representation system that includes left-hemispheric premotor, parietal, and posterior temporal cortices is activated even under subliminal perceptual conditions. We found consistent activation in the target visuomotor cortices, both with and without perceptual awareness, specifically for pictures of manipulable versus non-manipulable objects. By means of a multivariate searchlight analysis, we also found that the brain activation patterns in this visuomotor network enabled the decoding of manipulable versus non-manipulable object picture processing, both with and without awareness. These findings demonstrate the intimate neural coupling between visual perception and motor representation that underlies manipulable object processing: manipulable object stimuli specifically engage the visuomotor object-directed action representation system, in a constitutive manner that is independent from perceptual awareness. This perceptuo-motor coupling endows the brain with an efficient mechanism for monitoring and planning reactions to external stimuli in the absence of awareness. SIGNIFICANCE STATEMENT Our brain constantly encodes the visual information that hits the retina, leading to a stimulus-specific activation of sensory and semantic representations, even for objects that we do not consciously perceive. Do these unconscious representations encompass the motor programming of actions that could be accomplished congruently with the objects' functions? In this fMRI study, we instantiated unaware visual perception conditions, by dynamically suppressing the visibility of manipulable object pictures with mondrian masks. Despite escaping conscious perception, manipulable objects activated an object-directed action representation system that includes left-hemispheric premotor, parietal, and posterior temporal cortices. This demonstrates that visuomotor encoding occurs independently of conscious object perception. Copyright © 2017 the authors 0270-6474/17/3710712-13$15.00/0.

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

Raoult, Nina M.; Jupp, Tim E.; Cox, Peter M.

Land-surface models (LSMs) are crucial components of the Earth system models (ESMs) that are used to make coupled climate–carbon cycle projections for the 21st century. The Joint UK Land Environment Simulator (JULES) is the land-surface model used in the climate and weather forecast models of the UK Met Office. JULES is also extensively used offline as a land-surface impacts tool, forced with climatologies into the future. In this study, JULES is automatically differentiated with respect to JULES parameters using commercial software from FastOpt, resulting in an analytical gradient, or adjoint, of the model. Using this adjoint, the adJULES parameter estimationmore » system has been developed to search for locally optimum parameters by calibrating against observations. This paper describes adJULES in a data assimilation framework and demonstrates its ability to improve the model–data fit using eddy-covariance measurements of gross primary production (GPP) and latent heat (LE) fluxes. adJULES also has the ability to calibrate over multiple sites simultaneously. This feature is used to define new optimised parameter values for the five plant functional types (PFTs) in JULES. The optimised PFT-specific parameters improve the performance of JULES at over 85 % of the sites used in the study, at both the calibration and evaluation stages. Furthermore, the new improved parameters for JULES are presented along with the associated uncertainties for each parameter.« less

A new stepwise carbon cycle data assimilation system using multiple data streams to constrain the simulated land surface carbon cycle

DOE PAGES

Peylin, Philippe; Bacour, Cédric; MacBean, Natasha; ...

2016-09-20

Here, large uncertainties in land surface models (LSMs) simulations still arise from inaccurate forcing, poor description of land surface heterogeneity (soil and vegetation properties), incorrect model parameter values and incomplete representation of biogeochemical processes. The recent increase in the number and type of carbon cycle-related observations, including both in situ and remote sensing measurements, has opened a new road to optimize model parameters via robust statistical model–data integration techniques, in order to reduce the uncertainties of simulated carbon fluxes and stocks. In this study we present a carbon cycle data assimilation system that assimilates three major data streams, namely themore » Moderate Resolution Imaging Spectroradiometer (MODIS)-Normalized Difference Vegetation Index (NDVI) observations of vegetation activity, net ecosystem exchange (NEE) and latent heat (LE) flux measurements at more than 70 sites (FLUXNET), as well as atmospheric CO 2 concentrations at 53 surface stations, in order to optimize the main parameters (around 180 parameters in total) of the Organizing Carbon and Hydrology in Dynamics Ecosystems (ORCHIDEE) LSM (version 1.9.5 used for the Coupled Model Intercomparison Project Phase 5 (CMIP5) simulations). The system relies on a stepwise approach that assimilates each data stream in turn, propagating the information gained on the parameters from one step to the next. Overall, the ORCHIDEE model is able to achieve a consistent fit to all three data streams, which suggests that current LSMs have reached the level of development to assimilate these observations. The assimilation of MODIS-NDVI (step 1) reduced the growing season length in ORCHIDEE for temperate and boreal ecosystems, thus decreasing the global mean annual gross primary production (GPP). Using FLUXNET data (step 2) led to large improvements in the seasonal cycle of the NEE and LE fluxes for all ecosystems (i.e., increased amplitude for temperate ecosystems). The assimilation of atmospheric CO 2, using the general circulation model (GCM) of the Laboratoire de Météorologie Dynamique (LMDz; step 3), provides an overall constraint (i.e., constraint on large-scale net CO 2 fluxes), resulting in an improvement of the fit to the observed atmospheric CO 2 growth rate. Thus, the optimized model predicts a land C (carbon) sink of around 2.2 PgC yr -1 (for the 2000–2009 period), which is more compatible with current estimates from the Global Carbon Project (GCP) than the prior value. The consistency of the stepwise approach is evaluated with back-compatibility checks. The final optimized model (after step 3) does not significantly degrade the fit to MODIS-NDVI and FLUXNET data that were assimilated in the first two steps, suggesting that a stepwise approach can be used instead of the more “challenging” implementation of a simultaneous optimization in which all data streams are assimilated together. Most parameters, including the scalar of the initial soil carbon pool size, changed during the optimization with a large error reduction. This work opens new perspectives for better predictions of the land carbon budgets.« less

A new stepwise carbon cycle data assimilation system using multiple data streams to constrain the simulated land surface carbon cycle

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

Peylin, Philippe; Bacour, Cédric; MacBean, Natasha

Here, large uncertainties in land surface models (LSMs) simulations still arise from inaccurate forcing, poor description of land surface heterogeneity (soil and vegetation properties), incorrect model parameter values and incomplete representation of biogeochemical processes. The recent increase in the number and type of carbon cycle-related observations, including both in situ and remote sensing measurements, has opened a new road to optimize model parameters via robust statistical model–data integration techniques, in order to reduce the uncertainties of simulated carbon fluxes and stocks. In this study we present a carbon cycle data assimilation system that assimilates three major data streams, namely themore » Moderate Resolution Imaging Spectroradiometer (MODIS)-Normalized Difference Vegetation Index (NDVI) observations of vegetation activity, net ecosystem exchange (NEE) and latent heat (LE) flux measurements at more than 70 sites (FLUXNET), as well as atmospheric CO 2 concentrations at 53 surface stations, in order to optimize the main parameters (around 180 parameters in total) of the Organizing Carbon and Hydrology in Dynamics Ecosystems (ORCHIDEE) LSM (version 1.9.5 used for the Coupled Model Intercomparison Project Phase 5 (CMIP5) simulations). The system relies on a stepwise approach that assimilates each data stream in turn, propagating the information gained on the parameters from one step to the next. Overall, the ORCHIDEE model is able to achieve a consistent fit to all three data streams, which suggests that current LSMs have reached the level of development to assimilate these observations. The assimilation of MODIS-NDVI (step 1) reduced the growing season length in ORCHIDEE for temperate and boreal ecosystems, thus decreasing the global mean annual gross primary production (GPP). Using FLUXNET data (step 2) led to large improvements in the seasonal cycle of the NEE and LE fluxes for all ecosystems (i.e., increased amplitude for temperate ecosystems). The assimilation of atmospheric CO 2, using the general circulation model (GCM) of the Laboratoire de Météorologie Dynamique (LMDz; step 3), provides an overall constraint (i.e., constraint on large-scale net CO 2 fluxes), resulting in an improvement of the fit to the observed atmospheric CO 2 growth rate. Thus, the optimized model predicts a land C (carbon) sink of around 2.2 PgC yr -1 (for the 2000–2009 period), which is more compatible with current estimates from the Global Carbon Project (GCP) than the prior value. The consistency of the stepwise approach is evaluated with back-compatibility checks. The final optimized model (after step 3) does not significantly degrade the fit to MODIS-NDVI and FLUXNET data that were assimilated in the first two steps, suggesting that a stepwise approach can be used instead of the more “challenging” implementation of a simultaneous optimization in which all data streams are assimilated together. Most parameters, including the scalar of the initial soil carbon pool size, changed during the optimization with a large error reduction. This work opens new perspectives for better predictions of the land carbon budgets.« less

On-demand Droplet Manipulation via Triboelectrification

NASA Astrophysics Data System (ADS)

Wang, Wei; Vahabi, Hamed; Cackovic, Matthew; Jiang, Rui; Kota, Arun

2017-11-01

Controlled manipulation of liquid droplets has attracted tremendous interest across different scientific fields over the past two decades. To date, a variety of external stimuli-mediated methods such as magnetic field, electric field, and light have been developed for manipulating droplets on surfaces. However, these methods usually have drawbacks such as complex fabrication of manipulation platform, low droplet motility, expensive actuation system and lack of precise control. In this work, we demonstrate the controlled manipulation of liquid droplet with both high (e.g., water) and low (e.g., n-hexadecane) dielectric strengths on a smooth, slippery surface via triboelectric effect. Our highly simple, facile and portable methodology enables on-demand, precise manipulation of droplets using solely the electrostatic attraction or repulsion force, which is exerted on the droplet by a simple charged actuator (e.g., Teflon film). We envision that our triboelectric effect enabled droplet manipulation methodology will open a new avenue for droplet based lab-on-a-chip systems, energy harvesting devices and biomedical applications.

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

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

Joseph W. Geisinger, Ph.D.

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 developmentmore » 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.« less

Dynamic coupling of underactuated manipulators

NASA Astrophysics Data System (ADS)

Bergerman, Marcel; Lee, Christopher; Xu, Yangsheng

1994-08-01

In recent years, researchers have been turning their attention to so called underactuated systems, where the term underactuated refers to the fact that the system has more joints than control actuators. Some examples of underactuated systems are robot manipulators with failed actuators; free-floating space robots, where the base can be considered as a virtual passive linkage in inertia space; legged robots with passive joints; hyper-redundant (snake-like) robots with passive joints, etc. From the examples above, it is possible to justify the importance of the study of underactuated systems. For example, if some actuators of a conventional manipulator fail, the loss of one or more degrees of freedom may compromise an entire operation. In free-floating space systems, the base (satellite) can be considered as a 6-DOF device without positioning actuators. Finally, manipulators with passive joints and hyper-redundant robots with few actuators are important from the viewpoint of energy saving, lightweight design and compactness.

A kinematic analysis of the modified flight telerobotic servicer manipulator system

NASA Technical Reports Server (NTRS)

Crane, Carl; Carnahan, Tim; Duffy, Joseph

1992-01-01

A reverse kinematic analysis is presented of a six-DOF subchain of a modified seven-DOF flight telerobotic servicer manipulator system. The six-DOF subchain is designated as a TR-RT chain, which describes the sequence of manipulator joints beginning with the first grounded hook joint (universal joint) T, where the sequence R-R designates a pair of revolute joints with parallel axes. At the outset, it had been thought that the reverse kinematic analysis would be similar to a TTT manipulator previously analyzed, in which the third and fourth joints intersected at a finite point. However, this is shown not the case, and a 16th-degree tan-half-angle polynomial is derived for the TR-RT manipulator.

Vibration control of a manipulator tip on a flexible body

NASA Technical Reports Server (NTRS)

Xu, J.; Bainum, P. M.; Li, F.

1992-01-01

Vibration control of a rigid manipulator tip on a main flexible uniform beam is examined. It is proposed to add a compensator between the manipulator and the beam to rotate and extend/retrieve the manipulator during the control period. The 2D station-keeping maneuvers within the linear range without gravity and damping are considered. The compensatory open-loop control law, which depends on the amplitudes of the beam's flexible deformations at the connection joint, is synthesized using linear quadratic regulator techniques. After introducing the compensatory control into the system, system control is still stable, and the tip coordinates of the manipulator can be made to closely follow the rigid beam motion, which is assumed to be a desired motion.

Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery.

PubMed

Kobayashi, Yo; Sekiguchi, Yuta; Tomono, Yu; Watanabe, Hiroki; Toyoda, Kazutaka; Konishi, Kozo; Tomikawa, Morimasa; Ieiri, Satoshi; Tanoue, Kazuo; Hashizume, Makoto; Fujie, Masaktsu G

2010-01-01

Recently, a robotic system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual change of vision field, hindering the surgical task and increasing the degrees of freedom (DOFs) of the manipulator. We proposed a surgical robot for SPS with dynamic vision field control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning and sheath manipulator (6 DOF) for vision field control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro. The "cut and vision field control" (using tool manipulators) is suitable for precise cutting tasks in risky areas while a "cut by vision field control" (using a vision field control manipulator) is effective for rapid macro cutting of tissues. A resection task was accomplished using a combination of both methods.

Incorporating JULES into NASA's Land Information System (LIS) and Investigations of Land-Atmosphere Coupling

NASA Technical Reports Server (NTRS)

Santanello, Joseph

2011-01-01

NASA's Land Information System (LIS; lis.gsfc.nasa.gov) is a flexible land surface modeling and data assimilation framework developed over the past decade with the goal of integrating satellite- and ground-based observational data products and advanced land surface modeling techniques to produce optimal fields of land surface states and fluxes. LIS features a high performance and flexible design, and operates on an ensemble of land surface models for extension over user-specified regional or global domains. The extensible interfaces of LIS allow the incorporation of new domains, land surface models (LSMs), land surface parameters, meteorological inputs, data assimilation and optimization algorithms. In addition, LIS has also been demonstrated for parameter estimation and uncertainty estimation, and has been coupled to the Weather Research and Forecasting (WRF) mesoscale model. A visiting fellowship is currently underway to implement JULES into LIS and to undertake some fundamental science on the feedbacks between the land surface and the atmosphere. An overview of the LIS system, features, and sample results will be presented in an effort to engage the community in the potential advantages of LIS-JULES for a range of applications. Ongoing efforts to develop a framework for diagnosing land-atmosphere coupling will also be presented using the suite of LSM and PBL schemes available in LIS and WRF along with observations from the U. S .. Southern Great Plains. This methodology provides a potential pathway to study factors controlling local land-atmosphere coupling (LoCo) using the LIS-WRF system, which will serve as a testbed for future experiments to evaluate coupling diagnostics within the community.

Purple sea urchin Strongylocentrotus purpuratus gamete manipulation using optical trapping and microfluidics

NASA Astrophysics Data System (ADS)

Chandsawangbhuwana, Charlie; Shi, Linda Z.; Zhu, Qingyuan; Berns, Michael W.

2013-04-01

A system has been developed that allows for optical and fluidic manipulation of gametes. The optical manipulation is performed by using a single-point gradient trap with a 40× oil immersion PH3 1.3 NA objective on a Zeiss inverted microscope. The fluidic manipulation is performed by using a custom microfluidic chamber designed to fit into the short working distance between the condenser and objective. The system is validated using purple sea urchin Strongylocentrotus purpuratus gametes and has the potential to be used for mammalian in vitro fertilization and animal husbandry.

Issues in advanced automation for manipulator control

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1976-01-01

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

Space-based multifunctional end effector systems functional requirements and proposed designs

NASA Technical Reports Server (NTRS)

Mishkin, A. H.; Jau, B. M.

1988-01-01

The end effector is an essential element of teleoperator and telerobot systems to be employed in space in the next decade. The report defines functional requirements for end effector systems to perform operations that are currently only feasible through Extra-Vehicular Activity (EVA). Specific tasks and functions that the end effectors must be capable of performing are delineated. Required capabilities for forces and torques, clearances, compliance, and sensing are described, using current EVA requirements as guidelines where feasible. The implications of these functional requirements on the elements of potential end effector systems are discussed. The systems issues that must be considered in the design of space-based manipulator systems are identified; including impacts on subsystems tightly coupled to the end effector, i.e., control station, information processing, manipulator arm, tool and equipment stowage. Possible end effector designs are divided into three categories: single degree-of-freedom end effectors, multiple degree of freedom end effectors, and anthropomorphic hands. Specific design alternatives are suggested and analyzed within the individual categories. Two evaluations are performed: the first considers how well the individual end effectors could substitute for EVA; the second compares how manipulator systems composed of the top performers from the first evaluation would improve the space shuttle Remote Manipulator System (RMS) capabilities. The analysis concludes that the anthropomorphic hand is best-suited for EVA tasks. A left- and right-handed anthropomorphic manipulator arm configuration is suggested as appropriate to be affixed to the RMS, but could also be used as part of the Smart Front End for the Orbital Maneuvering Vehicle (OMV). The technical feasibility of the anthropomorphic hand and its control are demonstrated. An evolutionary development approach is proposed and approximate scheduling provided for implementing the suggested manipulator systems in time for space stations operations in the early 1990s.

Closed-loop model identification of cooperative manipulators holding deformable objects

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Layered synthetic microstructures as Bragg diffractors for X rays and extreme ultraviolet - Theory and predicted performance

NASA Technical Reports Server (NTRS)

Underwood, J. H.; Barbee, T. W., Jr.

1981-01-01

The theory of X-ray diffraction by periodic structures is applied to the layered synthetic microstructures (LSMs) made possible by recent developments in thin film technology, and approximate formulas for estimating their performance are presented. A more complete computation scheme based on optical multilayer theory is also described, and it is shown that the diffracting properties may be tailored to specific applications by adjusting the refractive indices and thicknesses of the component layers. The theory may be modified to take account of imperfections in the LMS structure, and the properties of nonperiodic structures thereby computed. Structures with high integrated reflectivity constructed according to the methods defined have potential application in many areas of X-ray or EUV research and instrumentation.

Selective microrobot control using a thermally responsive microclamper for microparticle manipulation

NASA Astrophysics Data System (ADS)

Go, Gwangjun; Choi, Hyunchul; Jeong, Semi; Ko, Seong Young; Park, Jong-Oh; Park, Sukho

2016-03-01

Microparticle manipulation using a microrobot in an enclosed environment, such as a lab-on-a-chip, has been actively studied because an electromagnetic actuated microrobot can have accurate motility and wireless controllability. In most studies on electromagnetic actuated microrobots, only a single microrobot has been used to manipulate cells or microparticles. However, the use of a single microrobot can pose several limitations when performing multiple roles in microparticle manipulation. To overcome the limitations associated with using a single microrobot, we propose a new method for the control of multiple microrobots. Multiple microrobots can be controlled independently by an electromagnetic actuation system and multiple microclampers combined with microheaters. To select a specific microrobot among multiple microrobots, we propose a microclamper composed of a clamper structure using thermally responsive hydrogel and a microheater for controlling the microclamper. A fundamental test of the proposed microparticle manipulation system is performed by selecting a specific microrobot among multiple microrobots. Through the independent locomotion of multiple microrobots with U- and V-shaped tips, heterogeneous microparticle manipulation is demonstrated in the creation of a two-dimensional structure. In the future, our proposed multiple-microrobot system can be applied to tasks that are difficult to perform using a single microrobot, such as cell manipulation, cargo delivery, tissue assembly, and cloning.

Geometrically unrestricted, topologically constrained control of liquid crystal defects using simultaneous holonomic magnetic and holographic optical manipulation.

PubMed

Varney, Michael C M; Jenness, Nathan J; Smalyukh, Ivan I

2014-02-01

Despite the recent progress in physical control and manipulation of various condensed matter, atomic, and particle systems, including individual atoms and photons, our ability to control topological defects remains limited. Recently, controlled generation, spatial translation, and stretching of topological point and line defects have been achieved using laser tweezers and liquid crystals as model defect-hosting systems. However, many modes of manipulation remain hindered by limitations inherent to optical trapping. To overcome some of these limitations, we integrate holographic optical tweezers with a magnetic manipulation system, which enables fully holonomic manipulation of defects by means of optically and magnetically controllable colloids used as "handles" to transfer forces and torques to various liquid crystal defects. These colloidal handles are magnetically rotated around determined axes and are optically translated along three-dimensional pathways while mechanically attached to defects, which, combined with inducing spatially localized nematic-isotropic phase transitions, allow for geometrically unrestricted control of defects, including previously unrealized modes of noncontact manipulation, such as the twisting of disclination clusters. These manipulation capabilities may allow for probing topological constraints and the nature of defects in unprecedented ways, providing the foundation for a tabletop laboratory to expand our understanding of the role defects play in fields ranging from subatomic particle physics to early-universe cosmology.

Development and characterization of hollow microprobe array as a potential tool for versatile and massively parallel manipulation of single cells.

PubMed

Nagai, Moeto; Oohara, Kiyotaka; Kato, Keita; Kawashima, Takahiro; Shibata, Takayuki

2015-04-01

Parallel manipulation of single cells is important for reconstructing in vivo cellular microenvironments and studying cell functions. To manipulate single cells and reconstruct their environments, development of a versatile manipulation tool is necessary. In this study, we developed an array of hollow probes using microelectromechanical systems fabrication technology and demonstrated the manipulation of single cells. We conducted a cell aspiration experiment with a glass pipette and modeled a cell using a standard linear solid model, which provided information for designing hollow stepped probes for minimally invasive single-cell manipulation. We etched a silicon wafer on both sides and formed through holes with stepped structures. The inner diameters of the holes were reduced by SiO2 deposition of plasma-enhanced chemical vapor deposition to trap cells on the tips. This fabrication process makes it possible to control the wall thickness, inner diameter, and outer diameter of the probes. With the fabricated probes, single cells were manipulated and placed in microwells at a single-cell level in a parallel manner. We studied the capture, release, and survival rates of cells at different suction and release pressures and found that the cell trapping rate was directly proportional to the suction pressure, whereas the release rate and viability decreased with increasing the suction pressure. The proposed manipulation system makes it possible to place cells in a well array and observe the adherence, spreading, culture, and death of the cells. This system has potential as a tool for massively parallel manipulation and for three-dimensional hetero cellular assays.

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).

Custom electronic subsystems for the laboratory telerobotic manipulator

NASA Technical Reports Server (NTRS)

Glassell, R. L.; Butler, P. L.; Rowe, J. C.; Zimmermann, S. D.

1990-01-01

The National Aeronautics and Space Administration (NASA) Space Station Program presents new opportunities for the application of telerobotic and robotic systems. The Laboratory Telerobotic Manipulator (LTM) is a highly advanced 7 degrees-of-freedom (DOF) telerobotic/robotic manipulator. It was developed and built for the Automation Technology Branch at NASA's Langley Research Center (LaRC) for work in research and to demonstrate ground-based telerobotic manipulator system hardware and software systems for future NASA applications in the hazardous environment of space. The LTM manipulator uses an embedded wiring design with all electronics, motor power, and control and communication cables passing through the pitch-yaw differential joints. This design requires the number of cables passing through the pitch/yaw joint to be kept to a minimum. To eliminate the cables needed to carry each pitch-yaw joint's sensor data to the VME control computers, a custom-embedded electronics package for each manipulator joint was developed. The electronics package collects and sends the joint's sensor data to the VME control computers over a fiber optic cable. The electronics package consist of five individual subsystems: the VME Link Processor, the Joint Processor and the Joint Processor power supply in the joint module, the fiber optics communications system, and the electronics and motor power cabling.

Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

NASA Technical Reports Server (NTRS)

Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor); Abdallah, Muhammad E. (Inventor)

2013-01-01

A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

Project Plan 7930 Cell G PaR Remote Handling System Replacement

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

Kinney, Kathryn A

2009-10-01

For over 40 years the US Department of Energy (DOE) and its predecessors have made Californium-252 ({sup 252}Cf) available for a wide range of industries including medical, nuclear fuels, mining, military and national security. The Radiochemical Engineering Development Center (REDC) located within the Oak Ridge National Laboratory (ORNL) processes irradiated production targets from the High Flux Isotope Reactor (HFIR). Operations in Building 7930, Cell G provide over 70% of the world's demand for {sup 252}Cf. Building 7930 was constructed and equipped in the mid-1960s. Current operations for {sup 252}Cf processing in Building 7930, Cell G require use of through-the-wall manipulatorsmore » and the PaR Remote Handling System. Maintenance and repairs for the manipulators is readily accomplished by removal of the manipulator and relocation to a repair shop where hands-on work can be performed in glove boxes. Contamination inside cell G does not currently allow manned entry and no provisions were created for a maintenance area inside the cell. There has been no maintenance of the PaR system or upgrades, leaving operations vulnerable should the system have a catastrophic failure. The Cell G PaR system is currently being operated in a run to failure mode. As the manipulator is now 40+ years old there is significant risk in this method of operation. In 2006 an assessment was completed that resulted in recommendations for replacing the manipulator operator control and power centers which are used to control and power the PaR manipulator in Cell G. In mid-2008 the chain for the bridge drive failed and subsequent examinations indicated several damaged links (see Figure 1). To continue operations the PaR manipulator arm is being used to push and pull the bridge as a workaround. A retrieval tool was fabricated, tested and staged inside Cell G that will allow positioning of the bridge and manipulator arm for removal from the cell should the PaR system completely fail. A fully functioning and reliable Par manipulator arm is necessary for uninterrupted {sup 252}Cf operations; a fully-functioning bridge is needed for the system to function as intended.« less

Earth orbital teleoperator visual system evaluation program

NASA Technical Reports Server (NTRS)

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

1975-01-01

Empirical tests of range estimation accuracy and resolution, via television, under monoptic and steroptic viewing conditions are discussed. Test data are used to derive man machine interface requirements and make design decisions for an orbital remote manipulator system. Remote manipulator system visual tasks are given and the effects of system parameters of these tasks are evaluated.

Verification hybrid control of a wheeled mobile robot and manipulator

NASA Astrophysics Data System (ADS)

Muszynska, Magdalena; Burghardt, Andrzej; Kurc, Krzysztof; Szybicki, Dariusz

2016-04-01

In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system's nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

NASA Technical Reports Server (NTRS)

Chen, Vincent Wei-Kang

1992-01-01

Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.

On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach.

PubMed

Baigzadehnoe, Barmak; Rahmani, Zahra; Khosravi, Alireza; Rezaie, Behrooz

2017-09-01

In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed. Subsequently by defining the appropriate change of coordinates and using the backstepping design strategy, an adaptive fuzzy backstepping position tracking control scheme is proposed for multi-robot manipulator systems. By utilizing the properties of internal forces, extra terms are also added to the control signals to consider the force tracking problem. Moreover, it is shown that the proposed adaptive fuzzy backstepping position/force control approach ensures all the signals of the closed loop system uniformly ultimately bounded and tracking errors of both positions and forces can converge to small desired values by proper selection of the design parameters. Finally, the theoretic achievements are tested on the two three-link planar robot manipulators cooperatively handling a common object to illustrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Issues associated with manipulator-based waste retrieval from Hanford underground storage tanks with a preliminary review of commercial concepts

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

Berglin, E.J.

1996-09-17

Westinghouse Hanford Company (WHC) is exploring commercial methods for retrieving waste from the underground storage tanks at the Hanford site in south central Washington state. WHC needs data on commercial retrieval systems equipment in order to make programmatic decisions for waste retrieval. Full system testing of retrieval processes is to be demonstrated in phases through September 1997 in support of programs aimed to Acquire Commercial Technology for Retrieval (ACTR) and at the Hanford Tanks Initiative (HTI). One of the important parts of the integrated testing will be the deployment of retrieval tools using manipulator-based systems. WHC requires an assessment ofmore » a number of commercial deployment systems that have been identified by the ACTR program as good candidates to be included in an integrated testing effort. Included in this assessment should be an independent evaluation of manipulator tests performed to date, so that WHC can construct an integrated test based on these systems. The objectives of this document are to provide a description of the need, requirements, and constraints for a manipulator-based retrieval system; to evaluate manipulator-based concepts and testing performed to date by a number of commercial organizations; and to identify issues to be resolved through testing and/or analysis for each concept.« less

Surgical manipulation of mammalian embryos in vitro.

PubMed

Naruse, I; Keino, H; Taniguchi, M

1997-04-01

Whole-embryo culture systems are useful in the fields of not only embryology but also teratology, toxicology, pharmacology, and physiology. Of the many advantages of whole-embryo culture, we focus here on the surgical manipulation of mammalian embryos. Whole-embryo culture allows us to manipulate mammalian embryos, similarly to fish, amphibian and avian embryos. Many surgical experiments have been performed in mammalian embryos in vitro. Such surgical manipulation alters the destiny of morphogenesis of the embryos and can answer many questions concerning developmental issues. As an example of surgical manipulation using whole-embryo culture systems, one of our experiments is described. Microsurgical electrocauterization of the deep preaxial mesodermal programmed cell death zone (fpp) in the footplate prevented the manifestation of polydactyly in genetic polydactyly mouse embryos (Pdn/Pdn), in which fpp was abolished.

A comparison of position and rate control for telemanipulations with consideration of manipulator system dynamics

NASA Technical Reports Server (NTRS)

Kim, Won S.; Tendick, Frank; Stark, Lawrence W.; Ellis, Stephen R.

1987-01-01

Position and rate control are the two common manual control modes in teleoperations. Human operator performance using the two modes is evaluated and compared. Simulated three-axis pick-and-place operations are used as the primary task for evaluation. First, ideal position and rate control are compared by considering several factors, such as joystick gain, joystick type, display mode, task, and manipulator work space size. Then the effects of the manipulator system dynamics are investigated by varying the natural frequency and speed limit. Experimental results show that ideal position control is superior to ideal rate control, regardless of joystick type or display mode, when the manipulation work space is small or comparable to the human operator's control space. Results also show that when the manipulator system is slow, the superiority of position control disappears. Position control is recommended for small-work-space telemanipulation tasks, while rate control is recommended for slow wide-work-space telemanipulation tasks.

SSSFD manipulator engineering using statistical experiment design techniques

NASA Technical Reports Server (NTRS)

Barnes, John

1991-01-01

The Satellite Servicer System Flight Demonstration (SSSFD) program is a series of Shuttle flights designed to verify major on-orbit satellite servicing capabilities, such as rendezvous and docking of free flyers, Orbital Replacement Unit (ORU) exchange, and fluid transfer. A major part of this system is the manipulator system that will perform the ORU exchange. The manipulator must possess adequate toolplate dexterity to maneuver a variety of EVA-type tools into position to interface with ORU fasteners, connectors, latches, and handles on the satellite, and to move workpieces and ORUs through 6 degree of freedom (dof) space from the Target Vehicle (TV) to the Support Module (SM) and back. Two cost efficient tools were combined to perform a study of robot manipulator design parameters. These tools are graphical computer simulations and Taguchi Design of Experiment methods. Using a graphics platform, an off-the-shelf robot simulation software package, and an experiment designed with Taguchi's approach, the sensitivities of various manipulator kinematic design parameters to performance characteristics are determined with minimal cost.

Geometric manipulation of trapped ions for quantum computation.

PubMed

Duan, L M; Cirac, J I; Zoller, P

2001-06-01

We propose an experimentally feasible scheme to achieve quantum computation based solely on geometric manipulations of a quantum system. The desired geometric operations are obtained by driving the quantum system to undergo appropriate adiabatic cyclic evolutions. Our implementation of the all-geometric quantum computation is based on laser manipulation of a set of trapped ions. An all-geometric approach, apart from its fundamental interest, offers a possible method for robust quantum computation.

Multi-layer neural networks for robot control

NASA Technical Reports Server (NTRS)

Pourboghrat, Farzad

1989-01-01

Two neural learning controller designs for manipulators are considered. The first design is based on a neural inverse-dynamics system. The second is the combination of the first one with a neural adaptive state feedback system. Both types of controllers enable the manipulator to perform any given task very well after a period of training and to do other untrained tasks satisfactorily. The second design also enables the manipulator to compensate for unpredictable perturbations.

Tool actuation and force feedback on robot-assisted microsurgery system

NASA Technical Reports Server (NTRS)

Das, Hari (Inventor); Ohm, Tim R. (Inventor); Boswell, Curtis D. (Inventor); Steele, Robert D. (Inventor)

2002-01-01

An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

A manipulator arm for zero-g simulations

NASA Technical Reports Server (NTRS)

Brodie, S. B.; Grant, C.; Lazar, J. J.

1975-01-01

A 12-ft counterbalanced Slave Manipulator Arm (SMA) was designed and fabricated to be used for resolving the questions of operational applications, capabilities, and limitations for such remote manned systems as the Payload Deployment and Retrieval Mechanism (PDRM) for the shuttle, the Free-Flying Teleoperator System, the Advanced Space Tug, and Planetary Rovers. As a developmental tool for the shuttle manipulator system (or PDRM), the SMA represents an approximate one-quarter scale working model for simulating and demonstrating payload handling, docking assistance, and satellite servicing. For the Free-Flying Teleoperator System and the Advanced Tug, the SMA provides a near full-scale developmental tool for satellite servicing, docking, and deployment/retrieval procedures, techniques, and support equipment requirements. For the Planetary Rovers, it provides an oversize developmental tool for sample handling and soil mechanics investigations. The design of the SMA was based on concepts developed for a 40-ft NASA technology arm to be used for zero-g shuttle manipulator simulations.

Telerobotic research at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Sliwa, Nancy E.

1987-01-01

An overview of Automation Technology Branch facilities and research is presented. Manipulator research includes dual-arm coordination studies, space manipulator dynamics, end-effector controller development, automatic space structure assembly, and the development of a dual-arm master-slave telerobotic manipulator system. Sensor research includes gravity-compensated force control, real-time monovision techniques, and laser ranging. Artificial intelligence techniques are being explored for supervisory task control, collision avoidance, and connectionist system architectures. A high-fidelity dynamic simulation of robotic systems, ROBSIM, is being supported and extended. Cooperative efforts with Oak Ridge National Laboratory have verified the ability of teleoperators to perform complex structural assembly tasks, and have resulted in the definition of a new dual-arm master-slave telerobotic manipulator. A bibliography of research results and a list of technical contacts are included.

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 handling and deposition of micro and nano entities such as carbon nanotubes (CNT), DNA, and for droplet control. The novel microfluidic end effector system with force sensing can significantly improve the success rate for handling/depositing micro/nano entities in the case of carbon nanotubes between micro electrodes. The design, calibration, and experimental implementation of the novel microfluidic end effector is carried out in this research. The experimental results show the success rate for carbon nanotube(s) deposition between micro electrodes can reach close to 80%. Furthermore, carbon nanotubes are of particular interest because they are good candidates for many electronics and sensing applications. The interests in using carbon nanotubes to manufacture electronics and sensors have increased in recent years because of the increase need for making electronics smaller, and their excellent electrical and mechanical properties. These potentials can be achieved if CNTs with semiconducting and metallic band structure can be successfully deposited and separated. The use of dielectrophoresis (DEP) has been established as a course towards the efficient deposition and separation of metallic carbon nanotubes from semiconducting carbon nanotubes. For this reason, this research presents a new mathematical model for dielectrophoresis and electrorotation of carbon nanotubes. Simulation results are presented in this research to validate the developed model. The combination of both the micro robotic manipulation system and the atomic force microscopy (AFM) based nano-robotic system will provide a powerful tool for micro and nano manipulation. Additional applications of this research are endless considering the rapid development of micro and nano technologies.

Controlling Flexible Manipulators, an Experimental Investigation. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Hastings, Gordon Greene

1986-01-01

Lightweight, slender manipulators offer faster response and/or greater workspace range for the same size actuators than tradional manipulators. Lightweight construction of manipulator links results in increased structural flexibility. The increase flexibility must be considered in the design of control systems to properly account for the dynamic flexible vibrations and static deflections. Real time control of the flexible manipulator vibrations are experimentally investigated. Models intended for real-time control of distributed parameter system such as flexible manipulators rely on model approximation schemes. An linear model based on the application of Lagrangian dynamics to a rigid body mode and a series of separable flexible modes is examined with respect to model order requirements, and modal candidate selection. Balanced realizations are applied to the linear flexible model to obtain an estimate of appropriate order for a selected model. Describing the flexible deflections as a linear combination of modes results in measurements of beam state, which yield information about several modes. To realize the potential of linear systems theory, knowledge of each state must be available. State estimation is also accomplished by implementation of a Kalman Filter. State feedback control laws are implemented based upon linear quadratic regulator design.

Aging and brain rejuvenation as systemic events

PubMed Central

Bouchard, Jill; Villeda, Saul A

2015-01-01

The effects of aging were traditionally thought to be immutable, particularly evident in the loss of plasticity and cognitive abilities occurring in the aged central nervous system (CNS). However, it is becoming increasingly apparent that extrinsic systemic manipulations such as exercise, caloric restriction, and changing blood composition by heterochronic parabiosis or young plasma administration can partially counteract this age-related loss of plasticity in the aged brain. In this review, we discuss the process of aging and rejuvenation as systemic events. We summarize genetic studies that demonstrate a surprising level of malleability in organismal lifespan, and highlight the potential for systemic manipulations to functionally reverse the effects of aging in the CNS. Based on mounting evidence, we propose that rejuvenating effects of systemic manipulations are mediated, in part, by blood-borne ‘pro-youthful’ factors. Thus, systemic manipulations promoting a younger blood composition provide effective strategies to rejuvenate the aged brain. As a consequence, we can now consider reactivating latent plasticity dormant in the aged CNS as a means to rejuvenate regenerative, synaptic, and cognitive functions late in life, with potential implications even for extending lifespan. PMID:25327899

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 experiments with a Utah-MIT hand is discussed. First, the overall system design is described. Two hybrid position/force controllers were designed and built. After a discussion of the entire system, experimental results are presented describing each of the basic manipulation and complex manipulation strategies.

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.

STS-100 Onboard Photograph-International Space Station Remote Manipulator System

NASA Technical Reports Server (NTRS)

2001-01-01

This is a Space Shuttle STS-100 mission onboard photograph. Astronaut Scott Parazynski totes a Direct Current Switching Unit while anchored on the end of the Canadian-built Remote Manipulator System (RMS) robotic arm. The RMS is in the process of moving Parazynski to the exterior of the Destiny laboratory (right foreground), where he will secure the spare unit, a critical part of the station's electrical system, to the stowage platform in case future crews will need it. Also in the photograph are the Italian-built Raffaello multipurpose Logistics Module (center) and the new Canadarm2 (lower right) or Space Station Remote Manipulator System.

Development of a 3D Soil-Plant-Atmosphere Continuum (SPAC) coupled to a Land Surface Model

NASA Astrophysics Data System (ADS)

Bisht, G.; Riley, W. J.; Lorenzetti, D.; Tang, J.

2015-12-01

Exchange of water between the atmosphere and biosphere via evapotranspiration (ET) influences global hydrological, energy, and biogeochemical cycles. Isotopic analysis has shown that evapotranspiration over the continents is largely dominated by transpiration. Water is taken up from soil by plant roots, transported through the plant's vascular system, and evaporated from the leaves. Yet current Land Surface Models (LSMs) integrated into Earth System Models (ESMs) treat plant roots as passive components. These models distribute the ET sink vertically over the soil column, neglect the vertical pressure distribution along the plant vascular system, and assume that leaves can directly access water from any soil layer within the root zone. Numerous studies have suggested that increased warming due to climate change will lead drought and heat-induced tree mortality. A more mechanistic treatment of water dynamics in the soil-plant-atmosphere continuum (SPAC) is essential for investigating the fate of ecosystems under a warmer climate. In this work, we describe a 3D SPAC model that can be coupled to a LSM. The SPAC model uses the variably saturated Richards equations to simulate water transport. The model uses individual governing equations and constitutive relationships for the various SPAC components (i.e., soil, root, and xylem). Finite volume spatial discretization and backward Euler temporal discretization is used to solve the SPAC model. The Portable, Extensible Toolkit for Scientific Computation (PETSc) is used to numerically integrate the discretized system of equations. Furthermore, PETSc's multi-physics coupling capability (DMComposite) is used to solve the tightly coupled system of equations of the SPAC model. Numerical results are presented for multiple test problems.

Evaluating soil moisture constraints on surface fluxes in land surface models globally

NASA Astrophysics Data System (ADS)

Harris, Phil; Gallego-Elvira, Belen; Taylor, Christopher; Folwell, Sonja; Ghent, Darren; Veal, Karen; Hagemann, Stefan

2016-04-01

Soil moisture availability exerts a strong control over land evaporation in many regions. However, global climate models (GCMs) disagree on when and where evaporation is limited by soil moisture. Evaluation of the relevant modelled processes has suffered from a lack of reliable, global observations of land evaporation at the GCM grid box scale. Satellite observations of land surface temperature (LST) offer spatially extensive but indirect information about the surface energy partition and, under certain conditions, about soil moisture availability on evaporation. Specifically, as soil moisture decreases during rain-free dry spells, evaporation may become limited leading to increases in LST and sensible heat flux. We use MODIS Terra and Aqua observations of LST at 1 km from 2000 to 2012 to assess changes in the surface energy partition during dry spells lasting 10 days or longer. The clear-sky LST data are aggregated to a global 0.5° grid before being composited as a function dry spell day across many events in a particular region and season. These composites are then used to calculate a Relative Warming Rate (RWR) between the land surface and near-surface air. This RWR can diagnose the typical strength of short term changes in surface heat fluxes and, by extension, changes in soil moisture limitation on evaporation. Offline land surface model (LSM) simulations offer a relatively inexpensive way to evaluate the surface processes of GCMs. They have the benefits that multiple models, and versions of models, can be compared on a common grid and using unbiased forcing. Here, we use the RWR diagnostic to assess global, offline simulations of several LSMs (e.g., JULES and JSBACH) driven by the WATCH Forcing Data-ERA Interim. Both the observed RWR and the LSMs use the same 0.5° grid, which allows the observed clear-sky sampling inherent in the underlying MODIS LST to be applied to the model outputs directly. This approach avoids some of the difficulties in analysing free-running simulations in which land and atmosphere are coupled and, as such, it provides a flexible intermediate step in the assessment of surface processes in GCMs.

Noninvasive Assessment of Liver Fibrosis By Transient Elastography and FIB4/APRI for Prediction of Treatment Response in Chronic Hepatitis C-An Experience from a Tertiary Care Hospital.

PubMed

Taneja, Sunil; Tohra, Sunil; Duseja, Ajay; Dhiman, Radha Krishan; Chawla, Yogesh Kumar

2016-12-01

Liver fibrosis and its sequel cirrhosis represent a major health care burden, and assessment of fibrosis by biopsy is gradually being replaced by noninvasive methods. In clinical practice, the determination of fibrosis stage is important, since patients with advanced fibrosis have faster progression to cirrhosis and antiviral therapy is indicated in these patients. To assess the role of transient elastography (TE) and compare it with APRI and FIB4 for predicting liver fibrosis and assessing the effect of host and viral factors on fibrosis and treatment outcome in CHC patients. In a retrospective analysis, 330 CHC patients underwent liver stiffness measurement (LSM) by TE and tests needed for calculating APRI and FIB4 scores at baseline. 228 patients received a combination of Pegylated IFN-based antiviral therapy and were analyzed for therapeutic response. The study included 330 patients (median age 39 years [range 18-67]), predominantly males ( n  = 227, 68.8%) with baseline LSMs. The median liver stiffness was 7.8 kPa (range 3.2-69.1 kPa). LSMs and its thresholds for severe fibrosis progression (≥9.5 kPa) and cirrhosis (≥12.5 kPa) were significantly higher in patients with age ≥40 years, diabetes mellitus, and patients with significant alcohol intake ( P  = 0.003 to P  < 0.001). By taking TE as a reference, the diagnostic accuracy of FIB4 scores for predicting cirrhosis (AUROC 0.896) was good (+LR 13.4) compared to APRI (AUROC 0.823) with moderate likelihood ratio (+LR 6.9). Among 228 treated patients the SVR rate in genotype 3 was 70% versus 57.8% in genotype 1. Fibrosis score F4 ( P  = 0.023) and HCV genotype ( P  = 0.008) were independent predictors of SVR. The study shows that LSM by TE and fibrosis assessment by FIB4/APRI scores can be used with fair reliability to predict fibrosis and treatment response in patients with CHC infection.

Modeling spatiotemporal dynamics of global wetlands: comprehensive evaluation of a new sub-grid TOPMODEL parameterization and uncertainties

NASA Astrophysics Data System (ADS)

Zhang, Zhen; Zimmermann, Niklaus E.; Kaplan, Jed O.; Poulter, Benjamin

2016-03-01

Simulations of the spatiotemporal dynamics of wetlands are key to understanding the role of wetland biogeochemistry under past and future climate. Hydrologic inundation models, such as the TOPography-based hydrological model (TOPMODEL), are based on a fundamental parameter known as the compound topographic index (CTI) and offer a computationally cost-efficient approach to simulate wetland dynamics at global scales. However, there remains a large discrepancy in the implementations of TOPMODEL in land-surface models (LSMs) and thus their performance against observations. This study describes new improvements to TOPMODEL implementation and estimates of global wetland dynamics using the LPJ-wsl (Lund-Potsdam-Jena Wald Schnee und Landschaft version) Dynamic Global Vegetation Model (DGVM) and quantifies uncertainties by comparing three digital elevation model (DEM) products (HYDRO1k, GMTED, and HydroSHEDS) at different spatial resolution and accuracy on simulated inundation dynamics. In addition, we found that calibrating TOPMODEL with a benchmark wetland data set can help to successfully delineate the seasonal and interannual variation of wetlands, as well as improve the spatial distribution of wetlands to be consistent with inventories. The HydroSHEDS DEM, using a river-basin scheme for aggregating the CTI, shows the best accuracy for capturing the spatiotemporal dynamics of wetlands among the three DEM products. The estimate of global wetland potential/maximum is ˜ 10.3 Mkm2 (106 km2), with a mean annual maximum of ˜ 5.17 Mkm2 for 1980-2010. When integrated with wetland methane emission submodule, the uncertainty of global annual CH4 emissions from topography inputs is estimated to be 29.0 Tg yr-1. This study demonstrates the feasibility of TOPMODEL to capture spatial heterogeneity of inundation at a large scale and highlights the significance of correcting maximum wetland extent to improve modeling of interannual variations in wetland area. It additionally highlights the importance of an adequate investigation of topographic indices for simulating global wetlands and shows the opportunity to converge wetland estimates across LSMs by identifying the uncertainty associated with existing wetland products.

A system for intelligent teleoperation research

NASA Technical Reports Server (NTRS)

Orlando, N. E.

1983-01-01

The Automation Technology Branch of NASA Langley Research Center is developing a research capability in the field of artificial intelligence, particularly as applicable in teleoperator/robotics development for remote space operations. As a testbed for experimentation in these areas, a system concept has been developed and is being implemented. This system termed DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), interfaces the key processes of perception, reasoning, and manipulation by linking hardware sensors and manipulators to a modular artificial intelligence (AI) software system in a hierarchical control structure. Verification experiments have been performed: one experiment used a blocksworld database and planner embedded in the DAISIE system to intelligently manipulate a simple physical environment; the other experiment implemented a joint-space collision avoidance algorithm. Continued system development is planned.

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.

Salience of working-memory maintenance and manipulation deficits in schizophrenia

PubMed Central

Hill, S. K.; Griffin, G. B.; Miura, T. Kazuto; Herbener, E. S.; Sweeney, J. A.

2011-01-01

Background Encoding and maintenance of information in working memory, followed by internal manipulation of that information for planning adaptive behavior, are two key components of working-memory systems. Both processes have been reported to be impaired in schizophrenia, but few studies have directly compared the relative severity of these abnormalities, or the degree to which manipulation deficits might be secondary to alterations in maintenance processes. Method Clinically stable schizophrenia patients (n=25) and a demographically similar healthy comparison group (n=24) were administered a verbal span task with three levels of working-memory load. Maintenance was assessed using sequential position questions. Manipulation processes were assessed by requiring comparison of the relative sequential position of test items, which entailed simultaneous serial search strategies regarding item order. Results Both groups showed reduced accuracy and increased reaction time for manipulation compared with maintenance processing. There were significant patient impairments across working-memory loads. There was no differential deficit in manipulation processing, and effect sizes of relative deficit in the patient group were higher for maintenance than manipulation processing. Conclusions The strong correlation for maintenance and manipulation deficits suggest that impairments in the ability to internally manipulate information stored in working-memory systems are not greater than alterations in the encoding and maintaining of information in working memory and that disturbances in maintenance processing may contribute to deficits in higher-order working-memory operations. PMID:20214839

Simulation of cooperating robot manipulators on a mobile platform

NASA Technical Reports Server (NTRS)

Murphy, Stephen H.; Wen, John Ting-Yung; Saridis, George N.

1991-01-01

The dynamic equations of motion are presented for two or more cooperating manipulators on a freely moving mobile platform. The system of cooperating robot manipulators forms a closed kinematic chain where the force of interaction must be included in the formulation of robot and platform dynamics. The formulation includes the full dynamic interactions from arms to platform and arm tip to arm tip, and the possible translation and rotation of the platform. The equations of motion are shown to be identical in structure to the fixed-platform cooperative manipulator dynamics. The number of DOFs of the system is sufficiently large to make recursive dynamic calculation methods potentially more efficient than closed-form solutions. A complete simulation with two 6-DOF manipulators of a free-floating platform is presented along a with a multiple-arm controller to position the common load.

Tension Stiffened and Tendon Actuated Manipulator

NASA Technical Reports Server (NTRS)

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

VIEW OF REMOTE MANIPULATOR SYSTEM LAB, ROOM NO. 1N4, FACING ...

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

VIEW OF REMOTE MANIPULATOR SYSTEM LAB, ROOM NO. 1N4, FACING SOUTHWEST - Cape Canaveral Air Force Station, Launch Complex 39, Vehicle Assembly Building, VAB Road, East of Kennedy Parkway North, Cape Canaveral, Brevard County, FL

DETAIL VIEW OF TESTING EQUIPMENT, REMOTE MANIPULATOR SYSTEM LAB, ROOM ...

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

DETAIL VIEW OF TESTING EQUIPMENT, REMOTE MANIPULATOR SYSTEM LAB, ROOM NO. 1N4, FACING SOUTHEAST - Cape Canaveral Air Force Station, Launch Complex 39, Vehicle Assembly Building, VAB Road, East of Kennedy Parkway North, Cape Canaveral, Brevard County, FL

VIEW OF REMOTE MANIPULATOR SYSTEM LAB, ROOM NO. 1N4, FACING ...

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

VIEW OF REMOTE MANIPULATOR SYSTEM LAB, ROOM NO. 1N4, FACING NORTH - Cape Canaveral Air Force Station, Launch Complex 39, Vehicle Assembly Building, VAB Road, East of Kennedy Parkway North, Cape Canaveral, Brevard County, FL

How well do we characterize the biophysical effects of vegetation cover change? Benchmarking land surface models against satellite observations.

NASA Astrophysics Data System (ADS)

Duveiller, Gregory; Forzieri, Giovanni; Robertson, Eddy; Georgievski, Goran; Li, Wei; Lawrence, Peter; Ciais, Philippe; Pongratz, Julia; Sitch, Stephen; Wiltshire, Andy; Arneth, Almut; Cescatti, Alessandro

2017-04-01

Changes in vegetation cover can affect the climate by altering the carbon, water and energy cycles. The main tools to characterize such land-climate interactions for both the past and future are land surface models (LSMs) that can be embedded in larger Earth System models (ESMs). While such models have long been used to characterize the biogeochemical effects of vegetation cover change, their capacity to model biophysical effects accurately across the globe remains unclear due to the complexity of the phenomena. The result of competing biophysical processes on the surface energy balance varies spatially and seasonally, and can lead to warming or cooling depending on the specific vegetation change and on the background climate (e.g. presence of snow or soil moisture). Here we present a global scale benchmarking exercise of four of the most commonly used LSMs (JULES, ORCHIDEE, JSBACH and CLM) against a dedicated dataset of satellite observations. To facilitate the understanding of the causes that lead to discrepancies between simulated and observed data, we focus on pure transitions amongst major plant functional types (PFTs): from different tree types (evergreen broadleaf trees, deciduous broadleaf trees and needleleaf trees) to either grasslands or crops. From the modelling perspective, this entails generating a separate simulation for each PFT in which all 1° by 1° grid cells are uniformly covered with that PFT, and then analysing the differences amongst them in terms of resulting biophysical variables (e.g net radiation, latent and sensible heat). From the satellite perspective, the effect of pure transitions is obtained by unmixing the signal of different 0.05° spatial resolution MODIS products (albedo, latent heat, upwelling longwave radiation) over a local moving window using PFT maps derived from the ESA Climate Change Initiative land cover map. After aggregating to a common spatial support, the observation and model-driven datasets are confronted and analysed across different climate zones. Results indicate that models tend to catch better radiative than non-radiative energy fluxes. However, for various vegetation transitions, models do not agree amongst themselves on the magnitude nor the sign of the change. In particular, predicting the impact of land cover change on the partitioning of the available energy between latent and sensible heat proves to be a challenging task for vegetation models. We expect that this benchmarking exercise will shed a light on where to prioritize the efforts in model development as well as inform where consensus between model and observations is already met. Improving the robustness and consistency of land-model is essential to develop and inform land-based mitigation and adaptation policies that account for both biogeochemical and biophysical vegetation impacts on climate.

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 1: Study results

NASA Technical Reports Server (NTRS)

Lowrie, J. W.; Fermelia, A. J.; Haley, D. C.; Gremban, K. D.; Vanbaalen, J.; Walsh, R. W.

1982-01-01

A variety of artificial intelligence techniques which could be used with regard to NASA space applications and robotics were evaluated. The techniques studied were decision tree manipulators, problem solvers, rule based systems, logic programming languages, representation language languages, and expert systems. The overall structure of a robotic simulation tool was defined and a framework for that tool developed. Nonlinear and linearized dynamics equations were formulated for n link manipulator configurations. A framework for the robotic simulation was established which uses validated manipulator component models connected according to a user defined configuration.

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix A

NASA Technical Reports Server (NTRS)

Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

1984-01-01

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed were: (1) Capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) Capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) Postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) Investigation and simulation of various control methods including manual force/torque and active compliance control; (5) Evaluation and implementation of three obstacle avoidance methods; (6) Video simulation and edge detection; and (7) Software simulation validation. This appendix is the user's guide and includes examples of program runs and outputs as well as instructions for program use.

Systems and Methods of Coordination Control for Robot Manipulation

NASA Technical Reports Server (NTRS)

Chang, Chu-Yin (Inventor); English, James (Inventor); Tardella, Neil (Inventor); Bacon, James (Inventor)

2013-01-01

Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.

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

LDEF grappled by remote manipulator system (RMS) during STS-32 retrieval

NASA Image and Video Library

1990-01-20

This view taken through overhead window W7 on Columbia's, Orbiter Vehicle (OV) 102's, aft flight deck shows the Long Duration Exposure Facility (LDEF) in the grasp of the remote manipulator system (RMS) during STS-32 retrieval activities. Other cameras at eye level were documenting the bus-sized spacecraft at various angles as the RMS manipulated LDEF for a lengthy photo survey. The glaring celestial body in the upper left is the sun with the Earth's surface visible below.

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.

Acceleration environment of payloads while being handled by the Shuttle Remote Manipulator System

NASA Technical Reports Server (NTRS)

Turnbull, J. F.

1983-01-01

Described in this paper is the method used in the Draper Remote Manipulator System (RMS) Simulation to compute linear accelerations at the point on the SPAS01 payload where its accelerometers are mounted. Simulated accelerometer output for representative on-orbit activities is presented. The objectives of post-flight analysis of SPAS01 data are discussed. Finally, the point is made that designers of acceleration-dependent payloads may have an interest in the capability of simulating the acceleration environment of payloads while under the control of the overall Payload Deployment and retrieval System (PDRS) that includes the Orbiter and its attitude control system as well as the Remote Manipulator Arm.

Evaluation of the WRF-Urban Modeling System Coupled to Noah and Noah-MP Land Surface Models Over a Semiarid Urban Environment

NASA Astrophysics Data System (ADS)

Salamanca, Francisco; Zhang, Yizhou; Barlage, Michael; Chen, Fei; Mahalov, Alex; Miao, Shiguang

2018-03-01

We have augmented the existing capabilities of the integrated Weather Research and Forecasting (WRF)-urban modeling system by coupling three urban canopy models (UCMs) available in the WRF model with the new community Noah with multiparameterization options (Noah-MP) land surface model (LSM). The WRF-urban modeling system's performance has been evaluated by conducting six numerical experiments at high spatial resolution (1 km horizontal grid spacing) during a 15 day clear-sky summertime period for a semiarid urban environment. To assess the relative importance of representing urban surfaces, three different urban parameterizations are used with the Noah and Noah-MP LSMs, respectively, over the two major cities of Arizona: Phoenix and Tucson metropolitan areas. Our results demonstrate that Noah-MP reproduces somewhat better than Noah the daily evolution of surface skin temperature and near-surface air temperature (especially nighttime temperature) and wind speed. Concerning the urban areas, bulk urban parameterization overestimates nighttime 2 m air temperature compared to the single-layer and multilayer UCMs that reproduce more accurately the daily evolution of near-surface air temperature. Regarding near-surface wind speed, only the multilayer UCM was able to reproduce realistically the daily evolution of wind speed, although maximum winds were slightly overestimated, while both the single-layer and bulk urban parameterizations overestimated wind speed considerably. Based on these results, this paper demonstrates that the new community Noah-MP LSM coupled to an UCM is a promising physics-based predictive modeling tool for urban applications.

Acoustic devices for particle and cell manipulation and sensing.

PubMed

Qiu, Yongqiang; Wang, Han; Demore, Christine E M; Hughes, David A; Glynne-Jones, Peter; Gebhardt, Sylvia; Bolhovitins, Aleksandrs; Poltarjonoks, Romans; Weijer, Kees; Schönecker, Andreas; Hill, Martyn; Cochran, Sandy

2014-08-13

An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz) ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed.

Acoustic Devices for Particle and Cell Manipulation and Sensing

PubMed Central

Qiu, Yongqiang; Wang, Han; Demore, Christine E. M.; Hughes, David A.; Glynne-Jones, Peter; Gebhardt, Sylvia; Bolhovitins, Aleksandrs; Poltarjonoks, Romans; Weijer, Kees; Schönecker, Andreas; Hill, Martyn; Cochran, Sandy

2014-01-01

An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz) ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed. PMID:25123465

A comparison of control modes for time-delayed remote manipulation

NASA Technical Reports Server (NTRS)

Starr, G. P.

1982-01-01

Transmission time delay in the communication channel of a manual control system is investigated. A time delay can exist in remote manipulation systems, caused by long communication distances or bandwidth limitations. Ferrell 1 conducted the first research in time-delayed manipulation using a two degree-of-freedom manipulator. His subjects, working at time delays of 1.0, 2.1, and 3.2 s, could accomplish tasks even requiring great accuracy. The subjects spontaneously adopted a pattern of moving cautiously, then waiting to see the results of their actions. In experiments with a six degree-of-freedom master-slave manipulator system and time delays of 1.0 to 6 s, Black 2 saw that subjects tried to use the move-and-wait strategy; but there were often difficulties. The subjects seemed to have a problem in holding the master arm stationary while waiting for feedback. Any undesired drifting of the master arm introduced a discrepancy between the positions of the master and slave. This discrepancy was not perceived because of the time delay. The subject would then begin his next move with an inherent error. The difficulty of effectively using the move-and-wait strategy with a master-slave manipulator suggested that rate control might be a more effective control mode with time delay.

Comparison of manual steering and steering via joystick of a flexible rhino endoscope.

PubMed

Eckl, R; Gumprecht, J J; Strauss, G; Hofer, M; Dietz, A; Lueth, T C

2010-01-01

Flexible endoscopes are used in ENT surgery for examination tasks in cases wherever rigid endoscopes are unsuitable to reach certain positions in the nasal cavity. Until today they are steered by hand and no robotized system has been put into clinical practice. One qualification a robot manipulator system has to fulfill to be accepted is not to create new disadvantages compared to the conventional method in surgery. An important factor is the time needed to steer the new system compared to the time needed to steer the conventional system. In this article a robot manipulator system and an experiment are presented to compare the particular times test persons need to perform a certain task. This approach offers the possibility to benchmark the developed robot manipulator system and future systems for flexible rhino endoscopes.

Positional control of space robot manipulator

NASA Astrophysics Data System (ADS)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.

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 system by enabling maneuvers not originally possible by varying the TALISMAN geometry; 2) enable efficient active antagonistic control of a joint while sharing cable between antagonistic tension networks; and 3) uses a unique arrangement of differential capstans to reduce motor torque requirements by an order of magnitude. The paper will also summarize recent efforts to enable autonomous deployment of a TALISMAN including the deployment concept of operations and associated hardware system design. The deployment forces are provided by the same motor systems that are used for articulation, thus reducing the mass associated with the deployment system. The deployment approach is being tested on a TALISMAN prototype which is designed to provide the same operational performance as a shuttle-class manipulator. The prototype has been fabricated and is operational in a new facility at NASA Langley Research Center that has a large area (15.2 m by 21.3 m [50 ft by 70 ft]) air-bearing floor.

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.

Comparing mechanisms of host manipulation across host and parasite taxa

USGS Publications Warehouse

Lafferty, Kevin D.; Shaw, Jenny C.

2013-01-01

Parasites affect host behavior in several ways. They can alter activity, microhabitats or both. For trophically transmitted parasites (the focus of our study), decreased activity might impair the ability of hosts to respond to final-host predators, and increased activity and altered microhabitat choice might increase contact rates between hosts and final-host predators. In an analysis of trophically transmitted parasites, more parasite groups altered activity than altered microhabitat choice. Parasites that infected vertebrates were more likely to impair the host’s reaction to predators, whereas parasites that infected invertebrates were more likely to increase the host’s contact with predators. The site of infection might affect how parasites manipulate their hosts. For instance, parasites in the central nervous system seem particularly suited to manipulating host behavior. Manipulative parasites commonly occupy the body cavity, muscles and central nervous systems of their hosts. Acanthocephalans in the data set differed from other taxa in that they occurred exclusively in the body cavity of invertebrates. In addition, they were more likely to alter microhabitat choice than activity. Parasites in the body cavity (across parasite types) were more likely to be associated with increased host contact with predators. Parasites can manipulate the host through energetic drain, but most parasites use more sophisticated means. For instance, parasites target four physiological systems that shape behavior in both invertebrates and vertebrates: neural, endocrine, neuromodulatory and immunomodulatory. The interconnections between these systems make it difficult to isolate specific mechanisms of host behavioral manipulation.

The Personal Mobility and Manipulation Appliance (PerMMA): a robotic wheelchair with advanced mobility and manipulation.

PubMed

Wang, Hongwu; Grindle, Garrett G; Candiotti, Jorge; Chung, Chengshiu; Shino, Motoki; Houston, Elaine; Cooper, Rory A

2012-01-01

The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot developed to provide people with disabilities and older adults enhanced assistance in both mobility and manipulation, which are two fundamental components for independently activities of daily life performing, community participation, and quality of life. Technologies to assist with mobility and manipulation are among the most important tools for clinicians, end users and caregivers; however, there are currently few systems that provide practical and coordinated assistance with mobility and manipulation tasks. The PerMMA was not only developed and evaluated to provide users and caregivers enhanced mobility and manipulation options, but also as a clinical tool as well as research platform. The development and evaluation of PerMMA are presented in the paper.

Apparatus and Methods for Manipulation and Optimization of Biological Systems

NASA Technical Reports Server (NTRS)

Sun, Ren (Inventor); Ho, Chih-Ming (Inventor); Wong, Pak Kin (Inventor); Yu, Fuqu (Inventor)

2014-01-01

The invention provides systems and methods for manipulating biological systems, for example to elicit a more desired biological response from a biological sample, such as a tissue, organ, and/or a cell. In one aspect, the invention operates by efficiently searching through a large parametric space of stimuli and system parameters to manipulate, control, and optimize the response of biological samples sustained in the system. In one aspect, the systems and methods of the invention use at least one optimization algorithm to modify the actuator's control inputs for stimulation, responsive to the sensor's output of response signals. The invention can be used, e.g., to optimize any biological system, e.g., bioreactors for proteins, and the like, small molecules, polysaccharides, lipids, and the like. Another use of the apparatus and methods includes is for the discovery of key parameters in complex biological systems.

Building an Evaluation Framework for the VIC Model in the NLDAS Testbed

NASA Astrophysics Data System (ADS)

Xia, Y.; Mocko, D. M.; Wang, S.; Pan, M.; Kumar, S.; Peters-Lidard, C. D.; Wei, H.; Ek, M. B.

2017-12-01

Since the second phase of North American Land Data Assimilation System (NLDAS-2) was operationally implemented at NCEP in August 2014, developing the third phase of NLDAS system (NLDAS-3) has been a key task for the NCEP and NASA NLDAS team. The Variable Infiltration Capacity (VIC) model is one major component of the NLDAS system. The current operational NLDAS-2 uses version 4.0.3 (VIC403), research NLDAS-2 uses version 4.0.5 (VIC405), and LIS-based (Land Information System) NLDAS uses version 4.1.2 (VIC412). The purpose of this study is to compressively evaluate three versions and document changes in model behavior towards VIC412 for NLDAS-3. To do that, we develop a relatively comprehensive framework including multiple variables and metrics to assess the performance of different versions. This framework is being incorporated into the NASA Land Verification Toolkit (LVT) for evaluation of other LSMs for NLDAS-3 development. The evaluation results show that there are large and significant improvements for VIC412 in southeastern United States when compared with VIC403 and VIC405. In the other regions, there are very limited improvements or even some degree of deteriorations. Potential reasons are due to: (1) few USGS streamflow observations for soil and hydrologic parameter calibration, (2) the lack of re-calibration of VIC412 in the NLDAS domain, and (3) changes in model physics from VIC403 to VIC412. Overall, the model version upgrade largely/significantly enhances model performance and skill score for all United States except for the Great Plains, suggesting a right direction for VIC model development. Some further efforts are needed for science understanding of land surface physical processes in GP and a re-calibration for VIC412 using reasonable reference datasets is suggested.

The Rise of Complexity in Flood Forecasting: Opportunities, Challenges and Tradeoffs

NASA Astrophysics Data System (ADS)

Wood, A. W.; Clark, M. P.; Nijssen, B.

2017-12-01

Operational flood forecasting is currently undergoing a major transformation. Most national flood forecasting services have relied for decades on lumped, highly calibrated conceptual hydrological models running on local office computing resources, providing deterministic streamflow predictions at gauged river locations that are important to stakeholders and emergency managers. A variety of recent technological advances now make it possible to run complex, high-to-hyper-resolution models for operational hydrologic prediction over large domains, and the US National Weather Service is now attempting to use hyper-resolution models to create new forecast services and products. Yet other `increased-complexity' forecasting strategies also exist that pursue different tradeoffs between model complexity (i.e., spatial resolution, physics) and streamflow forecast system objectives. There is currently a pressing need for a greater understanding in the hydrology community of the opportunities, challenges and tradeoffs associated with these different forecasting approaches, and for a greater participation by the hydrology community in evaluating, guiding and implementing these approaches. Intermediate-resolution forecast systems, for instance, use distributed land surface model (LSM) physics but retain the agility to deploy ensemble methods (including hydrologic data assimilation and hindcast-based post-processing). Fully coupled numerical weather prediction (NWP) systems, another example, use still coarser LSMs to produce ensemble streamflow predictions either at the model scale or after sub-grid scale runoff routing. Based on the direct experience of the authors and colleagues in research and operational forecasting, this presentation describes examples of different streamflow forecast paradigms, from the traditional to the recent hyper-resolution, to illustrate the range of choices facing forecast system developers. We also discuss the degree to which the strengths and weaknesses of each strategy map onto the requirements for different types of forecasting services (e.g., flash flooding, river flooding, seasonal water supply prediction).

Design and real-time control of a robotic system for fracture manipulation.

PubMed

Dagnino, G; Georgilas, I; Tarassoli, P; Atkins, R; Dogramadzi, S

2015-08-01

This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).

Manipulating and probing the polarisation of a methyl tunnelling system by field-cycling NMR

NASA Astrophysics Data System (ADS)

Zhang, Bo; Abu-Khumra, Sabah M. M.; Aibout, Abdellah; Horsewill, Anthony J.

2017-02-01

In NMR the polarisation of the Zeeman system may be routinely probed and manipulated by applying resonant rf pulses. As with spin-1/2 nuclei, at low temperature the quantum tunnelling states of a methyl rotor are characterised by two energy levels and it is interesting to consider how these tunnelling states might be probed and manipulated in an analogous way to nuclear spins in NMR. In this paper experimental procedures based on magnetic field-cycling NMR are described where, by irradiating methyl tunnelling sidebands, the polarisations of the methyl tunnelling systems are measured and manipulated in a prescribed fashion. At the heart of the technique is a phenomenon that is closely analogous to dynamic nuclear polarisation and the solid effect where forbidden transitions mediate polarisation transfer between 1H Zeeman and methyl tunnelling systems. Depending on the irradiated sideband, both positive and negative polarisations of the tunnelling system are achieved, the latter corresponding to population inversion and negative tunnelling temperatures. The transition mechanics are investigated through a series of experiments and a theoretical model is presented that provides good quantitative agreement.

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.

Checkout activity on the Remote Manipulator System (RMS) arm

NASA Image and Video Library

1997-02-12

S82-E-5016 (12 Feb. 1997) --- Astronaut Steven A. Hawley, STS-82 mission specialist, controls Discovery's Remote Manipulation System (RMS), from the aft flight deck. Hawley and his crew mates are preparing for a scheduled Extravehicular Activity (EVA) with the Hubble Space Telescope (HST), which will be pulled into the Space Shuttle Discovery's cargo bay with the aid of the Remote Manipulator System (RMS). A series of EVA's will be required to properly service the giant telescope. Hawley served as a mission specialist on NASA's 1990 mission which was responsible for placing HST in Earth-orbit. This view was taken with an Electronic Still Camera (ESC).

Resource reallocation does not influence estimates of pollen limitation or reproductive assurance in Clarkia xantiana subsp. parviflora (Onagraceae).

PubMed

Runquist, Ryan D Briscoe; Moeller, David A

2013-09-01

Studies of pollen limitation and the reproductive assurance value of selfing are important for examining the process of floral and mating system evolution in flowering plants. Recent meta-analyses have shown that common methods for measuring pollen limitation may often lead to biased estimates. Specifically, experiments involving single- or few-flower manipulations per plant tend to overestimate pollen limitation compared to those involving manipulations on most or all flowers per plant. Little previous work has explicitly tested for reallocation within individual systems using alternative methods and response variables. • We performed single-flower and whole-plant pollen supplementation and emasculation of flowers of Clarkia xantiana subsp. parviflora to estimate pollen limitation (PL) and reproductive assurance (RA). We compared levels of PL and RA using the following response variables: fruit set, seeds/flower, and seeds/plant. We also assessed the germination and viability of seeds to evaluate potential variation in pollen quality among treatments. • Autonomous selfing in Clarkia xantiana subsp. parviflora eliminates pollen limitation and provides reproductive assurance. Estimates from single-flower manipulations were not biased, closely resembling those from whole-plant manipulations. All three response variables followed the same pattern, but treatments were only significantly different for seeds/flower. Pollen quality, as indicated by seed viability, did not differ among treatments. • Partial plant manipulations provided reliable estimates of pollen limitation and reproductive assurance. These estimates were also unaffected by accounting for pollen quality. Although whole plant manipulations are desirable, this experiment demonstrates that in some systems partial plant manipulations can be used in studies where whole-plant manipulations are not feasible.

HYDRAULIC REDISTRIBUTION IN A DOUGLAS-FIR FOREST: LESSONS FROM SYSTEM MANIPULATIONS

EPA Science Inventory

Hydraulic redistribution (HR) occurs in many ecosystems; however, key questions remain about its consequences at the ecosystem level. The objectives of the present study were to quantify seasonal variation in HR and its driving force, and to manipulate the soil-root system to e...

Design of a Satellite Data Manipulation Tool in a Time and Frequency Transfer System Using Satellites

DTIC Science & Technology

1999-12-01

as an R & D part of the time/frequency transfer system using Koreasat of Korea Telecom. INTRODUCTION The time/frequency transfer system distributes...Satellite Data Manipulation Tool in a Time and Frequency Transfer System Using Satellites 5a . CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT...precision and stability. In Korea, research for the time/frequency transfer system using Koreasat is in progress. The time/frequency transfer system using

Direct manipulation of metallic nanosheets by shear force microscopy.

PubMed

Bi, Z; Cai, W; Wang, Y; Shang, G

2018-05-15

Micro/nanomanipulation is a rapidly growing technology and holds promising applications in various fields, including photonic/electronic devices, chemical/biosensors etc. In this work, we present that shear force microscopy (ShFM) can be exploited to manipulate metallic nanosheets besides imaging. The manipulation is realized via controlling the shear force sensor probe position and shear force magnitude based on our homemade ShFM system under an optical microscopy for in situ observation. The main feature of the ShFM system is usage of a piezoelectric bimorph sensor, which has the ability of self-excitation and detection. Moreover, the shear force magnitude as a function of the spring constant of the sensor and setpoint is obtained, which indicates that operation modes can be switched between imaging and manipulation through designing the spring constant before experiment and changing the setpoint during manipulation process, respectively. We believe that this alternative manipulation technique could be used to assemble other nanostructures with different shapes, sizes and compositions for new properties and wider applications. © 2018 The Authors Journal of Microscopy © 2018 Royal Microscopical Society.

Study to design and develop remote manipulator system. [computer simulation of human performance

NASA Technical Reports Server (NTRS)

Hill, J. W.; Mcgovern, D. E.; Sword, A. J.

1974-01-01

Modeling of human performance in remote manipulation tasks is reported by automated procedures using computers to analyze and count motions during a manipulation task. Performance is monitored by an on-line computer capable of measuring the joint angles of both master and slave and in some cases the trajectory and velocity of the hand itself. In this way the operator's strategies with different transmission delays, displays, tasks, and manipulators can be analyzed in detail for comparison. Some progress is described in obtaining a set of standard tasks and difficulty measures for evaluating manipulator performance.

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, volume 2, part 1. Appendix A: Software documentation

NASA Technical Reports Server (NTRS)

Lowrie, J. W.; Fermelia, A. J.; Haley, D. C.; Gremban, K. D.; Vanbaalen, J.; Walsh, R. W.

1982-01-01

Documentation of the preliminary software developed as a framework for a generalized integrated robotic system simulation is presented. The program structure is composed of three major functions controlled by a program executive. The three major functions are: system definition, analysis tools, and post processing. The system definition function handles user input of system parameters and definition of the manipulator configuration. The analysis tools function handles the computational requirements of the program. The post processing function allows for more detailed study of the results of analysis tool function executions. Also documented is the manipulator joint model software to be used as the basis of the manipulator simulation which will be part of the analysis tools capability.

Towards Automated Nanomanipulation under Scanning Electron Microscopy

NASA Astrophysics Data System (ADS)

Ye, Xutao

Robotic Nanomaterial Manipulation inside scanning electron microscopes (SEM) is useful for prototyping functional devices and characterizing one-dimensional nanomaterial's properties. Conventionally, manipulation of nanowires has been performed via teleoperation, which is time-consuming and highly skill-dependent. Manual manipulation also has the limitation of low success rates and poor reproducibility. This research focuses on a robotic system capable of automated pick-place of single nanowires. Through SEM visual detection and vision-based motion control, the system transferred individual silicon nanowires from their growth substrate to a microelectromechanical systems (MEMS) device that characterized the nanowires' electromechanical properties. The performances of the nanorobotic pick-up and placement procedures were quantified by experiments. The system demonstrated automated nanowire pick-up and placement with high reliability. A software system for a load-lock-compatible nanomanipulation system is also designed and developed in this research.

Manipulation of biological samples using micro and nano techniques.

PubMed

Castillo, Jaime; Dimaki, Maria; Svendsen, Winnie Edith

2009-01-01

The constant interest in handling, integrating and understanding biological systems of interest for the biomedical field, the pharmaceutical industry and the biomaterial researchers demand the use of techniques that allow the manipulation of biological samples causing minimal or no damage to their natural structure. Thanks to the advances in micro- and nanofabrication during the last decades several manipulation techniques offer us the possibility to image, characterize and manipulate biological material in a controlled way. Using these techniques the integration of biomaterials with remarkable properties with physical transducers has been possible, giving rise to new and highly sensitive biosensing devices. This article reviews the different techniques available to manipulate and integrate biological materials in a controlled manner either by sliding them along a surface (2-D manipulation), by grapping them and moving them to a new position (3-D manipulation), or by manipulating and relocating them applying external forces. The advantages and drawbacks are mentioned together with examples that reflect the state of the art of manipulation techniques for biological samples (171 references).

Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator.

PubMed

Hwang, Ji-Hwan; Kang, Young-Chang; Park, Jong-Wook; Kim, Dong W

2017-01-01

In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL) control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.

Design and Performance Evaluation of Real-time Endovascular Interventional Surgical Robotic System with High Accuracy.

PubMed

Wang, Kundong; Chen, Bing; Lu, Qingsheng; Li, Hongbing; Liu, Manhua; Shen, Yu; Xu, Zhuoyan

2018-05-15

Endovascular interventional surgery (EIS) is performed under a high radiation environment at the sacrifice of surgeons' health. This paper introduces a novel endovascular interventional surgical robot that aims to reduce radiation to surgeons and physical stress imposed by lead aprons during fluoroscopic X-ray guided catheter intervention. The unique mechanical structure allowed the surgeon to manipulate the axial and radial motion of the catheter and guide wire. Four catheter manipulators (to manipulate the catheter and guide wire), and a control console which consists of four joysticks, several buttons and two twist switches (to control the catheter manipulators) were presented. The entire robotic system was established on a master-slave control structure through CAN (Controller Area Network) bus communication, meanwhile, the slave side of this robotic system showed highly accurate control over velocity and displacement with PID controlling method. The robotic system was tested and passed in vitro and animal experiments. Through functionality evaluation, the manipulators were able to complete interventional surgical motion both independently and cooperatively. The robotic surgery was performed successfully in an adult female pig and demonstrated the feasibility of superior mesenteric and common iliac artery stent implantation. The entire robotic system met the clinical requirements of EIS. The results show that the system has the ability to imitate the movements of surgeons and to accomplish the axial and radial motions with consistency and high-accuracy. Copyright © 2018 John Wiley & Sons, Ltd.

Development of a force-reflecting robotic platform for cardiac catheter navigation.

PubMed

Park, Jun Woo; Choi, Jaesoon; Pak, Hui-Nam; Song, Seung Joon; Lee, Jung Chan; Park, Yongdoo; Shin, Seung Min; Sun, Kyung

2010-11-01

Electrophysiological catheters are used for both diagnostics and clinical intervention. To facilitate more accurate and precise catheter navigation, robotic cardiac catheter navigation systems have been developed and commercialized. The authors have developed a novel force-reflecting robotic catheter navigation system. The system is a network-based master-slave configuration having a 3-degree of freedom robotic manipulator for operation with a conventional cardiac ablation catheter. The master manipulator implements a haptic user interface device with force feedback using a force or torque signal either measured with a sensor or estimated from the motor current signal in the slave manipulator. The slave manipulator is a robotic motion control platform on which the cardiac ablation catheter is mounted. The catheter motions-forward and backward movements, rolling, and catheter tip bending-are controlled by electromechanical actuators located in the slave manipulator. The control software runs on a real-time operating system-based workstation and implements the master/slave motion synchronization control of the robot system. The master/slave motion synchronization response was assessed with step, sinusoidal, and arbitrarily varying motion commands, and showed satisfactory performance with insignificant steady-state motion error. The current system successfully implemented the motion control function and will undergo safety and performance evaluation by means of animal experiments. Further studies on the force feedback control algorithm and on an active motion catheter with an embedded actuation mechanism are underway. © 2010, Copyright the Authors. Artificial Organs © 2010, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.

A microcontroller-based three degree-of-freedom manipulator testbed. M.S. Thesis

NASA Technical Reports Server (NTRS)

Brown, Robert Michael, Jr.

1995-01-01

A wheeled exploratory vehicle is under construction at the Mars Mission Research Center at North Carolina State University. In order to serve as more than an inspection tool, this vehicle requires the ability to interact with its surroundings. A crane-type manipulator, as well as the necessary control hardware and software, has been developed for use as a sample gathering tool on this vehicle. The system is controlled by a network of four Motorola M68HC11 microcontrollers. Control hardware and software were developed in a modular fashion so that the system can be used to test future control algorithms and hardware. Actuators include three stepper motors and one solenoid. Sensors include three optical encoders and one cable tensiometer. The vehicle supervisor computer provides the manipulator system with the approximate coordinates of the target object. This system maps the workspace surrounding the given location by lowering the claw, along a set of evenly spaced vertical lines, until contact occurs. Based on this measured height information and prior knowledge of the target object size, the system determines if the object exists in the searched area. The system can find and retrieve a 1.25 in. diameter by 1.25 in. tall cylinder placed within the 47.5 sq in search area in less than 12 minutes. This manipulator hardware may be used for future control algorithm verification and serves as a prototype for other manipulator hardware.

System Collects And Displays Demultiplexed Data

NASA Technical Reports Server (NTRS)

Reschke, Millard F.; Fariss, Julie L.; Kulecz, Walter B.; Paloski, William H.

1992-01-01

Electronic system collects, manipulates, and displays in real time results of manipulation of streams of data transmitted from remote scientific instrumentation. Interface circuit shifts data-and-clock signal from differential logic levels of multiplexer to single-ended logic levels of computer. System accommodates nonstandard data-transmission protocol. Software useful in applications where Macintosh computers used in real-time display and recording of data.

Earth Observations taken by Expedition 26 Crew

NASA Image and Video Library

2010-12-21

ISS026-E-011834 (21 Dec. 2010) --- This photo, recorded by an Expedition 26 crewmember on the International Space Station, features two components of the Mobile Servicing System on the orbital outpost. Part of the Station Remote Manipulator System?s arm (Canadarm2) is visible at left. Dextre (right), also known as the Special Purpose Dexterous Manipulator (SPDM), is a two armed robot.

Basic Operational Robotics Instructional System

NASA Technical Reports Server (NTRS)

Todd, Brian Keith; Fischer, James; Falgout, Jane; Schweers, John

2013-01-01

The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

Cavity Mediated Manipulation of Distant Spin Currents Using a Cavity-Magnon-Polariton.

PubMed

Bai, Lihui; Harder, Michael; Hyde, Paul; Zhang, Zhaohui; Hu, Can-Ming; Chen, Y P; Xiao, John Q

2017-05-26

Using electrical detection of a strongly coupled spin-photon system comprised of a microwave cavity mode and two magnetic samples, we demonstrate the long distance manipulation of spin currents. This distant control is not limited by the spin diffusion length, instead depending on the interplay between the local and global properties of the coupled system, enabling systematic spin current control over large distance scales (several centimeters in this work). This flexibility opens the door to improved spin current generation and manipulation for cavity spintronic devices.

Consistent Correlations for Parameterised Boolean Equation Systems with Applications in Correctness Proofs for Manipulations

NASA Astrophysics Data System (ADS)

Willemse, Tim A. C.

We introduce the concept of consistent correlations for parameterised Boolean equation systems (PBESs), motivated largely by the laborious proofs of correctness required for most manipulations in this setting. Consistent correlations focus on relating the equations that occur in PBESs, rather than their solutions. For a fragment of PBESs, consistent correlations are shown to coincide with a recently introduced form of bisimulation. Finally, we show that bisimilarity on processes induces consistent correlations on PBESs encoding model checking problems. We apply our theory to two example manipulations from the literature.

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…

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.

Intelligent Hierarchical Modal Control of a Novel Manipulator with Slewing and Deployable Links

NASA Astrophysics Data System (ADS)

Modi, V. J.; Zhang, J.; de Silva, C. W.

1. Introduction The Space Shuttle based Canada arm has vividly demonstrated its application in launching of satellites as well as retrieval of disabled spacecraft for repair. There have been proposals for free flying robotic systems with appropriate instrumentation to monitor health of spacecraft, identify problems and even perform corrective measures. Most of these applications involve multilink manipulators with revolute joints for which there is a vast body of literature [1]. On the other hand, manipulators with revolute as well as prismatic joints, permitting slewing as well as deployment/retrieval of links, have received relatively little attention [2]. Such variable geometry, snake-like manipulators have distinct advantages of reduced coupling effects leading to simpler equations of motion and inverse kinematics, less number of singularity conditions, and ease of obstacle avoidance [3]. 2. Hierarchical Structure The control system developed for the deployable manipulator has a three-level structure. This hierarchical structure takes the advantages of a crisp controller; specially, a modal controller, with those of a soft, knowledge-based, supervisory control . The overall structure can be separated and developed as three main layers. The first layer is the lowest layer of the control system. It deals with information coming from sensors attached to the plant ( manipulator). This type of information is characterized by a large amount of individual data points of high resolution, produced and collected at high frequency. The crisp controller that is used is a state feedback regulator with its feedback gain matrix determined using the eigenstructure assignment approach. The data processing for monitoring and evaluation of the system performance occurs in this intermediate or second layer. Here high-resolution, crisp data from sensors are filtered to afford representation of the current state of the manipulator. This servo-expert layer acts as an interface between the crisp controller, which regulates the servomotors at the bottom layer, and the knowledge-based controller at the top layer. The third uppermost layer of the control system has the knowledge-base and inference engine to make decisions, which achieve the overall control objective, particularly by improving the performance of low-level direct control. This layer can serve such functions as monitoring the performance of the overall system, assessment of the quality of operation, tuning of the low-level direct controller, and general supervisory control. In this layer, there is a high degree of information fuzziness and a relatively low control bandwidth. 3. Typical Simulation Results This hierarchical control system is used to suppress vibrations of the manipulator with flexible joint and links as well as supported by a flexible orbiting platform. The effectiveness of the control system is assessed through simulation studies by investigating how the vibrations caused by different initial disturbances are suppressed. The resutls showed that when regulated by the hieraicyical controller, the joint vibrations were eliminated much faster than that by the LQR. The hierauchical control system was found to reduce the amplitude of the vibraiton significantly in comparison with those by the LQR. [1]Nagata, T., Modi, V. J., and Matsuo, H., " An Approach to Dynamics and Control of Flexible Systems", Collection [2]Caron, M., " Planar Dynamics and Control of Space-Based Flexible Manipulators with Slewing and Deployable [3]Chu, M. S. T., " Design, Construction and Operation of a Variable Geometry Manipulator", M. A. Sc. Thesis, The

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. The control algorithms are subjected to a dynamic simulation before implementation.

Method and apparatus for accurately manipulating an object during microelectrophoresis

DOEpatents

Parvin, Bahram A.; Maestre, Marcos F.; Fish, Richard H.; Johnston, William E.

1997-01-01

An apparatus using electrophoresis provides accurate manipulation of an object on a microscope stage for further manipulations add reactions. The present invention also provides an inexpensive and easily accessible means to move an object without damage to the object. A plurality of electrodes are coupled to the stage in an array whereby the electrode array allows for distinct manipulations of the electric field for accurate manipulations of the object. There is an electrode array control coupled to the plurality of electrodes for manipulating the electric field. In an alternative embodiment, a chamber is provided on the stage to hold the object. The plurality of electrodes are positioned in the chamber, and the chamber is filled with fluid. The system can be automated using visual servoing, which manipulates the control parameters, i.e., x, y stage, applying the field, etc., after extracting the significant features directly from image data. Visual servoing includes an imaging device and computer system to determine the location of the object. A second stage having a plurality of tubes positioned on top of the second stage, can be accurately positioned by visual servoing so that one end of one of the plurality of tubes surrounds at least part of the object on the first stage.

Method and apparatus for accurately manipulating an object during microelectrophoresis

DOEpatents

Parvin, B.A.; Maestre, M.F.; Fish, R.H.; Johnston, W.E.

1997-09-23

An apparatus using electrophoresis provides accurate manipulation of an object on a microscope stage for further manipulations and reactions. The present invention also provides an inexpensive and easily accessible means to move an object without damage to the object. A plurality of electrodes are coupled to the stage in an array whereby the electrode array allows for distinct manipulations of the electric field for accurate manipulations of the object. There is an electrode array control coupled to the plurality of electrodes for manipulating the electric field. In an alternative embodiment, a chamber is provided on the stage to hold the object. The plurality of electrodes are positioned in the chamber, and the chamber is filled with fluid. The system can be automated using visual servoing, which manipulates the control parameters, i.e., x, y stage, applying the field, etc., after extracting the significant features directly from image data. Visual servoing includes an imaging device and computer system to determine the location of the object. A second stage having a plurality of tubes positioned on top of the second stage, can be accurately positioned by visual servoing so that one end of one of the plurality of tubes surrounds at least part of the object on the first stage. 11 figs.

Dynamic modeling, property investigation, and adaptive controller design of serial robotic manipulators modeled with structural compliance

NASA Technical Reports Server (NTRS)

Tesar, Delbert; Tosunoglu, Sabri; Lin, Shyng-Her

1990-01-01

Research results on general serial robotic manipulators modeled with structural compliances are presented. Two compliant manipulator modeling approaches, distributed and lumped parameter models, are used in this study. System dynamic equations for both compliant models are derived by using the first and second order influence coefficients. Also, the properties of compliant manipulator system dynamics are investigated. One of the properties, which is defined as inaccessibility of vibratory modes, is shown to display a distinct character associated with compliant manipulators. This property indicates the impact of robot geometry on the control of structural oscillations. Example studies are provided to illustrate the physical interpretation of inaccessibility of vibratory modes. Two types of controllers are designed for compliant manipulators modeled by either lumped or distributed parameter techniques. In order to maintain the generality of the results, neither linearization is introduced. Example simulations are given to demonstrate the controller performance. The second type controller is also built for general serial robot arms and is adaptive in nature which can estimate uncertain payload parameters on-line and simultaneously maintain trajectory tracking properties. The relation between manipulator motion tracking capability and convergence of parameter estimation properties is discussed through example case studies. The effect of control input update delays on adaptive controller performance is also studied.

Two-probe atomic-force microscope manipulator and its applications.

PubMed

Zhukov, A A; Stolyarov, V S; Kononenko, O V

2017-06-01

We report on a manipulator based on a two-probe atomic force microscope (AFM) with an individual feedback system for each probe. This manipulator works under an upright optical microscope with 3 mm focal distance. The design of the microscope helps us tomanipulate nanowires using the microscope probes as a two-prong fork. The AFM feedback is realized based on the dynamic full-time contact mode. The applications of the manipulator and advantages of its two-probe design are presented.

Analyzing Robotic Kinematics Via Computed Simulations

NASA Technical Reports Server (NTRS)

Carnahan, Timothy M.

1992-01-01

Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.

High resolution low dose transmission electron microscopy real-time imaging and manipulation of nano-scale objects in the electron beam

DOEpatents

Brown, Jr., R. Malcolm; Barnes, Zack [Austin, TX; Sawatari, Chie [Shizuoka, JP; Kondo, Tetsuo [Kukuoka, JP

2008-02-26

The present invention includes a method, apparatus and system for nanofabrication in which one or more target molecules are identified for manipulation with an electron beam and the one or more target molecules are manipulated with the electron beam to produce new useful materials.

Application of symbolic and algebraic manipulation software in solving applied mechanics problems

NASA Technical Reports Server (NTRS)

Tsai, Wen-Lang; Kikuchi, Noboru

1993-01-01

As its name implies, symbolic and algebraic manipulation is an operational tool which not only can retain symbols throughout computations but also can express results in terms of symbols. This report starts with a history of symbolic and algebraic manipulators and a review of the literatures. With the help of selected examples, the capabilities of symbolic and algebraic manipulators are demonstrated. These applications to problems of applied mechanics are then presented. They are the application of automatic formulation to applied mechanics problems, application to a materially nonlinear problem (rigid-plastic ring compression) by finite element method (FEM) and application to plate problems by FEM. The advantages and difficulties, contributions, education, and perspectives of symbolic and algebraic manipulation are discussed. It is well known that there exist some fundamental difficulties in symbolic and algebraic manipulation, such as internal swelling and mathematical limitation. A remedy for these difficulties is proposed, and the three applications mentioned are solved successfully. For example, the closed from solution of stiffness matrix of four-node isoparametrical quadrilateral element for 2-D elasticity problem was not available before. Due to the work presented, the automatic construction of it becomes feasible. In addition, a new advantage of the application of symbolic and algebraic manipulation found is believed to be crucial in improving the efficiency of program execution in the future. This will substantially shorten the response time of a system. It is very significant for certain systems, such as missile and high speed aircraft systems, in which time plays an important role.

Feedback control for manipulating magnetization in spin-exchange optical pumping system

NASA Astrophysics Data System (ADS)

Zhang, Ke; Li, Jun; Jiang, Min; Zhao, Nan; Peng, XinHua

2018-08-01

Control of magnetization plays an important role in the scientific and technological field of manipulating spin systems. In this work, we study the problem of manipulating nuclear magnetization in the spin-exchange optical pumping system, including accelerating the recovery of nuclear polarization and fixing it on a specific desired state. A real-time feedback control strategy is exploited here. We have also done some numerical simulations, with the results clearly demonstrating the effectiveness of our method, that the nuclear magnetization is able to be driven towards the equilibrium state at a much faster speed and also can be stabilized to a target state. We expect that our feedback control method can find applications in gyro experiments.

[An Introduction to A Newly-developed "Acupuncture Needle Manipulation Training-evaluation System" Based on Optical Motion Capture Technique].

PubMed

Zhang, Ao; Yan, Xing-Ke; Liu, An-Guo

2016-12-25

In the present paper, the authors introduce a newly-developed "Acupuncture Needle Manipulation Training-evaluation System" based on optical motion capture technique. It is composed of two parts, sensor and software, and overcomes some shortages of mechanical motion capture technique. This device is able to analyze the data of operations of the pressing-hand and needle-insertion hand during acupuncture performance and its software contains personal computer (PC) version, Android version, and Internetwork Operating System (IOS) Apple version. It is competent in recording and analyzing information of any ope-rator's needling manipulations, and is quite helpful for teachers in teaching, training and examining students in clinical practice.

High performance bilateral telerobot control.

PubMed

Kline-Schoder, Robert; Finger, William; Hogan, Neville

2002-01-01

Telerobotic systems are used when the environment that requires manipulation is not easily accessible to humans, as in space, remote, hazardous, or microscopic applications or to extend the capabilities of an operator by scaling motions and forces. The Creare control algorithm and software is an enabling technology that makes possible guaranteed stability and high performance for force-feedback telerobots. We have developed the necessary theory, structure, and software design required to implement high performance telerobot systems with time delay. This includes controllers for the master and slave manipulators, the manipulator servo levels, the communication link, and impedance shaping modules. We verified the performance using both bench top hardware as well as a commercial microsurgery system.

Novel robotic catheter manipulation system integrated with remote magnetic navigation for fully remote ablation of atrial tachyarrhythmias: a two-centre evaluation.

PubMed

Nölker, Georg; Gutleben, Klaus-Jürgen; Muntean, Bogdan; Vogt, Jürgen; Horstkotte, Dieter; Dabiri Abkenari, Lara; Akca, Ferdi; Szili-Torok, Tamas

2012-12-01

Studies have shown that remote magnetic navigation is safe and effective for ablation of atrial arrhythmias, although optimal outcomes often require frequent manual manipulation of a circular mapping catheter. The Vdrive robotic system ('Vdrive') was designed for remote navigation of circular mapping catheters to enable a fully remote procedure. This study details the first human clinical experience with remote circular catheter manipulation in the left atrium. This was a prospective, multi-centre, non-randomized consecutive case series that included patients presenting for catheter ablation of left atrial arrhythmias. Remote systems were used exclusively to manipulate both the circular mapping catheter and the ablation catheter. Patients were followed through hospital discharge. Ninety-four patients were included in the study, including 23 with paroxysmal atrial fibrillation (AF), 48 with persistent AF, and 15 suffering from atrial tachycardias. The population was predominately male (77%) with a mean age of 60.5 ± 11.7 years. The Vdrive was used for remote navigation between veins, creation of chamber maps, and gap identification with segmental isolation. The intended acute clinical endpoints were achieved in 100% of patients. Mean case time was 225.9 ± 70.5 min. Three patients (3.2%) crossed over to manual circular mapping catheter navigation. There were no adverse events related to the use of the remote manipulation system. The results of this study demonstrate that remote manipulation of a circular mapping catheter in the ablation of atrial arrhythmias is feasible and safe. Prospective randomized studies are needed to prove efficiency improvements over manual techniques.

Optimal design for robust control of uncertain flexible joint manipulators: a fuzzy dynamical system approach

NASA Astrophysics Data System (ADS)

Han, Jiang; Chen, Ye-Hwa; Zhao, Xiaomin; Dong, Fangfang

2018-04-01

A novel fuzzy dynamical system approach to the control design of flexible joint manipulators with mismatched uncertainty is proposed. Uncertainties of the system are assumed to lie within prescribed fuzzy sets. The desired system performance includes a deterministic phase and a fuzzy phase. First, by creatively implanting a fictitious control, a robust control scheme is constructed to render the system uniformly bounded and uniformly ultimately bounded. Both the manipulator modelling and control scheme are deterministic and not IF-THEN heuristic rules-based. Next, a fuzzy-based performance index is proposed. An optimal design problem for a control design parameter is formulated as a constrained optimisation problem. The global solution to this problem can be obtained from solving two quartic equations. The fuzzy dynamical system approach is systematic and is able to assure the deterministic performance as well as to minimise the fuzzy performance index.

Systems and methods for controlling energy use in a building management system using energy budgets

DOEpatents

Wenzel, Michael J; Drees, Kirk H

2014-09-23

Systems and methods for limiting power consumption by a heating, ventilation, and air conditioning (HVAC) subsystem of a building are shown and described. A feedback controller is used to generate a manipulated variable based on an energy use setpoint and a measured energy use. The manipulated variable may be used for adjusting the operation of an HVAC device.

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.

A universal sample manipulator with 50 kV negative bias

NASA Astrophysics Data System (ADS)

Kenny, M. J.; Wielunski, L. S.; Scott, M. D.; Clissold, R. A.; Stevenson, D.; Baxter, G.

1991-04-01

A manipulator incorporating a number of novel features has been built for a research ion implanter. The system is designed to enable uniform dose implantation of both planar and nonplanar surfaces by incorporating one translational and two rotational degrees of freedom. Negative target bias of up to 50 kV may be applied to the target, thus increasing the ion energy by this amount. The target chamber and all external manipulator controls are grounded. With the exception of the high voltage power supply, cable and feedthrough, all high voltage components are within the vacuum system. A secondary electron suppression cage which can be held at a negative bias of up to 60 kV relative to the chamber (i.e. 10 kV relative to the manipulator) surrounds the manipulator. Performance has been evaluated using 15N ions and nuclear reaction analysis through 15N(p,α) 12C to profile ion concentrations for dose uniformity and for ion depth at elevated target potentials.

Prospective Teachers' Views on the Use of Calculators with Computer Algebra System in Algebra Instruction

ERIC Educational Resources Information Center

Ozgun-Koca, S. Ash

2010-01-01

Although growing numbers of secondary school mathematics teachers and students use calculators to study graphs, they mainly rely on paper-and-pencil when manipulating algebraic symbols. However, the Computer Algebra Systems (CAS) on computers or handheld calculators create new possibilities for teaching and learning algebraic manipulation. This…

Telerobotic on-orbit remote fluid resupply system

NASA Technical Reports Server (NTRS)

1990-01-01

The development of a telerobotic on-orbit fluid resupply demonstration system is described. A fluid transfer demonstration system was developed which functionally simulates operations required to remotely transfer fluids (liquids or gases) from a servicing spacecraft to a receiving spacecraft through the use of telerobotic manipulations. The fluid system is representative of systems used by current or planned spacecraft and propulsion stages requiring on-orbit remote resupply. The system was integrated with an existing MSFC remotely controlled manipulator arm to mate/demate couplings for demonstration and evaluation of a complete remotely operated fluid transfer system.

Status of Japanese Experiment Module (JEM) activities

NASA Technical Reports Server (NTRS)

1991-01-01

The current status of the JEM activities are presented in graphic form. The JEM spacecraft configuration is presented. The JEM configuration consist of the Pressurized Module, the Exposed Facility, the Experiment Logistics Module which consist of a pressurized section and an exposed section; and the Remote Manipulator System. The master schedule of the space station is given. Also the development tests of the structure and mechanism, the electrical power system, the data management system, the thermal control system, the environment control system, the experiment support system, and the remote manipulator system are listed.

System for instrumenting and manipulating apparatuses in high voltage

DOEpatents

Jordan, Kevin

2016-06-07

A system for energizing, operating and manipulating apparatuses in high voltage systems. The system uses a dielectric gas such as SF.sub.6 as a driving power supply for a pneumatic motor which ultimately charges a battery or other energy storage device. The stored energy can then be used for instrumentation equipment, or to power any electrical equipment, in the high voltage deck. The accompanying method provides for the use of the SF6 system for operating an electrical device in a high-voltage environment.

Two measures of performance in a peg-in-hole manipulation task with force feedback

NASA Technical Reports Server (NTRS)

Hill, J. W.

1977-01-01

The results are described from two manipulators on a peg-in-hole task, which is part of a continued effort to develop models for human performance with remote manipulators. Task difficulty is varied by changing the diameter of the peg to be inserted in a 50 mm diameter hole. An automatic measuring system records the distance between the tool being held by the manipulator and the receptacle into which it is to be inserted. The data from repeated insertions are processed by computer to determine task times, accumulated distances, and trajectories. Experiments with both the MA-11 cable-connected master-slave manipulator common to hot cell work and the MA-23 servo-controlled manipulator (with and without force feedback) are described. Comparison of these results with previous results of the Ames Manipulator shows that force feedback provides a consistent advantage.

Tapered microelectrode array system for dielectrophoretically filtration: fabrication, characterization, and simulation study

NASA Astrophysics Data System (ADS)

Buyong, Muhamad Ramdzan; Larki, Farhad; Takamura, Yuzuru; Majlis, Burhanuddin Yeop

2017-10-01

This paper presents the fabrication, characterization, and simulation of microelectrode arrays system with tapered profile having an aluminum surface for dielectrophoresis (DEP)-based manipulation of particles. The proposed structure demonstrates more effective electric field gradient compared with its counterpart with untapered profile. Therefore, according to the asymmetric distribution of the electric field in the active region of microelectrode, it produces more effective particle manipulation. The tapered aluminum microelectrode array (TAMA) fabrication process uses a state-of-the-art technique in the formation of the resist's taper profile. The performance of TAMA with various sidewall profile angles (5 deg to 90 deg) was analyzed through finite-element method numerical simulations to offer a better understanding of the origin of the sidewall profile effect. The ability of capturing and manipulating of the device was examined through modification of the Clausius-Mossotti factor and cross-over frequency (f). The fabricated system has been particularly implemented for filtration of particles with a desired diameter from a mixture of particles with three different diameters in an aqueous medium. The microelectrode system with tapered side wall profile offers a more efficient platform for particle manipulation and sensing applications compared with the conventional microelectrode systems.

Singularity-free dynamic equations of spacecraft-manipulator systems

NASA Astrophysics Data System (ADS)

From, Pål J.; Ytterstad Pettersen, Kristin; Gravdahl, Jan T.

2011-12-01

In this paper we derive the singularity-free dynamic equations of spacecraft-manipulator systems using a minimal representation. Spacecraft are normally modeled using Euler angles, which leads to singularities, or Euler parameters, which is not a minimal representation and thus not suited for Lagrange's equations. We circumvent these issues by introducing quasi-coordinates which allows us to derive the dynamics using minimal and globally valid non-Euclidean configuration coordinates. This is a great advantage as the configuration space of a spacecraft is non-Euclidean. We thus obtain a computationally efficient and singularity-free formulation of the dynamic equations with the same complexity as the conventional Lagrangian approach. The closed form formulation makes the proposed approach well suited for system analysis and model-based control. This paper focuses on the dynamic properties of free-floating and free-flying spacecraft-manipulator systems and we show how to calculate the inertia and Coriolis matrices in such a way that this can be implemented for simulation and control purposes without extensive knowledge of the mathematical background. This paper represents the first detailed study of modeling of spacecraft-manipulator systems with a focus on a singularity free formulation using the proposed framework.

Manga Vectorization and Manipulation with Procedural Simple Screentone.

PubMed

Yao, Chih-Yuan; Hung, Shih-Hsuan; Li, Guo-Wei; Chen, I-Yu; Adhitya, Reza; Lai, Yu-Chi

2017-02-01

Manga are a popular artistic form around the world, and artists use simple line drawing and screentone to create all kinds of interesting productions. Vectorization is helpful to digitally reproduce these elements for proper content and intention delivery on electronic devices. Therefore, this study aims at transforming scanned Manga to a vector representation for interactive manipulation and real-time rendering with arbitrary resolution. Our system first decomposes the patch into rough Manga elements including possible borders and shading regions using adaptive binarization and screentone detector. We classify detected screentone into simple and complex patterns: our system extracts simple screentone properties for refining screentone borders, estimating lighting, compensating missing strokes inside screentone regions, and later resolution independently rendering with our procedural shaders. Our system treats the others as complex screentone areas and vectorizes them with our proposed line tracer which aims at locating boundaries of all shading regions and polishing all shading borders with the curve-based Gaussian refiner. A user can lay down simple scribbles to cluster Manga elements intuitively for the formation of semantic components, and our system vectorizes these components into shading meshes along with embedded Bézier curves as a unified foundation for consistent manipulation including pattern manipulation, deformation, and lighting addition. Our system can real-time and resolution independently render the shading regions with our procedural shaders and drawing borders with the curve-based shader. For Manga manipulation, the proposed vector representation can be not only magnified without artifacts but also deformed easily to generate interesting results.

Ab-initio atomic level stress and role of d-orbitals in CuZr, CuZn and CuY

NASA Astrophysics Data System (ADS)

Ojha, Madhusudan; Nicholson, Don M.; Egami, Takeshi

2015-03-01

Atomic level stress offers a new tool to characterize materials within the local approximation to density functional theory (DFT). Ab-initio atomic level stresses in B2 structures of CuZr, CuZn and CuY are calculated and results are explained on the basis of d-orbital contributions to Density of States (DOS). The overlap of d-orbital DOS plays an important role in the relative magnitude of atomic level stresses in these structures. The trends in atomic level stresses that we observed in these simple B2 structures are also seen in complex structures such as liquids, glasses and solid solutions. The stresses are however modified by the different coordination and relaxed separation distances in these complex structures. We used the Locally Self-Consistent Multiple Scattering (LSMS) code and Vienna Ab-initio Simulation Package (VASP) for ab-initio calculations.

The Effects of a Grouping by Tens Manipulative on Children's Strategy Use, Base Ten Understanding and Mathematical Knowledge

ERIC Educational Resources Information Center

Pagar, Dana

2013-01-01

Manipulatives have the potential to be powerful tools in helping children improve their number sense, develop advanced mathematical strategies, and build an understanding of the base ten number system. Physical manipulatives used in classrooms, however, are often not designed to promote efficient strategy use, such as counting on, and typically do…

Summary report: A preliminary investigation into the use of fuzzy logic for the control of redundant manipulators

NASA Technical Reports Server (NTRS)

Cheatham, John B., Jr.; Magee, Kevin N.

1991-01-01

The Rice University Department of Mechanical Engineering and Materials Sciences' Robotics Group designed and built an eight degree of freedom redundant manipulator. Fuzzy logic was proposed as a control scheme for tasks not directly controlled by a human operator. In preliminary work, fuzzy logic control was implemented for a camera tracking system and a six degree of freedom manipulator. Both preliminary systems use real time vision data as input to fuzzy controllers. Related projects include integration of tactile sensing and fuzzy control of a redundant snake-like arm that is under construction.

A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 4: Simulation studies

NASA Technical Reports Server (NTRS)

1972-01-01

Laboratory simulations of three concepts, based on maximum use of available off-the-shelf hardware elements, are described. The concepts are a stereo-foveal-peripheral TV system with symmetric steroscopic split-image registration and 90 deg counter rotation; a computer assisted model control system termed the trajectory following control system; and active manipulator damping. It is concluded that the feasibility of these concepts is established.

Analysis on the Load Carrying Mechanism Integrated as Heterogeneous Co-operative Manipulator in a Walking Wheelchair

NASA Astrophysics Data System (ADS)

Rajay Vedaraj, I. S.; Jain, Ritika; Rao, B. V. A.

2014-07-01

After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator used for climbing stairs with three leg design and anlaysis were also done on the mechanism integrated to the system. Kinematics of the legs are analysed separately and the legs are designed to carry a maximum of 175kgs, which is sustained by the center leg and shared by the dual wing legs equally during the walking phase. In the proposed design, screwjack mechanism is used as the central leg to share the load and thus the analysis on the load sharing capability of the whole system is analysed and concluded in terms of failure modes.

Electromagnetic fasteners

DOEpatents

Crane, Randolph W.; Marts, Donna J.

1994-11-01

An electromagnetic fastener for manipulating objects in space uses the matic attraction of various metals. An end effector is attached to a robotic manipulating system having an electromagnet such that when current is supplied to the electromagnet, the object is drawn and affixed to the end effector, and when the current is withheld, the object is released. The object to be manipulated includes a multiplicity of ferromagnetic patches at various locations to provide multiple areas for the effector on the manipulator to become affixed to the object. The ferromagnetic patches are sized relative to the object's geometry and mass.

Advanced surface design for logistics analysis

NASA Astrophysics Data System (ADS)

Brown, Tim R.; Hansen, Scott D.

The development of anthropometric arm/hand and tool models and their manipulation in a large system model for maintenance simulation are discussed. The use of Advanced Surface Design and s-fig technology in anthropometrics, and three-dimensional graphics simulation tools, are found to achieve a good balance between model manipulation speed and model accuracy. The present second generation models are shown to be twice as fast to manipulate as the first generation b-surf models, to be easier to manipulate into various configurations, and to more closely approximate human contours.

Electromagnetic fasteners

DOEpatents

Crane, Randolph W.; Marts, Donna J.

1994-01-01

An electromagnetic fastener for manipulating objects in space uses the matic attraction of various metals. An end effector is attached to a robotic manipulating system having an electromagnet such that when current is supplied to the electromagnet, the object is drawn and affixed to the end effector, and when the current is withheld, the object is released. The object to be manipulated includes a multiplicity of ferromagnetic patches at various locations to provide multiple areas for the effector on the manipulator to become affixed to the object. The ferromagnetic patches are sized relative to the object's geometry and mass.

Hardware interface unit for control of shuttle RMS vibrations

NASA Technical Reports Server (NTRS)

Lindsay, Thomas S.; Hansen, Joseph M.; Manouchehri, Davoud; Forouhar, Kamran

1994-01-01

Vibration of the Shuttle Remote Manipulator System (RMS) increases the time for task completion and reduces task safety for manipulator-assisted operations. If the dynamics of the manipulator and the payload can be physically isolated, performance should improve. Rockwell has developed a self contained hardware unit which interfaces between a manipulator arm and payload. The End Point Control Unit (EPCU) is built and is being tested at Rockwell and at the Langley/Marshall Coupled, Multibody Spacecraft Control Research Facility in NASA's Marshall Space Flight Center in Huntsville, Alabama.

Effect of Picture Archiving and Communication System Image Manipulation on the Agreement of Chest Radiograph Interpretation in the Neonatal Intensive Care Unit.

PubMed

Castro, Denise A; Naqvi, Asad Ahmed; Vandenkerkhof, Elizabeth; Flavin, Michael P; Manson, David; Soboleski, Donald

2016-01-01

Variability in image interpretation has been attributed to differences in the interpreters' knowledge base, experience level, and access to the clinical scenario. Picture archiving and communication system (PACS) has allowed the user to manipulate the images while developing their impression of the radiograph. The aim of this study was to determine the agreement of chest radiograph (CXR) impressions among radiologists and neonatologists and help determine the effect of image manipulation with PACS on report impression. Prospective cohort study included 60 patients from the Neonatal Intensive Care Unit undergoing CXRs. Three radiologists and three neonatologists reviewed two consecutive frontal CXRs of each patient. Each physician was allowed manipulation of images as needed to provide a decision of "improved," "unchanged," or "disease progression" lung disease for each patient. Each physician repeated the process once more; this time, they were not allowed to individually manipulate the images, but an independent radiologist presets the image brightness and contrast to best optimize the CXR appearance. Percent agreement and opposing reporting views were calculated between all six physicians for each of the two methods (allowing and not allowing image manipulation). One hundred percent agreement in image impression between all six observers was only seen in 5% of cases when allowing image manipulation; 100% agreement was seen in 13% of the cases when there was no manipulation of the images. Agreement in CXR interpretation is poor; the ability to manipulate the images on PACS results in a decrease in agreement in the interpretation of these studies. New methods to standardize image appearance and allow improved comparison with previous studies should be sought to improve clinician agreement in interpretation consistency and advance patient care.

Design considerations of manipulator and feel system characteristics in roll tracking

NASA Technical Reports Server (NTRS)

Johnston, Donald E.; Aponso, Bimal L.

1988-01-01

A fixed-base simulation was performed to identify and quantify interactions between the pilot's hand/arm neuromuscular subsystem and such control system features of typical modern fighter aircraft roll rate command mechanizations as: (1) force versus displacement sensing side-stick type manipulator, (2) feel force/displacement gradient, (3) feel system versus command prefilter dynamic lag, and (4) flight control system effective time delay. The experiment encompassed some 48 manipulator/filter/aircraft configurations. Displacement side-stick experiment results are given and compared with the previous force sidestick experiment results. Attention is focused on control bandwidth, excitement (peaking) of the neuromuscular mode, feel force/displacement gradient effects, time delay effects, etc. Section 5 is devoted to experiments with a center-stick in which force versus displacement sensing, feel system lag, and command prefilter lag influences on tracking performance and pilot preference are investigated.

Method and system for providing autonomous control of a platform

NASA Technical Reports Server (NTRS)

Seelinger, Michael J. (Inventor); Yoder, John-David (Inventor)

2012-01-01

The present application provides a system for enabling instrument placement from distances on the order of five meters, for example, and increases accuracy of the instrument placement relative to visually-specified targets. The system provides precision control of a mobile base of a rover and onboard manipulators (e.g., robotic arms) relative to a visually-specified target using one or more sets of cameras. The system automatically compensates for wheel slippage and kinematic inaccuracy ensuring accurate placement (on the order of 2 mm, for example) of the instrument relative to the target. The system provides the ability for autonomous instrument placement by controlling both the base of the rover and the onboard manipulator using a single set of cameras. To extend the distance from which the placement can be completed to nearly five meters, target information may be transferred from navigation cameras (used for long-range) to front hazard cameras (used for positioning the manipulator).

The JPL Serpentine Robot: A 12 DOF System for Inspection

NASA Technical Reports Server (NTRS)

Paljug, E.; Ohm, T.; Hayati, S.

1995-01-01

The Serpentine Robot is a prototype hyper-redundant (snake-like) manipulator system developed at the Jet Propulsion Laboratory. It is designed to navigate and perform tasks in obstructed and constrained environments in which conventional 6 DOF manipulators cannot function. Described are the robot mechanical design, a joint assembly low level inverse kinematic algorithm, control development, and applications.

Hydraulic redistribution in a Douglas-fir forest: lessons from system manipulations.

Treesearch

J. Renée Brooks; Frederick C. Meinzer; Jeffery M. Warren; Jean-Christophe Domec; Rob Coulombe

2006-01-01

Hydraulic redistribution (HR) occurs in many ecosystems; however, key questions remain about its consequences at the ecosystem level. The objectives of the present study were to quantify seasonal variation in HR and its driving force, and to manipulate the soil-root system to elucidate physiological components controlling HR and utilization of redistributed water. In...

Guide to the Stand-Damage Model interface management system

Treesearch

George Racin; J. J. Colbert

1995-01-01

This programmer's support document describes the Gypsy Moth Stand-Damage Model interface management system. Management of stand-damage data made it necessary to define structures to store data and provide the mechanisms to manipulate these data. The software provides a user-friendly means to manipulate files, graph and manage outputs, and edit input data. The...

Description of European Space Agency (ESA) Remote Manipulator (RM) System Breadboard Currently Under Development for Demonstration of Critical Technology Foreseen to be Used in the Mars Sample Receiving Facility (MSRF)

NASA Astrophysics Data System (ADS)

Vrublevskis, J.; Duncan, S.; Berthoud, L.; Bowman, P.; Hills, R.; McCulloch, Y.; Pisla, D.; Vaida, C.; Gherman, B.; Hofbaur, M.; Dieber, B.; Neythalath, N.; Smith, C.; van Winnendael, M.; Duvet, L.

2018-04-01

In order to avoid the use of 'double walled' gloves, a haptic feedback Remote Manipulation (RM) system rather than a gloved isolator is needed inside a Double Walled Isolator (DWI) to handle a sample returned from Mars.

View of the Columbia's remote manipulator system (RMS)

NASA Image and Video Library

1982-11-13

STS002-13-226 (13 Nov. 1981) --- Backdropped against Earth's horizon and the darkness of space, the space shuttle Columbia's remote manipulator system (RMS) gets its first workout in zero-gravity during the STS-2 mission. A television camera is mounted near the elbow and another is partially visible near the wrist of the RMS. Photo credit: NASA

Conceptual design of a mobile remote manipulator system

NASA Technical Reports Server (NTRS)

Bush, H. G.; Mikulas, M. M., Jr.; Wallsom, R. E.; Jensen, J. K.

1984-01-01

A mobile remote manipulator system has been identified as a necessary device for space station. A conceptual design for an MRMS is presented which features (1) tracks on the MRMS and guide pins only on the truss structure, (2) a push/pull drive mechanism which rotates to permit movement in four directions, and (3) spacecrane and mobile foot restraint manipulators (or arms). Operational and design features of the MRMS elements are described and illustrated. Concepts are also presented which permit rotating the operational plane of the MRMS through 90 deg. Such a system has been found to have great utility for initial space station construction, maintenance and repair, and to provide a construction capability for future station growth or large spacecraft assembly and/or servicing.

Parallel and patterned optogenetic manipulation of neurons in the brain slice using a DMD-based projector.

PubMed

Sakai, Seiichiro; Ueno, Kenichi; Ishizuka, Toru; Yawo, Hiromu

2013-01-01

Optical manipulation technologies greatly advanced the understanding of the neuronal network and its dysfunctions. To achieve patterned and parallel optical switching, we developed a microscopic illumination system using a commercial DMD-based projector and a software program. The spatiotemporal patterning of the system was evaluated using acute slices of the hippocampus. The neural activity was optically manipulated, positively by the combination of channelrhodopsin-2 (ChR2) and blue light, and negatively by the combination of archaerhodopsin-T (ArchT) and green light. It is suggested that our projector-managing optical system (PMOS) would effectively facilitate the optogenetic analyses of neurons and their circuits. Copyright © 2012 Elsevier Ireland Ltd and the Japan Neuroscience Society. All rights reserved.

76 FR 18769 - Prospective Grant of Exclusive License: Device and System for Two Dimensional Analysis of...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-04-05

..., 2004, now expired, entitled ``Method And Apparatus for Performing Multiple Simultaneous Manipulations..., 2006 entitled ``Method And Apparatus for Performing Multiple Simultaneous Manipulations of Biomolecules...

Real-space Wigner-Seitz Cells Imaging of Potassium on Graphite via Elastic Atomic Manipulation

PubMed Central

Yin, Feng; Koskinen, Pekka; Kulju, Sampo; Akola, Jaakko; Palmer, Richard E.

2015-01-01

Atomic manipulation in the scanning tunnelling microscopy, conventionally a tool to build nanostructures one atom at a time, is here employed to enable the atomic-scale imaging of a model low-dimensional system. Specifically, we use low-temperature STM to investigate an ultra thin film (4 atomic layers) of potassium created by epitaxial growth on a graphite substrate. The STM images display an unexpected honeycomb feature, which corresponds to a real-space visualization of the Wigner-Seitz cells of the close-packed surface K atoms. Density functional simulations indicate that this behaviour arises from the elastic, tip-induced vertical manipulation of potassium atoms during imaging, i.e. elastic atomic manipulation, and reflects the ultrasoft properties of the surface under strain. The method may be generally applicable to other soft e.g. molecular or biomolecular systems. PMID:25651973

Informatics in radiology: Intuitive user interface for 3D image manipulation using augmented reality and a smartphone as a remote control.

PubMed

Nakata, Norio; Suzuki, Naoki; Hattori, Asaki; Hirai, Naoya; Miyamoto, Yukio; Fukuda, Kunihiko

2012-01-01

Although widely used as a pointing device on personal computers (PCs), the mouse was originally designed for control of two-dimensional (2D) cursor movement and is not suited to complex three-dimensional (3D) image manipulation. Augmented reality (AR) is a field of computer science that involves combining the physical world and an interactive 3D virtual world; it represents a new 3D user interface (UI) paradigm. A system for 3D and four-dimensional (4D) image manipulation has been developed that uses optical tracking AR integrated with a smartphone remote control. The smartphone is placed in a hard case (jacket) with a 2D printed fiducial marker for AR on the back. It is connected to a conventional PC with an embedded Web camera by means of WiFi. The touch screen UI of the smartphone is then used as a remote control for 3D and 4D image manipulation. Using this system, the radiologist can easily manipulate 3D and 4D images from computed tomography and magnetic resonance imaging in an AR environment with high-quality image resolution. Pilot assessment of this system suggests that radiologists will be able to manipulate 3D and 4D images in the reading room in the near future. Supplemental material available at http://radiographics.rsna.org/lookup/suppl/doi:10.1148/rg.324115086/-/DC1.

A biomedical information system for retrieval and manipulation of NHANES data.

PubMed

Mukherjee, Sukrit; Martins, David; Norris, Keith C; Jenders, Robert A

2013-01-01

The retrieval and manipulation of data from large public databases like the U.S. National Health and Nutrition Examination Survey (NHANES) may require sophisticated statistical software and significant expertise that may be unavailable in the university setting. In response, we have developed the Data Retrieval And Manipulation System (DReAMS), an automated information system to handle all processes of data extraction and cleaning and then joining different subsets to produce analysis-ready output. The system is a browser-based data warehouse application in which the input data from flat files or operational systems are aggregated in a structured way so that the desired data can be read, recoded, queried and extracted efficiently. The current pilot implementation of the system provides access to a limited amount of NHANES database. We plan to increase the amount of data available through the system in the near future and to extend the techniques to other large databases from CDU archive with a current holding of about 53 databases.

Design of mechanical arm for an automatic sorting system of recyclable cans

NASA Astrophysics Data System (ADS)

Resti, Y.; Mohruni, A. S.; Burlian, F.; Yani, I.; Amran, A.

2018-04-01

The use of a mechanical arm for an automatic sorting system of used cans should be designed carefully. The right design will result in a high precision sorting rate and a short sorting time. The design includes first; design manipulator,second; determine link and joint specifications, and third; build mechanical systems and control systems. This study aims to design the mechanical arm as a hardware system for automatic cans sorting system. The material used for the manipulator is the aluminum plate. The manipulator is designed using 6 links and 6 join where the 6th link is the end effectorand the 6th join is the gripper. As a driving motor used servo motor, while as a microcontroller used Arduino Uno which is connected with Matlab programming language. Based on testing, a mechanical arm designed for this recyclable canned recycling system has a precision sorting rate at 93%, where the average total time required for sorting is 10.82 seconds.

The Glymphatic-Lymphatic Continuum: Opportunities for Osteopathic Manipulative Medicine.

PubMed

Hitscherich, Kyle; Smith, Kyle; Cuoco, Joshua A; Ruvolo, Kathryn E; Mancini, Jayme D; Leheste, Joerg R; Torres, German

2016-03-01

The brain has long been thought to lack a lymphatic drainage system. Recent studies, however, show the presence of a brain-wide paravascular system appropriately named the glymphatic system based on its similarity to the lymphatic system in function and its dependence on astroglial water flux. Besides the clearance of cerebrospinal fluid and interstitial fluid, the glymphatic system also facilitates the clearance of interstitial solutes such as amyloid-β and tau from the brain. As cerebrospinal fluid and interstitial fluid are cleared through the glymphatic system, eventually draining into the lymphatic vessels of the neck, this continuous fluid circuit offers a paradigm shift in osteopathic manipulative medicine. For instance, manipulation of the glymphatic-lymphatic continuum could be used to promote experimental initiatives for nonpharmacologic, noninvasive management of neurologic disorders. In the present review, the authors describe what is known about the glymphatic system and identify several osteopathic experimental strategies rooted in a mechanistic understanding of the glymphatic-lymphatic continuum.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1977-01-01

To accelerate the development of multi-armed, free-flying satellite manipulators, a fixed-base cooperative manipulation facility is being developed. The work performed on multiple arm cooperation on a free-flying robot is summarized. Research is also summarized on global navigation and control of free-flying space robots. The Locomotion Enhancement via Arm Pushoff (LEAP) approach is described and progress to date is presented.

Dynamics modeling and adaptive control of flexible manipulators

NASA Technical Reports Server (NTRS)

Sasiadek, J. Z.

1991-01-01

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

Construction of Endo-Time and its Manipulation in Autopoietic Systems

NASA Astrophysics Data System (ADS)

Balaž, Igor

2005-10-01

Two main factors determine construction of internal temporal architecture in autopoietic systems: external pressure and network of internal interdependences. External influences are given for systems and they are only able to incorporate them into its own functional and temporal blueprint, with very small space for further manipulations. But, internal processes, or more precisely, irreversible reductions toward determined states are enclosed into mobile and alterative network of re-productive cycles. On that basis autopoietic systems are able to construct and manipulate with different temporal strategies as reversibility, delaying, circularity, spiral flows, different distribution of times and so on. Special case is construction of transient time fields, called here intersubjective times, that arise as fusions of two or more specific temporal architectures during their interactions. This paper describes construction of internal proliferation of time patterns and analyze their functional usefulness.

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.

A Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

NASA Technical Reports Server (NTRS)

Mutambara, Arthur G. O.; Litt, Jonathan

1998-01-01

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

Evaluation and uncertainty analysis of regional-scale CLM4.5 net carbon flux estimates

NASA Astrophysics Data System (ADS)

Post, Hanna; Hendricks Franssen, Harrie-Jan; Han, Xujun; Baatz, Roland; Montzka, Carsten; Schmidt, Marius; Vereecken, Harry

2018-01-01

Modeling net ecosystem exchange (NEE) at the regional scale with land surface models (LSMs) is relevant for the estimation of regional carbon balances, but studies on it are very limited. Furthermore, it is essential to better understand and quantify the uncertainty of LSMs in order to improve them. An important key variable in this respect is the prognostic leaf area index (LAI), which is very sensitive to forcing data and strongly affects the modeled NEE. We applied the Community Land Model (CLM4.5-BGC) to the Rur catchment in western Germany and compared estimated and default ecological key parameters for modeling carbon fluxes and LAI. The parameter estimates were previously estimated with the Markov chain Monte Carlo (MCMC) approach DREAM(zs) for four of the most widespread plant functional types in the catchment. It was found that the catchment-scale annual NEE was strongly positive with default parameter values but negative (and closer to observations) with the estimated values. Thus, the estimation of CLM parameters with local NEE observations can be highly relevant when determining regional carbon balances. To obtain a more comprehensive picture of model uncertainty, CLM ensembles were set up with perturbed meteorological input and uncertain initial states in addition to uncertain parameters. C3 grass and C3 crops were particularly sensitive to the perturbed meteorological input, which resulted in a strong increase in the standard deviation of the annual NEE sum (σ ∑ NEE) for the different ensemble members from ˜ 2 to 3 g C m-2 yr-1 (with uncertain parameters) to ˜ 45 g C m-2 yr-1 (C3 grass) and ˜ 75 g C m-2 yr-1 (C3 crops) with perturbed forcings. This increase in uncertainty is related to the impact of the meteorological forcings on leaf onset and senescence, and enhanced/reduced drought stress related to perturbation of precipitation. The NEE uncertainty for the forest plant functional type (PFT) was considerably lower (σ ∑ NEE ˜ 4.0-13.5 g C m-2 yr-1 with perturbed parameters, meteorological forcings and initial states). We conclude that LAI and NEE uncertainty with CLM is clearly underestimated if uncertain meteorological forcings and initial states are not taken into account.

A Model-Data Fusion Approach for Constraining Modeled GPP at Global Scales Using GOME2 SIF Data

NASA Astrophysics Data System (ADS)

MacBean, N.; Maignan, F.; Lewis, P.; Guanter, L.; Koehler, P.; Bacour, C.; Peylin, P.; Gomez-Dans, J.; Disney, M.; Chevallier, F.

2015-12-01

Predicting the fate of the ecosystem carbon, C, stocks and their sensitivity to climate change relies heavily on our ability to accurately model the gross carbon fluxes, i.e. photosynthesis and respiration. However, there are large differences in the Gross Primary Productivity (GPP) simulated by different land surface models (LSMs), not only in terms of mean value, but also in terms of phase and amplitude when compared to independent data-based estimates. This strongly limits our ability to provide accurate predictions of carbon-climate feedbacks. One possible source of this uncertainty is from inaccurate parameter values resulting from incomplete model calibration. Solar Induced Fluorescence (SIF) has been shown to have a linear relationship with GPP at the typical spatio-temporal scales used in LSMs (Guanter et al., 2011). New satellite-derived SIF datasets have the potential to constrain LSM parameters related to C uptake at global scales due to their coverage. Here we use SIF data derived from the GOME2 instrument (Köhler et al., 2014) to optimize parameters related to photosynthesis and leaf phenology of the ORCHIDEE LSM, as well as the linear relationship between SIF and GPP. We use a multi-site approach that combines many model grid cells covering a wide spatial distribution within the same optimization (e.g. Kuppel et al., 2014). The parameters are constrained per Plant Functional type as the linear relationship described above varies depending on vegetation structural properties. The relative skill of the optimization is compared to a case where only satellite-derived vegetation index data are used to constrain the model, and to a case where both data streams are used. We evaluate the results using an independent data-driven estimate derived from FLUXNET data (Jung et al., 2011) and with a new atmospheric tracer, Carbonyl sulphide (OCS) following the approach of Launois et al. (ACPD, in review). We show that the optimization reduces the strong positive bias of the ORCHIDEE model and increases the correlation compared to independent estimates. Differences in spatial patterns and gradients between simulated GPP and observed SIF remain largely unchanged however, suggesting that the underlying representation of vegetation type and/or structure and functioning in the model requires further investigation.

SAMURAI: Polar AUV-Based Autonomous Dexterous Sampling

NASA Astrophysics Data System (ADS)

Akin, D. L.; Roberts, B. J.; Smith, W.; Roderick, S.; Reves-Sohn, R.; Singh, H.

2006-12-01

While autonomous undersea vehicles are increasingly being used for surveying and mapping missions, as of yet there has been little concerted effort to create a system capable of performing physical sampling or other manipulation of the local environment. This type of activity has typically been performed under teleoperated control from ROVs, which provides high-bandwidth real-time human direction of the manipulation activities. Manipulation from an AUV will require a completely autonomous sampling system, which implies both advanced technologies such as machine vision and autonomous target designation, but also dexterous robot manipulators to perform the actual sampling without human intervention. As part of the NASA Astrobiology Science and Technology for Exploring the Planets (ASTEP) program, the University of Maryland Space Systems Laboratory has been adapting and extending robotics technologies developed for spacecraft assembly and maintenance to the problem of autonomous sampling of biologicals and soil samples around hydrothermal vents. The Sub-polar ice Advanced Manipulator for Universal Sampling and Autonomous Intervention (SAMURAI) system is comprised of a 6000-meter capable six-degree-of-freedom dexterous manipulator, along with an autonomous vision system, multi-level control system, and sampling end effectors and storage mechanisms to allow collection of samples from vent fields. SAMURAI will be integrated onto the Woods Hole Oceanographic Institute (WHOI) Jaguar AUV, and used in Arctic during the fall of 2007 for autonomous vent field sampling on the Gakkel Ridge. Under the current operations concept, the JAGUAR and PUMA AUVs will survey the water column and localize on hydrothermal vents. Early mapping missions will create photomosaics of the vents and local surroundings, allowing scientists on the mission to designate desirable sampling targets. Based on physical characteristics such as size, shape, and coloration, the targets will be loaded into the SAMURAI control system, and JAGUAR (with SAMURAI mounted to the lower forward hull) will return to the designated target areas. Once on site, vehicle control will be turned over to the SAMURAI controller, which will perform vision-based guidance to the sampling site and will then ground the AUV to the sea bottom for stability. The SAMURAI manipulator will collect samples, such as sessile biologicals, geological samples, and (potentially) vent fluids, and store the samples for the return trip. After several hours of sampling operations on one or several sites, JAGUAR control will be returned to the WHOI onboard controller for the return to the support ship. (Operational details of AUV operations on the Gakkel Ridge mission are presented in other papers at this conference.) Between sorties, SAMURAI end effectors can be changed out on the surface for specific targets, such as push cores or larger biologicals such as tube worms. In addition to the obvious challenges in autonomous vision-based manipulator control from a free-flying support vehicle, significant development challenges have been the design of a highly capable robotic arm within the mass limitations (both wet and dry) of the JAGUAR vehicle, the development of a highly robust manipulator with modular maintenance units for extended polar operations, and the creation of a robot-based sample collection and holding system for multiple heterogeneous samples on a single extended sortie.

Shuttle remote manipulator system mission preparation and operations

NASA Technical Reports Server (NTRS)

Smith, Ernest E., Jr.

1989-01-01

The preflight planning, analysis, procedures development, and operations support for the Space Transportation System payload deployment and retrieval missions utilizing the Shuttle Remote Manipulator System are summarized. Analysis of the normal operational loads and failure induced loads and motion are factored into all procedures. Both the astronaut flight crews and the Mission Control Center flight control teams receive considerable training for standard and mission specific operations. The real time flight control team activities are described.

Robotic positioning of standard electrophysiology catheters: a novel approach to catheter robotics.

PubMed

Knight, Bradley; Ayers, Gregory M; Cohen, Todd J

2008-05-01

Robotic systems have been developed to manipulate and position electrophysiology (EP) catheters remotely. One limitation of existing systems is their requirement for specialized catheters or sheaths. We evaluated a system (Catheter Robotics Remote Catheter Manipulation System [RCMS], Catheter Robotics, Inc., Budd Lake, New Jersey) that manipulates conventional EP catheters placed through standard introducer sheaths. The remote controller functions much like the EP catheter handle, and the system permits repeated catheter disengagement for manual manipulation without requiring removal of the catheter from the body. This study tested the hypothesis that the RCMS would be able to safely and effectively position catheters at various intracardiac sites and obtain thresholds and electrograms similar to those obtained with manual catheter manipulation. Two identical 7 Fr catheters (Blazer II; Boston Scientific Corp., Natick, Massachusetts) were inserted into the right femoral veins of 6 mongrel dogs through separate, standard 7 Fr sheaths. The first catheter was manually placed at a right ventricular endocardial site. The second catheter handle was placed in the mating holder of the RCMS and moved to approximately the same site as the first catheter using the Catheter Robotics RCMS. The pacing threshold was determined for each catheter. This sequence was performed at 2 right atrial and 2 right ventricular sites. The distance between the manually and robotically placed catheters tips was measured, and pacing thresholds and His-bundle recordings were compared. The heart was inspected at necropsy for signs of cardiac perforation or injury. Compared to manual positioning, remote catheter placement produced the same pacing threshold at 7/24 sites, a lower threshold at 11/24 sites, and a higher threshold at only 6/24 sites (p > 0.05). The average distance between catheter tips was 0.46 +/- 0.32 cm (median 0.32, range 0.13-1.16 cm). There was no difference between right atrial and right ventricular sites (p > 0.05). His-bundle electrograms were equal in amplitude and timing. Further, the remote navigation catheter was able to be disengaged, manually manipulated, then reengaged in the robot without issue. There was no evidence of perforation. The Catheter Robotics remote catheter manipulation system, which uses conventional EP catheters and introducer sheaths, appears to be safe and effective at directing EP catheters to intracardiac sites and achieving pacing thresholds and electrograms equivalent to manually placed catheters. Further clinical studies are needed to confirm these observations.

Nonholonomic camera-space manipulation using cameras mounted on a mobile base

NASA Astrophysics Data System (ADS)

Goodwine, Bill; Seelinger, Michael J.; Skaar, Steven B.; Ma, Qun

1998-10-01

The body of work called `Camera Space Manipulation' is an effective and proven method of robotic control. Essentially, this technique identifies and refines the input-output relationship of the plant using estimation methods and drives the plant open-loop to its target state. 3D `success' of the desired motion, i.e., the end effector of the manipulator engages a target at a particular location with a particular orientation, is guaranteed when there is camera space success in two cameras which are adequately separated. Very accurate, sub-pixel positioning of a robotic end effector is possible using this method. To date, however, most efforts in this area have primarily considered holonomic systems. This work addresses the problem of nonholonomic camera space manipulation by considering the problem of a nonholonomic robot with two cameras and a holonomic manipulator on board the nonholonomic platform. While perhaps not as common in robotics, such a combination of holonomic and nonholonomic degrees of freedom are ubiquitous in industry: fork lifts and earth moving equipment are common examples of a nonholonomic system with an on-board holonomic actuator. The nonholonomic nature of the system makes the automation problem more difficult due to a variety of reasons; in particular, the target location is not fixed in the image planes, as it is for holonomic systems (since the cameras are attached to a moving platform), and there is a fundamental `path dependent' nature of nonholonomic kinematics. This work focuses on the sensor space or camera-space-based control laws necessary for effectively implementing an autonomous system of this type.

Simulation of cooperating robot manipulators on a mobile platform

NASA Technical Reports Server (NTRS)

Murphy, Steve H.; Wen, John T.; Saridis, George N.

1990-01-01

The dynamic equations of motion for two manipulators holding a common object on a freely moving mobile platform are developed. The full dynamic interactions from arms to platform and arm-tip to arm-tip are included in the formulation. The development of the closed chain dynamics allows for the use of any solution for the open topological tree of base and manipulator links. In particular, because the system has 18 degrees of freedom, recursive solutions for the dynamic simulation become more promising for efficient calculations of the motion. Simulation of the system is accomplished through a MATLAB program, and the response is visualized graphically using the SILMA Cimstation.

Manipulator Performance Evaluation Using Fitts' Taping Task

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

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 teleoperatedmore » 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 control force during testing.« less

Data-driven methods towards learning the highly nonlinear inverse kinematics of tendon-driven surgical manipulators.

PubMed

Xu, Wenjun; Chen, Jie; Lau, Henry Y K; Ren, Hongliang

2017-09-01

Accurate motion control of flexible surgical manipulators is crucial in tissue manipulation tasks. The tendon-driven serpentine manipulator (TSM) is one of the most widely adopted flexible mechanisms in minimally invasive surgery because of its enhanced maneuverability in torturous environments. TSM, however, exhibits high nonlinearities and conventional analytical kinematics model is insufficient to achieve high accuracy. To account for the system nonlinearities, we applied a data driven approach to encode the system inverse kinematics. Three regression methods: extreme learning machine (ELM), Gaussian mixture regression (GMR) and K-nearest neighbors regression (KNNR) were implemented to learn a nonlinear mapping from the robot 3D position states to the control inputs. The performance of the three algorithms was evaluated both in simulation and physical trajectory tracking experiments. KNNR performed the best in the tracking experiments, with the lowest RMSE of 2.1275 mm. The proposed inverse kinematics learning methods provide an alternative and efficient way to accurately model the tendon driven flexible manipulator. Copyright © 2016 John Wiley & Sons, Ltd.

Coercion in the Evolution of Plant-Microbe Communication: A Perspective.

PubMed

Rowe, S L; Norman, J S; Friesen, M L

2018-06-06

Plants and microbes are dependent on chemical signals as a means of interkingdom communication. There are two predicted paths for the evolution of these signals. Ritualization is the oft-assumed pathway for the evolution of plant-microbe communication systems. In this process, chemical signals, which benefit both receiver and sender, evolve from chemical cues, which benefit only the receiver. However, plant-microbe signaling may evolve from coercive interactions as well, a process known as sensory manipulation. Here, we aim to highlight the prevalence of coercive interactions and discuss sensory manipulation in the context of plant-microbe interactions. We present two examples of stabilized coercion: microbial coercion of plants via the release of phytohormones and plant coercion of microbes via manipulation of quorum-sensing compounds. Furthermore, we provide an evolutionary framework for the emergence of signaling from coercive plant-microbe interactions through the process of sensory manipulation. We hope that researchers will recognize the relevance of coercive interactions in plant-microbe systems and consider sensory manipulation as a plausible evolutionary trajectory for the emergence of plant-microbe signaling.

Laser device

DOEpatents

Scott, Jill R [Idaho Falls, ID; Tremblay, Paul L [Idaho Falls, ID

2007-07-10

A laser device includes a target position, an optical component separated a distance J from the target position, and a laser energy source separated a distance H from the optical component, distance H being greater than distance J. A laser source manipulation mechanism exhibits a mechanical resolution of positioning the laser source. The mechanical resolution is less than a spatial resolution of laser energy at the target position as directed through the optical component. A vertical and a lateral index that intersect at an origin can be defined for the optical component. The manipulation mechanism can auto align laser aim through the origin during laser source motion. The laser source manipulation mechanism can include a mechanical index. The mechanical index can include a pivot point for laser source lateral motion and a reference point for laser source vertical motion. The target position can be located within an adverse environment including at least one of a high magnetic field, a vacuum system, a high pressure system, and a hazardous zone. The laser source and an electro-mechanical part of the manipulation mechanism can be located outside the adverse environment. The manipulation mechanism can include a Peaucellier linkage.

A lightweight, high strength dexterous manipulator for commercial applications

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Schena, Bruce M.; Cohan, Steve M.

1991-01-01

The concept, design, and features are described of a lightweight, high strength, modular robot manipulator being developed for space and commercial applications. The manipulator has seven fully active degrees of freedom and is fully operational in 1 G. Each of the seven joints incorporates a unique drivetrain design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. Feedback sensors provide position, velocity, torque, and motor winding temperature information at each joint. This sensing system is also designed to be single fault tolerant. The manipulator consists of five modules (not including gripper). These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly and/or disassembly for reconfiguration, transport, or servicing. The manipulator is a completely enclosed assembly, with no exposed components or wires. Although the initial prototype will not be space qualified, the design is well suited to meeting space requirements. The control system provides dexterous motion by controlling the endpoint location and arm pose simultaneously. Potential applications are discussed.

Laser device

DOEpatents

Scott, Jill R.; Tremblay, Paul L.

2004-11-23

A laser device includes a target position, an optical component separated a distance J from the target position, and a laser energy source separated a distance H from the optical component, distance H being greater than distance J. A laser source manipulation mechanism exhibits a mechanical resolution of positioning the laser source. The mechanical resolution is less than a spatial resolution of laser energy at the target position as directed through the optical component. A vertical and a lateral index that intersect at an origin can be defined for the optical component. The manipulation mechanism can auto align laser aim through the origin during laser source motion. The laser source manipulation mechanism can include a mechanical index. The mechanical index can include a pivot point for laser source lateral motion and a reference point for laser source vertical motion. The target position can be located within an adverse environment including at least one of a high magnetic field, a vacuum system, a high pressure system, and a hazardous zone. The laser source and an electro-mechanical part of the manipulation mechanism can be located outside the adverse environment. The manipulation mechanism can include a Peaucellier linkage.

Advanced Nanostructures for Two-Phase Fluid and Thermal Transport

DTIC Science & Technology

2014-08-07

commercial applications. Pumped phase-change based microfluidic systems promise compact solutions with high heat removal capability. However...materials for liquid transport in microfluidics , cell manipulation in biological systems, and light tuning in optical applications via their...and 3c) with precise control for real- time fluid and optical manipulation. Inspired by hair and motile cilia on animal skin and plant leaves for

Image Display And Manipulation System (IDAMS), user's guide

NASA Technical Reports Server (NTRS)

Cecil, R. W.

1972-01-01

A combination operator's guide and user's handbook for the Image Display and Manipulation System (IDAMS) is reported. Information is presented to define how to operate the computer equipment, how to structure a run deck, and how to select parameters necessary for executing a sequence of IDAMS task routines. If more detailed information is needed on any IDAMS program, see the IDAMS program documentation.

Systems and methods for controlling energy use during a demand limiting period

DOEpatents

Wenzel, Michael J.; Drees, Kirk H.

2016-04-26

Systems and methods for limiting power consumption by a heating, ventilation, and air conditioning (HVAC) subsystem of a building are shown and described. A feedback controller is used to generate a manipulated variable based on an energy use setpoint and a measured energy use. The manipulated variable may be used for adjusting the operation of an HVAC device.

STS-39 SPAS-II IBSS is grappled by remote manipulator system (RMS)

NASA Image and Video Library

1991-05-06

STS039-19-015 (28 April- 6 May 1991) --- This STS-39 35mm scene shows the Strategic Defense Initiative Organization (SDIO) Shuttle Pallet Satellite (SPAS-II) on the end of the remote manipulator system (RMS) end effector. During the eight-day flight, SPAS collected data in both a free-flying mode and while attached to the RMS.

OAST-Flyer is deployed by the Remote Manipulator System (RMS) as viewed from the flight deck

NASA Image and Video Library

1996-01-14

STS072-320-014 (17 Jan. 1996) --- The end effect of the Space Shuttle Endeavour's Remote Manipulator System (RMS) is about to grapple the Office of Aeronautics and Space Technology's (OAST) -- Flyer satellite. The view was recorded with a 35mm camera aimed through one of Endeavour's overheard windows on the aft flight deck.

The role of the real-time simulation facility, SIMFAC, in the design, development and performance verification of the Shuttle Remote Manipulator System (SRMS) with man-in-the-loop

NASA Technical Reports Server (NTRS)

Mccllough, J. R.; Sharpe, A.; Doetsch, K. H.

1980-01-01

The SIMFAC has played a vital role in the design, development, and performance verification of the shuttle remote manipulator system (SRMS) to be installed in the space shuttle orbiter. The facility provides for realistic man-in-the-loop operation of the SRMS by an operator in the operator complex, a flightlike crew station patterned after the orbiter aft flight deck with all necessary man machine interface elements, including SRMS displays and controls and simulated out-of-the-window and CCTV scenes. The characteristics of the manipulator system, including arm and joint servo dynamics and control algorithms, are simulated by a comprehensive mathematical model within the simulation subsystem of the facility. Major studies carried out using SIMFAC include: SRMS parameter sensitivity evaluations; the development, evaluation, and verification of operating procedures; and malfunction simulation and analysis of malfunction performance. Among the most important and comprehensive man-in-the-loop simulations carried out to date on SIMFAC are those which support SRMS performance verification and certification when the SRMS is part of the integrated orbiter-manipulator system.

Sensor-based fine telemanipulation for space robotics

NASA Technical Reports Server (NTRS)

Andrenucci, M.; Bergamasco, M.; Dario, P.

1989-01-01

The control of a multifingered hand slave in order to accurately exert arbitrary forces and impart small movements to a grasped object is, at present, a knotty problem in teleoperation. Although a number of articulated robotic hands have been proposed in the recent past for dexterous manipulation in autonomous robots, the possible use of such hands as slaves in teleoperated manipulation is hindered by the present lack of sensors in those hands, and (even if those sensors were available) by the inherent difficulty of transmitting to the master operator the complex sensations elicited by such sensors at the slave level. An analysis of different problems related to sensor-based telemanipulation is presented. The general sensory systems requirements for dexterous slave manipulators are pointed out and the description of a practical sensory system set-up for the developed robotic system is presented. The problem of feeding back to the human master operator stimuli that can be interpreted by his central nervous system as originated during real dexterous manipulation is then considered. Finally, some preliminary work aimed at developing an instrumented glove designed purposely for commanding the master operation and incorporating Kevlar tendons and tension sensors, is discussed.

DYMAFLEX: DYnamic Manipulation FLight EXperiment

DTIC Science & Technology

2013-09-03

thrust per nozzle and minimize propellant mass and tank mass. This study compared carbon dioxide, nitrous oxide, and R134-A. These results were...equations of mo- tion of a space manipulator, showing their top- level, matrix- vector representation to be of iden- tical form to those of a fixed-base...the system inertia matrix, q is the po- sition state vector (consisting of the manipulator joint angles θ, spacecraft attitude quaternion, and

Cooperative Control of Multiple Space Manipulators

DTIC Science & Technology

1993-09-01

are configured to grasp the payload once the vehicle moves within range. After the manipulators are in position, their joints are locked while the...spacecraft maneuvers to a location and attitude near the payload. Next, the vehicle approaches the payload in a straight line until the end effectors can...grasp the payload. While the manipulator joints remain locked, the vehicle repositions the entire rigid body system to the desired payload destination

Hydrology Research with the North American Land Data Assimilation System (NLDAS) Datasets at the NASA GES DISC Using Giovanni

NASA Technical Reports Server (NTRS)

Mocko, David M.; Rui, Hualan; Acker, James G.

2013-01-01

The North American Land Data Assimilation System (NLDAS) is a collaboration project between NASA/GSFC, NOAA, Princeton Univ., and the Univ. of Washington. NLDAS has created a surface meteorology dataset using the best-available observations and reanalyses the backbone of this dataset is a gridded precipitation analysis from rain gauges. This dataset is used to drive four separate land-surface models (LSMs) to produce datasets of soil moisture, snow, runoff, and surface fluxes. NLDAS datasets are available hourly and extend from Jan 1979 to near real-time with a typical 4-day lag. The datasets are available at 1/8th-degree over CONUS and portions of Canada and Mexico from 25-53 North. The datasets have been extensively evaluated against observations, and are also used as part of a drought monitor. NLDAS datasets are available from the NASA GES DISC and can be accessed via ftp, GDS, Mirador, and Giovanni. GES DISC news articles were published showing figures from the heat wave of 2011, Hurricane Irene, Tropical Storm Lee, and the low-snow winter of 2011-2012. For this presentation, Giovanni-generated figures using NLDAS data from the derecho across the U.S. Midwest and Mid-Atlantic will be presented. Also, similar figures will be presented from the landfall of Hurricane Isaac and the before-and-after drought conditions of the path of the tropical moisture into the central states of the U.S. Updates on future products and datasets from the NLDAS project will also be introduced.

Independent Orbiter Assessment (IOA): Analysis of the electrical power distribution and control/remote manipulator system subsystem

NASA Technical Reports Server (NTRS)

Robinson, W. W.

1987-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the Electrical Power Distribution and Control (EPD and C)/Remote Manipulator System (RMS) hardware to determine failure modes, criticality, and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained in the NASA FMEA/CIL documentation. This report documents the results of the independent analysis of the EPD and C/RMS (both port and starboard) hardware. The EPD and C/RMS subsystem hardware provides the electrical power and power control circuitry required to safely deploy, operate, control, and stow or guillotine and jettison two (one port and one starboard) RMSs. The EPD and C/RMS subsystem is subdivided into the four following functional divisions: Remote Manipulator Arm; Manipulator Deploy Control; Manipulator Latch Control; Manipulator Arm Shoulder Jettison; and Retention Arm Jettison. The IOA analysis process utilized available EPD and C/RMS hardware drawings and schematics for defining hardware assemblies, components, and hardware items. Each level of hardware was evaluated and analyzed for possible failure modes and effects. Criticality was assigned based on the severity of the effect for each failure mode.

Rotational manipulation of single cells and organisms using acoustic waves

PubMed Central

Ahmed, Daniel; Ozcelik, Adem; Bojanala, Nagagireesh; Nama, Nitesh; Upadhyay, Awani; Chen, Yuchao; Hanna-Rose, Wendy; Huang, Tony Jun

2016-01-01

The precise rotational manipulation of single cells or organisms is invaluable to many applications in biology, chemistry, physics and medicine. In this article, we describe an acoustic-based, on-chip manipulation method that can rotate single microparticles, cells and organisms. To achieve this, we trapped microbubbles within predefined sidewall microcavities inside a microchannel. In an acoustic field, trapped microbubbles were driven into oscillatory motion generating steady microvortices which were utilized to precisely rotate colloids, cells and entire organisms (that is, C. elegans). We have tested the capabilities of our method by analysing reproductive system pathologies and nervous system morphology in C. elegans. Using our device, we revealed the underlying abnormal cell fusion causing defective vulval morphology in mutant worms. Our acoustofluidic rotational manipulation (ARM) technique is an easy-to-use, compact, and biocompatible method, permitting rotation regardless of optical, magnetic or electrical properties of the sample under investigation. PMID:27004764

Rotational manipulation of single cells and organisms using acoustic waves.

PubMed

Ahmed, Daniel; Ozcelik, Adem; Bojanala, Nagagireesh; Nama, Nitesh; Upadhyay, Awani; Chen, Yuchao; Hanna-Rose, Wendy; Huang, Tony Jun

2016-03-23

The precise rotational manipulation of single cells or organisms is invaluable to many applications in biology, chemistry, physics and medicine. In this article, we describe an acoustic-based, on-chip manipulation method that can rotate single microparticles, cells and organisms. To achieve this, we trapped microbubbles within predefined sidewall microcavities inside a microchannel. In an acoustic field, trapped microbubbles were driven into oscillatory motion generating steady microvortices which were utilized to precisely rotate colloids, cells and entire organisms (that is, C. elegans). We have tested the capabilities of our method by analysing reproductive system pathologies and nervous system morphology in C. elegans. Using our device, we revealed the underlying abnormal cell fusion causing defective vulval morphology in mutant worms. Our acoustofluidic rotational manipulation (ARM) technique is an easy-to-use, compact, and biocompatible method, permitting rotation regardless of optical, magnetic or electrical properties of the sample under investigation.

Dynamic Analysis of a Two Member Manipulator Arm

NASA Technical Reports Server (NTRS)

McGinley, 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.

Modeling manipulation in medical education.

PubMed

Dailey, Jason I

2010-05-01

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 professional development. Yet manipulation need not be a skill necessary to practice medicine, and steps should be taken by both individuals and institutions to combat the view that the way medicine must be practiced "in the real world" is somehow different from what one's affective moral sense implores.

Study to design and develop remote manipulator system

NASA Technical Reports Server (NTRS)

Hill, J. W.; Sword, A. J.

1973-01-01

Human performance measurement techniques for remote manipulation tasks and remote sensing techniques for manipulators are described for common manipulation tasks, performance is monitored by means of an on-line computer capable of measuring the joint angles of both master and slave arms as a function of time. The computer programs allow measurements of the operator's strategy and physical quantities such as task time and power consumed. The results are printed out after a test run to compare different experimental conditions. For tracking tasks, we describe a method of displaying errors in three dimensions and measuring the end-effector position in three dimensions.

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.

Development of a multipurpose hand controller for JEMRMS

NASA Technical Reports Server (NTRS)

Matsuhira, Nobuto; Iikura, Shoichi; Asakura, Makoto; Shinomiya, Yasuo

1990-01-01

A prototype multipurpose hand controller for the JEMRMS (Japanese Experiment Module Remote Manipulator System) was developed. The hand controller (H/C) is an orthogonal type, with 6 degrees of freedom (DOF) and small size. The orthogonal type H/C is very simple for coordinate transformations and can easily control any type of manipulators. In fact, the JEMRMS is planned to have two manipulators controlled by a common H/C at this stage. The H/C was able to be used as a rate control joystick and a force reflection master arm, using an experimental 6 DOF manipulator. Good maneuverability was confirmed in the verification test. The orthogonal type H/C is suitable for use as a common H/C for the two manipulators of the JEMRMS.

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

NASA Technical Reports Server (NTRS)

Mann, R. C.; Fujimura, K.; Unseren, M. A.

1992-01-01

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

Whole-ecosystem experimental manipulations of tropical forests.

PubMed

Fayle, Tom M; Turner, Edgar C; Basset, Yves; Ewers, Robert M; Reynolds, Glen; Novotny, Vojtech

2015-06-01

Tropical forests are highly diverse systems involving extraordinary numbers of interactions between species, with each species responding in a different way to the abiotic environment. Understanding how these systems function and predicting how they respond to anthropogenic global change is extremely challenging. We argue for the necessity of 'whole-ecosystem' experimental manipulations, in which the entire ecosystem is targeted, either to reveal the functioning of the system in its natural state or to understand responses to anthropogenic impacts. We survey the current range of whole-ecosystem manipulations, which include those targeting weather and climate, nutrients, biotic interactions, human impacts, and habitat restoration. Finally we describe the unique challenges and opportunities presented by such projects and suggest directions for future experiments. Copyright © 2015 The Authors. Published by Elsevier Ltd.. All rights reserved.

Learning control system design based on 2-D theory - An application to parallel link manipulator

NASA Technical Reports Server (NTRS)

Geng, Z.; Carroll, R. L.; Lee, J. D.; Haynes, L. H.

1990-01-01

An approach to iterative learning control system design based on two-dimensional system theory is presented. A two-dimensional model for the iterative learning control system which reveals the connections between learning control systems and two-dimensional system theory is established. A learning control algorithm is proposed, and the convergence of learning using this algorithm is guaranteed by two-dimensional stability. The learning algorithm is applied successfully to the trajectory tracking control problem for a parallel link robot manipulator. The excellent performance of this learning algorithm is demonstrated by the computer simulation results.

Space station definitions, design, and development. Task 5: Multiple arm telerobot coordination and control: Manipulator design methodology

NASA Technical Reports Server (NTRS)

Stoughton, R. M.

1990-01-01

A proposed methodology applicable to the design of manipulator systems is described. The current design process is especially weak in the preliminary design phase, since there is no accepted measure to be used in trading off different options available for the various subsystems. The design process described uses Cartesian End-Effector Impedance as a measure of performance for the system. Having this measure of performance, it is shown how it may be used to determine the trade-offs necessary to the preliminary design phase. The design process involves three main parts: (1) determination of desired system performance in terms of End-Effector Impedance; (2) trade-off design options to achieve this desired performance; and (3) verification of system performance through laboratory testing. The design process is developed using numerous examples and experiments to demonstrate the feasability of this approach to manipulator design.

i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

NASA Technical Reports Server (NTRS)

1990-01-01

The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

Development of the Symbolic Manipulator Laboratory modeling package for the kinematic design and optimization of the Future Armor Rearm System robot. Ammunition Logistics Program

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

March-Leuba, S.; Jansen, J.F.; Kress, R.L.

1992-08-01

A new program package, Symbolic Manipulator Laboratory (SML), for the automatic generation of both kinematic and static manipulator models in symbolic form is presented. Critical design parameters may be identified and optimized using symbolic models as shown in the sample application presented for the Future Armor Rearm System (FARS) arm. The computer-aided development of the symbolic models yields equations with reduced numerical complexity. Important considerations have been placed on the closed form solutions simplification and on the user friendly operation. The main emphasis of this research is the development of a methodology which is implemented in a computer program capablemore » of generating symbolic kinematic and static forces models of manipulators. The fact that the models are obtained trigonometrically reduced is among the most significant results of this work and the most difficult to implement. Mathematica, a commercial program that allows symbolic manipulation, is used to implement the program package. SML is written such that the user can change any of the subroutines or create new ones easily. To assist the user, an on-line help has been written to make of SML a user friendly package. Some sample applications are presented. The design and optimization of the 5-degrees-of-freedom (DOF) FARS manipulator using SML is discussed. Finally, the kinematic and static models of two different 7-DOF manipulators are calculated symbolically.« less

Adaptive strategies of remote systems operators exposed to perturbed camera-viewing conditions

NASA Technical Reports Server (NTRS)

Stuart, Mark A.; Manahan, Meera K.; Bierschwale, John M.; Sampaio, Carlos E.; Legendre, A. J.

1991-01-01

This report describes a preliminary investigation of the use of perturbed visual feedback during the performance of simulated space-based remote manipulation tasks. The primary objective of this NASA evaluation was to determine to what extent operators exhibit adaptive strategies which allow them to perform these specific types of remote manipulation tasks more efficiently while exposed to perturbed visual feedback. A secondary objective of this evaluation was to establish a set of preliminary guidelines for enhancing remote manipulation performance and reducing the adverse effects. These objectives were accomplished by studying the remote manipulator performance of test subjects exposed to various perturbed camera-viewing conditions while performing a simulated space-based remote manipulation task. Statistical analysis of performance and subjective data revealed that remote manipulation performance was adversely affected by the use of perturbed visual feedback and performance tended to improve with successive trials in most perturbed viewing conditions.

Workspace Safe Operation of a Force- or Impedance-Controlled Robot

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E. (Inventor); Hargrave, Brian (Inventor); Strawser, Philip A. (Inventor); Yamokoski, John D. (Inventor)

2013-01-01

A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

The KALI multi-arm robot programming and control environment

NASA Technical Reports Server (NTRS)

Backes, Paul; Hayati, Samad; Hayward, Vincent; Tso, Kam

1989-01-01

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

Acoustic manipulation: Bessel beams and active carriers

NASA Astrophysics Data System (ADS)

Rajabi, Majid; Mojahed, Alireza

2017-10-01

In this paper, we address the interaction of zero-order acoustic Bessel beams as an acoustic manipulation tool, with an active spherical shell, as a carrier in drug, agent, or material delivery systems, in order to investigate the controllability of exerted acoustic radiation force as the driver. The active body is comprised of a spherical elastic shell stimulated in its monopole mode of vibrations with the same frequency as the incident wave field via an internally bonded and spatially uniformly excited piezoelectric actuator. The main aim of this work is to examine the performance of a nondiffracting and self-reconstructing zero-order Bessel beam to obtain the full manipulability condition of active carriers in comparison with the case of a plane wave field. The results unveil some unique potentials of the Bessel beams in the company of active carriers, with emphasis on the consumed power of the actuation system. This paper will widen the path toward the single-beam robust acoustic manipulation techniques and may lead to the prospect of combined tweezers and fields, with applications in delivery systems, microswimmers, and trapper designs.

Voice Controlled Wheelchair

NASA Technical Reports Server (NTRS)

1977-01-01

Michael Condon, a quadraplegic from Pasadena, California, demonstrates the NASA-developed voice-controlled wheelchair and its manipulator, which can pick up packages, open doors, turn a TV knob, and perform a variety of other functions. A possible boon to paralyzed and other severely handicapped persons, the chair-manipulator system responds to 35 one-word voice commands, such as "go," "stop," "up," "down," "right," "left," "forward," "backward." The heart of the system is a voice-command analyzer which utilizes a minicomputer. Commands are taught I to the computer by the patient's repeating them a number of times; thereafter the analyzer recognizes commands only in the patient's particular speech pattern. The computer translates commands into electrical signals which activate appropriate motors and cause the desired motion of chair or manipulator. Based on teleoperator and robot technology for space-related programs, the voice-controlled system was developed by Jet Propulsion Laboratory under the joint sponsorship of NASA and the Veterans Administration. The wheelchair-manipulator has been tested at Rancho Los Amigos Hospital, Downey, California, and is being evaluated at the VA Prosthetics Center in New York City.

A specification of 3D manipulation in virtual environments

NASA Technical Reports Server (NTRS)

Su, S. Augustine; Furuta, Richard

1994-01-01

In this paper we discuss the modeling of three basic kinds of 3-D manipulations in the context of a logical hand device and our virtual panel architecture. The logical hand device is a useful software abstraction representing hands in virtual environments. The virtual panel architecture is the 3-D component of the 2-D window systems. Both of the abstractions are intended to form the foundation for adaptable 3-D manipulation.

Laboratory services series: a master-slave manipulator maintenance program

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

Jenness, R. G.; Hicks, R. E.; Wicker, C. D.

1976-12-01

The volume of master slave manipulator maintenance at Oak Ridge National Laboratory has necessitated the establishment of a repair facility and organization of a specially trained group of craftsmen. Emphasis on cell containment requires the use of manipulator boots and development of precise procedures for accomplishing the maintenance of 287 installed units. A very satisfactory computer programmed maintenance system has been established at the Laboratory to provide an economical approach to preventive maintenance.

Data management in pattern recognition and image processing systems

NASA Technical Reports Server (NTRS)

Zobrist, A. L.; Bryant, N. A.

1976-01-01

Data management considerations are important to any system which handles large volumes of data or where the manipulation of data is technically sophisticated. A particular problem is the introduction of image-formatted files into the mainstream of data processing application. This report describes a comprehensive system for the manipulation of image, tabular, and graphical data sets which involve conversions between the various data types. A key characteristic is the use of image processing technology to accomplish data management tasks. Because of this, the term 'image-based information system' has been adopted.

Dual use display systems for telerobotics

NASA Technical Reports Server (NTRS)

Massimino, Michael J.; Meschler, Michael F.; Rodriguez, Alberto A.

1994-01-01

This paper describes a telerobotics display system, the Multi-mode Manipulator Display System (MMDS), that has applications for a variety of remotely controlled tasks. Designed primarily to assist astronauts with the control of space robotics systems, the MMDS has applications for ground control of space robotics as well as for toxic waste cleanup, undersea, remotely operated vehicles, and other environments which require remote operations. The MMDS has three modes: (1) Manipulator Position Display (MPD) mode, (2) Joint Angle Display (JAD) mode, and (3) Sensory Substitution (SS) mode. These three modes are discussed in the paper.

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.

Establishment of a stable transfection system for genetic manipulation of Babesia gibsoni.

PubMed

Liu, Mingming; Adjou Moumouni, Paul Franck; Asada, Masahito; Hakimi, Hassan; Masatani, Tatsunori; Vudriko, Patrick; Lee, Seung-Hun; Kawazu, Shin-Ichiro; Yamagishi, Junya; Xuan, Xuenan

2018-04-23

Genetic manipulation techniques, such as transfection, have been previously reported in many protozoan parasites. In Babesia, stable transfection systems have only been established for bovine Babesia parasites. We recently reported a transient transfection system and the selection of promoter candidates for Babesia gibsoni. The establishment of a stable transfection system for B. gibsoni is considered to be urgent to improve our understanding of the basic biology of canine Babesia parasites for a better control of babesiosis. GFP-expressing parasites were observed by fluorescence microscopy as early as two weeks after drug selection, and consistently expressed GFP for more than 3 months without drug pressure. Genome integration was confirmed by PCR, sequencing and Southern blot analysis. We present the first successful establishment of a stable transfection system for B. gibsoni. This finding will facilitate functional analysis of Babesia genomes using genetic manipulation and will serve as a foundation for the development of tick-Babesia and host-Babesia infection models.

Beam rider for an Articulated Robot Manipulator (ARM) accurate positioning of long flexible manipulators

NASA Technical Reports Server (NTRS)

Malachowski, M. J.

1990-01-01

Laser beam positioning and beam rider modules were incorporated into the long hollow flexible segment of an articulated robot manipulator (ARM). Using a single laser beam, the system determined the position of the distal ARM endtip, with millimetric precision, in six degrees of freedom, at distances of up to 10 meters. Preliminary designs, using space rated technology for the critical systems, of a two segmented physical ARM, with a single and a dual degree of freedom articulation, were developed, prototyped, and tested. To control the positioning of the physical ARM, an indirect adaptive controller, which used the mismatch between the position of the laser beam under static and dynamic conditions, was devised. To predict the behavior of the system and test the concept, a computer simulation model was constructed. A hierarchical artificially intelligent real time ADA operating system program structure was created. The software was designed for implementation on a dedicated VME bus based Intel 80386 administered parallel processing multi-tasking computer system.

Large-scale flow experiments for managing river systems

USGS Publications Warehouse

Konrad, Christopher P.; Olden, Julian D.; Lytle, David A.; Melis, Theodore S.; Schmidt, John C.; Bray, Erin N.; Freeman, Mary C.; Gido, Keith B.; Hemphill, Nina P.; Kennard, Mark J.; McMullen, Laura E.; Mims, Meryl C.; Pyron, Mark; Robinson, Christopher T.; Williams, John G.

2011-01-01

Experimental manipulations of streamflow have been used globally in recent decades to mitigate the impacts of dam operations on river systems. Rivers are challenging subjects for experimentation, because they are open systems that cannot be isolated from their social context. We identify principles to address the challenges of conducting effective large-scale flow experiments. Flow experiments have both scientific and social value when they help to resolve specific questions about the ecological action of flow with a clear nexus to water policies and decisions. Water managers must integrate new information into operating policies for large-scale experiments to be effective. Modeling and monitoring can be integrated with experiments to analyze long-term ecological responses. Experimental design should include spatially extensive observations and well-defined, repeated treatments. Large-scale flow manipulations are only a part of dam operations that affect river systems. Scientists can ensure that experimental manipulations continue to be a valuable approach for the scientifically based management of river systems.

Optofluidics incorporating actively controlled micro- and nano-particles

PubMed Central

Kayani, Aminuddin A.; Khoshmanesh, Khashayar; Ward, Stephanie A.; Mitchell, Arnan; Kalantar-zadeh, Kourosh

2012-01-01

The advent of optofluidic systems incorporating suspended particles has resulted in the emergence of novel applications. Such systems operate based on the fact that suspended particles can be manipulated using well-appointed active forces, and their motions, locations and local concentrations can be controlled. These forces can be exerted on both individual and clusters of particles. Having the capability to manipulate suspended particles gives users the ability for tuning the physical and, to some extent, the chemical properties of the suspension media, which addresses the needs of various advanced optofluidic systems. Additionally, the incorporation of particles results in the realization of novel optofluidic solutions used for creating optical components and sensing platforms. In this review, we present different types of active forces that are used for particle manipulations and the resulting optofluidic systems incorporating them. These systems include optical components, optofluidic detection and analysis platforms, plasmonics and Raman systems, thermal and energy related systems, and platforms specifically incorporating biological particles. We conclude the review with a discussion of future perspectives, which are expected to further advance this rapidly growing field. PMID:23864925

A Search-and-Rescue Robot System for Remotely Sensing the Underground Coal Mine Environment

PubMed Central

Gao, Junyao; Zhao, Fangzhou; Liu, Yi

2017-01-01

This paper introduces a search-and-rescue robot system used for remote sensing of the underground coal mine environment, which is composed of an operating control unit and two mobile robots with explosion-proof and waterproof function. This robot system is designed to observe and collect information of the coal mine environment through remote control. Thus, this system can be regarded as a multifunction sensor, which realizes remote sensing. When the robot system detects danger, it will send out signals to warn rescuers to keep away. The robot consists of two gas sensors, two cameras, a two-way audio, a 1 km-long fiber-optic cable for communication and a mechanical explosion-proof manipulator. Especially, the manipulator is a novel explosion-proof manipulator for cleaning obstacles, which has 3-degree-of-freedom, but is driven by two motors. Furthermore, the two robots can communicate in series for 2 km with the operating control unit. The development of the robot system may provide a reference for developing future search-and-rescue systems. PMID:29065560

The missing link in parasite manipulation of host behaviour.

PubMed

Herbison, Ryan; Lagrue, Clement; Poulin, Robert

2018-04-03

The observation that certain species of parasite my adaptively manipulate its host behaviour is a fascinating phenomenon. As a result, the recently established field of 'host manipulation' has seen rapid expansion over the past few decades with public and scientific interest steadily increasing. However, progress appears to falter when researchers ask how parasites manipulate behaviour, rather than why. A vast majority of the published literature investigating the mechanistic basis underlying behavioural manipulation fails to connect the establishment of the parasite with the reported physiological changes in its host. This has left researchers unable to empirically distinguish/identify adaptive physiological changes enforced by the parasites from pathological side effects of infection, resulting in scientists relying on narratives to explain results, rather than empirical evidence. By contrasting correlative mechanistic evidence for host manipulation against rare cases of causative evidence and drawing from the advanced understanding of physiological systems from other disciplines it is clear we are often skipping over a crucial step in host-manipulation: the production, potential storage, and release of molecules (manipulation factors) that must create the observed physiological changes in hosts if they are adaptive. Identifying these manipulation factors, via associating gene expression shifts in the parasite with behavioural changes in the host and following their effects will provide researchers with a bottom-up approach to unraveling the mechanisms of behavioural manipulation and by extension behaviour itself.

Robotic system for non-destructive testing of complex shaped objects

NASA Astrophysics Data System (ADS)

Kavalerov, B. V.; Fayzrakhmanov, R. A.; Murzakaev, R. T.; Polyakov, A. N.; Artemev, V. V.

2018-03-01

This article describes the positioning system of defectoscopic equipment for nondestructive examination of complex shaped parts made of polymer composite materials. The purpose of the system and features of the investigated objects are described. The rationale for the development of the system and the range of problems it solves are presented. The solution of the kinematics problem for a 5-DOF manipulator is considered. The original algorithms for solving the kinematics problem are demonstrated. Methods for resolving collisions for a manipulator system are described. The results obtained in the course of experiments and studies are presented.

A Robot System for Remote Book Browsing

NASA Astrophysics Data System (ADS)

Tomizawa, Tetsuo; Ohya, Akihisa; Yuta, Shin'ichi

This paper describes a system which uses a mobile manipulator located in a library as a teleoperated tool for browsing books from a remote location via the Internet. In the process of developing this system, we designed and built a robot system, specially equipped for the accomplishment of browsing determined books, which is mainly categorized by 3 basic goals: (1) picking up the book by using a manipulator, (2) opening the book and (3) turning pages by a developed browsing device. Likewise, this paper also describes the human interface by the integration of Internet technologies, and summarize some considerations about the system.

Method and system for spatial data input, manipulation and distribution via an adaptive wireless transceiver

NASA Technical Reports Server (NTRS)

Wang, Ray (Inventor)

2009-01-01

A method and system for spatial data manipulation input and distribution via an adaptive wireless transceiver. The method and system include a wireless transceiver for automatically and adaptively controlling wireless transmissions using a Waveform-DNA method. The wireless transceiver can operate simultaneously over both the short and long distances. The wireless transceiver is automatically adaptive and wireless devices can send and receive wireless digital and analog data from various sources rapidly in real-time via available networks and network services.

Pilot climate data system

NASA Technical Reports Server (NTRS)

1985-01-01

A usable data base, the Pilot climate Data System (PCDS) is described. The PCDS is designed to be an interactive, easy-to-use, on-line generalized scientific information system. It efficiently provides uniform data catalogs; inventories, and access method, as well as manipulation and display tools for a large assortment of Earth, ocean and atmospheric data for the climate-related research community. Researchers can employ the PCDS to scan, manipulate, compare, display, and study climate parameters from diverse data sets. Software features, and applications of the PCDS are highlighted.

Bilateral Impedance Control For Telemanipulators

NASA Technical Reports Server (NTRS)

Moore, Christopher L.

1993-01-01

Telemanipulator system includes master robot manipulated by human operator, and slave robot performing tasks at remote location. Two robots electronically coupled so slave robot moves in response to commands from master robot. Teleoperation greatly enhanced if forces acting on slave robot fed back to operator, giving operator feeling he or she manipulates remote environment directly. Main advantage of bilateral impedance control: enables arbitrary specification of desired performance characteristics for telemanipulator system. Relationship between force and position modulated at both ends of system to suit requirements of task.

Spatial operator approach to flexible multibody system dynamics and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.

1991-01-01

The inverse and forward dynamics problems for flexible multibody systems were solved using the techniques of spatially recursive Kalman filtering and smoothing. These algorithms are easily developed using a set of identities associated with mass matrix factorization and inversion. These identities are easily derived using the spatial operator algebra developed by the author. Current work is aimed at computational experiments with the described algorithms and at modelling for control design of limber manipulator systems. It is also aimed at handling and manipulation of flexible objects.

Numerical image manipulation and display in solar astronomy

NASA Technical Reports Server (NTRS)

Levine, R. H.; Flagg, J. C.

1977-01-01

The paper describes the system configuration and data manipulation capabilities of a solar image display system which allows interactive analysis of visual images and on-line manipulation of digital data. Image processing features include smoothing or filtering of images stored in the display, contrast enhancement, and blinking or flickering images. A computer with a core memory of 28,672 words provides the capacity to perform complex calculations based on stored images, including computing histograms, selecting subsets of images for further analysis, combining portions of images to produce images with physical meaning, and constructing mathematical models of features in an image. Some of the processing modes are illustrated by some image sequences from solar observations.

MEMS-based platforms for mechanical manipulation and characterization of cells

NASA Astrophysics Data System (ADS)

Pan, Peng; Wang, Wenhui; Ru, Changhai; Sun, Yu; Liu, Xinyu

2017-12-01

Mechanical manipulation and characterization of single cells are important experimental techniques in biological and medical research. Because of the microscale sizes and highly fragile structures of cells, conventional cell manipulation and characterization techniques are not accurate and/or efficient enough or even cannot meet the more and more demanding needs in different types of cell-based studies. To this end, novel microelectromechanical systems (MEMS)-based technologies have been developed to improve the accuracy, efficiency, and consistency of various cell manipulation and characterization tasks, and enable new types of cell research. This article summarizes existing MEMS-based platforms developed for cell mechanical manipulation and characterization, highlights their specific design considerations making them suitable for their designated tasks, and discuss their advantages and limitations. In closing, an outlook into future trends is also provided.

NIAC Phase II Orbiting Rainbows: Future Space Imaging with Granular Systems

NASA Technical Reports Server (NTRS)

Quadrelli, Marco B.; Basinger, Scott; Arumugam, Darmindra; Swartzlander, Grover

2017-01-01

Inspired by the light scattering and focusing properties of distributed optical assemblies in Nature, such as rainbows and aerosols, and by recent laboratory successes in optical trapping and manipulation, we propose a unique combination of space optics and autonomous robotic system technology, to enable a new vision of space system architecture with applications to ultra-lightweight space optics and, ultimately, in-situ space system fabrication. Typically, the cost of an optical system is driven by the size and mass of the primary aperture. The ideal system is a cloud of spatially disordered dust-like objects that can be optically manipulated: it is highly reconfigurable, fault-tolerant, and allows very large aperture sizes at low cost. This new concept is based on recent understandings in the physics of optical manipulation of small particles in the laboratory and the engineering of distributed ensembles of spacecraft swarms to shape an orbiting cloud of micron-sized objects. In the same way that optical tweezers have revolutionized micro- and nano-manipulation of objects, our breakthrough concept will enable new large scale NASA mission applications and develop new technology in the areas of Astrophysical Imaging Systems and Remote Sensing because the cloud can operate as an adaptive optical imaging sensor. While achieving the feasibility of constructing one single aperture out of the cloud is the main topic of this work, it is clear that multiple orbiting aerosol lenses could also combine their power to synthesize a much larger aperture in space to enable challenging goals such as exo-planet detection. Furthermore, this effort could establish feasibility of key issues related to material properties, remote manipulation, and autonomy characteristics of cloud in orbit. There are several types of endeavors (science missions) that could be enabled by this type of approach, i.e. it can enable new astrophysical imaging systems, exo-planet search, large apertures allow for unprecedented high resolution to discern continents and important features of other planets, hyperspectral imaging, adaptive systems, spectroscopy imaging through limb, and stable optical systems from Lagrange-points. Furthermore, future micro-miniaturization might hold promise of a further extension of our dust aperture concept to other more exciting smart dust concepts with other associated capabilities. Our objective in Phase II was to experimentally and numerically investigate how to optically manipulate and maintain the shape of an orbiting cloud of dust-like matter so that it can function as an adaptable ultra-lightweight surface. Our solution is based on the aperture being an engineered granular medium, instead of a conventional monolithic aperture. This allows building of apertures at a reduced cost, enables extremely fault-tolerant apertures that cannot otherwise be made, and directly enables classes of missions for exoplanet detection based on Fourier spectroscopy with tight angular resolution and innovative radar systems for remote sensing. In this task, we have examined the advanced feasibility of a crosscutting concept that contributes new technological approaches for space imaging systems, autonomous systems, and space applications of optical manipulation. The proposed investigation has matured the concept that we started in Phase I to TRL 3, identifying technology gaps and candidate system architectures for the space-borne cloud as an aperture.

Dynamic task allocation for a man-machine symbiotic system

NASA Technical Reports Server (NTRS)

Parker, L. E.; Pin, F. G.

1987-01-01

This report presents a methodological approach to the dynamic allocation of tasks in a man-machine symbiotic system in the context of dexterous manipulation and teleoperation. This report addresses a symbiotic system containing two symbiotic partners which work toward controlling a single manipulator arm for the execution of a series of sequential manipulation tasks. It is proposed that an automated task allocator use knowledge about the constraints/criteria of the problem, the available resources, the tasks to be performed, and the environment to dynamically allocate task recommendations for the man and the machine. The presentation of the methodology includes discussions concerning the interaction of the knowledge areas, the flow of control, the necessary communication links, and the replanning of the task allocation. Examples of task allocation are presented to illustrate the results of this methodolgy.

Telerobotic control of a mobile coordinated robotic server

NASA Technical Reports Server (NTRS)

Lee, Gordon

1991-01-01

Results from the Master's Degree Thesis of Mr. Robert Stanley, a graduate student supervised by the principal investigator on this project is reported. The goal of this effort is to develop advanced control methods for flexible space manipulator systems. As such, a fuzzy logic controller has been developed in which model structure as well as parameter constraints are not required for compensation. A general rule base is formulated using quantized linguistic terms; it is then augmented to a traditional integral control. The resulting hybrid fuzzy controller stabilizes the structure over a broad range of uncertainties, including unknown initial conditions. An off-line tuning approach using phase portraits gives further insight into the algorithm. The approach was applied to a three-degree-of-freedom manipulator system - the prototype of the coordinated flexible manipulator system currently being designed and built at North Carolina State University.

Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes

NASA Astrophysics Data System (ADS)

Massimiliano Capisani, Luca; Facchinetti, Tullio; Ferrara, Antonella

2010-08-01

This article presents the networked control of a robotic anthropomorphic manipulator based on a second-order sliding mode technique, where the control objective is to track a desired trajectory for the manipulator. The adopted control scheme allows an easy and effective distribution of the control algorithm over two networked machines. While the predictability of real-time tasks execution is achieved by the Soft Hard Real-Time Kernel (S.Ha.R.K.) real-time operating system, the communication is established via a standard Ethernet network. The performances of the control system are evaluated under different experimental system configurations using, to perform the experiments, a COMAU SMART3-S2 industrial robot, and the results are analysed to put into evidence the robustness of the proposed approach against possible network delays, packet losses and unmodelled effects.

Manipulator control by exact linearization

NASA Technical Reports Server (NTRS)

Kruetz, K.

1987-01-01

Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, a consequence of rigid link manipulators belonging to the class of natural physical systems, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular. Furthermore, this linearizing feedback is easy to produce.

Lunar rovers and local positioning system

NASA Astrophysics Data System (ADS)

Avery, James; Su, Renjeng

1991-11-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running.

Lunar rovers and local positioning system

NASA Technical Reports Server (NTRS)

Avery, James; Su, Renjeng

1991-01-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

Beyond Control Panels: Direct Manipulation for Visual Analytics

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

Endert, Alexander; Bradel, Lauren; North, Chris

2013-07-19

Information Visualization strives to provide visual representations through which users can think about and gain insight into information. By leveraging the visual and cognitive systems of humans, complex relationships and phenomena occurring within datasets can be uncovered by exploring information visually. Interaction metaphors for such visualizations are designed to enable users direct control over the filters, queries, and other parameters controlling how the data is visually represented. Through the evolution of information visualization, more complex mathematical and data analytic models are being used to visualize relationships and patterns in data – creating the field of Visual Analytics. However, the expectationsmore » for how users interact with these visualizations has remained largely unchanged – focused primarily on the direct manipulation of parameters of the underlying mathematical models. In this article we present an opportunity to evolve the methodology for user interaction from the direct manipulation of parameters through visual control panels, to interactions designed specifically for visual analytic systems. Instead of focusing on traditional direct manipulation of mathematical parameters, the evolution of the field can be realized through direct manipulation within the visual representation – where users can not only gain insight, but also interact. This article describes future directions and research challenges that fundamentally change the meaning of direct manipulation with regards to visual analytics, advancing the Science of Interaction.« less

Dynamic analysis and control of lightweight manipulators with flexible parallel link mechanisms

NASA Technical Reports Server (NTRS)

Lee, Jeh Won

1991-01-01

The flexible parallel link mechanism is designed for increased rigidity to sustain the buckling when it carries a heavy payload. Compared to a one link flexible manipulator, a two link flexible manipulator, especially the flexible parallel mechanism, has more complicated characteristics in dynamics and control. The objective of this research is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model. The step response of the analytical model and the TREETOPS model match each other well. The nonlinear dynamics is studied using a sinusoidal excitation. The actuator dynamic effect on a flexible robot was investigated. The effects are explained by the root loci and the Bode plot theoretically and experimentally. For the base performance for the advanced control scheme, a simple decoupled feedback scheme is applied.

Multilateral haptics-based immersive teleoperation for improvised explosive device disposal

NASA Astrophysics Data System (ADS)

Erickson, David; Lacheray, Hervé; Daly, John

2013-05-01

Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel. This paper presents new results in the research and development of a next generation mobile immersive teleoperated explosive ordnance disposal system. This system incorporates elements of 3D vision, multilateral teleoperation for high transparency haptic feedback, immersive augmented reality operator control interfaces, and a realistic hardware-in-the-loop (HIL) 3D simulation environment incorporating vehicle and manipulator dynamics for both operator training and algorithm development. In the past year, new algorithms have been developed to facilitate incorporating commercial off-the-shelf (COTS) robotic hardware into the teleoperation system. In particular, a real-time numerical inverse position kinematics algorithm that can be applied to a wide range of manipulators has been implemented, an inertial measurement unit (IMU) attitude stabilization system for manipulators has been developed and experimentally validated, and a voice­operated manipulator control system has been developed and integrated into the operator control station. The integration of these components into a vehicle simulation environment with half-car vehicle dynamics has also been successfully carried out. A physical half-car plant is currently being constructed for HIL integration with the simulation environment.

Does Plant Biomass Manipulation in Static Chambers Affect Nitrous Oxide Emissions from Soils?

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

Collier, Sarah M.; Dean, Andrew P.; Oates, Lawrence G.

One of the most widespread approaches for measurement of greenhouse gas emissions from soils involves the use of static chambers. This method is relatively inexpensive, is easily replicated, and is ideally suited to plot-based experimental systems. Among its limitations is the loss of detection sensitivity with increasing chamber height, which creates challenges for deployment in systems including tall vegetation. It is not always possible to avoid inclusion of plants within chambers or to extend chamber height to fully accommodate plant growth. Thus, in many systems, such as perennial forages and biomass crops, plants growing within static chambers must either bemore » trimmed or folded during lid closure. Currently, data on how different types of biomass manipulation affect measured results is limited. For this study, we compare the effects of cutting vs. folding of biomass on nitrous oxide measurements in switchgrass (Panicum virgatum L.) and alfalfa (Medicago sativa L.) systems. We report only limited evidence of treatment effects during discrete sampling events and little basis for concern that effects may intensify over time as biomass manipulation is repeatedly imposed. However, nonsignificant treatment effects that were consistently present amounted to significant overall trends in three out of the four systems studied. Such minor disparities in flux could amount to considerable quantities over time, suggesting that caution should be exercised when comparing cumulative emission values from studies using different biomass manipulation strategies.« less

Human-in-the-loop evaluation of RMS Active Damping Augmentation

NASA Technical Reports Server (NTRS)

Demeo, Martha E.; Gilbert, Michael G.; Scott, Michael A.; Lepanto, Janet A.; Bains, Elizabeth M.; Jensen, Mary C.

1993-01-01

Active Damping Augmentation is the insertion of Controls-Structures Integration Technology to benefit the on-orbit performance of the Space Shuttle Remote Manipulator System. The goal is to reduce the vibration decay time of the Remote Manipulator System following normal payload maneuvers and operations. Simulation of Active Damping Augmentation was conducted in the realtime human-in-the-loop Systems Engineering Simulator at the NASA Johnson Space Center. The objective of this study was to obtain a qualitative measure of operational performance improvement from astronaut operators and to obtain supporting quantitative performance data. Sensing of vibratory motions was simulated using a three-axis accelerometer mounted at the end of the lower boom of the Remote Manipulator System. The sensed motions were used in a feedback control law to generate commands to the joint servo mechanisms which reduced the unwanted oscillations. Active damping of the Remote Manipulator System with an attached 3990 lb. payload was successfully demonstrated. Six astronaut operators examined the performance of an Active Damping Augmentation control law following single-joint and coordinated six-joint translational and rotational maneuvers. Active Damping Augmentation disturbance rejection of Orbiter thruster firings was also evaluated. Significant reductions in the dynamic response of the 3990 lb. payload were observed. Astronaut operators recommended investigation of Active Damping Augmentation benefits to heavier payloads where oscillations are a bigger problem (e.g. Space Station Freedom assembly operators).

Does Plant Biomass Manipulation in Static Chambers Affect Nitrous Oxide Emissions from Soils?

DOE PAGES

Collier, Sarah M.; Dean, Andrew P.; Oates, Lawrence G.; ...

2016-01-22

One of the most widespread approaches for measurement of greenhouse gas emissions from soils involves the use of static chambers. This method is relatively inexpensive, is easily replicated, and is ideally suited to plot-based experimental systems. Among its limitations is the loss of detection sensitivity with increasing chamber height, which creates challenges for deployment in systems including tall vegetation. It is not always possible to avoid inclusion of plants within chambers or to extend chamber height to fully accommodate plant growth. Thus, in many systems, such as perennial forages and biomass crops, plants growing within static chambers must either bemore » trimmed or folded during lid closure. Currently, data on how different types of biomass manipulation affect measured results is limited. For this study, we compare the effects of cutting vs. folding of biomass on nitrous oxide measurements in switchgrass (Panicum virgatum L.) and alfalfa (Medicago sativa L.) systems. We report only limited evidence of treatment effects during discrete sampling events and little basis for concern that effects may intensify over time as biomass manipulation is repeatedly imposed. However, nonsignificant treatment effects that were consistently present amounted to significant overall trends in three out of the four systems studied. Such minor disparities in flux could amount to considerable quantities over time, suggesting that caution should be exercised when comparing cumulative emission values from studies using different biomass manipulation strategies.« less

Active vibration damping of the Space Shuttle remote manipulator system

NASA Technical Reports Server (NTRS)

Scott, Michael A.; Gilbert, Michael G.; Demeo, Martha E.

1991-01-01

The feasibility of providing active damping augmentation of the Space Shuttle Remote Manipulator System (RMS) following normal payload handling operations is investigated. The approach used in the analysis is described, and the results for both linear and nonlinear performance analysis of candidate laws are presented, demonstrating that significant improvement in the RMS dynamic response can be achieved through active control using measured RMS tip acceleration data for feedback.

Manipulation of Magnetic Textures in Thin Films and Devices

NASA Astrophysics Data System (ADS)

Tolley, Robert Douglas

Control and manipulation of magnetic textures is promising for the development of next-generation data storage, memory and processing technologies. Towards this goal, domain wall manipulation in two materials systems are presented here and thoroughly evaluated. Domain walls in ferrimagnetic Cobalt-Terbium alloys and multilayers are created, moved and stabilized via thermal gradients and a static magnetic field and exploit the unique properties of the system across the magnetic compensation point. The response of the systems to thermal gradients is observed via Kerr microscopy and used to determine the positioning of domain walls within patterned devices. Magnetic skyrmions are discovered in thin-film multilayered stacks using an Pt/Co/Os/Pt heterostructures where the thin Osmium layer is used to break interfacial symmetry and enhance the Dzyaloshinskii-Moriya interaction. The resulting skyrmions are manipulated using temperature, magnetic field, and electric current, and special attention is paid to their motion and nucleation behavior. Skyrmions are observed to be formed by low applied currents from nucleation sites and by collapse of stripe textures. Patterned wires allow for the observation of skyrmion nucleation behavior in free space, as well as defect sites, and real-time Kerr microscopy imaging is presented of skyrmion and stripe dynamics. These systems are evaluated from a perspective of their growth, patterning, measurement, and the novel behavior of the magnetic textures.

Manipulations of Totalitarian Nazi Architecture

NASA Astrophysics Data System (ADS)

Antoszczyszyn, Marek

2017-10-01

The paper takes under considerations controversies surrounding German architecture designed during Nazi period between 1933-45. This architecture is commonly criticized for being out of innovation, taste & elementary sense of beauty. Moreover, it has been consequently wiped out from architectural manuals, probably for its undoubted associations with the totalitarian system considered as the most maleficent in the whole history. But in the meantime the architecture of another totalitarian system which appeared to be not less sinister than Nazi one is not stigmatized with such verve. It is Socrealism architecture, developed especially in East Europe & reportedly containing lots of similarities with Nazi architecture. Socrealism totalitarian architecture was never condemned like Nazi one, probably due to politically manipulated propaganda that influenced postwar public opinion. This observation leads to reflection that maybe in the same propaganda way some values of Nazi architecture are still consciously dissembled in order to hide the fact that some rules used by Nazi German architects have been also consciously used after the war. Those are especially manipulations that allegedly Nazi architecture consisted of. The paper provides some definitions around totalitarian manipulations as well as ideological assumptions for their implementation. Finally, the register of confirmed manipulations is provided with use of photo case study.

An Effective Construction Method of Modular Manipulator 3D Virtual Simulation Platform

NASA Astrophysics Data System (ADS)

Li, Xianhua; Lv, Lei; Sheng, Rui; Sun, Qing; Zhang, Leigang

2018-06-01

This work discusses about a fast and efficient method of constructing an open 3D manipulator virtual simulation platform which make it easier for teachers and students to learn about positive and inverse kinematics of a robot manipulator. The method was carried out using MATLAB. In which, the Robotics Toolbox, MATLAB GUI and 3D animation with the help of modelling using SolidWorks, were fully applied to produce a good visualization of the system. The advantages of using quickly build is its powerful function of the input and output and its ability to simulate a 3D manipulator realistically. In this article, a Schunk six DOF modular manipulator was constructed by the author's research group to be used as example. The implementation steps of this method was detailed described, and thereafter, a high-level open and realistic visualization manipulator 3D virtual simulation platform was achieved. With the graphs obtained from simulation, the test results show that the manipulator 3D virtual simulation platform can be constructed quickly with good usability and high maneuverability, and it can meet the needs of scientific research and teaching.

Astronaut Anna Fisher practices control of the RMS in a trainer

NASA Technical Reports Server (NTRS)

1984-01-01

Astronaut Anna Lee Fisher, mission specialist for 51-A, practices control of the remote manipulator system (RMS) at a special trainer at JSC. Dr. Fisher is pictured in the manipulator development facility (MDF) of JSC's Shuttle mockup and integration laboratory.

Evaluation of user input methods for manipulating a tablet personal computer in sterile techniques.

PubMed

Yamada, Akira; Komatsu, Daisuke; Suzuki, Takeshi; Kurozumi, Masahiro; Fujinaga, Yasunari; Ueda, Kazuhiko; Kadoya, Masumi

2017-02-01

To determine a quick and accurate user input method for manipulating tablet personal computers (PCs) in sterile techniques. We evaluated three different manipulation methods, (1) Computer mouse and sterile system drape, (2) Fingers and sterile system drape, and (3) Digitizer stylus and sterile ultrasound probe cover with a pinhole, in terms of the central processing unit (CPU) performance, manipulation performance, and contactlessness. A significant decrease in CPU score ([Formula: see text]) and an increase in CPU temperature ([Formula: see text]) were observed when a system drape was used. The respective mean times taken to select a target image from an image series (ST) and the mean times for measuring points on an image (MT) were [Formula: see text] and [Formula: see text] s for the computer mouse method, [Formula: see text] and [Formula: see text] s for the finger method, and [Formula: see text] and [Formula: see text] s for the digitizer stylus method, respectively. The ST for the finger method was significantly longer than for the digitizer stylus method ([Formula: see text]). The MT for the computer mouse method was significantly longer than for the digitizer stylus method ([Formula: see text]). The mean success rate for measuring points on an image was significantly lower for the finger method when the diameter of the target was equal to or smaller than 8 mm than for the other methods. No significant difference in the adenosine triphosphate amount at the surface of the tablet PC was observed before, during, or after manipulation via the digitizer stylus method while wearing starch-powdered sterile gloves ([Formula: see text]). Quick and accurate manipulation of tablet PCs in sterile techniques without CPU load is feasible using a digitizer stylus and sterile ultrasound probe cover with a pinhole.

A Case against Computer Symbolic Manipulation in School Mathematics Today.

ERIC Educational Resources Information Center

Waits, Bert K.; Demana, Franklin

1992-01-01

Presented are two reasons discouraging computer symbol manipulation systems use in school mathematics at present: cost for computer laboratories or expensive pocket computers; and impracticality of exact solution representations. Although development with this technology in mathematics education advances, graphing calculators are recommended to…

A mobile robot system for ground servicing operations on the space shuttle

NASA Astrophysics Data System (ADS)

Dowling, K.; Bennett, R.; Blackwell, M.; Graham, T.; Gatrall, S.; O'Toole, R.; Schempf, H.

1992-11-01

A mobile system for space shuttle servicing, the Tessellator, has been configured, designed and is currently being built and integrated. Robot tasks include chemical injection and inspection of the shuttle's thermal protection system. This paper outlines tasks, rationale, and facility requirements for the development of this system. A detailed look at the mobile system and manipulator follow with a look at mechanics, electronics, and software. Salient features of the mobile robot include omnidirectionality, high reach, high stiffness and accuracy with safety and self-reliance integral to all aspects of the design. The robot system is shown to meet task, facility, and NASA requirements in its design resulting in unprecedented specifications for a mobile-manipulation system.

A mobile robot system for ground servicing operations on the space shuttle

NASA Technical Reports Server (NTRS)

Dowling, K.; Bennett, R.; Blackwell, M.; Graham, T.; Gatrall, S.; O'Toole, R.; Schempf, H.

1992-01-01

A mobile system for space shuttle servicing, the Tessellator, has been configured, designed and is currently being built and integrated. Robot tasks include chemical injection and inspection of the shuttle's thermal protection system. This paper outlines tasks, rationale, and facility requirements for the development of this system. A detailed look at the mobile system and manipulator follow with a look at mechanics, electronics, and software. Salient features of the mobile robot include omnidirectionality, high reach, high stiffness and accuracy with safety and self-reliance integral to all aspects of the design. The robot system is shown to meet task, facility, and NASA requirements in its design resulting in unprecedented specifications for a mobile-manipulation system.

Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

NASA Astrophysics Data System (ADS)

Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

2018-04-01

In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

A review of magnetic resonance imaging compatible manipulators in surgery.

PubMed

Elhawary, H; Zivanovic, A; Davies, B; Lampérth, M

2006-04-01

Developments in magnetic resonance imaging (MRI), coupled with parallel progress in the field of computer-assisted surgery, mean that an ideal environment has been created for the development of MRI-compatible robotic systems and manipulators, capable of enhancing many types of surgical procedure. However, MRI does impose severe restrictions on mechatronic devices to be used in or around the scanners. In this article a review of the developments in the field of MRI-compatible surgical manipulators over the last decade is presented. The manipulators developed make use of different methods of actuation, but they can be reduced to four main groups: actuation transmitted through hydraulics, pneumatic actuators, ultrasonic motors based on the piezoceramic principle and remote manual actuation. Progress has been made concerning material selection, position sensing, and different actuation techniques, and design strategies have been implemented to overcome the multiple restrictions imposed by the MRI environment. Most systems lack the clinical validation needed to continue on to commercial products.

Dynamic Analysis and Control of Lightweight Manipulators with Flexible Parallel Link Mechanisms. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lee, Jeh Won

1990-01-01

The objective is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equation of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to higher order. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. Elastic motion is expressed by the assumed mode method. Mode shape functions of each link are chosen using the load interfaced component mode synthesis. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model.

Thermal Nondestructive Evaluation Report: Inspection of the Refurbished Manipulator Arm System in the Manipulator Development Facility at Johnson Space Center 10-12 January 2001

NASA Technical Reports Server (NTRS)

Cramer, K. Elliott

2002-01-01

On 4 December 2002, a failure of the Refurbished Manipulator Arm System (RMAS) occurred in the Manipulator Development Facility (MDF) at Johnson Space Center. When the Test Director commanded a should pitch maneuver to lift the arm from its payload bay pedestal, the yaw controls failed. This, coupled with a gravitational forces (due to the angle of the shoulder joint with respect to vertical), resulted in uncontrolled arm motion. The shoulder yaw joint moved approximately 20 degrees, causing the extended arm to strike and severely damage the port side MDF catwalk handrails. The arm motion stopped after impact with the handrails. On 10-12 January 2001, inspections were performed on the port face of the lower and upper arms of the RMAS using a infrared thermography developed at Langley Research Center. This paper presents the results of those nondestructive inspections and provides a complete description of the anomalies found and their locations.

The Impact of the Mode of Thought in Complex Decisions: Intuitive Decisions are Better

PubMed Central

Usher, Marius; Russo, Zohar; Weyers, Mark; Brauner, Ran; Zakay, Dan

2011-01-01

A number of recent studies have reported that decision quality is enhanced under conditions of inattention or distraction (unconscious thought; Dijksterhuis, 2004; Dijksterhuis and Nordgren, 2006; Dijksterhuis et al., 2006). These reports have generated considerable controversy, for both experimental (problems of replication) and theoretical reasons (interpretation). Here we report the results of four experiments. The first experiment replicates the unconscious thought effect, under conditions that validate and control the subjective criterion of decision quality. The second and third experiments examine the impact of a mode of thought manipulation (without distraction) on decision quality in immediate decisions. Here we find that intuitive or affective manipulations improve decision quality compared to analytic/deliberation manipulations. The fourth experiment combines the two methods (distraction and mode of thought manipulations) and demonstrates enhanced decision quality, in a situation that attempts to preserve ecological validity. The results are interpreted within a framework that is based on two interacting subsystems of decision-making: an affective/intuition based system and an analytic/deliberation system. PMID:21716605

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.

A motion sensing-based framework for robotic manipulation.

PubMed

Deng, Hao; Xia, Zeyang; Weng, Shaokui; Gan, Yangzhou; Fang, Peng; Xiong, Jing

2016-01-01

To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach-pendant operating system. Motion sensing technology, which enables human-machine interaction in a novel and natural interface using gestures, has crucially inspired us to adopt this user-friendly and straightforward operation mode on robotic manipulation. Thus, in this paper, we presented a motion sensing-based framework for robotic manipulation, which recognizes gesture commands captured from motion sensing input device and drives the action of robots. For compatibility, a general hardware interface layer was also developed in the framework. Simulation and physical experiments have been conducted for preliminary validation. The results have shown that the proposed framework is an effective approach for general robotic manipulation with motion sensing control.

Optical micromanipulation of active cells with minimal perturbations: direct and indirect pushing.

PubMed

Wang, Chenlu; Chowdhury, Sagar; Gupta, Satyandra K; Losert, Wolfgang

2013-04-01

The challenge to wide application of optical tweezers in biological micromanipulation is the photodamage caused by high-intensity laser exposure to the manipulated living systems. While direct exposure to infrared lasers is less likely to kill cells, it can affect cell behavior and signaling. Pushing cells with optically trapped objects has been introduced as a less invasive alternative, but the technique includes some exposure of the biological object to parts of the optical tweezer beam. To keep the cells farther away from the laser, we introduce an indirect pushing-based technique for noninvasive manipulation of sensitive cells. We compare how cells respond to three manipulation approaches: direct manipulation, pushing, and indirect pushing. We find that indirect manipulation techniques lessen the impact of manipulation on cell behavior. Cell survival increases, as does the ability of cells to maintain shape and wiggle. Our experiments also demonstrate that indirect pushing allows cell-cell contacts to be formed in a controllable way, while retaining the ability of cells to change shape and move.

[Surgery using master-slave manipulators and telementoring].

PubMed

Furukawa, T; Wakabayashi, G; Ozawa, S; Watanabe, M; Ohgami, M; Kitagawa, Y; Ishii, S; Arisawa, Y; Ohmori, T; Nohga, K; Kitajima, M

2000-03-01

Master-slave manipulators enhance surgeons' dexterity and improve the precision of surgical techniques by filtering out surgeons' tremors and scaling the movements of surgical instruments. Among clinically available master-slave manipulators, the epoch-making system called "da Vinci" developed by Intuitive Surgical Inc. (Mountain View, CA, USA), equipped with 2 articulated joints at the tip of the surgical instruments allowing 7 degrees of freedom, mimics the movements of surgeons' wrists and fingers in the abdominal or thoracic cavity. Today advanced telecommunications technology provides us excellent motion images using only 3-ISDN telephone lines. Experienced surgeons at primary surgical sites have been able to perform complex procedures successfully by consulting specialists at remote sites. Because telecommunications costs have become lower each year, telementoring will be come a routine surgical practice in the near future. The usefulness of surgical telementoring has been greatly enhanced by the development of a technique to illustrate on video images from two directions. Moreover, remote advisory surgeons will be able to provide the optimal operative field to operating surgeons using robotic camera holders with voice-recognition systems. In the near future, when master-slave manipulators will also be coupled with telementoring systems, remote experts could actually perform complex surgical procedures.

Augmented reality user interface for mobile ground robots with manipulator arms

NASA Astrophysics Data System (ADS)

Vozar, Steven; Tilbury, Dawn M.

2011-01-01

Augmented Reality (AR) is a technology in which real-world visual data is combined with an overlay of computer graphics, enhancing the original feed. AR is an attractive tool for teleoperated UGV UIs as it can improve communication between robots and users via an intuitive spatial and visual dialogue, thereby increasing operator situational awareness. The successful operation of UGVs often relies upon both chassis navigation and manipulator arm control, and since existing literature usually focuses on one task or the other, there is a gap in mobile robot UIs that take advantage of AR for both applications. This work describes the development and analysis of an AR UI system for a UGV with an attached manipulator arm. The system supplements a video feed shown to an operator with information about geometric relationships within the robot task space to improve the operator's situational awareness. Previous studies on AR systems and preliminary analyses indicate that such an implementation of AR for a mobile robot with a manipulator arm is anticipated to improve operator performance. A full user-study can determine if this hypothesis is supported by performing an analysis of variance on common test metrics associated with UGV teleoperation.

Dissolving variables in connectionist combinatory logic

NASA Technical Reports Server (NTRS)

Barnden, John; Srinivas, Kankanahalli

1990-01-01

A connectionist system which can represent and execute combinator expressions to elegantly solve the variable binding problem in connectionist networks is presented. This system is a graph reduction machine utilizing graph representations and traversal mechanisms similar to ones described in the BoltzCONS system of Touretzky (1986). It is shown that, as combinators eliminate variables by introducing special functions, these functions can be connectionistically implemented without reintroducing variable binding. This approach 'dissolves' an important part of the variable binding problem, in that a connectionist system still has to manipulate complex data structures, but those structures and their manipulations are rendered more uniform.

On the dynamics of chain systems. [applications in manipulator and human body models

NASA Technical Reports Server (NTRS)

Huston, R. L.; Passerello, C. E.

1974-01-01

A computer-oriented method for obtaining dynamical equations of motion for chain systems is presented. A chain system is defined as an arbitrarily assembled set of rigid bodies such that adjoining bodies have at least one common point and such that closed loops are not formed. The equations of motion are developed through the use of Lagrange's form of d'Alembert's principle. The method and procedure is illustrated with an elementary study of a tripod space manipulator. The method is designed for application with systems such as human body models, chains and cables, and dynamic finite-segment models.

Helical and tubular lipid microstructures that are electroless-coated with CoNiReP for wireless magnetic manipulation.

PubMed

Schuerle, Simone; Pané, Salvador; Pellicer, Eva; Sort, Jordi; Baró, Maria D; Nelson, Bradley J

2012-05-21

Hybrid magnetic phospholipidic-based tubular and helical microagents are wirelessly manipulated by means of a 5-DOF electromagnetic system. Two different strategies are used to manipulate these nanostructures in simulated biologic capillaries. Tubules are pulled by applying magnetic field gradients and oriented by magnetic fields. Helices exhibit a cork-screw motion similar to the swimming strategy used by motile bacteria such as E. coli. Copyright © 2012 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

[Analysis on the adverse events of cupping therapy in the application].

PubMed

Zhou, Xin; Ruan, Jing-wen; Xing, Bing-feng

2014-10-01

The deep analysis has been done on the cases of adverse events and common injury of cupping therapy encountered in recent years in terms of manipulation and patient's constitution. The adverse events of cupping therapy are commonly caused by improper manipulation of medical practitioners, ignoring contraindication and patient's constitution. Clinical practitioners should use cupping therapy cautiously, follow strictly the rules of standard manipulation and medical core system, pay attention to the contraindication and take strict precautions against the occurrence of adverse events.

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

Morgansen, K.A.; Pin, F.G.

A new method for mitigating unexpected impact of a redundant manipulator with an object in its environment is presented. Kinematic constraints are utilized with the recently developed method known as Full Space Parameterization (FSP). System performance criterion and constraints are changed at impact to return the end effector to the point of impact and halt the arm. Since large joint accelerations could occur as the manipulator is halted, joint acceleration bounds are imposed to simulate physical actuator limitations. Simulation results are presented for the case of a simple redundant planar manipulator.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1988-01-01

The focus of the work is to develop and perform a set of research projects using laboratory models of satellite robots. These devices use air cushion technology to simulate in two dimensions the drag-free, zero-g conditions of space. Five research areas are examined: cooperative manipulation on a fixed base; cooperative manipulation on a free-floating base; global navigation and control of a free-floating robot; an alternative transport mode call Locomotion Enhancement via Arm Push-Off (LEAP), and adaptive control of LEAP.

Master--slave manipulators and remote maintenance at the Oak Ridge National Laboratory

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

Jenness, R.G.; Wicker, C.D.

1975-01-01

The volume of master-slave manipulator maintenance at Oak Ridge National Laboratory has necessitated the establishment of a repair facility and the organization of a specially trained group of craftsmen. Emphasis on cell containment requires the use of manipulator boots and the development of precise procedures for accomplishing the maintenance of 283 installed units. To provide the most economical type of preventive maintenance, a very satisfactory computer- programmed maintenance system has been established at the Laboratory. (auth)

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

PubMed Central

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations. PMID:28421179

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

PubMed

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations.

Dynamic properties of micro-particles in ultrasonic transportation using phase-controllable standing waves

NASA Astrophysics Data System (ADS)

Jia, Kun; Mei, Deqing; Meng, Jianxin; Yang, Keji

2014-10-01

Ultrasonic manipulation has become an attractive method for surface-sensitive objects in micro-technology. Related phenomena, such as radiation force, multiple scattering, and acoustic streaming, have been widely studied. However, in current studies, the behavior of micro-particles in potential force fields is always analyzed in a quasi-static manner. We developed a dynamic model of a dilute micro-particle in the commonly used two-dimensional ultrasonic manipulation system to provide a systemic and quantitative analysis of the transient properties of particle movement. In this model, the acoustic streaming and hydrodynamic forces, omitted in previous work, were both considered. The trajectory of a spherical silica particle with different initial conditions was derived by numerically solving the established nonlinear differential integral equation system, which was then validated experimentally. The envelope of the experimental data on the x-axis showed good agreement with the theoretical calculation, and the greater influence on the y-axis of the deviation between the actual sound field and the ideal distribution employed in our dynamic model could account for the differences in displacement in that direction. Finally, the influence of particle size on its movement and the effect of acoustic streaming on calculating the hydrodynamic forces for an isolated particle with motion relative to the fluid were analyzed theoretically. It was found that the ultrasonic manipulation system will translate from an under-damped system to an over-damped system with a decrease in particle size and the micro-scale acoustic streaming velocity was negligible when calculating the hydrodynamic forces on the particle in the ultrasonic manipulation system.

Novel Approaches to Manipulating Bacterial Pathogen Biofilms: Whole-Systems Design Philosophy and Steering Microbial Evolution.

PubMed

Penn, Alexandra S

2016-01-01

Understanding and manipulating bacterial biofilms is crucial in medicine, ecology and agriculture and has potential applications in bioproduction, bioremediation and bioenergy. Biofilms often resist standard therapies and the need to develop new means of intervention provides an opportunity to fundamentally rethink our strategies. Conventional approaches to working with biological systems are, for the most part, "brute force", attempting to effect control in an input and effort intensive manner and are often insufficient when dealing with the inherent non-linearity and complexity of living systems. Biological systems, by their very nature, are dynamic, adaptive and resilient and require management tools that interact with dynamic processes rather than inert artefacts. I present an overview of a novel engineering philosophy which aims to exploit rather than fight those properties, and hence provide a more efficient and robust alternative. Based on a combination of evolutionary theory and whole-systems design, its essence is what I will call systems aikido; the basic principle of aikido being to interact with the momentum of an attacker and redirect it with minimal energy expenditure, using the opponent's energy rather than one's own. In more conventional terms, this translates to a philosophy of equilibrium engineering, manipulating systems' own self-organisation and evolution so that the evolutionarily or dynamically stable state corresponds to a function which we require. I illustrate these ideas with a description of a proposed manipulation of environmental conditions to alter the stability of co-operation in the context of Pseudomonas aeruginosa biofilm infection of the cystic fibrosis lung.

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

Mann, R.C.; Fujimura, K.; Unseren, M.A.

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of positionmore » and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs.« less

TEQUEL: The query language of SADDLE

NASA Technical Reports Server (NTRS)

Rajan, S. D.

1984-01-01

A relational database management system is presented that is tailored for engineering applications. A wide variety of engineering data types are supported and the data definition language (DDL) and data manipulation language (DML) are extended to handle matrices. The system can be used either in the standalone mode or through a FORTRAN or PASCAL application program. The query language is of the relational calculus type and allows the user to store, retrieve, update and delete tuples from relations. The relational operations including union, intersect and differ facilitate creation of temporary relations that can be used for manipulating information in a powerful manner. Sample applications are shown to illustrate the creation of data through a FORTRAN program and data manipulation using the TEQUEL DML.

Control System Design Implementation and Preliminary Demonstration for a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

NASA Technical Reports Server (NTRS)

Komendera, Erik E.; Doggett, William R.; Dorsey, John T.; Debus, Thomas J.; Holub, Kris; Dougherty, Sean P.

2015-01-01

Satellite servicing is a high priority task for NASA and the space industry, addressing the needs of a variety of missions, and potentially lowering the overall cost of missions through refurbishment and reuse. However, the ability to service satellites is severely limited by the lack of long reach manipulation capability and inability to launch new devices due the end of the Space Transport System, or Space Shuttle Program. This paper describes the design and implementation of a control system for a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN), including; defining the forward and inverse kinematics, endpoint velocity to motor velocity, required cable tensions, and a proportional-integral-derivative (PID) controller. The tensions and velocities necessary to maneuver and capture small and large payloads are also discussed. To demonstrate the utility of the TALISMAN for satellite servicing, this paper also describes a satellite servicing demonstration using two TALISMAN prototypes to grasp and inspect a satellite mockup. Potential avenues for improving the control system are discussed.

Robotics technology developments in the United States space telerobotics program

NASA Technical Reports Server (NTRS)

Lavery, David

1994-01-01

In the same way that the launch of Yuri Gagarin in April 1961 announced the beginning of human space flight, last year's flight of the German ROTEX robot flight experiment is heralding the start of a new era of space robotics. After a gap of twelve years since the introduction of a new capability in space remote manipulation, ROTEX is the first of at least ten new robotic systems and experiments which will fly before the year 2000. As a result of redefining the development approach for space robotic systems, and capitalizing on opportunities associated with the assembly and maintenance of the space station, the space robotics community is preparing a whole new generation of operational robotic capabilities. Expanding on the capabilities of earlier manipulation systems such as the Viking and Surveyor soil scoops, the Russian Lunakhods, and the Shuttle Remote Manipulator System (RMS), these new space robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces.

Optogenetics: a new enlightenment age for zebrafish neurobiology.

PubMed

Del Bene, Filippo; Wyart, Claire

2012-03-01

Zebrafish became a model of choice for neurobiology because of the transparency of its brain and because of its amenability to genetic manipulation. In particular, at early stages of development the intact larva is an ideal system to apply optical techniques for deep imaging in the nervous system, as well as genetically encoded tools for targeting subsets of neurons and monitoring and manipulating their activity. For these applications,new genetically encoded optical tools, fluorescent sensors, and light-gated channels have been generated,creating the field of "optogenetics." It is now possible to monitor and control neuronal activity with minimal perturbation and unprecedented spatio-temporal resolution.We describe here the main achievements that have occurred in the last decade in imaging and manipulating neuronal activity in intact zebrafish larvae. We provide also examples of functional dissection of neuronal circuits achieved with the applications of these techniques in the visual and locomotor systems.

Adaptive control of space based robot manipulators

NASA Technical Reports Server (NTRS)

Walker, Michael W.; Wee, Liang-Boon

1991-01-01

For space based robots in which the base is free to move, motion planning and control is complicated by uncertainties in the inertial properties of the manipulator and its load. A new adaptive control method is presented for space based robots which achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. A partition is made of the fifteen degree of freedom system dynamics into two parts: a nine degree of freedom invertible portion and a six degree of freedom noninvertible portion. The controller is then designed to achieve trajectory tracking of the invertible portion of the system. This portion consist of the manipulator joint positions and the orientation of the base. The motion of the noninvertible portion is bounded, but unpredictable. This portion consist of the position of the robot's base and the position of the reaction wheel.

Coherent manipulation of photons and electrons

NASA Astrophysics Data System (ADS)

Zhao, Lu

In modern physics, coherent manipulation of photons and electrons has been intensively studied, and may have important applications in classical and quantum information processing. In this dissertation, we consider some interesting schemes to realize photonic and electronic coherent manipulation. In order to coherently manipulate photons, electromagnetically induced transparency (EIT) systems have been widely adopted because the optical response of EIT systems can be controlled by the laser-induced atomic coherence. In the second chapter, we theoretically investigate image storage in hot-vapor EIT media. A so-called 4f system is adopted for imaging, and an atomic vapor cell is placed over the transform plane. The Fraunhofer diffraction pattern of an object in the object plane can thus be transformed into atomic Raman coherence according to the idea of "light storage". We investigate how the stored diffraction pattern evolves under diffusion and discuss the essence of the stability of its dark spots. Our result indicates under appropriate conditions that an image can be reconstructed with high fidelity. The main reason for this procedure is the fact that diffusion of opposite-phase components of the diffraction pattern interfere destructively. In the third chapter, we show theoretical evidence that EIT systems can function as optically addressed spatial light modulators with megahertz modulation rates. The transverse spatial properties of continuous-wave probe fields can be modulated rapidly using two-dimensional optical patterns. To exemplify our proposal, we study real-time generation and manipulation of Laguerre-Gaussian beams by means of phase or amplitude modulation using flat-top image-bearing pulse trains as coupling fields in low-cost hot-vapor EIT systems. In order to coherently manipulate electrons, we consider graphene systems, including single-layer graphene and bilayer graphene, which have recently attracted considerable attention. Due to the long coherence length and electrically tunable Fermi levels, electrons in graphene systems have some photon-like behaviors, and could be coherently manipulated. Therefore, in the fourth chapter, we theorize that at a sharp electrostatic step potential in graphene massless Dirac fermions can obtain Goos-Hanchen-like shifts under total internal reflection. Also, we study coherent propagation of the quasiparticles along a sharp graphene p-n-p waveguide, and derive novel dispersion relations for the guided modes. Consequently, coherent graphene-based devices, e.g., movable mirrors, buffers and memories, induced only by the electric field effects may be proposed. Finally, we theoretically investigate the coherent propagation of massive chiral fermions along a sharp bilayer graphene p-n-p waveguide, and indicate that the guided quasiparticles can be coherently slowed, stored and retrieved based on tunable electric field effects. Controlling group velocity in the bilayer graphene p-n-p waveguide is accomplished via interband tunneling through the p-n interfaces, and does not depend on the bandgap opening.

Recursive Newton-Euler formulation of manipulator dynamics

NASA Technical Reports Server (NTRS)

Nasser, M. G.

1989-01-01

A recursive Newton-Euler procedure is presented for the formulation and solution of manipulator dynamical equations. The procedure includes rotational and translational joints and a topological tree. This model was verified analytically using a planar two-link manipulator. Also, the model was tested numerically against the Walker-Orin model using the Shuttle Remote Manipulator System data. The hinge accelerations obtained from both models were identical. The computational requirements of the model vary linearly with the number of joints. The computational efficiency of this method exceeds that of Walker-Orin methods. This procedure may be viewed as a considerable generalization of Armstrong's method. A six-by-six formulation is adopted which enhances both the computational efficiency and simplicity of the model.

Performance limitations of joint variable-feedback controllers due to manipulator structural flexibility

NASA Technical Reports Server (NTRS)

Cetinkunt, Sabri; Book, Wayne J.

1990-01-01

The performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model of a two-link two-joint planar manipulator is used in the study. Emphasis is placed on determining the limitations of control algorithms that use only joint variable-feedback information in calculations of control decisions, since most motion control systems in practice are of this kind. Both fine and gross motion cases are studied. Results for fine motion agree well with previously reported results in the literature and are also helpful in explaining the performance limitations in fast gross motions.

Basics of robotics and manipulators in endoscopic surgery.

PubMed

Rininsland, H H

1993-06-01

The experience with sophisticated remote handling systems for nuclear operations in inaccessible rooms can to a large extent be transferred to the development of robotics and telemanipulators for endoscopic surgery. A telemanipulator system is described consisting of manipulator, endeffector and tools, 3-D video-endoscope, sensors, intelligent control system, modeling and graphic simulation and man-machine interfaces as the main components or subsystems. Such a telemanipulator seems to be medically worthwhile and technically feasible, but needs a lot of effort from different scientific disciplines to become a safe and reliable instrument for future endoscopic surgery.

Study and development of techniques for automatic control of remote manipulators

NASA Technical Reports Server (NTRS)

Shaket, E.; Leal, A.

1976-01-01

An overall conceptual design for an autonomous control system of remote manipulators which utilizes feedback was constructed. The system consists of a description of the high-level capabilities of a model from which design algorithms are constructed. The autonomous capability is achieved through automatic planning and locally controlled execution of the plans. The operator gives his commands in high level task-oriented terms. The system transforms these commands into a plan. It uses built-in procedural knowledge of the problem domain and an internal model of the current state of the world.

HYDRAULIC REDISTRIBUTION IN A DOUGLAS-FIR FOREST: LESSONS FROM SYSTEM MANIPULATIONS

EPA Science Inventory

Hydraulic redistribution (HR) has been shown to slow drying of surface soils during drought in Pacific Northwest forests, but the controls governing this process and its importance to shallow-rooted species are poorly understood. Our objective in this study was to manipulate the...

Dual fuel injection piggyback controller system

NASA Astrophysics Data System (ADS)

Muji, Siti Zarina Mohd.; Hassanal, Muhammad Amirul Hafeez; Lee, Chua King; Fawzi, Mas; Zulkifli, Fathul Hakim

2017-09-01

Dual-fuel injection is an effort to reduce the dependency on diesel and gasoline fuel. Generally, there are two approaches to implement the dual-fuel injection in car system. The first approach is changing the whole injector of the car engine, the consequence is excessive high cost. Alternatively, it also can be achieved by manipulating the system's control signal especially the Electronic Control Unit (ECU) signal. Hence, the study focuses to develop a dual injection timing controller system that likely adopted to control injection time and quantity of compressed natural gas (CNG) and diesel fuel. In this system, Raspberry Pi 3 reacts as main controller unit to receive ECU signal, analyze it and then manipulate its duty cycle to be fed into the Electronic Driver Unit (EDU). The manipulation has changed the duty cycle to two pulses instead of single pulse. A particular pulse mainly used to control injection of diesel fuel and another pulse controls injection of Compressed Natural Gas (CNG). The test indicated promising results that the system can be implemented in the car as piggyback system. This article, which was originally published online on 14 September 2017, contained an error in the acknowledgment section. The corrected acknowledgment appears in the Corrigendum attached to the pdf.

A global reconstruction of climate-driven subdecadal water storage variability

NASA Astrophysics Data System (ADS)

Humphrey, V.; Gudmundsson, L.; Seneviratne, S. I.

2017-03-01

Since 2002, the Gravity Recovery and Climate Experiment (GRACE) mission has provided unprecedented observations of global mass redistribution caused by hydrological processes. However, there are still few sources on pre-2002 global terrestrial water storage (TWS). Classical approaches to retrieve past TWS rely on either land surface models (LSMs) or basin-scale water balance calculations. Here we propose a new approach which statistically relates anomalies in atmospheric drivers to monthly GRACE anomalies. Gridded subdecadal TWS changes and time-dependent uncertainty intervals are reconstructed for the period 1985-2015. Comparisons with model results demonstrate the performance and robustness of the derived data set, which represents a new and valuable source for studying subdecadal TWS variability, closing the ocean/land water budgets and assessing GRACE uncertainties. At midpoint between GRACE observations and LSM simulations, the statistical approach provides TWS estimates (doi:10.5905/ethz-1007-85) that are essentially derived from observations and are based on a limited number of transparent model assumptions.

The endogenous GABA bioactivity of camel, bovine, goat and human milks.

PubMed

Limon, Agenor; Gallegos-Perez, Jose-Luis; Reyes-Ruiz, Jorge M; Aljohi, Mohammad A; Alshanqeeti, Ali S; Miledi, Ricardo

2014-02-15

GABA orally administered has several beneficial effects on health, including the regulation of hyperglycaemic states in humans. Those effects are similar to the effects reported for camel milk (CMk); however, it is not known whether compounds with GABAergic activity are present in milk from camels or other species. We determined CMk free-GABA concentration by LS/MS and its bioactivity on human GABA receptors. We found that camel and goat milks have significantly more bioavailable GABA than cow and human milks and are able to activate GABAρ receptors. The relationship between GABA and taurine concentrations suggests that whole camel milk may be more efficient to activate GABAρ1 receptors than goat milk. Because GABAρ receptors are normally found in enteroendocrine cells in the lumen of the digestive tract, these results suggest that GABA in camel and goat milk may participate in GABA-modulated functions of enteroendocrine cells in the GI lumen. Copyright © 2013 Elsevier Ltd. All rights reserved.

Conjugate Gradient Algorithms For Manipulator Simulation

NASA Technical Reports Server (NTRS)

Fijany, Amir; Scheid, Robert E.

1991-01-01

Report discusses applicability of conjugate-gradient algorithms to computation of forward dynamics of robotic manipulators. Rapid computation of forward dynamics essential to teleoperation and other advanced robotic applications. Part of continuing effort to find algorithms meeting requirements for increased computational efficiency and speed. Method used for iterative solution of systems of linear equations.

Manipulations of soil microbiota for C sequestration and mitigation of greenhouse gas emissions in managed systems

USDA-ARS?s Scientific Manuscript database

Soil microbes dominate processes that regulate soil trace gas emissions and soil C and N dynamics. Intensive management in agroecosystems provides unique opportunities to assess the effectiveness of microbial manipulations to enhance soil C retention and reduce trace gas emissions. While reduced til...

Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations

NASA Astrophysics Data System (ADS)

Kim, Jung Hoon; Hur, Sung-Moon; Oh, Yonghwan

2018-03-01

This paper is concerned with performance analysis of proportional-derivative/proportional-integral-derivative (PD/PID) controller for bounded persistent disturbances in a robotic manipulator. Even though the notion of input-to-state stability (ISS) has been widely used to deal with the effect of disturbances in control of a robotic manipulator, the corresponding studies cannot be directly applied to the treatment of persistent disturbances occurred in robotic manipulators. This is because the conventional studies relevant to ISS consider the H∞ performance for robotic systems, which is confined to the treatment of decaying disturbances, i.e. the disturbances those in the L2 space. To deal with the effect of persistent disturbances in robotic systems, we first provide a new treatment of ISS in the L∞ sense because bounded persistent disturbances should be intrinsically regarded as elements of the L∞ space. We next derive state-space representations of trajectory tracking control in the robotic systems which allow us to define the problem formulations more clearly. We then propose a novel control law that has a PD/PID control form, by which the trajectory tracking system satisfies the reformulated ISS. Furthermore, we can obtain a theoretical argument about the L∞ gain from the disturbance to the regulated output through the proposed control law. Finally, experimental studies for a typical 3-degrees of freedom robotic manipulator are given to demonstrate the effectiveness of the method introduced in this paper.

The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis

NASA Technical Reports Server (NTRS)

Williams, Robert L., III

1992-01-01

This paper presents three methods to solve the inverse position kinematics position problem of the double universal joint attached to a manipulator: (1) an analytical solution for two specific cases; (2) an approximate closed form solution based on ignoring the wrist offset; and (3) an iterative method which repeats closed form position and orientation calculations until the solution is achieved. Several manipulators are used to demonstrate the solution methods: cartesian, cylindrical, spherical, and an anthropomorphic articulated arm, based on the Flight Telerobotic Servicer (FTS) arm. A singularity analysis is presented for the double universal joint wrist attached to the above manipulator arms. While the double universal joint wrist standing alone is singularity-free in orientation, the singularity analysis indicates the presence of coupled position/orientation singularities of the spherical and articulated manipulators with the wrist. The cartesian and cylindrical manipulators with the double universal joint wrist were found to be singularity-free. The methods of this paper can be implemented in a real-time controller for manipulators with the double universal joint wrist. Such mechanically dextrous systems could be used in telerobotic and industrial applications, but further work is required to avoid the singularities.

Development of safe mechanism for surgical robots using equilibrium point control method.

PubMed

Park, Shinsuk; Lim, Hokjin; Kim, Byeong-sang; Song, Jae-bok

2006-01-01

This paper introduces a novel mechanism for surgical robotic systems to generate human arm-like compliant motion. The mechanism is based on the idea of the equilibrium point control hypothesis which claims that multi-joint limb movements are achieved by shifting the limbs' equilibrium positions defined by neuromuscular activity. The equilibrium point control can be implemented on a robot manipulator by installing two actuators at each joint of the manipulator, one to control the joint position, and the other to control the joint stiffness. This double-actuator mechanism allows us to arbitrarily manipulate the stiffness (or impedance) of a robotic manipulator as well as its position. Also, the force at the end-effector can be estimated based on joint stiffness and joint angle changes without using force transducers. A two-link manipulator and a three-link manipulator with the double-actuator units have been developed, and experiments and simulation results show the potential of the proposed approach. By creating the human arm-like behavior, this mechanism can improve the performance of robot manipulators to execute stable and safe movement in surgical environments by using a simple control scheme.

Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

NASA Astrophysics Data System (ADS)

Lee, Po-Chih; Lee, Jyh-Jone

2012-06-01

This paper presents the analysis of three parallel manipulators with Schoenflies-motion. Each parallel manipulator possesses two limbs in structure and the end-effector has three DOFs (degree of freedom) in the translational motion and one DOF in rotational motion about a given direction axis with respect to the world coordinate system. The three isoconstrained parallel manipulators have the structures denoted as C{u/u}UwHw-//-C{v/v}UwHw, CuR{u/u}Uhw-//-CvR{v/v}Uhw and CuPuUhw-//-CvPvUhw. The kinematic equations are first introduced for each manipulator. Then, Jacobian matrix, singularity, workspace, and performance index for each mechanism are subsequently derived and analysed for the first time. The results can be helpful for the engineers to evaluate such kind of parallel robots for possible application in industry where pick-and-place motion is required.

In-Bore Prostate Transperineal Interventions with an MRI-guided Parallel Manipulator: System Development and Preliminary Evaluation

PubMed Central

Eslami, Sohrab; Shang, Weijian; Li, Gang; Patel, Nirav; Fischer, Gregory S.; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M.; Iordachita, Iulian

2015-01-01

Background The robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of the prostate cancer in human. Methods In this paper the kinematics of a parallel 4 Degrees-of-Freedom (DOF) surgical manipulator designed for minimally invasive in-bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of 4 sliders actuated by MRI-compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in the clinical trials. Results The manipulator has undergone several experiments to evaluate the repeatability and accuracy of the needle placement which is an essential concern in percutaneous prostate interventions. Conclusion The acquired results endorse the sustainability, precision (about 1 mm in air (in x or y direction) at the needle's reference point) and reliability of the manipulator. PMID:26111458

HERMIES-3: A step toward autonomous mobility, manipulation, and perception

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

1989-01-01

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

NASA Technical Reports Server (NTRS)

Hennessey, Michael P.; Huang, Paul C.; Bunnell, Charles T.

1989-01-01

An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

Fast and accurate edge orientation processing during object manipulation

PubMed Central

Flanagan, J Randall; Johansson, Roland S

2018-01-01

Quickly and accurately extracting information about a touched object’s orientation is a critical aspect of dexterous object manipulation. However, the speed and acuity of tactile edge orientation processing with respect to the fingertips as reported in previous perceptual studies appear inadequate in these respects. Here we directly establish the tactile system’s capacity to process edge-orientation information during dexterous manipulation. Participants extracted tactile information about edge orientation very quickly, using it within 200 ms of first touching the object. Participants were also strikingly accurate. With edges spanning the entire fingertip, edge-orientation resolution was better than 3° in our object manipulation task, which is several times better than reported in previous perceptual studies. Performance remained impressive even with edges as short as 2 mm, consistent with our ability to precisely manipulate very small objects. Taken together, our results radically redefine the spatial processing capacity of the tactile system. PMID:29611804

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.