KENNEDY SPACE CENTER, FLA. - The truck transporting the Pressurized Module of the Japanese Experiment Module (JEM) to KSC’s Space Station Processing Facility arrives on Center. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The JEM is Japan's primary contribution to the Station. It will enhance the unique research capabilities of the orbiting complex by providing an additional environment for astronauts to conduct science experiments. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

NASA Image and Video Library

2003-06-04

KENNEDY SPACE CENTER, FLA. - The truck transporting the Pressurized Module of the Japanese Experiment Module (JEM) to KSC’s Space Station Processing Facility arrives on Center. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The JEM is Japan's primary contribution to the Station. It will enhance the unique research capabilities of the orbiting complex by providing an additional environment for astronauts to conduct science experiments. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

HAL/S programmer's guide. [space shuttle flight software language

NASA Technical Reports Server (NTRS)

Newbold, P. M.; Hotz, R. L.

1974-01-01

HAL/S is a programming language developed to satisfy the flight software requirements for the space shuttle program. The user's guide explains pertinent language operating procedures and described the various HAL/S facilities for manipulating integer, scalar, vector, and matrix data types.

MEMORANDUM ON--FACILITIES FOR EARLY CHILDHOOD EDUCATION.

ERIC Educational Resources Information Center

DEUTSCH, MARTIN; AND OTHERS

BECAUSE LEARNING ENVIRONMENT HAS SIGNIFICANCE FOR THE DISADVANTAGED CHILD, INSTRUCTIONAL SPACE SHOULD BE PROVIDED THAT WILL FACILITATE INTELLECTUAL DEVELOPMENT. GUIDELINES ARE GIVEN FOR GENERAL AREA, BLOCK ALCOVE, MANIPULATIVE TOY AREA, READING AND LISTENING AREA, DOLL AND HOUSEKEEPING AREA, ART AREA, TUTORING BOOTH, CUBICLES, TOILETS, STORAGE,…

A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 3: Concept analysis. Part 2: Development program

NASA Technical Reports Server (NTRS)

1972-01-01

A preliminary estimate is presented of the resources required to develop the basic general purpose walking boom manipulator system. It is assumed that the necessary full scale zero g test facilities will be available on a no cost basis. A four year development effort is also assumed and it is phased with an estimated shuttle development program since the shuttle will be developed prior to the space station. Based on delivery of one qualification unit and one flight unit and without including any ground support equipment or flight test support it is estimated (within approximately + or - 25%) that a total of 3551 man months of effort and $17,387,000 are required.

Japanese experiment module (JEM)

NASA Technical Reports Server (NTRS)

Kato, T.

1986-01-01

Japanese hardware elements studied during the definition phase of phase B are described. The hardware is called JEM (Japanese Experiment Module) and will be attached to the Space Station core. JEM consists of a pressurized module, an exposed facility, a scientific/equipment airlock, a local remote manipulator, and experimental logistic module. With all those hardware elements JEM will accommodate general scientific and technology development research (some of the elements are to utilize the advantage of the microgravity environment), and also accommodate control panels for the Space Station Mobile Remote Manipulator System and attached payloads.

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.

A historical perspective of remote operations and robotics in nuclear facilities. Robotics and Intelligent Systems Program

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

Herndon, J.N.

1992-12-31

The field of remote technology is continuing to evolve to support man`s efforts to perform tasks in hostile environments. The technology which we recognize today as remote technology has evolved over the last 45 years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extended reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety.more » The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed largely due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Manipulation systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Viewing systems have included periscopes, shield windows, and television systems. Experience over the past 45 years indicates that maintenance system flexibility is essential to typical repair tasks because they are usually not repetitive, structured, or planned. Fully remote design (manipulation, task provisions, remote tooling, and facility synergy) is essential to work task efficiency. Work for space applications has been primarily research oriented with relatively few successful space applications, although the shuttle`s remote manipulator system has been quite successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus.« less

Overview of Remote Handling Equipment Used for the NPP A1 Decommissioning - 12141

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

Kravarik, K.; Medved, J.; Pekar, A.

The first Czechoslovak NPP A1 was in operation from 1972 to 1977 and it was finally shutdown due to an accident (level 4 according to the INES). The presence of radioactive, toxic or hazardous materials limits personnel access to facilities and therefore it is necessary to use remote handling technologies for some most difficult characterization, retrieval, decontamination and dismantling tasks. The history of remote handling technologies utilization started in nineties when the spent nuclear fuel, including those fuel assemblies damaged during the accident, was prepared for the transport to Russia. Subsequent significant development of remote handling equipment continued during implementationmore » of the NPP A1 decommissioning project - Stage I and ongoing Stage II. Company VUJE, Inc. is the general contractor for both mentioned stages of the decommissioning project. Various remote handling manipulators and robotics arms were developed and used. It includes remotely controlled vehicle manipulator MT-15 used for characterisation tasks in hostile and radioactive environment, special robust manipulator DENAR-41 used for the decontamination of underground storage tanks and multi-purposes robotics arms MT-80 and MT-80A developed for variety of decontamination and dismantling tasks. The heavy water evaporator facility dismantling is the current task performed remotely by robotics arm MT-80. The heavy water evaporator is located inside the main production building in the room No. 220 where loose surface contamination varies from 10 Bq/cm{sup 2} to 1x10{sup 3} Bq/cm{sup 2}, dose rate is up to 1.5 mGy/h and the feeding pipeline contained liquid RAW with high tritium content. Presented manipulators have been designed for broad range of decommissioning tasks. They are used for recognition, sampling, waste retrieval from large underground tanks, decontamination and dismantling of technological equipments. Each of the mentioned fields claims specific requirements on design of manipulator, their operation and control systems as well as tools of manipulators. Precise planning of decontamination and dismantling tasks is necessary for its successful performance by remotely controlled manipulator. The example of the heavy water evaporator demonstrates typical procedure for decommissioning of contaminated technological equipment by remotely controlled manipulators - planning of decommissioning tasks, preparatory tasks, modification of applied tools and design of specific supporting constructions for manipulator and finally decontamination and dismantling themselves. Due to the particularly demanding conditions in highly contaminated A1 NPP, a team of experts with special know-how in the field of decommissioning has grown up, and unique technological equipment enabling effective and safe work in environment with a high radiation level has been developed. (authors)« less

Parallel machine architecture and compiler design facilities

NASA Technical Reports Server (NTRS)

Kuck, David J.; Yew, Pen-Chung; Padua, David; Sameh, Ahmed; Veidenbaum, Alex

1990-01-01

The objective is to provide an integrated simulation environment for studying and evaluating various issues in designing parallel systems, including machine architectures, parallelizing compiler techniques, and parallel algorithms. The status of Delta project (which objective is to provide a facility to allow rapid prototyping of parallelized compilers that can target toward different machine architectures) is summarized. Included are the surveys of the program manipulation tools developed, the environmental software supporting Delta, and the compiler research projects in which Delta has played a role.

Development of Employable Skills in Vocational Education by the Utilization of Instructional Materials

ERIC Educational Resources Information Center

Owoh, Titus M.

2016-01-01

The acquisition of practical and applied skills as well as the basic scientific knowledge that would facilitate efficient occupational training requires good manipulation of skills oriented instructional facilities in a conducive learning situation. Thus, the provision and effective utilization of functional instructional materials are essential…

Software development tools: A bibliography, appendix C.

NASA Technical Reports Server (NTRS)

Riddle, W. E.

1980-01-01

A bibliography containing approximately 200 citations on tools which help software developers perform some development task (such as text manipulation, testing, etc.), and which would not necessarily be found as part of a computing facility is given. The bibliography comes from a relatively random sampling of the literature and is not complete. But it is indicative of the nature and range of tools currently being prepared or currently available.

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.

The centrifuge facility - A life sciences research laboratory for Space Station Freedom

NASA Technical Reports Server (NTRS)

Fuller, Charles A.; Johnson, Catherine C.; Hargens, Alan R.

1991-01-01

The paper describes the centrifugal facility that is presently being developed by NASA for studies aboard the Space Station Freedom on the role of gravity, or its absence, at varying intensities for varying periods of time and with multiple model systems. Special attention is given to the design of the centrifuge system, the habitats designed to hold plants and animals, the glovebox system designed for experimental manipulations of the specimens, and the service unit. Studies planned for the facility will include experiments in the following disciplines: cell and developmental biology, plant biology, regulatory physiology, musculoskeletal physiology, behavior and performance, neurosciences, cardiopulmonary physiology, and environmental health and radiation.

Mechanisms test bed math model modification and simulation support

NASA Technical Reports Server (NTRS)

Gilchrist, Andrea C.; Tobbe, Patrick A.

1995-01-01

This report summarizes the work performed under contract NAS8-38771 in support of the Marshall Space Flight Center Six Degree of Freedom Motion Facility and Flight Robotics Laboratory. The contract activities included the development of the two flexible body and Remote Manipulator System simulations, Dynamic Overhead Target Simulator control system and operating software, Global Positioning System simulation, and Manipulator Coupled Spacecraft Controls Testbed. Technical support was also provided for the Lightning Imaging Sensor and Solar X-Ray Imaging programs. The cover sheets and introductory sections for the documentation written under this contract are provided as an appendix.

Coding and Comprehension in Skilled Reading and Implications for Reading Instruction.

ERIC Educational Resources Information Center

Perfetti, Charles A.; Lesgold, Alan M.

A view of skilled reading is suggested that emphasizes an intimate connection between coding and comprehension. It is suggested that skilled comprehension depends on a highly refined facility for generating and manipulating language codes, especially at the phonetic/articulatory level. The argument is developed that decoding expertise should be a…

Payload accommodation and development planning tools - A Desktop Resource Leveling Model (DRLM)

NASA Technical Reports Server (NTRS)

Hilchey, John D.; Ledbetter, Bobby; Williams, Richard C.

1989-01-01

The Desktop Resource Leveling Model (DRLM) has been developed as a tool to rapidly structure and manipulate accommodation, schedule, and funding profiles for any kind of experiments, payloads, facilities, and flight systems or other project hardware. The model creates detailed databases describing 'end item' parameters, such as mass, volume, power requirements or costs and schedules for payload, subsystem, or flight system elements. It automatically spreads costs by calendar quarters and sums costs or accommodation parameters by total project, payload, facility, payload launch, or program phase. Final results can be saved or printed out, automatically documenting all assumptions, inputs, and defaults.

KENNEDY SPACE CENTER, FLA. - One of the world’s highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data (shown here) in preparation for the shuttle fleet’s return to flight, is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. The system, developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

NASA Image and Video Library

2004-02-04

KENNEDY SPACE CENTER, FLA. - One of the world’s highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data (shown here) in preparation for the shuttle fleet’s return to flight, is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. The system, developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

7. VIEW OF E5 WORK STATION AND MANIPULATOR ARMS WITHIN ...

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

7. VIEW OF E-5 WORK STATION AND MANIPULATOR ARMS WITHIN THE SOUTHEAST CORNER OF THE HOT BAY. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

Reference earth orbital research and applications investigations (blue book). Volume 6: Materials sciences and manufacturing

NASA Technical Reports Server (NTRS)

1971-01-01

The development of commercial manufacturing and research activities in space is discussed. The capability is to be installed in space stations in order to exploit the extended free fall which makes many novel manipulations of materials possible and alters the behavior of certain chemical and physical processes. The broad objectives are: (1) to develop technical basis required for commercial use of manned space facilities, (2) to provide indirect economic benefits by exploiting advantages of space laboratory facilities to solve critical experimental problems, and (3) to initiate manufacturing operations in space by private enterprise for commercial purposes and by agencies of the Government for public purposes.

19. Photocopy of photograph. VIEW OF WORKER MANIPULATING SMALL GLASS ...

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

19. Photocopy of photograph. VIEW OF WORKER MANIPULATING SMALL GLASS OBJECTS IN THE HOT BAY WITH MANIPULATOR ARMS AT WORK STATION E-2. Photographer unknown, ca. 1969, original photograph and negative on file at the Remote Sensing Laboratory, Department of Energy, Nevada Operations Office. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

8. VIEW OF E3 WORK STATION WITH MANIPULATOR ARMS IN ...

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

8. VIEW OF E-3 WORK STATION WITH MANIPULATOR ARMS IN EAST OPERATING GALLERY LOOKING INTO THE HOT BAY. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

KENNEDY SPACE CENTER, FLA. - At Port Canaveral, the Pressurized Module of the Japanese Experiment Module (JEM) is lifted out of the ship’s cargo hold. It will be loaded onto the truck bed in the background for transfer to KSC’s Space Station Processing Facility. The container transport ship carrying JEM departed May 2 from Yokohama Harbor in Japan for the voyage to the United States. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The JEM is Japan's primary contribution to the Station. It will enhance the unique research capabilities of the orbiting complex by providing an additional environment for astronauts to conduct science experiments. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

NASA Image and Video Library

2003-06-04

KENNEDY SPACE CENTER, FLA. - At Port Canaveral, the Pressurized Module of the Japanese Experiment Module (JEM) is lifted out of the ship’s cargo hold. It will be loaded onto the truck bed in the background for transfer to KSC’s Space Station Processing Facility. The container transport ship carrying JEM departed May 2 from Yokohama Harbor in Japan for the voyage to the United States. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The JEM is Japan's primary contribution to the Station. It will enhance the unique research capabilities of the orbiting complex by providing an additional environment for astronauts to conduct science experiments. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

KENNEDY SPACE CENTER, FLA. - These towers are part of one of the world’s highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data in preparation for the shuttle fleet’s return to flight. The system is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. Developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., the system allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

NASA Image and Video Library

2004-02-04

KENNEDY SPACE CENTER, FLA. - These towers are part of one of the world’s highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data in preparation for the shuttle fleet’s return to flight. The system is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. Developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., the system allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

Micropore Geometry Manipulation by Macroscopic Deformation Based on Shape Memory Effect in Porous PLLA Membrane and its Enhanced Separation Performance.

PubMed

Zhao, Jingxin; Yang, Qiucheng; Wang, Tao; Wang, Lian; You, Jichun; Li, Yongjin

2017-12-20

An effective strategy to tailor the microporous structures has been developed based on the shape memory effect in porous poly(l-lactic acid) membranes in which tiny crystals and amorphous matrix play the roles of shape-fixed phase and reversible-phase, respectively. Our results indicate that not only PLLA membranes but micropores exhibit shape memory properties. The proportional deformations on two scales have been achieved by uniaxial or biaxial tension, providing a facile way to manipulate continuously the size and the orientation degree of pores on microscale. The enhanced separation performance has been validated by taking polystyrene colloids with varying diameters as an example.

Large-scale Growth and Simultaneous Doping of Molybdenum Disulfide Nanosheets

PubMed Central

Kim, Seong Jun; Kang, Min-A; Kim, Sung Ho; Lee, Youngbum; Song, Wooseok; Myung, Sung; Lee, Sun Sook; Lim, Jongsun; An, Ki-Seok

2016-01-01

A facile method that uses chemical vapor deposition (CVD) for the simultaneous growth and doping of large-scale molybdenum disulfide (MoS2) nanosheets was developed. We employed metalloporphyrin as a seeding promoter layer for the uniform growth of MoS2 nanosheets. Here, a hybrid deposition system that combines thermal evaporation and atomic layer deposition (ALD) was utilized to prepare the promoter. The doping effect of the promoter was verified by X-ray photoelectron spectroscopy and Raman spectroscopy. In addition, the carrier density of the MoS2 nanosheets was manipulated by adjusting the thickness of the metalloporphyrin promoter layers, which allowed the electrical conductivity in MoS2 to be manipulated. PMID:27044862

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-114 Mission Specialist Wendy Lawrence manipulates part of a Multi-Purpose Logistics Module. Lawrence is a new addition to the mission crew. The STS-114 crew is at KSC to take part in crew equipment and orbiter familiarization.

NASA Image and Video Library

2003-10-30

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-114 Mission Specialist Wendy Lawrence manipulates part of a Multi-Purpose Logistics Module. Lawrence is a new addition to the mission crew. The STS-114 crew is at KSC to take part in crew equipment and orbiter familiarization.

Self mobile space manipulator project

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Evaluation of SMART sensor displays for multidimensional precision control of Space Shuttle remote manipulator

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Brown, J. W.; Lewis, J. L.

1982-01-01

An enhanced proximity sensor and display system was developed at the Jet Propulsion Laboratory (JPL) and tested on the full scale Space Shuttle Remote Manipulator at the Johnson Space Center (JSC) Manipulator Development Facility (MDF). The sensor system, integrated with a four-claw end effector, measures range error up to 6 inches, and pitch and yaw alignment errors within + or 15 deg., and displays error data on both graphic and numeric displays. The errors are referenced to the end effector control axes through appropriate data processing by a dedicated microcomputer acting on the sensor data in real time. Both display boxes contain a green lamp which indicates whether the combination of range, pitch and yaw errors will assure a successful grapple. More than 200 test runs were completed in early 1980 by three operators at JSC for grasping static and capturing slowly moving targets. The tests have indicated that the use of graphic/numeric displays of proximity sensor information improves precision control of grasp/capture range by more than a factor of two for both static and dynamic grapple conditions.

Multimode Acoustic Research

NASA Technical Reports Server (NTRS)

Barmatz, M.

1985-01-01

There is a need for high temperature containerless processing facilities that can efficiently position and manipulate molten samples in the reduced gravity environment of space. The goal of the research is to develop sophisticated high temperature manipulation capabilities such as selection of arbitrary axes rotation and rapid sample cooling. This program will investigate new classes of acoustic levitation in rectangular, cylindrical and spherical geometries. The program tasks include calculating theoretical expressions of the acoustic forces in these geometries for the excitation of up to three acoustic modes (multimodes). These calculations are used to: (1) determine those acoustic modes that produce stable levitation, (2) isolate the levitation and rotation capabilities to produce more than one axis of rotation, and (3) develop methods to translate samples down long tube cylindrical chambers. Experimental levitators will then be constructed to verify the stable levitation and rotation predictions of the models.

Research in free-flying robots and flexible manipulators at the Stanford Aerospace Robotics Laboratory

NASA Technical Reports Server (NTRS)

Ballhaus, W. L.; Alder, L. J.; Chen, V. W.; Dickson, W. C.; Ullman, M. A.; Wilson, E.

1993-01-01

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modeling and control of extremely flexible space structures.

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

Barty, Christopher P.J.

Lasers and laser-based sources are now routinely used to control and manipulate nuclear processes, e.g. fusion, fission and resonant nuclear excitation. Two such “nuclear photonics” activities with the potential for profound societal impact will be reviewed in this presentation: the pursuit of laser-driven inertial confinement fusion at the National Ignition Facility and the development of laser-based, mono-energetic gamma-rays for isotope-specific detection, assay and imaging of materials.

The Current Status of the Space Station Biological Research Project: a Core Facility Enabling Multi-Generational Studies under Slectable Gravity Levels

NASA Astrophysics Data System (ADS)

Santos, O.

2002-01-01

The Space Station Biological Research Project (SSBRP) has developed a new plan which greatly reduces the development costs required to complete the facility. This new plan retains core capabilities while allowing for future growth. The most important piece of equipment required for quality biological research, the 2.5 meter diameter centrifuge capable of accommodating research specimen habitats at simulated gravity levels ranging from microgravity to 2.0 g, is being developed by NASDA, the Japanese space agency, for the SSBRP. This is scheduled for flight to the ISS in 2007. The project is also developing a multi-purpose incubator, an automated cell culture unit, and two microgravity habitat holding racks, currently scheduled for launch in 2005. In addition the Canadian Space Agency is developing for the project an insect habitat, which houses Drosophila melanogaster, and provides an internal centrifuge for 1 g controls. NASDA is also developing for the project a glovebox for the contained manipulation and analysis of biological specimens, scheduled for launch in 2006. This core facility will allow for experimentation on small plants (Arabidopsis species), nematode worms (C. elegans), fruit flies (Drosophila melanogaster), and a variety of microorganisms, bacteria, yeast, and mammalian cells. We propose a plan for early utilization which focuses on surveys of changes in gene expression and protein structure due to the space flight environment. In the future, the project is looking to continue development of a rodent habitat and a plant habitat that can be accommodated on the 2.5 meter centrifuge. By utilizing the early phases of the ISS to broadly answer what changes occur at the genetic and protein level of cells and organisms exposed to the ISS low earth orbit environment, we can generate interest for future experiments when the ISS capabilities allow for direct manipulation and intervention of experiments. The ISS continues to hold promise for high quality, long term, multi-generational biological studies with large sample sizes and appropriate controls.

Pilot clinical trial of a robot-aided neuro-rehabilitation workstation with stroke patients

NASA Astrophysics Data System (ADS)

Krebs, Hermano I.; Hogan, Neville; Aisen, Mindy L.; Volpe, Bruce T.

1996-12-01

This paper summarizes our efforts to apply robotics and automation technology to assist, enhance, quantify, and document neuro-rehabilitation. It reviews a pilot clinical trial involving twenty stroke patients with a prototype robot-aided rehabilitation facility developed at MIT and tested at Burke Rehabilitation Hospital. In particular, we present a few results: (a) on the patient's tolerance of the procedure, (b) whether peripheral manipulation of the impaired limb influences brain recovery, (c) on the development of a robot-aided assessment procedure.

First Facility Utilization Manual. A Teachers Guide to the Use of the FLNT Elementary School. Fort Lincoln New Town Education System.

ERIC Educational Resources Information Center

General Learning Corp., Washington, DC.

This guide endeavors to teach the faculty how to manipulate the structure of the new facility in the most creative way. The first chapters discuss the interior design, graphic considerations within the facility, materials and equipment suited for open space schools, and recommended audio-systems. Later chapters cover the exterior facilities, such…

Stanford Aerospace Research Laboratory research overview

NASA Technical Reports Server (NTRS)

Ballhaus, W. L.; Alder, L. J.; Chen, V. W.; Dickson, W. C.; Ullman, M. A.

1993-01-01

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Radio Frequency Identification (RFID) for Naval Medical Treatment Facilities (MTF)

DTIC Science & Technology

2006-09-01

education and develop my technical knowledge in the field of Information Technology Management. The skills and understanding I gained from my...place, preventing the need for manipulation. The passes can also be used to locate skiers in case of injuries or for the location of children. RFID...created and backed by the leaders of the industry [24]. Intellectual property, patents, 42 intimate technical knowledge and publicity are all

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

6. INTERIOR VIEW TO THE EAST OF SOUTHEAST CORNER OF ...

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

6. INTERIOR VIEW TO THE EAST OF SOUTHEAST CORNER OF THE HOT BAY. A LARGE MANIPULATOR ARM AND HORIZONTAL TRACKING SYSTEM IS SHOWN ABOVE SMALLER MANIPULATOR ARM WORK STATIONS. ASSOCIATED WITH THE WORK STATIONS ARE OBSERVATION WINDOWS. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

Test facility for the evaluation of microwave transmission components

NASA Astrophysics Data System (ADS)

Fong, C. G.; Poole, B. R.

1985-10-01

A Low Power Test Facility (LPTF) was developed to evaluate the performance of Electron Cyclotron Resonance Heating (ECRH) microwave transmission components for the Mirror Fusion Test Facility (MFTF-B). The facility generates 26 to 60 GHz in modes of TE01, TE02, or TE03 launched at power levels of 1/2 milliwatt. The propagation of the RF as it radiates from either transmitting or secondary reflecting microwave transmission components is recorded by a discriminating crystal detector mechanically manipulated at constant radius in spherical coordinates. The facility is used to test, calibrate, and verify the design of overmoded, circular waveguide components, quasi-optical reflecting elements before high power use. The test facility consists of microwave sources and metering components, such as VSWR, power and frequency meters, a rectangular TE10 to circular TE01 mode transducer, mode filter, circular TE01 to 2.5 in. diameter overmoded waveguide with mode converters for combination of TE01 to TE03 modes. This assembly then connects to a circular waveguide launcher or the waveguide component under test.

Path-programmable water droplet manipulations on an adhesion controlled superhydrophobic surface

PubMed Central

Seo, Jungmok; Lee, Seoung-Ki; Lee, Jaehong; Seung Lee, Jung; Kwon, Hyukho; Cho, Seung-Woo; Ahn, Jong-Hyun; Lee, Taeyoon

2015-01-01

Here, we developed a novel and facile method to control the local water adhesion force of a thin and stretchable superhydrophobic polydimethylsiloxane (PDMS) substrate with micro-pillar arrays that allows the individual manipulation of droplet motions including moving, merging and mixing. When a vacuum pressure was applied below the PDMS substrate, a local dimple structure was formed and the water adhesion force of structure was significantly changed owing to the dynamically varied pillar density. With the help of the lowered water adhesion force and the slope angle of the formed dimple structure, the motion of individual water droplets could be precisely controlled, which facilitated the creation of a droplet-based microfluidic platform capable of a programmable manipulation of droplets. We showed that the platform could be used in newer and emerging microfluidic operations such as surface-enhanced Raman spectroscopy with extremely high sensing capability (10−15 M) and in vitro small interfering RNA transfection with enhanced transfection efficiency of ~80%. PMID:26202206

DNA Assembly Techniques for Next Generation Combinatorial Biosynthesis of Natural Products

PubMed Central

Cobb, Ryan E.; Ning, Jonathan C.; Zhao, Huimin

2013-01-01

Natural product scaffolds remain important leads for pharmaceutical development. However, transforming a natural product into a drug entity often requires derivatization to enhance the compound’s therapeutic properties. A powerful method by which to perform this derivatization is combinatorial biosynthesis, the manipulation of the genes in the corresponding pathway to divert synthesis towards novel derivatives. While these manipulations have traditionally been carried out via restriction digestion/ligation-based cloning, the shortcomings of such techniques limit their throughput and thus the scope of corresponding combinatorial biosynthesis experiments. In the burgeoning field of synthetic biology, the demand for facile DNA assembly techniques has promoted the development of a host of novel DNA assembly strategies. Here we describe the advantages of these recently-developed tools for rapid, efficient synthesis of large DNA constructs. We also discuss their potential to facilitate the simultaneous assembly of complete libraries of natural product biosynthetic pathways, ushering in the next generation of combinatorial biosynthesis. PMID:24127070

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.

Methodological challenges of optical tweezers-based X-ray fluorescence imaging of biological model organisms at synchrotron facilities.

PubMed

Vergucht, Eva; Brans, Toon; Beunis, Filip; Garrevoet, Jan; Bauters, Stephen; De Rijcke, Maarten; Deruytter, David; Janssen, Colin; Riekel, Christian; Burghammer, Manfred; Vincze, Laszlo

2015-07-01

Recently, a radically new synchrotron radiation-based elemental imaging approach for the analysis of biological model organisms and single cells in their natural in vivo state was introduced. The methodology combines optical tweezers (OT) technology for non-contact laser-based sample manipulation with synchrotron radiation confocal X-ray fluorescence (XRF) microimaging for the first time at ESRF-ID13. The optical manipulation possibilities and limitations of biological model organisms, the OT setup developments for XRF imaging and the confocal XRF-related challenges are reported. In general, the applicability of the OT-based setup is extended with the aim of introducing the OT XRF methodology in all research fields where highly sensitive in vivo multi-elemental analysis is of relevance at the (sub)micrometre spatial resolution level.

Proposal for an Accelerator R&D User Facility at Fermilab's Advanced Superconducting Test Accelerator (ASTA)

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

Church, M.; Edwards, H.; Harms, E.

2013-10-01

Fermilab is the nation’s particle physics laboratory, supported by the DOE Office of High Energy Physics (OHEP). Fermilab is a world leader in accelerators, with a demonstrated track-record— spanning four decades—of excellence in accelerator science and technology. We describe the significant opportunity to complete, in a highly leveraged manner, a unique accelerator research facility that supports the broad strategic goals in accelerator science and technology within the OHEP. While the US accelerator-based HEP program is oriented toward the Intensity Frontier, which requires modern superconducting linear accelerators and advanced highintensity storage rings, there are no accelerator test facilities that support themore » accelerator science of the Intensity Frontier. Further, nearly all proposed future accelerators for Discovery Science will rely on superconducting radiofrequency (SRF) acceleration, yet there are no dedicated test facilities to study SRF capabilities for beam acceleration and manipulation in prototypic conditions. Finally, there are a wide range of experiments and research programs beyond particle physics that require the unique beam parameters that will only be available at Fermilab’s Advanced Superconducting Test Accelerator (ASTA). To address these needs we submit this proposal for an Accelerator R&D User Facility at ASTA. The ASTA program is based on the capability provided by an SRF linac (which provides electron beams from 50 MeV to nearly 1 GeV) and a small storage ring (with the ability to store either electrons or protons) to enable a broad range of beam-based experiments to study fundamental limitations to beam intensity and to develop transformative approaches to particle-beam generation, acceleration and manipulation which cannot be done elsewhere. It will also establish a unique resource for R&D towards Energy Frontier facilities and a test-bed for SRF accelerators and high brightness beam applications in support of the OHEP mission of Accelerator Stewardship.« less

POLLUX: a program for simulated cloning, mutagenesis and database searching of DNA constructs.

PubMed

Dayringer, H E; Sammons, S A

1991-04-01

Computer support for research in biotechnology has developed rapidly and has provided several tools to aid the researcher. This report describes the capabilities of new computer software developed in this laboratory to aid in the documentation and planning of experiments in molecular biology. The program, POLLUX, provides a graphical medium for the entry, edit and manipulation of DNA constructs and a textual format for display and edit of construct descriptive data. Program operation and procedures are designed to mimic the actual laboratory experiments with respect to capability and the order in which they are performed. Flexible control over the content of the computer-generated displays and program facilities is provided by a mouse-driven menu interface. Programmed facilities for mutagenesis, simulated cloning and searching of the database from networked workstations are described.

18. Photocopy of photograph. VIEW WITHIN POSTMORTEM CELL OF MANIPULATOR ...

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

18. Photocopy of photograph. VIEW WITHIN POST-MORTEM CELL OF MANIPULATOR ARMS BEING USED TO MOVE METAL BARS FROM ONE LOCATION TO ANOTHER. Photographer unknown, ca. 1965, original photograph and negative on file at the Remote Sensing Laboratory, Department of Energy, Nevada Operations Office. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

Concept synthesis of an equipment manipulation and transportation system EMATS

NASA Technical Reports Server (NTRS)

Depeuter, W.; Waffenschmidt, E.

1989-01-01

The European Columbus Scenario is established. One of the Columbus Elements, the Man Tended Free Flyer will be designed for fully autonomous operation in order to provide the environment for micro gravity facilities. The Concept of an autonomous automation system which perform servicing of facilities and deals with related logistic tasks is discussed.

Effective cell trapping using PDMS microspheres in an acoustofluidic chip.

PubMed

Yin, Di; Xu, Gangwei; Wang, Mengyuan; Shen, Mingwu; Xu, Tiegang; Zhu, Xiaoyue; Shi, Xiangyang

2017-09-01

We present a facile particle-based cell manipulation method using acoustic radiation forces. In this work, we selected several representative particles including poly(lactic-co-glycolic acid) (PLGA) microspheres, silica-coated magnetic microbeads, polydimethylsiloxane (PDMS) microspheres and investigated the responses of these particle systems to ultrasonic standing waves (USWs) in a microfluidic chip. We show that depending on the nature (positive or negative acoustic contrast factors) of the particles, these particle systems display different alignment behaviors along the microfluidic channel under USWs. Specifically, PLGA microspheres and silica-coated magnetic microbeads are able to be aligned in the middle of the microfluidic channel, while PDMS microspheres are translocated to the side walls of the channel, which is beneficial for cell trapping and manipulation. Further results demonstrate that the functional PDMS microspheres with a negative acoustic contrast factor can be used to trap cells to the pressure antinodes in the acoustofluidic chip. Cell viability tests reveal that the ultrasonic manipulation does not exert any harmful effect to the cells. This acoustic-based particle and cell manipulation technique may hold a great promise for the development of rapid, noninvasive, continuous assays for detecting of cells and separation of biological samples. Copyright © 2017 Elsevier B.V. All rights reserved.

Hand controller commonality evaluation process

NASA Technical Reports Server (NTRS)

Stuart, Mark A.; Bierschwale, John M.; Wilmington, Robert P.; Adam, Susan C.; Diaz, Manuel F.; Jensen, Dean G.

1990-01-01

A hand controller evaluation process has been developed to determine the appropriate hand controller configurations for supporting remotely controlled devices. These devices include remote manipulator systems (RMS), dexterous robots, and remotely-piloted free flyers. Standard interfaces were developed to evaluate six different hand controllers in three test facilities including dynamic computer simulations, kinematic computer simulations, and physical simulations. The hand controllers under consideration were six degree-of-freedom (DOF) position and rate minimaster and joystick controllers, and three-DOF rate controllers. Task performance data, subjective comments, and anthropometric data obtained during tests were used for controller configuration recommendations to the SSF Program.

A microcomputer-based whole-body counter for personnel routine monitoring.

PubMed

Chou, H P; Tsai, T M; Lan, C Y

1993-05-01

The paper describes a cost-effective NaI(Tl) whole-body counter developed for routine examinations of worker intakes at an isotope production facility. Signal processing, data analysis and system operation are microcomputer-controlled for minimum human interactions. The pulse height analyzer is developed as an microcomputer add-on card for easy manipulation. The scheme for radionuclide analysis is aimed for fast running according to a knowledge base established from background samples and phantom experiments in conjunction with a multivariate regression analysis. Long-term stability and calibration with standards and in vivo measurements are reported.

KSC-08pd0604

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves across the facility via an overhead crane to the payload canister for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

KSC-07pd2866

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is moved across the facility. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

Multifunctional, inexpensive, and reusable nanoparticle-printed biochip for cell manipulation and diagnosis

PubMed Central

Esfandyarpour, Rahim; DiDonato, Matthew J.; Yang, Yuxin; Durmus, Naside Gozde; Harris, James S.; Davis, Ronald W.

2017-01-01

Isolation and characterization of rare cells and molecules from a heterogeneous population is of critical importance in diagnosis of common lethal diseases such as malaria, tuberculosis, HIV, and cancer. For the developing world, point-of-care (POC) diagnostics design must account for limited funds, modest public health infrastructure, and low power availability. To address these challenges, here we integrate microfluidics, electronics, and inkjet printing to build an ultra–low-cost, rapid, and miniaturized lab-on-a-chip (LOC) platform. This platform can perform label-free and rapid single-cell capture, efficient cellular manipulation, rare-cell isolation, selective analytical separation of biological species, sorting, concentration, positioning, enumeration, and characterization. The miniaturized format allows for small sample and reagent volumes. By keeping the electronics separate from microfluidic chips, the former can be reused and device lifetime is extended. Perhaps most notably, the device manufacturing is significantly less expensive, time-consuming, and complex than traditional LOC platforms, requiring only an inkjet printer rather than skilled personnel and clean-room facilities. Production only takes 20 min (vs. up to weeks) and $0.01—an unprecedented cost in clinical diagnostics. The platform works based on intrinsic physical characteristics of biomolecules (e.g., size and polarizability). We demonstrate biomedical applications and verify cell viability in our platform, whose multiplexing and integration of numerous steps and external analyses enhance its application in the clinic, including by nonspecialists. Through its massive cost reduction and usability we anticipate that our platform will enable greater access to diagnostic facilities in developed countries as well as POC diagnostics in resource-poor and developing countries. PMID:28167769

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-115 Mission Specialist Joseph Tanner (second from left, foreground) works with technicians to learn more about the Japanese Experiment Module (JEM), known as Kibo. The JEM consists of six components: two research facilities - the Pressurized Module and the Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. Equipment familiarization is a routine part of astronaut training and launch preparations.

NASA Image and Video Library

2003-10-22

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-115 Mission Specialist Joseph Tanner (second from left, foreground) works with technicians to learn more about the Japanese Experiment Module (JEM), known as Kibo. The JEM consists of six components: two research facilities - the Pressurized Module and the Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. Equipment familiarization is a routine part of astronaut training and launch preparations.

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-115 Mission Specialist Joseph Tanner (center, foreground) works with technicians to learn more about the Japanese Experiment Module (JEM), known as Kibo. The JEM consists of six components: two research facilities - the Pressurized Module and the Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. Equipment familiarization is a routine part of astronaut training and launch preparations.

NASA Image and Video Library

2003-10-22

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-115 Mission Specialist Joseph Tanner (center, foreground) works with technicians to learn more about the Japanese Experiment Module (JEM), known as Kibo. The JEM consists of six components: two research facilities - the Pressurized Module and the Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. Equipment familiarization is a routine part of astronaut training and launch preparations.

KENNEDY SPACE CENTER, FLA. - At Port Canaveral, the Pressurized Module of the Japanese Experiment Module (JEM) is lifted out of the ship’s cargo hold. The container transport ship carrying JEM departed May 2 from Yokohama Harbor in Japan for the voyage to the United States. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The JEM is Japan's primary contribution to the Station. It will enhance the unique research capabilities of the orbiting complex by providing an additional environment for astronauts to conduct science experiments. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

NASA Image and Video Library

2003-06-04

KENNEDY SPACE CENTER, FLA. - At Port Canaveral, the Pressurized Module of the Japanese Experiment Module (JEM) is lifted out of the ship’s cargo hold. The container transport ship carrying JEM departed May 2 from Yokohama Harbor in Japan for the voyage to the United States. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The JEM is Japan's primary contribution to the Station. It will enhance the unique research capabilities of the orbiting complex by providing an additional environment for astronauts to conduct science experiments. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

Facile One-pot Transformation of Iron Oxides from Fe2O3 Nanoparticles to Nanostructured Fe3O4@C Core-Shell Composites via Combustion Waves

PubMed Central

Shin, Jungho; Lee, Kang Yeol; Yeo, Taehan; Choi, Wonjoon

2016-01-01

The development of a low-cost, fast, and large-scale process for the synthesis and manipulation of nanostructured metal oxides is essential for incorporating materials with diverse practical applications. Herein, we present a facile one-pot synthesis method using combustion waves that simultaneously achieves fast reduction and direct formation of carbon coating layers on metal oxide nanostructures. Hybrid composites of Fe2O3 nanoparticles and nitrocellulose on the cm scale were fabricated by a wet impregnation process. We demonstrated that self-propagating combustion waves along interfacial boundaries between the surface of the metal oxide and the chemical fuels enabled the release of oxygen from Fe2O3. This accelerated reaction directly transformed Fe2O3 into Fe3O4 nanostructures. The distinctive color change from reddish-brown Fe2O3 to dark-gray Fe3O4 confirmed the transition of oxidation states and the change in the fundamental properties of the material. Furthermore, it simultaneously formed carbon layers of 5–20 nm thickness coating the surfaces of the resulting Fe3O4 nanoparticles, which may aid in maintaining the nanostructures and improving the conductivity of the composites. This newly developed use of combustion waves in hybridized nanostructures may permit the precise manipulation of the chemical compositions of other metal oxide nanostructures, as well as the formation of organic/inorganic hybrid nanostructures. PMID:26902260

Siting, design and operational controls for snow disposal sites.

PubMed

Wheaton, S R; Rice, W J

2003-01-01

The Municipality of Anchorage (MOA), at 61 degrees north latitude, ploughs and hauls snow from urban streets throughout the winter, incorporating grit and chloride applied to street surfaces for traffic safety. Hauled snow is stored at snow disposal facilities, where it melts at ambient spring temperatures. MOA studies performed from 1998 through 2001 show that disposal site melt processes can be manipulated, through site design and operation practices, to control chloride and turbidity in meltwater. An experimental passive "V-swale" pad configuration tested by MOA investigators reduced site meltwater turbidity by an order of magnitude (to about 50 NTU from the 500 NTU typical of more conventional planar pad geometry). The MOA has developed new siting, design and operational criteria for snow disposal facilities to conform to the tested V-swale pad configuration.

New Methods in Tissue Engineering: Improved Models for Viral Infection.

PubMed

Ramanan, Vyas; Scull, Margaret A; Sheahan, Timothy P; Rice, Charles M; Bhatia, Sangeeta N

2014-11-01

New insights in the study of virus and host biology in the context of viral infection are made possible by the development of model systems that faithfully recapitulate the in vivo viral life cycle. Standard tissue culture models lack critical emergent properties driven by cellular organization and in vivo-like function, whereas animal models suffer from limited susceptibility to relevant human viruses and make it difficult to perform detailed molecular manipulation and analysis. Tissue engineering techniques may enable virologists to create infection models that combine the facile manipulation and readouts of tissue culture with the virus-relevant complexity of animal models. Here, we review the state of the art in tissue engineering and describe how tissue engineering techniques may alleviate some common shortcomings of existing models of viral infection, with a particular emphasis on hepatotropic viruses. We then discuss possible future applications of tissue engineering to virology, including current challenges and potential solutions.

New Methods in Tissue Engineering

PubMed Central

Sheahan, Timothy P.; Rice, Charles M.; Bhatia, Sangeeta N.

2015-01-01

New insights in the study of virus and host biology in the context of viral infection are made possible by the development of model systems that faithfully recapitulate the in vivo viral life cycle. Standard tissue culture models lack critical emergent properties driven by cellular organization and in vivo–like function, whereas animal models suffer from limited susceptibility to relevant human viruses and make it difficult to perform detailed molecular manipulation and analysis. Tissue engineering techniques may enable virologists to create infection models that combine the facile manipulation and readouts of tissue culture with the virus-relevant complexity of animal models. Here, we review the state of the art in tissue engineering and describe how tissue engineering techniques may alleviate some common shortcomings of existing models of viral infection, with a particular emphasis on hepatotropic viruses. We then discuss possible future applications of tissue engineering to virology, including current challenges and potential solutions. PMID:25893203

DendroPy: a Python library for phylogenetic computing.

PubMed

Sukumaran, Jeet; Holder, Mark T

2010-06-15

DendroPy is a cross-platform library for the Python programming language that provides for object-oriented reading, writing, simulation and manipulation of phylogenetic data, with an emphasis on phylogenetic tree operations. DendroPy uses a splits-hash mapping to perform rapid calculations of tree distances, similarities and shape under various metrics. It contains rich simulation routines to generate trees under a number of different phylogenetic and coalescent models. DendroPy's data simulation and manipulation facilities, in conjunction with its support of a broad range of phylogenetic data formats (NEXUS, Newick, PHYLIP, FASTA, NeXML, etc.), allow it to serve a useful role in various phyloinformatics and phylogeographic pipelines. The stable release of the library is available for download and automated installation through the Python Package Index site (http://pypi.python.org/pypi/DendroPy), while the active development source code repository is available to the public from GitHub (http://github.com/jeetsukumaran/DendroPy).

KSC-07pd2865

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians begin raising the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, for its move across the facility. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station ISS. Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-08pd0605

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves across the facility via an overhead crane to the payload canister at right for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

KSC-04PD-0150

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. One of the worlds highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data (shown here) in preparation for the shuttle fleets return to flight, is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. The system, developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

KSC-04PD-0151

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. One of the worlds highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data (shown here) in preparation for the shuttle fleets return to flight, is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. The system, developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

KSC-04PD-0154

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. One of the worlds highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data (shown here) in preparation for the shuttle fleets return to flight, is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. The system, developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

KSC-04PD-0152

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. These towers are part of one of the worlds highest performing visual film analysis systems, developed to review and analyze previous shuttle flight data in preparation for the shuttle fleets return to flight. The system is being used today for another purpose. NASA has permitted its use in helping to analyze a film that shows a recent kidnapping in progress in Florida. Developed by NASA, United Space Alliance (USA) and Silicon Graphics Inc., the system allows multiple-person collaboration, highly detailed manipulation and evaluation of specific imagery. The system is housed in the Image Analysis Facility inside the Vehicle Assembly Building. [Photo taken Aug. 15, 2003, courtesy of Terry Wallace, SGI

The development and validation of the Dormitory Observation Report: a behavioral rating instrument for juvenile delinquents in residential care.

PubMed

Veneziano, Louis; Veneziano, Carol

2002-09-01

In order to provide an objective measure of problematic behavioral patterns among juvenile delinquents in residential facilities, the Dormitory Observation Report (DOR) was developed. The DOR assesses 11 dimensions of problematic behavioral patterns (e.g., physical assaultiveness, manipulativeness), as well as three dimensions of desirable behavioral patterns expected in an institutional setting (e.g., independent functioning, personal hygiene, care of surroundings). Empirical study regarding the reliability and validity of the DOR are reported, and the results are discussed in terms of the theoretical and practical implications of this instrument. Copyright 2002 Wiley Periodicals, Inc.

State machine analysis of sensor data from dynamic processes

DOEpatents

Cook, William R.; Brabson, John M.; Deland, Sharon M.

2003-12-23

A state machine model analyzes sensor data from dynamic processes at a facility to identify the actual processes that were performed at the facility during a period of interest for the purpose of remote facility inspection. An inspector can further input the expected operations into the state machine model and compare the expected, or declared, processes to the actual processes to identify undeclared processes at the facility. The state machine analysis enables the generation of knowledge about the state of the facility at all levels, from location of physical objects to complex operational concepts. Therefore, the state machine method and apparatus may benefit any agency or business with sensored facilities that stores or manipulates expensive, dangerous, or controlled materials or information.

One-pot exfoliation, functionalization, and size manipulation of graphene sheets: efficient system for biomedical applications.

PubMed

Bani, Farhad; Bodaghi, Ali; Dadkhah, Abbas; Movahedi, Soodabeh; Bodaghabadi, Narges; Sadeghizadeh, Majid; Adeli, Mohsen

2018-05-01

In this work, we reported a facile method to produce stable aqueous graphene dispersion through direct exfoliation of graphite by modified hyperbranched polyglycerol. Size of graphene sheets was manipulated by simultaneous exfoliation and sonication of graphite, and functionalized graphene sheets with narrow size distribution were obtained. The polyglycerol-functionalized graphene sheets exhibited highly efficient cellular uptake and photothermal conversion, enabling it to serve as a photothermal agent for cancer therapy.

10. VIEW WITHIN THE EAST OPERATING GALLERY OF WORK STATION ...

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

10. VIEW WITHIN THE EAST OPERATING GALLERY OF WORK STATION WITH MANIPULATOR ARMS. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

Light Microscopy Module Imaging Tested and Demonstrated

NASA Technical Reports Server (NTRS)

Gati, Frank

2004-01-01

The Fluids Integrated Rack (FIR), a facility-class payload, and the Light Microscopy Module (LMM), a subrack payload, are integrated research facilities that will fly in the U.S. Laboratory module, Destiny, aboard the International Space Station. Both facilities are being engineered, designed, and developed at the NASA Glenn Research Center by Northrop Grumman Information Technology. The FIR is a modular, multiuser scientific research facility that is one of two racks that make up the Fluids and Combustion Facility (the other being the Combustion Integrated Rack). The FIR has a large volume dedicated for experimental hardware; easily reconfigurable diagnostics, power, and data systems that allow for unique experiment configurations; and customizable software. The FIR will also provide imagers, light sources, power management and control, command and data handling for facility and experiment hardware, and data processing and storage. The first payload in the FIR will be the LMM. The LMM integrated with the FIR is a remotely controllable, automated, on-orbit microscope subrack facility, with key diagnostic capabilities for meeting science requirements--including video microscopy to observe microscopic phenonema and dynamic interactions, interferometry to make thin-film measurements with nanometer resolution, laser tweezers to manipulate micrometer-sized particles, confocal microscopy to provide enhanced three-dimensional visualization of structures, and spectrophotometry to measure the photonic properties of materials. Vibration disturbances were identified early in the LMM development phase as a high risk for contaminating the science microgravity environment. An integrated FIR-LMM test was conducted in Glenn's Acoustics Test Laboratory to assess mechanical sources of vibration and their impact to microscopic imaging. The primary purpose of the test was to characterize the LMM response at the sample location, the x-y stage within the microscope, to vibration emissions from the FIR and LMM support structures.

Advanced servomanipulator remote maintenance demonstration

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

Bradley, E.C.; Ladd, L.D.

1988-01-01

The Fuel Recycle Division (FRD) of the Oak Ridge National Laboratory (ORNL) is developing remote maintenance systems for the Consolidated Fuel Reprocessing Program for applications in future nuclear fuel cycle facilities. The most recent development is the advanced servomanipulator (ASM), a digitally controlled, force-reflecting, dual-arm, master/slave servomanipulator. A unique feature of ASM is that the slave arms are remotely maintainable. The ASM slave arms are composed of modules, each of which is capable of being removed and replaced by another manipulator system. The intent of this test was to demonstrate that the ASM slave arms could be completely disassembled andmore » reassembled remotely. This remote maintenance demonstration was performed using the Remote Operations and Maintenance Demonstration (ROMD) facility model M-2 servomanipulator maintenance system. Maintenance of ASM was successfully demonstrated using the M-2 servomanipulator and special fixtures. Recommendations, generally applicable to other remotely maintained equipment, have been made for maintainability improvements. 3 refs., 5 figs.« less

Microgravity Science Glovebox (MSG) Space Sciences's Past, Present, and Future on the International Space Station (ISS)

NASA Technical Reports Server (NTRS)

Spivey, Reggie A.; Jordan, Lee P.

2012-01-01

The Microgravity Science Glovebox (MSG) is a double rack facility designed for microgravity investigation handling aboard the International Space Station (ISS). The unique design of the facility allows it to accommodate science and technology investigations in a "workbench" type environment. MSG facility provides an enclosed working area for investigation manipulation and observation in the ISS. Provides two levels of containment via physical barrier, negative pressure, and air filtration. The MSG team and facilities provide quick access to space for exploratory and National Lab type investigations to gain an understanding of the role of gravity in the physics associated research areas.

Mars aqueous chemistry experiment

NASA Technical Reports Server (NTRS)

Clark, Benton C.; Mason, Larry W.

1993-01-01

The Mars Aqueous Chemistry Experiment (MACE) is designed to conduct a variety of measurements on regolith samples, encompassing mineral phase analyses, chemical interactions with H2O, and physical properties determinations. From these data, much can be learned or inferred regarding the past weathering environment, the contemporaneous soil micro-environments, and the general chemical and physical state of the Martian regolith. By analyzing both soil and duricrust samples, the nature of the latter may become more apparent. Sites may be characterized for comparative purposes and criteria could be set for selection of high priority materials on future sample return missions. Progress for the first year MACE PIDDP is reported in two major areas of effort: (1) fluids handling concepts, definition, and breadboard fabrication and (2) aqueous chemistry ion sensing technology and test facility integration. A fluids handling breadboard was designed, fabricated, and tested at Mars ambient pressure. The breadboard allows fluid manipulation scenarios to be tested under the reduced pressure conditions expected in the Martian atmosphere in order to validate valve operations, orchestrate analysis sequences, investigate sealing integrity, and to demonstrate efficacy of the fluid handling concept. Additional fluid manipulation concepts have also been developed based on updated MESUR spacecraft definition. The Mars Aqueous Chemistry Experiment Ion Selective Electrode (ISE) facility was designed as a test bed to develop a multifunction interface for measurements of chemical ion concentrations in aqueous solution. The interface allows acquisition of real time data concerning the kinetics and heats of salt dissolution, and transient response to calibration and solubility events. An array of ion selective electrodes has been interfaced and preliminary calibration studies performed.

Mars aqueous chemistry experiment

NASA Astrophysics Data System (ADS)

Clark, Benton C.; Mason, Larry W.

1993-06-01

The Mars Aqueous Chemistry Experiment (MACE) is designed to conduct a variety of measurements on regolith samples, encompassing mineral phase analyses, chemical interactions with H2O, and physical properties determinations. From these data, much can be learned or inferred regarding the past weathering environment, the contemporaneous soil micro-environments, and the general chemical and physical state of the Martian regolith. By analyzing both soil and duricrust samples, the nature of the latter may become more apparent. Sites may be characterized for comparative purposes and criteria could be set for selection of high priority materials on future sample return missions. Progress for the first year MACE PIDDP is reported in two major areas of effort: (1) fluids handling concepts, definition, and breadboard fabrication and (2) aqueous chemistry ion sensing technology and test facility integration. A fluids handling breadboard was designed, fabricated, and tested at Mars ambient pressure. The breadboard allows fluid manipulation scenarios to be tested under the reduced pressure conditions expected in the Martian atmosphere in order to validate valve operations, orchestrate analysis sequences, investigate sealing integrity, and to demonstrate efficacy of the fluid handling concept. Additional fluid manipulation concepts have also been developed based on updated MESUR spacecraft definition. The Mars Aqueous Chemistry Experiment Ion Selective Electrode (ISE) facility was designed as a test bed to develop a multifunction interface for measurements of chemical ion concentrations in aqueous solution. The interface allows acquisition of real time data concerning the kinetics and heats of salt dissolution, and transient response to calibration and solubility events. An array of ion selective electrodes has been interfaced and preliminary calibration studies performed.

Proposal for a slow positron facility at Jefferson National Laboratory

NASA Astrophysics Data System (ADS)

Mills, Allen P.

2018-05-01

One goal of the JPos-17 International Workshop on Physics with Positrons was to ascertain whether it would be a good idea to expand the mission of the Thomas Jefferson National Accelerator Facility (JLab) to include science with low energy (i.e. "slow") spin polarized positrons. It is probably true that experimentation with slow positrons would potentially have wide-ranging benefits comparable to those obtained with neutron and x-ray scattering, but it is certain that the full range of these benefits will never be fully available without an infrastructure comparable to that of existing neutron and x-ray facilities. The role for Jefferson Laboratory would therefore be to provide and maintain (1) a dedicated set of machines for making and manipulating high intensity, high brightness beams of polarized slow positrons; (2) a suite of unique and easily used instruments of wide utility that will make efficient use of the positrons; and (3) a group of on-site positron scientists to provide scientific leadership, instrument development, and user support. In this note some examples will be given of the science that might make a serious investment in a positron facility worthwhile. At the same time, the lessons learned from various proposed and successful positron facilities will be presented for consideration.

Software to model AXAF-I image quality

NASA Technical Reports Server (NTRS)

Ahmad, Anees; Feng, Chen

1995-01-01

A modular user-friendly computer program for the modeling of grazing-incidence type x-ray optical systems has been developed. This comprehensive computer software GRAZTRACE covers the manipulation of input data, ray tracing with reflectivity and surface deformation effects, convolution with x-ray source shape, and x-ray scattering. The program also includes the capabilities for image analysis, detector scan modeling, and graphical presentation of the results. A number of utilities have been developed to interface the predicted Advanced X-ray Astrophysics Facility-Imaging (AXAF-I) mirror structural and thermal distortions with the ray-trace. This software is written in FORTRAN 77 and runs on a SUN/SPARC station. An interactive command mode version and a batch mode version of the software have been developed.

Dismantling of Highly Contaminated Process Installations of the German Reprocessing Facility (WAK) - Status of New Remote Handling Technology - 13287

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

Dux, Joachim; Friedrich, Daniel; Lutz, Werner

2013-07-01

Decommissioning and dismantling of the former German Pilot Reprocessing Plant Karlsruhe (WAK) including the Vitrification Facility (VEK) is being executed in different Project steps related to the reprocessing, HLLW storage and vitrification complexes /1/. While inside the reprocessing building the total inventory of process equipment has already been dismantled and disposed of, the HLLW storage and vitrification complex has been placed out of operation since vitrification and tank rinsing procedures where finalized in year 2010. This paper describes the progress made in dismantling of the shielded boxes of the highly contaminated laboratory as a precondition to get access to themore » hot cells of the HLLW storage. The major challenges of the dismantling of this laboratory were the high dose rates up to 700 mSv/h and the locking technology for the removal of the hot cell installations. In parallel extensive prototype testing of different carrier systems and power manipulators to be applied to dismantle the HLLW-tanks and other hot cell equipment is ongoing. First experiences with the new manipulator carrier system and a new master slave manipulator with force reflection will be reported. (authors)« less

14. VIEW IN THE WEST OPERATING GALLERY OF POSTMORTEM CELL ...

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

14. VIEW IN THE WEST OPERATING GALLERY OF POST-MORTEM CELL WORK STATION AND MANIPULATOR ARMS. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

Facile method for site-specific gene integration in Lysobacter enzymogenes for yield improvement of the anti-MRSA antibiotics WAP-8294A and the antifungal antibiotic HSAF.

PubMed

Wang, Yan; Qian, Guoliang; Liu, Fengquan; Li, Yue-Zhong; Shen, Yuemao; Du, Liangcheng

2013-11-15

Lysobacter is a genus of Gram-negative gliding bacteria that are emerged as novel biocontrol agents and new sources of bioactive natural products. The bacteria are naturally resistant to many antibiotics commonly used in transformant selection, which has hampered the genetic manipulations. Here, we described a facile method for quick-and-easy identification of the target transformants from a large population of the wild type and nontarget transformants. The method is based on a distinct yellow-to-black color change as a visual selection marker for site-specific integration of the gene of interest. Through transposon random mutagenesis, we identified a black-colored strain from the yellow-colored L. enzymogenes . The black strain was resulted from a disruption of hmgA, a gene required for tyrosine/phenylalanine metabolism. The disruption of hmgA led to accumulation of dark brown pigments. As proof of principle, we constructed a series of expression vectors for a regulator gene found within the WAP-8294A biosynthetic gene cluster. The yield of WAP-8294A in the black strains increased by 2 fold compared to the wild type. Interestingly, the yield of another antibiotic (HSAF) increased up to 7 fold in the black strains. WAP-8294A is a family of potent anti-MRSA antibiotics and is currently in clinical studies, and HSAF is an antifungal compound with distinct structural features and a novel mode of action. This work represents the first successful metabolic engineering in Lysobacter. The development of this facile method opens a way toward manipulating antibiotic production in the largely unexplored sources.

A Facile Method for Site-specific Gene Integration in Lysobacter enzymogenes for Yield Improvement of the Anti-MRSA Antibiotics WAP-8294A and the Antifungal Antibiotic HSAF

PubMed Central

Wang, Yan; Qian, Guoliang; Liu, Fengquan; Li, Yue-Zhong; Shen, Yuemao; Du, Liangcheng

2013-01-01

Lysobacter is a genus of Gram -negative gliding bacteria that are emerged as novel biocontrol agents and new sources of bioactive natural products. The bacteria are naturally resistant to many antibiotics commonly used in transformant selection, which has hampered the genetic manipulations. Here, we described a facile method for quick -and-easy identification of the target transformants from a large population of the wild type and non-target transformants. The method is based on a distinct yellow-to-black color change as a visual selection marker for site-specific integration of the gene of interest. Through transposon random mutagenesis, we identified a black-colored strain from the yellow-colored L. enzymogenes. The black strain was resulted from a disruption of hmgA, a gene required for tyrosine /phenylalanine metabolism. The disruption of hmgA led to accumulation of dark brown pigments. As proof of principle, we constructed a series of expression vectors for a regulator gene found within the WAP-8294A biosynthetic gene cluster. The yield of WAP-8294A in the black strains increased by 2 fold compared to the wild type. Interestingly, the yield of another antibiotic (HSAF) increased up to 7 fold in the black strains. WAP-8294A is a family of potent anti-MRSA antibiotics and is currently in clinical studies, and HSAF is an antifungal compound with distinct structural features and a novel mode of action. This work represents the first successful metabolic engineering in Lysobacter. The development of this facile method opens a way toward manipulating antibiotic production in the largely unexplored sources. PMID:23937053

Behavioral Effects of an Enhanced Enrichment Program for Group-Housed Sooty Mangabeys (Cercocebus atys)

PubMed Central

Crast, Jessica; Bloomsmith, Mollie A; Jonesteller, Trina J

2016-01-01

Evaluating the behavioral effects of enrichment on animals housed in biomedical facilities is necessary to effectively support their care and wellbeing. We tested the cumulative effects of an enhanced enrichment program on sooty mangabey behavior: locomotion, feeding and foraging, manipulating items in the enclosure, social affiliation, aggression, and abnormal behavior. The enhanced enrichment program included the addition of a substrate (timothy hay), widely distributing small pieces of produce and a forage mixture in the hay, adding structures and perching, and increasing the variety of food items, foraging devices, and other manipulable items. We tested 10 groups living in runs (n = 54) by using an ABA experimental design (phase A, standard enrichment; phase B, enhanced enrichment) and Wilcoxon signed-rank tests to compare behavior across phases. During phase B, subjects significantly increased feeding, foraging, and manipulation of items, and they decreased self-grooming, social affiliation, and aggression. Combined enrichment use increased from approximately 10% to 21% of the mangabeys’ time. Enhanced enrichment did not affect locomotion or abnormal behavior. The increases in feeding, foraging, and manipulation during enhanced enrichment were driven primarily by the subjects’ preference for foraging in the hay: it was the most effective component of the program in promoting feeding and foraging behavior, which comprises the majority of wild sooty mangabeys’ daily activity. Developing an effective, species-appropriate, and comprehensive enrichment program is essential to successfully promote the health and wellbeing of captive NHP. PMID:27931313

Behavioral Effects of an Enhanced Enrichment Program for Group-Housed Sooty Mangabeys (Cercocebus atys).

PubMed

Crast, Jessica; Bloomsmith, Mollie A; Jonesteller, Trina J

2016-11-01

Evaluating the behavioral effects of enrichment on animals housed in biomedical facilities is necessary to effectively support their care and wellbeing. We tested the cumulative effects of an enhanced enrichment program on sooty mangabey behavior: locomotion, feeding and foraging, manipulating items in the enclosure, social affiliation, aggression, and abnormal behavior. The enhanced enrichment program included the addition of a substrate (timothy hay), widely distributing small pieces of produce and a forage mixture in the hay, adding structures and perching, and increasing the variety of food items, foraging devices, and other manipulable items. We tested 10 groups living in runs (n = 54) by using an ABA experimental design (phase A, standard enrichment; phase B, enhanced enrichment) and Wilcoxon signed-rank tests to compare behavior across phases. During phase B, subjects significantly increased feeding, foraging, and manipulation of items, and they decreased self-grooming, social affiliation, and aggression. Combined enrichment use increased from approximately 10% to 21% of the mangabeys' time. Enhanced enrichment did not affect locomotion or abnormal behavior. The increases in feeding, foraging, and manipulation during enhanced enrichment were driven primarily by the subjects' preference for foraging in the hay: it was the most effective component of the program in promoting feeding and foraging behavior, which comprises the majority of wild sooty mangabeys' daily activity. Developing an effective, species-appropriate, and comprehensive enrichment program is essential to successfully promote the health and wellbeing of captive NHP.

16. VIEW OF FIRST FLOOR EAST OPERATING GALLERY. NOTE THE ...

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

16. VIEW OF FIRST FLOOR EAST OPERATING GALLERY. NOTE THE SERIES OF MANIPULATOR ARMS ALONG THE LEFT WALL. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

Animals in biomedical space research

NASA Technical Reports Server (NTRS)

Phillips, R. W.

1986-01-01

Rat and squirrel monkeys experiments have been planned in concert with human experiments to help answer fundamental questions concerning the effect of weightlessness on mammalism function. For the most part, these experiments focus on identified changes noted in humans during space flight. Utilizing space laboratory facilities, manipulative experiments can be completed while animals are still in orbit. Other experiments are designed to study changes in gravity receptor structure and function and the effect of weightlessness on early vertibrate development. Following these preliminary animal experiments on Spacelab Shuttle flights, longer term programs of animal investigation will be conducted on Space Station.

Polyamide membranes with nanoscale Turing structures for water purification

NASA Astrophysics Data System (ADS)

Tan, Zhe; Chen, Shengfu; Peng, Xinsheng; Zhang, Lin; Gao, Congjie

2018-05-01

The emergence of Turing structures is of fundamental importance, and designing these structures and developing their applications have practical effects in chemistry and biology. We use a facile route based on interfacial polymerization to generate Turing-type polyamide membranes for water purification. Manipulation of shapes by control of reaction conditions enabled the creation of membranes with bubble or tube structures. These membranes exhibit excellent water-salt separation performance that surpasses the upper-bound line of traditional desalination membranes. Furthermore, we show the existence of high water permeability sites in the Turing structures, where water transport through the membranes is enhanced.

A unified teleoperated-autonomous dual-arm robotic system

NASA Technical Reports Server (NTRS)

Hayati, Samad; Lee, Thomas S.; Tso, Kam Sing; Backes, Paul G.; Lloyd, John

1991-01-01

A description is given of complete robot control facility built as part of a NASA telerobotics program to develop a state-of-the-art robot control environment for performing experiments in the repair and assembly of spacelike hardware to gain practical knowledge of such work and to improve the associated technology. The basic architecture of the manipulator control subsystem is presented. The multiarm Robot Control C Library (RCCL), a key software component of the system, is described, along with its implementation on a Sun-4 computer. The system's simulation capability is also described, and the teleoperation and shared control features are explained.

Use of an adaptable cell culture kit for performing lymphocyte and monocyte cell cultures in microgravity

NASA Technical Reports Server (NTRS)

Hatton, J. P.; Lewis, M. L.; Roquefeuil, S. B.; Chaput, D.; Cazenave, J. P.; Schmitt, D. A.

1998-01-01

The results of experiments performed in recent years on board facilities such as the Space Shuttle/Spacelab have demonstrated that many cell systems, ranging from simple bacteria to mammalian cells, are sensitive to the microgravity environment, suggesting gravity affects fundamental cellular processes. However, performing well-controlled experiments aboard spacecraft offers unique challenges to the cell biologist. Although systems such as the European 'Biorack' provide generic experiment facilities including an incubator, on-board 1-g reference centrifuge, and contained area for manipulations, the experimenter must still establish a system for performing cell culture experiments that is compatible with the constraints of spaceflight. Two different cell culture kits developed by the French Space Agency, CNES, were recently used to perform a series of experiments during four flights of the 'Biorack' facility aboard the Space Shuttle. The first unit, Generic Cell Activation Kit 1 (GCAK-1), contains six separate culture units per cassette, each consisting of a culture chamber, activator chamber, filtration system (permitting separation of cells from supernatant in-flight), injection port, and supernatant collection chamber. The second unit (GCAK-2) also contains six separate culture units, including a culture, activator, and fixation chambers. Both hardware units permit relatively complex cell culture manipulations without extensive use of spacecraft resources (crew time, volume, mass, power), or the need for excessive safety measures. Possible operations include stimulation of cultures with activators, separation of cells from supernatant, fixation/lysis, manipulation of radiolabelled reagents, and medium exchange. Investigations performed aboard the Space Shuttle in six different experiments used Jurkat, purified T-cells or U937 cells, the results of which are reported separately. We report here the behaviour of Jurkat and U937 cells in the GCAK hardware in ground-based investigations simulating the conditions expected in the flight experiment. Several parameters including cell concentration, time between cell loading and activation, and storage temperature on cell survival were examined to characterise cell response and optimise the experiments to be flown aboard the Space Shuttle. Results indicate that the objectives of the experiments could be met with delays up to 5 days between cell loading into the hardware and initial in flight experiment activation, without the need for medium exchange. Experiment hardware of this kind, which is adaptable to a wide range of cell types and can be easily interfaced to different spacecraft facilities, offers the possibility for a wide range of experimenters successfully and easily to utilise future flight opportunities.

Coherent coupling between radio frequency, optical, and acoustic waves in piezo-optomechanical circuits

PubMed Central

Balram, Krishna C.; Davanço, Marcelo I.; Song, Jin Dong; Srinivasan, Kartik

2016-01-01

Optomechanical cavities have been studied for applications ranging from sensing to quantum information science. Here, we develop a platform for nanoscale cavity optomechanical circuits in which optomechanical cavities supporting co-localized 1550 nm photons and 2.4 GHz phonons are combined with photonic and phononic waveguides. Working in GaAs facilitates manipulation of the localized mechanical mode either with a radio frequency (RF) field through the piezo-electric effect, which produces acoustic waves that are routed and coupled to the optomechanical cavity by phononic crystal waveguides, or optically through the strong photoelastic effect. Along with mechanical state preparation and sensitive readout, we use this to demonstrate an acoustic wave interference effect, similar to atomic coherent population trapping, in which RF-driven coherent mechanical motion is cancelled by optically-driven motion. Manipulating cavity optomechanical systems with equal facility through both photonic and phononic channels enables new architectures for signal transduction between the optical, electrical, and mechanical domains. PMID:27446234

Hybrid microfabrication of nanofiber-based sheets and rods for tissue engineering applications.

PubMed

Park, Suk-Hee; Kim, Min Sung; Lee, Dasom; Choi, Yong Whan; Kim, Deok-Ho; Suh, Kahp-Yang

2013-12-01

Electrospun nanofibers have been developed into a variety of forms for tissue engineering scaffolds to regulate the cellular functions guided by nanotopographical cues. Here, we have successfully fabricated nanofiber-based scaffold complexes of rod and sheet type by combining the three microfabrication techniques of electrospinning, spin coating, and polymer melt deposition. It was demonstrated that this hybrid fabrication could produce uniaxially aligned nanofiber scaffolds supported by a thin film, allowing for a mechanically enforced substrate for cell culture as well as facile scaffold manipulation. The results of cell analysis indicated that nanofibers on spin-coated films could provide contact guidance effects on cells and retain them even after manipulation. As an application of the cell-laden nanofiber film, we built a rod-type structure by rolling up the film around a mechanically supporting core microfiber, which was incorporated by polymer melt deposition. A biocompatible and biodegradable polymer, polycaprolactone, was used throughout the processes and thus could be used as a directly implantable substitute in tissue regeneration.

JEM RMS OPS

NASA Image and Video Library

2009-09-23

ISS020-E-042237 (23 Sept. 2009) --- NASA astronaut Nicole Stott and European Space Agency astronaut Frank De Winne, both Expedition 20 flight engineers, work the controls of the JEM Robotic Manipulator System (JEM-RMS) in the Kibo laboratory of the International Space Station. De Winne and Stott used the JEM-RMS to grapple the Exposed Pallet (EP) from the station’s Canadarm2 and berth it to the JEM Exposed Facility / Exposed Facility Unit 10 (JEF EFU10).

JEM RMS OPS

NASA Image and Video Library

2009-09-23

ISS020-E-042225 (23 Sept. 2009) --- NASA astronaut Nicole Stott and European Space Agency astronaut Frank De Winne, both Expedition 20 flight engineers, work the controls of the JEM Robotic Manipulator System (JEM-RMS) in the Kibo laboratory of the International Space Station. De Winne and Stott used the JEM-RMS to grapple the Exposed Pallet (EP) from the station’s Canadarm2 and berth it to the JEM Exposed Facility / Exposed Facility Unit 10 (JEF EFU10).

Space station dynamics, attitude control and momentum management

NASA Technical Reports Server (NTRS)

Sunkel, John W.; Singh, Ramen P.; Vengopal, Ravi

1989-01-01

The Space Station Attitude Control System software test-bed provides a rigorous environment for the design, development and functional verification of GN and C algorithms and software. The approach taken for the simulation of the vehicle dynamics and environmental models using a computationally efficient algorithm is discussed. The simulation includes capabilities for docking/berthing dynamics, prescribed motion dynamics associated with the Mobile Remote Manipulator System (MRMS) and microgravity disturbances. The vehicle dynamics module interfaces with the test-bed through the central Communicator facility which is in turn driven by the Station Control Simulator (SCS) Executive. The Communicator addresses issues such as the interface between the discrete flight software and the continuous vehicle dynamics, and multi-programming aspects such as the complex flow of control in real-time programs. Combined with the flight software and redundancy management modules, the facility provides a flexible, user-oriented simulation platform.

The Experimental Lakes Area: Over 45 Years of Whole Ecosystem Monitoring and Manipulation Experiments and a Focus on the Future

NASA Astrophysics Data System (ADS)

Emmerton, C. A.

2015-12-01

The IISD Experimental Lakes Area is a unique facility which has existed since 1968 and consists of 58 lakes and their watersheds set aside for research purposes. The IISD-ELA also boasts an on-site water chemistry lab, accommodations and facilities for up to 60 personnel. Since its inception in 1968 over 50 whole ecosystem experiments have been conducted at the ELA including eutrophication, acidification of lakes, environmental mercury fates, hydro-electric reservoir impacts and much more. The recent partnership between IISD and ELA has allowed ELA to refocus on freshwater research and policy development in a time where the preservation of the earth's most precious resource is of the utmost concern. In addition to water quality monitoring, the ELA is also focused on autotrophic ecology, zooplankton community structures, fish population and behaviour and food-web interactions. Monitoring all of these disciplines and their inter-relationships gives the research facility a unique perspective and along with the long term dataset stretching back to 1968 the ELA can look at historical records to monitor long term changes in the environment.

Space Operations in the Eighties.

ERIC Educational Resources Information Center

Aviation/Space, 1982

1982-01-01

Highlights activities/accomplishments and future endeavors related to space operations. Topics discussed include the Space Shuttle, recovery/refurbishment operations, payload manipulator, upper stages operations, tracking and data relay, spacelab, space power systems, space exposure facility, space construction, and space station. (JN)

Implementation of the next-generation Gas Cherenkov Detector at the National Ignition Facility

NASA Astrophysics Data System (ADS)

Carrera, J. A.; Herrmann, H. W.; Khater, H. Y.; Carpenter, A. C.; Beeman, B. V.; Hernandez, J. E.; Sitaraman, S.; Lopez, F. E.; Zylstra, A. B.; Griego, J. R.; Kim, Y. H.; Gales, S. A.; Horsfield, C. J.; Milnes, J. S.; Hares, J. D.

2017-08-01

The newest Gas Cherenkov Detector (GCD-3) diagnostic has completed its Phase I commissioning/milestone at the National Ignition Facility (NIF). GCD-3 was fielded for several years at the Omega Laser Facility in its initial configuration, before being moved to the NIF. Installation at the NIF involved optimization of GCD-3 for the higher background environment and designing a new insertion carrier assembly. GCD-3 serves as the initial phase towards the implementation of the "Super GCD" (SGCD) at the NIF. During this phase of development GCD-3 took measurements from a re-entrant well, 3.9 meters from target chamber center (TCC). Plans to insert GCD-3 within 20 cm of TCC with a Target and Diagnostic Manipulator (TANDM) will be discussed. Data was collected using a Photomultiplier Tube (PMT) in combination with a Mach-Zehnder based recording system. These measurements were used to aid in shielding analysis, validate MCNP models, and fuel design efforts for the SGCD. Findings from the initial data will be covered extensively, including an in-depth look into sources of background and possible mitigation strategies. Ongoing development of phase two, the addition of an ultra-high bandwidth Pulse Dilatation Photomultiplier Tube (PD-PMT), will also be presented.

A DOE Perspective

NASA Astrophysics Data System (ADS)

Bennett, Kristin

2004-03-01

As one of the lead agencies for nanotechnology research and development, the Department of Energy (DOE) is revolutionizing the way we understand and manipulate materials at the nanoscale. As the Federal government's single largest supporter of basic research in the physical sciences in the United States, and overseeing the Nation's cross-cutting research programs in high-energy physics, nuclear physics, and fusion energy sciences, the DOE guides the grand challenges in nanomaterials research that will have an impact on everything from medicine, to energy production, to manufacturing. Within the DOE's Office of Science, the Office of Basic Energy Sciences (BES) leads research and development at the nanoscale, which supports the Department's missions of national security, energy, science, and the environment. The cornerstone of the program in nanoscience is the establishment and operation of five new Nanoscale Science Research Centers (NSRCs), which are under development at six DOE Laboratories. Throughout its history, DOE's Office of Science has designed, constructed and operated many of the nation's most advanced, large-scale research and development user facilities, of importance to all areas of science. These state-of-the art facilities are shared with the science community worldwide and contain technologies and instruments that are available nowhere else. Like all DOE national user facilities, the new NSRCs are designed to make novel state-of-the-art research tools available to the world, and to accelerate a broad scale national effort in basic nanoscience and nanotechnology. The NSRCs will be sited adjacent to or near existing DOE/BES major user facilities, and are designed to enable national user access to world-class capabilities for the synthesis, processing, fabrication, and analysis of materials at the nanoscale, and to transform the nation's approach to nanomaterials.

A database system to support image algorithm evaluation

NASA Technical Reports Server (NTRS)

Lien, Y. E.

1977-01-01

The design is given of an interactive image database system IMDB, which allows the user to create, retrieve, store, display, and manipulate images through the facility of a high-level, interactive image query (IQ) language. The query language IQ permits the user to define false color functions, pixel value transformations, overlay functions, zoom functions, and windows. The user manipulates the images through generic functions. The user can direct images to display devices for visual and qualitative analysis. Image histograms and pixel value distributions can also be computed to obtain a quantitative analysis of images.

Computer graphics applications to crew displays

NASA Technical Reports Server (NTRS)

Wyzkoski, J.

1983-01-01

Astronauts are provided much data and information via the monochrome CRT displays on the orbiter. For this project two areas were investigated for the possible introduction of computer graphics to enhance and extend the utility of these displays. One involved reviewing the current orbiter displays and identifying those which could be improved via computer graphics. As an example, the tabular data on electrical power distribution and control was enhanced by the addition of color and bar charts. The other dealt with the development of an aid to berthing a payload with the Remote Manipulator System (RMS). This aid consists of a graphics display of the top, front and side views of the payload and cargo bay and point of resolution (POR) position and attitude data for the current location of the payload. The initial implementation was on an IBM PC clone. The demonstration software installed in the Johnson Space Center Manipulator Development Facility (MD) was reviewed. Due to current hardware limitations, the MDF verision is slow, i.e., about a 40+ seond update rate and, hence, not real-time. Despite this fact, the evaluation of this additional visual cue as an RMS operator aid indicates that this display, with modifications for speed, etc., can assist the crew. Further development is appropriate.

Vacuum mechatronics

NASA Technical Reports Server (NTRS)

Hackwood, Susan; Belinski, Steven E.; Beni, Gerardo

1989-01-01

The discipline of vacuum mechatronics is defined as the design and development of vacuum-compatible computer-controlled mechanisms for manipulating, sensing and testing in a vacuum environment. The importance of vacuum mechatronics is growing with an increased application of vacuum in space studies and in manufacturing for material processing, medicine, microelectronics, emission studies, lyophylisation, freeze drying and packaging. The quickly developing field of vacuum mechatronics will also be the driving force for the realization of an advanced era of totally enclosed clean manufacturing cells. High technology manufacturing has increasingly demanding requirements for precision manipulation, in situ process monitoring and contamination-free environments. To remove the contamination problems associated with human workers, the tendency in many manufacturing processes is to move towards total automation. This will become a requirement in the near future for e.g., microelectronics manufacturing. Automation in ultra-clean manufacturing environments is evolving into the concept of self-contained and fully enclosed manufacturing. A Self Contained Automated Robotic Factory (SCARF) is being developed as a flexible research facility for totally enclosed manufacturing. The construction and successful operation of a SCARF will provide a novel, flexible, self-contained, clean, vacuum manufacturing environment. SCARF also requires very high reliability and intelligent control. The trends in vacuum mechatronics and some of the key research issues are reviewed.

KSC-2013-2998

NASA Image and Video Library

2013-06-29

CAPE CANAVERAL, Fla. -- Inside the new "Space Shuttle Atlantis" facility at the Kennedy Space Center Visitor Complex in Florida, guests gather around the spacecraft on display with payload bay doors open and remote manipulator system robot arm extended. The new $100 million facility includes interactive exhibits that tell the story of the 30-year Space Shuttle Program and highlight the future of space exploration. The "Space Shuttle Atlantis" exhibit formally opened to the public on June 29, 2013.Photo credit: NASA/Jim Grossmann

KSC-2013-2997

NASA Image and Video Library

2013-06-29

CAPE CANAVERAL, Fla. -- Inside the new "Space Shuttle Atlantis" facility at the Kennedy Space Center Visitor Complex in Florida, 40 astronauts posed with the spacecraft on display with payload bay doors open and remote manipulator system robot arm extended. The new $100 million facility includes interactive exhibits that tell the story of the 30-year Space Shuttle Program and highlight the future of space exploration. The "Space Shuttle Atlantis" exhibit formally opened to the public on June 29, 2013.Photo credit: NASA/Jim Grossmann

The flight robotics laboratory

NASA Technical Reports Server (NTRS)

Tobbe, Patrick A.; Williamson, Marlin J.; Glaese, John R.

1988-01-01

The Flight Robotics Laboratory of the Marshall Space Flight Center is described in detail. This facility, containing an eight degree of freedom manipulator, precision air bearing floor, teleoperated motion base, reconfigurable operator's console, and VAX 11/750 computer system, provides simulation capability to study human/system interactions of remote systems. The facility hardware, software and subsequent integration of these components into a real time man-in-the-loop simulation for the evaluation of spacecraft contact proximity and dynamics are described.

De Winne and Stott at JEM-RMS controls

NASA Image and Video Library

2009-09-23

ISS020-E-041828 (23 Sept. 2009) --- European Space Agency astronaut Frank De Winne and NASA astronaut Nicole Stott, both Expedition 20 flight engineers, work the controls of the JEM Robotic Manipulator System (JEM-RMS) in the Kibo laboratory of the International Space Station. De Winne and Stott used the JEM-RMS to grapple the Exposed Pallet (EP) from the station’s Canadarm2 and berth it to the JEM Exposed Facility / Exposed Facility Unit 10 (JEF EFU10).

Facility Concepts for Mars Returned Sample Handling

NASA Technical Reports Server (NTRS)

Cohen, Marc M.; Briggs, Geoff (Technical Monitor)

2001-01-01

Samples returned from Mars must be held in quarantine until their biological safety has been determined. A significant challenge, unique to NASA's needs, is how to contain the samples (to protect the blaspheme) while simultaneously protecting their pristine nature. This paper presents a comparative analysis of several quarantine facility concepts for handling and analyzing these samples. The considerations in this design analysis include: modes of manipulation; capability for destructive as well as non-destructive testing; avoidance of cross-contamination; linear versus recursive processing; and sample storage and retrieval within a closed system. The ability to rigorously contain biologically hazardous materials has been amply demonstrated by facilities that meet the specifications of the Center for Disease Control Biosafety Level 4. The newly defined Planetary Protection Level Alpha must provide comparable containment while assuring that the samples remain pristine; the latter requirement is based on the need to avoid compromising science analyses by instrumentation of the highest possible sensitivity (among other things this will assure that there is no false positive detection of organisms or organic molecules - a situation that would delay or prevent the release of the samples from quarantine). Protection of the samples against contamination by terrestrial organisms and organic molecules makes a considerable impact upon the sample handling facility. The use of glove boxes appears to be impractical because of their tendency to leak and to surges. As a result, a returned sample quarantine facility must consider the use of automation and remote manipulation to carry out the various functions of sample handling and transfer within the system. The problem of maintaining sensitive and bulky instrumentation under the constraints of simultaneous sample containment and contamination protection also places demands on the architectural configuration of the facility that houses it.

Space transportation system payload interface verification

NASA Technical Reports Server (NTRS)

Everline, R. T.

1977-01-01

The paper considers STS payload-interface verification requirements and the capability provided by STS to support verification. The intent is to standardize as many interfaces as possible, not only through the design, development, test and evaluation (DDT and E) phase of the major payload carriers but also into the operational phase. The verification process is discussed in terms of its various elements, such as the Space Shuttle DDT and E (including the orbital flight test program) and the major payload carriers DDT and E (including the first flights). Five tools derived from the Space Shuttle DDT and E are available to support the verification process: mathematical (structural and thermal) models, the Shuttle Avionics Integration Laboratory, the Shuttle Manipulator Development Facility, and interface-verification equipment (cargo-integration test equipment).

Robotics and systems technology for advanced endoscopic procedures: experiences in general surgery.

PubMed

Schurr, M O; Arezzo, A; Buess, G F

1999-11-01

The advent of endoscopic techniques changed surgery in many regards. This paper intends to describe an overview about technologies to facilitate endoscopic surgery. The systems described have been developed for the use in general surgery, but an easy application also in the field of cardiac surgery seems realistic. The introduction of system technology and robotic technology enables today to design a highly ergonomic solo-surgery platform. To relief the surgeon from fatigue we developed a new chair dedicated to the functional needs of endoscopic surgery. The foot pedals for high frequency, suction and irrigation are integrated into the basis of the chair. The chair is driven by electric motors controlled with an additional foot pedal joystick to achieve the desired position in the OR. A major enhancement for endoscopic technology is the introduction of robotic technology to design assisting devices for solo-surgery and manipulators for microsurgical instrumentation. A further step in the employment of robotic technology is the design of 'master-slave manipulators' to provide the surgeon with additional degrees of freedom of instrumentation. In 1996 a first prototype of an endoscopic manipulator system. named ARTEMIS, could be used in experimental applications. The system consists of a user station (master) and an instrument station (slave). The surgeon sits at a console which integrates endoscopic monitors, communication facilities and two master devices to control the two slave arms which are mounted to the operating table. Clinical use of the system, however, will require further development in the area of slave mechanics and the control system. Finally the implementation of telecommunication technology in combination with robotic instruments will open new frontiers, such as teleconsulting, teleassistance and telemanipulation.

Development of a high resolution x-ray spectrometer for the National Ignition Facility (NIF)

DOE PAGES

Hill, K. W.; Bitter, M.; Delgado-Aparicio, L.; ...

2016-09-28

A high resolution (E/ΔE = 1200-1800) Bragg crystal x-ray spectrometer is being developed to measure plasma parameters in National Ignition Facility experiments. The instrument will be a diagnostic instrument manipulator positioned cassette designed mainly to infer electron density in compressed capsules from Stark broadening of the helium-β (1s 2-1s3p) lines of krypton and electron temperature from the relative intensities of dielectronic satellites. Two conically shaped crystals will diffract and focus (1) the Kr Heβ complex and (2) the Heα (1s 2-1s2p) and Lyα (1s-2p) complexes onto a streak camera photocathode for time resolved measurement, and a third cylindrical or conicalmore » crystal will focus the full Heα to Heβ spectral range onto an image plate to provide a time integrated calibration spectrum. Calculations of source x-ray intensity, spectrometer throughput, and spectral resolution are presented. Furthermore, details of the conical-crystal focusing properties as well as the status of the instrumental design are also presented.« less

Development of a high resolution x-ray spectrometer for the National Ignition Facility (NIF).

PubMed

Hill, K W; Bitter, M; Delgado-Aparicio, L; Efthimion, P C; Ellis, R; Gao, L; Maddox, J; Pablant, N A; Schneider, M B; Chen, H; Ayers, S; Kauffman, R L; MacPhee, A G; Beiersdorfer, P; Bettencourt, R; Ma, T; Nora, R C; Scott, H A; Thorn, D B; Kilkenny, J D; Nelson, D; Shoup, M; Maron, Y

2016-11-01

A high resolution (E/ΔE = 1200-1800) Bragg crystal x-ray spectrometer is being developed to measure plasma parameters in National Ignition Facility experiments. The instrument will be a diagnostic instrument manipulator positioned cassette designed mainly to infer electron density in compressed capsules from Stark broadening of the helium-β (1s 2 -1s3p) lines of krypton and electron temperature from the relative intensities of dielectronic satellites. Two conically shaped crystals will diffract and focus (1) the Kr Heβ complex and (2) the Heα (1s 2 -1s2p) and Lyα (1s-2p) complexes onto a streak camera photocathode for time resolved measurement, and a third cylindrical or conical crystal will focus the full Heα to Heβ spectral range onto an image plate to provide a time integrated calibration spectrum. Calculations of source x-ray intensity, spectrometer throughput, and spectral resolution are presented. Details of the conical-crystal focusing properties as well as the status of the instrumental design are also presented.

NASA's Zero-g aircraft operations

NASA Technical Reports Server (NTRS)

Williams, R. K.

1988-01-01

NASA's Zero-g aircraft, operated by the Johnson Space Center, provides the unique weightless or zero-g environment of space flight for hardware development and test and astronaut training purposes. The program, which began in 1959, uses a slightly modified Boeing KC-135A aircraft, flying a parabolic trajectory, to produce weightless periods of 20 to 25 seconds. The program has supported the Mercury, Gemini, Apollo, Skylab, Apollo-Soyuz and Shuttle programs as well as a number of unmanned space operations. Typical experiments for flight in the aircraft have included materials processing experiments, welding, fluid manipulation, cryogenics, propellant tankage, satellite deployment dynamics, planetary sciences research, crew training with weightless indoctrination, space suits, tethers, etc., and medical studies including vestibular research. The facility is available to microgravity research organizations on a cost-reimbursable basis, providing a large, hands-on test area for diagnostic and support equipment for the Principal Investigators and providing an iterative-type design approach to microgravity experiment development. The facility allows concepts to be proven and baseline experimentation to be accomplished relatively inexpensively prior to committing to the large expense of a space flight.

Fecal microbiota manipulation prevents dysbiosis and alcohol-induced liver injury in mice.

PubMed

Ferrere, Gladys; Wrzosek, Laura; Cailleux, Frédéric; Turpin, Williams; Puchois, Virginie; Spatz, Madeleine; Ciocan, Dragos; Rainteau, Dominique; Humbert, Lydie; Hugot, Cindy; Gaudin, Françoise; Noordine, Marie-Louise; Robert, Véronique; Berrebi, Dominique; Thomas, Muriel; Naveau, Sylvie; Perlemuter, Gabriel; Cassard, Anne-Marie

2017-04-01

Alcoholic liver disease (ALD) is a leading cause of liver failure and mortality. In humans, severe alcoholic hepatitis is associated with key changes to intestinal microbiota (IM), which influences individual sensitivity to develop advanced ALD. We used the different susceptibility to ALD observed in two distinct animal facilities to test the efficiency of two complementary strategies (fecal microbiota transplantation and prebiotic treatment) to reverse dysbiosis and prevent ALD. Mice were fed alcohol in two distinct animal facilities with a Lieber DeCarli diet. Fecal microbiota transplantation was performed with fresh feces from alcohol-resistant donor mice to alcohol-sensitive receiver mice three times a week. Another group of mice received pectin during the entire alcohol consumption period. Ethanol induced steatosis and liver inflammation, which were associated with disruption of gut homeostasis, in alcohol-sensitive, but not alcohol resistant mice. IM analysis showed that the proportion of Bacteroides was specifically lower in alcohol-sensitive mice (p<0.05). Principal coordinate analysis showed that the IM of sensitive and resistant mice clustered differently. We targeted IM using two different strategies to prevent alcohol-induced liver lesions: (1) pectin treatment which induced major modifications of the IM, (2) fecal microbiota transplantation which resulted in an IM very close to that of resistant donor mice in the sensitive recipient mice. Both methods prevented steatosis, liver inflammation, and restored gut homeostasis. Manipulation of IM can prevent alcohol-induced liver injury. The IM should be considered as a new therapeutic target in ALD. Sensitivity to alcoholic liver disease (ALD) is driven by intestinal microbiota in alcohol fed mice. Treatment of mice with alcohol-induced liver lesions by fecal transplant from alcohol fed mice resistant to ALD or with prebiotic (pectin) prevents ALD. These findings open new possibilities for treatment of human ALD through intestinal microbiota manipulation. Copyright © 2016 European Association for the Study of the Liver. Published by Elsevier B.V. All rights reserved.

Long Term Manipulations of Intact Microbial Mat Communities in a Greenhouse Collaboratory: Simulating Earth's Present and Past Field Environments

NASA Technical Reports Server (NTRS)

Bebout, Brad; DesMarais, David J.; Discipulo, Mykell; Embaye, Tsegereda; Garcia-Pichel, Ferran; Hogan, Mary; Jahnke, Linda L.; Keller, Richard M.; Miller, Scott R.; Prufert-Bebout, Leslie E.;

Long-Term Manipulations of Intact Microbial Mat Communities in a Greenhouse Collaboratory: Simulating Earth's Present and Past Field Environments

NASA Astrophysics Data System (ADS)

Bebout, Brad M.; Carpenter, Steven P.; Des Marais, David J.; Discipulo, Mykell; Embaye, Tsegereda; Garcia-Pichel, Ferran; Hoehler, Tori M.; Hogan, Mary; Jahnke, Linda L.; Keller, Richard M.; Miller, Scott R.; Prufert-Bebout, Leslie E.; Raleigh, Chris; Rothrock, Michael; Turk, Kendra

2002-12-01

Photosynthetic microbial mat communities were obtained from marine hypersaline saltern ponds, maintained in a greenhouse facility, and examined for the effects of salinity variations. Because these microbial mats are considered to be useful analogs of ancient marine communities, they offer insights about evolutionary events during the >3 billion year time interval wherein mats co-evolved with Earth's lithosphere and atmosphere. Although photosynthetic mats can be highly dynamic and exhibit extremely high activity, the mats in the present study have been maintained for >1 year with relatively minor changes. The major groups of microorganisms, as assayed using microscopic, genetic, and biomarker methodologies, are essentially the same as those in the original field samples. Field and greenhouse mats were similar with respect to rates of exchange of oxygen and dissolved inorganic carbon across the mat-water interface, both during the day and at night. Field and greenhouse mats exhibited similar rates of efflux of methane and hydrogen. Manipulations of salinity in the water overlying the mats produced changes in the community that strongly resemble those observed in the field. A collaboratory testbed and an array of automated features are being developed to support remote scientific experimentation with the assistance of intelligent software agents. This facility will permit teams of investigators the opportunity to explore ancient environmental conditions that are rare or absent today but that might have influenced the early evolution of these photosynthetic ecosystems.

Manipulation of positron orbits in a dipole magnetic field with fluctuating electric fields

NASA Astrophysics Data System (ADS)

Saitoh, H.; Horn-Stanja, J.; Nißl, S.; Stenson, E. V.; Hergenhahn, U.; Pedersen, T. Sunn; Singer, M.; Dickmann, M.; Hugenschmidt, C.; Stoneking, M. R.; Danielson, J. R.; Surko, C. M.

2018-01-01

We report the manipulation of positron orbits in a toroidal dipole magnetic field configuration realized with electric fields generated by segmented electrodes. When the toroidal circulation motion of positrons in the dipole field is coupled with time-varying electric fields generated by azimuthally segmented outer electrodes, positrons undergo oscillations of their radial positions. This enables quick manipulation of the spatial profiles of positrons in a dipole field trap by choosing appropriate frequency, amplitude, phase, and gating time of the electric fields. According to numerical orbit analysis, we applied these electric fields to positrons injected from the NEPOMUC slow positron facility into a prototype dipole field trap experiment with a permanent magnet. Measurements with annihilation γ-rays clearly demonstrated the efficient compression effects of positrons into the strong magnetic field region of the dipole field configuration. This positron manipulation technique can be used as one of essential tools for future experiments on the formation of electron-positron plasmas.

13. VIEW OF EAST OPERATING GALLERY ALONG THE POSTMORTEM CELLS. ...

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

13. VIEW OF EAST OPERATING GALLERY ALONG THE POST-MORTEM CELLS. A NUMBER OF MANIPULATOR ARMS COVERED WITH PLASTIC ARE ON THE LEFT WALL. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

Conceptual design and programmatics studies of space station accommodations for Life Sciences Research Facilities (LSRF)

NASA Technical Reports Server (NTRS)

1985-01-01

Conceptual designs and programmatics of the space station accommodations for the Life Sciences Research Facilities (LSRF) are presented. The animal ECLSS system for the LSRF provides temperature-humidity control, air circulation, and life support functions for experimental subjects. Three ECLSS were studied. All configurations presented satisfy the science requirements for: animal holding facilities with bioisolation; facilities interchangeable to hold rodents, small primates, and plants; metabolic cages interchangeable with standard holding cages; holding facilities adaptable to restrained large primates and rodent breeding/nesting cages; volume for the specified instruments; enclosed ferm-free workbench for manipulation of animals and chemical procedures; freezers for specimen storage until return; and centrifuge to maintain animals and plants at fractional g to 1 g or more, with potential for accommodating humans for short time intervals.

EUV polarimetry for thin film and surface characterization and EUV phase retarder reflector development.

PubMed

Gaballah, A E H; Nicolosi, P; Ahmed, Nadeem; Jimenez, K; Pettinari, G; Gerardino, A; Zuppella, P

2018-01-01

The knowledge and the manipulation of light polarization state in the vacuum ultraviolet and extreme ultraviolet (EUV) spectral regions play a crucial role from materials science analysis to optical component improvements. In this paper, we present an EUV spectroscopic ellipsometer facility for polarimetry in the 90-160 nm spectral range. A single layer aluminum mirror to be used as a quarter wave retarder has been fully characterized by deriving the optical and structural properties from the amplitude component and phase difference δ measurements. The system can be suitable to investigate the properties of thin films and optical coatings and optics in the EUV region.

Astronaut Anna Fisher practices control of the RMS in a trainer

NASA Image and Video Library

1984-08-21

S84-40162 (21 Aug. 1984) --- Astronaut Anna L. Fisher controls the Remote Manipulator System (RMS) arm from inside the "orbiter" as part of her training program in the Johnson Space Center's Shuttle Mock-up and Integration Laboratory. Dr. Fisher, one of three mission specialists for mission 51-A, is inside the cabin portion of a trainer called the Manipulatory Development Facility (MDF). She is able to operate the arm in conjunction with an air bearing floor and to log a great deal of rehearsal time for her flight, on which the retrieval of a low-orbiting communications satellite is planned. Photo credit: NASA

CMOS-compatible photonic devices for single-photon generation

NASA Astrophysics Data System (ADS)

Xiong, Chunle; Bell, Bryn; Eggleton, Benjamin J.

2016-09-01

Sources of single photons are one of the key building blocks for quantum photonic technologies such as quantum secure communication and powerful quantum computing. To bring the proof-of-principle demonstration of these technologies from the laboratory to the real world, complementary metal-oxide-semiconductor (CMOS)-compatible photonic chips are highly desirable for photon generation, manipulation, processing and even detection because of their compactness, scalability, robustness, and the potential for integration with electronics. In this paper, we review the development of photonic devices made from materials (e.g., silicon) and processes that are compatible with CMOS fabrication facilities for the generation of single photons.

GelScape: a web-based server for interactively annotating, manipulating, comparing and archiving 1D and 2D gel images.

PubMed

Young, Nelson; Chang, Zhan; Wishart, David S

2004-04-12

GelScape is a web-based tool that permits facile, interactive annotation, comparison, manipulation and storage of protein gel images. It uses Java applet-servlet technology to allow rapid, remote image handling and image processing in a platform-independent manner. It supports many of the features found in commercial, stand-alone gel analysis software including spot annotation, spot integration, gel warping, image resizing, HTML image mapping, image overlaying as well as the storage of gel image and gel annotation data in compliance with Federated Gel Database requirements.

View of SSMRS and Dextre

NASA Image and Video Library

2014-04-30

ISS039-E-016800 (30 April 2014) --- Backdropped against a cloudy portion of Earth, the Special Purpose Dexterous Manipulator -- the Canadian Space Agency’s robotic “handyman” AKA Dextre -- and the Canadarm2 or Space Station Remote Manipulator System arm take a "rest" after completing a task 225 miles above the home planet. Robotic ground controllers used the Canadarm2 and Dextre to remove the High Definition Earth Viewing (HDEV) payload from the trunk of the SpaceX Dragon, seen in the top portion of the photo. HDEV was installed on the nadir adapter on the European Space Agency's Columbus exposed facility (out of frame).

39. INTERIOR VIEW TO THE NORTH OF A WORK STATION ...

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

39. INTERIOR VIEW TO THE NORTH OF A WORK STATION WITH MANIPULATOR ARMS IN THE SOUTH CORRIDOR OF THE SECOND FLOOR. - Nevada Test Site, Reactor Maintenance Assembly & Dissassembly Facility, Area 25, Jackass Flats, Junction of Roads F & G, Mercury, Nye County, NV

40 CFR 160.90 - Animal and other test system care.

Code of Federal Regulations, 2014 CFR

2014-07-01

... PROGRAMS GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 160.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing, feeding, handling, and... terrestrial amphibians used in laboratory procedures that require manipulations and observations over an...

40 CFR 792.90 - Animal and other test system care.

Code of Federal Regulations, 2014 CFR

2014-07-01

... SUBSTANCES CONTROL ACT (CONTINUED) GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 792.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing... adult terrestrial amphibians used in laboratory procedures that require manipulations and observations...

40 CFR 160.90 - Animal and other test system care.

Code of Federal Regulations, 2010 CFR

2010-07-01

... PROGRAMS GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 160.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing, feeding, handling, and... terrestrial amphibians used in laboratory procedures that require manipulations and observations over an...

40 CFR 160.90 - Animal and other test system care.

Code of Federal Regulations, 2013 CFR

2013-07-01

... PROGRAMS GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 160.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing, feeding, handling, and... terrestrial amphibians used in laboratory procedures that require manipulations and observations over an...

40 CFR 792.90 - Animal and other test system care.

Code of Federal Regulations, 2013 CFR

2013-07-01

... SUBSTANCES CONTROL ACT (CONTINUED) GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 792.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing... adult terrestrial amphibians used in laboratory procedures that require manipulations and observations...

40 CFR 792.90 - Animal and other test system care.

Code of Federal Regulations, 2011 CFR

2011-07-01

... SUBSTANCES CONTROL ACT (CONTINUED) GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 792.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing... adult terrestrial amphibians used in laboratory procedures that require manipulations and observations...

40 CFR 160.90 - Animal and other test system care.

Code of Federal Regulations, 2012 CFR

2012-07-01

... PROGRAMS GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 160.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing, feeding, handling, and... terrestrial amphibians used in laboratory procedures that require manipulations and observations over an...

40 CFR 792.90 - Animal and other test system care.

Code of Federal Regulations, 2012 CFR

2012-07-01

... SUBSTANCES CONTROL ACT (CONTINUED) GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 792.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing... adult terrestrial amphibians used in laboratory procedures that require manipulations and observations...

40 CFR 792.90 - Animal and other test system care.

Code of Federal Regulations, 2010 CFR

2010-07-01

... SUBSTANCES CONTROL ACT (CONTINUED) GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 792.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing... adult terrestrial amphibians used in laboratory procedures that require manipulations and observations...

40 CFR 160.90 - Animal and other test system care.

Code of Federal Regulations, 2011 CFR

2011-07-01

... PROGRAMS GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 160.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing, feeding, handling, and... terrestrial amphibians used in laboratory procedures that require manipulations and observations over an...

Robotic System For Greenhouse Or Nursery

NASA Technical Reports Server (NTRS)

Gill, Paul; Montgomery, Jim; Silver, John; Heffelfinger, Neil; Simonton, Ward; Pease, Jim

1993-01-01

Report presents additional information about robotic system described in "Robotic Gripper With Force Control And Optical Sensors" (MFS-28537). "Flexible Agricultural Robotics Manipulator System" (FARMS) serves as prototype of robotic systems intended to enhance productivities of agricultural assembly-line-type facilities in large commercial greenhouses and nurseries.

Underwater EVA training in the WETF with astronaut Robert L. Stewart

NASA Technical Reports Server (NTRS)

1983-01-01

Underwater extravehicular activity (EVA) training in the weightless environment training facility (WETF) with astronaut Robert L. Stewart. Stewart is simulating a planned EVA using the mobile foot restraint device and a one-G version of the Canadian-built remote manipulator system.

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.

Methodological approaches for nanotoxicology using cnidarian models.

PubMed

Ambrosone, Alfredo; Tortiglione, Claudia

2013-03-01

The remarkable amenability of aquatic invertebrates to laboratory manipulation has already made a few species belonging to the phylum Cnidaria as attracting systems for exploring animal development. The proliferation of molecular and genomic tools, including the whole genomic sequence of the freshwater polyp Hydra vulgaris and the starlet sea anemone Nematostella vectensis, further enhances the promise of these species to investigate the evolution of key aspects of development biology. In addition, the facility with which cnidarian population can be investigated within their natural ecological context suggests that these models may be profitably expanded to address important questions in ecology and toxicology. In this review, we explore the traits that make Hydra and Nematostella exceptionally attractive model organisms in context of nanotoxicology, and highlight a number of methods and developments likely to further increase that utility in the near future.

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

A streamlined software environment for situated skills

NASA Technical Reports Server (NTRS)

Yu, Sophia T.; Slack, Marc G.; Miller, David P.

1994-01-01

This paper documents a powerful set of software tools used for developing situated skills. These situated skills form the reactive level of a three-tiered intelligent agent architecture. The architecture is designed to allow these skills to be manipulated by a task level engine which is monitoring the current situation and selecting skills necessary for the current task. The idea is to coordinate the dynamic activations and deactivations of these situated skills in order to configure the reactive layer for the task at hand. The heart of the skills environment is a data flow mechanism which pipelines the currently active skills for execution. A front end graphical interface serves as a debugging facility during skill development and testing. We are able to integrate skills developed in different languages into the skills environment. The power of the skills environment lies in the amount of time it saves for the programmer to develop code for the reactive layer of a robot.

International Space Station alpha remote manipulator system workstation controls test report

NASA Astrophysics Data System (ADS)

Ehrenstrom, William A.; Swaney, Colin; Forrester, Patrick

1994-05-01

Previous development testing for the space station remote manipulator system workstation controls determined the need for hardware controls for the emergency stop, brakes on/off, and some camera functions. This report documents the results of an evaluation to further determine control implementation requirements, requested by the Canadian Space Agency (CSA), to close outstanding review item discrepancies. This test was conducted at the Johnson Space Center's Space Station Mockup and Trainer Facility in Houston, Texas, with nine NASA astronauts and one CSA astronaut as operators. This test evaluated camera iris and focus, back-up drive, latching end effector release, and autosequence controls using several types of hardware and software implementations. Recommendations resulting from the testing included providing guarded hardware buttons to prevent accidental actuation, providing autosequence controls and back-up drive controls on a dedicated hardware control panel, and that 'latch on/latch off', or on-screen software, controls not be considered. Generally, the operators preferred hardware controls although other control implementations were acceptable. The results of this evaluation will be used along with further testing to define specific requirements for the workstation design.

International Space Station alpha remote manipulator system workstation controls test report

NASA Technical Reports Server (NTRS)

Ehrenstrom, William A.; Swaney, Colin; Forrester, Patrick

1994-01-01

Previous development testing for the space station remote manipulator system workstation controls determined the need for hardware controls for the emergency stop, brakes on/off, and some camera functions. This report documents the results of an evaluation to further determine control implementation requirements, requested by the Canadian Space Agency (CSA), to close outstanding review item discrepancies. This test was conducted at the Johnson Space Center's Space Station Mockup and Trainer Facility in Houston, Texas, with nine NASA astronauts and one CSA astronaut as operators. This test evaluated camera iris and focus, back-up drive, latching end effector release, and autosequence controls using several types of hardware and software implementations. Recommendations resulting from the testing included providing guarded hardware buttons to prevent accidental actuation, providing autosequence controls and back-up drive controls on a dedicated hardware control panel, and that 'latch on/latch off', or on-screen software, controls not be considered. Generally, the operators preferred hardware controls although other control implementations were acceptable. The results of this evaluation will be used along with further testing to define specific requirements for the workstation design.

10 CFR 55.59 - Requalification.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 10, chapter I, Code of Federal Regulations. (3) On-the-job training. The requalification program must include on-the-job training so that— (i) Each licensed operator of a utilization facility manipulates the... throughout the retention period specified by each Commission regulation. The record may be the original or a...

Astronaut Ronald Sega in crew cabin

NASA Image and Video Library

1999-02-23

STS060-57-033 (3-11 Feb 1994) --- Astronaut Ronald M. Sega suspends himself in the weightlessness aboard the Space Shuttle Discovery's crew cabin, as the Remote Manipulator System (RMS) arm holds the Wake Shield Facility (WSF) aloft. The mission specialist is co-principal investigator on the WSF project.

Microsoft Repository Version 2 and the Open Information Model.

ERIC Educational Resources Information Center

Bernstein, Philip A.; Bergstraesser, Thomas; Carlson, Jason; Pal, Shankar; Sanders, Paul; Shutt, David

1999-01-01

Describes the programming interface and implementation of the repository engine and the Open Information Model for Microsoft Repository, an object-oriented meta-data management facility that ships in Microsoft Visual Studio and Microsoft SQL Server. Discusses Microsoft's component object model, object manipulation, queries, and information…

10 CFR 55.2 - Scope.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 10 Energy 2 2014-01-01 2014-01-01 false Scope. 55.2 Section 55.2 Energy NUCLEAR REGULATORY COMMISSION (CONTINUED) OPERATORS' LICENSES General Provisions § 55.2 Scope. The regulations in this part apply to— (a) Any individual who manipulates the controls of any utilization facility licensed under...

10 CFR 55.2 - Scope.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 10 Energy 2 2010-01-01 2010-01-01 false Scope. 55.2 Section 55.2 Energy NUCLEAR REGULATORY COMMISSION (CONTINUED) OPERATORS' LICENSES General Provisions § 55.2 Scope. The regulations in this part apply to— (a) Any individual who manipulates the controls of any utilization facility licensed under...

21 CFR 207.3 - Definitions.

Code of Federal Regulations, 2010 CFR

2010-04-01

... chapter, and any distribution of an animal drug or animal feed bearing or containing an animal drug for..., and animal facilities used for the production or control testing of licensed biologicals, and... definition of drugs in section 201(g) of the act. The term includes manipulation, sampling, testing, or...

21 CFR 207.3 - Definitions.

Code of Federal Regulations, 2012 CFR

2012-04-01

... chapter, and any distribution of an animal drug or animal feed bearing or containing an animal drug for..., and animal facilities used for the production or control testing of licensed biologicals, and... definition of drugs in section 201(g) of the act. The term includes manipulation, sampling, testing, or...

21 CFR 207.3 - Definitions.

Code of Federal Regulations, 2013 CFR

2013-04-01

... chapter, and any distribution of an animal drug or animal feed bearing or containing an animal drug for..., and animal facilities used for the production or control testing of licensed biologicals, and... definition of drugs in section 201(g) of the act. The term includes manipulation, sampling, testing, or...

21 CFR 207.3 - Definitions.

Code of Federal Regulations, 2014 CFR

2014-04-01

... chapter, and any distribution of an animal drug or animal feed bearing or containing an animal drug for..., and animal facilities used for the production or control testing of licensed biologicals, and... definition of drugs in section 201(g) of the act. The term includes manipulation, sampling, testing, or...

21 CFR 207.3 - Definitions.

Code of Federal Regulations, 2011 CFR

2011-04-01

... chapter, and any distribution of an animal drug or animal feed bearing or containing an animal drug for..., and animal facilities used for the production or control testing of licensed biologicals, and... definition of drugs in section 201(g) of the act. The term includes manipulation, sampling, testing, or...

Introduction to Space Station Freedom

NASA Technical Reports Server (NTRS)

Kohrs, Richard

1992-01-01

NASA field centers and contractors are organized to develop 'work packages' for Space Station Freedom. Marshall Space Flight Center and Boeing are building the U.S. laboratory and habitation modules, nodes, and environmental control and life support system; Johnson Space Center and McDonnell Douglas are responsible for truss structure, data management, propulsion systems, thermal control, and communications and guidance; Lewis Research Center and Rocketdyne are developing the power system. The Canadian Space Agency (CSA) is contributing a Mobile Servicing Center, Special Dextrous Manipulator, and Mobile Servicing Center Maintenance Depot. The National Space Development Agency of Japan (NASDA) is contributing a Japanese Experiment Module (JEM), which includes a pressurized module, logistics module, and exposed experiment facility. The European Space Agency (ESA) is contributing the Columbus laboratory module. NASA ground facilities, now in various stages of development to support Space Station Freedom, include: Marshall Space Flight Center's Payload Operations Integration Center and Payload Training Complex (Alabama), Johnson Space Center's Space Station Control Center and Space Station Training Facility (Texas), Lewis Research Center's Power System Facility (Ohio), and Kennedy Space Center's Space Station Processing Facility (Florida). Budget appropriations impact the development of the Space Station. In Fiscal Year 1988, Congress appropriated only half of the funds that NASA requested for the space station program ($393 million vs. $767 million). In FY 89, NASA sought $967 million for the program, and Congress appropriated $900 million. NASA's FY 90 request was $2.05 billion compared to an appropriation of $1.75 billion; the FY 91 request was $2.45 billion, and the appropriation was $1.9 billion. After NASA restructured the Space Station Freedom program in response to directions from Congress, the agency's full budget request of $2.029 billion for Space Station Freedom in FY 92 was appropriated. For FY 93, NASA is seeking $2.25 billion for the program; the planned budget for FY 94 is $2.5 billion. Further alterations to the hardware configuration for Freedom would be a serious setback; NASA intends 'to stick with the current baseline' and continue planning for utilization.

High Level Waste Remote Handling Equipment in the Melter Cave Support Handling System at the Hanford Waste Treatment Plant

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

Bardal, M.A.; Darwen, N.J.

2008-07-01

Cold war plutonium production led to extensive amounts of radioactive waste stored in tanks at the Department of Energy's (DOE) Hanford site. Bechtel National, Inc. is building the largest nuclear Waste Treatment Plant in the world located at the Department of Energy's Hanford site to immobilize the millions of gallons of radioactive waste. The site comprises five main facilities; Pretreatment, High Level Waste vitrification, Low Active Waste vitrification, an Analytical Lab and the Balance of Facilities. The pretreatment facilities will separate the high and low level waste. The high level waste will then proceed to the HLW facility for vitrification.more » Vitrification is a process of utilizing a melter to mix molten glass with radioactive waste to form a stable product for storage. The melter cave is designated as the High Level Waste Melter Cave Support Handling System (HSH). There are several key processes that occur in the HSH cell that are necessary for vitrification and include: feed preparation, mixing, pouring, cooling and all maintenance and repair of the process equipment. Due to the cell's high level radiation, remote handling equipment provided by PaR Systems, Inc. is required to install and remove all equipment in the HSH cell. The remote handling crane is composed of a bridge and trolley. The trolley supports a telescoping tube set that rigidly deploys a TR 4350 manipulator arm with seven degrees of freedom. A rotating, extending, and retracting slewing hoist is mounted to the bottom of the trolley and is centered about the telescoping tube set. Both the manipulator and slewer are unique to this cell. The slewer can reach into corners and the manipulator's cross pivoting wrist provides better operational dexterity and camera viewing angles at the end of the arm. Since the crane functions will be operated remotely, the entire cell and crane have been modeled with 3-D software. Model simulations have been used to confirm operational and maintenance functional and timing studies throughout the design process. Since no humans can go in or out of the cell, there are several recovery options that have been designed into the system including jack-down wheels for the bridge and trolley, recovery drums for the manipulator hoist, and a wire rope cable cutter for the slewer jib hoist. If the entire crane fails in cell, the large diameter cable reel that provides power, signal, and control to the crane can be used to retrieve the crane from the cell into the crane maintenance area. (authors)« less

Enhanced Photocatalytic Activity of Bismuth Precursor by Rapid Phase and Surface Transformation Using Structure-Guided Combustion Waves.

PubMed

Lee, Kang Yeol; Hwang, Hayoung; Kim, Tae Ho; Choi, Wonjoon

2016-02-10

The development of an efficient method for manipulating phase and surface transformations would facilitate the improvement of catalytic materials for use in a diverse range of applications. Herein, we present the first instance of a submicrosecond time frame direct phase and surface transformation of Bi(NO3)3 rods to nanoporous β-Bi2O3 rods via structure-guided combustion waves. Hybrid composites of the prepared Bi(NO3)3·H2O rods and organic fuel were fabricated by a facile preparation method. The anisotropic propagation of combustion waves along the interfacial boundaries of Bi(NO3)3·H2O rods induced direct phase transformation to β-Bi2O3 rods in the original structure due to the rapid pyrolysis, while the release of gas molecules enabled the formation of nanoporous structures on the surfaces of rods. The developed β-Bi2O3 rods showed improved photocatalytic activity for the photodegradation of rhodamine B in comparison with Bi(NO3)3·H2O rods and α-Bi2O3 rods due to the more suitable interdistance and the large contact areas of the porous surfaces. This new method of using structure-guided combustion waves for phase and surface transformation may contribute to the development of new catalysts as well as the precise manipulation of diverse micronanostructured materials.

CISP: Simulation Platform for Collective Instabilities in the BRing of HIAF project

NASA Astrophysics Data System (ADS)

Liu, J.; Yang, J. C.; Xia, J. W.; Yin, D. Y.; Shen, G. D.; Li, P.; Zhao, H.; Ruan, S.; Wu, B.

2018-02-01

To simulate collective instabilities during the complicated beam manipulation in the BRing (Booster Ring) of HIAF (High Intensity heavy-ion Accelerator Facility) or other high intensity accelerators, a code, named CISP (Simulation Platform for Collective Instabilities), is designed and constructed in China's IMP (Institute of Modern Physics). The CISP is a scalable multi-macroparticle simulation platform that can perform longitudinal and transverse tracking when chromaticity, space charge effect, nonlinear magnets and wakes are included. And due to its well object-oriented design, the CISP is also a basic platform used to develop many other applications (like feedback). Several simulations, completed by the CISP in this paper, agree with analytical results very well, which shows that the CISP is fully functional now and it is a powerful platform for the further collective instability research in the BRing or other accelerators. In the future, the CISP can also be extended easily into a physics control system for HIAF or other facilities.

Web-based system for surgical planning and simulation

NASA Astrophysics Data System (ADS)

Eldeib, Ayman M.; Ahmed, Mohamed N.; Farag, Aly A.; Sites, C. B.

1998-10-01

The growing scientific knowledge and rapid progress in medical imaging techniques has led to an increasing demand for better and more efficient methods of remote access to high-performance computer facilities. This paper introduces a web-based telemedicine project that provides interactive tools for surgical simulation and planning. The presented approach makes use of client-server architecture based on new internet technology where clients use an ordinary web browser to view, send, receive and manipulate patients' medical records while the server uses the supercomputer facility to generate online semi-automatic segmentation, 3D visualization, surgical simulation/planning and neuroendoscopic procedures navigation. The supercomputer (SGI ONYX 1000) is located at the Computer Vision and Image Processing Lab, University of Louisville, Kentucky. This system is under development in cooperation with the Department of Neurological Surgery, Alliant Health Systems, Louisville, Kentucky. The server is connected via a network to the Picture Archiving and Communication System at Alliant Health Systems through a DICOM standard interface that enables authorized clients to access patients' images from different medical modalities.

Research of beam smoothing technologies using CPP, SSD, and PS

NASA Astrophysics Data System (ADS)

Zhang, Rui; Su, Jingqin; Hu, Dongxia; Li, Ping; Yuan, Haoyu; Zhou, Wei; Yuan, Qiang; Wang, Yuancheng; Tian, Xiaocheng; Xu, Dangpeng; Dong, Jun; Zhu, Qihua

2015-02-01

Precise physical experiments place strict requirements on target illumination uniformity in Inertial Confinement Fusion. To obtain a smoother focal spot and suppress transverse SBS in large aperture optics, Multi-FM smoothing by spectral dispersion (SSD) was studied combined with continuous phase plate (CPP) and polarization smoothing (PS). New ways of PS are being developed to improve the laser irradiation uniformity and solve LPI problems in indirect-drive laser fusion. The near field and far field properties of beams using polarization smoothing were studied and compared, including birefringent wedge and polarization control array. As more parameters can be manipulated in a combined beam smoothing scheme, quad beam smoothing was also studies. Simulation results indicate through adjusting dispersion directions of one-dimensional (1-D) SSD beams in a quad, two-dimensional SSD can be obtained. Experiments have been done on SG-III laser facility using CPP and Multi-FM SSD. The research provides some theoretical and experimental basis for the application of CPP, SSD and PS on high-power laser facilities.

The Berkeley extreme ultraviolet calibration facility

NASA Technical Reports Server (NTRS)

Welsh, Barry Y.; Jelinsky, Patrick; Malina, Roger F.

1988-01-01

The vacuum calibration facilities of the Space Sciences Laboratory, University of California at Berkeley are designed for the calibration and testing of EUV and FUV spaceborne instrumentation (spectral range 44-2500 A). The facility includes one large cylindrical vacuum chamber (3 x 5 m) containing two EUV collimators, and it is equipped with a 4-axis manipulator of angular-control resolution 1 arcsec for payloads weighing up to 500 kg. In addition, two smaller cylindrical chambers, each 0.9 x 1.2 m, are available for vacuum and thermal testing of UV detectors, filters, and space electronics hardware. All three chambers open into class-10,000 clean rooms, and all calibrations are referred to NBS secondary standards.

VCSim3: a VR simulator for cardiovascular interventions.

PubMed

Korzeniowski, Przemyslaw; White, Ruth J; Bello, Fernando

2018-01-01

Effective and safe performance of cardiovascular interventions requires excellent catheter/guidewire manipulation skills. These skills are currently mainly gained through an apprenticeship on real patients, which may not be safe or cost-effective. Computer simulation offers an alternative for core skills training. However, replicating the physical behaviour of real instruments navigated through blood vessels is a challenging task. We have developed VCSim3-a virtual reality simulator for cardiovascular interventions. The simulator leverages an inextensible Cosserat rod to model virtual catheters and guidewires. Their mechanical properties were optimized with respect to their real counterparts scanned in a silicone phantom using X-ray CT imaging. The instruments are manipulated via a VSP haptic device. Supporting solutions such as fluoroscopic visualization, contrast flow propagation, cardiac motion, balloon inflation, and stent deployment, enable performing a complete angioplasty procedure. We present detailed results of simulation accuracy of the virtual instruments, along with their computational performance. In addition, the results of a preliminary face and content validation study conveyed on a group of 17 interventional radiologists are given. VR simulation of cardiovascular procedure can contribute to surgical training and improve the educational experience without putting patients at risk, raising ethical issues or requiring expensive animal or cadaver facilities. VCSim3 is still a prototype, yet the initial results indicate that it provides promising foundations for further development.

Environmental management: a re-emerging vector control strategy.

PubMed

Ault, S K

1994-01-01

Vector control may be accomplished by environmental management (EM), which consists of permanent or long-term modification of the environment, temporary or seasonal manipulation of the environment, and modifying or changing our life styles and practices to reduce human contact with infective vectors. The primary focus of this paper is EM in the control of human malaria, filariasis, arboviruses, Chagas' disease, and schistosomiasis. Modern EM developed as a discipline based primarily in ecologic principles and lessons learned from the adverse environmental impacts of rural development projects. Strategies such as the suppression of vector populations through the provision of safe water supplies, proper sanitation, solid waste management facilities, sewerage and excreta disposal systems, water manipulation in dams and irrigation systems, vector diversion by zooprophylaxis, and vector exclusion by improved housing, are discussed with appropriate examples. Vectors of malaria, filariasis, Chagas' disease, and schistosomiasis have been controlled by drainage or filling aquatic breeding sites, improved housing and sanitation, the use of expanded polystyrene beads, zooprophylaxis, or the provision of household water supplies. Community participation has been effective in the suppression of dengue vectors in Mexico and the Dominican Republic. Alone or combined with other vector control methods, EM has been proven to be a successful approach to vector control in a number of places. The future of EM in vector control looks promising.

Astronaut Ronald Sega in crew cabin

NASA Technical Reports Server (NTRS)

1994-01-01

Astronaut Ronald M. Sega suspends himself in the weightlessness aboard the Space Shuttle Discovery's crew cabin, as the Remote Manipulator System (RMS) arm holds the Wake Shield Facility (WSF) aloft. The mission specialist is co-principle investigator on the the WSF project. Note the University of Colorado, Colorado Springs banner above his head.

Proceedings of the 2nd Annual Conference on NASA/University Advanced Space Design Program

NASA Technical Reports Server (NTRS)

1986-01-01

Topics discussed include: lunar transportation system, Mars rover, lunar fiberglass production, geosynchronous space stations, regenerative system for growing plants, lunar mining devices, lunar oxygen transporation system, mobile remote manipulator system, Mars exploration, launch/landing facility for a lunar base, and multi-megawatt nuclear power system.

Geophysical Monitoring of Two types of Subsurface Injection

EPA Science Inventory

Nano-scale particles of zero-valent iron (ZVI) were injected into the subsurface at the 100-D area of the DOE Hanford facility. The intent of this iron injection was to repair a gap in the existing in-situ redox manipulation barrier located at the site. A number of geophysical me...

Processing MPI Datatypes Outside MPI

NASA Astrophysics Data System (ADS)

Ross, Robert; Latham, Robert; Gropp, William; Lusk, Ewing; Thakur, Rajeev

The MPI datatype functionality provides a powerful tool for describing structured memory and file regions in parallel applications, enabling noncontiguous data to be operated on by MPI communication and I/O routines. However, no facilities are provided by the MPI standard to allow users to efficiently manipulate MPI datatypes in their own codes.

The Dartmouth Elephant plasma facility

NASA Astrophysics Data System (ADS)

Lynch, K. A.

2017-12-01

The Elephant facility in the Dartmouth Dept of Physics and Astronomyis a 1m by 2m chamber with a microwave-resonant plasma source togetherwith a higher energy electron/ion electrostatic gun. In this chamber weaim to re-create features of the auroral ionosphere including both thethermal plasma background, and the precipitating energetic auroral beam.We can manipulate the position and attitude of various sensors withinthe chamber and monitor their response to the various sources. Recentefforts have focussed on the sheath environment near and around thermalion RPA sensors and the small payloads which carry them into theionosphere.

Early Career. Harnessing nanotechnology for fusion plasma-material interface research in an in-situ particle-surface interaction facility

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

Allain, Jean Paul

2014-08-08

This project consisted of fundamental and applied research of advanced in-situ particle-beam interactions with surfaces/interfaces to discover novel materials able to tolerate intense conditions at the plasma-material interface (PMI) in future fusion burning plasma devices. The project established a novel facility that is capable of not only characterizing new fusion nanomaterials but, more importantly probing and manipulating materials at the nanoscale while performing subsequent single-effect in-situ testing of their performance under simulated environments in fusion PMI.

Cryopreservation in Closed Bag Systems as an Alternative to Clean Rooms for Preparations of Peripheral Blood Stem Cells.

PubMed

Spoerl, Silvia; Peter, Robert; Krackhardt, Angela M

2016-01-01

Autologous and allogeneic stem cell transplantation (SCT) represents a therapeutic option widely used for hematopoietic malignancies. One important milestone in the development of this treatment strategy was the development of effective cryopreservation technologies resulting in a high quality with respect to cell viability as well as lack of contamination of the graft.Stem cell preparations have been initially performed within standard laboratories as it is routinely still the case in many countries. With the emergence of cleanrooms, manufacturing of stem cell preparations within these facilities has become a new standard mandatory in Europe. However, due to high costs and laborious procedures, novel developments recently emerged using closed bag systems as reliable alternatives to conventional cleanrooms. Several hurdles needed to be overcome including the addition of the cryoprotectant dimethylsulfoxide (DMSO) as a relevant manipulation. As a result of the development, closed bag systems proved to be comparable in terms of product quality and patient outcome to cleanroom products. They also comply with the strict regulations of good manufacturing practice.With closed systems being available, costs and efforts of a cleanroom facility may be substantially reduced in the future. The process can be easily extended for other cell preparations requiring minor modifications as donor lymphocyte preparations. Moreover, novel developments may provide solutions for the production of advanced-therapy medicinal products in closed systems.

The Center for Nanophase Materials Sciences

NASA Astrophysics Data System (ADS)

Lowndes, Douglas

2005-03-01

The Center for Nanophase Materials Sciences (CNMS) located at Oak Ridge National Laboratory (ORNL) will be the first DOE Nanoscale Science Research Center to begin operation, with construction to be completed in April 2005 and initial operations in October 2005. The CNMS' scientific program has been developed through workshops with the national community, with the goal of creating a highly collaborative research environment to accelerate discovery and drive technological advances. Research at the CNMS is organized under seven Scientific Themes selected to address challenges to understanding and to exploit particular ORNL strengths (see http://cnms.ornl.govhttp://cnms.ornl.gov). These include extensive synthesis and characterization capabilities for soft, hard, nanostructured, magnetic and catalytic materials and their composites; neutron scattering at the Spallation Neutron Source and High Flux Isotope Reactor; computational nanoscience in the CNMS' Nanomaterials Theory Institute and utilizing facilities and expertise of the Center for Computational Sciences and the new Leadership Scientific Computing Facility at ORNL; a new CNMS Nanofabrication Research Laboratory; and a suite of unique and state-of-the-art instruments to be made reliably available to the national community for imaging, manipulation, and properties measurements on nanoscale materials in controlled environments. The new research facilities will be described together with the planned operation of the user research program, the latter illustrated by the current ``jump start'' user program that utilizes existing ORNL/CNMS facilities.

Ballistic Jumping Drops on Superhydrophobic Surfaces via Electrostatic Manipulation.

PubMed

Li, Ning; Wu, Lei; Yu, Cunlong; Dai, Haoyu; Wang, Ting; Dong, Zhichao; Jiang, Lei

2018-02-01

The ballistic ejection of liquid drops by electrostatic manipulating has both fundamental and practical implications, from raindrops in thunderclouds to self-cleaning, anti-icing, condensation, and heat transfer enhancements. In this paper, the ballistic jumping behavior of liquid drops from a superhydrophobic surface is investigated. Powered by the repulsion of the same kind of charges, water drops can jump from the surface. The electrostatic acting time for the jumping of a microliter supercooled drop only takes several milliseconds, even shorter than the time for icing. In addition, one can control the ballistic jumping direction precisely by the relative position above the electrostatic field. The approach offers a facile method that can be used to manipulate the ballistic drop jumping via an electrostatic field, opening the possibility of energy efficient drop detaching techniques in various applications. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Software systems for modeling articulated figures

NASA Technical Reports Server (NTRS)

Phillips, Cary B.

1989-01-01

Research in computer animation and simulation of human task performance requires sophisticated geometric modeling and user interface tools. The software for a research environment should present the programmer with a powerful but flexible substrate of facilities for displaying and manipulating geometric objects, yet insure that future tools have a consistent and friendly user interface. Jack is a system which provides a flexible and extensible programmer and user interface for displaying and manipulating complex geometric figures, particularly human figures in a 3D working environment. It is a basic software framework for high-performance Silicon Graphics IRIS workstations for modeling and manipulating geometric objects in a general but powerful way. It provides a consistent and user-friendly interface across various applications in computer animation and simulation of human task performance. Currently, Jack provides input and control for applications including lighting specification and image rendering, anthropometric modeling, figure positioning, inverse kinematics, dynamic simulation, and keyframe animation.

CRISPR/Cas9 Editing of the Bacillus subtilis Genome

PubMed Central

Burby, Peter E.; Simmons, Lyle A.

2017-01-01

A fundamental procedure for most modern biologists is the genetic manipulation of the organism under study. Although many different methods for editing bacterial genomes have been used in laboratories for decades, the adaptation of CRISPR/Cas9 technology to bacterial genetics has allowed researchers to manipulate bacterial genomes with unparalleled facility. CRISPR/Cas9 has allowed for genome edits to be more precise, while also increasing the efficiency of transferring mutations into a variety of genetic backgrounds. As a result, the advantages are realized in tractable organisms and organisms that have been refractory to genetic manipulation. Here, we describe our method for editing the genome of the bacterium Bacillus subtilis. Our method is highly efficient, resulting in precise, markerless mutations. Further, after generating the editing plasmid, the mutation can be quickly introduced into several genetic backgrounds, greatly increasing the speed with which genetic analyses may be performed. PMID:28706963

Near real time/low latency data collection for climate warming manipulations and an elevated CO2 SPRUCE experiment

NASA Astrophysics Data System (ADS)

Krassovski, M.; Hanson, P. J.; Riggs, J. S.; Nettles, W. R., IV

2017-12-01

Climate change studies are one of the most important aspects of modern science and related experiments are getting bigger and more complex. One such experiment is the Spruce and Peatland Responses Under Climatic and Environmental Change experiment (SPRUCE, http://mnspruce.ornl.gov) conducted in in northern Minnesota, 40 km north of Grand Rapids, in the USDA Forest Service Marcell Experimental Forest (MEF). The SPRUCE experimental mission is to assess ecosystem-level biological responses of vulnerable, high carbon terrestrial ecosystems to a range of climate warming manipulations and an elevated CO2 atmosphere. This manipulation experiment generates a lot of observational data and requires a reliable onsite data collection system, dependable methods to transfer data to a robust scientific facility, and real-time monitoring capabilities. This presentation shares our experience of establishing near real time/low latency data collection and monitoring system using satellite communication.

voevent-parse: Parse, manipulate, and generate VOEvent XML packets

NASA Astrophysics Data System (ADS)

Staley, Tim D.

2014-11-01

voevent-parse, written in Python, parses, manipulates, and generates VOEvent XML packets; it is built atop lxml.objectify. Details of transients detected by many projects, including Fermi, Swift, and the Catalina Sky Survey, are currently made available as VOEvents, which is also the standard alert format by future facilities such as LSST and SKA. However, working with XML and adhering to the sometimes lengthy VOEvent schema can be a tricky process. voevent-parse provides convenience routines for common tasks, while allowing the user to utilise the full power of the lxml library when required. An earlier version of voevent-parse was part of the pysovo (ascl:1411.002) library.

SETS. Set Equation Transformation System

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

Worrell, R.B.

1992-01-13

SETS is used for symbolic manipulation of Boolean equations, particularly the reduction of equations by the application of Boolean identities. It is a flexible and efficient tool for performing probabilistic risk analysis (PRA), vital area analysis, and common cause analysis. The equation manipulation capabilities of SETS can also be used to analyze noncoherent fault trees and determine prime implicants of Boolean functions, to verify circuit design implementation, to determine minimum cost fire protection requirements for nuclear reactor plants, to obtain solutions to combinatorial optimization problems with Boolean constraints, and to determine the susceptibility of a facility to unauthorized access throughmore » nullification of sensors in its protection system.« less

KENNEDY SPACE CENTER, FLA. - STS-120 Mission Specialists Piers Sellers and Michael Foreman look at the Japanese Experiment Module (JEM) Pressurized Module located in the Space Station Processing Facility. Known as Kibo, the JEM consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The STS-120 mission will deliver the second of three Station connecting modules, Node 2, which attaches to the end of U.S. Lab. It will provide attach locations for the JEM, European laboratory, the Centrifuge Accommodation Module and later Multi-Purpose Logistics Modules. The addition of Node 2 will complete the U.S. core of the International Space Station.

NASA Image and Video Library

2003-07-18

KENNEDY SPACE CENTER, FLA. - STS-120 Mission Specialists Piers Sellers and Michael Foreman look at the Japanese Experiment Module (JEM) Pressurized Module located in the Space Station Processing Facility. Known as Kibo, the JEM consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The STS-120 mission will deliver the second of three Station connecting modules, Node 2, which attaches to the end of U.S. Lab. It will provide attach locations for the JEM, European laboratory, the Centrifuge Accommodation Module and later Multi-Purpose Logistics Modules. The addition of Node 2 will complete the U.S. core of the International Space Station.

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-120 Mission Specialist Piers Sellers looks over the Japanese Experiment Module (JEM) Pressurized Module. Known as Kibo, the JEM consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The STS-120 mission will deliver the second of three Station connecting modules, Node 2, which attaches to the end of U.S. Lab. It will provide attach locations for the Japanese laboratory, European laboratory, the Centrifuge Accommodation Module and later Multi-Purpose Logistics Modules. The addition of Node 2 will complete the U.S. core of the International Space Station.

NASA Image and Video Library

2003-07-18

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-120 Mission Specialist Piers Sellers looks over the Japanese Experiment Module (JEM) Pressurized Module. Known as Kibo, the JEM consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The STS-120 mission will deliver the second of three Station connecting modules, Node 2, which attaches to the end of U.S. Lab. It will provide attach locations for the Japanese laboratory, European laboratory, the Centrifuge Accommodation Module and later Multi-Purpose Logistics Modules. The addition of Node 2 will complete the U.S. core of the International Space Station.

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-120 Mission Specialist Michael Foreman looks over the Japanese Experiment Module (JEM) Pressurized Module. Known as Kibo, the JEM consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The STS-120 mission will deliver the second of three Station connecting modules, Node 2, which attaches to the end of U.S. Lab. It will provide attach locations for the Japanese laboratory, European laboratory, the Centrifuge Accommodation Module and later Multi-Purpose Logistics Modules. The addition of Node 2 will complete the U.S. core of the International Space Station.

NASA Image and Video Library

2003-07-18

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-120 Mission Specialist Michael Foreman looks over the Japanese Experiment Module (JEM) Pressurized Module. Known as Kibo, the JEM consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The STS-120 mission will deliver the second of three Station connecting modules, Node 2, which attaches to the end of U.S. Lab. It will provide attach locations for the Japanese laboratory, European laboratory, the Centrifuge Accommodation Module and later Multi-Purpose Logistics Modules. The addition of Node 2 will complete the U.S. core of the International Space Station.

Managing geometric information with a data base management system

NASA Technical Reports Server (NTRS)

Dube, R. P.

1984-01-01

The strategies for managing computer based geometry are described. The computer model of geometry is the basis for communication, manipulation, and analysis of shape information. The research on integrated programs for aerospace-vehicle design (IPAD) focuses on the use of data base management system (DBMS) technology to manage engineering/manufacturing data. The objectives of IPAD is to develop a computer based engineering complex which automates the storage, management, protection, and retrieval of engineering data. In particular, this facility must manage geometry information as well as associated data. The approach taken on the IPAD project to achieve this objective is discussed. Geometry management in current systems and the approach taken in the early IPAD prototypes are examined.

Design of a monitor and simulation terminal (master) for space station telerobotics and telescience

NASA Technical Reports Server (NTRS)

Lopez, L.; Konkel, C.; Harmon, P.; King, S.

1989-01-01

Based on Space Station and planetary spacecraft communication time delays and bandwidth limitations, it will be necessary to develop an intelligent, general purpose ground monitor terminal capable of sophisticated data display and control of on-orbit facilities and remote spacecraft. The basic elements that make up a Monitor and Simulation Terminal (MASTER) include computer overlay video, data compression, forward simulation, mission resource optimization and high level robotic control. Hardware and software elements of a MASTER are being assembled for testbed use. Applications of Neural Networks (NNs) to some key functions of a MASTER are also discussed. These functions are overlay graphics adjustment, object correlation and kinematic-dynamic characterization of the manipulator.

Design and Development of a Virtual Facility Tour Using iPIX(TM) Technology

NASA Technical Reports Server (NTRS)

Farley, Douglas L.

2002-01-01

The capabilities of the iPIX virtual tour software, in conjunction with a web-based interface create a unique and valuable system that provides users with an efficient virtual capability to tour facilities while being able to acquire the necessary technical content is demonstrated. A users guide to the Mechanics and Durability Branch's virtual tour is presented. The guide provides the user with instruction on operating both scripted and unscripted tours as well as a discussion of the tours for Buildings 1148, 1205 and 1256 and NASA Langley Research Center. Furthermore, an indepth discussion has been presented on how to develop a virtual tour using the iPIX software interface with conventional html and JavaScript. The main aspects for discussion are on network and computing issues associated with using this capability. A discussion of how to take the iPIX pictures, manipulate them and bond them together to form hemispherical images is also presented. Linking of images with additional multimedia content is discussed. Finally, a method to integrate the iPIX software with conventional HTML and JavaScript to facilitate linking with multi-media is presented.

Beam manipulation with velocity bunching for PWFA applications

NASA Astrophysics Data System (ADS)

Pompili, R.; Anania, M. P.; Bellaveglia, M.; Biagioni, A.; Bisesto, F.; Chiadroni, E.; Cianchi, A.; Croia, M.; Curcio, A.; Di Giovenale, D.; Ferrario, M.; Filippi, F.; Galletti, M.; Gallo, A.; Giribono, A.; Li, W.; Marocchino, A.; Mostacci, A.; Petrarca, M.; Petrillo, V.; Di Pirro, G.; Romeo, S.; Rossi, A. R.; Scifo, J.; Shpakov, V.; Vaccarezza, C.; Villa, F.; Zhu, J.

2016-09-01

The activity of the SPARC_LAB test-facility (LNF-INFN, Frascati) is currently focused on the development of new plasma-based accelerators. Particle accelerators are used in many fields of science, with applications ranging from particle physics research to advanced radiation sources (e.g. FEL). The demand to accelerate particles to higher and higher energies is currently limited by the effective efficiency in the acceleration process that requires the development of km-size facilities. By increasing the accelerating gradient, the compactness can be improved and costs reduced. Recently, the new technique which attracts main efforts relies on plasma acceleration. In the following, the current status of plasma-based activities at SPARC_LAB is presented. Both laser- and beam-driven schemes will be adopted with the aim to provide an adequate accelerating gradient (1-10 GV/m) while preserving the brightness of the accelerated beams to the level of conventional photo-injectors. This aspect, in particular, requires the use of ultra-short (< 100 fs) electron beams, consisting in one or more bunches. We show, with the support of simulations and experimental results, that such beams can be produced using RF compression by velocity-bunching.

Dual benefit robotics programs at Sandia National Laboratories

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

Jones, A.T.

Sandia National Laboratories has one of the largest integrated robotics laboratories in the United States. Projects include research, development, and application of one-of-a-kind systems, primarily for the Department of Energy (DOE) complex. This work has been underway for more than 10 years. It began with on-site activities that required remote operation, such as reactor and nuclear waste handling. Special purpose robot systems were developed using existing commercial manipulators and fixtures and programs designed in-house. These systems were used in applications such as servicing the Sandia pulsed reactor and inspecting remote roof bolts in an underground radioactive waste disposal facility. Inmore » the beginning, robotics was a small effort, but with increasing attention to the use of robots for hazardous operations, efforts now involve a staff of more than 100 people working in a broad robotics research, development, and applications program that has access to more than 30 robotics systems.« less

[Service robots in elderly care. Possible application areas and current state of developments].

PubMed

Graf, B; Heyer, T; Klein, B; Wallhoff, F

2013-08-01

The term "Service robotics" describes semi- or fully autonomous technical systems able to perform services useful to the well-being of humans. Service robots have the potential to support and disburden both persons in need of care as well as nursing care staff. In addition, they can be used in prevention and rehabilitation in order to reduce or avoid the need for help. Products currently available to support people in domestic environments are mainly cleaning or remote-controlled communication robots. Examples of current research activities are the (further) development of mobile robots as advanced communication assistants or the development of (semi) autonomous manipulation aids and multifunctional household assistants. Transport robots are commonly used in many hospitals. In nursing care facilities, the first evaluations have already been made. So-called emotional robots are now sold as products and can be used for therapeutic, occupational, or entertainment activities.

Extension of D-H parameter method to hybrid manipulators used in robot-assisted surgery.

PubMed

Singh, Amanpreet; Singla, Ashish; Soni, Sanjeev

2015-10-01

The main focus of this work is to extend the applicability of D-H parameter method to develop a kinematic model of a hybrid manipulator. A hybrid manipulator is a combination of open- and closed-loop chains and contains planar and spatial links. It has been found in the literature that D-H parameter method leads to ambiguities, when dealing with closed-loop chains. In this work, it has been observed that the D-H parameter method, when applied to a hybrid manipulator, results in an orientational inconsistency, because of which the method cannot be used to develop the kinematic model. In this article, the concept of dummy frames is proposed to resolve the orientational inconsistency and to develop the kinematic model of a hybrid manipulator. Moreover, the prototype of 7-degree-of-freedom hybrid manipulator, known as a surgeon-side manipulator to assist the surgeon during a medical surgery, is also developed to validate the kinematic model derived in this work. © IMechE 2015.

DomeGene Experiment at Cell Biology Experiment Facility (CBEF) in JPM

NASA Image and Video Library

2009-03-18

ISS018-E-040985 (18 March 2009) --- Japan Aerospace Exploration Agency (JAXA) astronaut Koichi Wakata, Expedition 18 flight engineer, uses a computer at the Japanese Remote Manipulator System (JEM-RMS) work station in the Kibo laboratory of the International Space Station while Space Shuttle Discovery (STS-119) remains docked with the station.

DomeGene Experiment at Cell Biology Experiment Facility (CBEF) in JPM

NASA Image and Video Library

2009-03-18

ISS018-E-040986 (18 March 2009) --- Japan Aerospace Exploration Agency (JAXA) astronaut Koichi Wakata, Expedition 18 flight engineer, uses a computer at the Japanese Remote Manipulator System (JEM-RMS) work station in the Kibo laboratory of the International Space Station while Space Shuttle Discovery (STS-119) remains docked with the station.

Space station needs, attributes and architectural options study. Volume 7-4B: Data book, architecture, technology and programmatics, part B

NASA Technical Reports Server (NTRS)

1983-01-01

The remote manipulating system, the pointing control system, and the external radiator for the core module of the space station are discussed. The principal interfaces for four basic classes of user and transportation vehicles or facilities associated with the space station were examined.

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.

Hydrogel Walkers with Electro-Driven Motility for Cargo Transport.

PubMed

Yang, Chao; Wang, Wei; Yao, Chen; Xie, Rui; Ju, Xiao-Jie; Liu, Zhuang; Chu, Liang-Yin

2015-08-28

In this study, soft hydrogel walkers with electro-driven motility for cargo transport have been developed via a facile mould-assisted strategy. The hydrogel walkers consisting of polyanionic poly(2-acrylamido-2-methylpropanesulfonic acid-co-acrylamide) exhibit an arc looper-like shape with two "legs" for walking. The hydrogel walkers can reversibly bend and stretch via repeated "on/off" electro-triggers in electrolyte solution. Based on such bending/stretching behaviors, the hydrogel walkers can move their two "legs" to achieve one-directional walking motion on a rough surface via repeated "on/off" electro-triggering cycles. Moreover, the hydrogel walkers loaded with very heavy cargo also exhibit excellent walking motion for cargo transport. Such hydrogel systems create new opportunities for developing electro-controlled soft systems with simple design/fabrication strategies in the soft robotic field for remote manipulation and transportation.

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.

Three-axis electron-beam test facility

NASA Technical Reports Server (NTRS)

Dayton, J. A., Jr.; Ebihara, B. T.

1981-01-01

An electron beam test facility, which consists of a precision multidimensional manipulator built into an ultra-high-vacuum bell jar, was designed, fabricated, and operated at Lewis Research Center. The position within the bell jar of a Faraday cup which samples current in the electron beam under test, is controlled by the manipulator. Three orthogonal axes of motion are controlled by stepping motors driven by digital indexers, and the positions are displayed on electronic totalizers. In the transverse directions, the limits of travel are approximately + or - 2.5 cm from the center with a precision of 2.54 micron (0.0001 in.); in the axial direction, approximately 15.0 cm of travel are permitted with an accuracy of 12.7 micron (0.0005 in.). In addition, two manually operated motions are provided, the pitch and yaw of the Faraday cup with respect to the electron beam can be adjusted to within a few degrees. The current is sensed by pulse transformers and the data are processed by a dual channel box car averager with a digital output. The beam tester can be operated manually or it can be programmed for automated operation. In the automated mode, the beam tester is controlled by a microcomputer (installed at the test site) which communicates with a minicomputer at the central computing facility. The data are recorded and later processed by computer to obtain the desired graphical presentations.

A new generation of x-ray spectrometry UHV instruments at the SR facilities BESSY II, ELETTRA and SOLEIL

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

Lubeck, J., E-mail: janin.lubeck@ptb.de; Fliegauf, R.; Holfelder, I.

A novel type of ultra-high vacuum instrument for X-ray reflectometry and spectrometry-related techniques for nanoanalytics by means of synchrotron radiation (SR) has been constructed and commissioned at BESSY II. This versa-tile instrument was developed by the PTB, Germany’s national metrology institute, and includes a 9-axis manipulator that allows for an independent alignment of the samples with respect to all degrees of freedom. In addition, it integrates a rotational and translational movement of several photodiodes as well as a translational movement of a beam-geometry-defining aperture system. Thus, the new instrument enables various analytical techniques based on energy dispersive X-ray detectors suchmore » as reference-free X-Ray Fluorescence (XRF) analysis, total-reflection XRF, grazing-incidence XRF, in addition to optional X-Ray Reflectometry (XRR) measurements or polarization-dependent X-ray absorption fine structure analyses (XAFS). Samples having a size of up to (100 × 100) mm{sup 2}; can be analyzed with respect to their mass deposition, elemental, spatial or species composition. Surface contamination, nanolayer composition and thickness, depth pro-file of matrix elements or implants, nanoparticles or buried interfaces as well as molecular orientation of bonds can be accessed. Three technology transfer projects of adapted instruments have enhanced X-Ray Spectrometry (XRS) research activities within Europe at the synchrotron radiation facilities ELETTRA (IAEA) and SOLEIL (CEA/LNE-LNHB) as well as at the X-ray innovation laboratory BLiX (TU Berlin) where different laboratory sources are used. Here, smaller chamber requirements led PTB in cooperation with TU Berlin to develop a modified instrument equipped with a 7-axis manipulator: reduced freedom in the choice of experimental geometry modifications (absence of out-of-SR-plane and reference-free XRS options) has been compensated by encoder-enhanced angular accuracy for GIXRF and XRR.« less

Calcine Waste Storage at the Idaho Nuclear Technology and Engineering Center

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

Staiger, Merle Daniel; M. C. Swenson

2005-01-01

This report documents an inventory of calcined waste produced at the Idaho Nuclear Technology and Engineering Center during the period from December 1963 to May 2000. The report was prepared based on calciner runs, operation of the calcined solids storage facilities, and miscellaneous operational information that establishes the range of chemical compositions of calcined waste stored at Idaho Nuclear Technology and Engineering Center. The report will be used to support obtaining permits for the calcined solids storage facilities, possible treatment of the calcined waste at the Idaho National Engineering and Environmental Laboratory, and to ship the waste to an off-sitemore » facility including a geologic repository. The information in this report was compiled from calciner operating data, waste solution analyses and volumes calcined, calciner operating schedules, calcine temperature monitoring records, and facility design of the calcined solids storage facilities. A compact disk copy of this report is provided to facilitate future data manipulations and analysis.« less

Life Sciences Research Facility automation requirements and concepts for the Space Station

NASA Technical Reports Server (NTRS)

Rasmussen, Daryl N.

1986-01-01

An evaluation is made of the methods and preliminary results of a study on prospects for the automation of the NASA Space Station's Life Sciences Research Facility. In order to remain within current Space Station resource allocations, approximately 85 percent of planned life science experiment tasks must be automated; these tasks encompass specimen care and feeding, cage and instrument cleaning, data acquisition and control, sample analysis, waste management, instrument calibration, materials inventory and management, and janitorial work. Task automation will free crews for specimen manipulation, tissue sampling, data interpretation and communication with ground controllers, and experiment management.

Mathematical Modeling For Control Of A Flexible Manipulator

NASA Technical Reports Server (NTRS)

Hu, Anren

1996-01-01

Improved method of mathematical modeling of dynamics of flexible robotic manipulators developed for use in controlling motions of manipulators. Involves accounting for effect, upon modes of vibration of manipulator, of changes in configuration of manipulator and manipulated payload(s). Flexible manipulator has one or more long, slender articulated link(s), like those used in outer space, method also applicable to terrestrial industrial robotic manipulators with relatively short, stiff links, or to such terrestrial machines as construction cranes.

14. NBS REMOTE MANIPULATOR SIMULATOR (RMS) CONTROL ROOM. THE RMS ...

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

14. NBS REMOTE MANIPULATOR SIMULATOR (RMS) CONTROL ROOM. THE RMS CONTROL PANEL IS IDENTICAL TO THE SHUTTLE ORBITER AFT FLIGHT DECK WITH ALL RMS SWITCHES AND CONTROL KNOBS FOR INVOKING ANY POSSIBLE FLIGHT OPERATIONAL MODE. THIS INCLUDES ALL COMPUTER AIDED OPERATIONAL MODES, AS WELL AS FULL MANUAL MODE. THE MONITORS IN THE AFT FLIGHT DECK WINDOWS AND THE GLASSES THE OPERATOR WEARS PROVIDE A 3-D VIDEO PICTURE TO AID THE OPERATOR WITH DEPTH PERCEPTION WHILE OPERATING THE ARM. THIS IS REQUIRED BECAUSE THE RMS OPERATOR CANNOT VIEW RMS MOVEMENTS IN THE WATER WHILE AT THE CONTROL PANEL. - Marshall Space Flight Center, Neutral Buoyancy Simulator Facility, Rideout Road, Huntsville, Madison County, AL

KSC-07pd2868

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is lowered toward the base for installation. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

Spacelab

NASA Image and Video Library

1992-06-01

The first United States Microgravity Laboratory (USML-1) provided scientific research in materials science, fluid dynamics, biotechnology, and combustion science in a weightless environment inside the Spacelab module. This photograph is a close-up view of the Glovebox in operation during the mission. The Spacelab Glovebox, provided by the European Space Agency, offers experimenters new capabilities to test and develop science procedures and technologies in microgravity. It enables crewmembers to handle, transfer, and otherwise manipulate materials in ways that are impractical in the open Spacelab. The facility is equipped with three doors: a central port through which experiments are placed in the Glovebox and two glovedoors on both sides with an attachment for gloves or adjustable cuffs and adapters for cameras. The Glovebox has an enclosed compartment that offers a clean working space and minimizes the contamination risks to both Spacelab and experiment samples. Although fluid containment and ease of cleanup are major benefits provided by the facility, it can also contain powders and bioparticles; toxic, irritating, or potentially infectious materials; and other debris produced during experiment operations. The facility is equipped with photographic/video capabilities and permits mounting a microscope. For the USML-1 mission, the Glovebox experiments fell into four basic categories: fluid dynamics, combustion science, crystal growth, and technology demonstration. The USML-1 flew aboard the STS-50 mission in June 1992.

History of remote operations and robotics in nuclear facilities. Robotics and Intelligent Systems Program

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

Herndon, J.N.

1992-05-01

The field of remote technology is continuing to evolve to support man`s efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith`s tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extendedmore » reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle`s remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures.« less

History of remote operations and robotics in nuclear facilities

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

Herndon, J.N.

1992-01-01

The field of remote technology is continuing to evolve to support man's efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith's tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extendedmore » reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle's remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures.« less

Portable Virtual Training Units

NASA Technical Reports Server (NTRS)

Malone, Reagan; Johnston, Alan

2015-01-01

The Mission Operations Lab initiated a project to design, develop, deliver, test, and validate a unique training system for astronaut and ground support personnel. In an effort to keep training costs low, virtual training units (VTUs) have been designed based on images of actual hardware and manipulated by a touch screen style interface for ground support personnel training. This project helped modernized the training system and materials by integrating them with mobile devices for training when operators or crew are unavailable to physically train in the facility. This project also tested the concept of a handheld remote device to control integrated trainers using International Space Station (ISS) training simulators as a platform. The portable VTU can interface with the full-sized VTU, allowing a trainer co-located with a trainee to remotely manipulate a VTU and evaluate a trainee's response. This project helped determine if it is useful, cost effective, and beneficial for the instructor to have a portable handheld device to control the behavior of the models during training. This project has advanced NASA Marshall Space Flight Center's (MSFC's) VTU capabilities with modern and relevant technology to support space flight training needs of today and tomorrow.

17. Photocopy of photograph. VIEW OF WORKERS IN EAST OPERATING ...

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

17. Photocopy of photograph. VIEW OF WORKERS IN EAST OPERATING GALLERY USING MANIPULATOR ARMS AT STATION E-108. Photographer unknown, ca. 1965, original photograph and negative on file at the Remote Sensing Laboratory, Department of Energy, Nevada Operations Office. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

78 FR 67424 - Self-Regulatory Organizations; Chicago Board Options Exchange, Incorporated; Notice of Filing of...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-11-12

... Terms of Substance of the Proposed Rule Change The Exchange proposes to adopt a CBOE Stock Exchange, LLC... Basis for, the Proposed Rule Change 1. Purpose CBSX is a stock execution facility of CBOE. Therefore...-fraud and anti- manipulation. The proposed requirement that all CBSX Trading Permit Holders be members...

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.

Plasmakristall-4: New complex (dusty) plasma laboratory on board the International Space Station

NASA Astrophysics Data System (ADS)

Pustylnik, M. Y.; Fink, M. A.; Nosenko, V.; Antonova, T.; Hagl, T.; Thomas, H. M.; Zobnin, A. V.; Lipaev, A. M.; Usachev, A. D.; Molotkov, V. I.; Petrov, O. F.; Fortov, V. E.; Rau, C.; Deysenroth, C.; Albrecht, S.; Kretschmer, M.; Thoma, M. H.; Morfill, G. E.; Seurig, R.; Stettner, A.; Alyamovskaya, V. A.; Orr, A.; Kufner, E.; Lavrenko, E. G.; Padalka, G. I.; Serova, E. O.; Samokutyayev, A. M.; Christoforetti, S.

2016-09-01

New complex-plasma facility, Plasmakristall-4 (PK-4), has been recently commissioned on board the International Space Station. In complex plasmas, the subsystem of μm-sized microparticles immersed in low-pressure weakly ionized gas-discharge plasmas becomes strongly coupled due to the high (103-104 e) electric charge on the microparticle surface. The microparticle subsystem of complex plasmas is available for the observation at the kinetic level, which makes complex plasmas appropriate for particle-resolved modeling of classical condensed matter phenomena. The main purpose of PK-4 is the investigation of flowing complex plasmas. To generate plasma, PK-4 makes use of a classical dc discharge in a glass tube, whose polarity can be switched with the frequency of the order of 100 Hz. This frequency is high enough not to be felt by the relatively heavy microparticles. The duty cycle of the polarity switching can be also varied allowing to vary the drift velocity of the microparticles and (when necessary) to trap them. The facility is equipped with two videocameras and illumination laser for the microparticle imaging, kaleidoscopic plasma glow observation system and minispectrometer for plasma diagnostics and various microparticle manipulation devices (e.g., powerful manipulation laser). Scientific experiments are programmed in the form of scripts written with the help of specially developed C scripting language libraries. PK-4 is mainly operated from the ground (control center CADMOS in Toulouse, France) with the support of the space station crew. Data recorded during the experiments are later on delivered to the ground on the removable hard disk drives and distributed to participating scientists for the detailed analysis.

Facile one-pot transformation using structure-guided combustion waves of micro-nanostructured β-Bi2O3 to α-Bi2O3@C and analysis of electrochemical capacitance

NASA Astrophysics Data System (ADS)

Hwang, Hayoung; Shin, Jung-ho; Lee, Kang Yeol; Choi, Wonjoon

2018-01-01

Precise phase-transformation can facilitate control of the properties of various materials, while an organic coating surrounding inorganic materials can yield useful characteristics. Herein, we demonstrate facile, selective manipulation of micro-nanostructured bismuth oxide (Bi2O3) for phase transformation from microflower-like β-Bi2O3 to micropill-like α-Bi2O3, with carbon-coating layer deposition, using structure-guided combustion waves (SGCWs). Microflower-like β-Bi2O3 are synthesized as core materials and nitrocellulose is coated on their surfaces for the formation of core-shell hybrid structures of Bi2O3 and chemical fuel. The SGCWs, which propagate along the core-material and fuel interfaces, apply high thermal energy (550-600 °C) and deposit incompletely combusted carbonaceous fuel on the microflower-like β-Bi2O3 to enable transformation to α-phase and carbon-coating-layer synthesis. SGCW-induced improvements to the electrochemical characteristics of the developed micropill-like α-Bi2O3@C, compared with the microflower-like β-Bi2O3, are investigated. The enhanced stability from the α-phase Bi2O3 and micropill-like structures during charge-discharge cycling improves the specific capacitance, while the carbon-coating layers facilitate increased electrical conductivity. SGCW-based methods exhibit high potential for selective phase manipulation and synthesis of carbon coatings surrounding micro-nanomaterials. They constitute a low-cost, fast, large-scale process for metal oxides, ceramics, and hybrid materials, implemented through control of the processing parameters by tuning the temperature, chemical fuel, and ambient conditions.

Plasmakristall-4: New complex (dusty) plasma laboratory on board the International Space Station.

PubMed

Pustylnik, M Y; Fink, M A; Nosenko, V; Antonova, T; Hagl, T; Thomas, H M; Zobnin, A V; Lipaev, A M; Usachev, A D; Molotkov, V I; Petrov, O F; Fortov, V E; Rau, C; Deysenroth, C; Albrecht, S; Kretschmer, M; Thoma, M H; Morfill, G E; Seurig, R; Stettner, A; Alyamovskaya, V A; Orr, A; Kufner, E; Lavrenko, E G; Padalka, G I; Serova, E O; Samokutyayev, A M; Christoforetti, S

2016-09-01

New complex-plasma facility, Plasmakristall-4 (PK-4), has been recently commissioned on board the International Space Station. In complex plasmas, the subsystem of μm-sized microparticles immersed in low-pressure weakly ionized gas-discharge plasmas becomes strongly coupled due to the high (10 3 -10 4 e) electric charge on the microparticle surface. The microparticle subsystem of complex plasmas is available for the observation at the kinetic level, which makes complex plasmas appropriate for particle-resolved modeling of classical condensed matter phenomena. The main purpose of PK-4 is the investigation of flowing complex plasmas. To generate plasma, PK-4 makes use of a classical dc discharge in a glass tube, whose polarity can be switched with the frequency of the order of 100 Hz. This frequency is high enough not to be felt by the relatively heavy microparticles. The duty cycle of the polarity switching can be also varied allowing to vary the drift velocity of the microparticles and (when necessary) to trap them. The facility is equipped with two videocameras and illumination laser for the microparticle imaging, kaleidoscopic plasma glow observation system and minispectrometer for plasma diagnostics and various microparticle manipulation devices (e.g., powerful manipulation laser). Scientific experiments are programmed in the form of scripts written with the help of specially developed C scripting language libraries. PK-4 is mainly operated from the ground (control center CADMOS in Toulouse, France) with the support of the space station crew. Data recorded during the experiments are later on delivered to the ground on the removable hard disk drives and distributed to participating scientists for the detailed analysis.

DEVELOPMENT OF REMOTE HANFORD CONNECTOR GASKET REPLACEMENT TOOLING FOR DWPF

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

Krementz, D.; Coughlin, Jeffrey

2009-05-05

The Defense Waste Processing Facility (DWPF) requested the Savannah River National Laboratory (SRNL) to develop tooling and equipment to remotely replace gaskets in mechanical Hanford connectors to reduce personnel radiation exposure as compared to the current hands-on method. It is also expected that radiation levels will continually increase with future waste streams. The equipment is operated in the Remote Equipment Decontamination Cell (REDC), which is equipped with compressed air, two master-slave manipulators (MSM's) and an electro-mechanical manipulator (EMM) arm for operation of the remote tools. The REDC does not provide access to electrical power, so the equipment must be manuallymore » or pneumatically operated. The MSM's have a load limit at full extension of ten pounds, which limited the weight of the installation tool. In order to remotely replace Hanford connector gaskets several operations must be performed remotely, these include: removal of the spent gasket and retaining ring (retaining ring is also called snap ring), loading the new snap ring and gasket into the installation tool and installation of the new gasket into the Hanford connector. SRNL developed and tested tools that successfully perform all of the necessary tasks. Removal of snap rings from horizontal and vertical connectors is performed by separate air actuated retaining ring removal tools and is manipulated in the cell by the MSM. In order install a new gasket, the snap ring loader is used to load a new snap ring into a groove in the gasket installation tool. A new gasket is placed on the installation tool and retained by custom springs. An MSM lifts the installation tool and presses the mounted gasket against the connector block. Once the installation tool is in position, the gasket and snap ring are installed onto the connector by pneumatic actuation. All of the tools are located on a custom work table with a pneumatic valve station that directs compressed air to the desired tool and vents the tools as needed. Extensive testing of tooling operation was performed in the DWPF manipulator repair shop. This testing allowed the operators to gain confidence before the equipment was exposed to radioactive contamination. The testing also led to multiple design improvements. On July 17 and 29, 2008 the Remote Gasket Replacement Tooling was successfully demonstrated in the REDC at the DWPF of The Savannah River Site.« less

Automation and robotics and related technology issues for Space Station customer servicing

NASA Technical Reports Server (NTRS)

Cline, Helmut P.

1987-01-01

Several flight servicing support elements are discussed within the context of the Space Station. Particular attention is given to the servicing facility, the mobile servicing center, and the flight telerobotic servicer (FTS). The role that automation and robotics can play in the design and operation of each of these elements is discussed. It is noted that the FTS, which is currently being developed by NASA, will evolve to increasing levels of autonomy to allow for the virtual elimination of routine EVA. Some of the features of the FTS will probably be: dual manipulator arms having reach and dexterity roughly equivalent to that of an EVA-suited astronaut, force reflection capability allowing efficient teleoperation, and capability of operating from a variety of support systems.

Animals in biomedical space research

NASA Astrophysics Data System (ADS)

Phillips, Robert W.

The use of experimental animals has been a major component of biomedical research progress. Using animals in space presents special problems, but also provides special opportunities. Rat and squirrel monkeys experiments have been planned in concert with human experiments to help answer fundamental questions concerning the effect of weightlessness on mammalian function. For the most part, these experiments focus on identified changes noted in humans during space flight. Utilizing space laboratory facilities, manipulative experiments can be completed while animals are still in orbit. Other experiments are designed to study changes in gravity receptor structure and function and the effect of weightlessness on early vertebrate development. Following these preliminary animals experiments on Spacelab Shuttle flights, longer term programs of animal investigation will be conducted on Space Station.

Robot-Aided Neurorehabilitation

PubMed Central

Krebs, Hermano Igo; Hogan, Neville; Aisen, Mindy L.; Volpe, Bruce T.

2009-01-01

Our goal is to apply robotics and automation technology to assist, enhance, quantify, and document neurorehabilitation. This paper reviews a clinical trial involving 20 stroke patients with a prototype robot-aided rehabilitation facility developed at the Massachusetts Institute of Technology, Cambridge, (MIT) and tested at Burke Rehabilitation Hospital, White Plains, NY. It also presents our approach to analyze kinematic data collected in the robot-aided assessment procedure. In particular, we present evidence 1) that robot-aided therapy does not have adverse effects, 2) that patients tolerate the procedure, and 3) that peripheral manipulation of the impaired limb may influence brain recovery. These results are based on standard clinical assessment procedures. We also present one approach using kinematic data in a robot-aided assessment procedure. PMID:9535526

“They’re Going to Die Anyway”: Smoking Shelters at Veterans’ Facilities

PubMed Central

Smith, Elizabeth A.; Malone, Ruth E.

2013-01-01

Military personnel and veterans are disadvantaged by inadequate tobacco control policies. We conducted a case study of a Department of Veterans Affairs (VA) effort to disallow smoking and tobacco sales in VA facilities. Despite strong VA support, the tobacco industry created a public relations–focused grassroots veterans’ opposition group, eventually pushing the US Congress to pass a law requiring smoking areas in every VA health facility. Arguing that it would be unpatriotic to deny veterans this “freedom” they had ostensibly fought for and that banning smoking could even harm veterans’ health, industry consultants exploited veterans’ organizations to protect tobacco industry profits. Civilian public health advocates should collaborate with veterans to expose the industry’s manipulation, reframe the debate, and repeal the law. PMID:23409899

Development of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

NASA Technical Reports Server (NTRS)

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

2014-01-01

An invention of a new and novel space robotic manipulator is described. By using a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening, this new robotic manipulator architecture achieves compact packaging, high strength, stiffness and dexterity while being very lightweight compared to conventional manipulators. The manipulator is also very modular; easy to scale for different reach, load and stiffness requirements; enabling customization for a diverse set of applications. Novel features of the new manipulator concept are described as well as some of the approaches to implement these design features. Two diverse applications are presented to show the versatility of the concept. First generation prototype hardware was designed, manufactured and has been assembled into a working manipulator that is being used to refine and extend development efforts.

Personal exposures to asbestos fibers during brake maintenance of passenger vehicles.

PubMed

Cely-García, María Fernanda; Sánchez, Mauricio; Breysse, Patrick N; Ramos-Bonilla, Juan P

2012-11-01

Brake linings and brake pads are among the asbestos-containing products that are readily available in Colombia. When sold separated from their support, brake linings require extensive manipulation involving several steps that include drilling, countersinking, riveting, bonding, cutting, beveling, and grinding. Without this manipulation, brake linings cannot be installed in a vehicle. The manipulation process may release asbestos fibers, which may expose brake mechanics to the fibers. Three brake repair shops located in Bogotá (Colombia) were sampled for 3 or 4 consecutive days using US National Institute for Occupational Safety and Health (NIOSH) methods 7400 and 7402. Standard procedures for quality control were followed during the sampling process, and asbestos samples were analyzed by an American Industrial Hygiene Association accredited laboratory. Personal samples were collected to assess full-shift and short-term exposures. Area samples were also collected close to the brake-lining manipulation equipment and within office facilities. Activities were documented during the sampling process. Using Phase Contrast Microscopy Equivalent counts to estimate air asbestos concentrations, all personal samples [i.e. 8-h time-weighted averages (TWAs) and 30-min personal samples] were in compliance with the US Occupational Safety and Health Administration standards. Personal asbestos concentrations based on transmission electron microscopy counts were extremely high, ranging from 0.006 to 3.493 f cm(-3) for 8-h TWA and from 0.015 to 8.835 f cm(-3) for 30-min samples. All asbestos fibers detected were chrysotile. Cleaning facilities and grinding linings resulted in the highest asbestos exposures based on transmission electron microscopy counts. There were also some samples that did not comply with the NIOSH's recommended exposure limits. The results indicate that the brake mechanics sampled are exposed to extremely high asbestos concentrations (i.e. based on transmission electron microscopy counts), suggesting that this occupational group could be at excess risk of asbestos-related diseases.

Lineshape spectroscopy with a very high resolution, very high signal-to-noise crystal spectrometer

DOE PAGES

Beiersdorfer, P.; Magee, E. W.; Brown, G. V.; ...

2016-06-06

Here, we have developed a high-resolution x-ray spectrometer for measuring the shapes of spectral lines produced from laser-irradiated targets on the Orion laser facility. The instrument utilizes a spherically bent crystal geometry to spatially focus and spectrally analyze photons from foil or microdot targets. The high photon collection efficiency resulting from its imaging properties allows the instrument to be mounted outside the Orion chamber, where it is far less sensitive to particles, hard x-rays, or electromagnetic pulses than instruments housed close to the target chamber center in ten-inch manipulators. Moreover, Bragg angles above 50° are possible, which provide greatly improvedmore » spectral resolution compared to radially viewing, near grazing-incidence crystal spectrometers. These properties make the new instrument an ideal lineshape diagnostic for determining plasma temperature and density. We describe its calibration on the Livermore electron beam ion trap facility and present spectral data of the K-shell emission from highly charged sulfur produced by long-pulse as well as short-pulse beams on the Orion laser in the United Kingdom.« less

Lineshape spectroscopy with a very high resolution, very high signal-to-noise crystal spectrometer

NASA Astrophysics Data System (ADS)

Beiersdorfer, P.; Magee, E. W.; Brown, G. V.; Chen, H.; Emig, J.; Hell, N.; Bitter, M.; Hill, K. W.; Allan, P.; Brown, C. R. D.; Hill, M. P.; Hoarty, D. J.; Hobbs, L. M. R.; James, S. F.

2016-06-01

We have developed a high-resolution x-ray spectrometer for measuring the shapes of spectral lines produced from laser-irradiated targets on the Orion laser facility. The instrument utilizes a spherically bent crystal geometry to spatially focus and spectrally analyze photons from foil or microdot targets. The high photon collection efficiency resulting from its imaging properties allows the instrument to be mounted outside the Orion chamber, where it is far less sensitive to particles, hard x-rays, or electromagnetic pulses than instruments housed close to the target chamber center in ten-inch manipulators. Moreover, Bragg angles above 50° are possible, which provide greatly improved spectral resolution compared to radially viewing, near grazing-incidence crystal spectrometers. These properties make the new instrument an ideal lineshape diagnostic for determining plasma temperature and density. We describe its calibration on the Livermore electron beam ion trap facility and present spectral data of the K-shell emission from highly charged sulfur produced by long-pulse as well as short-pulse beams on the Orion laser in the United Kingdom.

Lineshape spectroscopy with a very high resolution, very high signal-to-noise crystal spectrometer

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

Beiersdorfer, P.; Magee, E. W.; Brown, G. V.

2016-06-15

We have developed a high-resolution x-ray spectrometer for measuring the shapes of spectral lines produced from laser-irradiated targets on the Orion laser facility. The instrument utilizes a spherically bent crystal geometry to spatially focus and spectrally analyze photons from foil or microdot targets. The high photon collection efficiency resulting from its imaging properties allows the instrument to be mounted outside the Orion chamber, where it is far less sensitive to particles, hard x-rays, or electromagnetic pulses than instruments housed close to the target chamber center in ten-inch manipulators. Moreover, Bragg angles above 50° are possible, which provide greatly improved spectralmore » resolution compared to radially viewing, near grazing-incidence crystal spectrometers. These properties make the new instrument an ideal lineshape diagnostic for determining plasma temperature and density. We describe its calibration on the Livermore electron beam ion trap facility and present spectral data of the K-shell emission from highly charged sulfur produced by long-pulse as well as short-pulse beams on the Orion laser in the United Kingdom.« less

Theoretical neutron damage calculations in industrial robotic manipulators used for non-destructive imaging applications

DOE PAGES

Hashem, Joseph; Schneider, Erich; Pryor, Mitch; ...

2017-01-01

Our paper describes how to use MCNP to evaluate the rate of material damage in a robot incurred by exposure to a neutron flux. The example used in this work is that of a robotic manipulator installed in a high intensity, fast, and collimated neutron radiography beam port at the University of Texas at Austin's TRIGA Mark II research reactor. Our effort includes taking robotic technologies and using them to automate non-destructive imaging tasks in nuclear facilities where the robotic manipulator acts as the motion control system for neutron imaging tasks. Simulated radiation tests are used to analyze the radiationmore » damage to the robot. Once the neutron damage is calculated using MCNP, several possible shielding materials are analyzed to determine the most effective way of minimizing the neutron damage. Furthermore, neutron damage predictions provide users the means to simulate geometrical and material changes, thus saving time, money, and energy in determining the optimal setup for a robotic system installed in a radiation environment.« less

Theoretical neutron damage calculations in industrial robotic manipulators used for non-destructive imaging applications

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

Hashem, Joseph; Schneider, Erich; Pryor, Mitch

Our paper describes how to use MCNP to evaluate the rate of material damage in a robot incurred by exposure to a neutron flux. The example used in this work is that of a robotic manipulator installed in a high intensity, fast, and collimated neutron radiography beam port at the University of Texas at Austin's TRIGA Mark II research reactor. Our effort includes taking robotic technologies and using them to automate non-destructive imaging tasks in nuclear facilities where the robotic manipulator acts as the motion control system for neutron imaging tasks. Simulated radiation tests are used to analyze the radiationmore » damage to the robot. Once the neutron damage is calculated using MCNP, several possible shielding materials are analyzed to determine the most effective way of minimizing the neutron damage. Furthermore, neutron damage predictions provide users the means to simulate geometrical and material changes, thus saving time, money, and energy in determining the optimal setup for a robotic system installed in a radiation environment.« less

The Development of Object Function and Manipulation Knowledge: Evidence from a Semantic Priming Study

PubMed Central

Collette, Cynthia; Bonnotte, Isabelle; Jacquemont, Charlotte; Kalénine, Solène; Bartolo, Angela

2016-01-01

Object semantics include object function and manipulation knowledge. Function knowledge refers to the goal attainable by using an object (e.g., the function of a key is to open or close a door) while manipulation knowledge refers to gestures one has to execute to use an object appropriately (e.g., a key is held between the thumb and the index, inserted into the door lock and then turned). To date, several studies have assessed function and manipulation knowledge in brain lesion patients as well as in healthy adult populations. In patients with left brain damage, a double dissociation between these two types of knowledge has been reported; on the other hand, behavioral studies in healthy adults show that function knowledge is processed faster than manipulation knowledge. Empirical evidence has shown that object interaction in children differs from that in adults, suggesting that the access to function and manipulation knowledge in children might also differ. To investigate the development of object function and manipulation knowledge, 51 typically developing 8-9-10 year-old children and 17 healthy young adults were tested on a naming task associated with a semantic priming paradigm (190-ms SOA; prime duration: 90 ms) in which a series of line drawings of manipulable objects were used. Target objects could be preceded by three priming contexts: related (e.g., knife-scissors for function; key-screwdriver for manipulation), unrelated but visually similar (e.g., glasses-scissors; baseball bat-screwdriver), and purely unrelated (e.g., die-scissors; tissue-screwdriver). Results showed a different developmental pattern of function and manipulation priming effects. Function priming effects were not present in children and emerged only in adults, with faster naming responses for targets preceded by objects sharing the same function. In contrast, manipulation priming effects were already present in 8-year-olds with faster naming responses for targets preceded by objects sharing the same manipulation and these decreased linearly between 8 and 10 years of age, 10-year-olds not differing from adults. Overall, results show that the access to object function and manipulation knowledge changes during development by favoring manipulation knowledge in childhood and function knowledge in adulthood. PMID:27602004

ASI's space automation and robotics programs: The second step

NASA Technical Reports Server (NTRS)

Dipippo, Simonetta

1994-01-01

The strategic decisions taken by ASI in the last few years in building up the overall A&R program, represent the technological drivers for other applications (i.e., internal automation of the Columbus Orbital Facility in the ESA Manned Space program, applications to mobile robots both in space and non-space environments, etc...). In this context, the main area of application now emerging is the scientific missions domain. Due to the broad range of applications of the developed technologies, both in the in-orbit servicing and maintenance of space structures and scientific missions, ASI foresaw the need to have a common technological development path, mainly focusing on: (1) control; (2) manipulation; (3) on-board computing; (4) sensors; and (5) teleoperation. Before entering into new applications in the scientific missions field, a brief overview of the status of the SPIDER related projects is given, underlining also the possible new applications for the LEO/GEO space structures.

The Trick Simulation Toolkit: A NASA/Opensource Framework for Running Time Based Physics Models

NASA Technical Reports Server (NTRS)

Penn, John M.

2016-01-01

The Trick Simulation Toolkit is a simulation development environment used to create high fidelity training and engineering simulations at the NASA Johnson Space Center and many other NASA facilities. Its purpose is to generate a simulation executable from a collection of user-supplied models and a simulation definition file. For each Trick-based simulation, Trick automatically provides job scheduling, numerical integration, the ability to write and restore human readable checkpoints, data recording, interactive variable manipulation, a run-time interpreter, and many other commonly needed capabilities. This allows simulation developers to concentrate on their domain expertise and the algorithms and equations of their models. Also included in Trick are tools for plotting recorded data and various other supporting utilities and libraries. Trick is written in C/C++ and Java and supports both Linux and MacOSX computer operating systems. This paper describes Trick's design and use at NASA Johnson Space Center.

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.

Setting the stage - building and working in an ancient DNA laboratory.

PubMed

Knapp, Michael; Clarke, Andrew C; Horsburgh, K Ann; Matisoo-Smith, Elizabeth A

2012-01-20

With the introduction of next generation high throughput sequencing in 2005 and the resulting revolution in genetics, ancient DNA research has rapidly developed from an interesting but marginal field within evolutionary biology into one that can contribute significantly to our understanding of evolution in general and the development of our own species in particular. While the amount of sequence data available from ancient human, other animal and plant remains has increased dramatically over the past five years, some key limitations of ancient DNA research remain. Most notably, reduction of contamination and the authentication of results are of utmost importance. A number of studies have addressed different aspects of sampling, DNA extraction and DNA manipulation in order to establish protocols that most efficiently generate reproducible and authentic results. As increasing numbers of researchers from different backgrounds become interested in using ancient DNA technology to address key questions, the need for practical guidelines on how to construct and use an ancient DNA facility arises. The aim of this article is therefore to provide practical tips for building a state-of-the-art ancient DNA facility. It is intended to help researchers new to the field of ancient DNA research generally, and those considering the application of next generation sequencing, in their planning process. Copyright © 2011 Elsevier GmbH. All rights reserved.

Computational Control of Flexible Aerospace Systems

NASA Technical Reports Server (NTRS)

Sharpe, Lonnie, Jr.; Shen, Ji Yao

1994-01-01

The main objective of this project is to establish a distributed parameter modeling technique for structural analysis, parameter estimation, vibration suppression and control synthesis of large flexible aerospace structures. This report concentrates on the research outputs produced in the last two years of the project. The main accomplishments can be summarized as follows. A new version of the PDEMOD Code had been completed. A theoretical investigation of the NASA MSFC two-dimensional ground-based manipulator facility by using distributed parameter modelling technique has been conducted. A new mathematical treatment for dynamic analysis and control of large flexible manipulator systems has been conceived, which may provide a embryonic form of a more sophisticated mathematical model for future modified versions of the PDEMOD Codes.

KSC-08pd0606

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, an overhead crane moves the Special Purpose Dexterous Manipulator, known as Dextre, to the payload canister for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

KSC-08pd0608

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves nearer to the payload canister where it will be installed for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

KSC-08pd0607

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves closer to the payload canister where it will be installed for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

KSC-07pd2871

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians help guide the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, into place for installation on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2863

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is ready to be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station ISS. Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2870

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians help guide the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, into place for installation on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

Algorithmic formulation of control problems in manipulation

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1975-01-01

The basic characteristics of manipulator control algorithms are discussed. The state of the art in the development of manipulator control algorithms is briefly reviewed. Different end-point control techniques are described together with control algorithms which operate on external sensor (imaging, proximity, tactile, and torque/force) signals in realtime. Manipulator control development at JPL is briefly described and illustrated with several figures. The JPL work pays special attention to the front or operator input end of the control algorithms.

The lid of the container for the Mobile Base System, part of the Canadian arm, is prepared for remov

NASA Technical Reports Server (NTRS)

2000-01-01

Inside the Space Station Processing Facility, workers prepare to remove the lid of a container holding the Mobile Base System (MBS). The MBS is part of the Canadian Space Agency's Space Station Remote Manipulator System (SSRMS), which is part of the payload on mission STS-100 to the International Space Station.

Changes in disability following physical therapy intervention for patients with low back pain: dependence on symptom duration.

PubMed

Badke, Mary Beth; Boissonnault, William G

2006-06-01

To assess the impact of symptom duration on functional outcome, functional improvement, pain, and patient perception of recovery after a physical therapy (PT) program for low back pain (LBP) and to determine what variables are significantly associated with improved function. Retrospective case series. Outpatient setting at a tertiary care facility. Patients (N=130) who were seen for PT between June 2003 and November 2004. A customized rehabilitation program was developed for each patient based on examination findings and included a combination of the following interventions: mobilization/manipulation, flexibility exercises, strengthening exercises, endurance exercises, massage techniques, and heat and cold modalities. Functional outcome, functional improvement, perceived pain, and perceived improvement scores in the CareConnections Outcomes System (formerly TAOS) database. Persons whose symptom duration was greater than 6 months had significantly less functional improvement than persons whose symptom duration was less than 1 month. The median percentage improvement score for perceived recovery was also significantly lower for the chronic group than for the acute group. There was no significant difference in the percentage decrease in pain among the acute, subacute, and chronic groups. In regression analyses, a model with age (P=.001), symptom duration (P=.002), and inclusion of strengthening, flexibility, and mobilization and manipulation exercises (P=.001) fit the data well and explained 55.5% of the variance in functional improvement score for all 3 groups combined. Patients showed improvements in function following a rehabilitation program for LBP. The functional improvement score is influenced by age, symptom duration, and inclusion of mobilization/manipulation and strengthening and flexibility exercises.

Exploring novel structures for manipulating relativistic laser-plasma interaction

NASA Astrophysics Data System (ADS)

Ji, Liangliang

2016-10-01

The prospect of realizing compact particle accelerators and x-ray sources based on high power lasers has gained numerous attention. Utilization of all the proposed schemes in the field requires the laser-matter-interaction process to be repeatable or moreover, controllable. This has been very challenging at ultra-high light intensities due to the pre-pulse issue and the limitation on target manufacturing. With recent development on pulse cleaning technique, such as XPW and the use of plasma mirror, we now propose a novel approach that leverages recent advancements in 3D nano-printing of materials and high contrast lasers to manipulate the laser-matter interactions on the micro-scales. The current 3D direct laser-writing (DLW) technique can produce repeatable structures with at a resolution as high as 100 nm. Based on 3D PIC simulations, we explored two typical structures, the micro-cylinder and micro-tube targets. The former serves to enhance and control laser-electron acceleration and the latter is dedicated to manipulate relativistic light intensity. First principle-of-proof experiments were carried out in the SCARLET laser facility and confirmed some of our predictions on enhancing direct laser acceleration of electrons and ion acceleration. We believe that the use of the micro-structured elements provides another degree of freedom in LPI and these new results will open new paths towards micro-engineering interaction process that will benefit high field science, laser-based proton therapy, near-QED physics, and relativistic nonlinear optics. This work is supported by the AFOSR Basic Research Initiative (FA9550-14-1-0085).

235U Holdup Measurements in Three 321-M Exhaust HEPA Banks

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

Dewberry, R

2005-02-24

The Analytical Development Section of Savannah River National Laboratory (SRNL) was requested by the Facilities Disposition Division to determine the holdup of enriched uranium in the 321-M facility as part of an overall deactivation project of the facility. The 321-M facility was used to fabricate enriched uranium fuel assemblies, lithium-aluminum target tubes, neptunium assemblies, and miscellaneous components for the production reactors. The results of the holdup assays are essential for determining compliance with the Waste Acceptance Criteria, Material Control & Accountability, and to meet criticality safety controls. This report covers holdup measurements of uranium residue in three HEPA filter exhaustmore » banks of the 321-M facility. Each of the exhaust banks has dimensions near 7' x 14' x 4' and represents a complex holdup problem. A portable HPGe detector and EG&G Dart system that contains the high voltage power supply and signal processing electronics were used to determine highly enriched uranium (HEU) holdup. A personal computer with Gamma-Vision software was used to control the Dart MCA and to provide space to store and manipulate multiple 4096-channel {gamma}-ray spectra. Some acquisitions were performed with the portable detector configured to a Canberra Inspector using NDA2000 acquisition and analysis software. Our results for each component uses a mixture of redundant point source and area source acquisitions that yielded HEU contents in the range of 2-10 grams. This report discusses the methodology, non-destructive assay (NDA) measurements, assumptions, and results of the uranium holdup in these items. This report includes use of transmission-corrected assay as well as correction for contributions from secondary area sources.« less

Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves.

PubMed

Singh, Inderjeet; Amara, Yacine; Melingui, Achille; Mani Pathak, Pushparaj; Merzouki, Rochdi

2018-05-10

Research on continuum manipulators is increasingly developing in the context of bionic robotics because of their many advantages over conventional rigid manipulators. Due to their soft structure, they have inherent flexibility, which makes it a huge challenge to control them with high performances. Before elaborating a control strategy of such robots, it is essential to reconstruct first the behavior of the robot through development of an approximate behavioral model. This can be kinematic or dynamic depending on the conditions of operation of the robot itself. Kinematically, two types of modeling methods exist to describe the robot behavior; quantitative methods describe a model-based method, and qualitative methods describe a learning-based method. In kinematic modeling of continuum manipulator, the assumption of constant curvature is often considered to simplify the model formulation. In this work, a quantitative modeling method is proposed, based on the Pythagorean hodograph (PH) curves. The aim is to obtain a three-dimensional reconstruction of the shape of the continuum manipulator with variable curvature, allowing the calculation of its inverse kinematic model (IKM). It is noticed that the performances of the PH-based kinematic modeling of continuum manipulators are considerable regarding position accuracy, shape reconstruction, and time/cost of the model calculation, than other kinematic modeling methods, for two cases: free load manipulation and variable load manipulation. This modeling method is applied to the compact bionic handling assistant (CBHA) manipulator for validation. The results are compared with other IKMs developed in case of CBHA manipulator.

Research approach and first results on agglomerate compaction in protoplanetary dust simulation in the Cloud Manipulation System

NASA Astrophysics Data System (ADS)

Vedernikov, Andrei; Blum, Jurgen; Ingo Von Borstel, Olaf; Schraepler, Rainer; Balapanov, Daniyar; Cecere, Anselmo

2016-07-01

Nanometre and micrometre-sized solid particles are ubiquitous in space and on Earth - from galaxies, interstellar space, protoplanetary and debris disks to planetary rings and atmospheres, planetary surfaces, comets, interplanetary space, Earth's atmosphere. Apparently, the most intriguing problem in the picture of the formation of planets is the transition from individual microscopic dust grains to kilometre-sized planetesimals. Revealing the mechanisms of this transition is one of the main tasks of the European Space Agency's project Interaction in Cosmic and Atmospheric Particle Systems (ICAPS). It was found that Brownian motion driven agglomeration could not provide the transition within reasonable time scale. As a result, at this stage top scientific goals shifted towards forced agglomeration and concentration of particles, targeting revealing the onset of compaction, experimental study of the evolution of fractal dimensions, size and mass distribution, occurrence of bouncing. The main tasks comprise 1) development of the rapid agglomeration model 2) development of the experimental facilities creating big fractal-type agglomerates from 10 to 1000 μm from a cloud of micrometre-size grains; 3) experimental realization of the rapid agglomeration in microgravity and ground conditions; and 4) in situ investigation of the morphology, mobility, mechanical and optical properties of the free-floating agglomerates, including investigation of thermophoresis, photophoresis of the agglomerates and of the two-phase flow phenomena. To solve the experimental part of the tasks we developed a Cloud Manipulation System, realized as a breadboard (CMS BB) for long duration microgravity platforms and a simplified laboratory version (CMS LV) mostly oriented on short duration microgravity and ground tests. The new system is based on the use of thermophoresis, most favourable for cloud manipulation without creating additional particle-particle forces in the cloud with a possibility of growing single agglomerate out of the whole cloud. The cloud manipulation system additionally provides temperature stabilization or, on the contrary, high temperature variation in the observation volume; formation of controlled temperature gradients, intensive three-dimensional periodic shear flow or three-dimensional gas density pulsations of the contraction-expansion type; application of electrostatic gradients including electro dynamic balancing; imposing of photophoretic force, etc. Their choice and/or combination depend upon particular experimental task. Experiments on forced agglomeration in short duration microgravity conditions of the Bremen drop tower succeeded in rapid growth of extended agglomerates, formation of complex three-dimensional cloud patterns, allowed observing controlled cloud displacement, cloud trapping, particle separation with respect to their electrical charge. The breadboard (CMS BB) and the laboratory version of the Cloud Manipulation System (CMS LV) are new types of scientific instrument with high scientific potential. ESA PRODEX program, the Belgian Federal Science Policy Office, DLR project 50WM1223, ZARM Drop Tower Operation and Service Company Ltd. are greatly acknowledged.

Robust telerobotics - an integrated system for waste handling, characterization and sorting

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

Couture, S.A.; Hurd, R.L.; Wilhelmsen, K.C.

The Mixed Waste Management Facility (MWMF) at the Lawrence Livermore National Laboratory was designed to serve as a national testbed to demonstrate integrated technologies for the treatment of low-level organic mixed waste at a pilot-plant scale. Pilot-scale demonstration serves to bridge the gap between mature, bench-scale proven technologies and full-scale treatment facilities by providing the infrastructure needed to evaluate technologies in an integrated, front-end to back-end facility. Consistent with the intent to focus on technologies that are ready for pilot scale deployment, the front-end handling and feed preparation of incoming waste material has been designed to demonstrate the application ofmore » emerging robotic and remotely operated handling systems. The selection of telerobotics for remote handling in MWMF was made based on a number of factors - personnel protection, waste generation, maturity, cost, flexibility and extendibility. Telerobotics, or shared control of a manipulator by an operator and a computer, provides the flexibility needed to vary the amount of automation or operator intervention according to task complexity. As part of the telerobotics design effort, the technical risk of deploying the technology was reduced through focused developments and demonstrations. The work involved integrating key tools (1) to make a robust telerobotic system that operates at speeds and reliability levels acceptable to waste handling operators and, (2) to demonstrate an efficient operator interface that minimizes the amount of special training and skills needed by the operator. This paper describes the design and operation of the prototype telerobotic waste handling and sorting system that was developed for MWMF.« less

Technology transfer and evaluation for Space Station telerobotics

NASA Technical Reports Server (NTRS)

Price, Charles R.; Stokes, Lebarian; Diftler, Myron A.

1994-01-01

The international space station (SS) must take advantage of advanced telerobotics in order to maximize productivity and safety and to reduce maintenance costs. The Automation and Robotics Division at the NASA Lyndon B. Johnson Space Center (JSC) has designed, developed, and constructed the Automated Robotics Maintenance of Space Station (ARMSS) facility for the purpose of transferring and evaluating robotic technology that will reduce SS operation costs. Additionally, JSC had developed a process for expediting the transfer of technology from NASA research centers and evaluating these technologies in SS applications. Software and hardware system developed at the research centers and NASA sponsored universities are currently being transferred to JSC and integrated into the ARMSS for flight crew personnel testing. These technologies will be assessed relative to the SS baseline, and, after refinements, those technologies that provide significant performance improvements will be recommended as upgrades to the SS. Proximity sensors, vision algorithms, and manipulator controllers are among the systems scheduled for evaluation.

Trajectory planning and control of a 6 DOF manipulator with Stewart platform-based mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami

1990-01-01

The trajectory planning and control was studied of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform. First the main components of the manipulator is described along with its operation. The solutions are briefly prescribed for the forward and inverse kinematics of the manipulator. After that, two trajectory planning schemes are developed using the manipulator inverse kinematics to track straight lines and circular paths. Finally experiments conducted to study the performance of the developed planning schemes in tracking a straight line and a circle are presented and discussed.

CONCEPTUAL DESIGN REPORT

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

ROBINSON,K.

2006-12-31

Brookhaven National Laboratory has prepared a conceptual design for a world class user facility for scientific research using synchrotron radiation. This facility, called the ''National Synchrotron Light Source II'' (NSLS-II), will provide ultra high brightness and flux and exceptional beam stability. It will also provide advanced insertion devices, optics, detectors, and robotics, and a suite of scientific instruments designed to maximize the scientific output of the facility. Together these will enable the study of material properties and functions with a spatial resolution of {approx}1 nm, an energy resolution of {approx}0.1 meV, and the ultra high sensitivity required to perform spectroscopymore » on a single atom. The overall objective of the NSLS-II project is to deliver a research facility to advance fundamental science and have the capability to characterize and understand physical properties at the nanoscale, the processes by which nanomaterials can be manipulated and assembled into more complex hierarchical structures, and the new phenomena resulting from such assemblages. It will also be a user facility made available to researchers engaged in a broad spectrum of disciplines from universities, industries, and other laboratories.« less

Light Microscopy Module Fan Disturbance Characterized Through Microgravity Emissions Laboratory Testing

NASA Technical Reports Server (NTRS)

McNelis, Anne M.; Motil, Susan M.

2003-01-01

A Light Microscopy Module (LMM) is being engineered, designed, and developed at the NASA Glenn Research Center. The LMM is planned as a remotely controllable on-orbit microscope subrack facility, allowing flexible scheduling and control of physical science and biological science experiments within Glenn s Fluids Integrated Rack on the International Space Station. The LMM concept is a modified commercial research imaging light microscope with powerful laser-diagnostic hardware and interfaces, creating a one-of-a-kind, state-of-the-art microscopic research facility. The microscope will house several different objectives, corresponding to magnifications of 10, 40, 50, 63, and 100. Features of the LMM include high-resolution color video microscopy, brightfield, darkfield, phase contrast, differential interference contrast, spectrophotometry, and confocal microscopy combined in a single configuration. Also, laser tweezers are integrated with the diagnostics as a sample manipulation technique. As part of the development phase of the LMM, it was necessary to quantify the microgravity disturbances generated by the control box fan. Isolating the fan was deemed necessary to reduce the fan speed harmonic amplitudes and to eliminate any broadband disturbances across the 60- to 70-Hz and 160- to 170-Hz frequency ranges. The accelerations generated by a control box fan component of the LMM were measured in the Microgravity Emissions Laboratory (MEL). The MEL is a low-frequency measurement system developed to simulate and verify the on-orbit International Space Station (ISS) microgravity environment. The accelerations generated by various operating components of the ISS, if too large, could hinder the science performed onboard by disturbing the microgravity environment. The MEL facility gives customers a test-verified way of measuring their compliance with ISS limitations on vibratory disturbance levels. The facility is unique in that inertial forces in 6 degrees of freedom can be characterized simultaneously for an operating test article. Vibratory disturbance levels are measured for engineering or flight-level hardware following development from component to subassembly through the rack-level configuration. The MEL can measure accelerations as small as 10-7g, the accuracy needed to confirm compliance with ISS requirements.

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.

Japanese Experiment Module arrival

NASA Image and Video Library

2007-03-29

The Experiment Logistics Module Pressurized Section for the Japanese Experiment Module arrives at the Space Station Processing Facility. The logistics module is one of the components of the Japanese Experiment Module or JEM, also known as Kibo, which means "hope" in Japanese. Kibo comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007.

Japanese Experiment Module arrival

NASA Image and Video Library

2007-03-29

The Experiment Logistics Module Pressurized Section for the Japanese Experiment Module arrives at the Space Station Processing Facility for uncrating. The logistics module is one of the components of the Japanese Experiment Module or JEM, also known as Kibo, which means "hope" in Japanese. Kibo comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007.

KSC-03PD-2138

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. In the Space Station Processing Facility, STS-115 Mission Specialists Joseph Tanner (left) and Heidemarie Stefanyshyn-Piper (right) look over the Japanese Experiment Module (JEM) Pressurized Module located in the Space Station Processing Facility. Known as Kibo, the JEM consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The STS-115 mission will deliver the second port truss segment, the P3/P4 Truss, to attach to the first port truss segment, the P1 Truss, as well as deploy solar array sets 2A and 4A.. The crew is scheduled to activate and check out the Solar Alpha Rotary Joint (SARJ) and deploy the P4 Truss radiator.

Using a Virtual Manipulative Environment to Support Students' Organizational Structuring of Volume Units

ERIC Educational Resources Information Center

O'Dell, Jenna R.; Barrett, Jeffrey E.; Cullen, Craig J.; Rupnow, Theodore J.; Clements, Douglas H.; Sarama, Julie; Rutherford, George; Beck, Pamela S.

2017-01-01

In this study, we investigated how Grade 3 and 4 students' organizational structure for volume units develops through repeated experiences with a virtual manipulative for building prisms. Our data consist of taped clinical interviews within a micro-genetic experiment. We report on student strategy development using a virtual manipulative for…

Fabrication and functionalization of single asymmetric nanochannels for electrostatic/hydrophobic association of protein molecules

NASA Astrophysics Data System (ADS)

Ali, Mubarak; Bayer, Veronika; Schiedt, Birgitta; Neumann, Reinhard; Ensinger, Wolfgang

2008-12-01

We have developed a facile and reproducible method for surfactant-controlled track-etching and chemical functionalization of single asymmetric nanochannels in PET (polyethylene terephthalate) membranes. Carboxyl groups present on the channel surface were converted into pentafluorophenyl esters using EDC/PFP (N-(3-dimethylaminopropyl)-N'-ethylcarbodiimide hydrochloride/pentafluorophenol) coupling chemistry. The resulting amine-reactive esters were further covalently coupled with ethylenediamine or propylamine in order to manipulate the charge polarity and hydrophilicity of the nanochannels, respectively. Characterization of the modified channels was done by measuring their current-voltage (I-V) curves as well as their permselectivity before and after the chemical modification. The electrostatic/hydrophobic association of bovine serum albumin on the channel surface was observed through the change in rectification behaviour upon the variation of pH values.

Visual guidance in control of grasping.

PubMed

Janssen, Peter; Scherberger, Hansjörg

2015-07-08

Humans and other primates possess a unique capacity to grasp and manipulate objects skillfully, a facility pervasive in everyday life that has undoubtedly contributed to the success of our species. When we reach and grasp an object, various cortical areas in the parietal and frontal lobes work together effortlessly to analyze object shape and position, transform this visual information into useful motor commands, and implement these motor representations to preshape the hand before contact with the object is made. In recent years, a growing number of studies have investigated the neural circuits underlying object grasping in both the visual and motor systems of the macaque monkey. The accumulated knowledge not only helps researchers understand how object grasping is implemented in the primate brain but may also contribute to the development of novel neural interfaces and neuroprosthetics.

Object technology: A white paper

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

Jordan, S.R.; Arrowood, L.F.; Cain, W.D.

1992-05-11

Object-Oriented Technology (OOT), although not a new paradigm, has recently been prominently featured in the trade press and even general business publications. Indeed, the promises of object technology are alluring: the ability to handle complex design and engineering information through the full manufacturing production life cycle or to manipulate multimedia information, and the ability to improve programmer productivity in creating and maintaining high quality software. Groups at a number of the DOE facilities have been exploring the use of object technology for engineering, business, and other applications. In this white paper, the technology is explored thoroughly and compared with previousmore » means of developing software and storing databases of information. Several specific projects within the DOE Complex are described, and the state of the commercial marketplace is indicated.« less

Customizing the genome as therapy for the β-hemoglobinopathies

PubMed Central

Canver, Matthew C.

2016-01-01

Despite nearly complete understanding of the genetics of the β-hemoglobinopathies for several decades, definitive treatment options have lagged behind. Recent developments in technologies for facile manipulation of the genome (zinc finger nucleases, transcription activator-like effector nucleases, or clustered regularly interspaced short palindromic repeats–based nucleases) raise prospects for their clinical application. The use of genome-editing technologies in autologous CD34+ hematopoietic stem and progenitor cells represents a promising therapeutic avenue for the β-globin disorders. Genetic correction strategies relying on the homology-directed repair pathway may repair genetic defects, whereas genetic disruption strategies relying on the nonhomologous end joining pathway may induce compensatory fetal hemoglobin expression. Harnessing the power of genome editing may usher in a second-generation form of gene therapy for the β-globin disorders. PMID:27053533

The LHEA PDP 11/70 graphics processing facility users guide

NASA Technical Reports Server (NTRS)

1978-01-01

A compilation of all necessary and useful information needed to allow the inexperienced user to program on the PDP 11/70. Information regarding the use of editing and file manipulation utilities as well as operational procedures are included. The inexperienced user is taken through the process of creating, editing, compiling, task building and debugging his/her FORTRAN program. Also, documentation on additional software is included.

End of Life Disposal for Three Libration Point Missions through Manipulation of the Jacobi Constant and Zero Velocity Curves

NASA Technical Reports Server (NTRS)

Petersen, Jeremy; Brown, Jonathan

2015-01-01

Flight Dynamics Facility (FDF) located at NASA Goddard Space Flight Center (GSFC) provides the flight dynamics expertise for three Sun-Earth Moon L1 missions. Advanced Composition Explorer (ACE) launched August 1997 Solar and Heliospheric Observatory (SOHO) launched December 1995 Global Geospace Science WIND satellite launched November 1994 entered Lagrange point orbit in 2004.

A Graphics Facility for Integration, Editing, and Display of Slope, Curvature, and Contours from a Digital Terrain Elevation Database

DTIC Science & Technology

1988-06-01

DETAILED PROBLEM STATEM ENT ......................................................... 23 A . INTRODUCTION...assorted information about the world land masses. When this is done, the problem of storage, manipulation, and display of realistic, dense, and accurate...elevation data becomes a problem of paramount importance. If the data which is stored can be utilized to recreate specific information about certain

Multichannel Polarization-Controllable Superpositions of Orbital Angular Momentum States.

PubMed

Yue, Fuyong; Wen, Dandan; Zhang, Chunmei; Gerardot, Brian D; Wang, Wei; Zhang, Shuang; Chen, Xianzhong

2017-04-01

A facile metasurface approach is shown to realize polarization-controllable multichannel superpositions of orbital angular momentum (OAM) states with various topological charges. By manipulating the polarization state of the incident light, four kinds of superpositions of OAM states are realized using a single metasurface consisting of space-variant arrays of gold nanoantennas. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

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

Partial Data Traces: Efficient Generation and Representation

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

Mueller, F; De Supinski, B R; McKee, S A

2001-08-20

Binary manipulation techniques are increasing in popularity. They support program transformations tailored toward certain program inputs, and these transformations have been shown to yield performance gains beyond the scope of static code optimizations without profile-directed feedback. They even deliver moderate gains in the presence of profile-guided optimizations. In addition, transformations can be performed on the entire executable, including library routines. This work focuses on program instrumentation, yet another application of binary manipulation. This paper reports preliminary results on generating partial data traces through dynamic binary rewriting. The contributions are threefold. First, a portable method for extracting precise data traces formore » partial executions of arbitrary applications is developed. Second, a set of hierarchical structures for compactly representing these accesses is developed. Third, an efficient online algorithm to detect regular accesses is introduced. The authors utilize dynamic binary rewriting to selectively collect partial address traces of regions within a program. This allows partial tracing of hot paths for only a short time during program execution in contrast to static rewriting techniques that lack hot path detection and also lack facilities to limit the duration of data collection. Preliminary results show reductions of three orders of a magnitude of inline instrumentation over a dual process approach involving context switching. They also report constant size representations for regular access patters in nested loops. These efforts are part of a larger project to counter the increasing gap between processor and main memory speeds by means of software optimization and hardware enhancements.« less

Facile manipulation of protein localization in fission yeast through binding of GFP-binding protein to GFP.

PubMed

Chen, Ying-Hui; Wang, Gao-Yuan; Hao, Hao-Chao; Chao, Chun-Jiang; Wang, Yamei; Jin, Quan-Wen

2017-03-01

GFP-binding protein (or GBP) has been recently developed in various systems and organisms as an efficient tool to purify GFP-fusion proteins. Due to the high affinity between GBP and GFP or GFP variants, this GBP-based approach is also ideally suited to alter the localization of functional proteins in live cells. In order to facilitate the wide use of the GBP-targeting approach in the fission yeast Schizosaccharomyces pombe , we developed a set of pFA6a-, pJK148- and pUC119-based vectors containing GBP- or GBP-mCherry-coding sequences and variants of inducible nmt1 or constitutive adh1 promoters that result in different levels of expression. The GBP or GBP-mCherry fragments can serve as cassettes for N- or C-terminal genomic tagging of genes of interest. We illustrated the application of these vectors in the construction of yeast strains with Dma1 or Cdc7 tagged with GBP-mCherry and efficient targeting of Dma1- or Cdc7-GBP-mCherry to the spindle pole body by Sid4-GFP. This series of vectors should help to facilitate the application of the GBP-targeting approach in manipulating protein localization and the analysis of gene function in fission yeast, at the level of single genes, as well as at a systematic scale. © 2017. Published by The Company of Biologists Ltd.

Interactive Virtual and Physical Manipulatives for Improving Students' Spatial Skills

ERIC Educational Resources Information Center

Ha, Oai; Fang, Ning

2018-01-01

An innovative educational technology called interactive virtual and physical manipulatives (VPM) is developed to improve students' spatial skills. With VPM technology, not only can students touch and play with real-world physical manipulatives in their hands but also they can see how the corresponding virtual manipulatives (i.e., computer…

A Comparison Study of Polyominoes Explorations in a Physical and Virtual Manipulative Environment

ERIC Educational Resources Information Center

Yuan, Y.; Lee, C. -Y.; Wang, C. -H.

2010-01-01

This study develops virtual manipulative, polyominoes kits for junior high school students to explore polyominoes. The current work conducts a non-equivalent group pretest-post-test quasi-experimental design to compare the performance difference between using physical manipulatives and virtual manipulatives in finding the number of polyominoes.…

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.

Food for Thought: The Role of Manipulatives in The Teaching of Fractions

ERIC Educational Resources Information Center

Day, Lorraine; Hurrell, Derek

2017-01-01

The proliferation of computers, tablets, and internet access has brought the use of virtual manipulatives into the majority of classrooms in the developed world. In responding to the needs of today's students, many of whom are adept at accessing and manipulating technology devices, virtual manipulatives provide a variety of classroom…

KSC-04PD-2687

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. A shipping container transporting part of the new Orbiter Boom Sensor System (OBSS) is delivered by truck to the Remote Manipulator System lab in the Vehicle Assembly Building (VAB). Once the entire structure has arrived, the OBSS will be assembled and undergo final checkout and testing in the lab prior to being transferred to the Orbiter Processing Facility (OPF) for installation on Space Shuttle Discovery. The 50-foot-long OBSS will be attached to the Remote Manipulator System, or Shuttle arm, and is one of the new safety measures for Return to Flight, equipping the orbiter with cameras and laser systems to inspect the Shuttle's Thermal Protection System while in space. Discovery is slated to fly mission STS-114 once Space Shuttle launches resume. The launch planning window is May 12 to June 3, 2005.

KSC-07pd2867

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is moved toward the base, in the background. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2869

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians aid with the lowering of the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, toward the base. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2864

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians adjust the cables of an overhead crane on the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre. The arm will be moved to and installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station ISS. Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

Workshop to address gaps in regulation of minimally manipulated autologous cell therapies for homologous use in Canada.

PubMed

Chisholm, Jolene; von Tigerstrom, Barbara; Bedford, Patrick; Fradette, Julie; Viswanathan, Sowmya

2017-12-01

In Canada, minimally manipulated autologous cell therapies for homologous use (MMAC-H) are either regulated under the practice of medicine, or as drugs or devices under the Food and Drugs Act, Food and Drug Regulations (F&DR) or Medical Device Regulations (MDR). Cells, Tissues and Organs (CTO) Regulations in Canada are restricted to minimally manipulated allogeneic products for homologous use. This leaves an important gap in the interpretation of existing regulations. The purposes of this workshop co-organized by the Stem Cell Network and the Centre for Commercialization of Regenerative Medicine (CCRM) were to discuss the current state of regulation of MMAC-H therapies in Canada and compare it with other regulatory jurisdictions, with the intent of providing specific policy recommendations to Health Canada. Participants came to a consensus on the need for well-defined common terminology between regulators and stakeholders, a common source of confusion and misinformation. A need for a harmonized national approach to oversight of facilities providing MMAC-H therapies based on existing standards, such as Canadian Standards Association (CSA), was also voiced. Facilities providing MMAC-H therapies should also participate in collection of long-term data to ensure patient safety and efficacy of therapies. Harmonization across provinces of the procedures and practices involving administration of MMAC-H would be preferred. Participants felt that devices used to process MMAC-H are adequately regulated under existing MDR. Overly prescriptive regulation will stifle innovation, whereas insufficient regulation might allow unsafe or ineffective therapies to be offered. Until a clear, balanced and explicit approach is articulated, regulatory uncertainty remains a barrier. Copyright © 2017 International Society for Cellular Therapy. Published by Elsevier Inc. All rights reserved.

Metasurface with interfering Fano resonance: manipulating transmission wave with high efficiency.

PubMed

Su, Zhaoxian; Song, Kun; Yin, Jianbo; Zhao, Xiaopeng

2017-06-15

We proposed a novel strategy to design a deep subwavelength metasurface with full 2π transmission phase modulation and high transmission efficiency by applying resonators with interfering Fano resonance. Theoretical investigation demonstrates that the transmission efficiency of the resonators depends on the direct transmission coefficient, direct reflection coefficient, and Q factor. When an impedance layer is added in the resonators, the direct transmission and direct reflection coefficients can be facilely manipulated so that the span of the transmission phase around the resonance frequency can be extended to 2π. As a result, we can continuously adjust the transmission phase from 0 to 2π through changing the geometric parameters of the resonators and construct a deep subwavelength metasurface with the resonators to manipulate the transmission wave with high efficiency. We also find that a layer of grating can be used as the impedance layer to change direct transmission and direct reflection in the actual design of the metasurface. The proposed strategy may provide effective guidance to design a deep subwavelength metasurface for controlling a transmitted wave with high efficiency.

ROBOSIM: An intelligent simulator for robotic systems

NASA Technical Reports Server (NTRS)

Fernandez, Kenneth R.; Cook, George E.; Biegl, Csaba; Springfield, James F.

1993-01-01

The purpose of this paper is to present an update of an intelligent robotics simulator package, ROBOSIM, first introduced at Technology 2000 in 1990. ROBOSIM is used for three-dimensional geometrical modeling of robot manipulators and various objects in their workspace, and for the simulation of action sequences performed by the manipulators. Geometric modeling of robot manipulators has an expanding area of interest because it can aid the design and usage of robots in a number of ways, including: design and testing of manipulators, robot action planning, on-line control of robot manipulators, telerobotic user interface, and training and education. NASA developed ROBOSIM between 1985-88 to facilitate the development of robotics, and used the package to develop robotics for welding, coating, and space operations. ROBOSIM has been further developed for academic use by its co-developer Vanderbilt University, and has been in both classroom and laboratory environments for teaching complex robotic concepts. Plans are being formulated to make ROBOSIM available to all U.S. engineering/engineering technology schools (over three hundred total with an estimated 10,000+ users per year).

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.

An MBE growth facility for real-time in situ synchrotron x-ray topography studies of strained-layer III-V epitaxial materials

NASA Astrophysics Data System (ADS)

Whitehouse, C. R.; Barnett, S. J.; Soley, D. E. J.; Quarrell, J.; Aldridge, S. J.; Cullis, A. G.; Emeny, M. T.; Johnson, A. D.; Clarke, G. F.; Lamb, W.; Tanner, B. K.; Cottrell, S.; Lunn, B.; Hogg, C.; Hagston, W.

1992-01-01

This paper describes a unique combined UHV MBE growth x-ray topography facility designed to allow the first real-time synchrotron radiation x-ray topography study of strained-layer III-V growth processes. This system will enable unambiguous determination of dislocation nucleation and multiplication processes as a function of controlled variations in growth conditions, and also during post-growth thermal processing. The planned experiments have placed very stringent demands upon the engineering design of the system, and design details regarding the growth chamber; sample manipulator, x-ray optics, and real-time imaging systems are described. Results obtained during a feasibility study are also presented.

An MBE growth facility for real-time in situ synchrotron x-ray topography studies of strained-layer III--V epitaxial materials

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

Whitehouse, C.R.; Barnett, S.J.; Soley, D.E.J.

1992-01-01

This paper describes a unique combined UHV MBE growth x-ray topography facility designed to allow the first real-time synchrotron radiation x-ray topography study of strained-layer III--V growth processes. This system will enable unambiguous determination of dislocation nucleation and multiplication processes as a function of controlled variations in growth conditions, and also during post-growth thermal processing. The planned experiments have placed very stringent demands upon the engineering design of the system, and design details regarding the growth chamber; sample manipulator, x-ray optics, and real-time imaging systems are described. Results obtained during a feasibility study are also presented.

Safe injection practice among health-care workers in Gharbiya Governorate, Egypt.

PubMed

Ismail, N A; Aboul Ftouh, A M; El-Shoubary, W H; Mahaba, H

2007-01-01

We assessed safe injection practices among 1100 health-care workers in 25 health-care facilities in Gharbiya Governorate. Questionnaires were used to collect information and 278 injections were observed using a standardized checklist. There was a lack of infection control policies in all the facilities and a lack of many supplies needed for safe injection. Proper needle manipulation before disposal was observed in only 41% of injections, safe needle disposal in 47.5% and safe syringe disposal in 0%. Reuse of used syringes and needles was reported by 13.2% of the health-care workers and 66.2% had experienced a needle-stick injury. Only 11.3% had received a full course of hepatitis B vaccination.

Japanese Experiment Module (JEM)

NASA Technical Reports Server (NTRS)

2003-01-01

The Japanese Experiment Module (JEM) pressure module is removed from its shipping crate and moved across the floor of the Space Station Processing Facility at Kennedy Space Center (KSC) to a work stand. A research laboratory, the pressurized module is the first element of the JEM, named 'Kibo' (Hope) to arrive at KSC. Japan's primary contribution to the International Space Station, the module will enhance unique research capabilities of the orbiting complex by providing an additional environment in which astronauts will conduct experiments. The JEM also includes an exposed facility or platform for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

A self-sacrifice template route to iodine modified BiOIO3: band gap engineering and highly boosted visible-light active photoreactivity.

PubMed

Feng, Jingwen; Huang, Hongwei; Yu, Shixin; Dong, Fan; Zhang, Yihe

2016-03-21

The development of high-performance visible-light photocatalysts with a tunable band gap has great significance for enabling wide-band-gap (WBG) semiconductors visible-light sensitive activity and precisely tailoring their optical properties and photocatalytic performance. In this work we demonstrate the continuously adjustable band gap and visible-light photocatalysis activation of WBG BiOIO3via iodine surface modification. The iodine modified BiOIO3 was developed through a facile in situ reduction route by applying BiOIO3 as the self-sacrifice template and glucose as the reducing agent. By manipulating the glucose concentration, the band gap of the as-prepared modified BiOIO3 could be orderly narrowed by generation of the impurity or defect energy level close to the conduction band, thus endowing it with a visible light activity. The photocatalytic assessments uncovered that, in contrast to pristine BiOIO3, the modified BiOIO3 presents significantly boosted photocatalytic properties for the degradation of both liquid and gaseous contaminants, including Rhodamine B (RhB), methyl orange (MO), and ppb-level NO under visible light. Additionally, the band structure evolution as well as photocatalysis mechanism triggered by the iodine surface modification is investigated in detail. This study not only provides a novel iodine surface-modified BiOIO3 for environmental application, but also provides a facile and general way to develop highly efficient visible-light photocatalysts.

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.

Characterization and control of self-motions in redundant manipulators

NASA Technical Reports Server (NTRS)

Burdick, J.; Seraji, Homayoun

1989-01-01

The presence of redundant degrees of freedom in a manipulator structure leads to a physical phenomenon known as a self-motion, which is a continuous motion of the manipulator joints that leaves the end-effector motionless. In the first part of the paper, a global manifold mapping reformulation of manipulator kinematics is reviewed, and the inverse kinematic solution for redundant manipulators is developed in terms of self-motion manifolds. Global characterizations of the self-motion manifolds in terms of their number, geometry, homotopy class, and null space are reviewed using examples. Much previous work in redundant manipulator control has been concerned with the redundancy resolution problem, in which methods are developed to determine, or resolve, the motion of the joints in order to achieve end-effector trajectory control while optimizing additional objective functions. Redundancy resolution problems can be equivalently posed as the control of self-motions. Alternatives for redundancy resolution are briefly discussed.

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.

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.

Closeup view of the payload bay side of the aft ...

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

Close-up view of the payload bay side of the aft fuselage bulkhead of the Orbiter Discovery. This image has a detailed portions of the Remote Manipulator System and the Orbiter Maneuvering System/Reaction Control System Pods. This photograph wa taken in the Orbiter Processing Facility at Kennedy Space Center. - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

Summary report of working group 5: Beam sources, monitoring and control

NASA Astrophysics Data System (ADS)

Conde, Manoel; Zgadzaj, Rafal

2017-03-01

This paper summarizes the topics presented in Working Group 5 at the 17th Advanced Accelerator Concepts Workshop, which was held from 31 July to 5 August 2016 at the Gaylord Hotel and Conference Center, National Harbor, MD, USA. The presentations included a variety of topics covering cathode and RF gun design, new user facilities, beam phase space manipulation, and a range of novel diagnostic techniques.

KSC-07pd0454

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0452

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0407

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers prepare the Remote Manipulator System, or robotic arm, for installation on the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0453

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0451

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0446

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0447

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0445

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

Pre-STS-3 press conference held at the JSC public affairs facility

NASA Image and Video Library

1982-01-25

S82-25903 (21 Jan. 1982) --- Astronaut Jack R. Lousma, center, and C. Gordon Fullerton, left, respond to a visual depicting the Columbia and its remote manipulator system in space during a pre-STS-3 press conference in JSC?s pubic affairs building. Dr. John Lawrence, public information specialist who introduced the crew to news media representatives, is at far right. Photo credit: NASA

TOPCAT: Tool for OPerations on Catalogues And Tables

NASA Astrophysics Data System (ADS)

Taylor, Mark

2011-01-01

TOPCAT is an interactive graphical viewer and editor for tabular data. Its aim is to provide most of the facilities that astronomers need for analysis and manipulation of source catalogues and other tables, though it can be used for non-astronomical data as well. It understands a number of different astronomically important formats (including FITS and VOTable) and more formats can be added. It offers a variety of ways to view and analyse tables, including a browser for the cell data themselves, viewers for information about table and column metadata, and facilities for 1-, 2-, 3- and higher-dimensional visualisation, calculating statistics and joining tables using flexible matching algorithms. Using a powerful and extensible Java-based expression language new columns can be defined and row subsets selected for separate analysis. Table data and metadata can be edited and the resulting modified table can be written out in a wide range of output formats. It is a stand-alone application which works quite happily with no network connection. However, because it uses Virtual Observatory (VO) standards, it can cooperate smoothly with other tools in the VO world and beyond, such as VODesktop, Aladin and ds9. Between 2006 and 2009 TOPCAT was developed within the AstroGrid project, and is offered as part of a standard suite of applications on the AstroGrid web site, where you can find information on several other VO tools. The program is written in pure Java and available under the GNU General Public Licence. It has been developed in the UK within the Starlink and AstroGrid projects, and under PPARC and STFC grants. Its underlying table processing facilities are provided by STIL.

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…

Developing an Understanding of Quadratics through the Use of Concrete Manipulatives: A Case Study Analysis of the Metacognitive Development of a High School Student with Learning Disabilities

ERIC Educational Resources Information Center

Strickland, Tricia K.

2014-01-01

This case study analyzed the impact of a concrete manipulative program on the understanding of quadratic expressions for a high school student with a learning disability. The manipulatives were utilized as part of the Concrete-Representational-Abstract Integration (CRA-I) intervention in which participants engaged in tasks requiring them to…

Microgravity Science Glovebox (MSG) Space Science's Past, Present, and Future on the International Space Station (ISS)

NASA Technical Reports Server (NTRS)

Spivey, Reggie A.; Spearing, Scott F.; Jordan, Lee P.; McDaniel S. Greg

2012-01-01

The Microgravity Science Glovebox (MSG) is a double rack facility designed for microgravity investigation handling aboard the International Space Station (ISS). The unique design of the facility allows it to accommodate science and technology investigations in a "workbench" type environment. MSG facility provides an enclosed working area for investigation manipulation and observation in the ISS. Provides two levels of containment via physical barrier, negative pressure, and air filtration. The MSG team and facilities provide quick access to space for exploratory and National Lab type investigations to gain an understanding of the role of gravity in the physics associated research areas. The MSG is a very versatile and capable research facility on the ISS. The Microgravity Science Glovebox (MSG) on the International Space Station (ISS) has been used for a large body or research in material science, heat transfer, crystal growth, life sciences, smoke detection, combustion, plant growth, human health, and technology demonstration. MSG is an ideal platform for gravity-dependent phenomena related research. Moreover, the MSG provides engineers and scientists a platform for research in an environment similar to the one that spacecraft and crew members will actually experience during space travel and exploration. The MSG facility is ideally suited to provide quick, relatively inexpensive access to space for National Lab type investigations.

Effects of nutritional deprivation on development and behavior in the subsocial bee Ceratina calcarata (Hymenoptera: Xylocopinae).

PubMed

Lawson, Sarah P; Helmreich, Salena L; Rehan, Sandra M

2017-12-01

By manipulating resources or dispersal opportunities, mothers can force offspring to remain at the nest to help raise siblings, creating a division of labor. In the subsocial bee Ceratina calcarata , mothers manipulate the quantity and quality of pollen provided to the first female offspring, producing a dwarf eldest daughter that is physically smaller and behaviorally subordinate. This daughter forages for her siblings and forgoes her own reproduction. To understand how the mother's manipulation of pollen affects the physiology and behavior of her offspring, we manipulated the amount of pollen provided to offspring and measured the effects of pollen quantity on offspring development, adult body size and behavior. We found that by experimentally manipulating pollen quantities we could recreate the dwarf eldest daughter phenotype, demonstrating how nutrient deficiency alone can lead to the development of a worker-like daughter. Specifically, by reducing the pollen and nutrition to offspring, we significantly reduced adult body size and lipid stores, creating significantly less aggressive, subordinate individuals. Worker behavior in an otherwise solitary bee begins to explain how maternal manipulation of resources could lead to the development of social organization and reproductive hierarchies, a major step in the transition to highly social behaviors. © 2017. Published by The Company of Biologists Ltd.

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.

The role of computerized symbolic manipulation in rotorcraft dynamics analysis

NASA Technical Reports Server (NTRS)

Crespo Da Silva, Marcelo R. M.; Hodges, Dewey H.

1986-01-01

The potential role of symbolic manipulation programs in development and solution of the governing equations for rotorcraft dynamics problems is discussed and illustrated. Nonlinear equations of motion for a helicopter rotor blade represented by a rotating beam are developed making use of the computerized symbolic manipulation program MACSYMA. The use of computerized symbolic manipulation allows the analyst to concentrate on more meaningful tasks, such as establishment of physical assumptions, without being sidetracked by the tedious and trivial details of the algebraic manipulations. Furthermore, the resulting equations can be produced, if necessary, in a format suitable for numerical solution. A perturbation-type solution for the resulting dynamical equations is shown to be possible with a combination of symbolic manipulation and standard numerical techniques. This should ultimately lead to a greater physical understanding of the behavior of the solution than is possible with purely numerical techniques. The perturbation analysis of the flapping motion of a rigid rotor blade in forward flight is presented, for illustrative purposes, via computerized symbolic manipulation with a method that bypasses Floquet theory.

A global approach for using kinematic redundancy to minimize base reactions of manipulators

NASA Technical Reports Server (NTRS)

Chung, C. L.; Desa, S.

1989-01-01

An important consideration in the use of manipulators in microgravity environments is the minimization of the base reactions, i.e. the magnitude of the force and the moment exerted by the manipulator on its base as it performs its tasks. One approach which was proposed and implemented is to use the redundant degree of freedom in a kinematically redundant manipulator to plan manipulator trajectories to minimize base reactions. A global approach was developed for minimizing the magnitude of the base reactions for kinematically redundant manipulators which integrates the Partitioned Jacobian method of redundancy resolution, a 4-3-4 joint-trajectory representation and the minimization of a cost function which is the time-integral of the magnitude of the base reactions. The global approach was also compared with a local approach developed earlier for the case of point-to-point motion of a three degree-of-freedom planar manipulator with one redundant degree-of-freedom. The results show that the global approach is more effective in reducing and smoothing the base force while the local approach is superior in reducing the base moment.

Customizing the genome as therapy for the β-hemoglobinopathies.

PubMed

Canver, Matthew C; Orkin, Stuart H

2016-05-26

Despite nearly complete understanding of the genetics of the β-hemoglobinopathies for several decades, definitive treatment options have lagged behind. Recent developments in technologies for facile manipulation of the genome (zinc finger nucleases, transcription activator-like effector nucleases, or clustered regularly interspaced short palindromic repeats-based nucleases) raise prospects for their clinical application. The use of genome-editing technologies in autologous CD34(+) hematopoietic stem and progenitor cells represents a promising therapeutic avenue for the β-globin disorders. Genetic correction strategies relying on the homology-directed repair pathway may repair genetic defects, whereas genetic disruption strategies relying on the nonhomologous end joining pathway may induce compensatory fetal hemoglobin expression. Harnessing the power of genome editing may usher in a second-generation form of gene therapy for the β-globin disorders. © 2016 by The American Society of Hematology.

STS-31 MS McCandless and MS Sullivan during JSC WETF underwater simulation

NASA Image and Video Library

1990-03-05

This overall view shows STS-31 Mission Specialist (MS) Bruce McCandless II (left) and MS Kathryn D. Sullivan making a practice space walk in JSC's Weightless Environment Training Facility (WETF) Bldg 29 pool. McCandless works with a mockup of the remote manipulator system (RMS) end effector which is attached to a grapple fixture on the Hubble Space Telescope (HST) mockup. Sullivan manipulates HST hardware on the Support System Module (SSM) forward shell. SCUBA-equipped divers monitor the extravehicular mobility unit (EMU) suited crewmembers during this simulated extravehicular activity (EVA). No EVA is planned for the Hubble Space Telescope (HST) deployment, but the duo has trained for contingencies which might arise during the STS-31 mission aboard Discovery, Orbiter Vehicle (OV) 103. Photo taken by NASA JSC photographer Sheri Dunnette.

KSC-04PD-2689

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. A shipping container housing part of the new Orbiter Boom Sensor System (OBSS) is lifted from a truck into the Remote Manipulator System lab in the Vehicle Assembly Building (VAB). Once the entire structure has arrived, the OBSS will be assembled and undergo final checkout and testing in the lab prior to being transferred to the Orbiter Processing Facility (OPF) for installation on Space Shuttle Discovery. The 50-foot- long OBSS will be attached to the Remote Manipulator System, or Shuttle arm, and is one of the new safety measures for Return to Flight, equipping the orbiter with cameras and laser systems to inspect the Shuttle's Thermal Protection System while in space. Discovery is slated to fly mission STS-114 once Space Shuttle launches resume. The launch planning window is May 12 to June 3, 2005.

An object oriented fully 3D tomography visual toolkit.

PubMed

Agostinelli, S; Paoli, G

2001-04-01

In this paper we present a modern object oriented component object model (COMM) C + + toolkit dedicated to fully 3D cone-beam tomography. The toolkit allows the display and visual manipulation of analytical phantoms, projection sets and volumetric data through a standard Windows graphical user interface. Data input/output is performed using proprietary file formats but import/export of industry standard file formats, including raw binary, Windows bitmap and AVI, ACR/NEMA DICOMM 3 and NCSA HDF is available. At the time of writing built-in implemented data manipulators include a basic phantom ray-tracer and a Matrox Genesis frame grabbing facility. A COMM plug-in interface is provided for user-defined custom backprojector algorithms: a simple Feldkamp ActiveX control, including source code, is provided as an example; our fast Feldkamp plug-in is also available.

STS-31 MS McCandless and MS Sullivan during JSC WETF underwater simulation

NASA Technical Reports Server (NTRS)

1990-01-01

This overall view shows STS-31 Mission Specialist (MS) Bruce McCandless II (left) and MS Kathryn D. Sullivan making a practice space walk in JSC's Weightless Environment Training Facility (WETF) Bldg 29 pool. McCandless works with a mockup of the remote manipulator system (RMS) end effector which is attached to a grapple fixture on the Hubble Space Telescope (HST) mockup. Sullivan manipulates HST hardware on the Support System Module (SSM) forward shell. SCUBA-equipped divers monitor the extravehicular mobility unit (EMU) suited crewmembers during this simulated extravehicular activity (EVA). No EVA is planned for the Hubble Space Telescope (HST) deployment, but the duo has trained for contingencies which might arise during the STS-31 mission aboard Discovery, Orbiter Vehicle (OV) 103. Photo taken by NASA JSC photographer Sheri Dunnette.

A 3D Self-Shaping Strategy for Nanoresolution Multicomponent Architectures.

PubMed

Su, Meng; Huang, Zhandong; Li, Yifan; Qian, Xin; Li, Zheng; Hu, Xiaotian; Pan, Qi; Li, Fengyu; Li, Lihong; Song, Yanlin

2018-01-01

3D printing or fabrication pursues the essential surface behavior manipulation of droplets or a liquid for rapidly and precisely constructing 3D multimaterial architectures. Further development of 3D fabrication desires a self-shaping strategy that can heterogeneously integrate functional materials with disparate electrical or optical properties. Here, a 3D liquid self-shaping strategy is reported for rapidly patterning materials over a series of compositions and accurately achieving micro- and nanoscale structures. The predesigned template selectively pins the droplet, and the surface energy minimization drives the self-shaping processing. The as-prepared 3D circuits assembled by silver nanoparticles carry a current of 208-448 µA at 0.01 V impressed voltage, while the 3D architectures achieved by two different quantum dots show noninterfering optical properties with feature resolution below 3 µm. This strategy can facilely fabricate micro-nanogeometric patterns without a modeling program, which will be of great significance for the development of 3D functional devices. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Virtual reality applications in robotic simulations

NASA Technical Reports Server (NTRS)

Homan, David J.; Gott, Charles J.; Goza, S. Michael

1994-01-01

Virtual reality (VR) provides a means to practice integrated extravehicular activities (EVA)/remote manipulator system (RMS) operations in the on-orbit configuration with no discomfort or risk to crewmembers. VR afforded the STS-61 crew the luxury of practicing the integrated EVA/RMS operations in an on-orbit configuration prior to the actual flight. The VR simulation was developed by the Automation and Robotics Division's Telepresence/Virtual Reality Lab and Integrated Graphics, Operations, and Analysis Lab (IGOAL) at JSC. The RMS Part Task Trainer (PTT) was developed by the IGOAL for RMS training in 1988 as a fully functional, kinematic simulation of the shuttle RMS and served as the RMS portion of the integrated VR simulation. Because the EVA crewmember could get a realistic view of the shuttle and payload bay in the VR simulation, he/she could explore different positions and views to determine the best method for performing a specific task, thus greatly increasing the efficiency of use of the neutral buoyancy facilities.

Halophiles, coming stars for industrial biotechnology.

PubMed

Yin, Jin; Chen, Jin-Chun; Wu, Qiong; Chen, Guo-Qiang

2015-11-15

Industrial biotechnology aims to produce chemicals, materials and biofuels to ease the challenges of shortage on petroleum. However, due to the disadvantages of bioprocesses including energy consuming sterilization, high fresh water consumption, discontinuous fermentation to avoid microbial contamination, highly expensive stainless steel fermentation facilities and competing substrates for human consumption, industrial biotechnology is less competitive compared with chemical processes. Recently, halophiles have shown promises to overcome these shortcomings. Due to their unique halophilic properties, some halophiles are able to grow in high pH and high NaCl containing medium under higher temperature, allowing fermentation processes to run contamination free under unsterile conditions and continuous way. At the same time, genetic manipulation methods have been developed for halophiles. So far, halophiles have been used to produce bioplastics polyhydroxyalkanoates (PHA), ectoines, enzymes, and bio-surfactants. Increasing effects have been made to develop halophiles into a low cost platform for bioprocessing with advantages of low energy, less fresh water consumption, low fixed capital investment, and continuous production. Copyright © 2014 Elsevier Inc. All rights reserved.

Fish genome manipulation and directional breeding.

PubMed

Ye, Ding; Zhu, ZuoYan; Sun, YongHua

2015-02-01

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

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.

KSC-07pd0636

NASA Image and Video Library

2007-03-13

KENNEDY SPACE CENTER, FLA. -- A flat bed truck hauls the container with the Experiment Logistics Module Pressurized Section inside away from the Trident wharf. The logistics module is part of the Japanese Experiment Module, known as Kibo. The logistics module is being transported to the Space Station Processing Facility at NASA's Kennedy Space Center. Kibo consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007. Photo credit: NASA/Kim Shiflett

Japanese Experiment Module arrival

NASA Image and Video Library

2007-03-29

Inside the Space Station Processing Facility, workers monitor progress as a huge crane is used to remove the top of the crate carrying the Experiment Logistics Module Pressurized Section for the Japanese Experiment Module. The logistics module is one of the components of the Japanese Experiment Module or JEM, also known as Kibo, which means "hope" in Japanese. Kibo comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007.

Japanese Experiment Module arrival

NASA Image and Video Library

2007-03-29

Inside the Space Station Processing Facility, the Experiment Logistics Module Pressurized Section for the Japanese Experiment Module is revealed after the top of the crate is removed. The logistics module is one of the components of the Japanese Experiment Module or JEM, also known as Kibo, which means "hope" in Japanese. Kibo comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007.

JEM Experiment Logistics Module Pressurized Section

NASA Image and Video Library

2007-04-02

In the Space Station Processing Facility, the JEM Experiment Logistics Module Pressurized Section is lowered onto a scale for weight and center-of-gravity measurements. The module will then be moved to a work stand. The logistics module is one of the components of the Japanese Experiment Module or JEM, also known as Kibo, which means "hope" in Japanese. Kibo comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007.

Regulation of sexual development in the basal termite Cryptotermes secundus: mutilation, pheromonal manipulation or honest signal?

PubMed

Korb, Judith

2005-01-01

Social insect colonies are not the harmonious entities they were once considered. Considerable conflicts exist between colony members, as has been shown for Hymenoptera. For termites, similar studies are lacking, but aggressive manipulations have been claimed to regulate sexual development, and even to account for the evolution of workers. This study on a basal termite, Cryptotermes secundus (Kalotermitidae), suggests that the importance of aggressive manipulations in termites has been overemphasized. Wing-bud mutilations, a means proposed to regulate the development of dispersing sexuals (alates), seem to be artifacts of handling conditions that cause disturbance. Aggressive behaviors never occurred unless colonies were disturbed. Theoretical considerations further showed that the potential for intense conflict among termite nestmates is low compared to hymenopteran societies. Strong conflicts are only expected to occur over the replacement of natal reproductives that died, while less intense conflicts should exist over the development into alates when food in the colony becomes limiting. Accordingly, intracolonial aggressive interactions over replacement are common, whereas nestmates seem to manipulate alate development via proctodeal feeding when food resources decline. However, the latter is rather an honest signal than a manipulation because only the most competent prospective dispersers can impede the development of nestmates.

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.

Recent Developments in Whole Sediment Toxicity Identification Evaluations: Innovations in Manipulations and Endpoints

EPA Science Inventory

Whole sediment Toxicity Identification Evaluation (TIE) methods were developed primarily in the late 1990s and early 2000s in research programs dedicated to developing manipulations and endpoints to characterize and identify causes of toxicity to benthic freshwater and marine org...

A real-time error-free color-correction facility for digital consumers

NASA Astrophysics Data System (ADS)

Shaw, Rodney

2008-01-01

It has been well known since the earliest days of color photography that color-balance in general, and facial reproduction (flesh tones) in particular, are of dominant interest to the consumer, and significant research resources have been expended in satisfying this need. The general problem is a difficult one, spanning the factors that govern perception and personal preference, the physics and chemistry of color reproduction, as well as wide field of color measurement specification, and analysis. However, with the advent of digital photography and its widespread acceptance in the consumer market, and with the possibility of a much greater degree of individual control over color reproduction, the field is taking on a new consumer-driven impetus, and the provision of user facilities for preferred color choice now constitutes an intense field of research. In addition, due to the conveniences of digital technology, the collection of large data bases and statistics relating to individual color preferences have now become a relatively straightforward operation. Using a consumer preference approach of this type, we have developed a user-friendly facility whereby unskilled consumers may manipulate the color of their personal digital images according to their preferred choice. By virtue of its ease of operation and the real-time nature of the color-correction transforms, this facility can readily be inserted anywhere a consumer interacts with a digital image, from camera, printer, or scanner, to web or photo-kiosk. Here the underlying scientific principles are explored in detail, and these are related to the practical color-preference outcomes. Examples are given of the application to the correction of images with unsatisfactory color balance, and especially to flesh tones and faces, and the nature of the consumer controls and their corresponding image transformations are explored.

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.

Mass tracking and material accounting in the Integral Fast Reactor (IFR)

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

Orechwa, Y.; Adams, C.H.; White, A.M.

1991-01-01

The Integral Fast Reactor (IFR) is a generic advanced liquid metal cooled reactor concept being developed at Argonne National Laboratory (ANL). There are a number of technical features of the IFR which contribute to its potential as a next-generation reactor. These are associated with large safety margins with regard to off-normal events involving the heat transport system, and the use of metallic fuel which makes possible the utilization of innovative fuel cycle processes. The latter feature permits fuel cycle closure the compact, low-cost reprocessing facilities, collocated with the reactor plant. These primary features are being demonstrated in the facilities atmore » ANL-West, utilizing Experimental Breeder Reactor 2 and the associated Fuel Cycle Facility (FCF) as an IFR prototype. The demonstration of this IFR prototype includes the design and implementation of the Mass-Tracking System (MTG). In this system, data from the operations of the FCF, including weights and batch-process parameters, are collected and maintained by the MTG running on distributed workstations. The components of the MTG System include: (1) an Oracle database manager with a Fortran interface, (2) a set of MTG Tasks'' which collect, manipulate and report data, (3) a set of MTG Terminal Sessions'' which provide some interactive control of the Tasks, and (4) a set of servers which manage the Tasks and which provide the communications link between the MTG System and Operator Control Stations, which control process equipment and monitoring devices within the FCF.« less

Py4Syn: Python for synchrotrons.

PubMed

Slepicka, H H; Canova, H F; Beniz, D B; Piton, J R

2015-09-01

In this report, Py4Syn, an open-source Python-based library for data acquisition, device manipulation, scan routines and other helper functions, is presented. Driven by easy-to-use and scalability ideals, Py4Syn offers control system agnostic solution and high customization level for scans and data output, covering distinct techniques and facilities. Here, most of the library functionalities are described, examples of use are shown and ideas for future implementations are presented.

FY04 IRAD-funded GSFC Lambda Network (L-Net) Web Pages and Related Presentations

NASA Technical Reports Server (NTRS)

Gary, J. Patrick

2005-01-01

This presentation discusses the advances in Networking Technology combining the Global Lambda Integrated Facility (GLIF) cooperation with the National Lambda Rail (NLR) implementation. It also focuses on New NASA science needing Gigbit per second networks (Gbps) with coordinated Earth Observing Program, hurricane predictions, global aerosols, remote viewing and manipulation of large Earth Science Data Sets, integration of laser and radar topographic data with land cover data.

20. VIEW OF THE INTERIOR OF THE ADVANCED SIZE REDUCTION ...

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

20. VIEW OF THE INTERIOR OF THE ADVANCED SIZE REDUCTION FACILITY USED TO CUT PLUTONIUM CONTAMINATED GLOVE BOXES AND MISCELLANEOUS LARGE EQUIPMENT DOWN TO AN EASILY PACKAGED SIZE FOR DISPOSAL. ROUTINE OPERATIONS WERE PERFORMED REMOTELY, USING HOISTS, MANIPULATOR ARMS, AND GLOVE PORTS TO REDUCE BOTH INTENSITY AND TIME OF RADIATION EXPOSURE TO THE OPERATOR. (11/6/86) - Rocky Flats Plant, Plutonium Fabrication, Central section of Plant, Golden, Jefferson County, CO

KSC-07pd0450

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, a worker helps to attach the Remote Manipulator System, or robotic arm, to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

Degree-strength correlation reveals anomalous trading behavior.

PubMed

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

2012-01-01

Manipulation is an important issue for both developed and emerging stock markets. Many efforts have been made to detect manipulation in stock markets. However, it is still an open problem to identify the fraudulent traders, especially when they collude with each other. In this paper, we focus on the problem of identifying the anomalous traders using the transaction data of eight manipulated stocks and forty-four non-manipulated stocks during a one-year period. By analyzing the trading networks of stocks, we find that the trading networks of manipulated stocks exhibit significantly higher degree-strength correlation than the trading networks of non-manipulated stocks and the randomized trading networks. We further propose a method to detect anomalous traders of manipulated stocks based on statistical significance analysis of degree-strength correlation. Experimental results demonstrate that our method is effective at distinguishing the manipulated stocks from non-manipulated ones. Our method outperforms the traditional weight-threshold method at identifying the anomalous traders in manipulated stocks. More importantly, our method is difficult to be fooled by colluded traders.

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

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.

Senator John Glenn visit to Johnson Space Center (JSC)

NASA Image and Video Library

1995-05-30

Senator John Glenn visit to Johnson Space Center (JSC). Views of Glenn sitting in cockpit of T-38 in Hangar 276 with John Young, George Abbey, David Leestma and Mark Polansky observing (11150). An engineer explains SPIFEX experiment hardware to Abby, Young and Glenn in Bldg 13 (11151, 11153). Glenn talks with astronaut Terrence T. Henricks and employees in Bldg 9C, Virtual reality lab (11152). Lunch in Bldg 17 Flight Crew support division with Dr. Ellen Baker, Robert "Hoot" Gibson and John Glenn (11154). Linda Godwin, Robert Cabana, Abbey, Young, Baker, Gibson and Glenn at lunch (11155). Astronaut Mark Lee shows Glenn and his aide how to use the virtural reality helmets (11156-7). Glenn shakes the hand of Franklin Chang-Diaz with his plasma rocket in the background in the Sonny Carter Training Facility (SCTF) (11158). Glenn in the Manipulator Development Facility (MDF) Remote Manipulator System (RMS) station mock-up in Bldg 9A with Abbey, Young and aide (11159, 11186). Glenn signs a book for Thomas D. Jones as Frederick Sturckow and Linda Godwin look on (11160). Glenn inside visual-vestibular trainer in Bldg 9B (11161). In conference room meeting with astronaut corps in Bldg 4S, Glenn shakes Robert Cabana's hand (11162). John Glenn and John Young pose for a group shot with Bldg 17 Food lab personnel (11163). Glenn thanks the food lab personnel (11164). Glenn visits Bldg 5 Fixed Base (FB) middeck simulator with astronauts Terrence Henricks and Mary Ellen Weber (11165). Glenn with Charles T. Bourland (11166). STS-70 crew Donald Thomas, Terrence Henricks, Mary Ellen Weber, Nancy Currie and Kevin Kregel with Glenn's advisor (11167). STS-70 crew Thomas, Henricks, Weber, Currie and Kregel with John Glenn (11175). Glenn with Thomas, Kregel, Weber, Henricks and trainer (11176-7). David J. Homan assists Glenn's aide with virtual reality goggles (11168) and Glenn (11174). John Young in Bldg 9C equilibrium trainer (11169). Glenn with Carl Walz in flight deck mock-up of MDF in Bldg 9NE (11170, 11187). Young, Abbey, aides, Glenn and Walz examine helium balloon in MDF (11171-2). Chang-Diaz shows Glenn's tour group the plasma rocket (11173). Glenn's presentation to astronaut corps (11178-81, 11184-5). Glenn is presented with framed picture of Sonny Carter Training Facility (SCTF) (11182) and framed picture of space station (11183).

Development of an Automated Seed Sowing and Induced Germination System for Space Flight Application

NASA Technical Reports Server (NTRS)

Heyenga, A. G.; Kliss, Mark

1995-01-01

The successful utilization of higher plants in space flight is likely to require the effective transition of plants through all phases of growth and development. A particularly sensitive and critical stage in this cycle is seed germination. The present inflight capability to manipulate seed from a state of dormancy to germination and the performance of such activity under aseptic conditions is extremely limited. An Automated Sowing Mechanism (ASM) has been designed to address this area of science and technology. The self-contained system is readily compatible with the existing Shuttle middeck locker Plant Growth Unit (PGU) and planned Plant Growth Facility (PGF), presenting an opportunity to extend the experimental capability of these systems. The ASM design encompasses the controlled transition of seed from a dry to hydrated state utilizing solid media substrate as the source of water and nutrient support. System activation has been achieved with both photo and timing mechanisms. Controlled induced germination and development of various plant species has been achieved in ground-based trials. The system is presently being prepared for a KC-135 flight test.

Spatial-Operator Algebra For Robotic Manipulators

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

Preliminary experimental investigation of in vivo magnetic manipulation: results and potential application in hyperthermia.

PubMed

Grady, M S; Howard, M A; Molloy, J A; Ritter, R C; Quate, E G; Gillies, G T

1989-01-01

The first in vivo experiments in support of a new technique for delivering stereotaxic hyperthermia have been conducted at the Experimental Surgery Facility of the University of Virginia's Medical Center. We call this technique the "Video Tumor Fighter." In each of twelve trials a single, small permanent magnet or train of small permanent magnets was implanted on the brain surface of adult canine models. In three of the trials, this "seed" (typically 6-mm diameter X 6-mm long) was moved by magnetic manipulation to different locations within the brain. In two other trials, the seed moved along the interface between the brain and the inner vault of the skull. The noncontact magnetic manipulation was accomplished by coupling the permanently magnetized seed to the large dc magnetic field gradient created by a water-cooled coil surrounding the animal's head. The seed's motions were monitored with x-ray fluoroscopy; its rate of movement was found to be approximately 0.8 mm s-1. The forces required to produce these motions were on the order of 0.07 N. We document here the instrumentation used in these trials, describe the experimental procedures employed, and discuss the technical aspects of the results.

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.

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.

The insulin-like androgenic gland hormone in crustaceans: From a single gene silencing to a wide array of sexual manipulation-based biotechnologies.

PubMed

Ventura, Tomer; Sagi, Amir

2012-01-01

Due to the over-harvesting and deterioration of wild populations, the ever-growing crustacean market is increasingly reliant on aquaculture, driving the need for better management techniques. Since most cultured crustacean species exhibit sexually dimorphic growth patterns, the culture of monosex populations (either all-male or all-female) is a preferred approach for gaining higher yields, with the ecological benefit of reducing the risk of invasion by the cultured species. Sexual manipulations may also render sustainable solutions to the environmental problems caused by the presence of invasive crustacean species with detrimental impacts ranging from aggressive competition with native species for food and shelter, to affecting aquaculture facilities and harvests and causing structural damage to river banks. Recent discoveries of androgenic gland (AG)-specific insulin-like peptides (IAGs) in crustaceans and the ability to manipulate them and their encoding transcripts (IAGs) have raised the possibility of sexually manipulating crustacean populations. Sexual manipulation is already a part of sustainable solutions in fish aquaculture and in the bio-control of insect pest species, and attempts are also being made to implement it with crustaceans. As recently exemplified in a commercially important prawn species, IAG silencing, a temporal, non-genetically modifying and non-transmissible intervention, has enabled the production of non-breeding all-male monosex populations that are the progeny of sexually reversed males ('neo-females'). IAG manipulations-based biotechnologies therefore have the potential to radically transform the entire industry. We review here how this proof of concept could be broadened to meet both aquacultural and environmental needs. We include the major cultured decapod crustacean groups and suggest a sustainable solution for the management of invasive and pest crustacean species. We also review the key considerations for devising a biotechnological approach that specifically tailors the molecular technological abilities to the management of each target group. Copyright © 2012 Elsevier Inc. All rights reserved.

An Investigation of the Impact of Manipulative Type and Instructional Guidance on Preschoolers' Symbolic Development of Quantities

ERIC Educational Resources Information Center

Carbonneau, Kira J.

2013-01-01

Activity-based instructional strategies promote physical interaction with manipulatives to represent abstract concepts. As a means to improve student achievement in mathematics, educational researchers and practitioners often recommend instructional strategies that capitalize on the assumed benefits of manipulatives. Recent research has indicated…

Hands-On Decoding: Guidelines for Using Manipulative Letters

ERIC Educational Resources Information Center

Pullen, Paige Cullen; Lane, Holly B.

2016-01-01

Manipulative objects have long been an essential tool in the development of mathematics knowledge and skills. A growing body of evidence suggests using manipulative letters for decoding practice is an also an effective method for teaching reading, particularly in improving the phonological and decoding skills of students at risk for reading…

The Stealth Curriculum: Manipulating America's History Teachers

ERIC Educational Resources Information Center

Stotsky, Sandra

2004-01-01

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

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.

Triple-axis common-pivot arm wrist device for manipulative applications

NASA Technical Reports Server (NTRS)

Kersten, L.; Johnston, J. D.

1980-01-01

A concept in manipulator development to overcome the 'weak wrist syndrome', a triple-axis common-pivot arm wrist (TACPAW), is presented. It contains torque motors for actuation, tachometers for measuring rate, and resolvers for position measurements. Furthermore, it provides three degrees of freedom, i.e., pitch, yaw, and roll, in a single manipulator joint. The advantages of this development are increased strength, compactness, and simplification of controls. Designed to be compatible with the protoflight manipulator arm, the joints of TACPAW are back-driveable with + or - 45 deg rotation in pitch, + or - 45 deg in yaw and continuous roll in either direction while delivering 20.5 N-m (15 ft-lb) torque in each of the three movements.

Development of a sensor coordinated kinematic model for neural network controller training

NASA Technical Reports Server (NTRS)

Jorgensen, Charles C.

1990-01-01

A robotic benchmark problem useful for evaluating alternative neural network controllers is presented. Specifically, it derives two camera models and the kinematic equations of a multiple degree of freedom manipulator whose end effector is under observation. The mapping developed include forward and inverse translations from binocular images to 3-D target position and the inverse kinematics of mapping point positions into manipulator commands in joint space. Implementation is detailed for a three degree of freedom manipulator with one revolute joint at the base and two prismatic joints on the arms. The example is restricted to operate within a unit cube with arm links of 0.6 and 0.4 units respectively. The development is presented in the context of more complex simulations and a logical path for extension of the benchmark to higher degree of freedom manipulators is presented.

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.

Design and realization of sort manipulator of crystal-angle sort machine

NASA Astrophysics Data System (ADS)

Wang, Ming-shun; Chen, Shu-ping; Guan, Shou-ping; Zhang, Yao-wei

2005-12-01

It is a current tendency of development in automation technology to replace manpower with manipulators in working places where dangerous, harmful, heavy or repetitive work is involved. The sort manipulator is installed in a crystal-angle sort machine to take the place of manpower, and engaged in unloading and sorting work. It is the outcome of combing together mechanism, electric transmission, and pneumatic element and micro-controller control. The step motor makes the sort manipulator operate precisely. The pneumatic elements make the sort manipulator be cleverer. Micro-controller's software bestows some simple artificial intelligence on the sort manipulator, so that it can precisely repeat its unloading and sorting work. The combination of manipulator's zero position and step motor counting control puts an end to accumulating error in long time operation. A sort manipulator's design in the practice engineering has been proved to be correct and reliable.

Development of 3 DOF manipulator using ER fluid clutches for reduction of collision force

NASA Astrophysics Data System (ADS)

Boku, Kazuhiko; Nakamura, Taro

2009-02-01

.With robots and users more commonly sharing space such as in the fields of medicine and home automation, the possibility of a physical collision has increased, even though many robots use actuators with high-ratio gear trains to minimize the effects of impact. We developed a 3-DOF manipulator having a smart flexible joint using an ER fluid and a sensor-equipped pneumatic cushion. Results of position control and collision experiments using the manipulator demonstrated its effectiveness.

An evolutionary resolution of manipulation conflict.

PubMed

González-Forero, Mauricio

2014-07-01

Individuals can manipulate the behavior of social partners. However, manipulation may conflict with the fitness interests of the manipulated individuals. Manipulated individuals can then be favored to resist manipulation, possibly reducing or eliminating the manipulated behavior in the long run. I use a mathematical model to show that conflicts where manipulation and resistance coevolve can disappear as a result of the coevolutionary process. I find that while manipulated individuals are selected to resist, they can simultaneously be favored to express the manipulated behavior at higher efficiency (i.e., providing increasing fitness effects to recipients of the manipulated behavior). Efficiency can increase to a point at which selection for resistance disappears. This process yields an efficient social behavior that is induced by social partners, and over which the inducing and induced individuals are no longer in conflict. A necessary factor is costly inefficiency. I develop the model to address the evolution of advanced eusociality via maternal manipulation (AEMM). The model predicts AEMM to be particularly likely in taxa with ancestrally imperfect resistance to maternal manipulation. Costly inefficiency occurs if the cost of delayed dispersal is larger than the benefit of exploiting the maternal patch. I discuss broader implications of the process. © 2014 The Author(s). Evolution © 2014 The Society for the Study of Evolution.

Enhanced control & sensing for the REMOTEC ANDROS Mk VI robot. Final report

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

Spelt, P.F.; Harvey, H.W.

1997-08-01

This Cooperative Research and Development Agreement (CRADA) between Lockheed Marietta Energy Systems, Inc., and REMOTEC, Inc., explored methods of providing operator feedback for various work actions of the ANDROS Mk VI teleoperated robot. In a hazardous environment, an extremely heavy workload seriously degrades the productivity of teleoperated robot operators. This CRADA involved the addition of computer power to the robot along with a variety of sensors and encoders to provide information about the robot`s performance in and relationship to its environment. Software was developed to integrate the sensor and encoder information and provide control input to the robot. ANDROS Mkmore » VI robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as in a variety of other hazardous environments. Further, this platform has potential for use in a number of environmental restoration tasks, such as site survey and detection of hazardous waste materials. The addition of sensors and encoders serves to make the robot easier to manage and permits tasks to be done more safely and inexpensively (due to time saved in the completion of complex remote tasks). Prior research on the automation of mobile platforms with manipulators at Oak Ridge National Laboratory`s Center for Engineering Systems Advanced Research (CESAR, B&R code KC0401030) Laboratory, a BES-supported facility, indicated that this type of enhancement is effective. This CRADA provided such enhancements to a successful working teleoperated robot for the first time. Performance of this CRADA used the CESAR laboratory facilities and expertise developed under BES funding.« less

Detecting anomalous traders using multi-slice network analysis

NASA Astrophysics Data System (ADS)

Sun, Xiao-Qian; Shen, Hua-Wei; Cheng, Xue-Qi; Zhang, Yuqing

2017-05-01

Manipulation is an important issue for both developed and emerging stock markets. Many efforts have been made to detect manipulation in stock market. However, it is still an open problem to identify the fraudulent traders, especially when they collude with each other. In this paper, we focus on the problem of identifying anomalous traders using the transaction data of 8 manipulated stocks and 42 non-manipulated stocks during a one-year period. For each stock, we construct a multi-slice trading network to characterize the daily trading behavior and the cross-day participation of each trader. Comparing the multi-slice trading network of manipulated stocks and non-manipulated stocks with their randomized version, we find that manipulated stocks exhibit high number of trader pairs that trade with each other in multiple days and high deviation from randomized network at correlation between trading frequency and trading activity. These findings are effective at distinguishing manipulated stocks from non-manipulated ones and at identifying anomalous traders.

Kinematic Determination of an Unmodeled Serial Manipulator by Means of an IMU

NASA Astrophysics Data System (ADS)

Ciarleglio, Constance A.

Kinematic determination for an unmodeled manipulator is usually done through a-priori knowledge of the manipulator physical characteristics or external sensor information. The mathematics of the kinematic estimation, often based on Denavit- Hartenberg convention, are complex and have high computation requirements, in addition to being unique to the manipulator for which the method is developed. Analytical methods that can compute kinematics on-the fly have the potential to be highly beneficial in dynamic environments where different configurations and variable manipulator types are often required. This thesis derives a new screw theory based method of kinematic determination, using a single inertial measurement unit (IMU), for use with any serial, revolute manipulator. The method allows the expansion of reconfigurable manipulator design and simplifies the kinematic process for existing manipulators. A simulation is presented where the theory of the method is verified and characterized with error. The method is then implemented on an existing manipulator as a verification of functionality.

Electrowetting in a water droplet with a movable floating substrate

NASA Astrophysics Data System (ADS)

Shahzad, Amir; Masud, A. R.; Song, Jang-Kun

2016-05-01

Electrowetting (EW) enables facile manipulation of a liquid droplet on a hydrophobic surface. In this study, manipulation of an electrolyte droplet having a small floating object on it was investigated on a solid hydrophobic substrate under the EW process. Herein, the floating object exhibited a vertical motion under an applied electric field owing to the spreading and contraction of the droplet on its connecting substrates. The field-induced height variation of the floating object was significantly influenced by the thicknesses of the dielectric and hydrophobic materials. A small mass was also placed on the top floating object and its effect on the spreading of the droplet was observed. In this system, the height of the top floating object is precisely controllable under the application of an electric voltage. The proposed system is expected to be highly useful in the design of nano- and micro-oscillatory systems for microengineering.

Electrowetting in a water droplet with a movable floating substrate.

PubMed

Shahzad, Amir; Masud, A R; Song, Jang-Kun

2016-05-01

Electrowetting (EW) enables facile manipulation of a liquid droplet on a hydrophobic surface. In this study, manipulation of an electrolyte droplet having a small floating object on it was investigated on a solid hydrophobic substrate under the EW process. Herein, the floating object exhibited a vertical motion under an applied electric field owing to the spreading and contraction of the droplet on its connecting substrates. The field-induced height variation of the floating object was significantly influenced by the thicknesses of the dielectric and hydrophobic materials. A small mass was also placed on the top floating object and its effect on the spreading of the droplet was observed. In this system, the height of the top floating object is precisely controllable under the application of an electric voltage. The proposed system is expected to be highly useful in the design of nano- and micro-oscillatory systems for microengineering.

KSC-2010-1316

NASA Image and Video Library

2010-01-18

CAPE CANAVERAL, Fla. - In Orbiter Processing Facility 1 at NASA's Kennedy Space Center in Florida, technicians install the orbiter boom sensor system, or OBSS, in space shuttle Atlantis' payload bay across from the remote manipulator system arm. The OBSS' inspection boom assembly, or IBA, is removed from the arm every other processing flow for a detailed inspection. After five consecutive flights, all IBA internal components are submitted to a thorough electrical checkout in the Remote Manipulator System Lab. The 50-foot-long OBSS attaches to the end of the shuttle’s robotic arm and supports the cameras and laser systems used to inspect the shuttle’s thermal protection system while in space. Atlantis is next slated to deliver an Integrated Cargo Carrier and Russian-built Mini Research Module to the International Space Station on the STS-132 mission. Launch is targeted for May 14. Photo credit: NASA/Jim Grossmann

Virtual reality and interactive 3D as effective tools for medical training.

PubMed

Webb, George; Norcliffe, Alex; Cannings, Peter; Sharkey, Paul; Roberts, Dave

2003-01-01

CAVE-like displays allow a user to walk in to a virtual environment, and use natural movement to change the viewpoint of virtual objects which they can manipulate with a hand held device. This maps well to many surgical procedures offering strong potential for training and planning. These devices may be networked together allowing geographically remote users to share the interactive experience. This maps to the strong need for distance training and planning of surgeons. Our paper shows how the properties of a CAVE-Like facility can be maximised in order to provide an ideal environment for medical training. The implementation of a large 3D-eye is described. The resulting application is that of an eye that can be manipulated and examined by trainee medics under the guidance of a medical expert. The progression and effects of different ailments can be illustrated and corrective procedures, demonstrated.

Near real time observational data collection for SPRUCE experiment- PakBus protocol for slow satellite connections

NASA Astrophysics Data System (ADS)

Krassovski, Misha; Hanson, Paul; Riggs, Jeff

2017-04-01

Climate change studies are one of the most important aspects of modern science and related experiments are getting bigger and more complex. One such experiment is the Spruce and Peatland Responses Under Climatic and Environmental Change experiment (SPRUCE, http://mnspruce.ornl.gov) conducted in in northern Minnesota, 40 km north of Grand Rapids, in the USDA Forest Service Marcell Experimental Forest (MEF). The SPRUCE experimental mission is to assess ecosystem-level biological responses of vulnerable, high carbon terrestrial ecosystems to a range of climate warming manipulations and an elevated CO2 atmosphere. This manipulation experiment generates a lot of observational data and requires a reliable onsite data collection system, dependable methods to transfer data to a robust scientific facility, and real-time monitoring capabilities. This publication shares our experience of establishing near real time data collection and monitoring system via a satellite link using PakBus protocol.

Determination of eigenvalues of dynamical systems by symbolic computation

NASA Technical Reports Server (NTRS)

Howard, J. C.

1982-01-01

A symbolic computation technique for determining the eigenvalues of dynamical systems is described wherein algebraic operations, symbolic differentiation, matrix formulation and inversion, etc., can be performed on a digital computer equipped with a formula-manipulation compiler. An example is included that demonstrates the facility with which the system dynamics matrix and the control distribution matrix from the state space formulation of the equations of motion can be processed to obtain eigenvalue loci as a function of a system parameter. The example chosen to demonstrate the technique is a fourth-order system representing the longitudinal response of a DC 8 aircraft to elevator inputs. This simplified system has two dominant modes, one of which is lightly damped and the other well damped. The loci may be used to determine the value of the controlling parameter that satisfied design requirements. The results were obtained using the MACSYMA symbolic manipulation system.

Synthetic Botany.

PubMed

Boehm, Christian R; Pollak, Bernardo; Purswani, Nuri; Patron, Nicola; Haseloff, Jim

2017-07-05

Plants are attractive platforms for synthetic biology and metabolic engineering. Plants' modular and plastic body plans, capacity for photosynthesis, extensive secondary metabolism, and agronomic systems for large-scale production make them ideal targets for genetic reprogramming. However, efforts in this area have been constrained by slow growth, long life cycles, the requirement for specialized facilities, a paucity of efficient tools for genetic manipulation, and the complexity of multicellularity. There is a need for better experimental and theoretical frameworks to understand the way genetic networks, cellular populations, and tissue-wide physical processes interact at different scales. We highlight new approaches to the DNA-based manipulation of plants and the use of advanced quantitative imaging techniques in simple plant models such as Marchantia polymorpha. These offer the prospects of improved understanding of plant dynamics and new approaches to rational engineering of plant traits. Copyright © 2017 Cold Spring Harbor Laboratory Press; all rights reserved.

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

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.

A magnetic micro-manipulator for application of three dimensional forces

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

Punyabrahma, P.; Jayanth, G. R.

2015-02-15

Magnetic manipulation finds diverse applications in actuation, characterization, and manipulation of micro- and nano-scale samples. This paper presents the design and development of a novel magnetic micro-manipulator for application of three-dimensional forces on a magnetic micro-bead. A simple analytical model is proposed to obtain the forces of interaction between the magnetic micro-manipulator and a magnetic micro-bead. Subsequently, guidelines are proposed to perform systematic design and analysis of the micro-manipulator. The designed micro-manipulator is fabricated and evaluated. The manipulator is experimentally demonstrated to possess an electrical bandwidth of about 1 MHz. The ability of the micro-manipulator to apply both in-plane andmore » out-of-plane forces is demonstrated by actuating permanent-magnet micro-beads attached to micro-cantilever beams. The deformations of the micro-cantilevers are also employed to calibrate the dependence of in-plane and out-of-plane forces on the position of the micro-bead relative to the micro-manipulator. The experimentally obtained dependences are found to agree well with theory.« less

Degree-Strength Correlation Reveals Anomalous Trading Behavior

PubMed Central

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

2012-01-01

Manipulation is an important issue for both developed and emerging stock markets. Many efforts have been made to detect manipulation in stock markets. However, it is still an open problem to identify the fraudulent traders, especially when they collude with each other. In this paper, we focus on the problem of identifying the anomalous traders using the transaction data of eight manipulated stocks and forty-four non-manipulated stocks during a one-year period. By analyzing the trading networks of stocks, we find that the trading networks of manipulated stocks exhibit significantly higher degree-strength correlation than the trading networks of non-manipulated stocks and the randomized trading networks. We further propose a method to detect anomalous traders of manipulated stocks based on statistical significance analysis of degree-strength correlation. Experimental results demonstrate that our method is effective at distinguishing the manipulated stocks from non-manipulated ones. Our method outperforms the traditional weight-threshold method at identifying the anomalous traders in manipulated stocks. More importantly, our method is difficult to be fooled by colluded traders. PMID:23082114

NECTAR—A fission neutron radiography and tomography facility

NASA Astrophysics Data System (ADS)

Bücherl, T.; Lierse von Gostomski, Ch.; Breitkreutz, H.; Jungwirth, M.; Wagner, F. M.

2011-09-01

NECTAR (Neutron Computerized Tomography and Radiography) is a versatile facility for radiographic and tomographic investigations as well as for neutron activation experiments using fission neutrons. The radiation sources for this facility are two plates of highly enriched uranium situated in the moderator vessel in FRM II. Thermal neutrons originating from the main fuel element of the reactor generate in these plates fast neutrons. These can escape through a horizontal beam tube without moderation. The beam can be filtered and manipulated in order to reduce the accompanying gamma radiation and to match the specific experimental tasks. A summary of the main parameters required for experimental set-up and (quantitative) data evaluation is presented. The (measured) spectra of the neutron and gamma radiations are shown along with the effect of different filters on their behavior. The neutron and gamma fluxes, dose rates, L/ D-ratios, etc. and the main parameters of the actually used detection systems for neutron imaging are given, too.

KSC-03PD-2139

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. In the Space Station Processing Facility, STS-115 Mission Specialists Joseph Tanner (center) and Heidemarie Stefanyshyn-Piper (right) look at the inside of the Japanese Experiment Module (JEM) Pressurized Module. Known as Kibo, the JEM consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The STS-115 mission will deliver the second port truss segment, the P3/P4 Truss, to attach to the first port truss segment, the P1 Truss, as well as deploy solar array sets 2A and 4A.. The crew is scheduled to activate and check out the Solar Alpha Rotary Joint (SARJ) and deploy the P4 Truss radiator.

KSC-03PD-2141

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. In the Space Station Processing Facility, STS-115 Mission Specialist Heidemarie Stefanyshyn-Piper (left) gets ready to check out the Japanese Experiment Module (JEM) Pressurized Module. Known as Kibo, the JEM consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The STS-115 mission will deliver the second port truss segment, the P3/P4 Truss, to attach to the first port truss segment, the P1 Truss, as well as deploy solar array sets 2A and 4A.. The crew is scheduled to activate and check out the Solar Alpha Rotary Joint (SARJ) and deploy the P4 Truss radiator.

KSC-03PD-2140

NASA Technical Reports Server (NTRS)

2003-01-01

KENNEDY SPACE CENTER, FLA. In the Space Station Processing Facility, STS-115 Mission Specialists Heidemarie Stefanyshyn- Piper (left) and Joseph Tanner (center) get ready to check out the Japanese Experiment Module (JEM) Pressurized Module. Known as Kibo, the JEM consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The STS-115 mission will deliver the second port truss segment, the P3/P4 Truss, to attach to the first port truss segment, the P1 Truss, as well as deploy solar array sets 2A and 4A.. The crew is scheduled to activate and check out the Solar Alpha Rotary Joint (SARJ) and deploy the P4 Truss radiator.

In Conversation with Jim Schuck: Nano-optics

ScienceCinema

Jim Schuck and Alice Egan

2017-12-09

Sponsored by Berkeley Lab's Materials Sciences Division (MSD), "In Conversation with" is a next generation science seminar series. Host Alice Egan is the assistant to MSD Director Miquel Salmeron. Alice conducts a fun and informative interview, touching on the lives and work of the guest. The first In Conversation With took place July 9 with Jim Schuck, a staff scientist in the Molecular Foundry's Imaging and Manipulation Facility as our first guest. He discussed the world of Nano-optics.

In Conversation with Jim Schuck: Nano-optics

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

Jim Schuck and Alice Egan

Sponsored by Berkeley Lab's Materials Sciences Division (MSD), "In Conversation with" is a next generation science seminar series. Host Alice Egan is the assistant to MSD Director Miquel Salmeron. Alice conducts a fun and informative interview, touching on the lives and work of the guest. The first In Conversation With took place July 9 with Jim Schuck, a staff scientist in the Molecular Foundry's Imaging and Manipulation Facility as our first guest. He discussed the world of Nano-optics.

3D-CDTI User Manual v2.1

NASA Technical Reports Server (NTRS)

Johnson, Walter; Battiste, Vernol

2016-01-01

The 3D-Cockpit Display of Traffic Information (3D-CDTI) is a flight deck tool that presents aircrew with: proximal traffic aircraft location, their current status and flight plan data; strategic conflict detection and alerting; automated conflict resolution strategies; the facility to graphically plan manual route changes; time-based, in-trail spacing on approach. The CDTI is manipulated via a touchpad on the flight deck, and by mouse when presented as part of a desktop flight simulator.

KSC-05pd2488

NASA Image and Video Library

2005-11-10

KENNEDY SPACE CENTER, FLA. - In NASA Kennedy Space Center’s Orbiter Processing Facility Bay 3, a remote manipulator system, or space shuttle arm, previously installed on the orbiter Atlantis, is being installed in Discovery’s payload bay. The arms were switched because the arm that was installed on Atlantis has special instrumentation to gather loads data from the second return-to-flight mission, STS-121. Discovery is the designated orbiter to fly on STS-121. scheduled to launch no earlier than May 2006.

KSC-05pd2489

NASA Image and Video Library

2005-11-10

KENNEDY SPACE CENTER, FLA. - In NASA Kennedy Space Center’s Orbiter Processing Facility Bay 3, a remote manipulator system, or space shuttle arm, previously installed on the orbiter Atlantis, is being installed in Discovery’s payload bay. The arms were switched because the arm that was installed on Atlantis has special instrumentation to gather loads data from the second return-to-flight mission, STS-121. Discovery is the designated orbiter to fly on STS-121. scheduled to launch no earlier than May 2006.

KSC-05pd2491

NASA Image and Video Library

2005-11-10

KENNEDY SPACE CENTER, FLA. - In NASA Kennedy Space Center’s Orbiter Processing Facility Bay 3, technicians install a remote manipulator system, or space shuttle arm, previously installed on the orbiter Atlantis, in Discovery’s payload bay. The arms were switched because the arm that was installed on Atlantis has special instrumentation to gather loads data from the second return-to-flight mission, STS-121. Discovery is the designated orbiter to fly on STS-121. scheduled to launch no earlier than May 2006.

KSC-05pd2490

NASA Image and Video Library

2005-11-10

KENNEDY SPACE CENTER, FLA. - In NASA Kennedy Space Center’s Orbiter Processing Facility Bay 3, technicians install a remote manipulator system, or space shuttle arm, previously installed on the orbiter Atlantis, in Discovery’s payload bay. The arms were switched because the arm that was installed on Atlantis has special instrumentation to gather loads data from the second return-to-flight mission, STS-121. Discovery is the designated orbiter to fly on STS-121. scheduled to launch no earlier than May 2006.

Matrix computations in MACSYMA

NASA Technical Reports Server (NTRS)

Wang, P. S.

1977-01-01

Facilities built into MACSYMA for manipulating matrices with numeric or symbolic entries are described. Computations will be done exactly, keeping symbols as symbols. Topics discussed include how to form a matrix and create other matrices by transforming existing matrices within MACSYMA; arithmetic and other computation with matrices; and user control of computational processes through the use of optional variables. Two algorithms designed for sparse matrices are given. The computing times of several different ways to compute the determinant of a matrix are compared.

Facile Synthesis of Highly Functionalized Ethyltrifluoroborates

PubMed Central

Molander, Gary A.; Febo-Ayala, Wilma; Ortega-Guerra, Montserrat

2008-01-01

Organotrifluoroborates are generating increased interest because of their ease of preparation and purification, and indefinite shelf-life. Herein we report the preparation of Organotrifluoroborates bearing functional groups that can be manipulated at different stages of the synthetic route, exploiting the inertness of their carbon-boron bonds. The alkylation of 2,2-dicyanoethyltrifluoroborate with a variety of electrophiles and of (EWG)2CH2 with potassium iodomethyltrifluoroborate resulted in di- and trisubstituted ethyltrifluoroborates in good to excellent yields. PMID:18588349

NetIntel: A Database for Manipulation of Rich Social Network Data

DTIC Science & Technology

2005-03-03

between entities in a social or organizational system. For most of its history , social network analysis has operated on a notion of a dataset - a clearly...and procedural), as well as stored procedure and trigger capabilities. For the current implementation, we have chosen PostgreSQL [1] database. Of the...data and easy-to-use facilities for export of data into analysis tools as well as online browsing and data entry. References [1] Postgresql

KSC-07pd0405

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to a hoisting device to prepare for installation to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0449

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers use a hoisting device to move the Remote Manipulator System, or robotic arm, toward the Japanese Experiment Module for installation and testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008.The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0408

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to a hoisting device to prepare for installation to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0448

NASA Image and Video Library

2007-02-19

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers use a hoisting device to move the Remote Manipulator System, or robotic arm, toward the Japanese Experiment Module for installation and testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008.The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

KSC-07pd0404

NASA Image and Video Library

2007-02-16

KENNEDY SPACE CENTER, FLA. -- Inside the Space Station Processing Facility at Kennedy Space Center, workers attach the Remote Manipulator System, or robotic arm, to a hoisting device to prepare for installation to the Japanese Experiment Module for testing. The RMS is one of the payloads scheduled to be delivered to the station on a future mission tentatively scheduled for 2008. The RMS is similar to the robotic arm already installed on the station's mobile base system. Photo credit: NASA/Amanda Diller

Detail view of the port side of the payload bay ...

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

Detail view of the port side of the payload bay of the Orbiter Discovery. This view shows Remote Manipulator System, Canadarm, sensors in the center of the image and a close-up view of a small segment of the orbiter's radiator panel. This photograph was taken in the Orbiter Processing Facility at the Kennedy Space Center. - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

NASA MSFC hardware in the loop simulations of automatic rendezvous and capture systems

NASA Technical Reports Server (NTRS)

Tobbe, Patrick A.; Naumann, Charles B.; Sutton, William; Bryan, Thomas C.

1991-01-01

Two complementary hardware-in-the-loop simulation facilities for automatic rendezvous and capture systems at MSFC are described. One, the Flight Robotics Laboratory, uses an 8 DOF overhead manipulator with a work volume of 160 by 40 by 23 feet to evaluate automatic rendezvous algorithms and range/rate sensing systems. The other, the Space Station/Station Operations Mechanism Test Bed, uses a 6 DOF hydraulic table to perform docking and berthing dynamics simulations.

Evolving technologies for Space Station Freedom computer-based workstations

NASA Technical Reports Server (NTRS)

Jensen, Dean G.; Rudisill, Marianne

1990-01-01

Viewgraphs on evolving technologies for Space Station Freedom computer-based workstations are presented. The human-computer computer software environment modules are described. The following topics are addressed: command and control workstation concept; cupola workstation concept; Japanese experiment module RMS workstation concept; remote devices controlled from workstations; orbital maneuvering vehicle free flyer; remote manipulator system; Japanese experiment module exposed facility; Japanese experiment module small fine arm; flight telerobotic servicer; human-computer interaction; and workstation/robotics related activities.

Manipulation of the mouse genome: a multiple impact resource for drug discovery and development.

PubMed

Prosser, Haydn; Rastan, Sohaila

2003-05-01

Few would deny that the pharmaceutical industry's investment in genomics throughout the 1990s has yet to deliver in terms of drugs on the market. The reasons are complex and beyond the scope of this review. The unique ability to manipulate the mouse genome, however, has already had a positive impact on all stages of the drug discovery process and, increasingly, on the drug development process too. We give an overview of some recent applications of so-called 'transgenic' mouse technology in pharmaceutical research and development. We show how genetic manipulation in the mouse can be employed at multiple points in the drug discovery and development process, providing new solutions to old problems.

Kinematic modeling of a 7-degree of freedom spatial hybrid manipulator for medical surgery.

PubMed

Singh, Amanpreet; Singla, Ekta; Soni, Sanjeev; Singla, Ashish

2018-01-01

The prime objective of this work is to deal with the kinematics of spatial hybrid manipulators. In this direction, in 1955, Denavit and Hartenberg proposed a consistent and concise method, known as D-H parameters method, to deal with kinematics of open serial chains. From literature review, it is found that D-H parameter method is widely used to model manipulators consisting of lower pairs. However, the method leads to ambiguities when applied to closed-loop, tree-like and hybrid manipulators. Furthermore, in the dearth of any direct method to model closed-loop, tree-like and hybrid manipulators, revisions of this method have been proposed from time-to-time by different researchers. One such kind of revision using the concept of dummy frames has successfully been proposed and implemented by the authors on spatial hybrid manipulators. In that work, authors have addressed the orientational inconsistency of the D-H parameter method, restricted to body-attached frames only. In the current work, the condition of body-attached frames is relaxed and spatial frame attachment is considered to derive the kinematic model of a 7-degree of freedom spatial hybrid robotic arm, along with the development of closed-loop constraints. The validation of the new kinematic model has been performed with the help of a prototype of this 7-degree of freedom arm, which is being developed at Council of Scientific & Industrial Research-Central Scientific Instruments Organisation Chandigarh to aid the surgeon during a medical surgical task. Furthermore, the developed kinematic model is used to develop the first column of the Jacobian matrix, which helps in providing the estimate of the tip velocity of the 7-degree of freedom manipulator when the first joint velocity is known.

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.

On Motion Planning and Control of Multi-Link Lightweight Robotic Manipulators

NASA Technical Reports Server (NTRS)

Cetinkunt, Sabri

1987-01-01

A general gross and fine motion planning and control strategy is needed for lightweight robotic manipulator applications such as painting, welding, material handling, surface finishing, and spacecraft servicing. The control problem of lightweight manipulators is to perform fast, accurate, and robust motions despite the payload variations, structural flexibility, and other environmental disturbances. Performance of the rigid manipulator model based computed torque and decoupled joint control methods are determined and simulated for the counterpart flexible manipulators. A counterpart flexible manipulator is defined as a manipulator which has structural flexibility, in addition to having the same inertial, geometric, and actuation properties of a given rigid manipulator. An adaptive model following control (AMFC) algorithm is developed to improve the performance in speed, accuracy, and robustness. It is found that the AMFC improves the speed performance by a factor of two over the conventional non-adaptive control methods for given accuracy requirements while proving to be more robust with respect to payload variations. Yet there are clear limitations on the performance of AMFC alone as well, which are imposed by the arm flexibility. In the search to further improve speed performance while providing a desired accuracy and robustness, a combined control strategy is developed. Furthermore, the problem of switching from one control structure to another during the motion and implementation aspects of combined control are discussed.

Developing Metacognitive and Problem-Solving Skills through Problem Manipulation

ERIC Educational Resources Information Center

Parker Siburt, Claire J.; Bissell, Ahrash N.; Macphail, Richard A.

2011-01-01

In a collaborative effort between the our university's department of chemistry and the academic resource center, we designed a model for general chemistry recitation based on a problem manipulation method in which students actively assess the skills and knowledge used to answer a chemical problem and then manipulate the problem to create a new…

Portable ultrahigh-vacuum sample storage system for polarization-dependent total-reflection fluorescence x-ray absorption fine structure spectroscopy

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

Watanabe, Yoshihide, E-mail: e0827@mosk.tytlabs.co.jp; Nishimura, Yusaku F.; Suzuki, Ryo

A portable ultrahigh-vacuum sample storage system was designed and built to investigate the detailed geometric structures of mass-selected metal clusters on oxide substrates by polarization-dependent total-reflection fluorescence x-ray absorption fine structure spectroscopy (PTRF-XAFS). This ultrahigh-vacuum (UHV) sample storage system provides the handover of samples between two different sample manipulating systems. The sample storage system is adaptable for public transportation, facilitating experiments using air-sensitive samples in synchrotron radiation or other quantum beam facilities. The samples were transferred by the developed portable UHV transfer system via a public transportation at a distance over 400 km. The performance of the transfer system was demonstratedmore » by a successful PTRF-XAFS study of Pt{sub 4} clusters deposited on a TiO{sub 2}(110) surface.« less

Organoid Models of Human and Mouse Ductal Pancreatic Cancer

PubMed Central

Boj, Sylvia F.; Hwang, Chang-Il; Baker, Lindsey A.; Chio, Iok In Christine; Engle, Dannielle D.; Corbo, Vincenzo; Jager, Myrthe; Ponz-Sarvise, Mariano; Tiriac, Hervé; Spector, Mona S.; Gracanin, Ana; Oni, Tobiloba; Yu, Kenneth H.; van Boxtel, Ruben; Huch, Meritxell; Rivera, Keith D.; Wilson, John P.; Feigin, Michael E.; Öhlund, Daniel; Handly-Santana, Abram; Ardito-Abraham, Christine M.; Ludwig, Michael; Elyada, Ela; Alagesan, Brinda; Biffi, Giulia; Yordanov, Georgi N.; Delcuze, Bethany; Creighton, Brianna; Wright, Kevin; Park, Youngkyu; Morsink, Folkert H.M.; Molenaar, I. Quintus; Borel Rinkes, Inne H.; Cuppen, Edwin; Hao, Yuan; Jin, Ying; Nijman, Isaac J.; Iacobuzio-Donahue, Christine; Leach, Steven D.; Pappin, Darryl J.; Hammell, Molly; Klimstra, David S.; Basturk, Olca; Hruban, Ralph H.; Offerhaus, George Johan; Vries, Robert G.J.; Clevers, Hans; Tuveson, David A.

2015-01-01

SUMMARY Pancreatic cancer is one of the most lethal malignancies due to its late diagnosis and limited response to treatment. Tractable methods to identify and interrogate pathways involved in pancreatic tumorigenesis are urgently needed. We established organoid models from normal and neoplastic murine and human pancreas tissues. Pancreatic organoids can be rapidly generated from resected tumors and biopsies, survive cryopreservation and exhibit ductal- and disease stage-specific characteristics. Orthotopically transplanted neoplastic organoids recapitulate the full spectrum of tumor development by forming early-grade neoplasms that progress to locally invasive and metastatic carcinomas. Due to their ability to be genetically manipulated, organoids are a platform to probe genetic cooperation. Comprehensive transcriptional and proteomic analyses of murine pancreatic organoids revealed genes and pathways altered during disease progression. The confirmation of many of these protein changes in human tissues demonstrates that organoids are a facile model system to discover characteristics of this deadly malignancy. PMID:25557080

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.

Genetic strategies to investigate neuronal circuit properties using stem cell-derived neurons

PubMed Central

Garcia, Isabella; Kim, Cynthia; Arenkiel, Benjamin R.

2012-01-01

The mammalian brain is anatomically and functionally complex, and prone to diverse forms of injury and neuropathology. Scientists have long strived to develop cell replacement therapies to repair damaged and diseased nervous tissue. However, this goal has remained unrealized for various reasons, including nascent knowledge of neuronal development, the inability to track and manipulate transplanted cells within complex neuronal networks, and host graft rejection. Recent advances in embryonic stem cell (ESC) and induced pluripotent stem cell (iPSC) technology, alongside novel genetic strategies to mark and manipulate stem cell-derived neurons, now provide unprecedented opportunities to investigate complex neuronal circuits in both healthy and diseased brains. Here, we review current technologies aimed at generating and manipulating neurons derived from ESCs and iPSCs toward investigation and manipulation of complex neuronal circuits, ultimately leading to the design and development of novel cell-based therapeutic approaches. PMID:23264761

The National Virtual Observatory

NASA Astrophysics Data System (ADS)

Hanisch, Robert J.

2001-06-01

The National Virtual Observatory is a distributed computational facility that will provide access to the ``virtual sky''-the federation of astronomical data archives, object catalogs, and associated information services. The NVO's ``virtual telescope'' is a common framework for requesting, retrieving, and manipulating information from diverse, distributed resources. The NVO will make it possible to seamlessly integrate data from the new all-sky surveys, enabling cross-correlations between multi-Terabyte catalogs and providing transparent access to the underlying image or spectral data. Success requires high performance computational systems, high bandwidth network services, agreed upon standards for the exchange of metadata, and collaboration among astronomers, astronomical data and information service providers, information technology specialists, funding agencies, and industry. International cooperation at the onset will help to assure that the NVO simultaneously becomes a global facility. .

Setup for in situ deep level transient spectroscopy of semiconductors during swift heavy ion irradiation.

PubMed

Kumar, Sandeep; Kumar, Sugam; Katharria, Y S; Safvan, C P; Kanjilal, D

2008-05-01

A computerized system for in situ deep level characterization during irradiation in semiconductors has been set up and tested in the beam line for materials science studies of the 15 MV Pelletron accelerator at the Inter-University Accelerator Centre, New Delhi. This is a new facility for in situ irradiation-induced deep level studies, available in the beam line of an accelerator laboratory. It is based on the well-known deep level transient spectroscopy (DLTS) technique. High versatility for data manipulation is achieved through multifunction data acquisition card and LABVIEW. In situ DLTS studies of deep levels produced by impact of 100 MeV Si ions on Aun-Si(100) Schottky barrier diode are presented to illustrate performance of the automated DLTS facility in the beam line.

Characteristics and requirements of robotic manipulators for space operations

NASA Technical Reports Server (NTRS)

Andary, James F.; Hewitt, Dennis R.; Spidaliere, Peter D.; Lambeck, Robert W.

1992-01-01

A robotic manipulator, DTF-1, developed as part of the Flight Telerobotic Servicer (FTS) project at Goddard Space Flight Center is discussed focusing on the technical, operational, and safety requirements. The DTF-1 system design, which is based on the manipulator, gripper, cameras, computer, and an operator control station incorporates the fundamental building blocks of the original FTS, the end product of which was to have been a light-weight, dexterous telerobotic device. For the first time in the history of NASA, space technology and robotics were combined to find new and unique solutions to the demanding requirements of flying a sophisticated robotic manipulator in space. DTF-1 is considered to be the prototype for all future development in space robotics.

The effects of parasite age and intensity on variability in acanthocephalan-induced behavioural manipulation.

PubMed

Franceschi, Nathalie; Bauer, Alexandre; Bollache, Loïc; Rigaud, Thierry

2008-08-01

Numerous parasites with complex life cycles are able to manipulate the behaviour of their intermediate host in a way that increases their trophic transmission to the definitive host. Pomphorhynchus laevis, an acanthocephalan parasite, is known to reverse the phototactic behaviour of its amphipod intermediate host, Gammarus pulex, leading to an increased predation by fish hosts. However, levels of behavioural manipulation exhibited by naturally-infected gammarids are extremely variable, with some individuals being strongly manipulated whilst others are almost not affected by infection. To investigate parasite age and parasite intensity as potential sources of this variation, we carried out controlled experimental infections on gammarids using parasites from two different populations. We first determined that parasite intensity increased with exposure dose, but found no relationship between infection and host mortality. Repeated measures confirmed that the parasite alters host behaviour only when it reaches the cystacanth stage which is infective for the definitive host. They also revealed, we believe for the first time, that the older the cystacanth, the more it manipulates its host. The age of the parasite is therefore a major source of variation in parasite manipulation. The number of parasites within a host was also a source of variation. Manipulation was higher in hosts infected by two parasites than in singly infected ones, but above this intensity, manipulation did not increase. Since the development time of the parasite was also different according to parasite intensity (it was longer in doubly infected hosts than in singly infected ones, but did not increase more in multi-infected hosts), individual parasite fitness could depend on the compromise between development time and manipulation efficiency. Finally, the two parasite populations tested induced slightly different degrees of behavioural manipulation.

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

KSC-07pd0635

NASA Image and Video Library

2007-03-13

KENNEDY SPACE CENTER, FLA. -- A flat bed truck hauls the container with the Experiment Logistics Module Pressurized Section inside away from the Trident wharf. The logistics module is part of the Japanese Experiment Module. The logistics module is being transported to the Space Station Processing Facility at NASA's Kennedy Space Center. The Japanese Experiment Module is composed of three segments and is known as Kibo, which means "hope" in Japanese. Kibo consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007. Photo credit: NASA/Kim Shiflett

KSC-07pd0632

NASA Image and Video Library

2007-03-13

KENNEDY SPACE CENTER, FLA. -- At the Trident wharf, workers help guide the container with the Experiment Logistics Module Pressurized Section inside toward the dock. The logistics module is part of the Japanese Experiment Module. The logistics module will be transported to the Space Station Processing Facility at NASA's Kennedy Space Center. The Japanese Experiment Module is composed of three segments and is known as Kibo, which means "hope" in Japanese. Kibo consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007. Photo credit: NASA/Kim Shiflett

KSC-07pd0626

NASA Image and Video Library

2007-03-12

KENNEDY SPACE CENTER, FLA. -- The ship carrying the Experiment Logistics Module Pressurized Section for the Japanese Experiment Module arrives at the Trident wharf after departing from Yokohama, Japan, Feb. 7. The logistics module will be offloaded and transported to the Space Station Processing Facility at NASA's Kennedy Space Center. The Japanese Experiment Module is composed of three segments and is known as Kibo, which means "hope" in Japanese. Kibo consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007. Photo credit: NASA/Kim Shiflett

JEM Experiment Logistics Module Pressurized Section

NASA Image and Video Library

2007-04-02

An overhead crane moves the JEM Experiment Logistics Module Pressurized Section above the floor of the Space Station Processing Facility to a scale for weight and center-of-gravity measurements. The module will then be moved to a work stand. The logistics module is one of the components of the Japanese Experiment Module or JEM, also known as Kibo, which means "hope" in Japanese. Kibo comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007.

JEM Experiment Logistics Module Pressurized Section

NASA Image and Video Library

2007-04-02

In the Space Station Processing Facility, an overhead crane moves the JEM Experiment Logistics Module Pressurized Section toward a scale (at left) for weight and center-of-gravity measurements. The module will then be moved to a work stand. The logistics module is one of the components of the Japanese Experiment Module or JEM, also known as Kibo, which means "hope" in Japanese. Kibo comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007.

KSC-07pd0628

NASA Image and Video Library

2007-03-12

KENNEDY SPACE CENTER, FLA. -- The ship carrying the Experiment Logistics Module Pressurized Section for the Japanese Experiment Module arrives at the Trident wharf after departing from Yokohama, Japan, Feb. 7. The logistics module will be offloaded and transported to the Space Station Processing Facility at NASA's Kennedy Space Center. The Japanese Experiment Module is composed of three segments and is known as Kibo, which means "hope" in Japanese. Kibo consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007. Photo credit: NASA/Kim Shiflett

KSC-07pd0627

NASA Image and Video Library

2007-03-12

KENNEDY SPACE CENTER, FLA. -- The ship carrying the Experiment Logistics Module Pressurized Section for the Japanese Experiment Module arrives at the Trident wharf after departing from Yokohama, Japan, Feb. 7. The logistics module will be offloaded and transported to the Space Station Processing Facility at NASA's Kennedy Space Center. The Japanese Experiment Module is composed of three segments and is known as Kibo, which means "hope" in Japanese. Kibo consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007. Photo credit: NASA/Kim Shiflett

KSC-07pd0629

NASA Image and Video Library

2007-03-12

KENNEDY SPACE CENTER, FLA. -- The ship carrying the Experiment Logistics Module Pressurized Section for the Japanese Experiment Module is tied up at the Trident wharf after departing from Yokohama, Japan, Feb. 7. The logistics module will be offloaded and transported to the Space Station Processing Facility at NASA's Kennedy Space Center. The Japanese Experiment Module is composed of three segments and is known as Kibo, which means "hope" in Japanese. Kibo consists of six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007. Photo credit: NASA/Kim Shiflett

JEM Experiment Logistics Module Pressurized Section

NASA Image and Video Library

2007-04-02

The JEM Experiment Logistics Module Pressurized Section is lifted from its shipping crate in the Space Station Processing Facility. The module will be moved to a scale for weight and center-of-gravity measurements and then to a work stand. The logistics module is one of the components of the Japanese Experiment Module or JEM, also known as Kibo, which means "hope" in Japanese. Kibo comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007.

JEM Experiment Logistics Module Pressurized Section

NASA Image and Video Library

2007-04-02

In the Space Station Processing Facility, an overhead crane lifts the JEM Experiment Logistics Module Pressurized Section from its shipping container and moves it toward a scale for weight and center-of-gravity measurements. The module will then be moved to a work stand. The logistics module is one of the components of the Japanese Experiment Module or JEM, also known as Kibo, which means "hope" in Japanese. Kibo comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. Kibo is Japan's first human space facility and its primary contribution to the station. Kibo will enhance the unique research capabilities of the orbiting complex by providing an additional environment in which astronauts can conduct science experiments. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the Space Shuttle Endeavour, targeted for launch in 2007.

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.

The Age of Enlightenment: Evolving Opportunities in Brain Research Through Optical Manipulation of Neuronal Activity

PubMed Central

Jerome, Jason; Heck, Detlef H.

2011-01-01

Optical manipulation of neuronal activity has rapidly developed into the most powerful and widely used approach to study mechanisms related to neuronal connectivity over a range of scales. Since the early use of single site uncaging to map network connectivity, rapid technological development of light modulation techniques has added important new options, such as fast scanning photostimulation, massively parallel control of light stimuli, holographic uncaging, and two-photon stimulation techniques. Exciting new developments in optogenetics complement neurotransmitter uncaging techniques by providing cell-type specificity and in vivo usability, providing optical access to the neural substrates of behavior. Here we review the rapid evolution of methods for the optical manipulation of neuronal activity, emphasizing crucial recent developments. PMID:22275886

The age of enlightenment: evolving opportunities in brain research through optical manipulation of neuronal activity.

PubMed

Jerome, Jason; Heck, Detlef H

2011-01-01

Optical manipulation of neuronal activity has rapidly developed into the most powerful and widely used approach to study mechanisms related to neuronal connectivity over a range of scales. Since the early use of single site uncaging to map network connectivity, rapid technological development of light modulation techniques has added important new options, such as fast scanning photostimulation, massively parallel control of light stimuli, holographic uncaging, and two-photon stimulation techniques. Exciting new developments in optogenetics complement neurotransmitter uncaging techniques by providing cell-type specificity and in vivo usability, providing optical access to the neural substrates of behavior. Here we review the rapid evolution of methods for the optical manipulation of neuronal activity, emphasizing crucial recent developments.

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.

Manipulations in Maternal Environment Reverse Periodontitis in Genetically Predisposed Rats

PubMed Central

Sluyter, Frans; Breivik, Torbjørn; Cools, Alexander

2002-01-01

The predisposition to develop periodontitis is partly genetically determined in humans as well as in animals. Here we demonstrate, however, that early manipulations in the maternal environment of an animal (rat) model of periodontitis can fully reverse the genetic predisposition to develop periodontitis at adult age. PMID:12093700

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

Adaptive hidden Markov model with anomaly States for price manipulation detection.

PubMed

Cao, Yi; Li, Yuhua; Coleman, Sonya; Belatreche, Ammar; McGinnity, Thomas Martin

2015-02-01

Price manipulation refers to the activities of those traders who use carefully designed trading behaviors to manually push up or down the underlying equity prices for making profits. With increasing volumes and frequency of trading, price manipulation can be extremely damaging to the proper functioning and integrity of capital markets. The existing literature focuses on either empirical studies of market abuse cases or analysis of particular manipulation types based on certain assumptions. Effective approaches for analyzing and detecting price manipulation in real time are yet to be developed. This paper proposes a novel approach, called adaptive hidden Markov model with anomaly states (AHMMAS) for modeling and detecting price manipulation activities. Together with wavelet transformations and gradients as the feature extraction methods, the AHMMAS model caters to price manipulation detection and basic manipulation type recognition. The evaluation experiments conducted on seven stock tick data from NASDAQ and the London Stock Exchange and 10 simulated stock prices by stochastic differential equation show that the proposed AHMMAS model can effectively detect price manipulation patterns and outperforms the selected benchmark models.

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).

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.

Life Sciences Research in the Centrifuge Accommodation Module of the International Space Station

NASA Technical Reports Server (NTRS)

Dalton, Bonnie P.; Plaut, Karen; Meeker, Gabrielle B.; Sun, Sid (Technical Monitor)

2000-01-01

The Centrifuge Accommodation Module (CAM) will be the home of the fundamental biology research facilities on the International Space Station (ISS). These facilities are being built by the Biological Research Project (BRP), whose goal is to oversee development of a wide variety of habitats and host systems to support life sciences research on the ISS. The habitats and host systems are designed to provide life support for a variety of specimens including cells, bacteria, yeast, plants, fish, rodents, eggs (e.g., quail), and insects. Each habitat contains specimen chambers that allow for easy manipulation of specimens and alteration of sample numbers. All habitats are capable of sustaining life support for 90 days and have automated as well as full telescience capabilities for sending habitat parameters data to investigator homesite laboratories. The habitats provide all basic life support capabilities including temperature control, humidity monitoring and control, waste management, food, media and water delivery as well as adjustable lighting. All habitats will have either an internal centrifuge or are fitted to the 2.5-meter diameter centrifuge allowing for variable centrifugation up to 2 g. Specimen chambers are removable so that the specimens can be handled in the life sciences glovebox. Laboratory support equipment is provided for handling the specimens. This includes a compound and dissecting microscope with advanced video imaging, mass measuring devices, refrigerated centrifuge for processing biological samples, pH meter, fixation and complete cryogenic storage capabilities. The research capabilities provided by the fundamental biology facilities will allow for flexibility and efficiency for long term research on the International Space Station.

3D Graphics For Interactive Surgical Simulation And Implant Design

NASA Astrophysics Data System (ADS)

Dev, P.; Fellingham, L. L.; Vassiliadis, A.; Woolson, S. T.; White, D. N.; Young, S. L.

1984-10-01

The combination of user-friendly, highly interactive software, 3D graphics, and the high-resolution detailed views of anatomy afforded by X-ray computer tomography and magnetic resonance imaging can provide surgeons with the ability to plan and practice complex surgeries. In addition to providing a realistic and manipulable 3D graphics display, this system can drive a milling machine in order to produce physical models of the anatomy or prosthetic devices and implants which have been designed using its interactive graphics editing facilities.

RoboCal: An automated nondestructive assay system

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

Staley, H.C.; Hollen, R.M.; Bonner, C.A.

1990-01-01

The manager of a facility handling special nuclear material (SNM) is caught in a squeeze between increased state and federal regulations and tighter funding. RoboCal uses a robot to manipulate canisters containing SNM to lower worker radiation exposure and to provide increased utilization of expensive assay equipment. In addition, it helps with accountability and material tracking. It consists of a hierarchical network of more than a dozen computers and provides a single point of contact for the user to accomplish multiple assays.

Experimental study on direct adaptive control of a PUMA 560 industrial robot

NASA Technical Reports Server (NTRS)

Seraji, H.; Lee, T.; Delpech, M.

1990-01-01

The implementation and experimental validation of a direct adaptive control scheme on a PUMA 560 industrial robot is discussed. The design theory for direct adaptive control of manipulators is outlined and the test facility and software are described. Results are presented from the experiments on the simultaneous control of all of the six joint angles and control of the end-effector position and orientation of the robot. Also, the possible applications of the direct adaptive control scheme are considered.

Bunch Compression of Flat Beams

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

Halavanau, A.; Piot, P.; Edstrom Jr., D.

Flat beams can be produced via a linear manipulation of canonical-angular-momentum (CAM) dominated beams using a set of skew-quadrupole magnets. Recently, such beams were produced at Fermilab Accelerator Science and Technology (FAST) facility 1. In this paper we report the results of flat beam compression study in a magnetic chicane at an energy E ~ 32 MeV. Additionally, we investigate the effect of energy chirp in the round-to-flat beam transform. The experimental results are compared with numerical simulations.

Inertial Confinement Fusion as an Extreme Example of Dynamic Compression

NASA Astrophysics Data System (ADS)

Moses, E.

2013-06-01

Initiating and controlling thermonuclear burn at the national ignition facility (NIF) will require the manipulation of matter to extreme energy densities. We will discuss recent advances in both controlling the dynamic compression of ignition targets and our understanding of the physical states and processes leading to ignition. This work was performed under the auspices of the U.S. Department of Energy by Lawrence Livermore National Laboratory in part under Contract W-7405-Eng-48 and in part under Contract DE-AC52-07NA27344.

ShortRead: a bioconductor package for input, quality assessment and exploration of high-throughput sequence data

PubMed Central

Morgan, Martin; Anders, Simon; Lawrence, Michael; Aboyoun, Patrick; Pagès, Hervé; Gentleman, Robert

2009-01-01

Summary: ShortRead is a package for input, quality assessment, manipulation and output of high-throughput sequencing data. ShortRead is provided in the R and Bioconductor environments, allowing ready access to additional facilities for advanced statistical analysis, data transformation, visualization and integration with diverse genomic resources. Availability and Implementation: This package is implemented in R and available at the Bioconductor web site; the package contains a ‘vignette’ outlining typical work flows. Contact: mtmorgan@fhcrc.org PMID:19654119

Release of the Biological Control Agent Puccinia jaceae var. solstitialis for Management of Yellow Starthistle at Fort Hunter Liggett, CA

DTIC Science & Technology

2010-07-01

used to manipulate the environment by burning, grazing, or revegetation efforts. Five insect species and a fungus have been officially released as...satisfied, the fungus would probably do extremely well and stress the plant early in the growing season. Used in conjunction with seed- feeding insects , it...241 km) south of San Francisco. The fort is primarily used as a training facility, where activities such as field maneuvers and live fire

KSC-2011-4444

NASA Image and Video Library

2011-06-15

CAPE CANAVERAL, Fla. -- In Orbiter Processing Facility-1 at NASA's Kennedy Space Center in Florida, a crane is attached to the remote manipulator system, or RMS, in space shuttle Endeavour's payload bay. The removal is part of Endeavour's transition and retirement processing. Endeavour is being prepared for public display at the California Science Center in Los Angeles. Endeavour flew 25 missions, spent 299 days in space, orbited Earth 4,671 times and traveled 122,883,151 miles over the course of its 19-year career. Photo credit: NASA/Tim Jacobs

Facile Site-Directed Mutagenesis of Large Constructs Using Gibson Isothermal DNA Assembly.

PubMed

Yonemoto, Isaac T; Weyman, Philip D

2017-01-01

Site-directed mutagenesis is a commonly used molecular biology technique to manipulate biological sequences, and is especially useful for studying sequence determinants of enzyme function or designing proteins with improved activity. We describe a strategy using Gibson Isothermal DNA Assembly to perform site-directed mutagenesis on large (>~20 kbp) constructs that are outside the effective range of standard techniques such as QuikChange II (Agilent Technologies), but more reliable than traditional cloning using restriction enzymes and ligation.

The Copernicus S5P Mission Performance Centre / Validation Data Analysis Facility for TROPOMI operational atmospheric data products

NASA Astrophysics Data System (ADS)

Compernolle, Steven; Lambert, Jean-Christopher; Langerock, Bavo; Granville, José; Hubert, Daan; Keppens, Arno; Rasson, Olivier; De Mazière, Martine; Fjæraa, Ann Mari; Niemeijer, Sander

2017-04-01

Sentinel-5 Precursor (S5P), to be launched in 2017 as the first atmospheric composition satellite of the Copernicus programme, carries as payload the TROPOspheric Monitoring Instrument (TROPOMI) developed by The Netherlands in close cooperation with ESA. Designed to measure Earth radiance and solar irradiance in the ultraviolet, visible and near infrared, TROPOMI will provide Copernicus with observational data on atmospheric composition at unprecedented geographical resolution. The S5P Mission Performance Center (MPC) provides an operational service-based solution for various QA/QC tasks, including the validation of S5P Level-2 data products and the support to algorithm evolution. Those two tasks are to be accomplished by the MPC Validation Data Analysis Facility (VDAF), one MPC component developed and operated at BIRA-IASB with support from S[&]T and NILU. The routine validation to be ensured by VDAF is complemented by a list of validation AO projects carried out by ESA's S5P Validation Team (S5PVT), with whom interaction is essential. Here we will introduce the general architecture of VDAF, its relation to the other MPC components, the generic and specific validation strategies applied for each of the official TROPOMI data products, and the expected output of the system. The S5P data products to be validated by VDAF are diverse: O3 (vertical profile, total column, tropospheric column), NO2 (total and tropospheric column), HCHO (tropospheric column), SO2 (column), CO (column), CH4 (column), aerosol layer height and clouds (fractional cover, cloud-top pressure and optical thickness). Starting from a generic validation protocol meeting community-agreed standards, a set of specific validation settings is associated with each data product, as well as the appropriate set of Fiducial Reference Measurements (FRM) to which it will be compared. VDAF collects FRMs from ESA's Validation Data Centre (EVDC) and from other sources (e.g., WMO's GAW, NDACC and TCCON). Data manipulations on satellite and FRM data (format conversion, filtering, co-location, regridding and vertical smoothing) are performed by the open source software HARP, while more specific manipulations apply in-house routines. The paper concludes with a short description of expected outputs of the system.

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.

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].

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

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

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…

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…

An Android Research and Development Program.

DTIC Science & Technology

1983-03-01

reprogrammable multifunctional manipulator designed to move material, parts, tools, or special devices, through variable programmed motions for the performance...thesis: 1. An ’industrial robot’ is a [mechanized,] reprogrammable multifunctional manipulator designed to move material, parts, tools, or...insertion is also well defined in space. These manipulators are currently in use in the automobile industry, and two were were demonstrated by Kohol

Hybrid bilayer plasmonic metasurface efficiently manipulates visible light.

PubMed

Qin, Fei; Ding, Lu; Zhang, Lei; Monticone, Francesco; Chum, Chan Choy; Deng, Jie; Mei, Shengtao; Li, Ying; Teng, Jinghua; Hong, Minghui; Zhang, Shuang; Alù, Andrea; Qiu, Cheng-Wei

2016-01-01

Metasurfaces operating in the cross-polarization scheme have shown an interesting degree of control over the wavefront of transmitted light. Nevertheless, their inherently low efficiency in visible light raises certain concerns for practical applications. Without sacrificing the ultrathin flat design, we propose a bilayer plasmonic metasurface operating at visible frequencies, obtained by coupling a nanoantenna-based metasurface with its complementary Babinet-inverted copy. By breaking the radiation symmetry because of the finite, yet small, thickness of the proposed structure and benefitting from properly tailored intra- and interlayer couplings, such coupled bilayer metasurface experimentally yields a conversion efficiency of 17%, significantly larger than that of earlier single-layer designs, as well as an extinction ratio larger than 0 dB, meaning that anomalous refraction dominates the transmission response. Our finding shows that metallic metasurface can counterintuitively manipulate the visible light as efficiently as dielectric metasurface (~20% in conversion efficiency in Lin et al.'s study), although the metal's ohmic loss is much higher than dielectrics. Our hybrid bilayer design, still being ultrathin (~λ/6), is found to obey generalized Snell's law even in the presence of strong couplings. It is capable of efficiently manipulating visible light over a broad bandwidth and can be realized with a facile one-step nanofabrication process.

Hybrid bilayer plasmonic metasurface efficiently manipulates visible light

PubMed Central

Qin, Fei; Ding, Lu; Zhang, Lei; Monticone, Francesco; Chum, Chan Choy; Deng, Jie; Mei, Shengtao; Li, Ying; Teng, Jinghua; Hong, Minghui; Zhang, Shuang; Alù, Andrea; Qiu, Cheng-Wei

2016-01-01

Metasurfaces operating in the cross-polarization scheme have shown an interesting degree of control over the wavefront of transmitted light. Nevertheless, their inherently low efficiency in visible light raises certain concerns for practical applications. Without sacrificing the ultrathin flat design, we propose a bilayer plasmonic metasurface operating at visible frequencies, obtained by coupling a nanoantenna-based metasurface with its complementary Babinet-inverted copy. By breaking the radiation symmetry because of the finite, yet small, thickness of the proposed structure and benefitting from properly tailored intra- and interlayer couplings, such coupled bilayer metasurface experimentally yields a conversion efficiency of 17%, significantly larger than that of earlier single-layer designs, as well as an extinction ratio larger than 0 dB, meaning that anomalous refraction dominates the transmission response. Our finding shows that metallic metasurface can counterintuitively manipulate the visible light as efficiently as dielectric metasurface (~20% in conversion efficiency in Lin et al.’s study), although the metal’s ohmic loss is much higher than dielectrics. Our hybrid bilayer design, still being ultrathin (~λ/6), is found to obey generalized Snell’s law even in the presence of strong couplings. It is capable of efficiently manipulating visible light over a broad bandwidth and can be realized with a facile one-step nanofabrication process. PMID:26767195

Effect of Enrichment Devices on Aggression in Manipulated Nude Mice.

PubMed

Lockworth, Cynthia R; Kim, Sun-Jin; Liu, Jun; Palla, Shana L; Craig, Suzanne L

2015-11-01

Agonistic behavior in group-housed male mice is a recurring problem in many animal research facilities. Common management procedures, such as the removal of aggressors, are moderately successful but often fail, owing to recurrence of aggressive behavior among cagemates. Studies have incorporated enrichment devices to attenuate aggression, but such devices have had mixed results. However, these studies did not include research manipulations when assessing the benefits of various enrichment devices. We obtained 100 male athymic nude mice and studied the efficacy of various enrichment devices, including cotton squares, paper rolls, shredded paper, nylon bones, and a mouse house and wheel combination in the reduction of fighting during an ongoing study that involved randomization followed by prostate and intratibial injections. Groups were evaluated according to a numerical grading system for wound assessment. Examination of the data revealed that the enrichment devices had no effect on the presence of wounds, thus none of the devices tested affected fighting in nude mice. However, when mice began experimental use, fight wounds increased significantly at cage change and after randomization, reflecting a disruption of existing social hierarchies. Therefore, in the context of an actual research study that involves common manipulations, the specific enrichment device had less effect on aggression in male nude mice than did the destruction and reconstruction of social structures within each group.

Competing magnetic ground states and their coupling to the crystal lattice in CuFe2Ge2

NASA Astrophysics Data System (ADS)

May, Andrew; Calder, Stuart; Parker, David; Sales, Brian; McGuire, Michael

CuFe2Ge2 has been identified as a system with competing magnetic ground states that are strongly coupled to the crystal lattice and easily manipulated by temperature or applied magnetic field. Powder neutron diffraction data reveal the emergence of antiferromagnetic (AFM) order near TN = 175 K, as well as a transition into an incommensurate AFM spin structure below approximately 125 K. Together with refined moments of approximately 1 Bohr magneton per iron, the incommensurate structure supports an itinerant picture of magnetism in CuFe2Ge2, which is consistent with theoretical calculations. Bulk magnetization measurements suggest that the spin structures are easily manipulated with an applied field, which further demonstrates the near-degeneracy of different magnetic configurations. Interestingly, the thermal expansion is found to be very anisotropic, and the c lattice parameter has anomalous temperature dependence near TN. These results show that the ground state of CuFe2Ge2 is easily manipulated by external forces, making it a potential parent compound for a rich phase diagram of emergent phenomena. Research supported by the U.S. Department of Energy, Office of Science, Basic Energy Sciences, Materials Sciences and Engineering Division and Scientific User Facilities Division.

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.

Analysis and experiments with an elephant's trunk robot

NASA Technical Reports Server (NTRS)

Hannan, M. W.; Walker, I. D.

2001-01-01

The area of tentacle and trunk type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. We then apply our previously designed kinematic model to describe the kinematics of the robot. We finish by providing some examples of motion planning and intelligent manipulation using the robot.

Hemorrhagic thoracic schwannoma presenting with intradural hematoma and acute paraplegia after spinal manipulation therapy.

PubMed

Hdeib, Alia; Goodwin, C Rory; Sciubba, Daniel; Bydon, Ali; Wolinsky, Jean-Paul; Witham, Timothy; Gokaslan, Ziya L

2016-01-01

Hemorrhagic conversion of spinal schwannomas represents a rare occurrence; also rare is the development of a spinal intradural hematoma after spinal manipulation therapy. We report a unique presentation of paraplegia in a patient who underwent spinal manipulation therapy and was found to have a hemorrhagic thoracic schwannoma at time of surgery in the setting of anti-platelet therapy use. In patients with spinal schwannomas, tumor hemorrhage is a rare occasion, which can be considered in the setting of additive effects of spinal manipulation therapy and antiplatelet therapy.

Astra's Magic Math. Teacher's Manual, Manipulatives, and Student Worksheets.

ERIC Educational Resources Information Center

Brown, Judith; And Others

Astra's Magic Math is a beginning multi-sensory program that attempts to teach basic math skills through 22 sequentially developed self-contained units designed to combine manipulation, writing, and language activities. The units are first introduced to the large group to stimulate interest and develop concepts through oral language. Children then…

Industrial dual arm robot manipulator for precise assembly of mechanical parts

NASA Astrophysics Data System (ADS)

Park, Chanhun; Kim, Doohyung; Park, Kyoungtaik; Choi, Youngjin

2007-12-01

A new structure of dual arm robot manipulator which consists of two industrial 6-DOF arms and one 2-DOF Torso is introduced. Each industrial 6-DOF arm is able to be used as a stand-alone industrial 6-DOF robot manipulator and as a part of dual arm manipulator at the same time. These structures help the robot maker which is willing to succeed in the emerging dual arm robot market in order to have high competition for the current industrial robot market at same time. Self-collision detection algorithm for multi-arm robot and kinematics algorithms for the developed dual arm robot manipulator which are implemented in our controller are introduced.

Combining single-molecule manipulation and single-molecule detection.

PubMed

Cordova, Juan Carlos; Das, Dibyendu Kumar; Manning, Harris W; Lang, Matthew J

2014-10-01

Single molecule force manipulation combined with fluorescence techniques offers much promise in revealing mechanistic details of biomolecular machinery. Here, we review force-fluorescence microscopy, which combines the best features of manipulation and detection techniques. Three of the mainstay manipulation methods (optical traps, magnetic traps and atomic force microscopy) are discussed with respect to milestones in combination developments, in addition to highlight recent contributions to the field. An overview of additional strategies is discussed, including fluorescence based force sensors for force measurement in vivo. Armed with recent exciting demonstrations of this technology, the field of combined single-molecule manipulation and single-molecule detection is poised to provide unprecedented views of molecular machinery. Copyright © 2014 Elsevier Ltd. All rights reserved.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Jain, A.; Kreutz-Delgado, K.

1991-01-01

A recently developed spatial operator algebra for manipulator modeling, control, and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and for control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics.

The effect of therapeutic touch on behavioral symptoms of persons with dementia.

PubMed

Woods, Diana Lynn; Craven, Ruth F; Whitney, Joie

2005-01-01

Approximately 80% of nursing home residents who suffer from Alzheimer's disease and related dementia develop behavioral symptoms of dementia. Given the deleterious side effects of pharmacologic therapy in this population there is an urgent need for clinical trials of nonpharmacologic interventions. To examine the effect of therapeutic touch on the frequency and intensity of behavioral symptoms of dementia. A randomized, double-blind, three-group experimental study: experimental (therapeutic touch), placebo (placebo therapeutic touch), and control (usual care). Fifty-seven residents, aged 67 to 93 years, exhibiting behavioral symptoms of dementia, were randomized to one of the three groups within each of three Special Care Units within three Long-Term Care facilities in a western Canadian province. Behavioral observation was completed every 20 minutes from 8:00AM to 6:00PM for three days pre-intervention and for three days post-intervention by trained observers who were blind to group assignment. The intervention consisted of therapeutic touch given twice daily for 5-7 minutes for three days between 10:00AM and 11:30PM and between 3:00PM and 4:30PM (N = 57). The main outcome variable was overall behavioral symptoms of dementia, consisting of six categories of behaviors: manual manipulation (restlessness), escape restraints, searching and wandering, tapping and banging, pacing and walking, and vocalization. Analysis of variance (ANOVA) (F = 3.331, P = .033) and the Kruskal-Wallis test (chi2 = 6.661, P = .036) indicated a significant difference in overall behavioral symptoms of dementia, manual manipulation and vocalization when the experimental group was compared to the placebo and control groups. The experimental (significant) was more effective in decreasing behavioral symptoms of dementia than usual care, while the placebo group indicated a decreasing trend in behavioral symptoms of dementia compared to usual care. Therapeutic touch offers a nonpharmacological, clinically relevant modality that could be used to decrease behavioral symptoms of dementia, specifically manual manipulation (restlessness) and vocalization, two prevalent behaviors.

Remote Fiber Laser Cutting System for Dismantling Glass Melter - 13071

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

Mitsui, Takashi; Miura, Noriaki; Oowaki, Katsura

Since 2008, the equipment for dismantling the used glass melter has been developed in High-level Liquid Waste (HLW) Vitrification Facility in the Japanese Rokkasho Reprocessing Plant (RRP). Due to the high radioactivity of the glass melter, the equipment requires a fully-remote operation in the vitrification cell. The remote fiber laser cutting system was adopted as one of the major pieces of equipment. An output power of fiber laser is typically higher than other types of laser and so can provide high-cutting performance. The fiber laser can cut thick stainless steel and Inconel, which are parts of the glass melter suchmore » as casings, electrodes and nozzles. As a result, it can make the whole of the dismantling work efficiently done for a shorter period. Various conditions of the cutting test have been evaluated in the process of developing the remote fiber cutting system. In addition, the expected remote operations of the power manipulator with the laser torch have been fully verified and optimized using 3D simulations. (authors)« less

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.

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.

Neural learning of constrained nonlinear transformations

NASA Technical Reports Server (NTRS)

Barhen, Jacob; Gulati, Sandeep; Zak, Michail

1989-01-01

Two issues that are fundamental to developing autonomous intelligent robots, namely, rudimentary learning capability and dexterous manipulation, are examined. A powerful neural learning formalism is introduced for addressing a large class of nonlinear mapping problems, including redundant manipulator inverse kinematics, commonly encountered during the design of real-time adaptive control mechanisms. Artificial neural networks with terminal attractor dynamics are used. The rapid network convergence resulting from the infinite local stability of these attractors allows the development of fast neural learning algorithms. Approaches to manipulator inverse kinematics are reviewed, the neurodynamics model is discussed, and the neural learning algorithm is presented.

Plasmid Vectors and Molecular Building Blocks for the Development of Genetic Manipulation Tools for Trypanosoma cruzi

PubMed Central

Bouvier, León A.; Cámara, María de los Milagros; Canepa, Gaspar E.; Miranda, Mariana R.; Pereira, Claudio A.

2013-01-01

The post genomic era revealed the need for developing better performing, easier to use and more sophisticated genetic manipulation tools for the study of Trypanosoma cruzi, the etiological agent of Chagas disease. In this work a series of plasmids that allow genetic manipulation of this protozoan parasite were developed. First of all we focused on useful tools to establish selection strategies for different strains and which can be employed as expression vectors. On the other hand molecular building blocks in the form of diverse selectable markers, modifiable fluorescent protein and epitope-tag coding sequences were produced. Both types of modules were harboured in backbone molecules conceived to offer multiple construction and sub-cloning strategies. These can be used to confer new properties to already available genetic manipulation tools or as starting points for whole novel designs. The performance of each plasmid and building block was determined independently. For illustration purposes, some simple direct practical applications were conducted. PMID:24205392

Common data manipulations with R in biological researches

PubMed Central

Liu, Qin

2017-01-01

R is a computer language and has been widely used in science community due to the powerful capability in data analysis and visualization; and these functions are mainly provided by the developed packages. Because every package has strict format definitions on the inputted data, it is always required to appropriately manipulate the original data in advance. Unfortunately, users, especially for the beginners, are always confused by the extreme flexibility with R in data manipulation. In the present paper, we roughly categorize the common manipulations with R for biological data into four classes, including overview of data, transformation, summarization, and reshaping. Subsequently, these manipulations are exemplified in a sample data of clinical records of diabetic patients. Our main purpose is to provide a better landscape on the data manipulation with R and hence facilitate the practical applications in biological researches. PMID:28840022

Enhanced control and sensing for the REMOTEC ANDROS Mk VI robot. CRADA final report

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

Spelt, P.F.; Harvey, H.W.

1998-08-01

This Cooperative Research and Development Agreement (CRADA) between Lockheed Martin Energy Systems, Inc., and REMOTEC, Inc., explored methods of providing operator feedback for various work actions of the ANDROS Mk VI teleoperated robot. In a hazardous environment, an extremely heavy workload seriously degrades the productivity of teleoperated robot operators. This CRADA involved the addition of computer power to the robot along with a variety of sensors and encoders to provide information about the robot`s performance in and relationship to its environment. Software was developed to integrate the sensor and encoder information and provide control input to the robot. ANDROS Mkmore » VI robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as in a variety of other hazardous environments. Further, this platform has potential for use in a number of environmental restoration tasks, such as site survey and detection of hazardous waste materials. The addition of sensors and encoders serves to make the robot easier to manage and permits tasks to be done more safely and inexpensively (due to time saved in the completion of complex remote tasks). Prior research on the automation of mobile platforms with manipulators at Oak Ridge National Laboratory`s Center for Engineering Systems Advanced Research (CESAR, B&R code KC0401030) Laboratory, a BES-supported facility, indicated that this type of enhancement is effective. This CRADA provided such enhancements to a successful working teleoperated robot for the first time. Performance of this CRADA used the CESAR laboratory facilities and expertise developed under BES funding.« less

Development and Testing of an ISRU Soil Mechanics Vacuum Test Facility

NASA Technical Reports Server (NTRS)

Kleinhenz, Julie E.; Wilkinson, R. Allen

2014-01-01

For extraterrestrial missions, earth based testing in relevant environments is key to successful hardware development. This is true for both early component level development and system level integration. For In-Situ Resource Utilization (ISRU) on the moon, hardware must interface with the surface material, or regolith, in a vacuum environment. A relevant test environment will therefore involve a vacuum chamber with a controlled, properly conditioned bed of lunar regolith simulant. However, in earth-based granular media, such as lunar regolith simulant, gases trapped within the material pore structures and water adsorbed to all particle surfaces will release when exposed to vacuum. Early vacuum testing has shown that this gas release can occur violently, which loosens and weakens the simulant, altering the consolidation state. A mid-size chamber (3.66 m tall, 1.5 m inner diameter) at the NASA Glenn Research Center has been modified to create a soil mechanics test facility. A 0.64 m deep by 0.914 m square metric ton bed of lunar simulant was placed under vacuum using a variety of pumping techniques. Both GRC-3 and LHT-3M simulant types were used. Data obtained from an electric cone penetrometer can be used to determine strength properties at vacuum including: cohesion, friction angle, bulk density and shear modulus. Simulant disruptions, caused by off-gassing, affected the strength properties, but could be mitigated by reducing pump rate. No disruptions were observed at pressures below 2.5 Torr, regardless of the pump rate. The slow off-gassing of the soil at low pressure lead to long test times; a full week to reach 10(exp -5) Torr. Robotic soil manipulation would enable multiple ISRU hardware test within the same vacuum cycle. The feasibility of a robotically controlled auger and tamper was explored at vacuum conditions.

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.

Efficient Computation Of Manipulator Inertia Matrix

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1991-01-01

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

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1990-01-01

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

Part II: morphological analysis of embryonic development following femtosecond laser manipulation

NASA Astrophysics Data System (ADS)

Kohli, V.; Elezzabi, A. Y.

2008-02-01

The zebrafish (Danio rerio) is an attractive model system that has received wide attention for its usefulness in the study of development and disease. This organism represents a closer analog to humans than the common invetebrates Drosophila melanogaster and Caenorhabditis elegans, making this species an ideal model for human health research. Non-invasive manipulation of the zebrafish has been challenging, owing to the outer proteinaceous membrane and multiple embryonic barriers. A novel tool capable of manipulating early cleavage stage embryonic cells would be important for future advancements in medial research and the aquaculture industry. Herein, we demonstrate the laser surgery of early cleavage stage (2-cell) blastomere cells using a range of average laser powers and beam dwell times. Since the novelty of this manipulation tool depends on its non-invasive application, we examined short- and long-term laser-induced developmental defects following embryonic surgery. Laser-manipulated embryos were reared to 2 and 7 days post-fertilization and compared to control embryos at the same developmental stages. Morphological analysis was performed using light microscopy and scanning electron microscopy. Developmental features that were examined included the antero- and dorsal-lateral whole body views of the larvae, the olfactory pit, dorsal, ventral and pectoral fins, notochord, pectoral fin buds, otic capsule, otic vesicle, neuromast patterning, and kinocilia of the olfactory pit rim and cristae of the lateral wall of the ear. Laser-manipulated embryos developed normally relative to the controls, with developmental patterning and morphology at 2 and 7 days indistinguishable from control larvae.

Experiences in the development of rotary joints for robotic manipulators in space applications

NASA Technical Reports Server (NTRS)

Priesett, Klaus

1992-01-01

European developments in robotics for space applications have resulted in human arm-like manipulators with six or more rotational degrees of freedom. The rotary joints including their own electromechanical actuator and feedback sensors must be very compact units. The specific joint concept is presented as evolved so far. The problems encountered during the first hardware development phases are covered on both component and joint level.

A distributed data acquisition software scheme for the Laboratory Telerobotic Manipulator

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

Butler, P.L.; Glassell, R.L.; Rowe, J.C.

1990-01-01

A custom software architecture was developed for use in the Laboratory Telerobotic Manipulator (LTM) to provide support for the distributed data acquisition electronics. This architecture was designed to provide a comprehensive development environment that proved to be useful for both hardware and software debugging. This paper describes the development environment and the operational characteristics of the real-time data acquisition software. 8 refs., 5 figs.

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.

Counter Conjectures: Using Manipulatives to Scaffold the Development of Number Sense and Algebra

ERIC Educational Resources Information Center

West, John

2016-01-01

This article takes the position that teachers can use simple manipulative materials to model relatively complex situations and in doing so scaffold the development of students' number sense and early algebra skills. While students' early experiences are usually dominated by the cardinal aspect of number (i.e., counting the number of items in a…

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.

Mobile locally operated detachable end-effector manipulator for endoscopic surgery.

PubMed

Kawai, Toshikazu; Shin, Myongyu; Nishizawa, Yuji; Horise, Yuki; Nishikawa, Atsushi; Nakamura, Tatsuo

2015-02-01

Local surgery is safer than remote surgery because emergencies can be more easily addressed. Although many locally operated surgical robots and devices have been developed, none can safely grasp organs and provide traction. A new manipulator with a detachable commercial forceps was developed that can act as a third arm for a surgeon situated in a sterile area near the patient. This mechanism can be disassembled into compact parts that enable mobile use. A mobile locally operated detachable end-effector manipulator (LODEM) was developed and tested. This device uses crank-slider and cable-rod mechanisms to achieve 5 degrees of freedom and an acting force of more than 5 N. The total mass is less than 15 kg. The positional accuracy and speed of the prototype device were evaluated while performing simulated in vivo surgery. The accuracy of the mobile LODEM was 0.4 mm, sufficient for handling organs. The manipulator could be assembled and disassembled in 8 min, making it highly mobile. The manipulator could successfully handle the target organs with the required level of dexterity during an in vivo laparoscopic surgical procedure. A mobile LODEM was designed that allows minimally invasive robotically assisted endoscopic surgery by a surgeon working near the patient. This device is highly promising for robotic surgery applications.

Ion traps for precision experiments at rare-isotope-beam facilities

NASA Astrophysics Data System (ADS)

Kwiatkowski, Anna

2016-09-01

Ion traps first entered experimental nuclear physics when the ISOLTRAP team demonstrated Penning trap mass spectrometry of radionuclides. From then on, the demand for ion traps has grown at radioactive-ion-beam (RIB) facilities since beams can be tailored for the desired experiment. Ion traps have been deployed for beam preparation, from bunching (thereby allowing time coincidences) to beam purification. Isomerically pure beams needed for nuclear-structure investigations can be prepared for trap-assisted or in-trap decay spectroscopy. The latter permits studies of highly charged ions for stellar evolution, which would be impossible with traditional experimental nuclear-physics methods. Moreover, the textbook-like conditions and advanced ion manipulation - even of a single ion - permit high-precision experiments. Consequently, the most accurate and precise mass measurements are now performed in Penning traps. After a brief introduction to ion trapping, I will focus on examples which showcase the versatility and utility of the technique at RIB facilities. I will demonstrate how this atomic-physics technique has been integrated into nuclear science, accelerator physics, and chemistry. DOE.

KSC-07pd2843

NASA Image and Video Library

2007-10-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, members of the STS-123 crew learn more about the mission payload, the Kibo Experiment Logistics Module Pressurized Section. Crew members are Commander Dominic Gorie, Pilot Gregory Johnson and Mission Specialists Richard Linnehan, Takao Doi, Robert Behnken, Gerrett Reisman and Michael Foreman. Doi represents the Japan Aerospace Exploration Agency. Reisman will remain on the space station after the mission as a flight engineer for Expedition 16. STS-123 will carry and install one of the components of the Japanese Experiment Module, or JEM. Known as Kibo, the JEM comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. The various components of JEM will be assembled in space over the course of three space shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the space shuttle Endeavour, targeted for launch in February 2008. Photo credit: NASA/Dimitrios Gerondidakis

KSC-07pd2840

NASA Image and Video Library

2007-10-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, members of the STS-123 crew get hands-on experience with some of the equipment related to the mission. Crew members are Commander Dominic Gorie, Pilot Gregory Johnson and Mission Specialists Richard Linnehan, Takao Doi, Robert Behnken, Gerrett Reisman and Michael Foreman. Doi represents the Japan Aerospace Exploration Agency. Reisman will remain on the space station after the mission as a flight engineer for Expedition 16. STS-123 will carry and install one of the components of the Japanese Experiment Module, or JEM. Known as Kibo, the JEM comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. The various components of JEM will be assembled in space over the course of three space shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the space shuttle Endeavour, targeted for launch in February 2008. Photo credit: NASA/Dimitrios Gerondidakis

KSC-07pd2842

NASA Image and Video Library

2007-10-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, members of the STS-123 crew get hands-on experience with some of the equipment related to the mission. Crew members are Commander Dominic Gorie, Pilot Gregory Johnson and Mission Specialists Richard Linnehan, Takao Doi, Robert Behnken, Gerrett Reisman and Michael Foreman. Doi represents the Japan Aerospace Exploration Agency. Reisman will remain on the space station after the mission as a flight engineer for Expedition 16. STS-123 will carry and install one of the components of the Japanese Experiment Module, or JEM. Known as Kibo, the JEM comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. The various components of JEM will be assembled in space over the course of three space shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the space shuttle Endeavour, targeted for launch in February 2008. Photo credit: NASA/Dimitrios Gerondidakis

KSC-07pd2844

NASA Image and Video Library

2007-10-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, members of the STS-123 crew get hands-on experience with some of the equipment related to the mission. Crew members are Commander Dominic Gorie, Pilot Gregory Johnson and Mission Specialists Richard Linnehan, Takao Doi, Robert Behnken, Gerrett Reisman and Michael Foreman. Doi represents the Japan Aerospace Exploration Agency. Reisman will remain on the space station after the mission as a flight engineer for Expedition 16. STS-123 will carry and install one of the components of the Japanese Experiment Module, or JEM. Known as Kibo, the JEM comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. The various components of JEM will be assembled in space over the course of three space shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the space shuttle Endeavour, targeted for launch in February 2008. Photo credit: NASA/Dimitrios Gerondidakis

KSC-07pd2845

NASA Image and Video Library

2007-10-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, members of the STS-123 crew get hands-on experience with some of the equipment related to the mission. Crew members are Commander Dominic Gorie, Pilot Gregory Johnson and Mission Specialists Richard Linnehan, Takao Doi, Robert Behnken, Gerrett Reisman and Michael Foreman. Doi represents the Japan Aerospace Exploration Agency. Reisman will remain on the space station after the mission as a flight engineer for Expedition 16. STS-123 will carry and install one of the components of the Japanese Experiment Module, or JEM. Known as Kibo, the JEM comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. The various components of JEM will be assembled in space over the course of three space shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the space shuttle Endeavour, targeted for launch in February 2008. Photo credit: NASA/Dimitrios Gerondidakis

KSC-07pd2841

NASA Image and Video Library

2007-10-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, members of the STS-123 crew get hands-on experience with some of the equipment related to the mission. Crew members are Commander Dominic Gorie, Pilot Gregory Johnson and Mission Specialists Richard Linnehan, Takao Doi, Robert Behnken, Gerrett Reisman and Michael Foreman. Doi represents the Japan Aerospace Exploration Agency. Reisman will remain on the space station after the mission as a flight engineer for Expedition 16. STS-123 will carry and install one of the components of the Japanese Experiment Module, or JEM. Known as Kibo, the JEM comprises six components: two research facilities -- the Pressurized Module and Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. The various components of JEM will be assembled in space over the course of three space shuttle missions. The first of those three missions, STS-123, will carry the Experiment Logistics Module Pressurized Section aboard the space shuttle Endeavour, targeted for launch in February 2008. Photo credit: NASA/Dimitrios Gerondidakis

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.

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.

Method to Create Arbitrary Sidewall Geometries in 3-Dimensions Using Liga with a Stochastic Optimization Framework

NASA Technical Reports Server (NTRS)

Eyre, Francis B. (Inventor); Fink, Wolfgang (Inventor)

2011-01-01

Disclosed herein is a method of making a three dimensional mold comprising the steps of providing a mold substrate; exposing the substrate with an electromagnetic radiation source for a period of time sufficient to render the portion of the mold substrate susceptible to a developer to produce a modified mold substrate; and developing the modified mold with one or more developing reagents to remove the portion of the mold substrate rendered susceptible to the developer from the mold substrate, to produce the mold having a desired mold shape, wherein the electromagnetic radiation source has a fixed position, and wherein during the exposing step, the mold substrate is manipulated according to a manipulation algorithm in one or more dimensions relative to the electromagnetic radiation source; and wherein the manipulation algorithm is determined using stochastic optimization computations.

Development of a revolute-joint robot for the precision positioning of an x-ray detector

NASA Astrophysics Data System (ADS)

Preissner, Curt A.; Royston, Thomas J.; Shu, Deming

2003-10-01

This paper profiles the initial phase in the development of a six degree-of-freedom robot, with 1 μm dynamic positioning uncertainty, for the manipulation of x-ray detectors or test specimens at the Advanced Photon Source (APS). While revolute-joint robot manipulators exhibit a smaller footprint along with increased positioning flexibility compared to Cartesian manipulators, commercially available revolute-joint manipulators do not meet our size, positioning, or environmental specifications. Currently, a robot with 20 μm dynamic positioning uncertainty is functioning at the APS for cryogenic crystallography sample pick-and-place operation. Theoretical, computational and experimental procedures are being used to (1) identify and (2) simulate the dynamics of the present robot system using a multibody approach, including the mechanics and control architecture, and eventually to (3) design an improved version with a 1 μm dynamic positioning uncertainty. We expect that the preceding experimental and theoretical techniques will be useful design and analysis tools as multi-degree-of-freedom manipulators become more prevalent on synchrotron beamlines.

Evaluating the effectiveness of behavior change techniques in health-related behavior: a scoping review of methods used.

PubMed

Michie, Susan; West, Robert; Sheals, Kate; Godinho, Cristina A

2018-03-01

Behavior change interventions typically contain multiple potentially active components: behavior change techniques (BCTs). Identifying which specific BCTs or BCT combinations have the potential to be effective for a given behavior in a given context presents a major challenge. The aim of this study was to review the methods that have been used to identify effective BCTs for given behaviors in given contexts and evaluate their strengths and limitations. A scoping review was conducted of studies that had sought to identify effective BCTs. Articles referring to "behavio(u)r change technique(s)" in the abstract/text were located, and ones that involved identification of effective BCTs were selected. The methods reported were coded. The methods were analyzed in general terms using "PASS" criteria: Practicability (facility to apply the method appropriately), Applicability (facility to generalize from findings to contexts and populations of interest), Sensitivity (facility to identify effective BCTs), and Specificity (facility to rule out ineffective BCTs). A sample of 10% of the studies reviewed was then evaluated using these criteria to assess how far the strengths and limitations identified in principle were borne out in practice. One hundred and thirty-five studies were identified. The methods used in those studies were experimental manipulation of BCTs, observational studies comparing outcomes in the presence or absence of BCTs, meta-analyses of BCT comparisons, meta-regressions evaluating effect sizes with and without specific BCTs, reviews of BCTs found in effective interventions, and meta-classification and regression trees. The limitations of each method meant that only weak conclusions could be drawn regarding the effectiveness of specific BCTs or BCT combinations. Methods for identifying effective BCTs linked to target behavior and context all have important inherent limitations. A strategy needs to be developed that can systematically combine the strengths of the different methods and that can link these constructs in an ontology of behavior change interventions.

Efficient Kinematic Computations For 7-DOF Manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Long, Mark K.; Kreutz-Delgado, Kenneth

1994-01-01

Efficient algorithms for forward kinematic mappings of seven-degree-of-freedom (7-DOF) robotic manipulator having revolute joints developed on basis of representation of redundant DOF in terms of parameter called "arm angle." Continuing effort to exploit redundancy in manipulator according to concept of basic and additional tasks. Concept also discussed in "Configuration-Control Scheme Copes With Singularities" (NPO-18556) and "Increasing the Dexterity of Redundant Robots" (NPO-17801).

Functional assessment and performance evaluation for assistive robotic manipulators: Literature review.

PubMed

Chung, Cheng-Shiu; Wang, Hongwu; Cooper, Rory A

2013-07-01

The user interface development of assistive robotic manipulators can be traced back to the 1960s. Studies include kinematic designs, cost-efficiency, user experience involvements, and performance evaluation. This paper is to review studies conducted with clinical trials using activities of daily living (ADLs) tasks to evaluate performance categorized using the International Classification of Functioning, Disability, and Health (ICF) frameworks, in order to give the scope of current research and provide suggestions for future studies. We conducted a literature search of assistive robotic manipulators from 1970 to 2012 in PubMed, Google Scholar, and University of Pittsburgh Library System - PITTCat. Twenty relevant studies were identified. Studies were separated into two broad categories: user task preferences and user-interface performance measurements of commercialized and developing assistive robotic manipulators. The outcome measures and ICF codes associated with the performance evaluations are reported. Suggestions for the future studies include (1) standardized ADL tasks for the quantitative and qualitative evaluation of task efficiency and performance to build comparable measures between research groups, (2) studies relevant to the tasks from user priority lists and ICF codes, and (3) appropriate clinical functional assessment tests with consideration of constraints in assistive robotic manipulator user interfaces. In addition, these outcome measures will help physicians and therapists build standardized tools while prescribing and assessing assistive robotic manipulators.

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

March-Leuba, S.; Jansen, J.F.; Kress, R.L.

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

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.

Cell manipulation in microfluidics.

PubMed

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

2013-06-01

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