PHARAO flight model: optical on ground performance tests

NASA Astrophysics Data System (ADS)

Lévèque, T.; Faure, B.; Esnault, F. X.; Grosjean, O.; Delaroche, C.; Massonnet, D.; Escande, C.; Gasc, Ph.; Ratsimandresy, A.; Béraud, S.; Buffe, F.; Torresi, P.; Larivière, Ph.; Bernard, V.; Bomer, T.; Thomin, S.; Salomon, C.; Abgrall, M.; Rovera, D.; Moric, I.; Laurent, Ph.

2017-11-01

PHARAO (Projet d'Horloge Atomique par Refroidissement d'Atomes en Orbite), which has been developed by CNES, is the first primary frequency standard specially designed for operation in space. PHARAO is the main instrument of the ESA mission ACES (Atomic Clock Ensemble in Space). ACES payload will be installed on-board the International Space Station (ISS) to perform fundamental physics experiments. All the sub-systems of the Flight Model (FM) have now passed the qualification process and the whole FM of the cold cesium clock, PHARAO, is being assembled and will undergo extensive tests. The expected performances in space are frequency accuracy less than 3.10-16 (with a final goal at 10-16) and frequency stability of 10-13 τ-1/2. In this paper, we focus on the laser source performances and the main results on the cold atom manipulation.

Energy-filtered cold electron transport at room temperature.

PubMed

Bhadrachalam, Pradeep; Subramanian, Ramkumar; Ray, Vishva; Ma, Liang-Chieh; Wang, Weichao; Kim, Jiyoung; Cho, Kyeongjae; Koh, Seong Jin

2014-09-10

Fermi-Dirac electron thermal excitation is an intrinsic phenomenon that limits functionality of various electron systems. Efforts to manipulate electron thermal excitation have been successful when the entire system is cooled to cryogenic temperatures, typically <1 K. Here we show that electron thermal excitation can be effectively suppressed at room temperature, and energy-suppressed electrons, whose energy distribution corresponds to an effective electron temperature of ~45 K, can be transported throughout device components without external cooling. This is accomplished using a discrete level of a quantum well, which filters out thermally excited electrons and permits only energy-suppressed electrons to participate in electron transport. The quantum well (~2 nm of Cr2O3) is formed between source (Cr) and tunnelling barrier (SiO2) in a double-barrier-tunnelling-junction structure having a quantum dot as the central island. Cold electron transport is detected from extremely narrow differential conductance peaks in electron tunnelling through CdSe quantum dots, with full widths at half maximum of only ~15 mV at room temperature.

Altering gender role expectations: effects on pain tolerance, pain threshold, and pain ratings.

PubMed

Robinson, Michael E; Gagnon, Christine M; Riley, Joseph L; Price, Donald D

2003-06-01

The literature demonstrating sex differences in pain is sizable. Most explanations for these differences have focused on biologic mechanisms, and only a few studies have examined social learning. The purpose of this study was to examine the contribution of gender-role stereotypes to sex differences in pain. This study used experimental manipulation of gender-role expectations for men and women. One hundred twenty students participated in the cold pressor task. Before the pain task, participants were given 1 of 3 instructional sets: no expectation, 30-second performance expectation, or a 90-second performance expectation. Pain ratings, threshold, and tolerance were recorded. Significant sex differences in the "no expectation" condition for pain tolerance (t = 2.32, df = 38, P <.05) and post-cold pressor pain ratings (t = 2.6, df = 37, P <.05) were found. Women had briefer tolerance times and higher post-cold pressor ratings than men. When given gender-specific tolerance expectations, men and women did not differ in their pain tolerance, pain threshold, or pain ratings. This is the first empirical study to show that manipulation of expectations alters sex differences in laboratory pain.

Manipulator having thermally conductive rotary joint for transferring heat from a test specimen

DOEpatents

Haney, S.J.; Stulen, R.H.; Toly, N.F.

1983-05-03

A manipulator for rotatably moving a test specimen in an ultra-high vacuum chamber includes a translational unit movable in three mutually perpendicular directions. A manipulator frame is rigidly secured to the translational unit for rotatably supporting a rotary shaft. A first copper disc is rigidly secured to an end of the rotary shaft for rotary movement within the vacuum chamber. A second copper disc is supported upon the first disc. The second disc receives a cryogenic cold head and does not rotate with the first disc. The second disc receives a cryogenic cold head and does not rotate with the first disc. A sapphire plate is interposed between the first and second discs to prevent galling of the copper material while maintaining high thermal conductivity between the first and second discs. A spring is disposed on the shaft to urge the second disc toward the first disc and compressingly engage the interposed sapphire plate. A specimen mount is secured to the first disc for rotation within the vacuum chamber. The specimen maintains high thermal conductivity with the second disc receiving the cryogenic transfer line.

Cold tolerance is unaffected by oxygen availability despite changes in anaerobic metabolism

NASA Astrophysics Data System (ADS)

Boardman, Leigh; Sørensen, Jesper G.; Koštál, Vladimír; Šimek, Petr; Terblanche, John S.

2016-09-01

Insect cold tolerance depends on their ability to withstand or repair perturbations in cellular homeostasis caused by low temperature stress. Decreased oxygen availability (hypoxia) can interact with low temperature tolerance, often improving insect survival. One mechanism proposed for such responses is that whole-animal cold tolerance is set by a transition to anaerobic metabolism. Here, we provide a test of this hypothesis in an insect model system (Thaumatotibia leucotreta) by experimental manipulation of oxygen availability while measuring metabolic rate, critical thermal minimum (CTmin), supercooling point and changes in 43 metabolites in moth larvae at three key timepoints (before, during and after chill coma). Furthermore, we determined the critical oxygen partial pressure below which metabolic rate was suppressed (c. 4.5 kPa). Results showed that altering oxygen availability did not affect (non-lethal) CTmin nor (lethal) supercooling point. Metabolomic profiling revealed the upregulation of anaerobic metabolites and alterations in concentrations of citric acid cycle intermediates during and after chill coma exposure. Hypoxia exacerbated the anaerobic metabolite responses induced by low temperatures. These results suggest that cold tolerance of T. leucotreta larvae is not set by oxygen limitation, and that anaerobic metabolism in these larvae may contribute to their ability to survive in necrotic fruit.

A transportable cold atom inertial sensor for space applications

NASA Astrophysics Data System (ADS)

Ménoret, V.; Geiger, R.; Stern, G.; Cheinet, P.; Battelier, B.; Zahzam, N.; Pereira Dos Santos, F.; Bresson, A.; Landragin, A.; Bouyer, P.

2017-11-01

Atom interferometry has hugely benefitted from advances made in cold atom physics over the past twenty years, and ultra-precise quantum sensors are now available for a wide range of applications [1]. In particular, cold atom interferometers have shown excellent performances in the field of acceleration and rotation measurements [2,3], and are foreseen as promising candidates for navigation, geophysics, geo-prospecting and tests of fundamental physics such as the Universality of Free Fall (UFF). In order to carry out a test of the UFF with atoms as test masses, one needs to compare precisely the accelerations of two atoms with different masses as they fall in the Earth's gravitational field. The sensitivity of atom interferometers scales like the square of the time during which the atoms are in free fall, and on ground this interrogation time is limited by the size of the experimental setup to a fraction of a second. Sending an atom interferometer in space would allow for several seconds of excellent free-fall conditions, and tests of the UFF could be carried out with precisions as low as 10-15 [4]. However, cold atoms experiments rely on complex laser systems, which are needed to cool down and manipulate the atoms, and these systems are usually very sensitive to temperature fluctuations and vibrations. In addition, when operating an inertial sensor, vibrations are a major issue, as they deteriorate the performances of the instrument. This is why cold atom interferometers are usually used in ground based facilities, which provide stable enough environments. In order to carry out airborne or space-borne measurements, one has to design an instrument which is both compact and stable, and such that vibrations induced by the platform will not deteriorate the sensitivity of the sensor. We report on the operation of an atom interferometer on board a plane carrying out parabolic flights (Airbus A300 Zero-G, operated by Novespace). We have constructed a compact and stable laser setup, which is well suited for onboard applications. Our goal is to implement a dual-species Rb-K atom interferometer in order to carry out a test of the UFF in the plane. In this perspective, we are designing a dual-wavelength laser source, which will enable us to cool down and coherently manipulate the quantum states of both atoms. We have successfully tested a preliminary version of the source and obtained a double species magneto-optical trap (MOT).

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.

Welding skate with computerized controls

NASA Technical Reports Server (NTRS)

Wall, W. A., Jr.

1968-01-01

New welding skate concept for automatic TIG welding of contoured or double-contoured parts combines lightweight welding apparatus with electrical circuitry which computes the desired torch angle and positions a torch and cold-wire guide angle manipulator.

Demonstration of Hybrid Multilayer Insulation for Fixed Thickness Applications

NASA Astrophysics Data System (ADS)

Johnson, W. L.; Fesmire, J. E.; Heckle, K. W.

2015-12-01

Cryogenic multilayer insulation (MLI) systems provide both conductive and radiative thermal insulation performance. The use of radiation shields with low conductivity spacers in between are required. By varying the distance and types of the spacers between the radiation shields, the relative radiation and conduction heat transfers can be manipulated. However, in most systems, there is a fixed thickness or volume allocated to the insulation. To understand how various combinations of different multilayer insulation (MLI) systems work together and to further validate thermal models of hybrid MLI systems, test data are needed. The MLI systems include combinations of Load-Bearing MLI (LB-MLI) and traditional MLI (tMLI). To further simulate the space launch vehicle case wherein both ambient pressure and vacuum environments are addressed, different cold-side thermal insulation substrates were included for select tests. The basic hybrid construction consists of some number of layers of LB-MLI on the cold side of the insulation system followed by layers of tMLI on the warm side of the system. The advantages of LB-MLI on the cold side of the insulation blanket are that its low layer density (0.5 - 0.6 layer/mm) is better suited for lower temperature applications and is a structural component to support heat interception shields that may be placed within the blanket. The advantage of tMLI systems on the warm side is that radiation is more dominant than conduction at warmer temperatures, so that a higher layer density is desired (2 - 3 layer/mm) and less effort need be put into minimizing conduction heat transfer. Liquid nitrogen boiloff test data using a cylindrical calorimeter are presented along with analysis for spacecraft tank applications.

Identification and Manipulation of Memory Engram Cells.

PubMed

Liu, Xu; Ramirez, Steve; Redondo, Roger L; Tonegawa, Susumu

2014-01-01

How memories are formed and stored in the brain remains a fascinating question in neuroscience. Here we discuss the memory engram theory, our recent attempt to identify and manipulate memory engram cells in the brain with optogenetics, and how these methods are used to address questions such as how false memory is formed and how the valence of a memory can be changed in the brain. Copyright © 2014 Cold Spring Harbor Laboratory Press; all rights reserved.

Role of the Oxytocin Receptor Expressed in the Rostral Medullary Raphe in Thermoregulation During Cold Conditions

PubMed Central

Kasahara, Yoshiyuki; Tateishi, Yuko; Hiraoka, Yuichi; Otsuka, Ayano; Mizukami, Hiroaki; Ozawa, Keiya; Sato, Keisuke; Hidema, Shizu; Nishimori, Katsuhiko

2015-01-01

Recent papers have reported that oxytocin (Oxt) and the oxytocin receptor (Oxtr) may be involved in the regulation of food intake in mammals. We therefore suspected the Oxt/Oxtr system to be involved in energy homeostasis. In previous studies, we found a tendency toward obesity in Oxtr-deficient (Oxtr−/−) mice, as well as impaired thermoregulation when these mice were exposed to cold conditions. In the present study, we observed the expression of Oxtr in the rostral medullary raphe (RMR), the brain region known to control thermogenesis in brown adipose tissue (BAT). Through immunohistochemistry, we detected neurons expressing Oxtr and c-Fos in the RMR of mice exposed to cold conditions. Up to 40% of Oxtr-positive neurons in RMR were classified as glutamatergic neurons, as shown by immunostaining using anti-VGLUT3 antibody. In addition, mice with exclusive expression of Oxtr in the RMR were generated by injecting an AAV-Oxtr vector into the RMR region of Oxtr−/− mice. We confirmed the recovery of thermoregulatory ability in the manipulated mice during exposure to cold conditions. Moreover, mice with RMR-specific expression of Oxtr lost the typical morphological change in BAT observed in Oxtr−/− mice. Additionally, increased expression of the β3-adrenergic receptor gene, Adrb3, was observed in BAT. These results are the first to show the critical role of RMR Oxtr expression in thermoregulation during cold conditions. PMID:26635729

Neutron and positron techniques for fluid transfer system analysis and remote temperature and stress measurement

NASA Astrophysics Data System (ADS)

Stewart, P. A. E.

1987-05-01

Present and projected applications of penetrating radiation techniques to gas turbine research and development are considered. Approaches discussed include the visualization and measurement of metal component movement using high energy X-rays, the measurement of metal temperatures using epithermal neutrons, the measurement of metal stresses using thermal neutron diffraction, and the visualization and measurement of oil and fuel systems using either cold neutron radiography or emitting isotope tomography. By selecting the radiation appropriate to the problem, the desired data can be probed for and obtained through imaging or signal acquisition, and the necessary information can then be extracted with digital image processing or knowledge based image manipulation and pattern recognition.

Energy-filtered cold electron transport at room temperature

PubMed Central

Bhadrachalam, Pradeep; Subramanian, Ramkumar; Ray, Vishva; Ma, Liang-Chieh; Wang, Weichao; Kim, Jiyoung; Cho, Kyeongjae; Koh, Seong Jin

2014-01-01

Fermi-Dirac electron thermal excitation is an intrinsic phenomenon that limits functionality of various electron systems. Efforts to manipulate electron thermal excitation have been successful when the entire system is cooled to cryogenic temperatures, typically <1 K. Here we show that electron thermal excitation can be effectively suppressed at room temperature, and energy-suppressed electrons, whose energy distribution corresponds to an effective electron temperature of ~45 K, can be transported throughout device components without external cooling. This is accomplished using a discrete level of a quantum well, which filters out thermally excited electrons and permits only energy-suppressed electrons to participate in electron transport. The quantum well (~2 nm of Cr2O3) is formed between source (Cr) and tunnelling barrier (SiO2) in a double-barrier-tunnelling-junction structure having a quantum dot as the central island. Cold electron transport is detected from extremely narrow differential conductance peaks in electron tunnelling through CdSe quantum dots, with full widths at half maximum of only ~15 mV at room temperature. PMID:25204839

Responses to preoptic temperature manipulation in the awake and hibernating marmot

NASA Technical Reports Server (NTRS)

South, F. E.; Hartner, W. C.; Luecke, R. H.

1975-01-01

Responses of normothermic and hibernating marmots to manipulations of the preoptic-hypothalamic temperature (T-PO) were experimentally investigated. An exponential increase in open-loop gain (OLG) occurred with decreases in temperature; it is concluded that this response can be explained by recruitment of cold-sensitive neurons brought about by low-temperature inactivation of inhibitory neurons. Marmots not only seek out the hibernating state, but also utilize all the thermoregulatory means they possess to remain in it for a given period of time.

Compact Laser System for Field Deployable Ultracold Atom Sensors

NASA Astrophysics Data System (ADS)

Pino, Juan; Luey, Ben; Anderson, Mike

2013-05-01

As ultracold atom sensors begin to see their way to the field, there is a growing need for small, accurate, and robust laser systems to cool and manipulate atoms for sensing applications such as magnetometers, gravimeters, atomic clocks and inertial sensing. In this poster we present a laser system for Rb, roughly the size of a paperback novel, capable of generating and controlling light sufficient for the most complicated of cold atom sensors. The system includes >100dB of non-mechanical, optical shuttering, the ability to create short, microsecond pulses, a Demux stage to port light onto different optical paths, and an atomically referenced, frequency agile laser source. We will present data to support the system, its Size Weight and Power (SWaP) requirements, as well as laser stability and performance. funded under DARPA

The coherence effect: Blending cold and hot cognitions.

PubMed

Simon, Dan; Stenstrom, Douglas M; Read, Stephen J

2015-09-01

Previous research has shown that making complex judgments and decisions entails a mental reconstruction of the task in a way that increases the state of coherence between the emerging conclusion and its underlying attributes: The attributes that support the conclusion grow stronger, whereas the attributes that support the losing option weaken. This coherence effect is understood to occur bidirectionally, in that conclusions follow from the decision-maker's evaluation of the attributes, while the evaluations of the attributes shift to cohere with the emerging conclusion. The current studies were designed to extend the coherence effect to encompass cognitions that could be considered "hot," such as valence evaluations, motivation toward outcomes of events, liking and disliking of actors, and emotions toward actors. Study 1 found that evaluations of a complex social relationship were accompanied not only by supportive interpretations of the ambiguous facts, but also by concordant hot cognitions. Studies 2 through 4 included manipulations to demonstrate the spreading of coherence from cold to hot cognitions and in the opposite direction. We observed these effects following a manipulation of the facts (Study 2), a manipulation of participants' emotions toward the actor (Study 3), and a manipulation of participants' motivation toward the outcome of the case (Study 4). These results support the proposition that complex judgments and decisions are performed by coherence-based reasoning: a holistic, connectionist process that maximizes coherence among and between the myriad of factors involved in the tasks and the hot cognitive reactions to them. (c) 2015 APA, all rights reserved).

Can Winter-Active Bumblebees Survive the Cold? Assessing the Cold Tolerance of Bombus terrestris audax and the Effects of Pollen Feeding

PubMed Central

Owen, Emily L.; Bale, Jeffrey S.; Hayward, Scott A. L.

2013-01-01

There is now considerable evidence that climate change is disrupting the phenology of key pollinator species. The recently reported UK winter activity of the bumblebee Bombus terrestris brings a novel set of thermal challenges to bumblebee workers that would typically only be exposed to summer conditions. Here we assess the ability of workers to survive acute and chronic cold stress (via lower lethal temperatures and lower lethal times at 0°C), the capacity for rapid cold hardening (RCH) and the influence of diet (pollen versus nectar consumption) on supercooling points (SCP). Comparisons are made with chronic cold stress indices and SCPs in queen bumblebees. Results showed worker bees were able to survive acute temperatures likely to be experienced in a mild winter, with queens significantly more tolerant to chronic cold temperature stress. The first evidence of RCH in any Hymenoptera is shown. In addition, dietary manipulation indicated the consumption of pollen significantly increased SCP temperature. These results are discussed in the light of winter active bumblebees and climate change. PMID:24224036

High throughput sequencing identifies chilling responsive genes in sweetpotato (Ipomoea batatas Lam.) during storage.

PubMed

Xie, Zeyi; Zhou, Zhilin; Li, Hongmin; Yu, Jingjing; Jiang, Jiaojiao; Tang, Zhonghou; Ma, Daifu; Zhang, Baohong; Han, Yonghua; Li, Zongyun

2018-05-21

Sweetpotato (Ipomoea batatas L.) is a globally important economic food crop. It belongs to Convolvulaceae family and origins in the tropics; however, sweetpotato is sensitive to cold stress during storage. In this study, we performed transcriptome sequencing to investigate the sweetpotato response to chilling stress during storage. A total of 110,110 unigenes were generated via high-throughput sequencing. Differentially expressed genes (DEGs) analysis showed that 18,681 genes were up-regulated and 21,983 genes were down-regulated in low temperature condition. Many DEGs were related to the cell membrane system, antioxidant enzymes, carbohydrate metabolism, and hormone metabolism, which are potentially associated with sweetpotato resistance to low temperature. The existence of DEGs suggests a molecular basis for the biochemical and physiological consequences of sweetpotato in low temperature storage conditions. Our analysis will provide a new target for enhancement of sweetpotato cold stress tolerance in postharvest storage through genetic manipulation. Copyright © 2018. Published by Elsevier Inc.

Gene Regulation and Signal Transduction in the ICE-CBF-COR Signaling Pathway during Cold Stress in Plants.

PubMed

Wang, Da-Zhi; Jin, Ya-Nan; Ding, Xi-Han; Wang, Wen-Jia; Zhai, Shan-Shan; Bai, Li-Ping; Guo, Zhi-Fu

2017-10-01

Low temperature is an abiotic stress that adversely affects the growth and production of plants. Resistance and adaptation of plants to cold stress is dependent upon the activation of molecular networks and pathways involved in signal transduction and the regulation of cold-stress related genes. Because it has numerous and complex genes, regulation factors, and pathways, research on the ICE-CBF-COR signaling pathway is the most studied and detailed, which is thought to be rather important for cold resistance of plants. In this review, we focus on the function of each member, interrelation among members, and the influence of manipulators and repressors in the ICE-CBF-COR pathway. In addition, regulation and signal transduction concerning plant hormones, circadian clock, and light are discussed. The studies presented provide a detailed picture of the ICE-CBF-COR pathway.

[The essence of Professor Wu Lian-Zhong's acupuncture manipulation].

PubMed

Liu, Jing; Guo, Yi; Wu, Lian-Zhong

2014-05-01

The painless needle insertion technique, summarized by Professor WU Lian-zhong during his decades of acupuncture clinical practice is introduced in this article, which is characterized as soft, flexible, fast, plucking and activating antipathogenic qi. The Sancai (three layers) lifting and thrusting manipulation technique is adopted by Professor WU for getting the qi sensation. And features of 10 kinds of needling sensation such as soreness, numbness, heaviness, distension, pain, cold, hot, radiation, jumping and contracture are summarized. Finger force, amplitude, speed and time length are also taken as the basis of reinforcing and reducing manipulations. Moreover, examples are also given to explain the needling technique on some specific points which further embodies Professor WU's unique experiences and understandings on acupuncture.

Application of photosynthetic N(2)-fixing cyanobacteria to the CELSS program

NASA Technical Reports Server (NTRS)

Fry, Ian V.; Hrabeta, Jana; Dsouza, Joe; Packer, Lester

1987-01-01

The feasibility of using photosynthetic microalgae (cyanobacteria) as a subsystem component for the closed ecological life support system program, with particular emphasis on the manipulation of the biomass (protein/carbohydrate) was addressed. Using factors which retard growth rates, but not photosynthetic electron flux, the partitioning of photosynthetically derived reductant may be dictated towards CO2 fixation (carbohydrate formation) and away from N2 fixation (protein formation). Cold shock treatment of fairly dense cultures markedly increases the glycogen content from 1 to 35 percent (dry weight), and presents a useful technique to change the protein/carbohydrate ratio of these organisms to a more nutritionally acceptable form.

Demonstration of Hybrid Multilayer Insulation for Fixed Thickness Applications

NASA Technical Reports Server (NTRS)

Johnson, Wesley; Fesmire, James; Heckle, Wayne

2015-01-01

Once on orbit, high performing insulation systems for cryogenic systems need just as good radiation (optical) properties as conduction properties. This requires the use of radiation shields with low conductivity spacers in between. By varying the height and cross-sectional area of the spacers between the radiation shields, the relative radiation and conduction heat transfers can be manipulated. However, in most systems, there is a fixed thickness or volume allocated to the insulation. In order to understand how various combinations of different multilayer insulation (MLI) systems work together and further validate thermal models of such a hybrid MLI set up, test data is needed. The MLI systems include combinations of Load Bearing MLI (LB-MLI) and traditional MLI. To further simulate the space launch vehicle case wherein both ambient pressure and vacuum environments are addressed, different cold-side thermal insulation substrates were included for select tests.

EDITORIAL: Cold Quantum GasesEditorial: Cold Quantum Gases

NASA Astrophysics Data System (ADS)

Vassen, W.; Hemmerich, A.; Arimondo, E.

2003-04-01

This Special Issue of Journal of Optics B: Quantum and Semiclassical Optics brings together the contributions of various researchers working on theoretical and experimental aspects of cold quantum gases. Different aspects of atom optics, matter wave interferometry, laser manipulation of atoms and molecules, and production of very cold and degenerate gases are presented. The variety of subjects demonstrates the steadily expanding role associated with this research area. The topics discussed in this issue, extending from basic physics to applications of atom optics and of cold atomic samples, include: bulletBose--Einstein condensation bulletFermi degenerate gases bulletCharacterization and manipulation of quantum gases bulletCoherent and nonlinear cold matter wave optics bulletNew schemes for laser cooling bulletCoherent cold molecular gases bulletUltra-precise atomic clocks bulletApplications of cold quantum gases to metrology and spectroscopy bulletApplications of cold quantum gases to quantum computing bulletNanoprobes and nanolithography. This special issue is published in connection with the 7th International Workshop on Atom Optics and Interferometry, held in Lunteren, The Netherlands, from 28 September to 2 October 2002. This was the last in a series of Workshops organized with the support of the European Community that have greatly contributed to progress in this area. The scientific part of the Workshop was managed by A Hemmerich, W Hogervorst, W Vassen and J T M Walraven, with input from members of the International Programme Committee who are listed below. The practical aspects of the organization were ably handled by Petra de Gijsel from the Vrije Universiteit in Amsterdam. The Workshop was funded by the European Science Foundation (programme BEC2000+), the European Networks 'Cold Quantum Gases (CQG)', coordinated by E Arimondo, and 'Cold Atoms and Ultraprecise Atomic Clocks (CAUAC)', coordinated by J Henningsen, by the German Physical Society (DFG), by the Dutch Foundation for Fundamental Research on Matter (FOM) and by the Dutch Gelderland province. We thank all these sponsors and the members of the International Programme Committee for making the Workshop such a success. At this point we take the opportunity to express our gratitude to both authors and reviewers, for their efforts in preparing and ensuring the high quality of the papers in this special issue. Wim Vassen Vrije Universiteit, Amsterdam Andreas Hemmerich Universität Hamburg Ennio Arimondo Università di Pisa Guest Editors International Programme Committee A Aspect Orsay, France E Cornell Boulder, USA W Ertmer Hannover, Germany T W Haensch Munich, Germany A Hemmerich Hamburg, Germany W Hogervorst Amsterdam, The Netherlands D Kleppner Cambridge, USA C Salomon Paris, France G V Shlyapnikov Amsterdam, Paris, Moscow S Stringari Trento, Italy W Vassen Amsterdam, The Netherlands J T M Walraven Amsterdam, The Netherlands

Higher order microfibre modes for dielectric particle trapping and propulsion

PubMed Central

Maimaiti, Aili; Truong, Viet Giang; Sergides, Marios; Gusachenko, Ivan; Nic Chormaic, Síle

2015-01-01

Optical manipulation in the vicinity of optical micro- and nanofibres has shown potential across several fields in recent years, including microparticle control, and cold atom probing and trapping. To date, most work has focussed on the propagation of the fundamental mode through the fibre. However, along the maximum mode intensity axis, higher order modes have a longer evanescent field extension and larger field amplitude at the fibre waist compared to the fundamental mode, opening up new possibilities for optical manipulation and particle trapping. We demonstrate a microfibre/optical tweezers compact system for trapping and propelling dielectric particles based on the excitation of the first group of higher order modes at the fibre waist. Speed enhancement of polystyrene particle propulsion was observed for the higher order modes compared to the fundamental mode for particles ranging from 1 μm to 5 μm in diameter. The optical propelling velocity of a single, 3 μm polystyrene particle was found to be 8 times faster under the higher order mode than the fundamental mode field for a waist power of 25 mW. Experimental data are supported by theoretical calculations. This work can be extended to trapping and manipulation of laser-cooled atoms with potential for quantum networks. PMID:25766925

Psychopathy and Indirect Aggression: The Roles of Cortisol, Sex, and Type of Psychopathy

ERIC Educational Resources Information Center

Vaillancourt, Tracy; Sunderani, Shafik

2011-01-01

Salivary cortisol was examined in relation to indirect aggression and primary psychopathy (i.e., cold affect and interpersonal manipulation) and secondary psychopathy (i.e., criminal tendencies and erratic lifestyle) in a sample of 154 undergraduate students. Results revealed that although psychopathy and indirect aggression were strongly…

Coherent and dynamic beam splitting based on light storage in cold atoms

PubMed Central

Park, Kwang-Kyoon; Zhao, Tian-Ming; Lee, Jong-Chan; Chough, Young-Tak; Kim, Yoon-Ho

2016-01-01

We demonstrate a coherent and dynamic beam splitter based on light storage in cold atoms. An input weak laser pulse is first stored in a cold atom ensemble via electromagnetically-induced transparency (EIT). A set of counter-propagating control fields, applied at a later time, retrieves the stored pulse into two output spatial modes. The high visibility interference between the two output pulses clearly demonstrates that the beam splitting process is coherent. Furthermore, by manipulating the control lasers, it is possible to dynamically control the storage time, the power splitting ratio, the relative phase, and the optical frequencies of the output pulses. With further improvements, the active beam splitter demonstrated in this work might have applications in photonic photonic quantum information and in all-optical information processing. PMID:27677457

Nonlinear optical memory for manipulation of orbital angular momentum of light.

PubMed

de Oliveira, R A; Borba, G C; Martins, W S; Barreiro, S; Felinto, D; Tabosa, J W R

2015-11-01

We report on the demonstration of a nonlinear optical memory (NOM) for storage and on-demand manipulation of orbital angular momentum (OAM) of light via higher-order nonlinear processes in cold cesium atoms. A spatially resolved phase-matching technique is used to select each order of the nonlinear susceptibility associated, respectively, with time-delayed four-, six-, and eight-wave mixing processes. For a specific configuration of the stored OAM of the incident beams, we demonstrated that the OAM of the retrieved beam can be manipulated according to the order of the nonlinear process chosen by the operator for reading out the NOM. This demonstration indicates new pathways for applications in classical and quantum information processing where OAM of light is used to encode optical information.

UHV-compatible magnetic material for atom optics

NASA Astrophysics Data System (ADS)

Hopkins, S. A.; Hinds, E. A.; Boshier, M. G.

Magnetic videotape is of great interest for trapping and guiding cold atomic vapors, but was hitherto considered unsuitable for manipulating Bose-Einstein condensates (BEC) because of the presumed evolution of gas under vacuum. We have studied the outgassing in vacuum of the most promising tape, Ampex 398 Betacam SP. We find that after cleaning in ethanol and baking for 200 h at 100 °C the magnetic patterns are undisturbed and the outgassing is remarkably small: 4×10-10 Torrls-1cm-2, due mostly to hydrogen. This makes the tape exceedingly attractive for manipulation of BEC.

Spectroscopy, Manipulation and Trapping of Neutral Atoms, Molecules, and Other Particles Using Optical Nanofibers: A Review

PubMed Central

Morrissey, Michael J.; Deasy, Kieran; Frawley, Mary; Kumar, Ravi; Prel, Eugen; Russell, Laura; Truong, Viet Giang; Chormaic, Síle Nic

2013-01-01

The use of tapered optical fibers, i.e., optical nanofibers, for spectroscopy and the detection of small numbers of particles, such as neutral atoms or molecules, has been gaining interest in recent years. In this review, we briefly introduce the optical nanofiber, its fabrication, and optical mode propagation within. We discuss recent progress on the integration of optical nanofibers into laser-cooled atom and vapor systems, paying particular attention to spectroscopy, cold atom cloud characterization, and optical trapping schemes. Next, a natural extension of this work to molecules is introduced. Finally, we consider several alternatives to optical nanofibers that display some advantages for specific applications. PMID:23945738

The Need for Integrated Approaches in Metabolic Engineering.

PubMed

Lechner, Anna; Brunk, Elizabeth; Keasling, Jay D

2016-11-01

This review highlights state-of-the-art procedures for heterologous small-molecule biosynthesis, the associated bottlenecks, and new strategies that have the potential to accelerate future accomplishments in metabolic engineering. We emphasize that a combination of different approaches over multiple time and size scales must be considered for successful pathway engineering in a heterologous host. We have classified these optimization procedures based on the "system" that is being manipulated: transcriptome, translatome, proteome, or reactome. By bridging multiple disciplines, including molecular biology, biochemistry, biophysics, and computational sciences, we can create an integral framework for the discovery and implementation of novel biosynthetic production routes. Copyright © 2016 Cold Spring Harbor Laboratory Press; all rights reserved.

Right-Angle Mechanized Electrical Connector

NASA Technical Reports Server (NTRS)

Collins, Clint A.; Blackler, David T.

1996-01-01

Right-angle electrical connector embedded in mechanism accommodates some initial misalignment and aligns itself. Connection and disconnection effected with relatively small forces and torques and simple movements. Actuated by one gloved hand or by robotic manipulator. Useful in underwater, nuclear, hot, cold, or toxic environments in which connections made or broken by heavily clothed technicians or by robots.

Interactive effects of the affect quality and directional focus of mental imagery on pain analgesia.

PubMed

Alden, A L; Dale, J A; DeGood, D E

2001-06-01

College students (25 men and 25 women) were randomly assigned (within sex) to each of the 4 factorial groups, based on manipulation of affect quality (positive vs. negative) and directional focus (internal vs. external) of mental imagery, and to a control group receiving no manipulation. Both imagery variables had a significant impact on pain tolerance and ratings during a cold-pressor test with positive affect and external imagery producing greater analgesia than their counterpart conditions. Positive affect imagery combined with external imagery resulted in the lowest reported pain amongst the groups. However, self-reported mood descriptors did not consistently parallel the pain tolerance and rating data. Likewise, although heart rate and skin potential responses increased during the cold pressor for the group as a whole, the only significant difference amongst the experimental groups was the relatively higher skin potential reactivity of the positive affect-external imagery group--possibly reflecting greater task engagement for this group. Seemingly, imagery in this situation operates primarily via cognitive, rather than via physiological mediators of the pain experience.

EXPLORING ENGINEERING CONTROL THROUGH PROCESS MANIPULATION OF RADIOACTIVE LIQUID WASTE TANK CHEMICAL CLEANING

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

Brown, A.

2014-04-27

One method of remediating legacy liquid radioactive waste produced during the cold war, is aggressive in-tank chemical cleaning. Chemical cleaning has successfully reduced the curie content of residual waste heels in large underground storage tanks; however this process generates significant chemical hazards. Mercury is often the bounding hazard due to its extensive use in the separations process that produced the waste. This paper explores how variations in controllable process factors, tank level and temperature, may be manipulated to reduce the hazard potential related to mercury vapor generation. When compared using a multivariate regression analysis, findings indicated that there was amore » significant relationship between both tank level (p value of 1.65x10{sup -23}) and temperature (p value of 6.39x10{sup -6}) to the mercury vapor concentration in the tank ventilation system. Tank temperature showed the most promise as a controllable parameter for future tank cleaning endeavors. Despite statistically significant relationships, there may not be confidence in the ability to control accident scenarios to below mercury’s IDLH or PAC-III levels for future cleaning initiatives.« less

Contextual fear conditioning in zebrafish.

PubMed

Kenney, Justin W; Scott, Ian C; Josselyn, Sheena A; Frankland, Paul W

2017-10-01

Zebrafish are a genetically tractable vertebrate that hold considerable promise for elucidating the molecular basis of behavior. Although numerous recent advances have been made in the ability to precisely manipulate the zebrafish genome, much less is known about many aspects of learning and memory in adult fish. Here, we describe the development of a contextual fear conditioning paradigm using an electric shock as the aversive stimulus. We find that contextual fear conditioning is modulated by shock intensity, prevented by an established amnestic agent (MK-801), lasts at least 14 d, and exhibits extinction. Furthermore, fish of various background strains (AB, Tu, and TL) are able to acquire fear conditioning, but differ in fear extinction rates. Taken together, we find that contextual fear conditioning in zebrafish shares many similarities with the widely used contextual fear conditioning paradigm in rodents. Combined with the amenability of genetic manipulation in zebrafish, we anticipate that our paradigm will prove to be a useful complementary system in which to examine the molecular basis of vertebrate learning and memory. © 2017 Kenney et al.; Published by Cold Spring Harbor Laboratory Press.

Realizing universal Majorana fermionic quantum computation

NASA Astrophysics Data System (ADS)

Wu, Ya-Jie; He, Jing; Kou, Su-Peng

2014-08-01

Majorana fermionic quantum computation (MFQC) was proposed by S. B. Bravyi and A. Yu. Kitaev [Ann. Phys. (NY) 298, 210 (2002), 10.1006/aphy.2002.6254], who indicated that a (nontopological) fault-tolerant quantum computer built from Majorana fermions may be more efficient than that built from distinguishable two-state systems. However, until now scientists have not known how to realize a MFQC in a physical system. In this paper we propose a possible realization of MFQC. We find that the end of a line defect of a p-wave superconductor or superfluid in a honeycomb lattice traps a Majorana zero mode, which becomes the starting point of MFQC. Then we show how to manipulate Majorana fermions to perform universal MFQC, which possesses possibilities for high-level local controllability through individually addressing the quantum states of individual constituent elements by using timely cold-atom technology.

Optothermal Manipulations of Colloidal Particles and Living Cells.

PubMed

Lin, Linhan; Hill, Eric H; Peng, Xiaolei; Zheng, Yuebing

2018-05-25

Optical manipulation techniques are important in many fields. For instance, they enable bottom-up assembly of nanomaterials and high-resolution and in situ analysis of biological cells and molecules, providing opportunities for discovery of new materials, medical diagnostics, and nanomedicines. Traditional optical tweezers have their applications limited due to the use of rigorous optics and high optical power. New strategies have been established for low-power optical manipulation techniques. Optothermal manipulation, which exploits photon-phonon conversion and matter migration under a light-controlled temperature gradient, is one such emerging technique. Elucidation of the underlying physics of optothermo-matter interaction and rational engineering of optical environments are required to realize diverse optothermal manipulation functionalities. This Account covers the working principles, design concepts, and applications of a series of newly developed optothermal manipulation techniques, including bubble-pen lithography, opto-thermophoretic tweezers, opto-thermoelectric tweezers, optothermal assembly, and opto-thermoelectric printing. In bubble-pen lithography, optical heating of a plasmonic substrate generates microbubbles at the solid-liquid interface to print diverse colloidal particles on the substrates. Programmable bubble printing of semiconductor quantum dots on different substrates and haptic control of printing have also been achieved. The key to optothermal tweezers is the ability to deliver colloidal particles from cold to hot regions of a temperature gradient or a negative Soret effect. We explore different driving forces for the two types of optothermal tweezers. Opto-thermophoretic tweezers rely on an abnormal permittivity gradient built by structured solvent molecules in the electric double layer of colloidal particles and living cells in response to heat-induced entropy, and opto-thermoelectric tweezers exploit a thermophoresis-induced thermoelectric field for the low-power manipulation of small nanoparticles with minimum diameter around 20 nm. Furthermore, by incorporating depletion attraction into the optothermal tweezers system as particle-particle or particle-substrate binding force, we have achieved bottom-up assembly and reconfigurable optical printing of artificial colloidal matter. Beyond optothermal manipulation techniques in liquid environments, we also review recent progress of gas-phase optothermal manipulation based on photophoresis. Photophoretic trapping and transport of light-absorbing materials have been achieved through optical engineering to tune particle-molecule interactions during optical heating, and a novel optical trap display has been demonstrated. An improved understanding of the colloidal response to temperature gradients will surely facilitate further innovations in optothermal manipulation. With their low-power operation, simple optics, and diverse functionalities, optothermal manipulation techniques will find a wide range of applications in life sciences, colloidal science, materials science, and nanoscience, as well as in the developments of colloidal functional devices and nanomedicine.

Carbonate chemistry of an in-situ free-ocean CO2 enrichment experiment (antFOCE) in comparison to short term variation in Antarctic coastal waters.

PubMed

Stark, J S; Roden, N P; Johnstone, G J; Milnes, M; Black, J G; Whiteside, S; Kirkwood, W; Newbery, K; Stark, S; van Ooijen, E; Tilbrook, B; Peltzer, E T; Berry, K; Roberts, D

2018-02-12

Free-ocean CO 2 enrichment (FOCE) experiments have been deployed in marine ecosystems to manipulate carbonate system conditions to those predicted in future oceans. We investigated whether the pH/carbonate chemistry of extremely cold polar waters can be manipulated in an ecologically relevant way, to represent conditions under future atmospheric CO 2 levels, in an in-situ FOCE experiment in Antarctica. We examined spatial and temporal variation in local ambient carbonate chemistry at hourly intervals at two sites between December and February and compared these with experimental conditions. We successfully maintained a mean pH offset in acidified benthic chambers of -0.38 (±0.07) from ambient for approximately 8 weeks. Local diel and seasonal fluctuations in ambient pH were duplicated in the FOCE system. Large temporal variability in acidified chambers resulted from system stoppages. The mean pH, Ω arag and fCO 2 values in the acidified chambers were 7.688 ± 0.079, 0.62 ± 0.13 and 912 ± 150 µatm, respectively. Variation in ambient pH appeared to be mainly driven by salinity and biological production and ranged from 8.019 to 8.192 with significant spatio-temporal variation. This experiment demonstrates the utility of FOCE systems to create conditions expected in future oceans that represent ecologically relevant variation, even under polar conditions.

Grain size effects on stability of nonlinear vibration with nanocrystalline NiTi shape memory alloy

NASA Astrophysics Data System (ADS)

Xia, Minglu; Sun, Qingping

2017-10-01

Grain size effects on stability of thermomechanical responses for a nonlinear torsional vibration system with nanocrystalline superelastic NiTi bar are investigated in the frequency and amplitude domains. NiTi bars with average grain size from 10 nm to 100 nm are fabricated through cold-rolling and subsequent annealing. Thermomechanical responses of the NiTi bar as a softening nonlinear damping spring in the torsional vibration system are obtained by synchronised acquisition of rotational angle and temperature under external sinusoidal excitation. It is shown that nonlinearity and damping capacity of the NiTi bar decrease as average grain size of the material is reduced below 100 nm. Therefore jump phenomena of thermomechanical responses become less significant or even vanish and the vibration system becomes more stable. The work in this paper provides a solid experimental base for manipulating the undesired jump phenomena of thermomechanical responses and stabilising the mechanical vibration system through grain refinement of NiTi SMA.

Acute Anxiety Predicts Components of the Cold Shock Response on Cold Water Immersion: Toward an Integrated Psychophysiological Model of Acute Cold Water Survival

PubMed Central

Barwood, Martin J.; Corbett, Jo; Massey, Heather; McMorris, Terry; Tipton, Mike; Wagstaff, Christopher R. D.

2018-01-01

Introduction: Drowning is a leading cause of accidental death. In cold-water, sudden skin cooling triggers the life-threatening cold shock response (CSR). The CSR comprises tachycardia, peripheral vasoconstriction, hypertension, inspiratory gasp, and hyperventilation with the hyperventilatory component inducing hypocapnia and increasing risk of aspirating water to the lungs. Some CSR components can be reduced by habituation (i.e., reduced response to stimulus of same magnitude) induced by 3–5 short cold-water immersions (CWI). However, high levels of acute anxiety, a plausible emotion on CWI: magnifies the CSR in unhabituated participants, reverses habituated components of the CSR and prevents/delays habituation when high levels of anxiety are experienced concurrent to immersions suggesting anxiety is integral to the CSR. Purpose: To examine the predictive relationship that prior ratings of acute anxiety have with the CSR. Secondly, to examine whether anxiety ratings correlated with components of the CSR during immersion before and after induction of habituation. Methods: Forty-eight unhabituated participants completed one (CON1) 7-min immersion in to cold water (15°C). Of that cohort, twenty-five completed four further CWIs that would ordinarily induce CSR habituation. They then completed two counter-balanced immersions where anxiety levels were increased (CWI-ANX) or were not manipulated (CON2). Acute anxiety and the cardiorespiratory responses (cardiac frequency [fc], respiratory frequency [fR], tidal volume [VT], minute ventilation [E]) were measured. Multiple regression was used to identify components of the CSR from the most life-threatening period of immersion (1st minute) predicted by the anxiety rating prior to immersion. Relationships between anxiety rating and CSR components during immersion were assessed by correlation. Results: Anxiety rating predicted the fc component of the CSR in unhabituated participants (CON1; p < 0.05, r = 0.536, r2= 0.190). After habituation immersions (i.e., cohort 2), anxiety rating predicted the fR component of the CSR when anxiety levels were lowered (CON2; p < 0.05, r = 0.566, r2= 0.320) but predicted the fc component of the CSR (p < 0.05, r = 0.518, r2= 0.197) when anxiety was increased suggesting different drivers of the CSR when anxiety levels were manipulated; correlation data supported these relationships. Discussion: Acute anxiety is integral to the CSR before and after habituation. We offer a new integrated model including neuroanatomical, perceptual and attentional components of the CSR to explain these data. PMID:29695988

Acute Anxiety Predicts Components of the Cold Shock Response on Cold Water Immersion: Toward an Integrated Psychophysiological Model of Acute Cold Water Survival.

PubMed

Barwood, Martin J; Corbett, Jo; Massey, Heather; McMorris, Terry; Tipton, Mike; Wagstaff, Christopher R D

2018-01-01

Introduction: Drowning is a leading cause of accidental death. In cold-water, sudden skin cooling triggers the life-threatening cold shock response (CSR). The CSR comprises tachycardia, peripheral vasoconstriction, hypertension, inspiratory gasp, and hyperventilation with the hyperventilatory component inducing hypocapnia and increasing risk of aspirating water to the lungs. Some CSR components can be reduced by habituation (i.e., reduced response to stimulus of same magnitude) induced by 3-5 short cold-water immersions (CWI). However, high levels of acute anxiety, a plausible emotion on CWI: magnifies the CSR in unhabituated participants, reverses habituated components of the CSR and prevents/delays habituation when high levels of anxiety are experienced concurrent to immersions suggesting anxiety is integral to the CSR. Purpose: To examine the predictive relationship that prior ratings of acute anxiety have with the CSR. Secondly, to examine whether anxiety ratings correlated with components of the CSR during immersion before and after induction of habituation. Methods: Forty-eight unhabituated participants completed one (CON1) 7-min immersion in to cold water (15°C). Of that cohort, twenty-five completed four further CWIs that would ordinarily induce CSR habituation. They then completed two counter-balanced immersions where anxiety levels were increased (CWI-ANX) or were not manipulated (CON2). Acute anxiety and the cardiorespiratory responses (cardiac frequency [ f c ], respiratory frequency [ f R ], tidal volume [ V T ], minute ventilation [ E ]) were measured. Multiple regression was used to identify components of the CSR from the most life-threatening period of immersion (1 st minute) predicted by the anxiety rating prior to immersion. Relationships between anxiety rating and CSR components during immersion were assessed by correlation. Results: Anxiety rating predicted the f c component of the CSR in unhabituated participants (CON1; p < 0.05, r = 0.536, r 2 = 0.190). After habituation immersions (i.e., cohort 2), anxiety rating predicted the f R component of the CSR when anxiety levels were lowered (CON2; p < 0.05, r = 0.566, r 2 = 0.320) but predicted the f c component of the CSR ( p < 0.05, r = 0.518, r 2 = 0.197) when anxiety was increased suggesting different drivers of the CSR when anxiety levels were manipulated; correlation data supported these relationships. Discussion: Acute anxiety is integral to the CSR before and after habituation. We offer a new integrated model including neuroanatomical, perceptual and attentional components of the CSR to explain these data.

PHARAO laser source flight model: Design and performances

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

Lévèque, T., E-mail: thomas.leveque@cnes.fr; Faure, B.; Esnault, F. X.

2015-03-15

In this paper, we describe the design and the main performances of the PHARAO laser source flight model. PHARAO is a laser cooled cesium clock specially designed for operation in space and the laser source is one of the main sub-systems. The flight model presented in this work is the first remote-controlled laser system designed for spaceborne cold atom manipulation. The main challenges arise from mechanical compatibility with space constraints, which impose a high level of compactness, a low electric power consumption, a wide range of operating temperature, and a vacuum environment. We describe the main functions of the lasermore » source and give an overview of the main technologies developed for this instrument. We present some results of the qualification process. The characteristics of the laser source flight model, and their impact on the clock performances, have been verified in operational conditions.« less

Influence of de qi on the immediate analgesic effect of SP6 acupuncture in patients with primary dysmenorrhoea and cold and dampness stagnation: a multicentre randomised controlled trial.

PubMed

Zhao, Min-Yi; Zhang, Peng; Li, Jing; Wang, Lin-Peng; Zhou, Wei; Wang, Yan-Xia; She, Yan-Fen; Ma, Liang-Xiao; Wang, Pei; Hu, Ni-Juan; Lin, Chi; Hu, Shang-Qin; Wu, Gui-Wen; Wang, Ya-Feng; Sun, Jun-Jun; Jiang, Si-Zhu; Zhu, Jiang

2017-10-01

The aim of this multicentre randomised controlled trial was to investigate the contribution of de qi to the immediate analgesic effect of acupuncture in patients with primary dysmenorrhoea and the specific traditional Chinese medicine diagnosis cold and dampness stagnation . Eighty-eight patients with primary dysmenorrhoea and cold and dampness stagnation were randomly assigned to de qi (n=43) or no de qi (n=45) groups and underwent 30 min of SP6 acupuncture. The de qi group received deep needling at SP6 with manipulation using thick needles; the no de qi group received shallow needling with no manipulation using thin needles. In both groups the pain scores and actual de qi sensation were evaluated using a visual analogue scale for pain (VAS-P) and the acupuncture de qi clinical assessment scale (ADCAS), respectively. Both groups showed reductions in VAS-P, with no signficant differences between groups. ADCAS scores showed 43/43 and 25/45 patients in de qi and no de qi groups, respectively, actually experienced de qi sensation. Independent of original group allocation, VAS-P reductions associated with actual de qi (n=68) were greater than those without (28.4±18.19 mm vs 14.6±12.28 mm, p=0.008). This study showed no significant difference in VAS-P scores in patients with primary dysmenorrhoea and cold and dampness stagnation immediately after SP6 acupuncture designed to induce or avoid de qi sensation. Both treatments significantly reduced VAS-P relative to baseline. Irrespective of group allocation, patients experiencing actual de qi sensation demonstrated larger reductions in pain score relative to those without, suggesting greater analgesic effects. Chinese Clinical Trial Registry (ChiCTR-TRC-13003086); Results. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2017. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

Multipurpose Thermal Insulation Test Apparatus

NASA Technical Reports Server (NTRS)

Fesmire, James E. (Inventor); Augustynowicz, Stanislaw D. (Inventor)

2002-01-01

A multi-purpose thermal insulation test apparatus is used for testing insulation materials, or other components. The test apparatus is a fluid boil-off calorimeter system for calibrated measurement of the apparent thermal conductivity (k-value) of a specimen material at a fixed vacuum level. The apparatus includes an inner vessel for receiving a fluid with a normal boiling point below ambient temperature, such as liquid nitrogen, enclosed within a vacuum chamber. A cold mass assembly, including the inner vessel and thermal guards, is suspended from the top of the vacuum chamber. Handling tools attach to the cold mass assembly for convenient manipulation of the assembly and for the installation or wrapping of insulation test materials. Liquid nitrogen is typically supplied to the inner vessel using a fill tube with funnel. A single port through the top of the vacuum chamber facilitates both filling and venting. Aerogel composite stacks with reflective films are fastened to the top and the bottom of the inner vessel as thermal guards. The comparative k-value of the insulation material is determined by measuring the boil-off flow rate of gas, the temperature differential across the insulation thickness, and the dimensions (length and diameters) of the test specimen.

Denitrification Temperature Dependence in Remote, Cold, and N-Poor Lake Sediments

NASA Astrophysics Data System (ADS)

Palacin-Lizarbe, Carlos; Camarero, Lluís.; Catalan, Jordi

2018-02-01

The reservoir size and pathway rates of the nitrogen (N) cycle have been deeply modified by the human enhancement of N fixation, atmospheric emissions, and climate warming. Denitrification (DEN) transforms nitrate into nitrogenous gas and thus removes reactive nitrogen (Nr) back to the atmospheric reservoir. There is still a rather limited knowledge of the denitrification rates and their temperature dependence across ecosystems; particularly, for the abundant cold and N-poor freshwater systems (e.g., Arctic and mountain lakes). We experimentally investigated the denitrification rates of mountain lake sediments by manipulating nitrate concentration and temperature on field collected cores. DEN rates were nitrate limited in field conditions and showed a large potential for an immediate DEN increase with both warming and higher Nr load. The estimated activation energy (Ea) for denitrification at nitrate saturation was 46 ± 7 kJ mol-1 (Q10 1.7 ± 0.4). The apparent Ea increased with nitrate (μM) limitation as Ea = 46 + 419 [NO3-]-1. Accordingly, we suggest that climate warming may have a synergistic effect with N emission reduction to readjusting the N cycle. Changes of nitrate availability might be more relevant than direct temperature effects on denitrification.

Matter-wave entanglement and teleportation by molecular dissociation and collisions.

PubMed

Opatrný, T; Kurizki, G

2001-04-02

We propose dissociation of cold diatomic molecules as a source of atom pairs with highly correlated (entangled) positions and momenta, approximating the original quantum state introduced by Einstein, Podolsky, and Rosen (EPR) [Phys. Rev. 47, 777 (1935)]. Wave packet teleportation is shown to be achievable by its collision with one of the EPR correlated atoms and manipulation of the other atom in the pair.

Matter-Wave Entanglement and Teleportation by Molecular Dissociation and Collisions

NASA Astrophysics Data System (ADS)

Opatrný, T.; Kurizki, G.

2001-04-01

We propose dissociation of cold diatomic molecules as a source of atom pairs with highly correlated (entangled) positions and momenta, approximating the original quantum state introduced by Einstein, Podolsky, and Rosen (EPR) [Phys. Rev. 47, 777 (1935)]. Wave packet teleportation is shown to be achievable by its collision with one of the EPR correlated atoms and manipulation of the other atom in the pair.

Observation of the Mott insulator to superfluid crossover of a driven-dissipative Bose-Hubbard system

PubMed Central

Tomita, Takafumi; Nakajima, Shuta; Danshita, Ippei; Takasu, Yosuke; Takahashi, Yoshiro

2017-01-01

Dissipation is ubiquitous in nature and plays a crucial role in quantum systems such as causing decoherence of quantum states. Recently, much attention has been paid to an intriguing possibility of dissipation as an efficient tool for the preparation and manipulation of quantum states. We report the realization of successful demonstration of a novel role of dissipation in a quantum phase transition using cold atoms. We realize an engineered dissipative Bose-Hubbard system by introducing a controllable strength of two-body inelastic collision via photoassociation for ultracold bosons in a three-dimensional optical lattice. In the dynamics subjected to a slow ramp-down of the optical lattice, we find that strong on-site dissipation favors the Mott insulating state: The melting of the Mott insulator is delayed, and the growth of the phase coherence is suppressed. The controllability of the dissipation is highlighted by quenching the dissipation, providing a novel method for investigating a quantum many-body state and its nonequilibrium dynamics. PMID:29291246

Effect of manipulated state aggression on pain tolerance.

PubMed

Stephens, Richard; Allsop, Claire

2012-08-01

Swearing produces a pain lessening (hypoalgesic) effect for many people; an emotional response may be the underlying mechanism. In this paper, the role of manipulated state aggression on pain tolerance and pain perception is assessed. In a repeated-measures design, pain outcomes were assessed in participants asked to play for 10 minutes a first-person shooter video game vs a golf video game. Sex differences were explored. After playing the first-person shooter video game, aggressive cognitions, aggressive affect, heart rate, and cold pressor latency were increased, and pain perception was decreased. These data indicate that people become more pain tolerant with raised state aggression and support our theory that raised pain tolerance from swearing occurs via an emotional response.

Manipulator having thermally conductive rotary joint for transferring heat from a test specimen

DOEpatents

Haney, Steven J.; Stulen, Richard H.; Toly, Norman F.

1985-01-01

A manipulator for rotatably moving a test specimen in an ultra-high vacuum chamber includes a translational unit movable in three mutually perpendicular directions. A manipulator frame is rigidly secured to the translational unit for rotatably supporting a rotary shaft. A first copper disc is rigidly secured to an end of the rotary shaft for rotary movement within the vacuum chamber. A second copper disc is supported upon the first disc. The second disc receives a cryogenic cold head and does not rotate with the first disc. A sapphire plate is interposed between the first and second discs to prevent galling of the copper material while maintaining high thermal conductivity between the first and second discs. A spring is disposed on the shaft to urge the second disc toward the first disc and compressingly engage the interposed sapphire plate. A specimen mount is secured to the first disc for rotation within the vacuum chamber. The specimen maintains high thermal conductivity with the second disc receiving the cryogenic transfer line.

Control of tunneling in a double-well potential with chirped laser pulses

NASA Astrophysics Data System (ADS)

Vatasescu, Mihaela

2012-11-01

We investigate the use of chirped laser pulses to control the tunneling dynamics in the 0g-(6s,6p3/2) double well of Cs2 coupled with other electronic surfaces. The possibility to manipulate the tunneling dynamics appears in a pump-dump scheme designed to form deeply bound cold molecules by photoassociation of two cold cesium atoms in the 0g-(6s,6p3/2) electronic state coupled with a3Σu+ (6s,6s) electronic state. The dump pulse is acting on the 0g-(6s,6p3/2) barrier and can be used to control the tunneling and to capture population in the inner well in deep vibrational levels out of tunneling resonances.

Virtually numbed: immersive video gaming alters real-life experience.

PubMed

Weger, Ulrich W; Loughnan, Stephen

2014-04-01

As actors in a highly mechanized environment, we are citizens of a world populated not only by fellow humans, but also by virtual characters (avatars). Does immersive video gaming, during which the player takes on the mantle of an avatar, prompt people to adopt the coldness and rigidity associated with robotic behavior and desensitize them to real-life experience? In one study, we correlated participants' reported video-gaming behavior with their emotional rigidity (as indicated by the number of paperclips that they removed from ice-cold water). In a second experiment, we manipulated immersive and nonimmersive gaming behavior and then likewise measured the extent of the participants' emotional rigidity. Both studies yielded reliable impacts, and thus suggest that immersion into a robotic viewpoint desensitizes people to real-life experiences in oneself and others.

Curation of Frozen Samples

NASA Technical Reports Server (NTRS)

Fletcher, L. A.; Allen, C. C.; Bastien, R.

2008-01-01

NASA's Johnson Space Center (JSC) and the Astromaterials Curator are charged by NPD 7100.10D with the curation of all of NASA s extraterrestrial samples, including those from future missions. This responsibility includes the development of new sample handling and preparation techniques; therefore, the Astromaterials Curator must begin developing procedures to preserve, prepare and ship samples at sub-freezing temperatures in order to enable future sample return missions. Such missions might include the return of future frozen samples from permanently-shadowed lunar craters, the nuclei of comets, the surface of Mars, etc. We are demonstrating the ability to curate samples under cold conditions by designing, installing and testing a cold curation glovebox. This glovebox will allow us to store, document, manipulate and subdivide frozen samples while quantifying and minimizing contamination throughout the curation process.

Response of aboveground carbon balance to long-term, experimental enhancements in precipitation seasonality is contingent on plant community type in cold-desert rangelands

USGS Publications Warehouse

McAbee, Kathryn; Reinhardt, Keith; Germino, Matthew; Bosworth, Andrew

2017-01-01

Semi-arid rangelands are important carbon (C) pools at global scales. However, the degree of net C storage or release in water-limited systems is a function of precipitation amount and timing, as well as plant community composition. In northern latitudes of western North America, C storage in cold-desert ecosystems could increase with boosts in wintertime precipitation, in which climate models predict, due to increases in wintertime soil water storage that enhance summertime productivity. However, there are few long-term, manipulative field-based studies investigating how rangelands will respond to altered precipitation amount or timing. We measured aboveground C pools and fluxes at leaf, soil, and ecosystem scales over a single growing season in plots that had 200 mm of supplemental precipitation added in either winter or summer for the past 21 years, in shrub- and exotic-bunchgrass-dominated garden plots. At our cold-desert site (298 mm precipitation during the study year), we hypothesized that increased winter precipitation would stimulate the aboveground C uptake and storage relative to ambient conditions, especially in plots containing shrubs. Our hypotheses were generally supported: ecosystem C uptake and long-term biomass accumulation were greater in winter- and summer-irrigated plots compared to control plots in both vegetation communities. However, substantial increases in the aboveground biomass occurred only in winter-irrigated plots that contained shrubs. Our findings suggest that increases in winter precipitation will enhance C storage of this widespread ecosystem, and moreso in shrub- compared to grass-dominated communities.

Response of aboveground carbon balance to long-term, experimental enhancements in precipitation seasonality is contingent on plant community type in cold-desert rangelands.

PubMed

McAbee, Kathryn; Reinhardt, Keith; Germino, Matthew J; Bosworth, Andrew

2017-03-01

Semi-arid rangelands are important carbon (C) pools at global scales. However, the degree of net C storage or release in water-limited systems is a function of precipitation amount and timing, as well as plant community composition. In northern latitudes of western North America, C storage in cold-desert ecosystems could increase with boosts in wintertime precipitation, in which climate models predict, due to increases in wintertime soil water storage that enhance summertime productivity. However, there are few long-term, manipulative field-based studies investigating how rangelands will respond to altered precipitation amount or timing. We measured aboveground C pools and fluxes at leaf, soil, and ecosystem scales over a single growing season in plots that had 200 mm of supplemental precipitation added in either winter or summer for the past 21 years, in shrub- and exotic-bunchgrass-dominated garden plots. At our cold-desert site (298 mm precipitation during the study year), we hypothesized that increased winter precipitation would stimulate the aboveground C uptake and storage relative to ambient conditions, especially in plots containing shrubs. Our hypotheses were generally supported: ecosystem C uptake and long-term biomass accumulation were greater in winter- and summer-irrigated plots compared to control plots in both vegetation communities. However, substantial increases in the aboveground biomass occurred only in winter-irrigated plots that contained shrubs. Our findings suggest that increases in winter precipitation will enhance C storage of this widespread ecosystem, and moreso in shrub- compared to grass-dominated communities.

Strategies for outcrossing and genetic manipulation of Drosophila compound autosome stocks.

PubMed

Martins, T; Kotadia, S; Malmanche, N; Sunkel, C E; Sullivan, W

2013-01-01

Among all organisms, Drosophila melanogaster has the most extensive well-characterized collection of large-scale chromosome rearrangements. Compound chromosomes, rearrangements in which homologous chromosome arms share a centromere, have proven especially useful in genetic-based surveys of the entire genome. However, their potential has not been fully realized because compound autosome stocks are refractile to standard genetic manipulations: if outcrossed, they yield inviable aneuploid progeny. Here we describe two strategies, cold-shock and use of the bubR1 mutant alleles, to produce nullo gametes through nondisjunction. These gametes are complementary to the compound chromosome-bearing gametes and thus produce viable progeny. Using these techniques, we created a compound chromosome two C(2)EN stock bearing a red fluorescent protein-histone transgene, facilitating live analysis of these unusually long chromosomes.

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

NASA Technical Reports Server (NTRS)

Papadopoulos, E.; Dubowsky, S.

1989-01-01

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

Effects of Sex, Gender Role Identification, and Gender Relevance of Two Types of Stressors on Cardiovascular and Subjective Responses: Sex and Gender Match and Mismatch Effects

ERIC Educational Resources Information Center

van Well, Sonja; Kolk, Annemarie M.; Klugkist, Irene G.

2008-01-01

The authors tested the hypothesis that a match between the gender relevance of a stressor and one's sex or gender role identification would elicit higher cardiovascular responses. Healthy female and male undergraduates (n = 108) were exposed to two stressors: the Cold Pressor Test (CPT) and the n-back task. Stressor relevance was manipulated to be…

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.

The SLAC linac as used in the SLC collider

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

Seeman, J.T.; Abrams, G.; Adolphsen, C.

The linac of the SLAC Linear Collider (SLC) must accelerate three high intensity bunches on each linac pulse from 1.2 GeV to 50 GeV with minimal increase of the small transverse emittance. The procedures and adjustments used to obtain this goal are outlined. Some of the accelerator parameters and components which interact are the beam energy, transverse position, component alignment, RF manipulation, feedback systems, quadrupole lattice, BNS damping, energy spectra, phase space matching, collimation, instrumentation and modelling. The method to bring these interdependent parameters collectively into specification has evolved over several years. This review is ordered in the sequence whichmore » is used to turn on the linac from a cold start and produce acceptable beams for the final focus and collisions. Approximate time estimates for the various activities are given. 21 refs.« less

Large area silicon sheet by EFG. [furnace growth techniques

NASA Technical Reports Server (NTRS)

1981-01-01

The development of a technique for the production of silicon ribbon is discussed. Extensive characterization of the multiple ribbon Furnace 3A main zone temperature profile was performed and the information used to improve uniformity of heating. Irregularities in the main zone heater were associated with growth difficulties at specific cartridge locations, and growth conditions subsequently improved by profiling the main zone heater. Good growth conditions were established in all three cartridge positions. These improvements allowed multiple growth of three 10 cm wide ribbons to be demonstrated for periods of an hour on several occasions. A gas distribution system for the 10 cm cartridge was introduced and demonstrated to lead to improved ambient control during growth. Growth without and with CO2 showed that quality improvement in 10 cm ribbon grown with cold shoes results from ambient manipulation.

Overexpression of OsCYP19-4 increases tolerance to cold stress and enhances grain yield in rice (Oryza sativa).

PubMed

Yoon, Dae Hwa; Lee, Sang Sook; Park, Hyun Ji; Lyu, Jae Il; Chong, Won Seog; Liu, Jang Ryol; Kim, Beom-Gi; Ahn, Jun Cheul; Cho, Hye Sun

2016-01-01

AtCYP19-4 (also known as CYP5) was previously identified as interacting in vitro with GNOM, a member of a large family of ARF guanine nucleotide exchange factors that is required for proper polar localization of the auxin efflux carrier PIN1. The present study demonstrated that OsCYP19-4, a gene encoding a putative homologue of AtCYP19-4, was up-regulated by several stresses and showed over 10-fold up-regulation in response to cold. The study further demonstrated that the promoter of OsCYP19-4 was activated in response to cold stress. An OsCYP19-4-GFP fusion protein was targeted to the outside of the plasma membrane via the endoplasmic reticulum as determined using brefeldin A, a vesicle trafficking inhibitor. An in vitro assay with a synthetic substrate oligomer confirmed that OsCYP19-4 had peptidyl-prolyl cis-trans isomerase activity, as was previously reported for AtCYP19-4. Rice plants overexpressing OsCYP19-4 showed cold-resistance phenotypes with significantly increased tiller and spike numbers, and consequently enhanced grain weight, compared with wild-type plants. Based on these results, the authors suggest that OsCYP19-4 is required for developmental acclimation to environmental stresses, especially cold. Furthermore, the results point to the potential of manipulating OsCYP19-4 expression to enhance cold tolerance or to increase biomass. © The Author 2015. Published by Oxford University Press on behalf of the Society for Experimental Biology.

Potential for increased photosynthetic performance and crop productivity in response to climate change: role of CBFs and gibberellic acid

PubMed Central

Hüner, Norman P. A.; Dahal, Keshav; Kurepin, Leonid V.; Savitch, Leonid; Singh, Jas; Ivanov, Alexander G.; Kane, Khalil; Sarhan, Fathey

2014-01-01

We propose that targeting the enhanced photosynthetic performance associated with the cold acclimation of winter cultivars of rye (Secale cereale L.), wheat (Triticum aestivum L.), and Brassica napus L. may provide a novel approach to improve crop productivity under abiotic as well as biotic stress conditions. In support of this hypothesis, we provide the physiological, biochemical, and molecular evidence that the dwarf phenotype induced by cold acclimation is coupled to significant enhancement in photosynthetic performance, resistance to photoinhibition, and a decreased dependence on photoprotection through non-photochemical quenching which result in enhanced biomass production and ultimately increased seed yield. These system-wide changes at the levels of phenotype, physiology, and biochemistry appear to be governed by the family of C-repeat/dehydration-responsive family of transcription factors (CBF/DREB1). We relate this phenomenon to the semi-dwarf, gibberellic acid insensitive (GAI), cereal varieties developed during the “green revolution” of the early 1960s and 1970s. We suggest that genetic manipulation of the family of C-repeat/dehydration-responsive element binding transcription factors (CBF/DREB1) may provide a novel approach for the maintenance and perhaps even the enhancement of plant productivity under conditions of sub-optimal growth conditions predicted for our future climate. PMID:24860799

Immediate and lasting effects of a thoracic spine manipulation in a patient with signs of cervical radiculopathy and upper extremity hyperalgesia: A case report.

PubMed

Deschenes, Beth K; Zafereo, Jason

2017-01-01

Patients with cervical radiculopathy (CR) may present with accompanying symptoms of hyperalgesia, allodynia, heaviness in the arm, and non-segmental pain that do not appear to be related to a peripheral spinal nerve. These findings may suggest the presence of central or autonomic nervous system involvement, requiring a modified management approach. The purpose of this case report is to describe the treatment of a patient with signs of CR and upper extremity (UE) hyperalgesia who had a significant decrease in her UE pain and hypersensitivity after a single thoracic spine manipulation (TSM). A 48-year-old female presented to physical therapy with acute neck pain radiating into her left UE that significantly limited her ability to sleep and work. After a single TSM, the patient demonstrated immediate and lasting reduction in hyperalgesia, hypersensitivity to touch, elimination of perceived heaviness and coldness in her left UE, and improved strength in the C6-8 myotome, allowing for improved functional activity capacity and tolerance to a multi-modal PT program. Based on these results, clinicians should consider the early application of TSM in patients with CR who have atypical, widespread, or severe neurological symptoms that limit early mobilization and tolerance to treatment at the painful region.

Transcriptome Sequencing of Dianthus spiculifolius and Analysis of the Genes Involved in Responses to Combined Cold and Drought Stress.

PubMed

Zhou, Aimin; Ma, Hongping; Liu, Enhui; Jiang, Tongtong; Feng, Shuang; Gong, Shufang; Wang, Jingang

2017-04-17

Dianthus spiculifolius , a perennial herbaceous flower and a member of the Caryophyllaceae family, has strong resistance to cold and drought stresses. To explore the transcriptional responses of D. spiculifolius to individual and combined stresses, we performed transcriptome sequencing of seedlings under normal conditions or subjected to cold treatment (CT), simulated drought treatment (DT), or their combination (CTDT). After de novo assembly of the obtained reads, 112,015 unigenes were generated. Analysis of differentially expressed genes (DEGs) showed that 2026, 940, and 2346 genes were up-regulated and 1468, 707, and 1759 were down-regulated in CT, DT, and CTDT samples, respectively. Among all the DEGs, 182 up-regulated and 116 down-regulated genes were identified in all the treatment groups. Analysis of metabolic pathways and regulatory networks associated with the DEGs revealed overlaps and cross-talk between cold and drought stress response pathways. The expression profiles of the selected DEGs in CT, DT, and CTDT samples were characterized and confirmed by quantitative RT-PCR. These DEGs and metabolic pathways may play important roles in the response of D. spiculifolius to the combined stress. Functional characterization of these genes and pathways will provide new targets for enhancement of plant stress tolerance through genetic manipulation.

Transcriptome Sequencing of Dianthus spiculifolius and Analysis of the Genes Involved in Responses to Combined Cold and Drought Stress

PubMed Central

Zhou, Aimin; Ma, Hongping; Liu, Enhui; Jiang, Tongtong; Feng, Shuang; Gong, Shufang; Wang, Jingang

2017-01-01

Dianthus spiculifolius, a perennial herbaceous flower and a member of the Caryophyllaceae family, has strong resistance to cold and drought stresses. To explore the transcriptional responses of D. spiculifolius to individual and combined stresses, we performed transcriptome sequencing of seedlings under normal conditions or subjected to cold treatment (CT), simulated drought treatment (DT), or their combination (CTDT). After de novo assembly of the obtained reads, 112,015 unigenes were generated. Analysis of differentially expressed genes (DEGs) showed that 2026, 940, and 2346 genes were up-regulated and 1468, 707, and 1759 were down-regulated in CT, DT, and CTDT samples, respectively. Among all the DEGs, 182 up-regulated and 116 down-regulated genes were identified in all the treatment groups. Analysis of metabolic pathways and regulatory networks associated with the DEGs revealed overlaps and cross-talk between cold and drought stress response pathways. The expression profiles of the selected DEGs in CT, DT, and CTDT samples were characterized and confirmed by quantitative RT-PCR. These DEGs and metabolic pathways may play important roles in the response of D. spiculifolius to the combined stress. Functional characterization of these genes and pathways will provide new targets for enhancement of plant stress tolerance through genetic manipulation. PMID:28420173

Coherent control of the formation of cold heteronuclear molecules by photoassociation

NASA Astrophysics Data System (ADS)

de Lima, Emanuel F.

2017-01-01

We consider the formation of cold diatomic molecules in the electronic ground state by photoassociation of atoms of dissimilar species. A combination of two transition pathways from the free colliding pair of atoms to a bound vibrational level of the electronic molecular ground state is envisioned. The first pathway consists of a pump-dump scheme with two time-delayed laser pulses in the near-infrared frequency domain. The pump pulse drives the transition to a bound vibrational level of an excited electronic state, while the dump pulse transfers the population to a bound vibrational level of the electronic ground state. The second pathway takes advantage of the existing permanent dipole moment and employs a single pulse in the far-infrared domain to drive the transition from the unbound atoms directly to a bound vibrational level in the electronic ground state. We show that this scheme offers the possibility to coherently control the photoassociation yield by manipulating the relative phase and timing of the pulses. The photoassociation mechanism is illustrated for the formation of cold LiCs molecules.

Temperature stress and plant sexual reproduction: uncovering the weakest links.

PubMed

Zinn, Kelly E; Tunc-Ozdemir, Meral; Harper, Jeffrey F

2010-04-01

The reproductive (gametophytic) phase in flowering plants is often highly sensitive to hot or cold temperature stresses, with even a single hot day or cold night sometimes being fatal to reproductive success. This review describes studies of temperature stress on several crop plants, which suggest that pollen development and fertilization may often be the most sensitive reproductive stage. Transcriptome and proteomic studies on several plant species are beginning to identify stress response pathways that function during pollen development. An example is provided here of genotypic differences in the reproductive stress tolerance between two ecotypes of Arabidopsis thaliana Columbia (Col) and Hilversum (Hi-0), when reproducing under conditions of hot days and cold nights. Hi-0 exhibited a more severe reduction in seed set, correlated with a reduction in pollen tube growth potential and tropism defects. Hi-0 thus provides an Arabidopsis model to investigate strategies for improved stress tolerance in pollen. Understanding how different plants cope with stress during reproductive development offers the potential to identify genetic traits that could be manipulated to improve temperature tolerance in selected crop species being cultivated in marginal climates.

Cold atmospheric pressure plasma jets: Interaction with plasmid DNA and tailored electron heating using dual-frequency excitation

NASA Astrophysics Data System (ADS)

Niemi, K.; O'Neill, C.; Cox, L. J.; Waskoenig, J.; Hyland, W. B.; McMahon, S. J.; Reuter, S.; Currell, F. J.; Graham, W. G.; O'Connell, D.; Gans, T.

2012-05-01

Recent progress in plasma science and technology has enabled the development of a new generation of stable cold non-equilibrium plasmas operating at ambient atmospheric pressure. This opens horizons for new plasma technologies, in particular in the emerging field of plasma medicine. These non-equilibrium plasmas are very efficient sources for energy transport through reactive neutral particles (radicals and metastables), charged particles (ions and electrons), UV radiation, and electro-magnetic fields. The effect of a cold radio frequency-driven atmospheric pressure plasma jet on plasmid DNA has been investigated. The formation of double strand breaks correlates well with the atomic oxygen density. Taken with other measurements, this indicates that neutral components in the jet are effective in inducing double strand breaks. Plasma manipulation techniques for controlled energy delivery are highly desirable. Numerical simulations are employed for detailed investigations of the electron dynamics, which determines the generation of reactive species. New concepts based on nonlinear power dissipation promise superior strategies to control energy transport for tailored technological exploitations.

Reverse-transformation austenite structure control with micro/nanometer size

NASA Astrophysics Data System (ADS)

Wu, Hui-bin; Niu, Gang; Wu, Feng-juan; Tang, Di

2017-05-01

To control the reverse-transformation austenite structure through manipulation of the micro/nanometer grain structure, the influences of cold deformation and annealing parameters on the microstructure evolution and mechanical properties of 316L austenitic stainless steel were investigated. The samples were first cold-rolled, and then samples deformed to different extents were annealed at different temperatures. The microstructure evolutions were analyzed by optical microscopy, scanning electron microscopy (SEM), magnetic measurements, and X-ray diffraction (XRD); the mechanical properties are also determined by tensile tests. The results showed that the fraction of stain-induced martensite was approximately 72% in the 90% cold-rolled steel. The micro/nanometric microstructure was obtained after reversion annealing at 820-870°C for 60 s. Nearly 100% reversed austenite was obtained in samples annealed at 850°C, where grains with a diameter ≤ 500 nm accounted for 30% and those with a diameter > 0.5 μm accounted for 70%. The micro/nanometer-grain steel exhibited not only a high strength level (approximately 959 MPa) but also a desirable elongation of approximately 45%.

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

Chiropractic management of Bell palsy with low level laser and manipulation: a case report.

PubMed

Rubis, Lisa M

2013-12-01

The purpose of this case report is to describe chiropractic management including the use of cold laser and chiropractic manipulation in the treatment of a patient with Bell palsy. A 40-year-old male patient had a 10-day history of facial paralysis on his left side, including the inability to close his left eye, which also had tearing and a burning sensation. The patient had trouble lifting his left lip and complained of drooling while brushing his teeth. There was no previous history of similar symptoms or a recent infection. Prior treatment had included oral steroids. The patient was treated with low-level laser therapy and chiropractic manipulation 2 times in 4 days. The laser was applied along the course of the facial nerve for 30 seconds at each point and for 1 minute at the stylomastoid foramen. The laser used was a GaAs class 4 laser with a wavelength of 910 nm. The patient perceived a 70% to 80% improvement of facial movement after the first treatment. After the second treatment, the patient reported full control of his facial movements. A patient with acute facial paralysis appeared to have complete resolution of his symptoms following the application of low-level laser therapy and chiropractic manipulation.

Chiropractic management of Bell palsy with low level laser and manipulation: a case report

PubMed Central

Rubis, Lisa M.

2013-01-01

Objective The purpose of this case report is to describe chiropractic management including the use of cold laser and chiropractic manipulation in the treatment of a patient with Bell palsy. Clinical features A 40-year-old male patient had a 10-day history of facial paralysis on his left side, including the inability to close his left eye, which also had tearing and a burning sensation. The patient had trouble lifting his left lip and complained of drooling while brushing his teeth. There was no previous history of similar symptoms or a recent infection. Prior treatment had included oral steroids. Intervention and outcome The patient was treated with low-level laser therapy and chiropractic manipulation 2 times in 4 days. The laser was applied along the course of the facial nerve for 30 seconds at each point and for 1 minute at the stylomastoid foramen. The laser used was a GaAs class 4 laser with a wavelength of 910 nm. The patient perceived a 70% to 80% improvement of facial movement after the first treatment. After the second treatment, the patient reported full control of his facial movements. Conclusion A patient with acute facial paralysis appeared to have complete resolution of his symptoms following the application of low-level laser therapy and chiropractic manipulation. PMID:24396332

PARP inhibition attenuates histopathological lesion in ischemia/reperfusion renal mouse model after cold prolonged ischemia.

PubMed

del Moral, Raimundo M G; Gómez-Morales, Mercedes; Hernández-Cortés, Pedro; Aguilar, David; Caballero, Trinidad; Aneiros-Fernández, Jose; Caba-Molina, Mercedes; Rodríguez-Martínez, M Dolores; Peralta, Andreina; Galindo-Moreno, Pablo; Osuna, Antonio; Oliver, F Javier; del Moral, Raimundo G; O'Valle, Francisco

2013-01-01

We test the hypothesis that PARP inhibition can decrease acute tubular necrosis (ATN) and other renal lesions related to prolonged cold ischemia/reperfusion (IR) in kidneys preserved at 4°C in University of Wisconsin (UW) solution. Material and Methods. We used 30 male Parp1(+/+) wild-type and 15 male Parp1(0/0) knockout C57BL/6 mice. Fifteen of these wild-type mice were pretreated with 3,4-dihydro-5-[4-(1-piperidinyl)butoxyl]-1(2H)-isoquinolinone (DPQ) at a concentration of 15 mg/kg body weight, used as PARP inhibitor. Subgroups of mice were established (A: IR 45 min/6 h; B: IR + 48 h in UW solution; and C: IR + 48 h in UW solution plus DPQ). We processed samples for morphological, immunohistochemical, ultrastructural, and western-blotting studies. Results. Prolonged cold ischemia time in UW solution increased PARP-1 expression and kidney injury. Preconditioning with PARP inhibitor DPQ plus DPQ supplementation in UW solution decreased PARP-1 nuclear expression in renal tubules and renal damage. Parp1(0/0) knockout mice were more resistant to IR-induced renal lesion. In conclusion, PARP inhibition attenuates ATN and other IR-related renal lesions in mouse kidneys under prolonged cold storage in UW solution. If confirmed, these data suggest that pharmacological manipulation of PARP activity may have salutary effects in cold-stored organs at transplantation.

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

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Plasmonic trapping potentials for cold atoms

NASA Astrophysics Data System (ADS)

Mildner, Matthias; Horrer, Andreas; Fleischer, Monika; Zimmermann, Claus; Slama, Sebastian

2018-07-01

This paper reports on conceptual and experimental work towards the realization of plasmonic surface traps for cold atoms. The trapping mechanism is based on the combination of a repulsive and an attractive potential generated by evanescent light waves that are plasmonically enhanced. The strength of enhancement can be locally manipulated via the thickness of a metal nanolayer deposited on top of a dielectric substrate. Thus, in principle the trapping geometry can be predefined by the metal layer design. We present simulations of a plasmonic lattice potential using a gold grating with sinusoidally modulated thickness. Experimentally, a first plasmonic test structure is presented and characterized. Furthermore, the surface potential landscape is detected by reflecting ultracold atom clouds from the test structure revealing the influence of both evanescent waves. A parameter range is identified where stable traps can be expected.

Behavioral responses to two intranasal vaccine applicators in horses and ponies.

PubMed

Grogan, Elkanah H; McDonnell, Sue M

2005-05-15

To evaluate behavioral compliance of horses and ponies with simulated intranasal vaccination and assess development of generalized aversion to veterinary manipulations. Clinical trial. 28 light horse mares, 3 pony geldings, 2 light horse stallions, and 3 pony stallions that had a history of compliance with veterinary procedures. Behavioral compliance with 2 intranasal vaccine applicators was assessed. Compliance with standard physical examination procedures was assessed before and after a single experience with either of the applicators or a control manipulation to evaluate development of generalized aversion to veterinary manipulation. In all 30 horses, simulated intranasal vaccination or the control manipulation could be performed without problematic avoidance behavior, and simulated intranasal vaccination did not have any significant effect on duration of or compliance with a standardized physical examination that included manipulation of the ears, nose, and mouth. Results were similar for the 2 intranasal vaccine applicators, and no difference in compliance was seen between horses in which warm versus cold applicators were used. For 3 of the 6 ponies, substantial avoidance behavior was observed in association with simulated intranasal vaccination, and compliance with physical examination procedures decreased after simulated intranasal vaccination. Although some compliance problems were seen with ponies, neither problems with compliance with simulated intranasal vaccination nor adverse effects on subsequent physical examination were identified in any of the horses. Further study is needed to understand factors involved in practitioner reports of aversion developing in association with intranasal vaccination.

Researching of the possibility of using absorption heat exchangers for creating the low return temperature heat supply systems based on CHP generation

NASA Astrophysics Data System (ADS)

Yavorovsky, Y. V.; Malenkov, A. S.; Zhigulina, Y. V.; Romanov, D. O.; Kurzanov, S. Y.

2017-11-01

This paper deals with the variant of modernization of the heat point within urban heat supply network in order to create the system of heat and cold supply on its basis, providing the suppliers with heat in cold months and with heat and cold in warm months. However, in cold months in the course of heating system operation, the reverse delivery water temperature is maintained below 40 °C. The analysis of heat and power indicators of the heat and cold supply system under different operating conditions throughout the year was conducted. The possibility to use the existing heat networks for the cold supply needs was estimated. The advantages of the system over the traditional heat supply systems that use Combined Heat and Power (CHP) plant as a heat source as exemplified by heat supply system from CHP with ST-80 turbine were demonstrated.

The role of cold pools in tropical convective systems

NASA Astrophysics Data System (ADS)

Grant, Leah; Lane, Todd; van den Heever, Susan

2017-04-01

Convective systems in the tropics have received less attention than their midlatitude counterparts, despite their important influences on the global circulation and the state of the tropical atmosphere. It is widely accepted that cold pools play key roles in the intensity, maintenance, and propagation of midlatitude organized convective systems. In the tropics, however, cold pools are weaker because the boundary layer is more humid, and the cold pools may interact with the convective systems differently than in the classic midlatitude system archetype, as suggested by recent studies. The goal of this research is to investigate the physical mechanisms by which cold pools impact tropical convective system intensity and propagation. To address this goal, a simulation of radiative-convective equilibrium (RCE) on a large (3000 km by 200 km) channel domain with an ocean SST of 300 K was conducted at 1 km horizontal resolution, as an idealized representation of the tropical atmosphere. Two different long-lived, organized convective systems - one more intense than the other - were selected from the base RCE simulation and simulated at higher (250 m horizontal) resolution. Next, the cold pools were effectively eliminated by shutting off the sub-cloud evaporation, in order to elucidate their roles in the convective systems' behavior. Surprisingly, the cold pools did not impact the propagation of either convective system. However, they did impact the intensities - cold pools acted to weaken one system but intensify the other system. Through composite analysis and additional simulations including tracers within the cold pools, the physical mechanisms explaining these results have been analyzed and will be presented.

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

Treesearch

Harold M. Rauscher

1983-01-01

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

Visualizing Motion Patterns in Acupuncture Manipulation.

PubMed

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

2016-07-16

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

Enabling functional genomics with genome engineering.

PubMed

Hilton, Isaac B; Gersbach, Charles A

2015-10-01

Advances in genome engineering technologies have made the precise control over genome sequence and regulation possible across a variety of disciplines. These tools can expand our understanding of fundamental biological processes and create new opportunities for therapeutic designs. The rapid evolution of these methods has also catalyzed a new era of genomics that includes multiple approaches to functionally characterize and manipulate the regulation of genomic information. Here, we review the recent advances of the most widely adopted genome engineering platforms and their application to functional genomics. This includes engineered zinc finger proteins, TALEs/TALENs, and the CRISPR/Cas9 system as nucleases for genome editing, transcription factors for epigenome editing, and other emerging applications. We also present current and potential future applications of these tools, as well as their current limitations and areas for future advances. © 2015 Hilton and Gersbach; Published by Cold Spring Harbor Laboratory Press.

Vision-guided micromanipulation system for biomedical application

NASA Astrophysics Data System (ADS)

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

2004-10-01

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

Earth orbital teleoperator manipulator system evaluation program

NASA Technical Reports Server (NTRS)

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

1977-01-01

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

Manfred Girbardt and Charles Bracker: outstanding pioneers in fungal microscopy.

PubMed

Bartnicki-Garcia, Salomon

2015-01-01

Midway through the twentieth century, the availability of new and improved optical and electronic microscopes facilitated rapid advances in the elucidation of the fine structure of fungal cells. In this Essay, I pay tribute to Manfred Girbardt (1919-1991) and Charles Bracker (1938-2012)—two individuals who, despite being separated by geography and the restrictions of the Cold War, both made equally fundamental discoveries in fungal cell ultrastructure and set high standards for specimen manipulation and image processing.

Spatially indirect excitons in coupled quantum wells

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

Lai, Chih-Wei Eddy

2004-03-01

Microscopic quantum phenomena such as interference or phase coherence between different quantum states are rarely manifest in macroscopic systems due to a lack of significant correlation between different states. An exciton system is one candidate for observation of possible quantum collective effects. In the dilute limit, excitons in semiconductors behave as bosons and are expected to undergo Bose-Einstein condensation (BEC) at a temperature several orders of magnitude higher than for atomic BEC because of their light mass. Furthermore, well-developed modern semiconductor technologies offer flexible manipulations of an exciton system. Realization of BEC in solid-state systems can thus provide new opportunitiesmore » for macroscopic quantum coherence research. In semiconductor coupled quantum wells (CQW) under across-well static electric field, excitons exist as separately confined electron-hole pairs. These spatially indirect excitons exhibit a radiative recombination time much longer than their thermal relaxation time a unique feature in direct band gap semiconductor based structures. Their mutual repulsive dipole interaction further stabilizes the exciton system at low temperature and screens in-plane disorder more effectively. All these features make indirect excitons in CQW a promising system to search for quantum collective effects. Properties of indirect excitons in CQW have been analyzed and investigated extensively. The experimental results based on time-integrated or time-resolved spatially-resolved photoluminescence (PL) spectroscopy and imaging are reported in two categories. (i) Generic indirect exciton systems: general properties of indirect excitons such as the dependence of exciton energy and lifetime on electric fields and densities were examined. (ii) Quasi-two-dimensional confined exciton systems: highly statistically degenerate exciton systems containing more than tens of thousands of excitons within areas as small as (10 micrometer) 2 were observed. The spatial and energy distributions of optically active excitons were used as thermodynamic quantities to construct a phase diagram of the exciton system, demonstrating the existence of distinct phases. Optical and electrical properties of the CQW sample were examined thoroughly to provide deeper understanding of the formation mechanisms of these cold exciton systems. These insights offer new strategies for producing cold exciton systems, which may lead to opportunities for the realization of BEC in solid-state systems.« less

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

NASA Technical Reports Server (NTRS)

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

1973-01-01

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

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

NASA Astrophysics Data System (ADS)

Dube, Chioniso; Pedro, Jimoh O.

2018-05-01

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

Field Emission Cold Cathode Devices Based on Eutectic Systems

DTIC Science & Technology

1981-07-01

8217RADC-TR-811-170 ’,Final Technical Report July 1981 FIELD EMISSION COLD CATHODE DEVICES BASED ON EUTECTIC SYSTEMS Fulmer Research Institute Ltd...and identify by block numrber) Field Emission Eutectic Systems Cold Cathode Rod Eutectics Electron Emitter Array Directionally Solidified Eutectics...Identify by block number) A survey has been made of the performance as field emission cold cathodes of selected refractory materials fabricated as

Cold Plasma Welding System for Surgical Skin Closure: In Vivo Porcine Feasibility Assessment.

PubMed

Harats, Moti; Lam, Amnon; Maller, Michael; Kornhaber, Rachel; Haik, Josef

2016-09-29

Cold plasma skin welding is a novel technology that bonds skin edges through soldering without the use of synthetic materials or conventional wound approximation methods such as sutures, staples, or skin adhesives. The cold plasma welding system uses a biological solder applied to the edges of a skin incision, followed by the application of cold plasma energy. The objectives of this study were to assess the feasibility of a cold plasma welding system in approximating and fixating skin incisions compared with conventional methods and to evaluate and define optimal plasma welding parameters and histopathological tissue response in a porcine model. The cold plasma welding system (BioWeld1 System, IonMed Ltd, Yokneam, Israel) was used on porcine skin incisions using variable energy parameters. Wound healing was compared macroscopically and histologically to incisions approximated with sutures. When compared to sutured skin closure, cold plasma welding in specific system parameters demonstrated comparable and favorable wound healing results histopathologically as well as macroscopically. No evidence of epidermal damage, thermal or otherwise, was encountered in the specified parameters. Notably, bleeding, infection, and wound dehiscence were not detected at incision sites. Skin incisions welded at extreme energy parameters presented second-degree burns. Implementation of cold plasma welding has been shown to be feasible for skin closure. Initial in vivo results suggest cold plasma welding might provide equal, if not better, healing results than traditional methods of closure.

Virtual-Reality Distraction and Cold-Pressor Pain Tolerance: Does Avatar Point of View Matter?

PubMed Central

Herbert, Linda J.; Weiss, Karen E.; Jimeno, Monica

2010-01-01

Abstract This study tested the effects of distraction using virtual-reality (VR) technology on acute pain tolerance in young adults. Forty-one undergraduate students, aged 18–23 years, used a VR head-mounted display helmet, steering wheel, and foot pedal to play an auto racing video game while undergoing exposure to very cold water (cold pressor set at 1°C). Two different game views were tested that were hypothesized to affect the degree to which participants felt “present” in the virtual environment: a first-person view, in which the participant saw the virtual environment through the eyes of the game character being manipulated; and a third-person view, in which the participant viewed the game character from a distance. The length of time participants tolerated the cold-water exposure (pain tolerance) under each distraction condition was compared to a baseline (no distraction) trial. Subjects also rated the degree to which they felt “present” in the virtual environment after each distraction trial. Results demonstrated that participants had significantly higher pain tolerance during both VR-distraction conditions relative to baseline (no distraction) trials. Although participants reported a greater sense of presence during the first-person condition than the third-person condition, pain-tolerance scores associated with the two distraction conditions did not differ. The types of VR applications in which presence may be more or less important are discussed. PMID:20950186

Virtual-reality distraction and cold-pressor pain tolerance: does avatar point of view matter?

PubMed

Dahlquist, Lynnda M; Herbert, Linda J; Weiss, Karen E; Jimeno, Monica

2010-10-01

This study tested the effects of distraction using virtual-reality (VR) technology on acute pain tolerance in young adults. Forty-one undergraduate students, aged 18-23 years, used a VR head-mounted display helmet, steering wheel, and foot pedal to play an auto racing video game while undergoing exposure to very cold water (cold pressor set at 1 °C). Two different game views were tested that were hypothesized to affect the degree to which participants felt "present" in the virtual environment: a first-person view, in which the participant saw the virtual environment through the eyes of the game character being manipulated; and a third-person view, in which the participant viewed the game character from a distance. The length of time participants tolerated the cold-water exposure (pain tolerance) under each distraction condition was compared to a baseline (no distraction) trial. Subjects also rated the degree to which they felt "present" in the virtual environment after each distraction trial. Results demonstrated that participants had significantly higher pain tolerance during both VR-distraction conditions relative to baseline (no distraction) trials. Although participants reported a greater sense of presence during the first-person condition than the third-person condition, pain-tolerance scores associated with the two distraction conditions did not differ. The types of VR applications in which presence may be more or less important are discussed.

Primary acquired cold urticaria.

PubMed

Lee, Chyh-Woei; Sheffer, Albert L

2003-01-01

Primary acquired cold urticaria (ACU) is the most common type of cold urticaria characterized by rapid onset of pruritic hives, swelling, and possible severe systemic reactions including hypotension and shock after cold exposure. Primary ACU is diagnosed by history of such symptoms, a positive immediate cold-contact stimulation test, and negative laboratory evaluation for underlying systemic disorders. Clinicians should be aware that patients with ACU may be susceptible to life-threatening systemic reactions especially during aquatic activities and that proper patient education is extremely important. This article reviews the clinical presentation, pathogenesis, diagnosis, and management of primary ACU.

A primer on clothing systems for cold-weather field work

USGS Publications Warehouse

Denner, J.C.

1993-01-01

Hypothermia in cold environments can be prevented by physiological adaptation and by the proper use of cold weather clothing. The human body adjusts to cold temperature by increasing the rates of basal metabolism, specific dynamic action, and physical exercise. Heat loss is reduced by vasoconstriction. Clothing systems for cold weather reduce loss by providing insulation and protection from the elements. Satisfactory cold- weather clothing is constructed of wool fabrics or the synthetic fibers polypropylene and polyester. Outerwear suitable for cold climates is insulated with down, high-loft polyester fiberfills, or the new synthetic thin insulators. (USGS)

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

NASA Technical Reports Server (NTRS)

Brauser, K.

1981-01-01

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

Ultracold molecule assembly with photonic crystals

NASA Astrophysics Data System (ADS)

Pérez-Ríos, Jesús; Kim, May E.; Hung, Chen-Lung

2017-12-01

Photoassociation (PA) is a powerful technique to synthesize molecules directly and continuously from cold and ultracold atoms into deeply bound molecular states. In freespace, however, PA efficiency is constrained by the number of spontaneous decay channels linking the initial excited molecular state to a sea of final (meta)stable rovibronic levels. Here, we propose a novel scheme based on molecules strongly coupled to a guided photonic mode in a photonic crystal waveguide that turns PA into a powerful tool for near deterministic formation of ultracold molecules in their ground rovibrational level. Our example shows a potential ground state molecule production efficiency > 90 % , and a saturation rate > {10}6 molecules per second. By combining state-of-the-art cold atomic and molecular physics with nanophotonic engineering, our scheme presents a novel experimental package for trapping, cooling, and optically manipulating ultracold molecules, thus opening up new possibilities in the direction of ultracold chemistry and quantum information.

Comparative study on decontamination treatment of paper-based materials in corona discharge and HF cold plasma

NASA Astrophysics Data System (ADS)

Ioanid, E. G.; Dunca, S.; Rusu, D.; Tǎnase, C.

2012-04-01

Documents decontamination using dry methods, less invasive than the wet ones implying toxic nocuous substances for cellulose-based materials, has been the object of numerous studies. In recent years mixed researchers teams have been studying the possibility of one-step document decontamination performed by a dry treatment, the risks of repeated wet manipulation thus being reduced. Among physical methods appropriate to this end, high-frequency cold plasma and corona effect can be mentioned. Our studies were carried out on samples taken from ancient books with no cultural heritage value. The decontamination efficiency and the impact on paper of the two types of treatments were determined by: microbiological analysis, scanning electron microscopy, FTIR, chromatic alterations and gloss determination. The above-mentioned procedures eliminate the use of chemical conservation substances, nocuous for the paper support. At the same time the health risk for conservators, restorers, archivists or archive's users is removed.

Taking one for the team: Physiological trajectories of painful intergroup retaliation.

PubMed

Niedbala, Elizabeth M; Hohman, Zachary P; Harris, Breanna N; Abide, Alexandra C

2018-06-13

Retaliating against a threatening outgroup offers group members specific rewards, such as restored group esteem, a reduction in anger, and a sense of gratification. Because retaliation is rewarding, group members may appraise an attack on the outgroup to be beneficial, even if it feels physically painful. We hypothesized that group members would be more willing to endure pain to retaliate against a threatening outgroup, and that appraising the painful retaliation as rewarding would down-regulate their physiological stress response to pain. Participants were manipulated to feel threatened by a rival group and then completed the cold-pressor. During the cold-pressor, participants either retaliated against the outgroup or not. Results showed that retaliation inhibited physiological responses to pain, alleviated intergroup anger, and felt less aversive. We propose that these responses are caused by a cognitive reappraisal of pain, where painful retaliation is expected to be rewarding instead of threatening. Copyright © 2017. Published by Elsevier Inc.

Changes in mixed-function oxidase system in the perfused liver of the cold-acclimated rat

NASA Astrophysics Data System (ADS)

Takano, T.; Miyazaki, Y.; Motohashi, Y.; Yamada, K.

1986-09-01

Changes in the hepatic cytochrome P-450-dependent drug-metabolizing system were studied in perfused livers obtained from cold-acclimated male Wistar rats after 30 days of cold exposure (4‡C) when using hexobarbital as a substrate. In fasted animals the cold-acclimated rats showed higher levels of hexobarbital metabolic rates compared to control rats, but there was no significant difference in fed animals. The maximum rates of hexobarbital metabolism produced by xylitol perfusion were also significantly higher in the perfused liver of cold-acclimated rats. It was concluded that the function of the cytochrome P-450 system for hexobarbital in cold-acclimated rats changed due to both an increase in the activity of the cytochrome P-450 system and to changes in regulation of the cytochrome P-450 system by the supply of reducing equivalents.

NASA Tech Briefs, July 2004

NASA Technical Reports Server (NTRS)

2004-01-01

Topics: Optoelectronic Sensor System for Guidance in Docking; Hybrid Piezoelectric/Fiber-Optic Sensor Sheets; Multisensor Arrays for Greater Reliability and Accuracy; Integrated-Optic Oxygen Sensors; Ka-Band Autonomous Formation Flying Sensor; CMOS VLSI Active-Pixel Sensor for Tracking; Lightweight, Self-Deploying Foam Antenna Structures; Electrically Small Microstrip Quarter-Wave Monopole Antennas; A 2-to-28-MHz Phase-Locked Loop; Portable Electromyograph; Open-Source Software for Modeling of Nanoelectronic Devices; Software for Generating Strip Maps from SAR Data; Calibration Software for use with Jurassicprok; Software for Probabilistic Risk Reduction; Software Processes SAR Motion-Measurement Data; Improved Method of Purifying Carbon Nanotubes; Patterned Growth of Carbon Nanotubes or Nanofibers; Lightweight, Rack-Mountable Composite Cold Plate/Shelves; SiC-Based Miniature High-Temperature Cantilever Anemometer; Inlet Housing for a Partial-Admission Turbine; Lightweight Thermoformed Structural Components and Optics; Growing High-Quality InAs Quantum Dots for Infrared Lasers; Selected Papers on Protoplanetary Disks; Module for Oxygenating Water without Generating Bubbles; Coastal Research Imaging Spectrometer; Rapid Switching and Modulation by use of Coupled VCSELs; Laser-Induced-Fluorescence Photogrammetry and Videogrammetry; Laboratory Apparatus Generates Dual-Species Cold Atomic Beam; Laser Ablation of Materials for Propulsion of Spacecraft; Small Active Radiation Monitor; Hybrid Image-Plane/Stereo Manipulation; Partitioning a Gridded Rectangle into Smaller Rectangles; Digital Radar-Signal Processors Implemented in FPGAs; Part 1 of a Computational Study of a Drop-Laden Mixing Layer; and Some Improvements in Signal-Conditioning Circuits.

Thermographic Evaluation of the Hands of Pig Slaughterhouse Workers Exposed to Cold Temperatures.

PubMed

Tirloni, Adriana Seára; Reis, Diogo Cunha Dos; Ramos, Eliane; Moro, Antônio Renato Pereira

2017-07-26

Brazil was rated the fourth leading producer and exporter of pork meat in the world. The aim of this study was to evaluate the temperature of the hands of pig slaughterhouse workers and its relation to the thermal sensation of the hands and the use of a cutting tool. The study included 106 workers in a pig slaughterhouse. An infrared camera FlirThermaCAM E320 (Flir Systems, Wilsonville, OR, USA) was used to collect the images of the dorsal and palmar surfaces of both hands. A numerical scale was used to obtain the thermal sensation. Chi-square test, Pearson correlation and Student's t test or Wilcoxon were used ( p ≤ 0.05). The majority of workers felt cold in the hands (66%) and workers who used the knife felt the coldest. There was an association between the thermal sensation and the use of knife ( p = 0.001). Workers who used the tool showed correlation between the thermal sensation and the temperatures of the left fingers, with a difference between the temperatures of the right and left hands of those who used the knife ( p ≤ 0.05). The hands (left) that manipulated the products presented the lowest temperatures. Findings indicate that employers of pig slaughterhouses should provide gloves with adequate thermal insulation to preserve the health of workers' hands.

Thermographic Evaluation of the Hands of Pig Slaughterhouse Workers Exposed to Cold Temperatures

PubMed Central

Ramos, Eliane

2017-01-01

Brazil was rated the fourth leading producer and exporter of pork meat in the world. The aim of this study was to evaluate the temperature of the hands of pig slaughterhouse workers and its relation to the thermal sensation of the hands and the use of a cutting tool. The study included 106 workers in a pig slaughterhouse. An infrared camera FlirThermaCAM E320 (Flir Systems, Wilsonville, OR, USA) was used to collect the images of the dorsal and palmar surfaces of both hands. A numerical scale was used to obtain the thermal sensation. Chi-square test, Pearson correlation and Student’s t test or Wilcoxon were used (p ≤ 0.05). The majority of workers felt cold in the hands (66%) and workers who used the knife felt the coldest. There was an association between the thermal sensation and the use of knife (p = 0.001). Workers who used the tool showed correlation between the thermal sensation and the temperatures of the left fingers, with a difference between the temperatures of the right and left hands of those who used the knife (p ≤ 0.05). The hands (left) that manipulated the products presented the lowest temperatures. Findings indicate that employers of pig slaughterhouses should provide gloves with adequate thermal insulation to preserve the health of workers’ hands. PMID:28933764

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.

Dietary live yeast alters metabolic profiles, protein biosynthesis and thermal stress tolerance of Drosophila melanogaster.

PubMed

Colinet, Hervé; Renault, David

2014-04-01

The impact of nutritional factors on insect's life-history traits such as reproduction and lifespan has been excessively examined; however, nutritional determinant of insect's thermal tolerance has not received a lot of attention. Dietary live yeast represents a prominent source of proteins and amino acids for laboratory-reared drosophilids. In this study, Drosophila melanogaster adults were fed on diets supplemented or not with live yeast. We hypothesized that manipulating nutritional conditions through live yeast supplementation would translate into altered physiology and stress tolerance. We verified how live yeast supplementation affected body mass characteristics, total lipids and proteins, metabolic profiles and cold tolerance (acute and chronic stress). Females fed with live yeast had increased body mass and contained more lipids and proteins. Using GC/MS profiling, we found distinct metabolic fingerprints according to nutritional conditions. Metabolite pathway enrichment analysis corroborated that live yeast supplementation was associated with amino acid and protein biosyntheses. The cold assays revealed that the presence of dietary live yeast greatly promoted cold tolerance. Hence, this study conclusively demonstrates a significant interaction between nutritional conditions and thermal tolerance. Copyright © 2014 Elsevier Inc. All rights reserved.

Responses of sympathetic nervous system to cold exposure in vibration syndrome subjects and age-matched healthy controls.

PubMed

Nakamoto, M

1990-01-01

Plasma norepinephrine and epinephrine in vibration syndrome subjects and age-matched healthy controls were measured for the purpose of estimating the responsibility of the sympathetic nervous system to cold exposure. In preliminary experiment, it was confirmed that cold air exposure of the whole body was more suitable than one-hand immersion in cold water. In the main experiment, 195 subjects were examined. Sixty-five subjects had vibration syndrome with vibration-induced white finger (VWF + group) and 65 subjects had vibration syndrome without VWF (VWF- group) and 65 controls had no symptoms (control group). In the three groups, plasma norepinephrine levels increased during cold air exposure of whole body at 7 degrees +/- 1.5 degrees C. Blood pressure increased and skin temperature decreased during cold exposure. Percent increase of norepinephrine in the VWF+ group was the highest while that in VWF- group followed and that in the control group was the lowest. This whole-body response of the sympathetic nervous system to cold conditions reflected the VWF which are characteristic symptoms of vibration syndrome. Excluding the effects of shivering and a cold feeling under cold conditions, it was confirmed that the sympathetic nervous system in vibration syndrome is activated more than in the controls. These results suggest that vibration exposure to hand and arm affects the sympathetic nervous system.

The African Turquoise Killifish: A Model for Exploring Vertebrate Aging and Diseases in the Fast Lane.

PubMed

Harel, Itamar; Brunet, Anne

2015-01-01

Why and how organisms age remains a mystery, and it defines one of the biggest challenges in biology. Aging is also the primary risk factor for many human pathologies, such as cancer, diabetes, cardiovascular diseases, and neurodegenerative diseases. Thus, manipulating the aging rate and potentially postponing the onset of these devastating diseases could have a tremendous impact on human health. Recent studies, relying primarily on nonvertebrate short-lived model systems, have shown the importance of both genetic and environmental factors in modulating the aging rate. However, relatively little is known about aging in vertebrates or what processes may be unique and specific to these complex organisms. Here we discuss how advances in genomics and genome editing have significantly expanded our ability to probe the aging process in a vertebrate system. We highlight recent findings from a naturally short-lived vertebrate, the African turquoise killifish, which provides an attractive platform for exploring mechanisms underlying vertebrate aging and age-related diseases. Copyright © 2015 Cold Spring Harbor Laboratory Press; all rights reserved.

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

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

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

1996-09-01

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

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

NASA Astrophysics Data System (ADS)

Qi, Yuhua; Wang, Jianan; Shan, Jiayuan

2018-02-01

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

Human factor roles in design of teleoperator systems

NASA Technical Reports Server (NTRS)

Janow, C.; Malone, T. B.

1973-01-01

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

Crystal diffraction lens with variable focal length

DOEpatents

Smither, R.K.

1991-04-02

A method and apparatus for altering the focal length of a focusing element of one of a plurality of pre-determined focal lengths by changing heat transfer within selected portions of the element by controlled quantities is disclosed. Control over heat transfer is accomplished by manipulating one or more of a number of variables, including: the amount of heat or cold applied to surfaces; type of fluids pumped through channels for heating and cooling; temperatures, directions of flow and rates of flow of fluids; and placement of channels. 19 figures.

Lagrangian methods in nonlinear plasma wave interaction

NASA Technical Reports Server (NTRS)

Crawford, F. W.

1980-01-01

Analysis of nonlinear plasma wave interactions is usually very complicated, and simplifying mathematical approaches are highly desirable. The application of averaged-Lagrangian methods offers a considerable reduction in effort, with improved insight into synchronism and conservation (Manley-Rowe) relations. This chapter indicates how suitable Lagrangian densities have been defined, expanded, and manipulated to describe nonlinear wave-wave and wave-particle interactions in the microscopic, macroscopic and cold plasma models. Recently, further simplifications have been introduced by the use of techniques derived from Lie algebra. These and likely future developments are reviewed briefly.

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.

A critical test of Drosophila anaesthetics: Isoflurane and sevoflurane are benign alternatives to cold and CO2.

PubMed

MacMillan, Heath A; Nørgård, Mikkel; MacLean, Heidi J; Overgaard, Johannes; Williams, Catherine J A

2017-08-01

Anaesthesia is often a necessary step when studying insects like the model organism Drosophila melanogaster. Most studies of Drosophila and other insects that require anaesthesia use either cold exposure or carbon dioxide exposure to induce a narcotic state. These anaesthetic methods are known to disrupt physiology and behavior with increasing exposure, and thus ample recovery time is required prior to experimentation. Here, we examine whether two halogenated ethers commonly used in vertebrate anaesthesia, isoflurane and sevoflurane, may serve as alternative means of insect anaesthesia. Using D. melanogaster, we generated dose-response curves to identify exposure times for each anaesthetic (cold, CO 2 , isoflurane and sevoflurane) that allow for five-minutes of experimental manipulation of the animals after the anaesthetic was removed (i.e. 5min recovery doses). We then compared the effects of this practical dose on high temperature, low temperature, starvation, and desiccation tolerance, as well as locomotor activity and fecundity of female flies following recovery from anaesthesia. Cold, CO 2 and isoflurane each had significant or near significant effects on the traits measured, but the specific effects of each anaesthetic differed, and effects on stress tolerance generally did not persist if the flies were given 48h to recover from anaesthesia. Sevoflurane had no measureable effect on any of the traits examined. Care must be taken when choosing an anaesthetic in Drosophila research, as the impacts of specific anaesthetics on stress tolerance, behavior and reproduction can widely differ. Sevoflurane may be a practical alternative to cold and CO 2 anaesthesia in insects - particularly if flies are to be used for experiments shortly after anesthesia. Copyright © 2017 Elsevier Ltd. All rights reserved.

The Small-RNA Profiles of Almond (Prunus dulcis Mill.) Reproductive Tissues in Response to Cold Stress.

PubMed

Karimi, Marzieh; Ghazanfari, Farahnaz; Fadaei, Adeleh; Ahmadi, Laleh; Shiran, Behrouz; Rabei, Mohammad; Fallahi, Hossein

2016-01-01

Spring frost is an important environmental stress that threatens the production of Prunus trees. However, little information is available regarding molecular response of these plants to the frost stress. Using high throughput sequencing, this study was conducted to identify differentially expressed miRNAs, both the conserved and the non-conserved ones, in the reproductive tissues of almond tolerant H genotype under cold stress. Analysis of 50 to 58 million raw reads led to identification of 174 unique conserved and 59 novel microRNAs (miRNAs). Differential expression pattern analysis showed that 50 miRNA families were expressed differentially in one or both of almond reproductive tissues (anther and ovary). Out of these 50 miRNA families, 12 and 15 displayed up-regulation and down-regulation, respectively. The distribution of conserved miRNA families indicated that miR482f harbor the highest number of members. Confirmation of miRNAs expression patterns by quantitative real- time PCR (qPCR) was performed in cold tolerant (H genotype) alongside a sensitive variety (Sh12 genotype). Our analysis revealed differential expression for 9 miRNAs in anther and 3 miRNAs in ovary between these two varieties. Target prediction of miRNAs followed by differential expression analysis resulted in identification of 83 target genes, mostly transcription factors. This study comprehensively catalogued expressed miRNAs under different temperatures in two reproductive tissues (anther and ovary). Results of current study and the previous RNA-seq study, which was conducted in the same tissues by our group, provide a unique opportunity to understand the molecular basis of responses of almond to cold stress. The results can also enhance the possibility for gene manipulation to develop cold tolerant plants.

The Small-RNA Profiles of Almond (Prunus dulcis Mill.) Reproductive Tissues in Response to Cold Stress

PubMed Central

Shiran, Behrouz; Rabei, Mohammad; Fallahi, Hossein

2016-01-01

Spring frost is an important environmental stress that threatens the production of Prunus trees. However, little information is available regarding molecular response of these plants to the frost stress. Using high throughput sequencing, this study was conducted to identify differentially expressed miRNAs, both the conserved and the non-conserved ones, in the reproductive tissues of almond tolerant H genotype under cold stress. Analysis of 50 to 58 million raw reads led to identification of 174 unique conserved and 59 novel microRNAs (miRNAs). Differential expression pattern analysis showed that 50 miRNA families were expressed differentially in one or both of almond reproductive tissues (anther and ovary). Out of these 50 miRNA families, 12 and 15 displayed up-regulation and down-regulation, respectively. The distribution of conserved miRNA families indicated that miR482f harbor the highest number of members. Confirmation of miRNAs expression patterns by quantitative real- time PCR (qPCR) was performed in cold tolerant (H genotype) alongside a sensitive variety (Sh12 genotype). Our analysis revealed differential expression for 9 miRNAs in anther and 3 miRNAs in ovary between these two varieties. Target prediction of miRNAs followed by differential expression analysis resulted in identification of 83 target genes, mostly transcription factors. This study comprehensively catalogued expressed miRNAs under different temperatures in two reproductive tissues (anther and ovary). Results of current study and the previous RNA-seq study, which was conducted in the same tissues by our group, provide a unique opportunity to understand the molecular basis of responses of almond to cold stress. The results can also enhance the possibility for gene manipulation to develop cold tolerant plants. PMID:27253370

Systems and methods for dismantling a nuclear reactor

DOEpatents

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

2014-10-28

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

[Cold-induced urticaria].

PubMed

Delorme, N; Drouet, M; Thibaudeau, A; Verret, J L

2002-09-01

Cold urticaria is characterized by the development of urticaria, usually superficial and/or angioedematous reaction after cold contact. It was found predominantly in young women. The diagnosis is based on the history and ice cube test. Patients with a negative ice cube test may have represented systemic cold urticaria (atypical acquired cold urticaria) induced by general body cooling. The pathogenesis is poorly understood. Cold urticaria can be classified into acquired and familial disorders, with an autosomal dominant inheritance. Idiopathic cold urticaria is most common type but the research of a cryopathy is necessary. Therapy is often difficult. It is essential that the patient be warned of the dangers of swimming in cold water because systemic hypotension can occur. H1 antihistamines can be used for treatment of cold urticaria but the clinical responses are highly variable. The combination with an H2 antagonists is more effective. Doxepin may be useful in the treatment. Leukotriene receptor antagonists may be a novel, promising drug entity. In patients who do not respond to previous treatments, induction of cold tolerance may be tried.

Preparing isolated vibrational wave packets with light-induced molecular potentials by chirped laser pulses

NASA Astrophysics Data System (ADS)

Vatasescu, Mihaela

2012-05-01

We consider a specific wave packet preparation arising from the control of tunneling in the 0g-(6s,6p3/2) double well potential of a Cs2 cold molecule with chirped laser pulses. Such a possibility to manipulate the population dynamics in the 0g-(6s,6p3/2) potential appears in a pump-dump scheme designed to form cold molecules by photoassociation of two cold cesium atoms. The initial population in the 0g-(6s,6p3/2) double well is a wave packet prepared in the outer well at large interatomic distances (94 a0) by a photoassociation step with a first chirped pulse, being a superposition of several vibrational states whose energies surround the energy of a tunneling resonance. Our present work is focused on a second delayed chirped pulse, coupling the 0g-(6s,6p3/2) surface with the a3Σu+(6s,6s) one in the zone of the double well barrier (15 a0) and creating deeply bound cold molecules in the a3Σu+(6s,6s) state. We explore the parameters choice (intensity, duration, chirp rate and sign) for this second pulse, showing that picoseconds pulses with a negative chirp can lead to trapping of population in the inner well in strongly bound vibrational states, out of the resonant tunneling able to transfer it back to the outer well.

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

NASA Astrophysics Data System (ADS)

Acar, Cihan; Murakami, Toshiyuki

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

Commissioning of helium refrigeration system at JLab for 12 GeV upgrade

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

Ganni, Venkatarao; Dixon, Kelly D.; Knudsen, Peter N.

The new 4.5 K refrigerator system added to the Jefferson Lab (JLab) Central Helium Liquefier (CHL) for the 12 GeV upgrade will double its previous capacity. It includes a 4.5 K cold box system and compressor system with associated oil removal and gas management systems. At its maximum capacity condition, this new system supports an additional 238 g/s 30 K 1.16 bar cold compressor return flow, a 15 g/s 4.5 K liquefaction load and a 12.6 kW 35–55 K shield load. Five more design conditions, ranging from liquefaction to refrigeration and a stand-by/reduced load state, were specified for the sizingmore » and selection of its components. The cold box system is comprised of a 300–60 K vertical cold box that incorporates a liquid nitrogen pre-cooler and a 60–4.5 K horizontal cold box housing seven turbines that are configured in four expansion stages including one Joule-Thompson expander. The helium compression system has five compressors to support three pressure levels in the cold box. This paper will briefly review the salient 4.5 K system design features and discuss the recent commissioning results.« less

System and method for crystalline sheet growth using a cold block and gas jet

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

Kellerman, Peter L.; Mackintosh, Brian; Carlson, Frederick M.

A crystallizer for growing a crystalline sheet from a melt may include a cold block having a cold block surface that faces an exposed surface of the melt, the cold block configured to generate a cold block temperature at the cold block surface that is lower than a melt temperature of the melt at the exposed surface. The system may also include a nozzle disposed within the cold block and configured to deliver a gas jet to the exposed surface, wherein the gas jet and the cold block are interoperative to generate a process zone that removes heat from themore » exposed surface at a first heat removal rate that is greater than a second heat removal rate from the exposed surface in outer regions outside of the process zone.« less

Modular telerobot control system for accident response

NASA Astrophysics Data System (ADS)

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

1999-08-01

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

Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator

PubMed Central

Katzschmann, Robert K.; Marchese, Andrew D.

2015-01-01

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

Response of microRNAs to cold treatment in the young spikes of common wheat.

PubMed

Song, Guoqi; Zhang, Rongzhi; Zhang, Shujuan; Li, Yulian; Gao, Jie; Han, Xiaodong; Chen, Mingli; Wang, Jiao; Li, Wei; Li, Genying

2017-02-28

MicroRNAs (miRNAs) are a class of small non-coding RNAs that play important roles in biotic and abiotic stresses by regulating their target genes. For common wheat, spring frost damage frequently occurs, especially when low temperature coincides with plants at early floral organ differentiation, which may result in significant yield loss. Up to date, the role of miRNAs in wheat response to frost stress is not well understood. We report here the sequencing of small RNA transcriptomes from the young spikes that were treated with cold stress and the comparative analysis with those of the control. A total of 192 conserved miRNAs from 105 families and nine novel miRNAs were identified. Among them, 34 conserved and five novel miRNAs were differentially expressed between the cold-stressed samples and the controls. The expression patterns of 18 miRNAs were further validated by quantitative real time polymerase chain reaction (qRT-PCR). Moreover, nearly half of the miRNAs were cross inducible by biotic and abiotic stresses when compared with previously published work. Target genes were predicted and validated by degradome sequencing. Gene Ontology (GO) enrichment analysis showed that the target genes of differentially expressed miRNAs were enriched for response to the stimulus, regulation of transcription, and ion transport functions. Since many targets of differentially expressed miRNAs were transcription factors that are associated with floral development such as ARF, SPB (Squamosa Promoter Binding like protein), MADS-box (MCM1, AG, DEFA and SRF), MYB, SPX (SYG1, Pho81 and XPR1), TCP (TEOSINTE BRANCHED, Cycloidea and PCF), and PPR (PentatricoPeptide Repeat) genes, cold-altered miRNA expression may cause abnormal reproductive organ development. Analysis of small RNA transcriptomes and their target genes provide new insight into miRNA regulation in developing wheat inflorescences under cold stress. MiRNAs provide another layer of gene regulation in cold stress response that can be genetically manipulated to reduce yield loss in wheat.

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

NASA Technical Reports Server (NTRS)

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

1974-01-01

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

A Hierarchical Learning Control Framework for an Aerial Manipulation System

NASA Astrophysics Data System (ADS)

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

2017-07-01

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

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

NASA Technical Reports Server (NTRS)

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

1973-01-01

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

Evaporative cooling enhanced cold storage system

DOEpatents

Carr, Peter

1991-01-01

The invention provides an evaporatively enhanced cold storage system wherein a warm air stream is cooled and the cooled air stream is thereafter passed into contact with a cold storage unit. Moisture is added to the cooled air stream prior to or during contact of the cooled air stream with the cold storage unit to effect enhanced cooling of the cold storage unit due to evaporation of all or a portion of the added moisture. Preferably at least a portion of the added moisture comprises water condensed during the cooling of the warm air stream.

Evaporative cooling enhanced cold storage system

DOEpatents

Carr, P.

1991-10-15

The invention provides an evaporatively enhanced cold storage system wherein a warm air stream is cooled and the cooled air stream is thereafter passed into contact with a cold storage unit. Moisture is added to the cooled air stream prior to or during contact of the cooled air stream with the cold storage unit to effect enhanced cooling of the cold storage unit due to evaporation of all or a portion of the added moisture. Preferably at least a portion of the added moisture comprises water condensed during the cooling of the warm air stream. 3 figures.

Manipulating heat shock protein expression in laboratory animals.

PubMed

Tolson, J Keith; Roberts, Stephen M

2005-02-01

Upregulation of heat shock proteins (Hsps) has been observed to impart resistance to a wide variety of physical and chemical insults. Elucidation of the role of Hsps in cellular defense processes depends, in part, on the ability to manipulate Hsp expression in laboratory animals. Simple methods of inducing whole body hyperthermia, such as warm water immersion or heating pad application, are effective in producing generalized expression of Hsps. Hsps can be upregulated locally with focused direct or indirect heating, such as with ultrasound or with laser or microwave radiation. Increased Hsp expression in response to toxic doses of xenobiotics has been commonly observed. Some pharmacologic agents are capable of altering Hsps more specifically by affecting processes involved in Hsp regulation. Gene manipulation offers the ability to selectively increase or decrease individual Hsps. Knockout mouse strains and Hsp-overexpressing transgenics have been used successfully to examine the role of specific Hsps in protection against hyperthermia, chemical insults, and ischemia-reperfusion injury. Gene therapy approaches also offer the possibility of selective alteration of Hsp expression. Some methods of increasing Hsp expression have application in specialized areas of research, such cold response, myocardial protection from exercise, and responses to stressful or traumatic stimuli. Each method of manipulating Hsp expression in laboratory animals has advantages and disadvantages, and selection of the best method depends upon the experimental objectives (e.g., the alteration in Hsp expression needed, its timing, and its location) and resources available.

Application study of monthly precipitation forecast in Northeast China based on the cold vortex persistence activity index

NASA Astrophysics Data System (ADS)

Gang, Liu; Meihui, Qu; Guolin, Feng; Qucheng, Chu; Jing, Cao; Jie, Yang; Ling, Cao; Yao, Feng

2018-03-01

This paper introduces three quantitative indicators to conduct research for characterizing Northeast China cold vortex persistence activity: cold vortex persistence, generalized "cold vortex," and cold vortex precipitation. As discussed in the first part of paper, a hindcast is performed by multiple regressions using Northeast China precipitation from 2012 to 2014 combination with the previous winter 144 air-sea system factors. The results show that the mentioned three cold vortex index series can reflect the spatial and temporal distributions of observational precipitation in 2012-2014 and obtain results. The cold vortex factors are then added to the Forecast System on Dynamical and Analogy Skills (FODAS) to carry out dynamic statistical hindcast of precipitation in Northeast China from 2003 to 2012. Based on the characteristics and significance of each index, precipitation hindcast is carried out for Northeast China in May, June, July, August, May-June, and July-August. It turns out that the Northeast Cold Vortex Index Series, as defined in this paper, can make positive corrections to the FODAS forecast system, and most of the index correction results are higher than the system's own correction value. This study provides quantitative index products and supplies a solid technical foundation and support for monthly precipitation forecast in Northeast China.

[Development of wireless monitoring system based on Zigbee technology in blood and bacterin cold chain].

PubMed

Zhao, Peng; Sun, Jian-Jun; Wu, Tai-Hu

2008-11-01

Real-time monitoring for temperature is required in cold chain for the medical products that are sensible with temperature, such as blood and bacterin, to guarantee the quality and reduce their wastage. This wireless monitoring system in cold chain is developed with Zigbee technology. Functions such as real-time monitoring, analyzing, alarming are realized. The system boasts such characteristics as low power consumption, low cost, big capacity and high reliability, and could improve the capability of real-time monitoring and management in cold chain effectively.

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

NASA Astrophysics Data System (ADS)

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

2015-05-01

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

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

NASA Technical Reports Server (NTRS)

Papadopoulos, Evangelos; Dubowsky, Steven

1991-01-01

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

Microscopy of the interacting Harper-Hofstadter model in the few-body limit

NASA Astrophysics Data System (ADS)

Tai, M. Eric; Lukin, Alexander; Rispoli, Matthew; Schittko, Robert; Menke, Tim; Borgnia, Dan; Preiss, Philipp; Grusdt, Fabian; Kaufman, Adam; Greiner, Markus

2017-04-01

The interplay of magnetic fields and interacting particles can lead to exotic phases of matter exhibiting topological order and high degrees of spatial entanglement. While these phases were discovered in a solid-state setting, recent techniques have enabled the realization of gauge fields in systems of ultracold neutral atoms, offering a new experimental paradigm for studying these novel states of matter. This complementary platform holds promise for exploring exotic physics in fractional quantum Hall systems due to the microscopic manipulation and precision possible in cold atom systems. However, these experiments thus far have mostly explored the regime of weak interactions. Here, we show how strong interactions can modify the propagation of particles in a 2 × N , real-space ladder governed by the Harper-Hofstadter model. We observe inter-particle interactions affect the populating of chiral bands, giving rise to chiral dynamics whose multi-particle correlations indicate both bound and free-particle character. The novel form of interaction-induced chirality observed in these experiments demonstrates the essential ingredients for future investigations of highly entangled topological phases of many-body systems. We are supported by Grants from the National Science Foundation, Gordon and Betty Moore Foundation's EPiQS Initiative, an Air Force Office of Scientific Research MURI program, an Army Research Office MURI program, and the NSF GRFP (MNR).

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

ERIC Educational Resources Information Center

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

2016-01-01

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

Mobile camera-space manipulation

NASA Technical Reports Server (NTRS)

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

2001-01-01

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

Method and system for assembling miniaturized devices

DOEpatents

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

2013-03-12

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

A precompiler for the formula manipulation system TRIGMAN.

NASA Technical Reports Server (NTRS)

Jefferys, W. H.

1972-01-01

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

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

PubMed

Parravicini, Giovanni; Bergna, Andrea

2017-04-01

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

Object impedance control for cooperative manipulation - Theory and experimental results

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

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

PubMed Central

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

2016-01-01

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

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

PubMed

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

2016-09-14

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

Assessing the Effects of Water Right Purchases on Stream Temperatures and Fish Habitat

NASA Astrophysics Data System (ADS)

Elmore, L.; Null, S. E.

2012-12-01

Warm stream temperature and low flow conditions are limiting factors for native trout species in Nevada's Walker River. Water rights purchases are being considered to increase instream flow and improve habitat conditions. However, the effect of water rights purchases on stream temperatures and fish habitat have yet to be assessed. Manipulating flow conditions affect stream temperatures by altering water depth, velocity, and thermal mass. This study uses the River Modeling System (RMSv4), an hourly, physically-based hydrodynamic and water quality model, to estimate flows and stream temperatures in the Walker River. The model is developed for two wet years (2010-2011). Study results highlight reaches with cold-water habitat that is suitable for native trout species. Previous research on the Walker River has evaluated instream flow changes with water rights purchases. This study incorporates stream temperatures as a proxy for trout habitat, and thus explicitly incorporates water quality and fish habitat into decision-making regarding water rights purchases. Walker River

Controlling the delocalization-localization transition of light via electromagnetically induced transparency

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

Cheng Jing; Huang Guoxiang; State Key Laboratory of Precision Spectroscopy, East China Normal University, Shanghai 200062

2011-05-15

We propose a scheme to realize a transition from delocalization to localization of light waves via electromagnetically induced transparency. The system we suggested is a resonant cold atomic ensemble having N configuration, with a control field consisting of two pairs of laser beams with different cross angles, which produce an electromagnetically induced quasiperiodic waveguide (EIQPW) for the propagation of a signal field. By appropriately tuning the incommensurate rate or relative modulation strength between the two pairs of control-field components, the signal field can exhibit the delocalization-localization transition as it transports inside the atomic ensemble. The delocalization-localization transition point is determinedmore » and the propagation property of the signal field is studied in detail. Our work provides a way of realizing wave localization via atomic coherence, which is quite different from the conventional, off-resonant mechanism-based Aubry-Andre model, and the great controllability of the EIQPW also allows an easy manipulation of the delocalization-localization transition.« less

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

NASA Technical Reports Server (NTRS)

1972-01-01

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

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

PubMed

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

2008-01-01

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

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

NASA Technical Reports Server (NTRS)

Heer, E.

1973-01-01

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

Short-term cropland responses to temperature extreme events during late winter

NASA Astrophysics Data System (ADS)

De Simon, G.; Alberti, G.; Delle Vedove, G.; Peressotti, A.; Zaldei, A.; Miglietta, F.

2013-08-01

In recent years, several studies have focused on terrestrial ecosystem response to extreme events. Most of this research has been conducted in natural ecosystems, but few have considered agroecosystems. In this study, we investigated the impact of a manipulated warmer or cooler late winter/early spring on the carbon budget and final harvest of a soybean crop (Glycine max (L.) Merr.). Soil temperature was altered by manipulating soil albedo by covering the soil surface with a layer of inert silica gravel. We tested three treatments - cooling (Co), warming (W), mix (M) - and control (C). An automated system continuously measured soil heterotrophic respiration (Rh), soil temperature profiles, and soil water content across the entire year in each plot. Phenological phases were periodically assessed and final harvest was measured in each plot. Results showed that treatments had only a transient effect on daily Rh rates, which did not result in a total annual carbon budget significantly different from control, even though cooling showed a significant reduction in final harvest. We also observed anticipation in emergence in both W and M treatments and a delay in emergence for Co. Moreover, plant density and growth increased in W and M and decreased in Co. In conclusion, from the results of our experiment we can assert that an increase in the frequency of both heat and cold waves is unlikely to have large effects on the overall annual carbon balance of irrigated croplands.

Collision Detection for Underwater ROV Manipulator Systems

PubMed Central

Rossi, Matija; Dooly, Gerard; Toal, Daniel

2018-01-01

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

Collision Detection for Underwater ROV Manipulator Systems.

PubMed

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

2018-04-06

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

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

NASA Astrophysics Data System (ADS)

Hodac, Agathe; Siegwart, Roland Y.

1999-08-01

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

Non-stationary and relaxation phenomena in cavity-assisted quantum memories

NASA Astrophysics Data System (ADS)

Veselkova, N. G.; Sokolov, I. V.

2017-12-01

We investigate the non-stationary and relaxation phenomena in cavity-assisted quantum memories for light. As a storage medium we consider an ensemble of cold atoms with standard Lambda-scheme of working levels. Some theoretical aspects of the problem were treated previously by many authors, and recent experiments stimulate more deep insight into the ultimate ability and limitations of the device. Since quantum memories can be used not only for the storage of quantum information, but also for a substantial manipulation of ensembles of quantum states, the speed of such manipulation and hence the ability to write and retrieve the signals of relatively short duration becomes important. In our research we do not apply the so-called bad cavity limit, and consider the memory operation of the signals whose duration is not much larger than the cavity field lifetime, accounting also for the finite lifetime of atomic coherence. In our paper we present an effective approach that makes it possible to find the non-stationary amplitude and phase behavior of strong classical control field, that matches the desirable time profile of both the envelope and the phase of the retrieved quantized signal. The phase properties of the retrieved quantized signals are of importance for the detection and manipulation of squeezing, entanglement, etc by means of optical mixing and homodyning.

The locating ways of laying pipe manipulator

NASA Astrophysics Data System (ADS)

Wang, Dan; Li, Bin; Lei, DongLiang

2010-01-01

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

Dynamic generation and coherent control of beating stationary light pulses by a microwave coupling field in five-level cold atoms

NASA Astrophysics Data System (ADS)

Bao, Qian-Qian; Zhang, Yan; Cui, Cui-Li; Meng, Shao-Ying; Fang, You-Wei; Tian, Xue-Dong

2018-04-01

We propose an efficient scheme for generating and controlling beating stationary light pulses in a five-level atomic sample driven into electromagnetically induced transparency condition. This scheme relies on an asymmetrical procedure of light storage and retrieval tuned by two counter-propagating control fields where an additional coupling field, such as the microwave field, is introduced in the retrieval stage. A quantum probe field, incident upon such an atomic sample, is first transformed into spin coherence excitation of the atoms and then retrieved as beating stationary light pulses exhibiting a series of maxima and minima in intensity due to the alternative constructive and destructive interference. It is convenient to control the beating stationary light pulses just by manipulating the intensity and detuning of the additional microwave field. This interesting phenomenon involves in fact the coherent manipulation of dark-state polaritons and could be explored to achieve the efficient temporal splitting of stationary light pulses and accurate measurement of the microwave intensity.

Study of ground state optical transfer for ultracold alkali dimers

NASA Astrophysics Data System (ADS)

Bouloufa-Maafa, Nadia; Londono, Beatriz; Borsalino, Dimitri; Vexiau, Romain; Mahecha, Jorge; Dulieu, Olivier; Luc-Koenig, Eliane

2013-05-01

Control of molecular states by laser pulses offer promising potential applications. The manipulation of molecules by external fields requires precise knowledge of the molecular structure. Our motivation is to perform a detailed analysis of the spectroscopic properties of alkali dimers, with the aim to determine efficient optical paths to form molecules in the absolute ground state and to determine the optimal parameters of the optical lattices where those molecules are manipulated to avoid losses by collisions. To this end, we use state of the art molecular potentials, R-dependent spin-orbit coupling and transition dipole moment to perform our calculations. R-dependent SO coupling are of crucial importance because the transitions occur at internuclear distances where they are affected by this R-dependence. Efficient schemes to transfer RbCs, KRb and KCs to the absolute ground state as well as the optimal parameters of the optical lattices will be presented. This work was supported in part by ``Triangle de la Physique'' under contract 2008-007T-QCCM (Quantum Control of Cold Molecules).

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

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-01-01

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

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

NASA Technical Reports Server (NTRS)

Mackro, J.

1973-01-01

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

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

NASA Astrophysics Data System (ADS)

Shibata, Tsuyoshi; Murakami, Toshiyuki

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

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

NASA Astrophysics Data System (ADS)

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

1993-08-01

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

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

NASA Astrophysics Data System (ADS)

Chen, ChuXin; Trivedi, Mohan M.

1992-03-01

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

Venezuela’s Changing Foreign Policy Towards the United States: A Holistic Analysis

DTIC Science & Technology

2001-12-01

explanations for this change: 1) A new post -Cold War international system. 2) Antagonism produced by unpopular U.S. policies towards Venezuela. 3...States. The thesis hypothesizes four possible explanations for this change: 1) A new post - Cold War international system. 2) Unpopular U.S. policies...These include, the new post -Cold War international system, unpopular U.S. policies towards Venezuela, domestic issues within Venezuela, and

Utilization of the organ care system as ex-vivo lung perfusion after cold storage transportation.

PubMed

Mohite, P N; Maunz, O; Popov, A-F; Zych, B; Patil, N P; Simon, A R

2015-11-01

The Organ Care System (OCS) allows perfusion and ventilation of the donor lungs under physiological conditions. Ongoing trials to compare preservation with OCS Lung with standard cold storage do not include donor lungs with suboptimal gas exchange and donor lungs treated with OCS following cold storage transportation. We present a case of a 48-yr-old man who received such lungs after cold storage transportation treated with ex-vivo lung perfusion utilizing OCS. © The Author(s) 2015.

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

ERIC Educational Resources Information Center

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

2009-01-01

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

Rigid hoist articulated grapple system development for enhanced remote maintenance

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

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

1979-01-01

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

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

NASA Technical Reports Server (NTRS)

Morris, A. Terry

1996-01-01

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

Thermal imaging for cold air flow visualisation and analysis

NASA Astrophysics Data System (ADS)

Grudzielanek, M.; Pflitsch, A.; Cermak, J.

2012-04-01

In this work we present first applications of a thermal imaging system for animated visualization and analysis of cold air flow in field studies. The development of mobile thermal imaging systems advanced very fast in the last decades. The surface temperature of objects, which is detected with long-wave infrared radiation, affords conclusions in different problems of research. Modern thermal imaging systems allow infrared picture-sequences and a following data analysis; the systems are not exclusive imaging methods like in the past. Thus, the monitoring and analysing of dynamic processes became possible. We measured the cold air flow on a sloping grassland area with standard methods (sonic anemometers and temperature loggers) plus a thermal imaging system measuring in the range from 7.5 to 14µm. To analyse the cold air with the thermal measurements, we collected the surface infrared temperatures at a projection screen, which was located in cold air flow direction, opposite the infrared (IR) camera. The intention of using a thermal imaging system for our work was: 1. to get a general idea of practicability in our problem, 2. to assess the value of the extensive and more detailed data sets and 3. to optimise visualisation. The results were very promising. Through the possibility of generating time-lapse movies of the image sequences in time scaling, processes of cold air flow, like flow waves, turbulence and general flow speed, can be directly identified. Vertical temperature gradients and near-ground inversions can be visualised very well. Time-lapse movies will be presented. The extensive data collection permits a higher spatial resolution of the data than standard methods, so that cold air flow attributes can be explored in much more detail. Time series are extracted from the IR data series, analysed statistically, and compared to data obtained using traditional systems. Finally, we assess the usefulness of the additional measurement of cold air flow with thermal imaging systems.

Cold chain monitoring during cold transportation of human corneas for transplantation.

PubMed

Net, M; Trias, E; Navarro, A; Ruiz, A; Diaz, P; Fontenla, J R; Manyalich, M

2003-08-01

As recommended by international standards the cornea should be maintained in a specific temperature range (2 degrees -8 degrees C) to guarantee its viability. However, there is no standard packaging method to maintain these conditions during transport. Our packaging system is similar to those used by the main eye banks in Spain and elsewhere in Europe. The objective is to monitor the cold chain in the current packaging method to validate the maintenance of temperature within the adequate range for a minimum 24-hour period. The effects of the following variables were studied: number and freezing temperature of the cold packs; air volume in the packaging system; position of the cornea in the packaging system; and the wall section of the container. Exterior temperature was maintained constant at 20 degrees to 24 degrees C. The cold chain was monitored using a device that measures temperature continuously and for which a histogram of temperature variation can be downloaded to a computer for further analysis. When the cold packs were frozen to -40 degrees C or the number of cold packs increased to four, the temperature decreased quickly to 0 degrees C and the transport period was not prolonged. The main objective was to improve isolation by reducing inner air volume, and maintaining the position of the cornea in the container. The currently used cold packaging systems (not frozen, 4 degrees C) do not maintain the temperature within the accepted range for the required distribution period. The improved system maintains the cornea at between 2 degrees C and 6 degrees C for a minimum of 24 hours.

Electrocutaneous sensitivity: effects of skin temperature.

PubMed

Larkin, W D; Reilly, J P

1986-01-01

The effect of human skin temperature on electrocutaneous sensitivity was examined using brief capacitive discharges. Stimuli were designed to ensure that sensory effects would be independent of skin resistance and would reflect underlying neural excitability as closely as possible. Skin temperature was manipulated by immersing the forearm in circulating hot or cold air. Detection thresholds on the arm and fingertip were raised by cooling, but were not altered by heating. Temperature-related sensitivity shifts were described by the same multiplicative factors for both threshold and suprathreshold levels. The temperature coefficient (Q10) for cutaneous sensitivity under these conditions was approximately 1.3.

The effects of experimental pain and induced optimism on working memory task performance.

PubMed

Boselie, Jantine J L M; Vancleef, Linda M G; Peters, Madelon L

2016-07-01

Pain can interrupt and deteriorate executive task performance. We have previously shown that experimentally induced optimism can diminish the deteriorating effect of cold pressor pain on a subsequent working memory task (i.e., operation span task). In two successive experiments we sought further evidence for the protective role of optimism on pain-induced working memory impairments. We used another working memory task (i.e., 2-back task) that was performed either after or during pain induction. Study 1 employed a 2 (optimism vs. no-optimism)×2 (pain vs. no-pain)×2 (pre-score vs. post-score) mixed factorial design. In half of the participants optimism was induced by the Best Possible Self (BPS) manipulation, which required them to write and visualize about a life in the future where everything turned out for the best. In the control condition, participants wrote and visualized a typical day in their life (TD). Next, participants completed either the cold pressor task (CPT) or a warm water control task (WWCT). Before (baseline) and after the CPT or WWCT participants working memory performance was measured with the 2-back task. The 2-back task measures the ability to monitor and update working memory representation by asking participants to indicate whether the current stimulus corresponds to the stimulus that was presented 2 stimuli ago. Study 2 had a 2 (optimism vs. no-optimism)×2 (pain vs. no-pain) mixed factorial design. After receiving the BPS or control manipulation, participants completed the 2-back task twice: once with painful heat stimulation, and once without any stimulation (counter-balanced order). Continuous heat stimulation was used with temperatures oscillating around 1°C above and 1°C below the individual pain threshold. In study 1, the results did not show an effect of cold pressor pain on subsequent 2-back task performance. Results of study 2 indicated that heat pain impaired concurrent 2-back task performance. However, no evidence was found that optimism protected against this pain-induced performance deterioration. Experimentally induced pain impairs concurrent but not subsequent working memory task performance. Manipulated optimism did not counteract pain-induced deterioration of 2-back performance. It is important to explore factors that may diminish the negative impact of pain on the ability to function in daily life, as pain itself often cannot be remediated. We are planning to conduct future studies that should shed further light on the conditions, contexts and executive operations for which optimism can act as a protective factor. Copyright © 2016 Scandinavian Association for the Study of Pain. Published by Elsevier B.V. All rights reserved.

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

PubMed

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

2011-12-01

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

Optimization of Domestic-Size Renewable Energy System Designs Suitable for Cold Climate Regions

NASA Astrophysics Data System (ADS)

Akpan, Itoro Etim; Sasaki, Masafumi; Endoh, Noboru

Five different kinds of domestic-size renewable energy system configurations for very cold climate regions were investigated. From detailed numerical modeling and system simulations, it was found that the consumption of fuel oil for the auxiliary boiler in residential-type households can almost be eliminated with a renewable energy system that incorporates photovoltaic panel arrays for electricity generation and two storage tanks: a well-insulated electric water storage tank that services the hot water loads, and a compact boiler/geothermal heat pump tank for room heating during very cold seasons. A reduction of Greenhouse Gas Emissions (GHG) of about 28% was achieved for this system compared to an equivalent conventional system. The near elimination of the use of fuel oil in this system makes it very promising for very cold climate regions in terms of energy savings because the running cost is not so dependent on the unstable nature of global oil prices.

The Potential of Cold Plasma for Safe and Sustainable Food Production.

PubMed

Bourke, Paula; Ziuzina, Dana; Boehm, Daniela; Cullen, Patrick J; Keener, Kevin

2018-06-01

Cold plasma science and technology is increasingly investigated for translation to a plethora of issues in the agriculture and food sectors. The diversity of the mechanisms of action of cold plasma, and the flexibility as a standalone technology or one that can integrate with other technologies, provide a rich resource for driving innovative solutions. The emerging understanding of the longer-term role of cold plasma reactive species and follow-on effects across a range of systems will suggest how cold plasma may be optimally applied to biological systems in the agricultural and food sectors. Here we present the current status, emerging issues, regulatory context, and opportunities of cold plasma with respect to the broad stages of primary and secondary food production. Copyright © 2017 Elsevier Ltd. All rights reserved.

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

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

Shu Deming; Cai Zhonghou; Lai, Barry

2007-01-19

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

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

NASA Astrophysics Data System (ADS)

Shu, Deming; Cai, Zhonghou; Lai, Barry

2007-01-01

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

Infrared (IR) photon-sensitive spectromicroscopy in a cryogenic environment

DOEpatents

Pereverzev, Sergey

2016-06-14

A system designed to suppress thermal radiation background and to allow IR single-photon sensitive spectromicroscopy of small samples by using both absorption, reflection, and emission/luminescence measurements. The system in one embodiment includes: a light source; a plurality of cold mirrors configured to direct light along a beam path; a cold or warm sample holder in the beam path; windows of sample holder (or whole sample holder) are transparent in a spectral region of interest, so they do not emit thermal radiation in the same spectral region of interest; a cold monochromator or other cold spectral device configured to direct a selected fraction of light onto a cold detector; a system of cold apertures and shields positioned along the beam path to prevent unwanted thermal radiation from arriving at the cold monochromator and/or the detector; a plurality of optical, IR and microwave filters positioned along the beam path and configured to adjust a spectral composition of light incident upon the sample under investigation and/or on the detector; a refrigerator configured to maintain the detector at a temperature below 1.0K; and an enclosure configured to: thermally insulate the light source, the plurality of mirrors, the sample holder, the cold monochromator and the refrigerator.

Cardiovascular function, compliance, and connective tissue remodeling in the turtle, Trachemys scripta, following thermal acclimation

PubMed Central

Keen, Adam N.; Crossley, Dane A.

2016-01-01

Low temperature directly alters cardiovascular physiology in freshwater turtles, causing bradycardia, arterial hypotension, and a reduction in systemic blood pressure. At the same time, blood viscosity and systemic resistance increase, as does sensitivity to cardiac preload (e.g., via the Frank-Starling response). However, the long-term effects of these seasonal responses on the cardiovascular system are unclear. We acclimated red-eared slider turtles to a control temperature (25°C) or to chronic cold (5°C). To differentiate the direct effects of temperature from a cold-induced remodeling response, all measurements were conducted at the control temperature (25°C). In anesthetized turtles, cold acclimation reduced systemic resistance by 1.8-fold and increased systemic blood flow by 1.4-fold, resulting in a 2.3-fold higher right to left (R-L; net systemic) cardiac shunt flow and a 1.8-fold greater shunt fraction. Following a volume load by bolus injection of saline (calculated to increase stroke volume by 5-fold, ∼2.2% of total blood volume), systemic resistance was reduced while pulmonary blood flow and systemic pressure increased. An increased systemic blood flow meant the R-L cardiac shunt was further pronounced. In the isolated ventricle, passive stiffness was increased following cold acclimation with 4.2-fold greater collagen deposition in the myocardium. Histological sections of the major outflow arteries revealed a 1.4-fold higher elastin content in cold-acclimated animals. These results suggest that cold acclimation alters cardiac shunting patterns with an increased R-L shunt flow, achieved through reducing systemic resistance and increasing systemic blood flow. Furthermore, our data suggests that cold-induced cardiac remodeling may reduce the stress of high cardiac preload by increasing compliance of the vasculature and decreasing compliance of the ventricle. Together, these responses could compensate for reduced systolic function at low temperatures in the slider turtle. PMID:27101300

Active optical system for advanced 3D surface structuring by laser remelting

NASA Astrophysics Data System (ADS)

Pütsch, O.; Temmler, A.; Stollenwerk, J.; Willenborg, E.; Loosen, P.

2015-03-01

Structuring by laser remelting enables completely new possibilities for designing surfaces since material is redistributed but not wasted. In addition to technological advantages, cost and time benefits yield from shortened process times, the avoidance of harmful chemicals and the elimination of subsequent finishing steps such as cleaning and polishing. The functional principle requires a completely new optical machine technology that maintains the spatial and temporal superposition and manipulation of three different laser beams emitted from two laser sources of different wavelength. The optical system has already been developed and demonstrated for the processing of flat samples of hot and cold working steel. However, since particularly the structuring of 3D-injection molds represents an application example of high innovation potential, the optical system has to take into account the elliptical beam geometry that occurs when the laser beams irradiate a curved surface. To take full advantage of structuring by remelting for the processing of 3D surfaces, additional optical functionality, called EPS (elliptical pre-shaping) has to be integrated into the existing set-up. The development of the beam shaping devices not only requires the analysis of the mechanisms of the beam projection but also a suitable optical design. Both aspects are discussed in this paper.

Development of a PC-based ground support system for a small satellite instrument

NASA Astrophysics Data System (ADS)

Deschambault, Robert L.; Gregory, Philip R.; Spenler, Stephen; Whalen, Brian A.

1993-11-01

The importance of effective ground support for the remote control and data retrieval of a satellite instrument cannot be understated. Problems with ground support may include the need to base personnel at a ground tracking station for extended periods, and the delay between the instrument observation and the processing of the data by the science team. Flexible solutions to such problems in the case of small satellite systems are provided by using low-cost, powerful personal computers and off-the-shelf software for data acquisition and processing, and by using Internet as a communication pathway to enable scientists to view and manipulate satellite data in real time at any ground location. The personal computer based ground support system is illustrated for the case of the cold plasma analyzer flown on the Freja satellite. Commercial software was used as building blocks for writing the ground support equipment software. Several levels of hardware support, including unit tests and development, functional tests, and integration were provided by portable and desktop personal computers. Satellite stations in Saskatchewan and Sweden were linked to the science team via phone lines and Internet, which provided remote control through a central point. These successful strategies will be used on future small satellite space programs.

Hydraulic manipulator research at ORNL

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

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

1997-03-01

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

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

NASA Technical Reports Server (NTRS)

1972-01-01

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

Studies to design and develop improved remote manipulator systems

NASA Technical Reports Server (NTRS)

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

1973-01-01

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

Thermal welding vs. cold knife tonsillectomy: a comparison of voice and speech.

PubMed

Celebi, Saban; Yelken, Kursat; Celik, Oner; Taskin, Umit; Topak, Murat

2011-01-01

To compare acoustic, aerodynamic and perceptual voice and speech parameters in thermal welding system tonsillectomy and cold knife tonsillectomy patients in order to determine the impact of operation technique on voice and speech. Thirty tonsillectomy patients (22 children, 8 adults) participated in this study. The preferred technique was cold knife tonsillectomy in 15 patients and thermal welding system tonsillectomy in the remaining 15 patients. One week before and 1 month after surgery the following parameters were estimated: average of fundamental frequency, Jitter, Shimmer, harmonic to noise ratio, formant frequency analyses of sustained vowels. Perceptual speech analysis and aerodynamic measurements (maximum phonation time and s/z ratio) were also conducted. There was no significant difference in any of the parameters between cold knife tonsillectomy and thermal welding system tonsillectomy groups (p>0.05). When the groups were contrasted among themselves with regards to preoperative and postoperative rates, fundamental frequency was found to be significantly decreased after tonsillectomy in both of the groups (p<0.001). First formant for the vowel /a/ in the cold knife tonsillectomy group and for the vowel /i/ in the thermal welding system tonsillectomy group, second formant for the vowel /u/ in the thermal welding system tonsillectomy group and third formant for the vowel /u/ in the cold knife tonsillectomy group were found to be significantly decreased (p<0.05). The surgical technique, whether it is cold knife or thermal welding system, does not appear to affect voice and speech in tonsillectomy patients. Copyright © 2010 Elsevier Ireland Ltd. All rights reserved.

TrustRank: a Cold-Start tolerant recommender system

NASA Astrophysics Data System (ADS)

Zou, Haitao; Gong, Zhiguo; Zhang, Nan; Zhao, Wei; Guo, Jingzhi

2015-02-01

The explosive growth of the World Wide Web leads to the fast advancing development of e-commerce techniques. Recommender systems, which use personalised information filtering techniques to generate a set of items suitable to a given user, have received considerable attention. User- and item-based algorithms are two popular techniques for the design of recommender systems. These two algorithms are known to have Cold-Start problems, i.e., they are unable to effectively handle Cold-Start users who have an extremely limited number of purchase records. In this paper, we develop TrustRank, a novel recommender system which handles the Cold-Start problem by leveraging the user-trust networks which are commonly available for e-commerce applications. A user-trust network is formed by friendships or trust relationships that users specify among them. While it is straightforward to conjecture that a user-trust network is helpful for improving the accuracy of recommendations, a key challenge for using user-trust network to facilitate Cold-Start users is that these users also tend to have a very limited number of trust relationships. To address this challenge, we propose a pre-processing propagation of the Cold-Start users' trust network. In particular, by applying the personalised PageRank algorithm, we expand the friends of a given user to include others with similar purchase records to his/her original friends. To make this propagation algorithm scalable to a large amount of users, as required by real-world recommender systems, we devise an iterative computation algorithm of the original personalised TrustRank which can incrementally compute trust vectors for Cold-Start users. We conduct extensive experiments to demonstrate the consistently improvement provided by our proposed algorithm over the existing recommender algorithms on the accuracy of recommendations for Cold-Start users.

The impact of stack geometry and mean pressure on cold end temperature of stack in thermoacoustic refrigeration systems

NASA Astrophysics Data System (ADS)

Wantha, Channarong

2018-02-01

This paper reports on the experimental and simulation studies of the influence of stack geometries and different mean pressures on the cold end temperature of the stack in the thermoacoustic refrigeration system. The stack geometry was tested, including spiral stack, circular pore stack and pin array stack. The results of this study show that the mean pressure of the gas in the system has a significant impact on the cold end temperature of the stack. The mean pressure of the gas in the system corresponds to thermal penetration depth, which results in a better cold end temperature of the stack. The results also show that the cold end temperature of the pin array stack decreases more than that of the spiral stack and circular pore stack geometry by approximately 63% and 70%, respectively. In addition, the thermal area and viscous area of the stack are analyzed to explain the results of such temperatures of thermoacoustic stacks.

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.

DEVELOPMENT OF COLD CLIMATE HEAT PUMP USING TWO-STAGE COMPRESSION

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

Shen, Bo; Rice, C Keith; Abdelaziz, Omar

2015-01-01

This paper uses a well-regarded, hardware based heat pump system model to investigate a two-stage economizing cycle for cold climate heat pump applications. The two-stage compression cycle has two variable-speed compressors. The high stage compressor was modelled using a compressor map, and the low stage compressor was experimentally studied using calorimeter testing. A single-stage heat pump system was modelled as the baseline. The system performance predictions are compared between the two-stage and single-stage systems. Special considerations for designing a cold climate heat pump are addressed at both the system and component levels.

Thermal design and verification of an instrument cooling system for infrared detectors utilizing the Oxford Stirling cycle refrigerator

NASA Technical Reports Server (NTRS)

Werrett, Stephen; Seivold, Alfred L.

1990-01-01

A detailed nodal computer model was developed to thermally represent the hardware, and sensitivity studies were performed to evaluate design parameters and orbital environmental effects of an instrument cooling system for IR detectors. Thermal-vacuum testing showed excellent performance of the system and a correspondence with math model predictions to within 3 K. Results show cold stage temperature sensitivity to cold patch backload, outer stage external surface emittance degradation, and cold stage emittance degradation, respectively. The increase in backload on the cold patch over the mission lifetime is anticipated to be less than 3.0 watts, which translates to less than a 3-degree increase in detector temperatures.

Thermoregulation and heat exchange in a nonuniform thermal environment during simulated extended EVA. Extravehicular activities

NASA Technical Reports Server (NTRS)

Koscheyev, V. S.; Leon, G. R.; Hubel, A.; Nelson, E. D.; Tranchida, D.

2000-01-01

BACKGROUND: Nonuniform heating and cooling of the body, a possibility during extended duration extravehicular activities (EVA), was studied by means of a specially designed water circulating garment that independently heated or cooled the right and left sides of the body. The purpose was to assess whether there was a generalized reaction on the finger in extreme contradictory temperatures on the body surface, as a potential heat status controller. METHOD: Eight subjects, six men and two women, were studied while wearing a sagittally divided experimental garment with hands exposed in the following conditions: Stage 1 baseline--total body garment inlet water temperature at 33 degrees C; Stage 2--left side inlet water temperature heated to 45 degrees C; right side cooled to 8 degrees C; Stage 3--left side inlet water temperature cooled to 8 degrees C, right side heated to 45 degrees C. RESULTS: Temperatures on each side of the body surface as well as ear canal temperature (Tec) showed statistically significant Stage x Side interactions, demonstrating responsiveness to the thermal manipulations. Right and left finger temperatures (Tfing) were not significantly different across stages; their dynamic across time was similar. Rectal temperature (Tre) was not reactive to prevailing cold on the body surface, and therefore not informative. Subjective perception of heat and cold on the left and right sides of the body was consistent with actual temperature manipulations. CONCLUSIONS: Tec and Tre estimates of internal temperature do not provide accurate data for evaluating overall thermal status in nonuniform thermal conditions on the body surface. The use of Tfing has significant potential in providing more accurate information on thermal status and as a feedback method for more precise thermal regulation of the astronaut within the EVA space suit.

Effects of covert subject actions on percent body fat by air-displacement plethsymography.

PubMed

Tegenkamp, Michelle H; Clark, R Randall; Schoeller, Dale A; Landry, Greg L

2011-07-01

Air-displacement plethysmography (ADP) is used for estimation of body composition, however, some individuals, such as athletes in weight classification sports, may use covert methods during ADP testing to alter their apparent percent body fat. The purpose of this study was to examine the effect of covert subject actions on percent body fat measured by ADP. Subjects underwent body composition analysis in the Bod Pod following the standard procedure using the manufacturer's guidelines. The subjects then underwent 8 more measurements while performing the following intentional manipulations: 4 breathing patterns altering lung volume, foot movement to disrupt air, hand cupping to trap air, and heat and cold exposure before entering the chamber. Increasing and decreasing lung volume during thoracic volume measurement and during body density measurement altered the percent body fat assessment (p < 0.001). High lung volume during thoracic gas measures overestimated fat by 3.7 ± 2.1 percentage points. Lowered lung volume during body volume measures overestimated body fat by an additional 2.2 ± 2.1 percentage points. The heat and cold exposure, tapping, and cupping treatments provided similar estimates of percent body fat when compared with the standard condition. These results demonstrate the subjects were able to covertly change their estimated ADP body composition value by altering breathing when compared with the standard condition. We recommend that sports conditioning coaches, athletic trainers, and technicians administering ADP should be aware of the potential effects of these covert actions. The individual responsible for administering ADP should remain vigilant during testing to detect deliberate altered breathing patterns by athletes in an effort to gain a competitive advantage by manipulating their body composition assessment.

Thermoregulation and heat exchange in a nonuniform thermal environment during simulated extended EVA. Extravehicular activities.

PubMed

Koscheyev, V S; Leon, G R; Hubel, A; Nelson, E D; Tranchida, D

2000-06-01

Nonuniform heating and cooling of the body, a possibility during extended duration extravehicular activities (EVA), was studied by means of a specially designed water circulating garment that independently heated or cooled the right and left sides of the body. The purpose was to assess whether there was a generalized reaction on the finger in extreme contradictory temperatures on the body surface, as a potential heat status controller. Eight subjects, six men and two women, were studied while wearing a sagittally divided experimental garment with hands exposed in the following conditions: Stage 1 baseline--total body garment inlet water temperature at 33 degrees C; Stage 2--left side inlet water temperature heated to 45 degrees C; right side cooled to 8 degrees C; Stage 3--left side inlet water temperature cooled to 8 degrees C, right side heated to 45 degrees C. Temperatures on each side of the body surface as well as ear canal temperature (Tec) showed statistically significant Stage x Side interactions, demonstrating responsiveness to the thermal manipulations. Right and left finger temperatures (Tfing) were not significantly different across stages; their dynamic across time was similar. Rectal temperature (Tre) was not reactive to prevailing cold on the body surface, and therefore not informative. Subjective perception of heat and cold on the left and right sides of the body was consistent with actual temperature manipulations. Tec and Tre estimates of internal temperature do not provide accurate data for evaluating overall thermal status in nonuniform thermal conditions on the body surface. The use of Tfing has significant potential in providing more accurate information on thermal status and as a feedback method for more precise thermal regulation of the astronaut within the EVA space suit.

[Adverse Event Trends Associated with Over-the-counter Combination Cold Remedy: Data Mining of the Japanese Adverse Drug Event Report Database].

PubMed

Sasaoka, Sayaka; Hatahira, Haruna; Hasegawa, Shiori; Motooka, Yumi; Fukuda, Akiho; Naganuma, Misa; Umetsu, Ryogo; Nakao, Satoshi; Shimauchi, Akari; Ueda, Natsumi; Hirade, Kouseki; Iguchi, Kazuhiro; Nakamura, Mitsuhiro

2018-01-01

 OTC combination cold remedies are widely used in Japan. In the present study, we aimed to evaluate the adverse event profiles of OTC combination cold remedy based on the components using the Japanese Adverse Drug Event Report (JADER) database. The JADER database contained 430587 reports between April 2004 and November 2016. 1084 adverse events associated with the use of OTC combination cold remedy were reported. Reporting odds ratio (ROR) was used to detect safety signals. The ROR values for "skin and subcutaneous tissue disorders", "hepatobiliary disorders", and "immune system disorders" stratified by system organ class of the Medical Dictionary for Regulatory Activities (MedDRA) were 9.82 (8.71-11.06), 2.63 (2.25-3.07), and 3.13 (2.63-3.74), respectively. OTC combination cold remedy containing acetaminophen exhibited a significantly higher reporting ratio for "hepatobiliary disorders" than OTC combination cold remedy without acetaminophen. We demonstrated the potential risk of OTC combination cold remedy in a real-life setting. Our results suggested that the monitoring of individuals using OTC combination cold remedy is important.

3D Laser Scanner for Underwater Manipulation.

PubMed

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

2018-04-04

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

Redundant arm control in a supervisory and shared control system

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Long, Mark K.

1992-01-01

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

Fuzzy logic control of telerobot manipulators

NASA Technical Reports Server (NTRS)

Franke, Ernest A.; Nedungadi, Ashok

1992-01-01

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

Design of the laser acupuncture therapeutic instrument.

PubMed

Li, Chengwei; Zhen, Huang

2006-01-01

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

Control of an automated mobile manipulator using artificial immune system

NASA Astrophysics Data System (ADS)

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

2016-03-01

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

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

PubMed Central

Hayashi, Misato

2015-01-01

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

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

PubMed

Hayashi, Misato

2015-11-19

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

Critical Research Needed to Examine the Environmental Impacts of Expanded Refrigeration on the Food System.

PubMed

Heard, Brent R; Miller, Shelie A

2016-11-15

The unbroken global refrigerated supply chain, or cold chain, is rapidly expanding in developing countries. In addition to increasing the energy intensity of the food system, the expanded cold chain may facilitate changes in the global diet, food waste patterns, food production and distribution, and shopping habits. The sustainability impacts of many of these changes chain are unknown, given the complexity of interacting social, economic, and technical factors. The current literature surrounding the environmental impacts of refrigeration in the food system focuses on the direct impacts of energy use and coolant emissions, and lacks a critical evaluation of the accompanying systemic societal changes that potentially carry greater environmental impacts. This review examines the cold chain as a transformative technology, identifying key intrinsic, indirect, and external factors that will favorably, unfavorably, or ambiguously impact the environmental profile of the food system. The review identifies key interactions and feedbacks between the cold chain, food production and consumption decisions, infrastructure development, and the global environment which are largely unexamined and in need of empirical data. Viewing cold chain expansion from this broader perspective is essential to understanding the changing impacts of the food system in developing countries and may inform future sustainability planning.

Transcriptional regulatory networks controlling woolliness in peach in response to preharvest gibberellin application and cold storage.

PubMed

Pegoraro, Camila; Tadiello, Alice; Girardi, César L; Chaves, Fábio C; Quecini, Vera; de Oliveira, Antonio Costa; Trainotti, Livio; Rombaldi, Cesar Valmor

2015-11-18

Postharvest fruit conservation relies on low temperatures and manipulations of hormone metabolism to maintain sensory properties. Peaches are susceptible to chilling injuries, such as 'woolliness' that is caused by juice loss leading to a 'wooly' fruit texture. Application of gibberellic acid at the initial stages of pit hardening impairs woolliness incidence, however the mechanisms controlling the response remain unknown. We have employed genome wide transcriptional profiling to investigate the effects of gibberellic acid application and cold storage on harvested peaches. Approximately half of the investigated genes exhibited significant differential expression in response to the treatments. Cellular and developmental process gene ontologies were overrepresented among the differentially regulated genes, whereas sequences in cell death and immune response categories were underrepresented. Gene set enrichment demonstrated a predominant role of cold storage in repressing the transcription of genes associated to cell wall metabolism. In contrast, genes involved in hormone responses exhibited a more complex transcriptional response, indicating an extensive network of crosstalk between hormone signaling and low temperatures. Time course transcriptional analyses demonstrate the large contribution of gene expression regulation on the biochemical changes leading to woolliness in peach. Overall, our results provide insights on the mechanisms controlling the complex phenotypes associated to postharvest textural changes in peach and suggest that hormone mediated reprogramming previous to pit hardening affects the onset of chilling injuries.

Production of cold beams of ND{sub 3} with variable rotational state distributions by electrostatic extraction of He and Ne buffer-gas-cooled beams

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

Twyman, Kathryn S.; Bell, Martin T.; Heazlewood, Brianna R.

2014-07-14

The measurement of the rotational state distribution of a velocity-selected, buffer-gas-cooled beam of ND{sub 3} is described. In an apparatus recently constructed to study cold ion-molecule collisions, the ND{sub 3} beam is extracted from a cryogenically cooled buffer-gas cell using a 2.15 m long electrostatic quadrupole guide with three 90° bends. (2+1) resonance enhanced multiphoton ionization spectra of molecules exiting the guide show that beams of ND{sub 3} can be produced with rotational state populations corresponding to approximately T{sub rot} = 9–18 K, achieved through manipulation of the temperature of the buffer-gas cell (operated at 6 K or 17 K),more » the identity of the buffer gas (He or Ne), or the relative densities of the buffer gas and ND{sub 3}. The translational temperature of the guided ND{sub 3} is found to be similar in a 6 K helium and 17 K neon buffer-gas cell (peak kinetic energies of 6.92(0.13) K and 5.90(0.01) K, respectively). The characterization of this cold-molecule source provides an opportunity for the first experimental investigations into the rotational dependence of reaction cross sections in low temperature collisions.« less

Dielectrophoretic manipulation and separation of microparticles using microarray dot electrodes.

PubMed

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

2014-04-03

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

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

PubMed

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

2018-06-01

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

An anthropomorphic master-slave manipulator system.

NASA Technical Reports Server (NTRS)

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

1973-01-01

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

Shared Autonomy Manipulation Data with a Seabotix vLBV300

DOE Data Explorer

Hollinger, Geoffrey; Lawrance, Nicholas

2017-06-19

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

Resource Prospector Propulsion Cold Flow Test

NASA Technical Reports Server (NTRS)

Williams, Hunter; Pederson, Kevin; Dervan, Melanie; Holt, Kimberly; Jernigan, Frankie; Trinh, Huu; Flores, Sam

2014-01-01

For the past year, NASA Marshall Space Flight Center and Johnson Space Center have been working on a government version of a lunar lander design for the Resource Prospector Mission. A propulsion cold flow test system, representing an early flight design of the propulsion system, has been fabricated. The primary objective of the cold flow test is to simulate the Resource Prospector propulsion system operation through water flow testing and obtain data for anchoring analytical models. This effort will also provide an opportunity to develop a propulsion system mockup to examine hardware integration to a flight structure. This paper will report the work progress of the propulsion cold flow test system development and test preparation. At the time this paper is written, the initial waterhammer testing is underway. The initial assessment of the test data suggests that the results are as expected and have a similar trend with the pretest prediction. The test results will be reported in a future conference.

Adipose tissue development during early life: novel insights into energy balance from small and large mammals.

PubMed

Symonds, Michael E; Pope, Mark; Budge, Helen

2012-08-01

Since the rediscovery of brown adipose tissue (BAT) in adult human subjects in 2007, there has been a dramatic resurgence in research interest in its role in heat production and energy balance. This has coincided with a reassessment of the origins of BAT and the suggestion that brown preadipocytes could share a common lineage with skeletal myoblasts. In precocial newborns, such as sheep, the onset of non-shivering thermogenesis through activation of the BAT-specific uncoupling protein 1 (UCP1) is essential for effective adaptation to the cold exposure of the extra-uterine environment. This is mediated by a combination of endocrine adaptations which accompany normal parturition at birth and further endocrine stimulation from the mother's milk. Three distinct adipose depots have been identified in all species studied to date. These contain either primarily white, primarily brown or a mix of brown and white adipocytes. The latter tissue type is present, at least, in the fetus and, thereafter, appears to take on the characteristics of white adipose tissue during postnatal development. It is becoming apparent that a range of organ-specific mechanisms can promote UCP1 expression. They include the liver, heart and skeletal muscle, and involve unique endocrine systems that are stimulated by cold exposure and/or exercise. These multiple pathways that promote BAT function vary with age and between species that may determine the potential to be manipulated in early life. Such interventions could modify, or reverse, the normal ontogenic pathway by which BAT disappears after birth, thereby facilitating BAT thermogenesis through the life cycle.

A primer on clothing systems for cold-weather field work

USGS Publications Warehouse

Denner, Jon

1990-01-01

Conducting field work in cold weather is a demanding task. The most important safety consideration for field personnel is to maintain normal body temperature and avoid hypothermia.The human body adjusts to cold temperatures through different physiological processes. Heat production is enhanced by increases in the rates of basal metabolism, specific dynamic action, and physical exercise, and heat loss is reduced by vasoconstriction.Physiological adaptations alone are inadequate to stop rapid heat loss in cold temperatures. Additional insulation in the form of cold-weather clothing is necessary to retain heat.The most practical method of dressing for winter conditions is the layering system. Wearing multiple thin layers allows one to fine tune the insulation needed for different temperatures and activity levels.

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

NASA Astrophysics Data System (ADS)

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

2017-08-01

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

Neural Substrate of Cold-Seeking Behavior in Endotoxin Shock

PubMed Central

Almeida, Maria C; Steiner, Alexandre A; Branco, Luiz G S; Romanovsky, Andrej A

2006-01-01

Systemic inflammation is a leading cause of hospital death. Mild systemic inflammation is accompanied by warmth-seeking behavior (and fever), whereas severe inflammation is associated with cold-seeking behavior (and hypothermia). Both behaviors are adaptive. Which brain structures mediate which behavior is unknown. The involvement of hypothalamic structures, namely, the preoptic area (POA), paraventricular nucleus (PVH), or dorsomedial nucleus (DMH), in thermoregulatory behaviors associated with endotoxin (lipopolysaccharide [LPS])-induced systemic inflammation was studied in rats. The rats were allowed to select their thermal environment by freely moving in a thermogradient apparatus. A low intravenous dose of Escherichia coli LPS (10 µg/kg) caused warmth-seeking behavior, whereas a high, shock-inducing dose (5,000 µg/kg) caused cold-seeking behavior. Bilateral electrocoagulation of the PVH or DMH, but not of the POA, prevented this cold-seeking response. Lesioning the DMH with ibotenic acid, an excitotoxin that destroys neuronal bodies but spares fibers of passage, also prevented LPS-induced cold-seeking behavior; lesioning the PVH with ibotenate did not affect it. Lesion of no structure affected cold-seeking behavior induced by heat exposure or by pharmacological stimulation of the transient receptor potential (TRP) vanilloid-1 channel (“warmth receptor”). Nor did any lesion affect warmth-seeking behavior induced by a low dose of LPS, cold exposure, or pharmacological stimulation of the TRP melastatin-8 (“cold receptor”). We conclude that LPS-induced cold-seeking response is mediated by neuronal bodies located in the DMH and neural fibers passing through the PVH. These are the first two landmarks on the map of the circuitry of cold-seeking behavior associated with endotoxin shock. PMID:17183631

Commissioning and operational results of helium refrigeration system at JLab for the 12GeV upgrade

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

Knudsen, Peter N.; Ganni, Venkatarao; Dixon, Kelly D.

The new 4.5 K refrigerator system at the Jefferson Lab (JLab) Central Helium Liquefier (CHL-2) for the 12 GeV upgrade was commissioned in late spring of 2013, following the commissioning of the new compressor system, and has been supporting 12 GeV LINAC commissioning since that time. Six design modes were tested during commissioning, consisting of a maximum capacity, nominal capacity, maximum liquefaction, maximum refrigeration, maximum fill and a stand-by/reduced load condition. The maximum capacity was designed to support a 238 g/s, 30 K and 1.16 bar cold compressor return flow, a 15 g/s, 4.5 K liquefaction load and a 12.6more » kW, 35-55 K shield load. The other modes were selected to ensure proper component sizing and selection to allow the cold box to operate over a wide range of conditions and capacities. The cold box system is comprised of two physically independent cold boxes with interconnecting transfer-lines. The outside (upper) 300-60 K vertical cold box has no turbines and incorporates a liquid nitrogen pre-cooler and 80-K beds. The inside (lower) 60-4.5 K horizontal cold box houses seven turbines that are configured in four expansion stages including one Joule-Thompson expander and a 20-K bed. The helium compression system has five compressors to support three pressure levels in the cold box. This paper will summarize the analysis of the test data obtained over the wide range of operating conditions and capacities which were tested.« less

Final Technical Report: "New Tools for Physics with Low-energy Antimatter"

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

Surko, Clifford M.

2013-10-02

The objective of this research is to develop new tools to manipulate antimatter plasmas and to tailor them for specific scientific and technical uses. The work has two specific objectives. One is establishing the limits for positron accumulation and confinement in the form of single-component plasmas in Penning-Malmberg traps. This technique underpins a wealth of antimatter applications. A second objective is to develop an understanding of the limits for formation of cold, bright positron beams. The research done in this grant focused on particular facets of these goals. One focus was extracting tailored beams from a high-field Penning-Malmberg trap frommore » the magnetic field to form new kinds of high-quality electrostatic beams. A second goal was to develop the technology for colder trap-based beams using a cryogenically cooled buffer gas. A third objective was to conduct the basic plasma research to develop a new high-capacity multicell trap (MCT) for research with antimatter. Progress is reported here in all three areas. While the goal of this research is to develop new tools for manipulating positrons (i.e., the antiparticles of electrons), much of the work was done with test electron plasmas for increased data rate. Some of the techniques developed in the course of this work are also relevant to the manipulation and use of antiprotons.« less

Improving cold chain systems: Challenges and solutions.

PubMed

Ashok, Ashvin; Brison, Michael; LeTallec, Yann

2017-04-19

While a number of new vaccines have been rolled out across the developing world (with more vaccines in the pipeline), cold chain systems are struggling to efficiently support national immunization programs in ensuring the availability of safe and potent vaccines. This article reflects on the Clinton Health Access Initiative, Inc. (CHAI) experience working since 2010 with national immunization programs and partners to improve vaccines cold chains in 10 countries-Ethiopia, Nigeria, Kenya, Malawi, Tanzania, Uganda, Cameroon, Mozambique, Lesotho and India - to identify the root causes and solutions for three common issues limiting cold chain performance. Key recommendations include: Collectively, the solutions detailed in this article chart a path to substantially improving the performance of the cold chain. Combined with an enabling global and in-country environment, it is possible to eliminate cold chain issues as a substantial barrier to effective and full immunization coverage over the next few years. Copyright © 2017. Published by Elsevier Ltd.

LADEE Propulsion System Cold Flow Test

NASA Technical Reports Server (NTRS)

Williams, Jonathan Hunter; Chapman, Jack M.; Trinh, Hau, P.; Bell, James H.

2013-01-01

Lunar Atmosphere and Dust Environment Explorer (LADEE) is a NASA mission that will orbit the Moon. Its main objective is to characterize the atmosphere and lunar dust environment. The spacecraft development is being led by NASA Ames Research Center and scheduled for launch in 2013. The LADEE spacecraft will be operated with a bi-propellant hypergolic propulsion system using MMH and NTO as the fuel and oxidizer, respectively. The propulsion system utilizes flight-proven hardware on major components. The propulsion layout is composed of one 100-lbf main thruster and four 5-lbf RCS thrusters. The propellants are stored in four tanks (two parallel-connected tanks per propellant component). The propellants will be pressurized by regulated helium. A simulated propulsion system has been built for conducting cold flow test series to characterize the transient fluid flow of the propulsion system feed lines and to verify the critical operation modes, such as system priming, waterhammer, and crucial mission duty cycles. Propellant drainage differential between propellant tanks will also be assessed. Since the oxidizer feed line system has a higher flow demand than the fuel system does, the cold flow test focuses on the oxidizer system. The objective of the cold flow test is to simulate the LADEE propulsion fluid flow operation through water cold flow test and to obtain data for anchoring analytical models. The models will be used to predict the transient and steady state flow behaviors in the actual flight operations. The test activities, including the simulated propulsion test article, cold flow test, and analytical modeling, are being performed at NASA Marshall Space Flight Center. At the time of the abstract submission, the test article checkout is being performed. The test series will be completed by November, 2012

Thermal balance testing of MSAT 2 spacecraft

NASA Technical Reports Server (NTRS)

Samson, Serge; Choueiry, Elie

1994-01-01

The present work reports on the recently completed infrared thermal balance/thermal vacuum testing of a MSAT satellite, the first satellite to provide mobile communications service for all of continental North America. MSAT is a two spacecraft program, using a three-axis stabilized Hughes HS-601 series Bus as the vehicle for the Canadian designed Payload. The thermal tests which were performed at the Canadian Space Agency's David Florida Laboratory in Ottawa, Canada, lasted approximately 35 days. The infrared (IR) heating rig was designed to provide radiant heat inputs into seven spacecraft zones during Thermal Vacuum (TV) testing. The TV test was divided into multiple phases. It began with a thermal balance cold phase, followed by a thermal cold cycle and a hot balance phase, complemented by a thermal hot cycle to finish with a thermal cycle with continuous monitoring of the Bus and Payload. The spacecraft's external heat fluxes were provided by IR lamp sources. To ensure flux uniformity, highly reflective baffles and IR East and West faces; the Earth facing (Nadir); and the inside of the thrust cylinder. The aft-end panel heat fluxes were provided by a heated LN2 shroud. The radiation flux intensity on the spacecraft zones from the various rig elements was measured using Monitored Background Radiometers (MBR's) and compared with direct calculations and with pretest predictions. The temperature measurement system was based on Uniform Temperature References (UTR's) located inside the chamber such that all feedthroughs were copper-copper. This system was devised to achieve a temperature measurement accuracy of plus/minus 0.5 C for over 850 thermocouples used in the test. A PC-(QNX-based) based real-time data acquisition system was utilized to provide continuous monitoring of all channels based on a 30-second time scan. In addition, the data acquisition system was able to retrieve telemetry stream from the Satellite Test Equipments (STE) station for real-time data manipulation. Preliminary results showed the test to be successful from both the thermal balance side and the electrical testing side.

Manipulators inspired by the tongue of the chameleon.

PubMed

Debray, Alexis

2011-06-01

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

Reducing Actuator Requirements in Continuum Robots Through Optimized Cable Routing.

PubMed

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

2018-02-01

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

Thermo-mechanical Design Methodology for ITER Cryodistribution cold boxes

NASA Astrophysics Data System (ADS)

Shukla, Vinit; Patel, Pratik; Das, Jotirmoy; Vaghela, Hitensinh; Bhattacharya, Ritendra; Shah, Nitin; Choukekar, Ketan; Chang, Hyun-Sik; Sarkar, Biswanath

2017-04-01

The ITER cryo-distribution (CD) system is in charge of proper distribution of the cryogen at required mass flow rate, pressure and temperature level to the users; namely the superconducting (SC) magnets and cryopumps (CPs). The CD system is also capable to use the magnet structures as a thermal buffer in order to operate the cryo-plant as much as possible at a steady state condition. A typical CD cold box is equipped with mainly liquid helium (LHe) bath, heat exchangers (HX’s), cryogenic valves, filter, heaters, cold circulator, cold compressor and process piping. The various load combinations which are likely to occur during the life cycle of the CD cold boxes are imposed on the representative model and impacts on the system are analyzed. This study shows that break of insulation vacuum during nominal operation (NO) along with seismic event (Seismic Level-2) is the most stringent load combination having maximum stress of 224 MPa. However, NO+SMHV (Séismes Maximaux Historiquement Vraisemblables = Maximum Historically Probable Earthquakes) load combination is having the least safety margin and will lead the basis of the design of the CD system and its sub components. This paper presents and compares the results of different load combinations which are likely to occur on a typical CD cold box.

Effect of Extreme Cold Treatment on Morphology and Behavior of Hydrogels and Microgels (Poster Session)

DTIC Science & Technology

2017-08-20

UNCLASSIFIED Effect of Extreme Cold Treatment on Morphology and Behavior of Hydrogels and Microgels BACKGROUND • Stimuli responsive hydrogel systems...particularly for cold weather and Arctic uniforms, • The effect of extreme cold on gel responsiveness however is not well studied • This project seeks...to understand the effect of cold temperature ( down to -80 ° C) on hydrogel and microgel particles properties and response to thermal stimuli • We

Robotic Sample Manipulator for Handling Astromaterials Inside the Geolab Microgravity Glovebox

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1982-01-01

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

Variation of DNA Methylome of Zebrafish Cells under Cold Pressure

PubMed Central

Xu, Qiongqiong; Luo, Juntao; Shi, Yingdi; Li, Xiaoxia; Yan, Xiaonan; Zhang, Junfang

2016-01-01

DNA methylation is an essential epigenetic mechanism involved in multiple biological processes. However, the relationship between DNA methylation and cold acclimation remains poorly understood. In this study, Methylated DNA Immunoprecipitation Sequencing (MeDIP-seq) was performed to reveal a genome-wide methylation profile of zebrafish (Danio rerio) embryonic fibroblast cells (ZF4) and its variation under cold pressure. MeDIP-seq assay was conducted with ZF4 cells cultured at appropriate temperature of 28°C and at low temperature of 18°C for 5 (short-term) and 30 (long-term) days, respectively. Our data showed that DNA methylation level of whole genome increased after a short-term cold exposure and decreased after a long-term cold exposure. It is interesting that metabolism of folate pathway is significantly hypomethylated after short-term cold exposure, which is consistent with the increased DNA methylation level. 21% of methylation peaks were significantly altered after cold treatment. About 8% of altered DNA methylation peaks are located in promoter regions, while the majority of them are located in non-coding regions. Methylation of genes involved in multiple cold responsive biological processes were significantly affected, such as anti-oxidant system, apoptosis, development, chromatin modifying and immune system suggesting that those processes are responsive to cold stress through regulation of DNA methylation. Our data indicate the involvement of DNA methylation in cellular response to cold pressure, and put a new insight into the genome-wide epigenetic regulation under cold pressure. PMID:27494266

Interactive Digital Image Manipulation System (IDIMS)

NASA Technical Reports Server (NTRS)

Fleming, M. D.

1981-01-01

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

Finding the Cold Needle in a Warm Haystack: Infrared Imaging Applied to Locating Cryo-cooled Crystals in Loops

NASA Technical Reports Server (NTRS)

Snell, Edward; vanderWoerd, Mark

2003-01-01

Thermally imaging the cryocooling processes of crystals has been demonstrated showing the progression of a cold wave through a crystal from the face closest to the origin of the coldstream ending at the point furthest away. During these studies large volume crystals were clearly distinguished from the loop holding them. Large volume crystals, used for neutron studies, were chosen deliberately to enhance the imaging. The different infrared transmission and reflectance properties of the crystal in comparison to the cryo-protectant are thought to be the parameter that produces the contrast making the crystal visible. As an application of the technology to locating crystals, more small crystals of lysozyme and a bFGF/dna complex were cryo-protected and imaged in large loops. The crystals were clearly distinguished from the vitrified solution. In the case of the bFGF/dna complex the illumination had to be carefully manipulated to enable the crystal to be seen in the visible spectrum. These preliminary results will be presented along with advantages and disadvantages of the technique and a discussion of how it might be applied.

[Neurousurpation--the expropriation and suppression of Dölle's neurobiological pioneer work].

PubMed

Bertram, Wulf

2011-08-01

The discovery of a hitherto unpublished dissertational thesis in the archive of a publishing house has lead to a lost publication by Ernst August Dölle. In this manuscript, the author reports on the stimulation of a cerebral libido area in the dog, long before Olds and Milner published their work on the discovery of the rewarding area. The reasons for the suppression of this early publication by Dölle are investigated and are ascribed to an effort to use his neurobiologic research for secret mental manipulation experiments of the CIA at the beginning of the Cold War. George Thieme Verlag KG Stuttgart · New York.

Magnetic conveyor belt for transporting and merging trapped atom clouds.

PubMed

Hänsel, W; Reichel, J; Hommelhoff, P; Hänsch, T W

2001-01-22

We demonstrate an integrated magnetic device which transports cold atoms near a surface with very high positioning accuracy. Time-dependent currents in a lithographic conductor pattern create a moving chain of potential wells; atoms are transported in these wells while remaining confined in all three dimensions. We achieve mean fluxes up to 10(6) s(-1) with a negligible heating rate. An extension of this device allows merging of atom clouds by unification of two Ioffe-Pritchard potentials. The unification, which we demonstrate experimentally, can be performed without loss of phase space density. This novel, all-magnetic atom manipulation offers exciting perspectives, such as trapped-atom interferometry.

Laser Controlled Tunneling in a Vertical Optical Lattice

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

Beaufils, Q.; Tackmann, G.; Wang, X.

2011-05-27

Raman laser pulses are used to induce coherent tunneling between neighboring sites of a vertical 1D optical lattice. Such tunneling occurs when the detuning of a probe laser from the atomic transition frequency matches multiples of the Bloch frequency, allowing for a spectroscopic control of the coupling between Wannier-Stark (WS) states. In particular, we prepare coherent superpositions of WS states of adjacent sites, and investigate the coherence time of these superpositions by realizing a spatial interferometer. This scheme provides a powerful tool for coherent manipulation of external degrees of freedom of cold atoms, which is a key issue for quantummore » information processing.« less

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

NASA Technical Reports Server (NTRS)

1975-01-01

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

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

NASA Technical Reports Server (NTRS)

Kumar, L.

1978-01-01

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

Structure design and simulation research of active magnetic bearing for helium centrifugal cold compressor

NASA Astrophysics Data System (ADS)

Y Zhang, S.; Pan, W.; Wei, C. B.; Wu, J. H.

2017-12-01

Helium centrifugal cold compressors are utilized to pump gaseous helium from saturated liquid helium tank to obtain super-fluid helium in cryogenic refrigeration system, which is now being developed at TIPC, CAS. Active magnetic bearing (AMB) is replacing traditional oil-fed bearing as the optimal supporting assembly for cold compressor because of its many advantages: free of contact, high rotation speed, no lubrication and so on. In this paper, five degrees of freedom for AMB are developed for the helium centrifugal cold compressor application. The structure parameters of the axial and radial magnetic bearings as well as hardware and software of the electronic control system is discussed in detail. Based on modal analysis and critical speeds calculation, a control strategy combining PID arithmetic with other phase compensators is proposed. Simulation results demonstrate that the control method not only stables AMB system but also guarantees good performance of closed-loop behaviour. The prior research work offers important base and experience for test and application of AMB experimental platform for system centrifugal cold compressor.

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

NASA Technical Reports Server (NTRS)

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

1984-01-01

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

Application of identification techniques to remote manipulator system flight data

NASA Technical Reports Server (NTRS)

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

1983-01-01

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

Evaluating the efficiency of spectral resolution of univariate methods manipulating ratio spectra and comparing to multivariate methods: An application to ternary mixture in common cold preparation

NASA Astrophysics Data System (ADS)

Moustafa, Azza Aziz; Salem, Hesham; Hegazy, Maha; Ali, Omnia

2015-02-01

Simple, accurate, and selective methods have been developed and validated for simultaneous determination of a ternary mixture of Chlorpheniramine maleate (CPM), Pseudoephedrine HCl (PSE) and Ibuprofen (IBF), in tablet dosage form. Four univariate methods manipulating ratio spectra were applied, method A is the double divisor-ratio difference spectrophotometric method (DD-RD). Method B is double divisor-derivative ratio spectrophotometric method (DD-RD). Method C is derivative ratio spectrum-zero crossing method (DRZC), while method D is mean centering of ratio spectra (MCR). Two multivariate methods were also developed and validated, methods E and F are Principal Component Regression (PCR) and Partial Least Squares (PLSs). The proposed methods have the advantage of simultaneous determination of the mentioned drugs without prior separation steps. They were successfully applied to laboratory-prepared mixtures and to commercial pharmaceutical preparation without any interference from additives. The proposed methods were validated according to the ICH guidelines. The obtained results were statistically compared with the official methods where no significant difference was observed regarding both accuracy and precision.

An integrated open-cavity system for magnetic bead manipulation.

PubMed

Abu-Nimeh, F T; Salem, F M

2013-02-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-03-01

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

Study of Cycling Air-Cooling System with a Cold Accumulator for Micro Gas-Turbine Installations

NASA Astrophysics Data System (ADS)

Ochkov, V. F.; Stepanova, T. A.; Katenev, G. M.; Tumanovskii, V. A.; Borisova, P. N.

2018-05-01

Using the cycling air-cooling systems of the CTIC type (Combustion Turbine Inlet Cooling) with a cold accumulator in a micro gas-turbine installation (micro-GTI) to preserve its capacity under the seasonal temperature rise of outside air is described. Water ice is used as the body-storage in the accumulators, and ice water (water at 0.5-1.0°C) is used as the body that cools air. The ice water circulates between the accumulator and the air-water heat exchanger. The cold accumulator model with renewable ice resources is considered. The model contains the heat-exchanging tube lattice-evaporator covered with ice. The lattice is cross-flowed with water. The criterion heat exchange equation that describes the process in the cold accumulator under consideration is presented. The calculations of duration of its active operation were performed. The dependence of cold accumulator service life on water circulation rate was evaluated. The adequacy of the design model was confirmed experimentally in the mock-up of the cold accumulator with a refrigerating machine periodically creating a 200 kg ice reserve in the reservoir-storage. The design model makes it possible to determine the weight of ice reserve of the discharged cold accumulator for cooling the cycle air in the operation of a C-30 type micro- GTI produced by the Capstone Company or micro-GTIs of other capacities. Recommendations for increasing the working capacity of cold accumulators of CTIC-systems of a micro-GTI were made.

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

PubMed

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

2017-11-01

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

Electronic Equipment Cold Plates

DTIC Science & Technology

1976-04-01

using fans or blowers to force the air through the cooling device». ^J^lJ^^i 5!°^ it ia ’«"^"o^ve. nonto«ic. nonfla—able, *nd possesses good ...Techniques GENERAL THERMAL CONTROL SYSTEMS AND THEIR REgUIREMENTS FLON DISTRIBUTION IN MANIFOLDS THE COLD PLATE IA ,! 1 3 S 12 15 33 32 32... IA .1 132 132 132 155 169 179 183 r (1) Air-Cooled Cold Plate No. (2) Air-Cooled Cold Plate No. (3) Air-cooled Cold Plate No. (4) Air-Cooled

The influence of atmospheric cold fronts on larval supply and settlement of intertidal invertebrates: Case studies in the Cabo Frio coastal upwelling system (SE Brazil)

NASA Astrophysics Data System (ADS)

de Azevedo Mazzuco, Ana Carolina; Christofoletti, Ronaldo Adriano; Coutinho, Ricardo; Ciotti, Áurea Maria

2018-07-01

Atmospheric fronts such as cold fronts are dynamic mesoscale systems with potential effects on the ecology of marine communities. In this study, larval dynamics in subtropical rocky shore communities were evaluated under the influence of atmospheric frontal systems. The hypothesis is that these systems may promote favorable conditions for larval supply and settlement regardless of taxa or site, and that supply and settlement vary in association with fluctuations of meteorological and oceanographic conditions driven by the fronts. This study was carried out in the Southeastern Brazil littoral region under the influence of coastal upwelling events (Cabo Frio) and subject to weekly atmospheric frontal systems, cold polar fronts. The spatial and temporal variability of larvae and settlers of barnacles and mussels were assessed by collecting daily samples at three sites before, during and after atmospheric cold fronts, and the atmospheric and pelagic conditions were monitored. Contrasts among rates, events and sites were tested using discriminant function analysis, analyses of variance and correlation analysis. Atmospheric frontal systems were considered to influence the sites when wind direction changed to SW-S-SE and persisted for at least a day, and waves from SW-SW-SE increased in height. The results corroborate the hypothesis that cold fronts are important regulators of larval dynamics and intertidal communities on rocky shores of the studied area. Both larval supply and settlement were highly correlated with fluctuations in wind speed and direction. Higher settlement rates of barnacles occurred one-day prior, or on the onset of cold fronts. Mussels species tended to settle during all conditions, but on average, settlement rates were higher during the cold fronts. Some temporal trends were site specific and variability was detected among taxa and larval stages. Our findings suggest that mesoscale oceanographic/atmospheric systems are particularly relevant on the regulation and potentially forecasting of rocky shore invertebrates' ecology.

On-demand Droplet Manipulation via Triboelectrification

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Cold Weather Admixture Systems Demonstration at Fort Wainwright, Alaska

DTIC Science & Technology

2010-08-01

3, and 5, the remaining two test sec- tions (Test Sections 2 and 4) were readied for concrete . The interior formwork was removed, and the rebar was...Washington, DC 20314-1000 ERDC/CRREL TR-10-6 ii Abstract: Cold Weather Admixture Systems (CWAS) is a new approach to cold weather concreting that...incorporates suites of commercially avail- able chemical admixtures in concrete mixes. When used in combination, these admixtures depress the freezing

Computer Simulations: A Tool to Predict Experimental Parameters with Cold Atoms

DTIC Science & Technology

2013-04-01

Department of the Army position unless so designated by other authorized documents. Citation of manufacturer’s or trade names does not constitute an...specifically designed to work with cold atom systems and atom chips, and is already able to compute their key properties. We simulate our experimental...also allows one to choose different physics and define the interdependencies between them. It is not specifically designed for cold atom systems or

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

Cold Climate and Retrofit Applications for Air-to-Air Heat Pumps

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

Baxter, Van D

2015-01-01

Air source heat pumps (ASHP) including air-to-air ASHPs are easily applied to buildings almost anywhere for new construction as well as retrofits or renovations. They are widespread in milder climate regions but their use in cold regions is hampered due to low heating efficiency and capacity at cold outdoor temperatures. Retrofitting air-to-air ASHPs to existing buildings is relatively easy if the building already has an air distribution system. For buildings without such systems alternative approaches are necessary. Examples are ductless, minisplit heat pumps or central heat pumps coupled to small diameter, high velocity (SDHV) air distribution systems. This article presentsmore » two subjects: 1) a summary of R&D investigations aimed at improving the cold weather performance of ASHPs, and 2) a brief discussion of building retrofit options using air-to-air ASHP systems.« less

Non-adiabatic quantum state preparation and quantum state transport in chains of Rydberg atoms

NASA Astrophysics Data System (ADS)

Ostmann, Maike; Minář, Jiří; Marcuzzi, Matteo; Levi, Emanuele; Lesanovsky, Igor

2017-12-01

Motivated by recent progress in the experimental manipulation of cold atoms in optical lattices, we study three different protocols for non-adiabatic quantum state preparation and state transport in chains of Rydberg atoms. The protocols we discuss are based on the blockade mechanism between atoms which, when excited to a Rydberg state, interact through a van der Waals potential, and rely on single-site addressing. Specifically, we discuss protocols for efficient creation of an antiferromagnetic GHZ state, a class of matrix product states including a so-called Rydberg crystal and for the state transport of a single-qubit quantum state between two ends of a chain of atoms. We identify system parameters allowing for the operation of the protocols on timescales shorter than the lifetime of the Rydberg states while yielding high fidelity output states. We discuss the effect of positional disorder on the resulting states and comment on limitations due to other sources of noise such as radiative decay of the Rydberg states. The proposed protocols provide a testbed for benchmarking the performance of quantum information processing platforms based on Rydberg atoms.

Algal-Based Renewable Energy for Nevada

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

Fritsen, Christian

2017-03-31

To help in the overall evaluation of the potential for growing algal biomass in high productivity systems, we conducted a study that evaluated water from geothermal sources and cultivated mixed consortia from hot springs in Nevada, we evaluated their growth at moderately high varying temperatures and then evaluated potential manipulations that could possibly increase their biomass and oleaginous production. Studies were conducted at scales ranging from the laboratory benchtop to raceways in field settings. Mixed consortia were readily grown at all scales and growth could be maintained in Nevada year round. Moderate productivities were attained even during the shoulder seasons-more » where temperature control was maintained by hot water and seasonally cold temperatures when there was still plentiful solar radiation. The results enhance the prospects for economic feasibility of developing algal based industries in areas with geothermal energy or even other large alternative sources of heat that are not being used for other purposes. The public may benefit from such development as a means for economic development as well as development of industries for alternative energy and products that do not rely on fossil fuels.« less

Quantum storage of orbital angular momentum entanglement in cold atomic ensembles

NASA Astrophysics Data System (ADS)

Shi, Bao-Sen; Ding, Dong-Sheng; Zhang, Wei

2018-02-01

Electromagnetic waves have both spin momentum and orbital angular momentum (OAM). Light carrying OAM has broad applications in micro-particle manipulation, high-precision optical metrology, and potential high-capacity optical communications. In the concept of quantum information, a photon encoded with information in its OAM degree of freedom enables quantum networks to carry much more information and increase their channel capacity greatly compared with those of current technology because of the inherent infinite dimensions for OAM. Quantum memories are indispensable to construct quantum networks. Storing OAM states has attracted considerable attention recently, and many important advances in this direction have been achieved during the past few years. Here we review recent experimental realizations of quantum memories using OAM states, including OAM qubits and qutrits at true single photon level, OAM states entangled in a two-dimensional or a high-dimensional space, hyperentanglement and hybrid entanglement consisting of OAM and other degree of freedom in a physical system. We believe that all achievements described here are very helpful to study quantum information encoded in a high-dimensional space.

Direct calorimetry of free-moving eels with manipulated thyroid status

NASA Astrophysics Data System (ADS)

van Ginneken, Vincent; Ballieux, Bart; Antonissen, Erik; van der Linden, Rob; Gluvers, Ab; van den Thillart, Guido

2007-02-01

In birds and mammals, the thyroid gland secretes the iodothyronine hormones of which tetraiodothyronine (T4) is less active than triiodothyronine (T3). The action of T3 and T4 is calorigenic and is involved in the control of metabolic rate. Across all vertebrates, thyroid hormones also play a major role in differentiation, development and growth. Although the fish thyroidal system has been researched extensively, its role in thermogenesis is unclear. In this study, we measured overall heat production to an accuracy of 0.1 mW by direct calorimetry in a free-moving European eel ( Anguilla anguilla L.) with different thyroid status. Hyperthyroidism was induced by injection of T3 and T4, and hypothyroidism was induced with phenylthiourea. The results show for the first time at the organismal level, using direct calorimetry, that neither overall heat production nor overall oxygen consumption in eels is affected by hyperthyroidism. Therefore, we conclude that the thermogenic metabolism-stimulating effect of thyroid hormones (TH) is not present with a cold-blooded fish species like the European eel. This supports the concept that TH does not stimulate thermogenesis in poikilothermic species.

Dynamic coupling of underactuated manipulators

NASA Astrophysics Data System (ADS)

Bergerman, Marcel; Lee, Christopher; Xu, Yangsheng

1994-08-01

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

System And Method Of Applying Energetic Ions For Sterlization

DOEpatents

Schmidt, John A.

2002-06-11

A method of sterilization of a container is provided whereby a cold plasma is caused to be disposed near a surface to be sterilized, and the cold plasma is then subjected to a pulsed voltage differential for producing energized ions in the plasma. Those energized ions then operate to achieve spore destruction on the surface to be sterilized. Further, a system for sterilization of a container which includes a conductive or non-conductive container, a cold plasma in proximity to the container, and a high voltage source for delivering a pulsed voltage differential between an electrode and the container and across the cold plasma, is provided.

Miniaturized Lab System for Future Cold Atom Experiments in Microgravity

NASA Astrophysics Data System (ADS)

Kulas, Sascha; Vogt, Christian; Resch, Andreas; Hartwig, Jonas; Ganske, Sven; Matthias, Jonas; Schlippert, Dennis; Wendrich, Thijs; Ertmer, Wolfgang; Maria Rasel, Ernst; Damjanic, Marcin; Weßels, Peter; Kohfeldt, Anja; Luvsandamdin, Erdenetsetseg; Schiemangk, Max; Grzeschik, Christoph; Krutzik, Markus; Wicht, Andreas; Peters, Achim; Herrmann, Sven; Lämmerzahl, Claus

2017-02-01

We present the technical realization of a compact system for performing experiments with cold 87Rb and 39K atoms in microgravity in the future. The whole system fits into a capsule to be used in the drop tower Bremen. One of the advantages of a microgravity environment is long time evolution of atomic clouds which yields higher sensitivities in atom interferometer measurements. We give a full description of the system containing an experimental chamber with ultra-high vacuum conditions, miniaturized laser systems, a high-power thulium-doped fiber laser, the electronics and the power management. In a two-stage magneto-optical trap atoms should be cooled to the low μK regime. The thulium-doped fiber laser will create an optical dipole trap which will allow further cooling to sub- μK temperatures. The presented system fulfills the demanding requirements on size and power management for cold atom experiments on a microgravity platform, especially with respect to the use of an optical dipole trap. A first test in microgravity, including the creation of a cold Rb ensemble, shows the functionality of the system.

A kinematic analysis of the modified flight telerobotic servicer manipulator system

NASA Technical Reports Server (NTRS)

Crane, Carl; Carnahan, Tim; Duffy, Joseph

1992-01-01

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

Vibration control of a manipulator tip on a flexible body

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Chronic obstructive lung disease "expert system": validation of a predictive tool for assisting diagnosis.

PubMed

Braido, Fulvio; Santus, Pierachille; Corsico, Angelo Guido; Di Marco, Fabiano; Melioli, Giovanni; Scichilone, Nicola; Solidoro, Paolo

2018-01-01

The purposes of this study were development and validation of an expert system (ES) aimed at supporting the diagnosis of chronic obstructive lung disease (COLD). A questionnaire and a WebFlex code were developed and validated in silico. An expert panel pilot validation on 60 cases and a clinical validation on 241 cases were performed. The developed questionnaire and code validated in silico resulted in a suitable tool to support the medical diagnosis. The clinical validation of the ES was performed in an academic setting that included six different reference centers for respiratory diseases. The results of the ES expressed as a score associated with the risk of suffering from COLD were matched and compared with the final clinical diagnoses. A set of 60 patients were evaluated by a pilot expert panel validation with the aim of calculating the sample size for the clinical validation study. The concordance analysis between these preliminary ES scores and diagnoses performed by the experts indicated that the accuracy was 94.7% when both experts and the system confirmed the COLD diagnosis and 86.3% when COLD was excluded. Based on these results, the sample size of the validation set was established in 240 patients. The clinical validation, performed on 241 patients, resulted in ES accuracy of 97.5%, with confirmed COLD diagnosis in 53.6% of the cases and excluded COLD diagnosis in 32% of the cases. In 11.2% of cases, a diagnosis of COLD was made by the experts, although the imaging results showed a potential concomitant disorder. The ES presented here (COLD ES ) is a safe and robust supporting tool for COLD diagnosis in primary care settings.

The Application Research of Modern Intelligent Cold Chain Distribution System Based on Internet of Things Technology

NASA Astrophysics Data System (ADS)

Fan, Dehui; Gao, Shan

This paper implemented an intelligent cold chain distribution system based on the technology of Internet of things, and took the protoplasmic beer logistics transport system as example. It realized the remote real-time monitoring material status, recorded the distribution information, dynamically adjusted the distribution tasks and other functions. At the same time, the system combined the Internet of things technology with weighted filtering algorithm, realized the real-time query of condition curve, emergency alarming, distribution data retrieval, intelligent distribution task arrangement, etc. According to the actual test, it can realize the optimization of inventory structure, and improve the efficiency of cold chain distribution.

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

PubMed

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

2010-01-01

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

Thermal, cardiac and adrenergic responses to repeated local cooling.

PubMed

Janský, L; Matousková, E; Vávra, V; Vybíral, S; Janský, P; Jandová, D; Knízková, I; Kunc, P

2006-01-01

The aim of this study was to ascertain whether repeated local cooling induces the same or different adaptational responses as repeated whole body cooling. Repeated cooling of the legs (immersion into 12 degrees C water up to the knees for 30 min, 20 times during 4 weeks = local cold adaptation - LCA) attenuated the initial increase in heart rate and blood pressure currently observed in control subjects immersed in cold water up to the knees. After LCA the initial skin temperature decrease tended to be lower, indicating reduced vasoconstriction. Heart rate and systolic blood pressure appeared to be generally lower during rest and during the time course of cooling in LCA humans, when compared to controls. All these changes seem to indicate attenuation of the sympathetic tone. In contrast, the sustained skin temperature in different areas of the body (finger, palm, forearm, thigh, chest) appeared to be generally lower in LCA subjects than in controls (except for temperatures on the forehead). Plasma levels of catecholamines (measured 20 and 40 min after the onset of cooling) were also not influenced by local cold adaptation. Locally cold adapted subjects, when exposed to whole body cold water immersion test, showed no change in the threshold temperature for induction of cold thermogenesis. This indicates that the hypothermic type of cold adaptation, typically occurring after systemic cold adaptation, does not appear after local cold adaptation of the intensity used. It is concluded that in humans the cold adaptation due to repeated local cooling of legs induces different physiological changes than systemic cold adaptation.

Cold Stowage Flight Systems

NASA Technical Reports Server (NTRS)

Campana, Sharon E.; Melendez, David T.

2011-01-01

The International Space Station (ISS) provides a test bed for researchers to perform science experiments in a variety of fields, including human research, life sciences, and space medicine. Many of the experiments being conducted today require science samples to be stored and transported in a temperature controlled environment. NASA provides several systems which aid researchers in preserving their science. On orbit systems provided by NASA include the Minus Eighty Laboratory freezer for ISS (MELFI), Microgravity Experiment Research Locker Incubator (MERLIN), and Glacier. These freezers use different technologies to provide rapid cooling and cold stowage at different temperature levels on board ISS. Systems available to researchers during transportation to and from ISS are MERLIN, Glacier, and Coldbag. Coldbag is a passive cold stowage system that uses phase change materials to maintain temperature. Details of these current technologies are provided along with operational experience gained to date. This paper discusses the capability of the current cold stowage hardware and how it may continue to support NASA s mission on ISS and in future exploration missions.

Characterizing convective cold pools: Characterizing Convective Cold Pools

DOE PAGES

Drager, Aryeh J.; van den Heever, Susan C.

2017-05-09

Cold pools produced by convective storms play an important role in Earth's climate system. However, a common framework does not exist for objectively identifying convective cold pools in observations and models. The present study investigates convective cold pools within a simulation of tropical continental convection that uses a cloud-resolving model with a coupled land-surface model. Multiple variables are assessed for their potential in identifying convective cold pool boundaries, and a novel technique is developed and tested for identifying and tracking cold pools in numerical model simulations. This algorithm is based on surface rainfall rates and radial gradients in the densitymore » potential temperature field. The algorithm successfully identifies near-surface cold pool boundaries and is able to distinguish between connected cold pools. Once cold pools have been identified and tracked, composites of cold pool evolution are then constructed, and average cold pool properties are investigated. Wet patches are found to develop within the centers of cold pools where the ground has been soaked with rainwater. These wet patches help to maintain cool surface temperatures and reduce cold pool dissipation, which has implications for the development of subsequent convection.« less

Characterizing convective cold pools: Characterizing Convective Cold Pools

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

Drager, Aryeh J.; van den Heever, Susan C.

Cold pools produced by convective storms play an important role in Earth's climate system. However, a common framework does not exist for objectively identifying convective cold pools in observations and models. The present study investigates convective cold pools within a simulation of tropical continental convection that uses a cloud-resolving model with a coupled land-surface model. Multiple variables are assessed for their potential in identifying convective cold pool boundaries, and a novel technique is developed and tested for identifying and tracking cold pools in numerical model simulations. This algorithm is based on surface rainfall rates and radial gradients in the densitymore » potential temperature field. The algorithm successfully identifies near-surface cold pool boundaries and is able to distinguish between connected cold pools. Once cold pools have been identified and tracked, composites of cold pool evolution are then constructed, and average cold pool properties are investigated. Wet patches are found to develop within the centers of cold pools where the ground has been soaked with rainwater. These wet patches help to maintain cool surface temperatures and reduce cold pool dissipation, which has implications for the development of subsequent convection.« less

Cold chain status at immunisation centres in Ethiopia.

PubMed

Berhane, Y; Demissie, M

2000-09-01

Child immunisation is among the most cost-effective ways of preventing premature child deaths, and the potency of vaccines, crucial for vaccine efficacy, is dependent on effective management of the cold chain at all levels of vaccine handling. To assess the status of the cold chain at peripheral vaccine stores in Ethiopia. Institution based cross-sectional survey in two rural and one urban administrative areas were included in the study. Sixty seven health institutions providing static vaccination services were included in the study but cold chain system was assessed fully in only sixty four. Data were collected by interviewing health workers and by directly observing the cold chain equipment and records using structured forms. Conditions of the cold chain system were described based on 64 of the 67 centres visited, three were excluded because of non-functioning cold chain. Complete temperature record was observed in 37 (57.8%) of the centres. Thermometer was not available in four (6.3%) and thermometer reading was found to be outside the optimal range in another seven (10.9%) centres. Vaccine storage in the refrigerator was not proper in 47 (73.4%) centres. Majority of the centres had neither trained personnel nor budget for maintenance of the cold chain. There is a real danger of vaccines losing their potency at these centres even if they were potent on arrival. Relevant training for those handling the cold chain, improving the maintenance conditions of refrigerators and introduction of cold chain monitoring devises are recommended.

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

NASA Astrophysics Data System (ADS)

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

2013-04-01

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

Issues in advanced automation for manipulator control

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1976-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1988-01-01

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

Closed-loop model identification of cooperative manipulators holding deformable objects

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

The influence of cooling forearm/hand and gender on estimation of handgrip strength.

PubMed

Cheng, Chih-Chan; Shih, Yuh-Chuan; Tsai, Yue-Jin; Chi, Chia-Fen

2014-01-01

Handgrip strength is essential in manual operations and activities of daily life, but the influence of forearm/hand skin temperature on estimation of handgrip strength is not well documented. Therefore, the present study intended to investigate the effect of local cooling of the forearm/hand on estimation of handgrip strength at various target force levels (TFLs, in percentage of MVC) for both genders. A cold pressor test was used to lower and maintain the hand skin temperature at 14°C for comparison with the uncooled condition. A total of 10 male and 10 female participants were recruited. The results indicated that females had greater absolute estimation deviations. In addition, both genders had greater absolute deviations in the middle range of TFLs. Cooling caused an underestimation of grip strength. Furthermore, a power function is recommended for establishing the relationship between actual and estimated handgrip force. Statement of relevance: Manipulation with grip strength is essential in daily life and the workplace, so it is important to understand the influence of lowering the forearm/hand skin temperature on grip-strength estimation. Females and the middle range of TFL had greater deviations. Cooling the forearm/hand tended to cause underestimation, and a power function is recommended for establishing the relationship between actual and estimated handgrip force. Practitioner Summary: It is important to understand the effect of lowering the forearm/hand skin temperature on grip-strength estimation. A cold pressor was used to cool the hand. The cooling caused underestimation, and a power function is recommended for establishing the relationship between actual and estimated handgrip force. Manipulation with grip strength is essential in daily life and the workplace, so it is important to understand the influence of lowering the forearm/hand skin temperature on grip-strength estimation. Females and the middle range of TFL had greater deviations. Cooling the forearm/hand tended to cause underestimation, and a power function is recommended for establishing the relationship between actual and estimated handgrip force. It is important to understand the effect of lowering the forearm/hand skin temperature on grip-strength estimation. A cold pressor was used to cool the hand. The cooling caused underestimation, and a power function is recommended for establishing the relationship between actual and estimated handgrip force

Cold air systems: Sleeping giant

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

MacCracken, C.D.

1994-04-01

This article describes how cold air systems help owners increase the profits from their buildings by reducing electric costs and improving indoor air quality through lower relative humidity levels. Cold air distribution involves energy savings, cost savings, space savings, greater comfort, cleaner air, thermal storage, tighter ducting, coil redesign, lower relative humidities, retrofitting, and improved indoor air quality (IAQ). It opens a door for architects, engineers, owners, builders, environmentalists, retrofitters, designers, occupants, and manufacturers. Three things have held up cold air's usage: multiple fan-powered boxes that ate up the energy savings of primary fans. Cold air room diffusers that providedmore » inadequate comfort. Condensation from ducts, boxes, and diffusers. Such problems have been largely eliminated through research and development by utilities and manufacturers. New cold air diffusers no longer need fan powered boxes. It has also been found that condensation is not a concern so long as the ducts are located in air conditioned space, such as drop ceilings or central risers, where relative humidity falls quickly during morning startup.« less

Model Development of Cold Chains for Fresh Fruits and Vegetables Distribution: A Case Study in Bali Province

NASA Astrophysics Data System (ADS)

Waisnawa, I. N. G. S.; Santosa, I. D. M. C.; Sunu, I. P. W.; Wirajati, IGAB

2018-01-01

In developing countries such as Indonesia, as much as 40% of total vegetables and fruits production becomes waste because of lack refrigeration. This condition also contributes a food crisis problem besides other factor such as, climate change and number of population. Cold chain system that will be modelled in this study is for vegetables and fruits and refrigeration system as the main devices. In future, this system will play an important role for the food crisis solution where fresh food can be distributed very well with significant low waste. The fresh food also can be kept with good quality and hygienist (bacteria contaminated). Cold Chain model will be designed using refrigeration components including, pre cooling chiller, cold room, and truck refrigeration. This study will be conducted by survey and observation di around Bali Province focus on vegetables and fruits production center. Interviews and questionnaire will be also done to get some information about the conventional distribution obstacles and problem. Distribution mapping will be developed and created. The data base of the storage characteristic of the fruits and vegetable also collected through experiment and secondary data. Depend on the mapping and data base can be developed a cold chain model that has the best performance application. The model will be can directly apply in Bali to get eligible cold chain in Bali. The cold chain model will be compared with the conventional distribution system using ALCC/LCC method and also others factor and will be weighted to get better results.

Selective microrobot control using a thermally responsive microclamper for microparticle manipulation

NASA Astrophysics Data System (ADS)

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

2016-03-01

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

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

PubMed

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

2014-02-01

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

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

PubMed

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

2015-04-01

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

Is the common cold a clinical entity or a cultural concept?

PubMed

Eccles, R

2013-03-01

Common cold is the most common infectious disease of mankind and the term is widely used in the clinical literature as though it were a defined clinical syndrome. Clinical studies on this syndrome often use elaborate symptom scoring systems to diagnose a common cold. The symptom scores are based on a study conducted over 50 years ago to retrospectively diagnose experimental cold and this method cannot be applied to diagnosis of common cold in the community. Diagnosis of the common cold by virology is not feasible because of the number of viruses and the variability in the disease states caused by the viruses. Because of the familiarity of subjects with common cold and the variability in symptomatology it seems a more reasonable approach to use self-diagnosis of common cold for clinical research studies and accept that the common cold is a cultural concept and not a clinical entity.

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

NASA Technical Reports Server (NTRS)

Hill, J. W.

1979-01-01

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

Custom electronic subsystems for the laboratory telerobotic manipulator

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

Cold Helium Pressurization for Liquid Oxygen / Liquid Methane Propulsion Systems: Fully-Integrated Initial Hot-Fire Test Results

NASA Technical Reports Server (NTRS)

Morehead, R. L.; Atwell, M. J.; Melcher, J. C.; Hurlbert, E. A.

2016-01-01

A prototype cold helium active pressurization system was incorporated into an existing liquid oxygen (LOX) / liquid methane (LCH4) prototype planetary lander and hot-fire tested to collect vehicle-level performance data. Results from this hot-fire test series were used to validate integrated models of the vehicle helium and propulsion systems and demonstrate system effectiveness for a throttling lander. Pressurization systems vary greatly in complexity and efficiency between vehicles, so a pressurization performance metric was also developed as a means to compare different active pressurization schemes. This implementation of an active repress system is an initial sizing draft. Refined implementations will be tested in the future, improving the general knowledge base for a cryogenic lander-based cold helium system.

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

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Extreme hydrometeorological events in the Peruvian Central Andes during austral summer and their relationship with the large-scale circulation

NASA Astrophysics Data System (ADS)

Sulca, Juan C.

In this Master's dissertation, atmospheric circulation patterns associated with extreme hydrometeorological events in the Mantaro Basin, Peruvian Central Andes, and their teleconnections during the austral summer (December-January-February-March) are addressed. Extreme rainfall events in the Mantaro basin are related to variations of the large-scale circulation as indicated by the changing strength of the Bolivian High-Nordeste Low (BH-NL) system. Dry (wet) spells are associated with a weakening (strengthening) of the BH-NL system and reduced (enhanced) influx of moist air from the lowlands to the east due to strengthened westerly (easterly) wind anomalies at mid- and upper-tropospheric levels. At the same time extreme rainfall events of the opposite sign occur over northeastern Brazil (NEB) due to enhanced (inhibited) convective activity in conjunction with a strengthened (weakened) Nordeste Low. Cold episodes in the Mantaro Basin are grouped in three types: weak, strong and extraordinary cold episodes. Weak and strong cold episodes in the MB are mainly associated with a weakening of the BH-NL system due to tropical-extratropical interactions. Both types of cold episodes are associated with westerly wind anomalies at mid- and upper-tropospheric levels aloft the Peruvian Central Andes, which inhibit the influx of humid air masses from the lowlands to the east and hence limit the potential for development of convective cloud cover. The resulting clear sky conditions cause nighttime temperatures to drop, leading to cold extremes below the 10-percentile. Extraordinary cold episodes in the MB are associated with cold and dry polar air advection at all tropospheric levels toward the central Peruvian Andes. Therefore, weak and strong cold episodes in the MB appear to be caused by radiative cooling associated with reduced cloudiness, rather than cold air advection, while the latter plays an important role for extraordinary cold episodes only.

Influence of pharmacological manipulations of NMDA and cholinergic receptors on working versus reference memory in a dual component odor span task.

PubMed

MacQueen, David A; Dalrymple, Savannah R; Drobes, David J; Diamond, David M

2016-06-01

Developed as a tool to assess working memory capacity in rodents, the odor span task (OST) has significant potential to advance drug discovery in animal models of psychiatric disorders. Prior investigations indicate OST performance is impaired by systemic administration of N-methyl-d-aspartate receptor (NMDA-r) antagonists and is sensitive to cholinergic manipulations. The present study sought to determine whether an impairment in OST performance can be produced by systemic administration of the competitive NMDA-r antagonist 3-(2-carboxypiperazin-4-yl)propyl-1-phosphonic acid (CPP; 3, 10, 17 mg/kg i.p.) in a unique dual-component variant of the OST, and whether this impairment is ameliorated by nicotine (0.75 mg/kg i.p.). Male Sprague-Dawley rats were trained to asymptotic level of performance on a 24-trial two-comparison incrementing nonmatching to sample OST. In addition, rats were administered a two-comparison olfactory reference memory (RM) task, which was integrated into the OST. The RM task provided an assessment of the effects of drug administration on global behavioral measures, long-term memory and motivation. Several measures of working memory (span, longest run, and accuracy) were dose dependently impaired by CPP without adversely affecting RM. Analysis of drug effects across trial blocks demonstrated a significant impairment of performance even at low memory loads, suggesting a CPP-induced deficit of olfactory short-term memory that is not load-dependent. Although nicotine did not ameliorate CPP-induced impairments in span or accuracy, it did block the impairment in longest run produced by the 10 mg/kg dose of CPP. Overall, our results indicate that performance in our 24 odor two-comparison OST is capacity dependent and that CPP impaired OST working, but not reference, memory. © 2016 MacQueen et al.; Published by Cold Spring Harbor Laboratory Press.

Project Plan 7930 Cell G PaR Remote Handling System Replacement

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

Kinney, Kathryn A

2009-10-01

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

Method and apparatus for regenerating cold traps within liquid-metal systems

DOEpatents

McKee, Jr., John M.

1976-01-01

Oxide and hydride impurities of a liquid metal such as sodium are removed from a cold trap by heating to a temperature at which the metal hydroxide is stable in a molten state. The partial pressure of hydrogen within the system is measured to determine if excess hydride or oxide is present. Excess hydride is removed by venting hydrogen gas while excess oxide can be converted to molten hydroxide through the addition of hydrogen. The resulting, molten hydroxide is drained from the trap which is then returned to service at cold trap temperatures within the liquid-metal system.

Cold-end Subsystem Testing for the Fission Power System Technology Demonstration Unit

NASA Technical Reports Server (NTRS)

Briggs, Maxwell; Gibson, Marc; Ellis, David; Sanzi, James

2013-01-01

The Fission Power System (FPS) Technology Demonstration Unit (TDU) consists of a pumped sodium-potassium (NaK) loop that provides heat to a Stirling Power Conversion Unit (PCU), which converts some of that heat into electricity and rejects the waste heat to a pumped water loop. Each of the TDU subsystems is being tested independently prior to full system testing at the NASA Glenn Research Center. The pumped NaK loop is being tested at NASA Marshall Space Flight Center; the Stirling PCU and electrical controller are being tested by Sunpower Inc.; and the pumped water loop is being tested at Glenn. This paper describes cold-end subsystem setup and testing at Glenn. The TDU cold end has been assembled in Vacuum Facility 6 (VF 6) at Glenn, the same chamber that will be used for TDU testing. Cold-end testing in VF 6 will demonstrate functionality; validated cold-end fill, drain, and emergency backup systems; and generated pump performance and system pressure drop data used to validate models. In addition, a low-cost proof-of concept radiator has been built and tested at Glenn, validating the design and demonstrating the feasibility of using low-cost metal radiators as an alternative to high-cost composite radiators in an end-to-end TDU test.

Earth orbital teleoperator visual system evaluation program

NASA Technical Reports Server (NTRS)

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

1975-01-01

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

Expanding NevCAN capabilities: monitoring cold air drainage flow along a narrow wash within a Montane to PJ ecotone

NASA Astrophysics Data System (ADS)

Bird, B. M.; Devitt, D.

2012-12-01

Cold air drainage flows are a naturally occurring physical process of mountain systems. Plant communities that exist in cold air drainage basins respond to these localized cold air trends, and have been shown to be decoupled from larger global climate weather systems. The assumption that air temperature decreases with altitude is violated within these systems and climate model results based on this assumption would ultimately be inaccurate. In arid regions, high radiation loads lead to significant long wave radiation being emitted from the ground later in the day. As incoming radiation ceases, the surface very quickly loses energy through radiative processes, leading to surface inversions and enhanced cold air drainage opportunities. This study is being conducted in the Mojave desert on Sheep Mountain located between sites 3 and 4 of the NSF EPSCoR network. Monitoring of cold air drainage was initiated in September of 2011within a narrow ravine located between the 2164 and 2350 meter elevation. We have installed 25 towers (5 towers per location situated at the central low point in a ravine and at equal distances up the sides of the ravine on both the N and S facing slopes) to assess air temperatures from 0.1 meters to a height of 3 meters at 25m intervals. Our goal is to better understand the connection between cold air movement and plant physiological response. The species monitored in this study include: Pinus ponderosa (common name: Ponderosa Pine), Pinus pinyon (Pinyon Pine), Juniperus osteosperma (Utah juniper), Cercocarpus intricatus (Mountain Mahogany) and Symphoricarpos (snowberry). Hourly air temperature measurements within the wash are being captured from 100 ibuttons placed within PVC solar radiation shields. We are also developing a modeling approach to assess the three dimensional movement of cold air over time by incorporating wind vectors captured from 5 2D sonic anemometers. Wind velocities will be paired with air temperatures to better understand the thermal dynamics of cold air drainage. Granier probes were installed in the five test species to monitor transpirational flow relative to cold air movement. Mid day soil - plant - water measurements are also being taken on a monthly basis during the growing season at all locations. Measurements include: leaf xylem water potential, stomata conductance, chlorophyll index readings, canopy minus ambient temperatures and surface soil moisture contents. To date the monitoring system has revealed cold air drainage occurring during periods of every month. We will report the physiological response of the five plant species, with emphasis on assessing the linkages with cold air movement.

Chip based MEMS Ion Thruster to significantly enhance Cold Gas Thruster Lifetime for LISA

NASA Astrophysics Data System (ADS)

Tajmar, M.; Laufer, P.; Bock, D.

2017-05-01

Micropropulsion is a key component for ultraprecise attitude and orbit control required by the eLISA mission. LISA pathfinder uses cold gas micro thrusters that are accurate but require large tanks due to their very low specific impulse, which in turn limits the possible mission duration of the follow up eLISA mission. Recently, we developed a compact MEMS ion thruster on the chip with a size of only 1cm2 that can be simply attached to a gas feeding line like the one used for cold gas thrusters. It provides a specific impulse greater than 1000 s and only requires a single DC voltage. Since the operating principle is based on field emission, very low thrust noises similar to FEEP thrusters are expected but with gas propellants. The MEMS ion thruster chip could be mounted in parallel to the existing gold gas system providing high Isp and therefore long mission durations while leaving the cold gas system in place. To enable a possible mission extension, the MEMS ion thruster could take over from the cold gas system as a backup while maintaining the existing micropropulsion thruster system with its heritage therefore minimum risk.

Rapid toluene mineralization by aquifer microorganisms at Adak, Alaska: Implications for intrinsic bioremediation in cold environments

USGS Publications Warehouse

Bradley, P.M.; Chapelle, F.H.

1995-01-01

Sediments from a relatively cold (5??C), petroleum hydrocarbon-contaminated aquifer in Adak, AK, mineralized [14C]toluene at an aerobic rate (16.3% day-1 at 5??C) comparable to that (5.1% day-1 at 20??C) of sediments from a more temperate aquifer at Hanahan, SC. In addition, rates of overall microbial metabolism in sediments from the two aquifers, as estimated by [1 -14C]acetate mineralization, were similar (???10.6% h-1) at their respective in situ temperatures. These results are not consistent with the common assumption that biodegradation rates in cold ground-water systems are depressed relative to more temperate systems. Furthermore, these results suggest that intrinsic bioremediation of petroleum hydrocarbon contaminants in cold groundwater systems may be technically feasible, in some cases.

Verification hybrid control of a wheeled mobile robot and manipulator

NASA Astrophysics Data System (ADS)

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

2016-04-01

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

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

NASA Technical Reports Server (NTRS)

Chen, Vincent Wei-Kang

1992-01-01

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

Triple shape memory polymers by 4D printing

NASA Astrophysics Data System (ADS)

Bodaghi, M.; Damanpack, A. R.; Liao, W. H.

2018-06-01

This article aims at introducing triple shape memory polymers (SMPs) by four-dimensional (4D) printing technology and shaping adaptive structures for mechanical/bio-medical devices. The main approach is based on arranging hot–cold programming of SMPs with fused decomposition modeling technology to engineer adaptive structures with triple shape memory effect (SME). Experiments are conducted to characterize elasto-plastic and hyper-elastic thermo-mechanical material properties of SMPs in low and high temperatures at large deformation regime. The feasibility of the dual and triple SMPs with self-bending features is demonstrated experimentally. It is advantageous in situations either where it is desired to perform mechanical manipulations on the 4D printed objects for specific purposes or when they experience cold programming inevitably before activation. A phenomenological 3D constitutive model is developed for quantitative understanding of dual/triple SME of SMPs fabricated by 4D printing in the large deformation range. Governing equations of equilibrium are established for adaptive structures on the basis of the nonlinear Green–Lagrange strains. They are then solved by developing a finite element approach along with an elastic-predictor plastic-corrector return map procedure accomplished by the Newton–Raphson method. The computational tool is applied to simulate dual/triple SMP structures enabled by 4D printing and explore hot–cold programming mechanisms behind material tailoring. It is shown that the 4D printed dual/triple SMPs have great potential in mechanical/bio-medical applications such as self-bending gripers/stents and self-shrinking/tightening staples.

Inability of Ceratitis capitata (Diptera: Tephritidae) to overwinter in the Judean hills.

PubMed

Israely, Nimrod; Ritte, Uzi; Oman, Samuel D

2004-02-01

The overwintering potential of the Mediterranean fruit fly, Ceratitis capitata (Wiedemann) (Diptera: Tephritidae), in cold winter areas within its northern distribution is a key element in understanding its ecology. Recent studies have suggested that although originating in tropical Africa, the fly has become adapted to the cold weather that prevails within its northernmost areas of distribution. We address the question of whether the Mediterranean fruit fly has expanded its overwintering range to include the mountains of central Israel. Doing so would imply that the fly has developed either a behavioral or a physiological mechanism to cope with low temperature and/or damp conditions in combination with cold. We monitored adult populations year round, sampling fruit, calculating expected emergence days for overwintering flies, and studying adults captured within dense and sparse apple orchards. We also performed several manipulative experiments to study preimago ability to survive the winter under natural or seminatural conditions. The study was conducted in the central mountains of Israel at 700-m altitude from 1994 to 2003. Comparison experiments also were conducted at 400 m and at sea level. Our results show 1) no adults captured during the winter and spring, 2) an absence of new infestations during the winter and spring, and 3) inability of preimago stages to overwinter in the central mountains of Israel. Thus, we conclude that the fly does not overwinter in the central mountains of Israel. We discuss the ecological and applied significance of our findings.

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

PubMed

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

2017-09-01

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

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

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

Berglin, E.J.

1996-09-17

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

Surgical manipulation of mammalian embryos in vitro.

PubMed

Naruse, I; Keino, H; Taniguchi, M

1997-04-01

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

System and method of applying energetic ions for sterilization

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

Schmidt, John A.

2003-12-23

A method of sterilization of a container is provided whereby a cold plasma is caused to be disposed near a surface to be sterilized, and the cold plasma is then subjected to a pulsed voltage differential for producing energized ions in the plasma. Those energized ions then operate to achieve spore destruction on the surface to be sterilized. Further, a system for sterilization of a container which includes a conductive or non-conductive container, a cold plasma in proximity to the container, and a high voltage source for delivering a pulsed voltage differential between an electrode and the container and acrossmore » the cold plasma, is provided.« less

Ex-vivo perfusion of donor hearts for human heart transplantation (PROCEED II): a prospective, open-label, multicentre, randomised non-inferiority trial.

PubMed

Ardehali, Abbas; Esmailian, Fardad; Deng, Mario; Soltesz, Edward; Hsich, Eileen; Naka, Yoshifumi; Mancini, Donna; Camacho, Margarita; Zucker, Mark; Leprince, Pascal; Padera, Robert; Kobashigawa, Jon

2015-06-27

The Organ Care System is the only clinical platform for ex-vivo perfusion of human donor hearts. The system preserves the donor heart in a warm beating state during transport from the donor hospital to the recipient hospital. We aimed to assess the clinical outcomes of the Organ Care System compared with standard cold storage of human donor hearts for transplantation. We did this prospective, open-label, multicentre, randomised non-inferiority trial at ten heart-transplant centres in the USA and Europe. Eligible heart-transplant candidates (aged >18 years) were randomly assigned (1:1) to receive donor hearts preserved with either the Organ Care System or standard cold storage. Participants, investigators, and medical staff were not masked to group assignment. The primary endpoint was 30 day patient and graft survival, with a 10% non-inferiority margin. We did analyses in the intention-to-treat, as-treated, and per-protocol populations. This trial is registered with ClinicalTrials.gov, number NCT00855712. Between June 29, 2010, and Sept 16, 2013, we randomly assigned 130 patients to the Organ Care System group (n=67) or the standard cold storage group (n=63). 30 day patient and graft survival rates were 94% (n=63) in the Organ Care System group and 97% (n=61) in the standard cold storage group (difference 2·8%, one-sided 95% upper confidence bound 8·8; p=0·45). Eight (13%) patients in the Organ Care System group and nine (14%) patients in the standard cold storage group had cardiac-related serious adverse events. Heart transplantation using donor hearts adequately preserved with the Organ Care System or with standard cold storage yield similar short-term clinical outcomes. The metabolic assessment capability of the Organ Care System needs further study. TransMedics. Copyright © 2015 Elsevier Ltd. All rights reserved.

An integrated real-time health monitoring and impact/collision detection system for bridges in cold remote regions.

DOT National Transportation Integrated Search

2015-03-01

This report presents a research examining the feasibility of creating an integrated structural health : monitoring and impact/collision detection system for bridges in remote cold regions, where in-person : inspection becomes formidable. The research...

40 CFR 75.64 - Quarterly reports.

Code of Federal Regulations, 2013 CFR

2013-07-01

... placed in long-term cold storage (as defined in § 72.2 of this chapter), quarterly reports are not... the unit). For units placed into long-term cold storage during a reporting quarter, the exemption from... long-term cold storage. For any provisionally-certified monitoring system, § 75.20(a)(3) shall apply...

40 CFR 75.64 - Quarterly reports.

Code of Federal Regulations, 2012 CFR

2012-07-01

... placed in long-term cold storage (as defined in § 72.2 of this chapter), quarterly reports are not... the unit). For units placed into long-term cold storage during a reporting quarter, the exemption from... long-term cold storage. For any provisionally-certified monitoring system, § 75.20(a)(3) shall apply...

40 CFR 75.64 - Quarterly reports.

Code of Federal Regulations, 2011 CFR

2011-07-01

... placed in long-term cold storage (as defined in § 72.2 of this chapter), quarterly reports are not... the unit). For units placed into long-term cold storage during a reporting quarter, the exemption from... long-term cold storage. For any provisionally-certified monitoring system, § 75.20(a)(3) shall apply...

40 CFR 75.64 - Quarterly reports.

Code of Federal Regulations, 2014 CFR

2014-07-01

... placed in long-term cold storage (as defined in § 72.2 of this chapter), quarterly reports are not... the unit). For units placed into long-term cold storage during a reporting quarter, the exemption from... long-term cold storage. For any provisionally-certified monitoring system, § 75.20(a)(3) shall apply...

Effects of Moderate Strength Cold Air Exposure on Blood Pressure and Biochemical Indicators among Cardiovascular and Cerebrovascular Patients

PubMed Central

Zhang, Xiakun; Zhang, Shuyu; Wang, Chunling; Wang, Baojian; Guo, Pinwen

2014-01-01

The effects of cold air on cardiovascular and cerebrovascular diseases were investigated in an experimental study examining blood pressure and biochemical indicators. Zhangye, a city in Gansu Province, China, was selected as the experimental site. Health screening and blood tests were conducted, and finally, 30 cardiovascular disease patients and 40 healthy subjects were recruited. The experiment was performed during a cold event during 27–28 April 2013. Blood pressure, catecholamine, angiotensin II (ANG-II), cardiac troponin I (cTnI), muscle myoglobin (Mb) and endothefin-1 (ET-1) levels of the subjects were evaluated 1 day before, during the 2nd day of the cold exposure and 1 day after the cold air exposure. Our results suggest that cold air exposure increases blood pressure in cardiovascular disease patients and healthy subjects via the sympathetic nervous system (SNS) that is activated first and which augments ANG-II levels accelerating the release of the norepinephrine and stimulates the renin-angiotensin system (RAS). The combined effect of these factors leads to a rise in blood pressure. In addition, cold air exposure can cause significant metabolism and secretion of Mb, cTnI and ET-1 in subjects; taking the patient group as an example, ET-1 was 202.7 ng/L during the cold air exposure, increased 58 ng/L compared with before the cold air exposure, Mb and cTnI levels remained relatively high (2,219.5 ng/L and 613.2 ng/L, increased 642.1 ng/L and 306.5 ng/L compared with before the cold air exposure, respectively) 1-day after the cold exposure. This showed that cold air can cause damage to patients’ heart cells, and the damage cannot be rapidly repaired. Some of the responses related to the biochemical markers indicated that cold exposure increased cardiovascular strain and possible myocardial injury. PMID:24583830

Effects of moderate strength cold air exposure on blood pressure and biochemical indicators among cardiovascular and cerebrovascular patients.

PubMed

Zhang, Xiakun; Zhang, Shuyu; Wang, Chunling; Wang, Baojian; Guo, Pinwen

2014-02-27

The effects of cold air on cardiovascular and cerebrovascular diseases were investigated in an experimental study examining blood pressure and biochemical indicators. Zhangye, a city in Gansu Province, China, was selected as the experimental site. Health screening and blood tests were conducted, and finally, 30 cardiovascular disease patients and 40 healthy subjects were recruited. The experiment was performed during a cold event during 27-28 April 2013. Blood pressure, catecholamine, angiotensin II (ANG-II), cardiac troponin I (cTnI), muscle myoglobin (Mb) and endothefin-1 (ET-1) levels of the subjects were evaluated 1 day before, during the 2nd day of the cold exposure and 1 day after the cold air exposure. Our results suggest that cold air exposure increases blood pressure in cardiovascular disease patients and healthy subjects via the sympathetic nervous system (SNS) that is activated first and which augments ANG-II levels accelerating the release of the norepinephrine and stimulates the renin-angiotensin system (RAS). The combined effect of these factors leads to a rise in blood pressure. In addition, cold air exposure can cause significant metabolism and secretion of Mb, cTnI and ET-1 in subjects; taking the patient group as an example, ET-1 was 202.7 ng/L during the cold air exposure, increased 58 ng/L compared with before the cold air exposure, Mb and cTnI levels remained relatively high (2,219.5 ng/L and 613.2 ng/L, increased 642.1 ng/L and 306.5 ng/L compared with before the cold air exposure, respectively) 1-day after the cold exposure. This showed that cold air can cause damage to patients' heart cells, and the damage cannot be rapidly repaired. Some of the responses related to the biochemical markers indicated that cold exposure increased cardiovascular strain and possible myocardial injury.

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

NASA Technical Reports Server (NTRS)

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

1987-01-01

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

SSSFD manipulator engineering using statistical experiment design techniques

NASA Technical Reports Server (NTRS)

Barnes, John

1991-01-01

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

Geometric manipulation of trapped ions for quantum computation.

PubMed

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

2001-06-01

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

Multi-layer neural networks for robot control

NASA Technical Reports Server (NTRS)

Pourboghrat, Farzad

1989-01-01

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

A pilot study exploring the effects of reflexology on cold intolerance.

PubMed

Zhang, Wenping; Takahashi, Shougo; Miki, Takashi; Fujieda, Hisayo; Ishida, Torao

2010-03-01

Cold intolerance is an inability to tolerate cold temperatures and is accompanied by symptoms including headache, shoulder discomfort, dizziness and palpitations. The current study was performed to examine whether reflexology therapy affected cold intolerance in human subjects and whether the treatment was systemically effective. Ten female volunteer examinees with subjective feelings of cold were examined. After a 5-minute foot bath, 10 minutes of reflexology therapy was performed on their left foot. Skin temperature and blood flow were estimated before and after treatment, together with an interview concerning their feelings of cold and daily habits. In addition, how the recovery rate was affected by the application of a chilled-water load was also estimated. Along with significant increases in skin temperature and blood flow compared with pre-treatment at the bilateral points of KI-1, LR-3, and BL-60, a faster recovery after the application of the chilled-water load was also seen in the lower limbs on both sides. From these results, we conclude that reflexology has systemic effects and is an alternative method for treating cold intolerance. Copyright (c) 2010 Korean Pharmacopuncture Institute. Published by .. All rights reserved.

[Role of thyroid system in adaptation to cold].

PubMed

Maslov, L N; Vychuzhanova, E A; Gorbunov, A S; Tsybul'nikov, S Iu; Khaliulin, I G; Chauski, E

2014-06-01

Adaptation to cold promotes an increase in blood T3 and T4 levels in men and animals. The long-term cold exposure can induce a decrease in concentration of serum total and free T3 in human due to an enhancement of this hormone clearance. Endogenous catecholamines during adaptation to cold raise iodothyronine deiodinase D2 activity in brown fat due to α1-adrenergic receptor stimulation. Triiodothyronine is an inductor of iodothyronine deiodinase expression in brown fat, liver and kidney. Iodothyronine deiodinase D2 plays an important role in adaptation of organism to cold contributing to the high adrenergic reactivity of brown fat. At adaptation to cold T3 interacts with T3Rβ, it is formed T3Rβ-RXR complex, which binds to DNA with following transcription of UCP-1 and UCP-3 genes and UCP-1 and UCP-3 protein synthesis and uncoupling oxidative phosphorylation and an increase in heat production, where T3Rβ is T3-receptor-β, RXR is retinoid X-receptor, UCP is uncoupling protein. Triiodothyronine contributes to normal response to adrenergic agents of brown fat due to T3Rα activation. Sympatho-adrenomedullary and thyroid systems act as synergists in adaptation to cold.

Tool actuation and force feedback on robot-assisted microsurgery system

NASA Technical Reports Server (NTRS)

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

2002-01-01

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

A manipulator arm for zero-g simulations

NASA Technical Reports Server (NTRS)

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

1975-01-01

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

Telerobotic research at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Sliwa, Nancy E.

1987-01-01

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

Modeling and control for micro and nano manipulation

NASA Astrophysics Data System (ADS)

Wejinya, Uchechukwu C.

Manipulation of micro and nano entities implies the movement of micro and nano entities from an initial position (location) to the desire position (location). This operation is not only necessary, but a required task with great precision. The tools needed for the manipulation needs to be chosen properly because the capabilities of the human hand are very restricted. Smart micro and nano manipulation are becoming of great interest in many applications including medicine and industry. In industry, high precision manipulation systems are especially needed for mass production of both micro and nano systems which consist of different component in respective scales. The transition from assembling and manipulating micro and nano entities manually to mass products with high quality is only attainable by automated assembly and manipulation systems. An example is the testing of integrated circuits which can be carried out by exchanging the manipulation tool by an electric probe. Furthermore, in medical research it is customary to pick up a single cell (human, plant, or animal), and carry it to another device which is used to further analyze the cell. Consequently, the cell of interest has to be separated from the other cells and picked up using the appropriate micro/nano tool. Hence it becomes absolutely necessary that the appropriate tool be used for specific micro or nano entity manipulation and assembly. In this research, we focus on developing micro tool for manipulating micro and nano entities in liquid environment using a micro fluidic end effector system with in-situ Polyvinylidene Fluoride (PVDF) sensing. The microfluidic end effector system consists of a DC micro-diaphragm pump and compressor, one region of flexible latex tube, a Polyvinylidene Fluoride (PVDF) sensor for in-situ measurement of micro drag force, and a micro pipette. The micro pipette of the novel microfluidic end effector system has an internal diameter (ID) smaller than 20mum used for microfluidic handling and deposition of micro and nano entities such as carbon nanotubes (CNT), DNA, and for droplet control. The novel microfluidic end effector system with force sensing can significantly improve the success rate for handling/depositing micro/nano entities in the case of carbon nanotubes between micro electrodes. The design, calibration, and experimental implementation of the novel microfluidic end effector is carried out in this research. The experimental results show the success rate for carbon nanotube(s) deposition between micro electrodes can reach close to 80%. Furthermore, carbon nanotubes are of particular interest because they are good candidates for many electronics and sensing applications. The interests in using carbon nanotubes to manufacture electronics and sensors have increased in recent years because of the increase need for making electronics smaller, and their excellent electrical and mechanical properties. These potentials can be achieved if CNTs with semiconducting and metallic band structure can be successfully deposited and separated. The use of dielectrophoresis (DEP) has been established as a course towards the efficient deposition and separation of metallic carbon nanotubes from semiconducting carbon nanotubes. For this reason, this research presents a new mathematical model for dielectrophoresis and electrorotation of carbon nanotubes. Simulation results are presented in this research to validate the developed model. The combination of both the micro robotic manipulation system and the atomic force microscopy (AFM) based nano-robotic system will provide a powerful tool for micro and nano manipulation. Additional applications of this research are endless considering the rapid development of micro and nano technologies.

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

NASA Technical Reports Server (NTRS)

Hastings, Gordon Greene

1986-01-01

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

Mechano-stimulated modifications in the chloroplast antioxidant system and proteome changes are associated with cold response in wheat.

PubMed

Li, Xiangnan; Hao, Chenglong; Zhong, Jianwen; Liu, Fulai; Cai, Jian; Wang, Xiao; Zhou, Qin; Dai, Tingbo; Cao, Weixing; Jiang, Dong

2015-09-11

Mechanical wounding can cause morphological and developmental changes in plants, which may affect the responses to abiotic stresses. However, the mechano-stimulation triggered regulation network remains elusive. Here, the mechano-stimulation was applied at two different times during the growth period of wheat before exposing the plants to cold stress (5.6 °C lower temperature than the ambient temperature, viz., 5.0 °C) at the jointing stage. Results showed that mechano-stimulation at the Zadoks growth stage 26 activated the antioxidant system, and substantially, maintained the homeostasis of reactive oxygen species. In turn, the stimulation improved the electron transport and photosynthetic rate of wheat plants exposed to cold stress at the jointing stage. Proteomic and transcriptional analyses revealed that the oxidative stress defense, ATP synthesis, and photosynthesis-related proteins and genes were similarly modulated by mechano-stimulation and the cold stress. It was concluded that mechano-stimulated modifications of the chloroplast antioxidant system and proteome changes are related to cold tolerance in wheat. The findings might provide deeper insights into roles of reactive oxygen species in mechano-stimulated cold tolerance of photosynthetic apparatus, and be helpful to explore novel approaches to mitigate the impacts of low temperature occurring at critical developmental stages.

Cooled electronic system with thermal spreaders coupling electronics cards to cold rails

DOEpatents

Chainer, Timothy J; Gaynes, Michael A; Graybill, David P; Iyengar, Madhusudan K; Kamath, Vinod; Kochuparambil, Bejoy J; Schmidt, Roger R; Schultz, Mark D; Simco, Daniel P; Steinke, Mark E

2013-07-23

Liquid-cooled electronic systems are provided which include an electronic assembly having an electronics card and a socket with a latch at one end. The latch facilitates securing of the card within the socket or removal of the card from the socket. A liquid-cooled cold rail is disposed at the one end of the socket, and a thermal spreader couples the electronics card to the cold rail. The thermal spreader includes first and second thermal transfer plates coupled to first and second surfaces on opposite sides of the card, and thermally conductive extensions extending from end edges of the plates, which couple the respective transfer plates to the liquid-cooled cold rail. The thermally conductive extensions are disposed to the sides of the latch, and the card is securable within or removable from the socket using the latch without removing the cold rail or the thermal spreader.

Turbine Research Program Cold Weather Turbine Project: Period of Performance May 27, 1999 -- March 31, 2004

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

Lynch, J.; Bywaters, G.; Costin, D.

2004-08-01

Northern Power Systems completed the Cold Weather Turbine (CWT) project, which was funded by the National Renewable Energy Laboratory (NREL), under subcontract XAT-9-29200-01. The project's primary goal is to develop a 100-kW wind turbine suited for deployment in remote villages in cold regions. The contract required testing and certification of the turbine to the International Electrotechnical Commission (IEC) 61400-1 international standard through Underwriters Laboratories (UL). The contract also required Northern Power Systems to study design considerations for operation in extreme cold (-80F at the South Pole, for example). The design was based on the successful proof of concept (POC) turbinemore » (developed under NREL and NASA contracts), considered the prototype turbine that would be refined and manufactured to serve villages in cold regions around the world.« less

Aging and brain rejuvenation as systemic events

PubMed Central

Bouchard, Jill; Villeda, Saul A

2015-01-01

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

Precision manipulation with a dextrous robot hand

NASA Astrophysics Data System (ADS)

Michelman, Paul

1994-01-01

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

Model based manipulator control

NASA Technical Reports Server (NTRS)

Petrosky, Lyman J.; Oppenheim, Irving J.

1989-01-01

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

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

NASA Technical Reports Server (NTRS)

2001-01-01

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

On the possibility of generation of cold and additional electric energy at thermal power stations

NASA Astrophysics Data System (ADS)

Klimenko, A. V.; Agababov, V. S.; Borisova, P. N.

2017-06-01

A layout of a cogeneration plant for centralized supply of the users with electricity and cold (ECCG plant) is presented. The basic components of the plant are an expander-generator unit (EGU) and a vapor-compression thermotransformer (VCTT). At the natural-gas-pressure-reducing stations, viz., gas-distribution stations and gas-control units, the plant is connected in parallel to a throttler and replaces the latter completely or partially. The plant operates using only the energy of the natural gas flow without burning the gas; therefore, it can be classified as a fuelless installation. The authors compare the thermodynamic efficiencies of a centralized cold supply system based on the proposed plant integrated into the thermal power station scheme and a decentralized cold supply system in which the cold is generated by electrically driven vapor-compression thermotransformers installed on the user's premises. To perform comparative analysis, the exergy efficiency was taken as the criterion since in one of the systems under investigation the electricity and the cold are generated, which are energies of different kinds. It is shown that the thermodynamic efficiency of the power supply using the proposed plant proves to be higher within the entire range of the parameters under consideration. The article presents the results of investigating the impact of the gas heating temperature upstream from the expander on the electric power of the plant, its total cooling capacity, and the cooling capacities of the heat exchangers installed downstream from the EGU and the evaporator of the VCTT. The results of calculations are discussed that show that the cold generated at the gas-control unit of a powerful thermal power station can be used for the centralized supply of the cold to the ventilation and conditioning systems of both the buildings of the power station and the neighboring dwelling houses, schools, and public facilities during the summer season.

Solving the Vlasov equation in two spatial dimensions with the Schrödinger method

NASA Astrophysics Data System (ADS)

Kopp, Michael; Vattis, Kyriakos; Skordis, Constantinos

2017-12-01

We demonstrate that the Vlasov equation describing collisionless self-gravitating matter may be solved with the so-called Schrödinger method (ScM). With the ScM, one solves the Schrödinger-Poisson system of equations for a complex wave function in d dimensions, rather than the Vlasov equation for a 2 d -dimensional phase space density. The ScM also allows calculating the d -dimensional cumulants directly through quasilocal manipulations of the wave function, avoiding the complexity of 2 d -dimensional phase space. We perform for the first time a quantitative comparison of the ScM and a conventional Vlasov solver in d =2 dimensions. Our numerical tests were carried out using two types of cold cosmological initial conditions: the classic collapse of a sine wave and those of a Gaussian random field as commonly used in cosmological cold dark matter N-body simulations. We compare the first three cumulants, that is, the density, velocity and velocity dispersion, to those obtained by solving the Vlasov equation using the publicly available code ColDICE. We find excellent qualitative and quantitative agreement between these codes, demonstrating the feasibility and advantages of the ScM as an alternative to N-body simulations. We discuss, the emergence of effective vorticity in the ScM through the winding number around the points where the wave function vanishes. As an application we evaluate the background pressure induced by the non-linearity of large scale structure formation, thereby estimating the magnitude of cosmological backreaction. We find that it is negligibly small and has time dependence and magnitude compatible with expectations from the effective field theory of large scale structure.

Spin morphologies and heat dissipation in spherical assemblies of magnetic nanoparticles

NASA Astrophysics Data System (ADS)

Anand, Manish; Carrey, Julian; Banerjee, Varsha

2016-09-01

Aggregates of magnetic nanoparticles (MNPs) exhibit unusual properties due to the interplay of small system size and long-range dipole-dipole interactions. Using the micromagnetic simulation software oommf, we study the spin morphologies and heat dissipation in micron-size spherical assemblies of MNPs. In particular, we examine the sensitivity of these properties to the dipolar strength, manipulated by the interparticle separation. As oommf is not designed for such a study, we have incorporated a novel scaling protocol for this purpose. We believe that it is essential for all studies where volume fractions are varied. Our main results are as follows: (i) Dense assemblies exhibit strong dipolar effects which yield local magnetic order in the core but not on the surface, where moments are randomly oriented. (ii) The probability distribution of ground-state energy exhibits a long high-energy tail for surface spins in contrast to small tails for the core spins. Consequently, there is a wide variation in the energy of surface spins but not the core spins. (iii) There is strong correlation between ground-state energy and heating properties on application of an oscillating magnetic field h (t ) =hocos2 π f t : the particles in the core heat uniformly, while those on the surface exhibit a wide range from cold to intensely hot. (iv) Specific choices of ho and f yield characteristic spatial heat distributions, e.g., hot surface and cold core, or vice versa. (iv) For all values of ho and f that we consider, heating was maximum at a specific volume fraction. These results are especially relevant in the context of contemporary applications such as hyperthermia and chemotherapy, and also for novel materials such as smart polymer beads and superspin glasses.

Stereomicroscopic imaging technique for the quantification of cold flow in drug-in-adhesive type of transdermal drug delivery systems.

PubMed

Krishnaiah, Yellela S R; Katragadda, Usha; Khan, Mansoor A

2014-05-01

Cold flow is a phenomenon occurring in drug-in-adhesive type of transdermal drug delivery systems (DIA-TDDS) because of the migration of DIA coat beyond the edge. Excessive cold flow can affect their therapeutic effectiveness, make removal of DIA-TDDS difficult from the pouch, and potentially decrease available dose if any drug remains adhered to pouch. There are no compendial or noncompendial methods available for quantification of this critical quality attribute. The objective was to develop a method for quantification of cold flow using stereomicroscopic imaging technique. Cold flow was induced by applying 1 kg force on punched-out samples of marketed estradiol DIA-TDDS (model product) stored at 25°C, 32°C, and 40°C/60% relative humidity (RH) for 1, 2, or 3 days. At the end of testing period, dimensional change in the area of DIA-TDDS samples was measured using image analysis software, and expressed as percent of cold flow. The percent of cold flow significantly decreased (p < 0.001) with increase in size of punched-out DIA-TDDS samples and increased (p < 0.001) with increase in cold flow induction temperature and time. This first ever report suggests that dimensional change in the area of punched-out samples stored at 32°C/60%RH for 2 days applied with 1 kg force could be used for quantification of cold flow in DIA-TDDS. © 2014 Wiley Periodicals, Inc. and the American Pharmacists Association.

The Molecular and Cellular Basis of Cold Sensation

PubMed Central

2012-01-01

Of somatosensory modalities, cold is one of the more ambiguous percepts, evoking the pleasant sensation of cooling, the stinging bite of cold pain, and welcome relief from chronic pain. Moreover, unlike the precipitous thermal thresholds for heat activation of thermosensitive afferent neurons, thresholds for cold fibers are across a range of cool to cold temperatures that spans over 30 °C. Until recently, how cold produces this myriad of biological effects has been poorly studied, yet new advances in our understanding of cold mechanisms may portend a better understanding of sensory perception as well as provide novel therapeutic approaches. Chief among these was the identification of a number of ion channels that either serve as the initial detectors of cold as a stimulus in the peripheral nervous system, or are part of rather sophisticated differential expression patterns of channels that conduct electrical signals, thereby endowing select neurons with properties that are amenable to electrical signaling in the cold. This review highlights the current understanding of the channels involved in cold transduction as well as presents a hypothetical model to account for the broad range of cold thermal thresholds and distinct functions of cold fibers in perception, pain, and analgesia. PMID:23421674

Effect of low incubation temperature and low ambient temperature until 21 days of age on performance and body temperature in fast-growing chickens

PubMed Central

Nyuiadzi, D; Travel, A; Méda, B; Berri, C; Guilloteau, L A; Coustham, V; Wang, Y; Tona, J K; Collin, A

2017-01-01

Abstract Thermal manipulation during embryogenesis was previously reported to decrease the occurrence of ascites and to potentially improve cold tolerance of broilers. The objective of our study was to explore the effects of the interaction of cold incubation temperatures and cool ambient temperatures until 21 d of age on performance and body temperature. Ross 308 eggs were incubated either under control conditions I0 (37.6°C) or with cyclic cold stimulations I1 (6 h/d at 36.6°C from d 10 to 18 of incubation) or with 2 cold stimulations I2 (30 min at 15°C) at d 18 and 19 of incubation. These treatments were followed by individual rearing and postnatal exposure to either standard rearing temperature T0 (from 33°C at hatching to 21°C at d 21) or continuously lower temperature T2 (from 28°C at hatching to 21°C at d 21) or exposure to cyclically lower temperature T1 (with circadian temperature oscillations). Treatments I1 and I2 did not significantly alter hatchability compared to control incubation (with 94.8, 95.1, and 92.3%, respectively), or hatching BW and overall chick quality. Hatching body temperature (Tb) was 0.5 and 0.3°C higher in I1 than in I0 and I2 groups, respectively (P = 0.007). A doubled occurrence of health problems was observed with T2 condition, regardless of incubation or sex. At d 3, BW was 2% lower with treatment I1 than with I0 and I2 and was 3% higher in T1 and T2 groups than in T0, but these effects disappeared with age. Group T2 presented a 5% higher feed intake than the control group T0 between 3 and 21 d of age (P = 0.025). Feed conversion ratio (FCR) was affected by experimental conditions (P < 0.001), with low FCR values obtained with I2 incubation in control or cyclically cold postnatal conditions. Maximal FCR values were observed in the continuously cold postnatal conditions, in males submitted to control incubation and in females submitted to I1 incubation, revealing sex-dependent effects of the treatments on performance. PMID:29053847

Biphoton Generation Driven by Spatial Light Modulation: Parallel-to-Series Conversion

NASA Astrophysics Data System (ADS)

Zhao, Luwei; Guo, Xianxin; Sun, Yuan; Su, Yumian; Loy, M. M. T.; Du, Shengwang

2016-05-01

We demonstrate the generation of narrowband biphotons with controllable temporal waveform by spontaneous four-wave mixing in cold atoms. In the group-delay regime, we study the dependence of the biphoton temporal waveform on the spatial profile of the pump laser beam. By using a spatial light modulator, we manipulate the spatial profile of the pump laser and map it onto the two-photon entangled temporal wave function. This parallel-to-series conversion (or spatial-to-temporal mapping) enables coding the parallel classical information of the pump spatial profile to the sequential temporal waveform of the biphoton quantum state. The work was supported by the Hong Kong RGC (Project No. 601113).

Negative reinforcement impairs overnight memory consolidation.

PubMed

Stamm, Andrew W; Nguyen, Nam D; Seicol, Benjamin J; Fagan, Abigail; Oh, Angela; Drumm, Michael; Lundt, Maureen; Stickgold, Robert; Wamsley, Erin J

2014-11-01

Post-learning sleep is beneficial for human memory. However, it may be that not all memories benefit equally from sleep. Here, we manipulated a spatial learning task using monetary reward and performance feedback, asking whether enhancing the salience of the task would augment overnight memory consolidation and alter its incorporation into dreaming. Contrary to our hypothesis, we found that the addition of reward impaired overnight consolidation of spatial memory. Our findings seemingly contradict prior reports that enhancing the reward value of learned information augments sleep-dependent memory processing. Given that the reward followed a negative reinforcement paradigm, consolidation may have been impaired via a stress-related mechanism. © 2014 Stamm et al.; Published by Cold Spring Harbor Laboratory Press.

Time-resolved brightness measurements by streaking

NASA Astrophysics Data System (ADS)

Torrance, Joshua S.; Speirs, Rory W.; McCulloch, Andrew J.; Scholten, Robert E.

2018-03-01

Brightness is a key figure of merit for charged particle beams, and time-resolved brightness measurements can elucidate the processes involved in beam creation and manipulation. Here we report on a simple, robust, and widely applicable method for the measurement of beam brightness with temporal resolution by streaking one-dimensional pepperpots, and demonstrate the technique to characterize electron bunches produced from a cold-atom electron source. We demonstrate brightness measurements with 145 ps temporal resolution and a minimum resolvable emittance of 40 nm rad. This technique provides an efficient method of exploring source parameters and will prove useful for examining the efficacy of techniques to counter space-charge expansion, a critical hurdle to achieving single-shot imaging of atomic scale targets.

A system for intelligent teleoperation research

NASA Technical Reports Server (NTRS)

Orlando, N. E.

1983-01-01

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

On the manipulability of dual cooperative robots

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

Sexual conflict between parents: offspring desertion and asymmetrical parental care.

PubMed

Székely, Tamás

2014-09-25

Parental care is an immensely variable social behavior, and sexual conflict offers a powerful paradigm to understand this diversity. Conflict over care (usually considered as a type of postzygotic sexual conflict) is common, because the evolutionary interests of male and female parents are rarely identical. I investigate how sexual conflict over care may facilitate the emergence and maintenance of diverse parenting strategies and argue that researchers should combine two fundamental concepts in social behavior to understand care patterns: cooperation and conflict. Behavioral evidence of conflict over care is well established, studies have estimated specific fitness implications of conflict for males or females, and experiments have investigated specific components of conflict. However, studies are long overdue to reveal the full implications of conflict for both males and females. Manipulating (or harming) the opposite sex seems less common in postzygotic conflicts than in prezygotic conflicts because by manipulating, coercing, or harming the opposite sex, the reproductive interest of the actor is also reduced. Parental care is a complex trait, although few studies have yet considered the implications of multidimensionality for parental conflict. Future research in parental conflict will benefit from understanding the behavioral interactions between male and female parents (e.g., negotiation, learning, and coercion), the genetic and neurogenomic bases of parental behavior, and the influence of social environment on parental strategies. Empirical studies are needed to put sexual conflict in a population context and reveal feedback between mate choice, pair bonds and parenting strategies, and their demographic consequences for the population such as mortalities and sex ratios. Taken together, sexual conflict offers a fascinating avenue for understanding the causes and consequences of parenting behavior, sex roles, and breeding system evolution. Copyright © 2014 Cold Spring Harbor Laboratory Press; all rights reserved.

Studying Microbial Mat Functioning Amidst "Unexpected Diversity": Methodological Approaches and Initial Results from Metatranscriptomes of Mats Over Diel cycles, iTags from Long Term Manipulations, and Biogeochemical Cycling in Simplified Microbial Mats Constructed from Cultures

NASA Astrophysics Data System (ADS)

Bebout, B.; Bebout, L. E.; Detweiler, A. M.; Everroad, R. C.; Lee, J.; Pett-Ridge, J.; Weber, P. K.

2014-12-01

Microbial mats are famously amongst the most diverse microbial ecosystems on Earth, inhabiting some of the most inclement environments known, including hypersaline, dry, hot, cold, nutrient poor, and high UV environments. The high microbial diversity of microbial mats makes studies of microbial ecology notably difficult. To address this challenge, we have been using a combination of metagenomics, metatranscriptomics, iTags and culture-based simplified microbial mats to study biogeochemical cycling (H2 production, N2 fixation, and fermentation) in microbial mats collected from Elkhorn Slough, Monterey Bay, California. Metatranscriptomes of microbial mats incubated over a diel cycle have revealed that a number of gene systems activate only during the day in Cyanobacteria, while the remaining appear to be constitutive. The dominant cyanobacterium in the mat (Microcoleus chthonoplastes) expresses several pathways for nitrogen scavenging undocumented in cultured strains, as well as the expression of two starch storage and utilization cycles. Community composition shifts in response to long term manipulations of mats were assessed using iTags. Changes in community diversity were observed as hydrogen fluxes increased in response to a lowering of sulfate concentrations. To produce simplified microbial mats, we have isolated members of 13 of the 15 top taxa from our iTag libraries into culture. Simplified microbial mats and simple co-cultures and consortia constructed from these isolates reproduce many of the natural patterns of biogeochemical cycling in the parent natural microbial mats, but against a background of far lower overall diversity, simplifying studies of changes in gene expression (over the short term), interactions between community members, and community composition changes (over the longer term), in response to environmental forcing.

Salience of working-memory maintenance and manipulation deficits in schizophrenia

PubMed Central

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

2011-01-01

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

Simulation of cooperating robot manipulators on a mobile platform

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

Tension Stiffened and Tendon Actuated Manipulator

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

Fabricating cooled electronic system with liquid-cooled cold plate and thermal spreader

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

Chainer, Timothy J.; Graybill, David P.; Iyengar, Madhusudan K.

Methods are provided for facilitating cooling of an electronic component. The method includes providing a liquid-cooled cold plate and a thermal spreader associated with the cold plate. The cold plate includes multiple coolant-carrying channel sections extending within the cold plate, and a thermal conduction surface with a larger surface area than a surface area of the component to be cooled. The thermal spreader includes one or more heat pipes including multiple heat pipe sections. One or more heat pipe sections are partially aligned to a first region of the cold plate, that is, where aligned to the surface to bemore » cooled, and partially aligned to a second region of the cold plate, which is outside the first region. The one or more heat pipes facilitate distribution of heat from the electronic component to coolant-carrying channel sections of the cold plate located in the second region of the cold plate.« less

Fabricating cooled electronic system with liquid-cooled cold plate and thermal spreader

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

Chainer, Timothy J.; Graybill, David P.; Iyengar, Madhusudan K.

Methods are provided for facilitating cooling of an electronic component. The methods include providing a liquid-cooled cold plate and a thermal spreader associated with the cold plate. The cold plate includes multiple coolant-carrying channel sections extending within the cold plate, and a thermal conduction surface with a larger surface area than a surface area of the component to be cooled. The thermal spreader includes one or more heat pipes including multiple heat pipe sections. One or more heat pipe sections are partially aligned to a first region of the cold plate, that is, where aligned to the surface to bemore » cooled, and partially aligned to a second region of the cold plate, which is outside the first region. The one or more heat pipes facilitate distribution of heat from the electronic component to coolant-carrying channel sections of the cold plate located in the second region of the cold plate.« less

Cooled electronic system with liquid-cooled cold plate and thermal spreader coupled to electronic component

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

Chainer, Timothy J.; Graybill, David P.; Iyengar, Madhusudan K.

Apparatus and method are provided for facilitating cooling of an electronic component. The apparatus includes a liquid-cooled cold plate and a thermal spreader associated with the cold plate. The cold plate includes multiple coolant-carrying channel sections extending within the cold plate, and a thermal conduction surface with a larger surface area than a surface area of the component to be cooled. The thermal spreader includes one or more heat pipes including multiple heat pipe sections. One or more heat pipe sections are partially aligned to a first region of the cold plate, that is, where aligned to the surface tomore » be cooled, and partially aligned to a second region of the cold plate, which is outside the first region. The one or more heat pipes facilitate distribution of heat from the electronic component to coolant-carrying channel sections of the cold plate located in the second region of the cold plate.« less

Cooled electronic system with liquid-cooled cold plate and thermal spreader coupled to electronic component

DOEpatents

Chainer, Timothy J.; Graybill, David P.; Iyengar, Madhusudan K.; Kamath, Vinod; Kochuparambil, Bejoy J.; Schmidt, Roger R.; Steinke, Mark E.

2016-08-09

Apparatus and method are provided for facilitating cooling of an electronic component. The apparatus includes a liquid-cooled cold plate and a thermal spreader associated with the cold plate. The cold plate includes multiple coolant-carrying channel sections extending within the cold plate, and a thermal conduction surface with a larger surface area than a surface area of the component to be cooled. The thermal spreader includes one or more heat pipes including multiple heat pipe sections. One or more heat pipe sections are partially aligned to a first region of the cold plate, that is, where aligned to the surface to be cooled, and partially aligned to a second region of the cold plate, which is outside the first region. The one or more heat pipes facilitate distribution of heat from the electronic component to coolant-carrying channel sections of the cold plate located in the second region of the cold plate.

Cooled electronic system with liquid-cooled cold plate and thermal spreader coupled to electronic component

DOEpatents

Chainer, Timothy J.; Graybill, David P.; Iyengar, Madhusudan K.; Kamath, Vinod; Kochuparambil, Bejoy J.; Schmidt, Roger R.; Steinke, Mark E.

2016-04-05

Apparatus and method are provided for facilitating cooling of an electronic component. The apparatus includes a liquid-cooled cold plate and a thermal spreader associated with the cold plate. The cold plate includes multiple coolant-carrying channel sections extending within the cold plate, and a thermal conduction surface with a larger surface area than a surface area of the component to be cooled. The thermal spreader includes one or more heat pipes including multiple heat pipe sections. One or more heat pipe sections are partially aligned to a first region of the cold plate, that is, where aligned to the surface to be cooled, and partially aligned to a second region of the cold plate, which is outside the first region. The one or more heat pipes facilitate distribution of heat from the electronic component to coolant-carrying channel sections of the cold plate located in the second region of the cold plate.

TRPM8 and RAAS-mediated hypertension is critical for cold-induced immunosuppression in mice.

PubMed

Chan, Hao; Huang, Hsuan-Shun; Sun, Der-Shan; Lee, Chung-Jen; Lien, Te-Sheng; Chang, Hsin-Hou

2018-02-27

Mechanisms underlying cold-induced immunosuppression remain unclear. Here we found that cold exposure leads to transient receptor potential melastatin 8 (TRPM8)-dependent, renin-angiotensin-aldosterone system (RAAS)-mediated hypertension, which subsequently induces small molecule and fluid extravasation, increases plasma Ig levels, and elicits immunosuppression. An effect is similar to the clinically-used immunosuppressive treatments of intravenous immunoglobulin (IVIg) against various inflammatory diseases, such as immune thrombocytopenia (ITP). Essential roles of TRPM8 and Ig in cold-induced immunosuppression are supported by the cold-mediated amelioration of ITP and the cold-mediated suppression of bacterial clearance, which were observed in wild-type mice but not in Ig- and TRPM8-deficient mutants. Treatment with antihypertensive drugs aliskiren and losartan drastically reversed high plasma Ig levels and ameliorated cold-induced immunosuppression, indicating the involvement of the RAAS and hypertension. These results indicated that the natively increased plasma Ig level is associated with immunosuppression during periods of cold exposure, and antihypertensive drugs can be useful to manage cold-induced immunosuppression.

Metallization of Various Polymers by Cold Spray

NASA Astrophysics Data System (ADS)

Che, Hanqing; Chu, Xin; Vo, Phuong; Yue, Stephen

2018-01-01

Previous results have shown that metallic coatings can be successfully cold sprayed onto polymeric substrates. This paper studies the cold sprayability of various metal powders on different polymeric substrates. Five different substrates were used, including carbon fiber reinforced polymer (CFRP), acrylonitrile butadiene styrene (ABS), polyether ether ketone (PEEK), polyethylenimine (PEI); mild steel was also used as a benchmark substrate. The CFRP used in this work has a thermosetting matrix, and the ABS, PEEK and PEI are all thermoplastic polymers, with different glass transition temperatures as well as a number of distinct mechanical properties. Three metal powders, tin, copper and iron, were cold sprayed with both a low-pressure system and a high-pressure system at various conditions. In general, cold spray on the thermoplastic polymers rendered more positive results than the thermosetting polymers, due to the local thermal softening mechanism in the thermoplastics. Thick copper coatings were successfully deposited on PEEK and PEI. Based on the results, a method is proposed to determine the feasibility and deposition window of cold spraying specific metal powder/polymeric substrate combinations.

Vernalizing cold is registered digitally at FLC.

PubMed

Angel, Andrew; Song, Jie; Yang, Hongchun; Questa, Julia I; Dean, Caroline; Howard, Martin

2015-03-31

A fundamental property of many organisms is an ability to sense, evaluate, and respond to environmental signals. In some situations, generation of an appropriate response requires long-term information storage. A classic example is vernalization, where plants quantitatively sense long-term cold and epigenetically store this cold-exposure information to regulate flowering time. In Arabidopsis thaliana, stable epigenetic memory of cold is digital: following long-term cold exposure, cells respond autonomously in an all-or-nothing fashion, with the fraction of cells that stably silence the floral repressor flowering locus C (FLC) increasing with the cold exposure duration. However, during cold exposure itself it is unknown whether vernalizing cold is registered at FLC in individual cells in an all-or-nothing (digital) manner or is continuously varying (analog). Using mathematical modeling, we found that analog registration of cold temperature is problematic due to impaired analog-to-digital conversion into stable memory. This disadvantage is particularly acute when responding to short cold periods, but is absent when cold temperatures are registered digitally at FLC. We tested this prediction experimentally, exposing plants to short periods of cold interrupted with even shorter warm breaks. For FLC expression, we found that the system responds similarly to both interrupted and uninterrupted cold, arguing for a digital mechanism integrating long-term temperature exposure.

Vernalizing cold is registered digitally at FLC

PubMed Central

Angel, Andrew; Song, Jie; Yang, Hongchun; Questa, Julia I.; Dean, Caroline; Howard, Martin

2015-01-01

A fundamental property of many organisms is an ability to sense, evaluate, and respond to environmental signals. In some situations, generation of an appropriate response requires long-term information storage. A classic example is vernalization, where plants quantitatively sense long-term cold and epigenetically store this cold-exposure information to regulate flowering time. In Arabidopsis thaliana, stable epigenetic memory of cold is digital: following long-term cold exposure, cells respond autonomously in an all-or-nothing fashion, with the fraction of cells that stably silence the floral repressor FLOWERING LOCUS C (FLC) increasing with the cold exposure duration. However, during cold exposure itself it is unknown whether vernalizing cold is registered at FLC in individual cells in an all-or-nothing (digital) manner or is continuously varying (analog). Using mathematical modeling, we found that analog registration of cold temperature is problematic due to impaired analog-to-digital conversion into stable memory. This disadvantage is particularly acute when responding to short cold periods, but is absent when cold temperatures are registered digitally at FLC. We tested this prediction experimentally, exposing plants to short periods of cold interrupted with even shorter warm breaks. For FLC expression, we found that the system responds similarly to both interrupted and uninterrupted cold, arguing for a digital mechanism integrating long-term temperature exposure. PMID:25775579

Pressure resistance of cold-shocked Escherichia coli O157:H7 in ground beef, beef gravy and peptone water.

PubMed

Baccus-Taylor, G S H; Falloon, O C; Henry, N

2015-06-01

(i) To study the effects of cold shock on Escherichia coli O157:H7 cells. (ii) To determine if cold-shocked E. coli O157:H7 cells at stationary and exponential phases are more pressure-resistant than their non-cold-shocked counterparts. (iii) To investigate the baro-protective role of growth media (0·1% peptone water, beef gravy and ground beef). Quantitative estimates of lethality and sublethal injury were made using the differential plating method. There were no significant differences (P > 0·05) in the number of cells killed; cold-shocked or non-cold-shocked. Cells grown in ground beef (stationary and exponential phases) experienced lowest death compared with peptone water and beef gravy. Cold-shock treatment increased the sublethal injury to cells cultured in peptone water (stationary and exponential phases) and ground beef (exponential phase), but decreased the sublethal injury to cells in beef gravy (stationary phase). Cold shock did not confer greater resistance to stationary or exponential phase cells pressurized in peptone water, beef gravy or ground beef. Ground beef had the greatest baro-protective effect. Real food systems should be used in establishing food safety parameters for high-pressure treatments; micro-organisms are less resistant in model food systems, the use of which may underestimate the organisms' resistance. © 2015 The Society for Applied Microbiology.

Cold plasma decontamination of foods.

PubMed

Niemira, Brendan A

2012-01-01

Cold plasma is a novel nonthermal food processing technology that uses energetic, reactive gases to inactivate contaminating microbes on meats, poultry, fruits, and vegetables. This flexible sanitizing method uses electricity and a carrier gas, such as air, oxygen, nitrogen, or helium; antimicrobial chemical agents are not required. The primary modes of action are due to UV light and reactive chemical products of the cold plasma ionization process. A wide array of cold plasma systems that operate at atmospheric pressures or in low pressure treatment chambers are under development. Reductions of greater than 5 logs can be obtained for pathogens such as Salmonella, Escherichia coli O157:H7, Listeria monocytogenes, and Staphylococcus aureus. Effective treatment times can range from 120 s to as little as 3 s, depending on the food treated and the processing conditions. Key limitations for cold plasma are the relatively early state of technology development, the variety and complexity of the necessary equipment, and the largely unexplored impacts of cold plasma treatment on the sensory and nutritional qualities of treated foods. Also, the antimicrobial modes of action for various cold plasma systems vary depending on the type of cold plasma generated. Optimization and scale up to commercial treatment levels require a more complete understanding of these chemical processes. Nevertheless, this area of technology shows promise and is the subject of active research to enhance efficacy.

Improving the health forecasting alert system for cold weather and heat-waves in England: a case-study approach using temperature-mortality relationships

NASA Astrophysics Data System (ADS)

Masato, Giacomo; Cavany, Sean; Charlton-Perez, Andrew; Dacre, Helen; Bone, Angie; Carmicheal, Katie; Murray, Virginia; Danker, Rutger; Neal, Rob; Sarran, Christophe

2015-04-01

The health forecasting alert system for cold weather and heatwaves currently in use in the Cold Weather and Heatwave plans for England is based on 5 alert levels, with levels 2 and 3 dependent on a forecast or actual single temperature action trigger. Epidemiological evidence indicates that for both heat and cold, the impact on human health is gradual, with worsening impact for more extreme temperatures. The 60% risk of heat and cold forecasts used by the alerts is a rather crude probabilistic measure, which could be substantially improved thanks to the state-of-the-art forecast techniques. In this study a prototype of a new health forecasting alert system is developed, which is aligned to the approach used in the Met Office's (MO) National Severe Weather Warning Service (NSWWS). This is in order to improve information available to responders in the health and social care system by linking temperatures more directly to risks of mortality, and developing a system more coherent with other weather alerts. The prototype is compared to the current system in the Cold Weather and Heatwave plans via a case-study approach to verify its potential advantages and shortcomings. The prototype health forecasting alert system introduces an "impact vs likelihood matrix" for the health impacts of hot and cold temperatures which is similar to those used operationally for other weather hazards as part of the NSWWS. The impact axis of this matrix is based on existing epidemiological evidence, which shows an increasing relative risk of death at extremes of outdoor temperature beyond a threshold which can be identified epidemiologically. The likelihood axis is based on a probability measure associated with the temperature forecast. The new method is tested for two case studies (one during summer 2013, one during winter 2013), and compared to the performance of the current alert system. The prototype shows some clear improvements over the current alert system. It allows for a much greater degree of flexibility, provides more detailed regional information about the health risks associated with periods of extreme temperatures, and is more coherent with other weather alerts which may make it easier for front line responders to use. It will require validation and engagement with stakeholders before it can be considered for use.

Spent nuclear fuel project cold vacuum drying facility operations manual

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

IRWIN, J.J.

This document provides the Operations Manual for the Cold Vacuum Drying Facility (CVDF). The Manual was developed in conjunction with HNF-SD-SNF-SAR-002, Safety Analysis Report for the Cold Vacuum Drying Facility, Phase 2, Supporting Installation of Processing Systems (Garvin 1998) and, the HNF-SD-SNF-DRD-002, 1997, Cold Vacuum Drying Facility Design Requirements, Rev. 3a. The Operations Manual contains general descriptions of all the process, safety and facility systems in the CVDF, a general CVD operations sequence, and has been developed for the SNFP Operations Organization and shall be updated, expanded, and revised in accordance with future design, construction and startup phases of themore » CVDF until the CVDF final ORR is approved.« less

Sympathetic cooling of nanospheres with cold atoms

NASA Astrophysics Data System (ADS)

Montoya, Cris; Witherspoon, Apryl; Ranjit, Gambhir; Casey, Kirsten; Kitching, John; Geraci, Andrew

2016-05-01

Ground state cooling of mesoscopic mechanical structures could enable new hybrid quantum systems where mechanical oscillators act as transducers. Such systems could provide coupling between photons, spins and charges via phonons. It has recently been shown theoretically that optically trapped dielectric nanospheres could reach the ground state via sympathetic cooling with trapped cold atoms. This technique can be beneficial in cases where cryogenic operation of the oscillator is not practical. We describe experimental advances towards coupling an optically levitated dielectric nanosphere to a gas of cold Rubidium atoms. The sphere and the cold atoms are in separate vacuum chambers and are coupled using a one-dimensional optical lattice. This work is partially supported by NSF, Grant Nos. PHY-1205994,PHY-1506431.

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

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

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

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

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

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

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

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

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

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.

Habituation of the cold shock response is inhibited by repeated anxiety: Implications for safety behaviour on accidental cold water immersions.

PubMed

Barwood, Martin J; Corbett, Jo; Tipton, Mike; Wagstaff, Christopher; Massey, Heather

2017-05-15

Accidental cold-water immersion (CWI) triggers the life-threatening cold shock response (CSR) which is a precursor to sudden death on immersion. One practical means of reducing the CSR is to induce an habituation by undergoing repeated short CWIs. Habituation of the CSR is known to be partially reversed by the concomitant experience of acute anxiety, raising the possibility that repeated anxiety could prevent CSR habituation; we tested this hypothesis. Sixteen participants (12 male, 4 female) completed seven, seven-minute immersions in to cold water (15°C). Immersion one acted as a control (CON1). During immersions two to five, which would ordinarily induce an habituation, anxiety levels were repeatedly increased (CWI-ANX rep ) by deception and a demanding mathematical task. Immersions six and seven were counter-balanced with another high anxiety condition (CWI-ANX rep ) or a further control (CON2). Anxiety (20cm visual analogue scale) and cardiorespiratory responses (cardiac frequency [f c ], respiratory frequency [f R ], tidal volume [V T ], minute ventilation [V̇ E ]) were measured. Comparisons were made between experimental immersions (CON1, final CWI-ANX rep , CON2), across habituation immersions and with data from a previous study. Anxiety levels were sustained at a similar level throughout the experimental and habituation immersions (mean [SD] CON1: 7.0 [4.0] cm; CON2: 5.8 [5.2] cm cf CWI-ANX rep : 7.3 [5.5] cm; p>0.05). This culminated in failure of the CSR to habituate even when anxiety levels were not manipulated (i.e. CON2). These data were different (p<0.05) to previous studies where anxiety levels were allowed to fall across habituation immersions and the CSR consequently habituated. Repeated anxiety prevented CSR habituation. A protective strategy that includes inducing habituation for those at risk should include techniques to lower anxiety associated with the immersion event or habituation may not be beneficial in the emergency scenario. Copyright © 2017 Elsevier Inc. All rights reserved.

Transcriptome sequencing dissection of the mechanisms underlying differential cold sensitivity in young and mature leaves of the tea plant (Camellia sinensis).

PubMed

Li, Na-Na; Yue, Chuan; Cao, Hong-Li; Qian, Wen-Jun; Hao, Xin-Yuan; Wang, Yu-Chun; Wang, Lu; Ding, Chang-Qing; Wang, Xin-Chao; Yang, Ya-Jun

The tea plant originated in tropical and subtropical regions and experiences considerable challenges during cold winters and late spring frosts. After short-term chilling stress, young leaves of tea plants exhibit browning, a significant increase in electrolyte leakage and a marked decrease in the maximal photochemical efficiency of photosystem II (F v /F m ) compared with mature leaves. To identify the mechanisms underlying the different chilling tolerance between young and mature leaves of the tea plant, we used Illumina RNA-Seq technology to analyse the transcript expression profiles of young and mature leaves exposed to temperatures of 20 °C, 4 °C, and 0 °C for 4 h. A total of 45.70-72.93 million RNA-Seq raw reads were obtained and then de novo assembled into 228,864 unigenes with an average length of 601 bp and an N50 of 867 bp. In addition, the differentially expressed unigenes were identified via Venn diagram analyses for paired comparisons of young and mature leaves. Functional classifications based on Gene Ontology and Kyoto Encyclopedia of Genes and Genomes enrichment analyses revealed that the up-regulated differentially expressed genes were predominantly related to the cellular component terms of chloroplasts and cell membranes, the biological process term of oxidation-reduction process as well as the pathway terms of glutathione metabolism and photosynthesis, suggesting that these components and pathways may contribute to the cold hardiness of mature leaves. Conversely, the inhibited expression of genes related to cell membranes, carotenoid metabolism, photosynthesis, and ROS detoxification in young leaves under cold conditions might lead to the disintegration of cell membranes and oxidative damage to the photosynthetic apparatus. Further quantitative real-time PCR testing validated the reliability of our RNA-Seq results. This work provides valuable information for understanding the mechanisms underlying the cold susceptibility of young tea plant leaves and for breeding tea cultivars with superior frost resistance via the genetic manipulation of antioxidant enzymes. Copyright © 2018 Elsevier GmbH. All rights reserved.

Improvements in Cold-Plate Fabrication

NASA Technical Reports Server (NTRS)

Zaffetti, Mark A.; Taddey, Edmund P.; Laurin, Michael B.; Chabebe, Natalia

2012-01-01

Five improvements are reported in cold-plate fabrication. This cold plate is part of a thermal control system designed to serve on space missions. The first improvement is the merging of the end sheets of the cold plate with the face sheets of the structural honeycomb panel. The cold plate, which can be a brazed assembly, uses the honeycomb face sheet as its end sheet. Thus, when the honeycomb panel is fabricated, the face sheet that is used is already part of the cold plate. In addition to reducing weight, costs, and steps, the main benefit of this invention is that it creates a more structurally sound assembly. The second improvement involves incorporation of the header into the closure bar to pass the fluid to a lower layer. Conventional designs have used a separate header, which increases the geometry of the system. The improvement reduces the geometry, thus allowing the cold plate to fit into smaller area. The third improvement eliminates the need of hose, tube, or manifold to supply the cooling fluid externally. The external arrangement can be easily damaged and is vulnerable to leakage. The new arrangement incorporates an internal fluid transfer tube. This allows the fluid to pass from one cold plate to the other without any exposed external features. The fourth improvement eliminates separate fabrication of cold plate(s) and structural members followed by a process of attaching them to each other. Here, the structural member is made of material that can be brazed just as that of the cold plate. Now the structural member and the cold plate can be brazed at the same time, creating a monolithic unit, and thus a more structurally sound assembly. Finally, the fifth improvement is the elimination of an additional welding step that can damage the braze joints. A tube section, which is usually welded on after the braze process, is replaced with a more structurally sound configuration that can be brazed at the same time as the rest of the cold plate.

Will Systems Biology Deliver Its Promise and Contribute to the Development of New or Improved Vaccines? What Really Constitutes the Study of "Systems Biology" and How Might Such an Approach Facilitate Vaccine Design.

PubMed

Germain, Ronald N

2017-10-16

A dichotomy exists in the field of vaccinology about the promise versus the hype associated with application of "systems biology" approaches to rational vaccine design. Some feel it is the only way to efficiently uncover currently unknown parameters controlling desired immune responses or discover what elements actually mediate these responses. Others feel that traditional experimental, often reductionist, methods for incrementally unraveling complex biology provide a more solid way forward, and that "systems" approaches are costly ways to collect data without gaining true insight. Here I argue that both views are inaccurate. This is largely because of confusion about what can be gained from classical experimentation versus statistical analysis of large data sets (bioinformatics) versus methods that quantitatively explain emergent properties of complex assemblies of biological components, with the latter reflecting what was previously called "physiology." Reductionist studies will remain essential for generating detailed insight into the functional attributes of specific elements of biological systems, but such analyses lack the power to provide a quantitative and predictive understanding of global system behavior. But by employing (1) large-scale screening methods for discovery of unknown components and connections in the immune system ( omics ), (2) statistical analysis of large data sets ( bioinformatics ), and (3) the capacity of quantitative computational methods to translate these individual components and connections into models of emergent behavior ( systems biology ), we will be able to better understand how the overall immune system functions and to determine with greater precision how to manipulate it to produce desired protective responses. Copyright © 2017 Cold Spring Harbor Laboratory Press; all rights reserved.

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

NASA Technical Reports Server (NTRS)

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

1984-01-01

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

Systems and Methods of Coordination Control for Robot Manipulation

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

A History of Manipulative Therapy

PubMed Central

Pettman, Erland

2007-01-01

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

Design of cold chain logistics remote monitoring system based on ZigBee and GPS location

NASA Astrophysics Data System (ADS)

Zong, Xiaoping; Shao, Heling

2017-03-01

This paper designed a remote monitoring system based on Bee Zig wireless sensor network and GPS positioning, according to the characteristics of cold chain logistics. The system consisted of the ZigBee network, gateway and monitoring center. ZigBee network temperature acquisition modules and GPS positioning acquisition module were responsible for data collection, and then send the data to the host computer through the GPRS network and Internet to realize remote monitoring of vehicle with functions of login permissions, temperature display, latitude and longitude display, historical data, real-time alarm and so on. Experiments showed that the system is stable, reliable and effective to realize the real-time remote monitoring of the vehicle in the process of cold chain transport.

Commissioning of cryogenic system for China Spallation Neutron Source

NASA Astrophysics Data System (ADS)

Ye, Bin; He, Chongchao; Li, Na; Ding, Meiying; Wang, Yaqiong; Yu, Zhang; He, Kun

2017-12-01

China Spallation Neutron Source(CSNS) cryogenic system provides supercritical cryogenic hydrogen to neutron moderators, including a helium refrigerator, hydrogen loop and hydrogen safety equipment. The helium refrigerator is provided by Linde with cooling capacity of 2200 W at 20 K. Hydrogen loop system mainly includes cryogenic hydrogen pipes, hydrogen circulator cold-box and accumulator cold-box. Cryogenic hydrogen pump, ortho-para convertor, helium-hydrogen heat-exchanger, hydrogen heater and accumulator are integrated in hydrogen circulation cold-box, and accumulator cold-box. Hydrogen safety equipment includes safety valves, rupture disk, hydrogen sensor, flame detector and other equipment to ensure that cryogenic system in dangerous situations will go down, vents, or takes other measures. The cryogenic system commissioning work includes four steps. First, in order to test the refrigerating capacity of refrigerator, when acceptance testing, refrigerator internal heater was used as thermal load. Second, using simulation load as heat load of moderator, hydrogen loop use helium instead of hydrogen, and cooled down to 20 K, then re-warming and test the leak detection of hydrogen loop system. Third, base on the step 2, using hydrogen as working medium, and optimized the control logic. Forth, cryogenic system with the moderators joint commissioning. Now, cryogenic system is connected with the moderators, and the forth step will be carried out in the near future.

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

NASA Image and Video Library

1990-01-20

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

Master/slave manipulator system

NASA Technical Reports Server (NTRS)

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

1973-01-01

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

Pharmacological Evidence for Calcium Involvement in the Long-Term Processing of Abiotic Stimuli in Plants

PubMed Central

Verdus, Marie-Claire; Le Sceller, Lois; Norris, Victor; Thellier, Michel

2007-01-01

Information about abiotic conditions is stored for long periods in plants and, in flax seedlings, can lead to the production of meristems. To investigate the underlying mechanism, flax seedlings were given abiotic stimuli that included a mechanical stimulus (by manipulation), one or two cold shocks, a slow cold treatment and a drought stress and, if these seedlings were then subjected to a temporary (1 to 3 days) depletion of calcium, epidermal meristems were produced in the seedling hypocotyls. This production was inhibited by the addition to the nutrient media of EGTA, ruthenium red, lanthanum or gadolinium that affect calcium availability or calcium transport. Use of these agents revealed a period of vulnerability in information processing that was less than two min for mechanical stimuli and over five min for other abiotic stimuli, consistent with information about mechanical stimuli being stored particularly fast. We propose that external calcium is needed for the transduction/storage of the information for meristem production whilst a temporary depletion of external calcium is needed for the actual production of meristems. Such roles for calcium would be consistent with a mechanism based on ion condensation on charged polymers. PMID:19516991

Pharmacological evidence for calcium involvement in the long-term processing of abiotic stimuli in plants.

PubMed

Verdus, Marie-Claire; Le Sceller, Lois; Norris, Victor; Thellier, Michel; Ripoll, Camille

2007-07-01

Information about abiotic conditions is stored for long periods in plants and, in flax seedlings, can lead to the production of meristems. To investigate the underlying mechanism, flax seedlings were given abiotic stimuli that included a mechanical stimulus (by manipulation), one or two cold shocks, a slow cold treatment and a drought stress and, if these seedlings were then subjected to a temporary (1 to 3 days) depletion of calcium, epidermal meristems were produced in the seedling hypocotyls. This production was inhibited by the addition to the nutrient media of EGTA, ruthenium red, lanthanum or gadolinium that affect calcium availability or calcium transport. Use of these agents revealed a period of vulnerability in information processing that was less than two min for mechanical stimuli and over five min for other abiotic stimuli, consistent with information about mechanical stimuli being stored particularly fast. We propose that external calcium is needed for the transduction/storage of the information for meristem production whilst a temporary depletion of external calcium is needed for the actual production of meristems. Such roles for calcium would be consistent with a mechanism based on ion condensation on charged polymers.

Optimum soil frost depth to alleviate climate change effects in cold region agriculture

NASA Astrophysics Data System (ADS)

Yanai, Yosuke; Iwata, Yukiyoshi; Hirota, Tomoyoshi

2017-03-01

On-farm soil frost control has been used for the management of volunteer potatoes (Solanum tuberosum L.), a serious weed problem caused by climate change, in northern Japan. Deep soil frost penetration is necessary for the effective eradication of unharvested small potato tubers; however, this process can delay soil thaw and increase soil wetting in spring, thereby delaying agricultural activity initiation and increasing nitrous oxide emissions from soil. Conversely, shallow soil frost development helps over-wintering of unharvested potato tubers and nitrate leaching from surface soil owing to the periodic infiltration of snowmelt water. In this study, we synthesised on-farm snow cover manipulation experiments to determine the optimum soil frost depth that can eradicate unharvested potato tubers without affecting agricultural activity initiation while minimising N pollution from agricultural soil. The optimum soil frost depth was estimated to be 0.28-0.33 m on the basis of the annual maximum soil frost depth. Soil frost control is a promising practice to alleviate climate change effects on agriculture in cold regions, which was initiated by local farmers and further promoted by national and local research institutes.

Cold atmospheric plasma jet in an axial DC electric field

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

Lin, Li, E-mail: lilin@gwu.edu, E-mail: keidar@gwu.edu; Keidar, Michael, E-mail: lilin@gwu.edu, E-mail: keidar@gwu.edu

2016-08-15

Cold atmospheric plasma (CAP) jet is currently intensively investigated as a tool for new and potentially transformative cancer treatment modality. However, there are still many unknowns about the jet behavior that requires attention. In this paper, a helium CAP jet is tested in an electrostatic field generated by a copper ring. Using Rayleigh microwave scattering method, some delays of the electron density peaks for different ring potentials are observed. Meanwhile, a similar phenomenon associated with the bullet velocity is found. Chemical species distribution along the jet is analyzed based on the jet optical emission spectra. The spectra indicate that amore » lower ring potential, i.e., lower DC background electric field, can increase the amount of excited N{sub 2}, N{sub 2}{sup +}, He, and O in the region before the ring, but can decrease the amount of excited NO and HO almost along the entire jet. Combining all the results above, we discovered that an extra DC potential mainly affects the temporal plasma jet properties. Also, it is possible to manipulate the chemical compositions of the jet using a ring with certain electric potentials.« less

Optimum soil frost depth to alleviate climate change effects in cold region agriculture.

PubMed

Yanai, Yosuke; Iwata, Yukiyoshi; Hirota, Tomoyoshi

2017-03-21

On-farm soil frost control has been used for the management of volunteer potatoes (Solanum tuberosum L.), a serious weed problem caused by climate change, in northern Japan. Deep soil frost penetration is necessary for the effective eradication of unharvested small potato tubers; however, this process can delay soil thaw and increase soil wetting in spring, thereby delaying agricultural activity initiation and increasing nitrous oxide emissions from soil. Conversely, shallow soil frost development helps over-wintering of unharvested potato tubers and nitrate leaching from surface soil owing to the periodic infiltration of snowmelt water. In this study, we synthesised on-farm snow cover manipulation experiments to determine the optimum soil frost depth that can eradicate unharvested potato tubers without affecting agricultural activity initiation while minimising N pollution from agricultural soil. The optimum soil frost depth was estimated to be 0.28-0.33 m on the basis of the annual maximum soil frost depth. Soil frost control is a promising practice to alleviate climate change effects on agriculture in cold regions, which was initiated by local farmers and further promoted by national and local research institutes.

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

NASA Technical Reports Server (NTRS)

Turnbull, J. F.

1983-01-01

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

Cold Fronts in RegCM/HadGEM simulations over South America

NASA Astrophysics Data System (ADS)

Pampuch, Luana; Marcos de Jesus, Eduardo; Porfírio da Rocha, Rosmeri; Ambrizzi, Tércio

2017-04-01

Cold front is one of the most important systems that contribute for precipitation over South America. The representation of this system in climate models is important for a better representation of the precipitation. The Regional Climate Model RegCM is widely used for climate studies in South America, being important to understand how this model represents the cold fronts. A climatology (from 1979-2004) of the number of cold fronts in each season for RegCM4 simulations over South America CORDEX domain nested in HadGEM2-ES. The simulated climatology was compared with ERA-Interim reanalysis cold fronts climatology over the South America and adjacent South Atlantic Ocean. The cold fronts tracking for the model and the reanalysis were performed using an objective methodology based on decrease of air temperature in 925hPa, shift of meridional wind in 925hPa from northern to southern quadrant and increased in sea level pressure. The main differences were observed on summer and winter. On summer the model overestimate the number of cold fronts over southeastern South America and adjacent Atlantic Ocean; and underestimate it over central-south Argentina and Atlantic Ocean. On winter, the signs were opposite of that summer. On autumn and spring the differences were smaller and occurs mainly over all South Atlantic and north Argentina.

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

INDUCTION HEATING PROCESS FOR MELTING TITANIUM (COLD-WALL CRUCIBLES, SEGMENTED AND NON-SEGMENTED).

DTIC Science & Technology

system during melting tests. Three types of cold-wall crucibles were investigated. The first was a four-segment copper crucible , the second a non...segmented silicon bronze crucible, and the third a two-segment copper crucible coated with BeO. Attempts to melt titanium in an induction field in a cold

A comparison of control modes for time-delayed remote manipulation

NASA Technical Reports Server (NTRS)

Starr, G. P.

1982-01-01

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

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

PubMed

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

2010-01-01

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

Positional control of space robot manipulator

NASA Astrophysics Data System (ADS)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

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

Microgravity Effects on Yersinia Pestis Virulence

NASA Astrophysics Data System (ADS)

Lawal, A.; Abogunde, O.; Jejelowo, O.; Rosenzweig, J.-A.

2010-04-01

Microgravity effects on Yersinia pestis proliferation, cold growth, and type three secretion system function were evaluated in macrophage cell infections, HeLa cell infections, and cold growth plate assays.

A Novel Solution-Technique Applied to a Novel WAAS Architecture

NASA Technical Reports Server (NTRS)

Bavuso, J.

1998-01-01

The Federal Aviation Administration has embarked on an historic task of modernizing and significantly improving the national air transportation system. One system that uses the Global Positioning System (GPS) to determine aircraft navigational information is called the Wide Area Augmentation System (WAAS). This paper describes a reliability assessment of one candidate system architecture for the WAAS. A unique aspect of this study regards the modeling and solution of a candidate system that allows a novel cold sparing scheme. The cold spare is a WAAS communications satellite that is fabricated and launched after a predetermined number of orbiting satellite failures have occurred and after some stochastic fabrication time transpires. Because these satellites are complex systems with redundant components, they exhibit an increasing failure rate with a Weibull time to failure distribution. Moreover, the cold spare satellite build-time is Weibull and upon launch is considered to be a good-as-new system with an increasing failure rate and a Weibull time to failure distribution as well. The reliability model for this system is non-Markovian because three distinct system clocks are required: the time to failure of the orbiting satellites, the build time for the cold spare, and the time to failure for the launched spare satellite. A powerful dynamic fault tree modeling notation and Monte Carlo simulation technique with importance sampling are shown to arrive at a reliability prediction for a 10 year mission.

Improvements to the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

NASA Technical Reports Server (NTRS)

Doggett, William R.; Dorsey, John T.; Jones, Thomas C.; Lodding, Kenneth N.; Ganoe, George G.; Mercer, David; King, Bruce D.

2015-01-01

Devices for manipulating and precisely placing payloads are critical for efficient space operations including berthing of spacecraft, in-space assembly, construction and repair. Key to the success of many NASA space activities has been the availability of long-reach crane-like devices such as the Shuttle Remote Manipulation System (SRMS) and the Space Station Remote Manipulation System (SSRMS). These devices have been used for many operations including berthing visiting spacecraft to the International Space Station, deployment of spacecraft, space station assembly, astronaut positioning, payload transfer, and spacecraft inspection prior to atmospheric re-entry. Retiring the Space Transportation System has led to the removal of the SRMS from consideration for in-space missions, thus creating a capability gap. Recognizing this gap, work was initiated at NASA on a new architecture for long-reach space manipulators. Most current devices are constructed by joining revolute joints with carbon composite tubes, with the joints accounting for the majority of the device mass. For example in the case of the SRMS, the entire device mass is 410 kg (904 lbm); the joint structure, motors, gear train, cabling, etc., accounts for the majority of the system mass because the carbon composite tubes mass is 46 kg (101 lbm). An alternate space manipulator concept, the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) was created to address deficiencies in the current state-of-the-art in long-reach manipulators. The antagonistic tendon actuated joint architecture allows the motors actuating the joint to be removed from the joint axis, which simplifies the joint design while simultaneously providing mechanical advantage for the motors. The improved mechanical advantage, in turn, reduces the size and power requirements for the motor and gear train. This paper will describe recent architectural improvements to the TALISMAN design that: 1) improve the operational robustness of the system by enabling maneuvers not originally possible by varying the TALISMAN geometry; 2) enable efficient active antagonistic control of a joint while sharing cable between antagonistic tension networks; and 3) uses a unique arrangement of differential capstans to reduce motor torque requirements by an order of magnitude. The paper will also summarize recent efforts to enable autonomous deployment of a TALISMAN including the deployment concept of operations and associated hardware system design. The deployment forces are provided by the same motor systems that are used for articulation, thus reducing the mass associated with the deployment system. The deployment approach is being tested on a TALISMAN prototype which is designed to provide the same operational performance as a shuttle-class manipulator. The prototype has been fabricated and is operational in a new facility at NASA Langley Research Center that has a large area (15.2 m by 21.3 m [50 ft by 70 ft]) air-bearing floor.

Force reflecting hand controller for manipulator teleoperation

NASA Technical Reports Server (NTRS)

Bryfogle, Mark D.

1991-01-01

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

Cold-trapped organic compounds at the poles of the Moon and Mercury: Implications for origins

NASA Astrophysics Data System (ADS)

Zhang, Jo Ann; Paige, David A.

2009-08-01

We have calculated evaporation rates for a range of organic compounds that may be cold-trapped at the poles of the Moon and Mercury. Organics vary widely in their volatilities and thus can be stable to evaporation at higher and lower temperatures than water. The detection of cold-trapped organics would point to volatile delivery by impacts, as comets and asteroids are the only plausible sources for organic molecules. The characterization of cold-trapped organics on both bodies may provide constraints on the thermal evolution of cold traps over time and the history of volatiles in the inner solar system.

Multivessel system for cold-vapor mercury generation. Determination of mercury in hair and fish.

PubMed

Boaventura, G R; Barbosa, A C; East, G A

1997-01-01

A multivessel system for the determination of mercury (Hg) by cold-vapor atomic absorption spectrometry (CV-AAS) and inductively coupled plasma atomic emission spectrometry (ICP-AES) was developed. The performance of the proposed device was tested by determining total Hg in quality-control samples of hair and fishes following acid digestion. Application of the apparatus to the determination of Hg by CV-AAS following alkaline digestion was studied as well. The detection limit obtained for CV-AAS was 0.11 ng/mL and for ICP-AES 1.39 ng/mL. The results show that the system is appropriate to be used in techniques involving cold-vapor generation of Hg.

[Analytic study of juices obtained by pressure, by cold extraction and warm extraction (the DDS system) of marc from apples of the Golden Delicious variety].

PubMed

Tanner, H

1978-01-01

The cold water extraction of apple press residues to increase the juice yield has found much interest in recent years. Such a process has been developed by a Swiss company, but the food legislation does not permit it yet. Juice yield is increased up to 91 p. 100 (w.). Therefore we investigated the chemical and sensorical properties of pressed juice, cold water extract of press residues and warm water extract (System DDS) of identical raw material. The water extract differs from the pressed juice mainly by an increased amount of non-sugar extract and changes of the pigment and polyphenole content. The cold water extract had more and the better aroma than the warm extract.

Comparing mechanisms of host manipulation across host and parasite taxa

USGS Publications Warehouse

Lafferty, Kevin D.; Shaw, Jenny C.

2013-01-01

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

Cold Helium Pressurization for Liquid Oxygen/Liquid Methane Propulsion Systems: Fully-Integrated Hot-Fire Test Results

NASA Technical Reports Server (NTRS)

Morehead, R. L.; Atwell, M. J.; Melcher, J. C.; Hurlbert, E. A.

2016-01-01

Hot-fire test demonstrations were successfully conducted using a cold helium pressurization system fully integrated into a liquid oxygen (LOX) / liquid methane (LCH4) propulsion system (Figure 1). Cold helium pressurant storage at near liquid nitrogen (LN2) temperatures (-275 F and colder) and used as a heated tank pressurant provides a substantial density advantage compared to ambient temperature storage. The increased storage density reduces helium pressurant tank size and mass, creating payload increases of 35% for small lunar-lander sized applications. This degree of mass reduction also enables pressure-fed propulsion systems for human-rated Mars ascent vehicle designs. Hot-fire test results from the highly-instrumented test bed will be used to demonstrate system performance and validate integrated models of the helium and propulsion systems. A pressurization performance metric will also be developed as a means to compare different active pressurization schemes.

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.

Liquid nitrogen historical and current usage of the central helium liquefier at SNS

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

Neustadt, Thomas S.; Kim, Sang-Ho; Howell, Matthew P.

The main cryogenic system for the Spallation Neutron Source (SNS) is comprised of a 4-K cold box, a 2-K cold box, six warm compressors, and ancillary support equipment. This system has been cold and operating with little disruption since 2005. Design and operation of liquid nitrogen (LN2) supplied from a single 20,000-gallon supply Dewar will be discussed. LN2 used to precool the 4-K cold box heat exchanger started to increase around 2011. LN2 Consumption during 2012 and 2013 was almost double the nominal usage rate. Studies of this data, plant parameter changes to respond to this information, and current interpretationsmore » are detailed in this paper. The usage rate of LN2 returned to normal in late 2013 and remained there until recent additional changes. Future study plans to understand potential causes of this including contamination migration within the 4-K cold box will also be addressed.« less

Development and Analysis of Cold Trap for Use in Fission Surface Power-Primary Test Circuit

NASA Technical Reports Server (NTRS)

Wolfe, T. M.; Dervan, C. A.; Pearson, J. B.; Godfroy, T. J.

2012-01-01

The design and analysis of a cold trap proposed for use in the purification of circulated eutectic sodium potassium (NaK-78) loops is presented. The cold trap is designed to be incorporated into the Fission Surface Power-Primary Test Circuit (FSP-PTC), which incorporates a pumped NaK loop to simulate in-space nuclear reactor-based technology using non-nuclear test methodology as developed by the Early Flight Fission-Test Facility. The FSP-PTC provides a test circuit for the development of fission surface power technology. This system operates at temperatures that would be similar to those found in a reactor (500-800 K). By dropping the operating temperature of a specified percentage of NaK flow through a bypass containing a forced circulation cold trap, the NaK purity level can be increased by precipitating oxides from the NaK and capturing them within the cold trap. This would prevent recirculation of these oxides back through the system, which may help prevent corrosion.

Apparatus and Methods for Manipulation and Optimization of Biological Systems

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

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

PubMed

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

2015-08-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

Sample Manipulation System for Sample Analysis at Mars

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

Checkout activity on the Remote Manipulator System (RMS) arm

NASA Image and Video Library

1997-02-12

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

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

PubMed

Runquist, Ryan D Briscoe; Moeller, David A

2013-09-01

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

SU-F-T-504: Non-Divergent Planning Method for Craniospinal Irradiation

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

Sperling, N; Bogue, J; Parsai, E

2016-06-15

Purpose: Traditional Craniospinal Irradiation (CSI) planning techniques require careful field placement to allow optimal divergence and field overlap at depth, and measurement of skin gap. The result of this is a necessary field overlap resulting in dose heterogeneity in the spinal canal. A novel, nondivergent field matching method has been developed to allow simple treatment planning and delivery without the need to measure skin gap. Methods: The CSI patient was simulated in the prone, and a plan was developed. Bilateral cranial fields were designed with couch and collimator rotation to eliminate divergence with the upper spine field and minimize anteriormore » divergence into the lenses. Spinal posterior-to-anterior fields were designed with the couch rotated to 90 degrees to allow gantry rotation to eliminate divergence at the match line, and the collimator rotated to 90 degrees to allow appropriate field blocking with the MLCs. A match line for the two spinal fields was placed and the gantry rotated to equal angles in opposite directions about the match line. Jaw positions were then defined to allow 1mm overlap at the match line to avoid cold spots. A traditional CSI plan was generated using diverging spinal fields, and a comparison between the two techniques was generated. Results: The non-divergent treatment plan was able to deliver a highly uniform dose to the spinal cord with a cold spot of only 95% and maximum point dose of 115.8%, as compared to traditional plan cold spots of 87% and hot spots of 132% of the prescription dose. Conclusion: A non-divergent method for planning CSI patients has been developed and clinically implemented. Planning requires some geometric manipulation in order to achieve an adequate dose distribution, however, it can help to manage cold spots and simplify the shifts needed between spinal fields.« less

The effects of local forearm muscle cooling on motor unit properties.

PubMed

Mallette, Matthew M; Green, Lara A; Gabriel, David A; Cheung, Stephen S

2018-02-01

Muscle cooling impairs maximal force. Using needle electromyography (EMG) to assess motor unit properties during muscle cooling, is limited and equivocal. Therefore, we aimed to determine the impact of local muscle cooling on motor unit firing properties using surface EMG decomposition. Twenty participants (12 M, 8 F) completed maximal, evoked, and trapezoidal contractions during thermoneutral and cold muscle conditions. Forearm muscle temperature was manipulated using 10-min neutral (~ 32 °C) or 20-min cold (~ 3 °C) water baths. Twitches and maximal voluntary contractions were performed prior to, and after, forearm immersion in neutral or cold water. Motor unit properties were assessed during trapezoidal contractions to 50% baseline force using surface EMG decomposition. Impaired contractile properties from muscle cooling were evident in the twitch amplitude, duration, and rate of force development indicating that the muscle was successfully cooled from the cold water bath (all d ≥ 0.5, P < 0.05). Surface EMG decomposition showed muscle cooling increased the number of motor units (d = 0.7, P = 0.01) and motor unit action potential (MUAP) duration (d = 0.6, P < 0.001), but decreased MUAP amplitude (d = 0.2, P = 0.012). Individually, neither motor unit firing rates (d = 0.1, P = 0.843) nor recruitment threshold (d = 0.1, P = 0.746) changed; however, the relationship between the recruitment threshold and motor unit firing rate was steeper (d = 1.0, P < 0.001) and had an increased y-intercept (d = 0.9, P = 0.007) with muscle cooling. Since muscle contractility is impaired with muscle cooling, these findings suggest a compensatory increase in the number of active motor units, and small but coupled changes in motor unit firing rates and recruitment threshold to produce the same force.

TRPM8 and RAAS-mediated hypertension is critical for cold-induced immunosuppression in mice

PubMed Central

Lien, Te-Sheng; Chang, Hsin-Hou

2018-01-01

Mechanisms underlying cold-induced immunosuppression remain unclear. Here we found that cold exposure leads to transient receptor potential melastatin 8 (TRPM8)-dependent, renin–angiotensin–aldosterone system (RAAS)-mediated hypertension, which subsequently induces small molecule and fluid extravasation, increases plasma Ig levels, and elicits immunosuppression. An effect is similar to the clinically-used immunosuppressive treatments of intravenous immunoglobulin (IVIg) against various inflammatory diseases, such as immune thrombocytopenia (ITP). Essential roles of TRPM8 and Ig in cold-induced immunosuppression are supported by the cold-mediated amelioration of ITP and the cold-mediated suppression of bacterial clearance, which were observed in wild-type mice but not in Ig- and TRPM8-deficient mutants. Treatment with antihypertensive drugs aliskiren and losartan drastically reversed high plasma Ig levels and ameliorated cold-induced immunosuppression, indicating the involvement of the RAAS and hypertension. These results indicated that the natively increased plasma Ig level is associated with immunosuppression during periods of cold exposure, and antihypertensive drugs can be useful to manage cold-induced immunosuppression. PMID:29560109

Dataset on outdoor behavior-system and spatial-pattern in the third place in cold area-based on the perspective of new energy structure.

PubMed

Ren, Kai; Wang, Yuan; Liu, Tingxi; Wang, Guanli

2017-02-01

The data presented in this paper are related to the research article entitled "Exploration of Outdoor Behavior System and Spatial Pattern in the Third Place in Cold Area- based on the perspective of new energy structure" (Ren, 2016) [1]. The dataset was from a field sub-time extended investigation to residents of Power Home Community in Inner Mongolia of China that belongs to cold region of ID area according to Chinese design code for buildings. This filed data provided descriptive statistics about environment-behavior symbiosis system, environment loading, behavior system, spatial demanding and spatial pattern for all kinds of residents (Older, younger, children). The field data set is made publicly available to enable critical or extended analyzes.

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

EPA Science Inventory

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

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

DTIC Science & Technology

1999-12-01

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

Direct manipulation of metallic nanosheets by shear force microscopy.

PubMed

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

2018-05-15

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

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

NASA Technical Reports Server (NTRS)

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

1974-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1982-01-01

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

Towards Automated Nanomanipulation under Scanning Electron Microscopy

NASA Astrophysics Data System (ADS)

Ye, Xutao

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

Manipulation of biological samples using micro and nano techniques.

PubMed

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

2009-01-01

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

Disparity in disinfection byproducts concentration between hot and cold tap water.

PubMed

Liu, Boning; Reckhow, David A

2015-03-01

The quality of water entering a distribution system may differ substantially from the quality at the point of exposure to the consumer. This study investigated temporal variations in the levels of regulated and non-regulated disinfection byproducts (DBPs) in cold and hot tap water in a home on a medium-sized municipal water system. In addition, samples were collected directly from the water plant with some being held in accordance with a simulated distribution system (SDS) test protocol. The location for this work was a system in western Massachusetts, USA that uses free chlorine as a final disinfectant. Very little short term variability of DBPs at the point of entry (POE) was observed. The concentration of DBPs in the time-variable SDS test was similar to concentrations in the cold water tap. For most DBPs, the concentrations continued to increase as the cold water tap sample was held for the time-variable SDS incubation period. However, the impact of heating on DBP levels was compound specific. For example, the concentrations of trihalomethanes (THMs), dichloroacetic acid (DCAA) and chloropicrin (CP) were substantially higher in the hot water tap than in the cold water time-variable SDS samples. In contrast, the concentration of trichloroacetic acid (TCAA) was lower in the heated hot tap water, but about equal to that observed in the cold tap water. The situation was more pronounced for dichloroacetonitrile (DCAN), bromodichloroacetic acid (BDCAA), bromochloroacetic acid (BCAA) and 1,1,1-trichloropropanone (TCP), which all showed lower concentrations in the hot water then in either of the cold water samples (instantaneous or time-variable SDS). The latter was viewed as a clear indication of thermally-induced decomposition. The ratio of unknown total organic halide (UTOX) to TOX was substantially lower in the hot tap water as the THM to TOX ratio became correspondingly larger. The results of this study show that DBP exposure in the home is not well represented by concentrations measured in cold water taps where most compliance monitoring is done. Copyright © 2014 Elsevier Ltd. All rights reserved.

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

PubMed

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

2017-01-01

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

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

PubMed

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

2018-05-15

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

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

PubMed

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

2010-11-01

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

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

NASA Technical Reports Server (NTRS)

Brown, Robert Michael, Jr.

1995-01-01

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

Biosynthesis and uptake of glycine betaine as cold-stress response to low temperature in fish pathogen Vibrio anguillarum.

PubMed

Ma, Yue; Wang, Qiyao; Gao, Xiating; Zhang, Yuanxing

2017-01-01

Fish pathogen Vibrio anguillarum, a mesophile bacterium, is usually found in estuarine and marine coastal ecosystems worldwide that pose a constant stress to local organism by its fluctuation in salinity as well as notable temperature change. Though V. anguillarum is able to proliferate while maintain its pathogenicity under low temperature (5-18°C), so far, coldadaption molecular mechanism of the bacteria is unknown. In this study, V. anguillarum was found possessing a putative glycine betaine synthesis system, which is encoded by betABI and synthesizes glycine betaine from its precursor choline. Furthermore, significant up-regulation of the bet gene at the transcriptional level was noted in log phase in response to cold-stress. Moreover, the accumulation of betaine glycine was only found appearing at low growth temperatures, suggesting that response regulation of both synthesis system and transporter system are cold-dependent. Furthermore, in-frame deletion mutation in the two putative ABC transporters and three putative BCCT family transporters associated with glycine betaine uptake could not block cellular accumulation of betaine glycine in V. anguillarum under coldstress, suggesting the redundant feature in V. anguillarum betaine transporter system. These findings confirmed that glycine betaine serves as an effective cold stress protectant and highlighted an underappreciated facet of the acclimatization of V. anguillarum to cold environments.

Image-guided plasma therapy of cutaneous wound

NASA Astrophysics Data System (ADS)

Zhang, Zhiwu; Ren, Wenqi; Yu, Zelin; Zhang, Shiwu; Yue, Ting; Xu, Ronald

2014-02-01

The wound healing process involves the reparative phases of inflammation, proliferation, and remodeling. Interrupting any of these phases may result in chronically unhealed wounds, amputation, or even patient death. Despite the clinical significance in chronic wound management, no effective methods have been developed for quantitative image-guided treatment. We integrated a multimodal imaging system with a cold atmospheric plasma probe for image-guided treatment of chronic wound. Multimodal imaging system offers a non-invasive, painless, simultaneous and quantitative assessment of cutaneous wound healing. Cold atmospheric plasma accelerates the wound healing process through many mechanisms including decontamination, coagulation and stimulation of the wound healing. The therapeutic effect of cold atmospheric plasma is studied in vivo under the guidance of a multimodal imaging system. Cutaneous wounds are created on the dorsal skin of the nude mice. During the healing process, the sample wound is treated by cold atmospheric plasma at different controlled dosage, while the control wound is healed naturally. The multimodal imaging system integrating a multispectral imaging module and a laser speckle imaging module is used to collect the information of cutaneous tissue oxygenation (i.e. oxygen saturation, StO2) and blood perfusion simultaneously to assess and guide the plasma therapy. Our preliminary tests show that cold atmospheric plasma in combination with multimodal imaging guidance has the potential to facilitate the healing of chronic wounds.

System Collects And Displays Demultiplexed Data

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Earth Observations taken by Expedition 26 Crew

NASA Image and Video Library

2010-12-21

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

Observed Structure and Characteristics of Cold Pools over Tropical Oceans using Vector Wind Retrievals and WRF simulations

NASA Astrophysics Data System (ADS)

Garg, P.; Nesbitt, S. W.; Lang, T. J.; Chronis, T.; Thayer, J. D.; Hence, D. A.

2017-12-01

Cold pools generated in the wake of convective activity can enhance the surface sensible heat flux, latent heat flux, and also changes in evaporation out of, and fresh water flux into, the ocean. Recent studies have shown that over the open ocean, cold pool outflow boundaries and their intersections can organize and initiate a spectrum of deep convective clouds, which is a key driver of shallow and deep convection over conditionally-unstable tropical oceans. The primary goal of this study is to understand the structure and characteristics of cold pools over the tropical oceans using observations. With the idea that cold pools will have strong wind gradients at their boundaries, we use ASCAT vector wind retrievals. We identify regions of steep gradients in wind vectors as gradient features (GFs), akin to cold pools. Corresponding to these GFs, sensible and latent heat fluxes were calculated using the observed winds and background temperatures from MERRA-2 reanalysis. To evaluate the proposed technique, cold pools were observed using S-PolKa radar from the DYNAMO/AMIE field campaign in the Indian Ocean for the period of 1 October 2011 to 31 March 2012 and were compared with ASCAT GFs. To relate the thermodynamic and kinematic characteristics of observed and simulated cold pools, simulations were carried out on WRF on a 3-km domain explicitly. The areas of cold pools were identified in the models using virtual temperature (Tv), which is a direct measure of air density, while GFs were identified using model simulated winds. Quantitative measures indicate that GFs are highly correspondent with model-simulated cold pools. In global measurements of cold pools from 2007-2015, it is possible to examine the characteristics of GFs across all tropical ocean basins, and relate them to meteorological conditions, as well as the characteristics of the parent precipitation systems. Our results indicate that while there is a general relationship between the amount of precipitation and the number of cold pools, the largest cold pools exist over the Eastern Pacific basin, where the most stratiform rain is produced from oceanic MCSs. It is anticipated that improved understanding of cold pools, which are a primary triggering mechanism of oceanic shallow and deep convection, will improve prediction of this important component of the climate system.

Basic Operational Robotics Instructional System

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

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

PubMed

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

2017-05-26

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

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

NASA Astrophysics Data System (ADS)

Willemse, Tim A. C.

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

Trust versus Manipulation

ERIC Educational Resources Information Center

Lewis, Anne C.

2005-01-01

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

Adaptive Control Of Remote Manipulator

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

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

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

NASA Astrophysics Data System (ADS)

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

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

Extracerebral deep-body cold sensitivity in the Pekin duck.

PubMed

Inomoto, T; Simon, E

1981-09-01

Pekin ducks, in which cerebral cold sensitivity is negligible, were submitted to general body cooling at warm, thermoneutral, and cold ambient temperature (Ta) with an intestinal thermode. In some animals, hypothermia was enhanced by additional hypothalamic cooling that suppressed cold defense. In other animals, the spinal cord was cooled, either selectively or during intestinal cooling. From core temperature (Tc) and metabolic heat production (M) an overall cold sensitivity of about -5 to -6 W . kg-1 . degrees C-1 was determined at thermoneutrality. Maximum M amounted to four to five times the resting M of 3.8 W . kg-1 and was attained when Tc fell by 2.5 degrees C or more. In the cold, threshold Tc for the activation of M was elevated; overall cold sensitivity remained constant. In the warmth, threshold Tc was lowered; overall cold sensitivity was reduced, if mean skin temperature (Tsk) remained at aout 39 degrees C or higher. Spinal cold sensitivity amounted to about -0.25 W . kg-1 . degrees C-1 at normal Tc and thermoneutral and warm Ta; it increased to aout -0.50 W . kg-1 . degrees C-1 in the cold and during hypothermia. Peripheral cold sensitivity was estimated from Tsk and M as -0.4 to -0.8 W . kg-1 . degrees C-1. It is concluded that overall cold sensitivity in ducks mainly depends on deep-body temperature sensors outside of the central nervous system.

Knudsen torque on heated micro beams

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

Li, Qi; Liang, Tengfei; Ye, Wenjing

Thermally induced mechanical loading has been shown to have significant effects on micro/nano objects immersed in a gas with a non-uniform temperature field. While the majority of existing studies and related applications focus on forces, we investigate the torque, and thus the rotational motion, produced by such a mechanism. Using the asymptotic analysis in the near continuum regime, the Knudsen torque acting on an asymmetrically located uniformly heated microbeam in a cold enclosure is investigated. The existence of a non-zero net torque is demonstrated. In addition, it has been found that by manipulating the system configuration, the rotational direction ofmore » the torque can be changed. Two types of rotational motion of the microbeam have been identified: the pendulum motion of a rectangular beam, and the unidirectional rotation of a cylindrical beam. A rotational frequency of 4 rpm can be achieved for the cylindrical beam with a diameter of 3μm at Kn = 0.005. Illustrated by the simulations using the direct simulation of Monte Carlo, the Knudsen torque can be much increased in the transition regime, demonstrating the potential of Knudsen torque serving as a rotation engine for micro/nano objects.« less

Recent developments in trapping and manipulation of atoms with adiabatic potentials

NASA Astrophysics Data System (ADS)

Garraway, Barry M.; Perrin, Hélène

2016-09-01

A combination of static and oscillating magnetic fields can be used to ‘dress’ atoms with radio-frequency (RF), or microwave, radiation. The spatial variation of these fields can be used to create an enormous variety of traps for ultra-cold atoms and quantum gases. This article reviews the type and character of these adiabatic traps and the applications which include atom interferometry and the study of low-dimensional quantum systems. We introduce the main concepts of magnetic traps leading to adiabatic dressed traps. The concept of adiabaticity is discussed in the context of the Landau-Zener model. The first bubble trap experiment is reviewed together with the method used for loading it. Experiments based on atom chips show the production of double wells and ring traps. Dressed atom traps can be evaporatively cooled with an additional RF field, and a weak RF field can be used to probe the spectroscopy of the adiabatic potentials. Several approaches to ring traps formed from adiabatic potentials are discussed, including those based on atom chips, time-averaged adiabatic potentials and induction methods. Several proposals for adiabatic lattices with dressed atoms are also reviewed.

Engineering frequency-dependent superfluidity in Bose-Fermi mixtures

NASA Astrophysics Data System (ADS)

Arzamasovs, Maksims; Liu, Bo

2018-04-01

Unconventional superconductivity and superfluidity are among the most exciting and fascinating quantum phenomena in condensed-matter physics. Usually such states are characterized by nontrivial spin or spatial symmetry of the pairing order parameter, such as "spin triplet" or "p wave." However, besides spin and spatial dependence the order parameter may have unconventional frequency dependence which is also permitted by Fermi-Dirac statistics. Odd-frequency fermionic pairing is an exciting paradigm when discussing exotic superfluidity or superconductivity and is yet to be realized in experiments. In this paper we propose a symmetry-based method of controlling frequency dependence of the pairing order parameter via manipulating the inversion symmetry of the system. First, a toy model is introduced to illustrate that frequency dependence of the order parameter can be achieved through our proposed approach. Second, by taking advantage of recent rapid developments in producing spin-orbit-coupled dispersions in ultracold gases, we propose a Bose-Fermi mixture to realize such frequency-dependent superfluid. The key idea is introducing the frequency-dependent attraction between fermions mediated by Bogoliubov phonons with asymmetric dispersion. Our proposal should pave an alternative way for exploring frequency-dependent superfluids with cold atoms.

Hot Electrons Regain Coherence in Semiconducting Nanowires

NASA Astrophysics Data System (ADS)

Reiner, Jonathan; Nayak, Abhay Kumar; Avraham, Nurit; Norris, Andrew; Yan, Binghai; Fulga, Ion Cosma; Kang, Jung-Hyun; Karzig, Toesten; Shtrikman, Hadas; Beidenkopf, Haim

2017-04-01

The higher the energy of a particle is above equilibrium, the faster it relaxes because of the growing phase space of available electronic states it can interact with. In the relaxation process, phase coherence is lost, thus limiting high-energy quantum control and manipulation. In one-dimensional systems, high relaxation rates are expected to destabilize electronic quasiparticles. Here, we show that the decoherence induced by relaxation of hot electrons in one-dimensional semiconducting nanowires evolves nonmonotonically with energy such that above a certain threshold hot electrons regain stability with increasing energy. We directly observe this phenomenon by visualizing, for the first time, the interference patterns of the quasi-one-dimensional electrons using scanning tunneling microscopy. We visualize the phase coherence length of the one-dimensional electrons, as well as their phase coherence time, captured by crystallographic Fabry-Pèrot resonators. A remarkable agreement with a theoretical model reveals that the nonmonotonic behavior is driven by the unique manner in which one-dimensional hot electrons interact with the cold electrons occupying the Fermi sea. This newly discovered relaxation profile suggests a high-energy regime for operating quantum applications that necessitate extended coherence or long thermalization times, and may stabilize electronic quasiparticles in one dimension.

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.

Evaluation of Losses Of Cold Energy of Cryogen Products in The Transport Systems

NASA Astrophysics Data System (ADS)

Uglanov, Dmitry; Sarmin, Dmitry; Tsapkova, Alexandra; Burdina, Yana

2017-12-01

At present, there are problems of energy saving in various areas of human life and in power complexes of industrial plants. One possible solution to the problem of increasing energy efficiency is the use of liquefied natural gas and its cold energy. Pipelines for fuel or gas supply in cryogen supply systems have different length depending on the mutual position of storage and cryogen consumption devices relatively to a start construction. Cryogen supply and transport systems include a lot of fittings of different assortment. Reservoirs can be installed on different elevation points. To reduce heat inleak and decrease cold energy of cryogen product different kinds of thermal insulation are used. Cryogen pipelines provide required operation conditions of storage and gasifying systems. The aim of the thermal calculation of cryogen transport and supply systems is to define the value of cryogen heat. In this paper it is shown values of cryogen temperature rise due to heat inleaks at cryogen’s transfer along transport systems for ethane, methane, oxygen and nitrogen were calculated. Heat inleaks also due to hydraulic losses were calculated. Specific losses of cold energy of cryogen product for laminar and turbulent flow were calculated. Correspondences of temperature rise, critical pipeline’s length and Reynolds number were defined for nitrogen, argon, methane and oxygen.

Handling and analysis of ices in cryostats and glove boxes in view of cometary samples

NASA Technical Reports Server (NTRS)

Roessler, K.; Eich, G.; Heyl, M.; Kochan, H.; Oehler, A.; Patnaik, A.; Schlosser, W.; Schulz, R.

1989-01-01

Comet nucleus sample return mission and other return missions from planets and satellites need equipment for handling and analysis of icy samples at low temperatures under vacuum or protective gas. Two methods are reported which were developed for analysis of small icy samples and which are modified for larger samples in cometary matter simulation experiments (KOSI). A conventional optical cryostat system was modified to allow for transport of samples at 5 K, ion beam irradiation, and measurement in an off-line optical spectrophotometer. The new system consists of a removable window plug containing nozzles for condensation of water and volatiles onto a cold finger. This plug can be removed in a vacuum system, changed against another plug (e.g., with other windows (IR, VIS, VUV) or other nozzles). While open, the samples can be treated under vacuum with cooling by manipulators (cut, removal, sample taking, irradiation with light, photons, or ions). After bringing the plug back, the samples can be moved to another site of analysis. For handling the 30 cm diameter mineral-ice samples from the KOSI experiments an 80x80x80 cm glove box made out of plexiglass was used. The samples were kept in a liquid nitrogen bath, which was filled from the outside. A stream a dry N2 and evaporating gas from the bath purified the glove box from impurity gases and, in particular, H2O, which otherwise would condense onto the samples.

METHOD FOR PURIFYING URANIUM

DOEpatents

Kennedy, J.W.; Segre, E.G.

1958-08-26

A method is presented for obtaining a compound of uranium in an extremely pure state and in such a condition that it can be used in determinations of the isotopic composition of uranium. Uranium deposited in calutron receivers is removed therefrom by washing with cold nitric acid and the resulting solution, coataining uranium and trace amounts of various impurities, such as Fe, Ag, Zn, Pb, and Ni, is then subjected to various analytical manipulations to obtain an impurity-free uranium containing solution. This solution is then evaporated on a platinum disk and the residue is ignited converting it to U2/sub 3//sub 8/. The platinum disk having such a thin film of pure U/sub 2/O/sub 8/ is suitable for use with isotopic determination techaiques.

UHPLC/Q-TOFMS-based metabolomics for the characterization of cold and hot properties of Chinese materia medica.

PubMed

Wang, Yang; Zhou, Shujun; Wang, Meng; Liu, Shuying; Hu, Yuanjia; He, Chengwei; Li, Peng; Wan, Jian-Bo

2016-02-17

The cold/hot property of Chinese materia medica (CMM) and the application of its corresponding knowledge in the diagnosis, differentiation and treatment of diseases have been considered to be the extremely important part of traditional Chinese medicine (TCM). As highly abstracted TCM theory, the cold/hot property of CMMs is still not fully understood and remains to be elucidated by systems biology approach. The cold and hot properties of CMM are mainly defined by the response of the body to a given CMM. Metabolomics is a promising systems biology method to profile entire endogenous metabolites and monitor their fluctuations related to an exogenous stimulus. Thus, a metabolomics approach was applied to characterize the cold and hot properties of CMMs. Mice were intragastrically administered three selected cold property CMMs (i.e., Rheum palmatum L., radix et rhizoma; Coptis chinensis Franch, rhizome and Scutellaria baicalensis Georgi, radix) and three hot property CMMs (i.e., Cinnamomum cassia (L.) J. Presl, cortex; Zingiber officinale Roscoe, rhizoma and Evodia rutaecarpa (Juss.) Benth., fructus) once daily for one week. The comprehensive metabolome changes in the plasma of mice after treatment with cold or hot property CMMs were characterized by ultra-high performance liquid chromatography/time of flight mass spectrometry (UHPLC/Q-TOF-MS), and the potential biomarkers related to cold and hot properties of CMM were explored. Metabolites perturbation in plasma occurs after treatment with cold CMMs and hot CMMs in mice, and 15 and 16 differential biomarkers were identified to be associated with the cold and hot properties of CMMs, respectively. Among them, LPC (18:0), LPC (18:1), LPC (20:4) and LPC (20:5) showed decreased trends in the cold property CMM treated groups, but increased in the hot property CMM treated groups. There is a strong connection between the cold/hot property of CMMs and lysophosphatidylcholines metabolism. This study offers new insight into CMM properties and their clinical application. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

Feasibility and validity of animal-based indicators for on-farm welfare assessment of thermal stress in dairy goats

NASA Astrophysics Data System (ADS)

Battini, Monica; Barbieri, Sara; Fioni, Luna; Mattiello, Silvana

2016-02-01

This investigation tested the feasibility and validity of indicators of cold and heat stress in dairy goats for on-farm welfare assessment protocols. The study was performed on two intensive dairy farms in Italy. Two different 3-point scale (0-2) scoring systems were applied to assess cold and heat stress. Cold and heat stress scores were visually assessed from outside the pen in the morning, afternoon and evening in January-February, April-May and July 2013 for a total of nine sessions of observations/farm. Temperature (°C), relative humidity (%) and wind speed (km/h) were recorded and Thermal Heat Index (THI) was calculated. The sessions were allocated to three climatic seasons, depending on THI ranges: cold (<50), neutral (50-65) and hot (>65). Score 2 was rarely assessed; therefore, scores 1 and 2 were aggregated for statistical analysis. The amount of goats suffering from cold stress was significantly higher in the cold season than in neutral ( P < 0.01) and hot ( P < 0.001) seasons. Signs of heat stress were recorded only in the hot season ( P < 0.001). The visual assessment from outside the pen confirms the on-farm feasibility of both indicators: No constraint was found and time required was less than 10 min. Our results show that cold and heat stress scores are valid indicators to detect thermal stress in intensively managed dairy goats. The use of a binary scoring system (presence/absence), merging scores 1 and 2, may be a further refinement to improve the feasibility. This study also allows the prediction of optimal ranges of THI for dairy goat breeds in intensive husbandry systems, setting a comfort zone included into 55 and 70.

Method and apparatus for accurately manipulating an object during microelectrophoresis

DOEpatents

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

1997-01-01

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

Method and apparatus for accurately manipulating an object during microelectrophoresis

DOEpatents

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

1997-09-23

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

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

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

Seizing market shaping opportunities for vaccine cold chain equipment.

PubMed

Azimi, Tara; Franzel, Lauren; Probst, Nina

2017-04-19

Gavi, the Vaccine Alliance, supports immunisation programmes in eligible countries to reach children with lifesaving vaccines. Dramatic improvement in the scale and performance of current cold chain systems is required to extend the reach of immunisation services - especially for children living in remote locations - to advance progress towards full vaccine coverage. Achieving these improvements will require a healthier market for cold chain equipment where the products meet user needs, are sustainably priced, and are available in sufficient quantities to meet demand. Yet evidence suggests that the cold chain market has suffered from several failures including limited demand visibility, fragmented procurement, and insufficient information exchange between manufacturers and buyers on needs and equipment performance. One of Gavi's strategic goals is to shape markets for vaccines and other immunisation products, including cold chain equipment and in 2015, Gavi created a new mechanism - the Cold Chain Equipment (CCE) Optimisation Platform - to strengthen country cold chain systems by offering financial support and incentives for higher performing CCE. The main objective of the CCE Platform is to get more equipment that is efficient, sustainable, and better performing deployed to every health facility where it is required at an affordable price. To achieve these objectives, Gavi is putting in place tested market shaping approaches and tools adapted for the CCE market: the development of market strategies or 'roadmaps'; improvement of product performance through the development of target product profiles (TPPs); strategic engagement with CCE manufacturers and countries to enhance information sharing; and tailoring procurement tactics to the CCE market. These approaches and tools will allow for increased demand and supply of higher-performing, cost-effective and quality products. By strengthening immunisation systems with improved cold chain equipment, Gavi countries can begin to address the underlying problems limiting vaccine availability and improve the coverage and equity of vaccines. Copyright © 2017 The Author(s). Published by Elsevier Ltd.. All rights reserved.

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

PubMed

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

2017-06-01

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

Analyzing Robotic Kinematics Via Computed Simulations

NASA Technical Reports Server (NTRS)

Carnahan, Timothy M.

1992-01-01

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

IEA HPT ANNEX 41 – Cold climate heat pumps: US country report

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

Groll, Eckhard A.; Baxter, Van D.

In 2012 the International Energy Agency (IEA) Heat Pump Programme (now the Heat Pump Technologies (HPT) program) established Annex 41 to investigate technology solutions to improve performance of heat pumps for cold climates. Four IEA HPT member countries are participating in the Annex – Austria, Canada, Japan, and the United States (U.S.). The principal focus of Annex 41 is on electrically driven air-source heat pumps (ASHP) since that system type has the lowest installation cost of all heat pump alternatives. They also have the most significant performance challenges given their inherent efficiency and capacity issues at cold outdoor temperatures. Availabilitymore » of ASHPs with improved low ambient performance would help bring about a much stronger heat pump market presence in cold areas, which today rely predominantly on fossil fuel furnace heating systems.« less

Design and cold test of S-BAND cavity BPM for HLS

NASA Astrophysics Data System (ADS)

Luo, Qing; Sun, BaoGen; Jia, QiKa; He, DuoHui; Fang, Jia

2011-12-01

An S-band cavity BPM is designed for a new injector in National Synchrotron Radiation Laboratory. A re-entrant position cavity is tuned to the TM110 mode as position cavity. Cut-through waveguides are used as pickups to suppress the monopole signal. Theoretical resolution of this design is 31 nm. A prototype cavity BPM system is manufactured for off-line cold tests. The wire scanning method is used to calibrate the BPM and estimate the performance of the on-line BPM system. A cross-talk problem has been detected during the cold test. Racetrack cavity BPM design can be used to suppress the cross-talk. With the nonlinear effect being ignored, transform matrix can be used to correct cross-talk. Analysis of cold test results shows that the position resolution of prototype BPM is better than 3 μm.

Degenerate pressure driven modified nucleus-acoustic waves in degenerate plasmas

NASA Astrophysics Data System (ADS)

Mamun, A. A.

2018-02-01

The existence of degenerate pressure driven modified nucleus-acoustic (DPDMNA) waves propagating in a cold degenerate quantum plasma (DQP) system [containing cold inertialess degenerate electron species (DES), cold inertial non-degenerate light nucleus species (LNS), and stationary heavy nucleus species (HNS)] is predicted for the first time. The DPDMNA waves (in which the mass density of the cold LNS provides the inertia and the cold inertialess DES gives rise to the restoring force) are new since they completely disappear if the degenerate pressure of the cold DES is neglected. It is found that the phase speed (Vp) of the DPDMNA waves decreases with the rise of the charge number density of the stationary HNS for both non-relativistic and ultra-relativistic DES, and that the ultra-relativistic DES does not have any effect on Vp when β = 1, where β = Λc/Λe with Λ e = ne 0 - 1 / 3 being the average inter-electron distance in the DQP system and Λc being the constant (˜10-10 cm) for the DES. However, the ultra-relativistic DES does have quite a significant effect on Vp for β ≫ 1 and β ≪ 1, and the ultra-relativistic effect significantly enhances (reduces) Vp for β ≫ 1 (β ≪ 1). The DPDMNA waves and their dispersion properties are expected to be useful in understanding the basic features of the electrostatic perturbation mode in space and laboratory DQP systems.

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

DOEpatents

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

2008-02-26

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

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

NASA Technical Reports Server (NTRS)

Tsai, Wen-Lang; Kikuchi, Noboru

1993-01-01

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

Synthesis and Characterization of Aluminum-Nanodiamond Composite Powders by High Energy Ball Milling

DTIC Science & Technology

2011-12-01

al , “ Cold - spray processing of high density nanocrystalline aluminum alloy 2009...2980, 1996. [21] L. Ajdelsztajn, et al , “ Cold spray deposition of nanocrystalline aluminum alloys ,” Metallurgical and Materials Transactions, vol...form the coating or deposit [9]. Figure 2. Diagram of a typical cold spray system [9] It has been proven that pure metals or composite powders

[Maintenance of cold chain for the delivery of immunobiological drugs by the indicators of heating and freezing controls].

PubMed

Smirnov, D V; Buianov, V V; Kolesnikov, N V; Minaev, V A; Demina, A M; Suprun, I P

2004-01-01

The paper deals with an objective evaluation of a qualitative storage of immunobiological drugs including all stages of "cold chain". The results of technological research and of designing related with constructing a system of indicators for monitoring the temperature regime to maintain the "cold chain" functioning are presented. The suggested devices are comparatively described.

Comparative cost models of a liquid nitrogen vapor phase (LNVP) cold chain-distributed cryopreserved malaria vaccine vs. a conventional vaccine

PubMed Central

Garcia, Cristina Reyes; Manzi, Fatuma; Tediosi, Fabrizio; Hoffman, Stephen L.; James, Eric R.

2013-01-01

Typically, vaccines distributed through the Expanded Program on Immunization (EPI) use a 2–8 °C cold chain with 4–5 stops. The PfSPZ Vaccine comprises whole live-attenuated cryopreserved sporozoites stored in liquid nitrogen (LN2) vapor phase (LNVP) below −140 °C and would be distributed through a LNVP cold chain. The purpose of this study was to model LNVP cold chain distribution for the cryopreserved PfSPZ Vaccine in Tanzania, estimate the costs and compare these costs to those that would be incurred in distributing a ‘conventional’ malaria vaccine through the EPI. Capital and recurrent costs for storage, transportation, labor, energy usage and facilities were determined for the birth cohort in Tanzania over five years. Costs were calculated using WHO/UNESCO calculators. These were applied to a 2–8 °C distribution model with national, regional, district, and health facility levels, and for the cryopreserved vaccine using a ‘modified hub-and-spoke’ (MH-S) LNVP distribution system comprising a central national store, peripheral health facilities and an intermediate district-level transhipment stop. Estimated costs per fully immunized child (FIC) were $ 6.11 for the LNVP-distributed cryopreserved vaccine where the LN2 is generated, and $ 6.04 with purchased LN2 (assuming US $ 1.00/L). The FIC costs for distributing a conventional vaccine using the four level 2–8 °C cold chain were $ 6.10, and with a tariff distribution system as occurs in Tanzania the FIC cost was $ 5.53. The models, therefore, predicted little difference in 5-year distribution costs between the PfSPZ Vaccine distributed through a MH-S LNVP cold chain and a conventional vaccine distributed through the more traditional EPI system. A LNVP cold chain provides additional benefits through the use of durable dry shippers because no refrigerators, freezers or refrigerated trucks are required. Thus strain at the cold chain periphery, vaccine wastage from cold chain failures and the environmental impact of distribution would all be reduced. PMID:23146676

Comparative cost models of a liquid nitrogen vapor phase (LNVP) cold chain-distributed cryopreserved malaria vaccine vs. a conventional vaccine.

PubMed

Garcia, Cristina Reyes; Manzi, Fatuma; Tediosi, Fabrizio; Hoffman, Stephen L; James, Eric R

2013-01-02

Typically, vaccines distributed through the Expanded Program on Immunization (EPI) use a 2-8°C cold chain with 4-5 stops. The PfSPZ Vaccine comprises whole live-attenuated cryopreserved sporozoites stored in liquid nitrogen (LN(2)) vapor phase (LNVP) below -140°C and would be distributed through a LNVP cold chain. The purpose of this study was to model LNVP cold chain distribution for the cryopreserved PfSPZ Vaccine in Tanzania, estimate the costs and compare these costs to those that would be incurred in distributing a 'conventional' malaria vaccine through the EPI. Capital and recurrent costs for storage, transportation, labor, energy usage and facilities were determined for the birth cohort in Tanzania over five years. Costs were calculated using WHO/UNESCO calculators. These were applied to a 2-8°C distribution model with national, regional, district, and health facility levels, and for the cryopreserved vaccine using a 'modified hub-and-spoke' (MH-S) LNVP distribution system comprising a central national store, peripheral health facilities and an intermediate district-level transhipment stop. Estimated costs per fully immunized child (FIC) were $ 6.11 for the LNVP-distributed cryopreserved vaccine where the LN(2) is generated, and $ 6.04 with purchased LN(2) (assuming US $ 1.00/L). The FIC costs for distributing a conventional vaccine using the four level 2-8°C cold chain were $ 6.10, and with a tariff distribution system as occurs in Tanzania the FIC cost was $ 5.53. The models, therefore, predicted little difference in 5-year distribution costs between the PfSPZ Vaccine distributed through a MH-S LNVP cold chain and a conventional vaccine distributed through the more traditional EPI system. A LNVP cold chain provides additional benefits through the use of durable dry shippers because no refrigerators, freezers or refrigerated trucks are required. Thus strain at the cold chain periphery, vaccine wastage from cold chain failures and the environmental impact of distribution would all be reduced. Copyright © 2012 Elsevier Ltd. All rights reserved.

Global transcriptional profiling of a cold-tolerant rice variety under moderate cold stress reveals different cold stress response mechanisms.

PubMed

Zhao, Junliang; Zhang, Shaohong; Yang, Tifeng; Zeng, Zichong; Huang, Zhanghui; Liu, Qing; Wang, Xiaofei; Leach, Jan; Leung, Hei; Liu, Bin

2015-07-01

Gene expression profiling under severe cold stress (4°C) has been conducted in plants including rice. However, rice seedlings are frequently exposed to milder cold stresses under natural environments. To understand the responses of rice to milder cold stress, a moderately low temperature (8°C) was used for cold treatment prior to genome-wide profiling of gene expression in a cold-tolerant japonica variety, Lijiangxintuanheigu (LTH). A total of 5557 differentially expressed genes (DEGs) were found at four time points during moderate cold stress. Both the DEGs and differentially expressed transcription factor genes were clustered into two groups based on their expression, suggesting a two-phase response to cold stress and a determinative role of transcription factors in the regulation of stress response. The induction of OsDREB2A under cold stress is reported for the first time in this study. Among the anti-oxidant enzyme genes, glutathione peroxidase (GPX) and glutathione S-transferase (GST) were upregulated, suggesting that the glutathione system may serve as the main reactive oxygen species (ROS) scavenger in LTH. Changes in expression of genes in signal transduction pathways for auxin, abscisic acid (ABA) and salicylic acid (SA) imply their involvement in cold stress responses. The induction of ABA response genes and detection of enriched cis-elements in DEGs suggest that ABA signaling pathway plays a dominant role in the cold stress response. Our results suggest that rice responses to cold stress vary with the specific temperature imposed and the rice genotype. © 2014 Scandinavian Plant Physiology Society.

Habituation and acclimatization of sheep to cold following exposures of varying length and severity

PubMed Central

Slee, J.

1972-01-01

1. Male and female Scottish Blackface sheep were shorn and exposed for 2 weeks either to a thermoneutral temperature (+30° C), to chronic cold (+8° C) or to +30° C interrupted by daily short cold shocks (-10° C). During and at the end of these conditioning treatments, the sheep also received two acute cold exposures (-20° C, 4 m.p.h. wind for 2-8 hr) 1 week apart. Some of these sheep and a fourth (control) group, were subsequently re-shorn and slowly cooled to +8° C. 2. Resting metabolism and the metabolic response to cooling (both inferred from heart rates) were increased by previous chronic cold treatment. Resistance to body cooling (measured during acute cold exposure) was generally increased by both chronic and acute cold, and non-shivering thermogenesis was probably induced in the female sheep. These effects were defined as acclimatization. 3. In contrast, cold shocks reduced the subsequent metabolic response to cold and encouraged facultative body cooling. This pattern of response (defined as habituation) therefore caused greater thermolability. 4. Habituation and acclimatization were antagonistic. Habituation was removed by acute cold exposure and, conversely, acclimatization was inhibited by short cold shocks. 5. There were sex differences in response but these were confounded by probable differences in insulation and in body condition (males thinner). 6. It was concluded that the induction of different forms of adaptation depended on the length, severity and frequency of cold exposures. Habituation to whole body cold exposure apparently involved central nervous system centres normally receiving peripheral cold stimuli. PMID:4646585

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

NASA Astrophysics Data System (ADS)

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

2018-08-01

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

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

PubMed

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

2016-12-25

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

High performance bilateral telerobot control.

PubMed

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

2002-01-01

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

Innovative technology summary report: Houdini{trademark} I and II remotely operated vehicle

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

NONE

1998-07-01

The US Department of Energy (DOE) is responsible for cleaning up and closing 273 large, aging, underground tanks the department has used for storing approximately 1 million gal of high- and low-level radioactive and mixed waste. The waste`s radioactivity precludes humans from working in the tanks. A remote-controlled retrieval method must be used. The Houdini robot addresses the need for vehicle-based, rugged, remote manipulation systems that can perform waste retrieval, characterization, and inspection tasks. Houdini-I was delivered to ORNL in September 1996, deployed in a cold test facility in November, and first deployed in the gunite tanks in June 1997.more » Since then, it has seen continuous (still on-going) service at ORNL, providing a critical role in the cleanup of two gunite tanks, W-3 and W-4, in the GAAT NTF. Houdini-I has proven rugged, capable of waste retrieval, and able to withstand high reaction force operations such as wall core sampling. It`s even able to operate while hanging, which was the case when Houdini was used to cut and remove cables and steel pipes hanging below manways in Tank W-3. Based upon the lessons learned at ORNL, Houdini`s design has been completely overhauled. A second generation system, Houdini-II, is now being built.« less

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

PubMed

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

2012-12-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

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

DOEpatents

Wenzel, Michael J; Drees, Kirk H

2014-09-23

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

Preheating of fluid in a supercritical Brayton cycle power generation system at cold startup

DOEpatents

Wright, Steven A.; Fuller, Robert L.

2016-07-12

Various technologies pertaining to causing fluid in a supercritical Brayton cycle power generation system to flow in a desired direction at cold startup of the system are described herein. A sensor is positioned at an inlet of a turbine, wherein the sensor is configured to output sensed temperatures of fluid at the inlet of the turbine. If the sensed temperature surpasses a predefined threshold, at least one operating parameter of the power generation system is altered.

Cold Vacuum Drying facility civil structural system design description (SYS 06)

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

PITKOFF, C.C.

This document describes the Cold Vacuum Drying (CVD) Facility civil - structural system. This system consists of the facility structure, including the administrative and process areas. The system's primary purpose is to provide for a facility to house the CVD process and personnel and to provide a tertiary level of containment. The document provides a description of the facility and demonstrates how the design meets the various requirements imposed by the safety analysis report and the design requirements document.

Experiments evaluating compliance and force feedback effect on manipulator performance

NASA Technical Reports Server (NTRS)

Kugath, D. A.

1972-01-01

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

A universal sample manipulator with 50 kV negative bias

NASA Astrophysics Data System (ADS)

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

1991-04-01

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

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

ERIC Educational Resources Information Center

Ozgun-Koca, S. Ash

2010-01-01

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

Highly Anomalous Energetics of Protein Cold Denaturation Linked to Folding-Unfolding Kinetics

PubMed Central

Romero-Romero, M. Luisa; Inglés-Prieto, Alvaro; Ibarra-Molero, Beatriz; Sanchez-Ruiz, Jose M.

2011-01-01

Despite several careful experimental analyses, it is not yet clear whether protein cold-denaturation is just a “mirror image” of heat denaturation or whether it shows unique structural and energetic features. Here we report that, for a well-characterized small protein, heat denaturation and cold denaturation show dramatically different experimental energetic patterns. Specifically, while heat denaturation is endothermic, the cold transition (studied in the folding direction) occurs with negligible heat effect, in a manner seemingly akin to a gradual, second-order-like transition. We show that this highly anomalous energetics is actually an apparent effect associated to a large folding/unfolding free energy barrier and that it ultimately reflects kinetic stability, a naturally-selected trait in many protein systems. Kinetics thus emerges as an important factor linked to differential features of cold denaturation. We speculate that kinetic stabilization against cold denaturation may play a role in cold adaptation of psychrophilic organisms. Furthermore, we suggest that folding-unfolding kinetics should be taken into account when analyzing in vitro cold-denaturation experiments, in particular those carried out in the absence of destabilizing conditions. PMID:21829584

Telerobotic on-orbit remote fluid resupply system

NASA Technical Reports Server (NTRS)

1990-01-01

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

Status of Japanese Experiment Module (JEM) activities

NASA Technical Reports Server (NTRS)

1991-01-01

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

System for instrumenting and manipulating apparatuses in high voltage

DOEpatents

Jordan, Kevin

2016-06-07

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

Note: Design and implementation of a home-built imaging system with low jitter for cold atom experiments

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

Hachtel, A. J.; Gillette, M. C.; Clements, E. R.

A novel home-built system for imaging cold atom samples is presented using a readily available astronomy camera which has the requisite sensitivity but no timing-control. We integrate the camera with LabVIEW achieving fast, low-jitter imaging with a convenient user-defined interface. We show that our system takes precisely timed millisecond exposures and offers significant improvements in terms of system jitter and readout time over previously reported home-built systems. Our system rivals current commercial “black box” systems in performance and user-friendliness.

Effect of low incubation temperature and low ambient temperature until 21 days of age on performance and body temperature in fast-growing chickens.

PubMed

Nyuiadzi, D; Travel, A; Méda, B; Berri, C; Guilloteau, L A; Coustham, V; Wang, Y; Tona, J K; Collin, A

2017-12-01

Thermal manipulation during embryogenesis was previously reported to decrease the occurrence of ascites and to potentially improve cold tolerance of broilers. The objective of our study was to explore the effects of the interaction of cold incubation temperatures and cool ambient temperatures until 21 d of age on performance and body temperature. Ross 308 eggs were incubated either under control conditions I0 (37.6°C) or with cyclic cold stimulations I1 (6 h/d at 36.6°C from d 10 to 18 of incubation) or with 2 cold stimulations I2 (30 min at 15°C) at d 18 and 19 of incubation. These treatments were followed by individual rearing and postnatal exposure to either standard rearing temperature T0 (from 33°C at hatching to 21°C at d 21) or continuously lower temperature T2 (from 28°C at hatching to 21°C at d 21) or exposure to cyclically lower temperature T1 (with circadian temperature oscillations). Treatments I1 and I2 did not significantly alter hatchability compared to control incubation (with 94.8, 95.1, and 92.3%, respectively), or hatching BW and overall chick quality. Hatching body temperature (Tb) was 0.5 and 0.3°C higher in I1 than in I0 and I2 groups, respectively (P = 0.007). A doubled occurrence of health problems was observed with T2 condition, regardless of incubation or sex. At d 3, BW was 2% lower with treatment I1 than with I0 and I2 and was 3% higher in T1 and T2 groups than in T0, but these effects disappeared with age. Group T2 presented a 5% higher feed intake than the control group T0 between 3 and 21 d of age (P = 0.025). Feed conversion ratio (FCR) was affected by experimental conditions (P < 0.001), with low FCR values obtained with I2 incubation in control or cyclically cold postnatal conditions. Maximal FCR values were observed in the continuously cold postnatal conditions, in males submitted to control incubation and in females submitted to I1 incubation, revealing sex-dependent effects of the treatments on performance. © The Author 2017. Published by Oxford University Press on behalf of Poultry Science Association.

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

NASA Technical Reports Server (NTRS)

Hill, J. W.

1977-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

Singularity-free dynamic equations of spacecraft-manipulator systems

NASA Astrophysics Data System (ADS)

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

2011-12-01

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

Manga Vectorization and Manipulation with Procedural Simple Screentone.

PubMed

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

2017-02-01

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

Food Service System

NASA Technical Reports Server (NTRS)

1992-01-01

The 3M Food Service System 2 employs a "cook/chill" concept for serving food in hospitals. The system allows staff to prepare food well in advance, maintain heat, visual appeal and nutritional value as well as reducing operating costs. The integral heating method, which keeps hot foods hot and cold foods cold, was developed by 3M for the Apollo Program. In the 1970s, the company commercialized the original system and in 1991, introduced Food Service System 2. Dishes are designed to resemble those used at home, and patient satisfaction has been high.

Study on cold head structure of a 300 Hz thermoacoustically driven pulse tube cryocooler

NASA Astrophysics Data System (ADS)

Yu, G. Y.; Wang, X. T.; Dai, W.; Luo, E. C.

2012-04-01

High reliability, compact size and potentially high thermal efficiency make the high frequency thermoacoustically-driven pulse tube cryocooler quite promising for space use. With continuous efforts, the lowest temperature and the thermal efficiency of the coupled system have been greatly improved. So far, a cold head temperature below 60 K has been achieved on such kind of cryocooler with the operation frequency of around 300 Hz. To further improve the thermal efficiency and expedite its practical application, this work focuses on studying the influence of cold head structure on the system performance. Substantial numerical simulations were firstly carried out, which revealed that the cold head structure would greatly influence the cooling power and the thermal efficiency. To validate the predictions, a lot of experiments have been done. The experiments and calculations are in reasonable agreement. With 500 W heating power input into the engine, a no-load temperature of 63 K and a cooling power of 1.16 W at 80 K have been obtained with parallel-plate cold head, indicating encouraging improvement of the thermal efficiency.

COLD-SAT feasibility study safety analysis

NASA Technical Reports Server (NTRS)

Mchenry, Steven T.; Yost, James M.

1991-01-01

The Cryogenic On-orbit Liquid Depot-Storage, Acquisition, and Transfer (COLD-SAT) satellite presents some unique safety issues. The feasibility study conducted at NASA-Lewis desired a systems safety program that would be involved from the initial design in order to eliminate and/or control the inherent hazards. Because of this, a hazards analysis method was needed that: (1) identified issues that needed to be addressed for a feasibility assessment; and (2) identified all potential hazards that would need to be controlled and/or eliminated during the detailed design phases. The developed analysis method is presented as well as the results generated for the COLD-SAT system.

Semiautomatic cold wire feeder systems increase GTA productivity

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

Richardson, M.

1995-01-01

Often, the focus of attempts to increase GTA welding productivity is on studies to determine if justification exists for additional workstations, or for the investment in new fully automated dedicated welding fixtures. Often less costly and simpler solutions can bring about the necessary means to increase production rates and reduce operating costs. For short-run production applications, it is almost impossible to justify the substantial investment in a dedicated automatic fixture. Now, low cost GTA cold wire feeder systems are within the reach of even small shops. The paper views how cold wire equipment has been applied in several GTAW applicationsmore » to improve results.« less

Cold-induced bradycardia in man during sleep in Arctic winter nights

NASA Astrophysics Data System (ADS)

Buguet, A. G. C.

1987-03-01

Two young male Caucasians volunteered for a study on the effects of cold exposure during night sleep in winter in the Arctic. The 14-day experiment was divided in three consecutive periods, baseline (2 nights), cold exposure (10 night) and recovery (2 nights). Both baseline and recovery data were obtained in neutral thermal conditions in a laboratory. The subjects slept in a sleeping bag under an unheated tent during the cold exposure. Apart from polysomnographic and body temperature recordings, electrocardiograms were taken through a telemetric system for safety purposes. Heart rates were noted at 5-min intervals and averaged hourly. In both environmental conditions, heart rate decreased within the first two hours of sleep. Comparison of the data obtained during cold exposure vs. thermal neutrality revealed lower values of heart rate in the cold, while body temperatures remained within normal range. This cold-induced bradycardia supervening during night sleep is discussed in terms of the occurrence of a vagal reflex preventing central blood pressure to rise.

Comparison of structure, function and regulation of plant cold shock domain proteins to bacterial and animal cold shock domain proteins.

PubMed

Chaikam, Vijay; Karlson, Dale T

2010-01-01

The cold shock domain (CSD) is among the most ancient and well conserved nucleic acid binding domains from bacteria to higher animals and plants. The CSD facilitates binding to RNA, ssDNA and dsDNA and most functions attributed to cold shock domain proteins are mediated by this nucleic acid binding activity. In prokaryotes, cold shock domain proteins only contain a single CSD and are termed cold shock proteins (Csps). In animal model systems, various auxiliary domains are present in addition to the CSD and are commonly named Y-box proteins. Similar to animal CSPs, plant CSPs contain auxiliary C-terminal domains in addition to their N-terminal CSD. Cold shock domain proteins have been shown to play important roles in development and stress adaptation in wide variety of organisms. In this review, the structure, function and regulation of plant CSPs are compared and contrasted to the characteristics of bacterial and animal CSPs. [BMB reports 2010; 43(1): 1-8].

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…

Combined cold compressor/ejector helium refrigerator

DOEpatents

Brown, D.P.

1984-06-05

A refrigeration apparatus having an ejector operatively connected with a cold compressor to form a two-stage pumping system. This pumping system is used to lower the pressure, and thereby the temperature of a bath of boiling refrigerant (helium). The apparatus as thus arranged and operated has substantially improved operating efficiency when compared to other processes or arrangements for achieving a similar low pressure.