Sample records for motion control board

  1. Case study of rotating sonar sensor application in unmanned automated guided vehicle

    NASA Astrophysics Data System (ADS)

    Chandak, Pravin; Cao, Ming; Hall, Ernest L.

    2001-10-01

    A single rotating sonar element is used with a restricted angle of sweep to obtain readings to develop a range map for the unobstructed path of an autonomous guided vehicle (AGV). A Polaroid ultrasound transducer element is mounted on a micromotor with an encoder feedback. The motion of this motor is controlled using a Galil DMC 1000 motion control board. The encoder is interfaced with the DMC 1000 board using an intermediate IMC 1100 break-out board. By adjusting the parameters of the Polaroid element, it is possible to obtain range readings at known angles with respect to the center of the robot. The readings are mapped to obtain a range map of the unobstructed path in front of the robot. The idea can be extended to a 360 degree mapping by changing the assembly level programming on the Galil Motion control board. Such a system would be compact and reliable over a range of environments and AGV applications.

  2. A Comparison of Cervical Spine Motion After Immobilization With a Traditional Spine Board and Full-Body Vacuum-Mattress Splint.

    PubMed

    Etier, Brian E; Norte, Grant E; Gleason, Megan M; Richter, Dustin L; Pugh, Kelli F; Thomson, Keith B; Slater, Lindsay V; Hart, Joe M; Brockmeier, Stephen F; Diduch, David R

    2017-12-01

    The National Athletic Trainers' Association (NATA) advocates for cervical spine immobilization on a rigid board or vacuum splint and for removal of athletic equipment before transfer to an emergency medical facility. To (1) compare triplanar cervical spine motion using motion capture between a traditional rigid spine board and a full-body vacuum splint in equipped and unequipped athletes, (2) assess cervical spine motion during the removal of a football helmet and shoulder pads, and (3) evaluate the effect of body mass on cervical spine motion. Controlled laboratory study. Twenty healthy male participants volunteered for this study to examine the influence of immobilization type and presence of equipment on triplanar angular cervical spine motion. Three-dimensional cervical spine kinematics was measured using an electromagnetic motion analysis system. Independent variables included testing condition (static lift and hold, 30° tilt, transfer, equipment removal), immobilization type (rigid, vacuum-mattress), and equipment (on, off). Peak sagittal-, frontal-, and transverse-plane angular motions were the primary outcome measures of interest. Subjective ratings of comfort and security did not differ between immobilization types ( P > .05). Motion between the rigid board and vacuum splint did not differ by more than 2° under any testing condition, either with or without equipment. In removing equipment, the mean peak motion ranged from 12.5° to 14.0° for the rigid spine board and from 11.4° to 15.4° for the vacuum-mattress splint, and more transverse-plane motion occurred when using the vacuum-mattress splint compared with the rigid spine board (mean difference, 0.14 deg/s [95% CI, 0.05-0.23 deg/s]; P = .002). In patients weighing more than 250 lb, the rigid board provided less motion in the frontal plane ( P = .027) and sagittal plane ( P = .030) during the tilt condition and transfer condition, respectively. The current study confirms similar motion in the vacuum-mattress splint compared with the rigid backboard in varying sized equipped or nonequipped athletes. Cervical spine motion occurs when removing a football helmet and shoulder pads, at an unknown risk to the injured athlete. In athletes who weighed more than 250 lb, immobilization with the rigid board helped to reduce cervical spine motion. Athletic trainers and team physicians should consider immobilization of athletes who weigh more than 250 lb with a rigid board.

  3. 49 CFR 821.15 - Motion to disqualify a Board Member.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 49 Transportation 7 2013-10-01 2013-10-01 false Motion to disqualify a Board Member. 821.15... Review, Appeals to the Board, and Appeals From Law Judges Initial Decisions and Appealable Orders § 821.15 Motion to disqualify a Board Member. A motion requesting that a Board Member disqualify himself or...

  4. 49 CFR 821.15 - Motion to disqualify a Board Member.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 49 Transportation 7 2014-10-01 2014-10-01 false Motion to disqualify a Board Member. 821.15... Review, Appeals to the Board, and Appeals From Law Judges Initial Decisions and Appealable Orders § 821.15 Motion to disqualify a Board Member. A motion requesting that a Board Member disqualify himself or...

  5. 49 CFR 821.15 - Motion to disqualify a Board Member.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 49 Transportation 7 2012-10-01 2012-10-01 false Motion to disqualify a Board Member. 821.15... Review, Appeals to the Board, and Appeals From Law Judges Initial Decisions and Appealable Orders § 821.15 Motion to disqualify a Board Member. A motion requesting that a Board Member disqualify himself or...

  6. 49 CFR 821.15 - Motion to disqualify a Board Member.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 49 Transportation 7 2010-10-01 2010-10-01 false Motion to disqualify a Board Member. 821.15... Review, Appeals to the Board, and Appeals From Law Judges Initial Decisions and Appealable Orders § 821.15 Motion to disqualify a Board Member. A motion requesting that a Board Member disqualify himself or...

  7. 49 CFR 821.15 - Motion to disqualify a Board Member.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 49 Transportation 7 2011-10-01 2011-10-01 false Motion to disqualify a Board Member. 821.15... Review, Appeals to the Board, and Appeals From Law Judges Initial Decisions and Appealable Orders § 821.15 Motion to disqualify a Board Member. A motion requesting that a Board Member disqualify himself or...

  8. 4 CFR 22.6 - Motions, Briefs, and Other Statements [Rule 6].

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ..., in its discretion, may shorten or lengthen the time for the response and reply based on the nature of the motion, the nature and timing of the case, and the scheduling needs of the Board. The Board may... motion, for summary judgment, the Board will consider the pleadings, depositions, answers to...

  9. Attitude motion compensation for imager on Fengyun-4 geostationary meteorological satellite

    NASA Astrophysics Data System (ADS)

    Lyu, Wang; Dai, Shoulun; Dong, Yaohai; Shen, Yili; Song, Xiaozheng; Wang, Tianshu

    2017-09-01

    A compensation method is used in Chinese Fengyun-4 satellite to counteracting the line-of-sight influence by attitude motion during imaging. The method is acted on-board by adding the compensation amount to the instrument scanning control circuit. The mathematics simulation and the three-axis air-bearing test results show that the method works effectively.

  10. 43 CFR 4.1114 - Advancement of proceedings.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    .... (f) If the motion is granted, the Board may, if it deems such action to be appropriate, advance the... law judge or the Board, any party filing a motion under this section shall— (1) Make the motion in... that would result if the motion is not granted; and (4) Incorporate in the motion affidavits to support...

  11. Validation results of specifications for motion control interoperability

    NASA Astrophysics Data System (ADS)

    Szabo, Sandor; Proctor, Frederick M.

    1997-01-01

    The National Institute of Standards and Technology (NIST) is participating in the Department of Energy Technologies Enabling Agile Manufacturing (TEAM) program to establish interface standards for machine tool, robot, and coordinate measuring machine controllers. At NIST, the focus is to validate potential application programming interfaces (APIs) that make it possible to exchange machine controller components with a minimal impact on the rest of the system. This validation is taking place in the enhanced machine controller (EMC) consortium and is in cooperation with users and vendors of motion control equipment. An area of interest is motion control, including closed-loop control of individual axes and coordinated path planning. Initial tests of the motion control APIs are complete. The APIs were implemented on two commercial motion control boards that run on two different machine tools. The results for a baseline set of APIs look promising, but several issues were raised. These include resolving differing approaches in how motions are programmed and defining a standard measurement of performance for motion control. This paper starts with a summary of the process used in developing a set of specifications for motion control interoperability. Next, the EMC architecture and its classification of motion control APIs into two classes, Servo Control and Trajectory Planning, are reviewed. Selected APIs are presented to explain the basic functionality and some of the major issues involved in porting the APIs to other motion controllers. The paper concludes with a summary of the main issues and ways to continue the standards process.

  12. 37 CFR 2.117 - Suspension of proceedings.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... Board that a party or parties to a pending case are engaged in a civil action or another Board... termination of the civil action or the other Board proceeding. (b) Whenever there is pending before the Board both a motion to suspend and a motion which is potentially dispositive of the case, the potentially...

  13. 37 CFR 2.117 - Suspension of proceedings.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... Board that a party or parties to a pending case are engaged in a civil action or another Board... termination of the civil action or the other Board proceeding. (b) Whenever there is pending before the Board both a motion to suspend and a motion which is potentially dispositive of the case, the potentially...

  14. 29 CFR 102.48 - Action of the Board upon expiration of time to file exceptions to the administrative law judge's...

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... action of the Board unless so ordered. A motion for reconsideration or for rehearing need not be filed to... 29 Labor 2 2011-07-01 2011-07-01 false Action of the Board upon expiration of time to file... motions. 102.48 Section 102.48 Labor Regulations Relating to Labor NATIONAL LABOR RELATIONS BOARD RULES...

  15. 29 CFR 102.48 - Action of the Board upon expiration of time to file exceptions to the administrative law judge's...

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... action of the Board unless so ordered. A motion for reconsideration or for rehearing need not be filed to... 29 Labor 2 2010-07-01 2010-07-01 false Action of the Board upon expiration of time to file... motions. 102.48 Section 102.48 Labor Regulations Relating to Labor NATIONAL LABOR RELATIONS BOARD RULES...

  16. 78 FR 57602 - Rules of Practice in Air Safety Proceedings

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-09-19

    ... Practice in Air Safety Proceedings AGENCY: National Transportation Safety Board (NTSB or Board). ACTION... currently prohibits motions to dismiss the complaint or motions for a more definite statement of the complaint's allegations. Instead, Sec. 821.55(c) provides ``the substance [of such motions] may be stated in...

  17. 19 CFR 354.16 - Reconsideration.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    .... Any party may file a motion for reconsideration with the APO Sanctions Board. The party must state with particularity the grounds for the motion, including any facts or points of law which the party claims the APO Sanctions Board has overlooked or misapplied. The party may file the motion within 30 days...

  18. Stabilizing skateboard speed-wobble with reflex delay.

    PubMed

    Varszegi, Balazs; Takacs, Denes; Stepan, Gabor; Hogan, S John

    2016-08-01

    A simple mechanical model of the skateboard-skater system is analysed, in which the effect of human control is considered by means of a linear proportional-derivative (PD) controller with delay. The equations of motion of this non-holonomic system are neutral delay-differential equations. A linear stability analysis of the rectilinear motion is carried out analytically. It is shown how to vary the control gains with respect to the speed of the skateboard to stabilize the uniform motion. The critical reflex delay of the skater is determined as the function of the speed. Based on this analysis, we present an explanation for the linear instability of the skateboard-skater system at high speed. Moreover, the advantages of standing ahead of the centre of the board are demonstrated from the viewpoint of reflex delay and control gain sensitivity. © 2016 The Author(s).

  19. The methodology of variable management of propellant fuel consumption by jet-propulsion engines of a spacecraft

    NASA Astrophysics Data System (ADS)

    Kovtun, V. S.

    2012-12-01

    Traditionally, management of propellant fuel consumption on board of a spacecraft is only associated with the operation of jet-propulsion engines (JPE) that are actuator devices of motion control systems (MCS). The efficiency of propellant fuel consumption depends not only on the operation of the MCS, but also, to one extent or another, on all systems functioning on board of a spacecraft, and on processes that occur in them and involve conversion of variable management of propellant fuel consumption by JPEs as a constituent part of the control of the complex process of spacecraft flight.

  20. Design and motion control of bioinspired humanoid robot head from servo motors toward artificial muscles

    NASA Astrophysics Data System (ADS)

    Almubarak, Yara; Tadesse, Yonas

    2017-04-01

    The potential applications of humanoid robots in social environments, motivates researchers to design, and control biomimetic humanoid robots. Generally, people are more interested to interact with robots that have similar attributes and movements to humans. The head is one of most important part of any social robot. Currently, most humanoid heads use electrical motors, pneumatic actuators, and shape memory alloy (SMA) actuators for actuation. Electrical and pneumatic actuators take most of the space and would cause unsmooth motions. SMAs are expensive to use in humanoids. Recently, in many robotic projects, Twisted and Coiled Polymer (TCP) artificial muscles are used as linear actuators which take up little space compared to the motors. In this paper, we will demonstrate the designing process and motion control of a robotic head with TCP muscles. Servo motors and artificial muscles are used for actuating the head motion, which have been controlled by a cost efficient ARM Cortex-M7 based development board. A complete comparison between the two actuators is presented.

  1. 20 CFR 802.104 - Consolidation; severance.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... Board's own motion where there exist common parties, common questions of law or fact or both, or in such... upon motion of any party, the Board may, for good cause, order any proceeding severed with respect to...

  2. 20 CFR 802.104 - Consolidation; severance.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... Board's own motion where there exist common parties, common questions of law or fact or both, or in such... upon motion of any party, the Board may, for good cause, order any proceeding severed with respect to...

  3. 20 CFR 802.219 - Motions to the Board; orders.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... the motion. (c) If there is no objection to a motion in whole or in part by another party to the case... entire permanent Board en banc except as provided in § 801.301(d). (i) Reconsideration of orders. Any.... Suggestions for en banc reconsideration of interlocutory orders shall not be accepted. Reconsideration of all...

  4. 20 CFR 802.219 - Motions to the Board; orders.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... the motion. (c) If there is no objection to a motion in whole or in part by another party to the case... entire permanent Board en banc except as provided in § 801.301(d). (i) Reconsideration of orders. Any.... Suggestions for en banc reconsideration of interlocutory orders shall not be accepted. Reconsideration of all...

  5. 20 CFR 802.219 - Motions to the Board; orders.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... the motion. (c) If there is no objection to a motion in whole or in part by another party to the case... entire permanent Board en banc except as provided in § 801.301(d). (i) Reconsideration of orders. Any.... Suggestions for en banc reconsideration of interlocutory orders shall not be accepted. Reconsideration of all...

  6. 20 CFR 802.219 - Motions to the Board; orders.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... the motion. (c) If there is no objection to a motion in whole or in part by another party to the case... entire permanent Board en banc except as provided in § 801.301(d). (i) Reconsideration of orders. Any.... Suggestions for en banc reconsideration of interlocutory orders shall not be accepted. Reconsideration of all...

  7. 20 CFR 802.219 - Motions to the Board; orders.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... the motion. (c) If there is no objection to a motion in whole or in part by another party to the case... entire permanent Board en banc except as provided in § 801.301(d). (i) Reconsideration of orders. Any.... Suggestions for en banc reconsideration of interlocutory orders shall not be accepted. Reconsideration of all...

  8. Sensing And Force-Reflecting Exoskeleton

    NASA Technical Reports Server (NTRS)

    Eberman, Brian; Fontana, Richard; Marcus, Beth

    1993-01-01

    Sensing and force-reflecting exoskeleton (SAFiRE) provides control signals to robot hand and force feedback from robot hand to human operator. Operator makes robot hand touch objects gently and manipulates them finely without exerting excessive forces. Device attaches to operator's hand; comfortable and lightweight. Includes finger exoskeleton, cable mechanical transmission, two dc servomotors, partial thumb exoskeleton, harness, amplifier box, two computer circuit boards, and software. Transduces motion of index finger and thumb. Video monitor of associated computer displays image corresponding to motion.

  9. Evaluation of a Localized Treatment Technique Using Three Ready-to-Use Products Against the Drywood Termite Incisitermes snyderi (Kalotermitidae) in Naturally Infested Lumber

    PubMed Central

    Hickman, Robert; Forschler, Brian T.

    2012-01-01

    Twenty-one boards infested with drywood termites were examined for activity using a Termatrac® motion detector. Termite galleries were identified using a Resistograph drill and treated with one of three ready-to-use (RTU) products. Results indicated that the Termatrac was excellent at locating termite activity but provided 9.5% false negatives. The Resistograph located termite galleries with an average of 4.6 ± 2.7 holes drilled to find at least one gallery in a board. Treatments included three formulations and two active ingredients; a foam (imidacloprid), a dry (fipronil) and an experimental formulation in a pressurized can (fipronil). All treatments provided evidence for a reduction in mean termite populations per board compared to the control. Two treatments provided evidence of elimination of infestation but no formulation eliminated infestations in every board that was treated. The concept of local treatment for drywood termite control is discussed relative to our results. PMID:26467947

  10. 49 CFR 821.35 - Assignment, duties and powers.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ..., all motions, requests and documents shall be addressed to that law judge. The authority of the... filed, the Board will, on motion of a party, determine whether the law judge should have withdrawn and... SAFETY BOARD RULES OF PRACTICE IN AIR SAFETY PROCEEDINGS Law Judges § 821.35 Assignment, duties and...

  11. 49 CFR 821.35 - Assignment, duties and powers.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ..., all motions, requests and documents shall be addressed to that law judge. The authority of the... filed, the Board will, on motion of a party, determine whether the law judge should have withdrawn and... SAFETY BOARD RULES OF PRACTICE IN AIR SAFETY PROCEEDINGS Law Judges § 821.35 Assignment, duties and...

  12. 49 CFR 821.35 - Assignment, duties and powers.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ..., all motions, requests and documents shall be addressed to that law judge. The authority of the... initial decision is filed, the Board will, on motion of a party, determine whether the law judge should... SAFETY BOARD RULES OF PRACTICE IN AIR SAFETY PROCEEDINGS Law Judges § 821.35 Assignment, duties and...

  13. 49 CFR 821.35 - Assignment, duties and powers.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ..., all motions, requests and documents shall be addressed to that law judge. The authority of the... filed, the Board will, on motion of a party, determine whether the law judge should have withdrawn and... SAFETY BOARD RULES OF PRACTICE IN AIR SAFETY PROCEEDINGS Law Judges § 821.35 Assignment, duties and...

  14. 49 CFR 821.35 - Assignment, duties and powers.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ..., all motions, requests and documents shall be addressed to that law judge. The authority of the... initial decision is filed, the Board will, on motion of a party, determine whether the law judge should... SAFETY BOARD RULES OF PRACTICE IN AIR SAFETY PROCEEDINGS Law Judges § 821.35 Assignment, duties and...

  15. 19 CFR 356.28 - Reconsideration.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... Undertaking § 356.28 Reconsideration. Any party may file a motion for reconsideration with the APO Sanctions Board. The party must state with particularity the grounds for the motion, including any facts or points of law which the party claims the APO Sanctions Board has overlooked or misapplied. The party may...

  16. 19 CFR 356.28 - Reconsideration.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... Undertaking § 356.28 Reconsideration. Any party may file a motion for reconsideration with the APO Sanctions Board. The party must state with particularity the grounds for the motion, including any facts or points of law which the party claims the APO Sanctions Board has overlooked or misapplied. The party may...

  17. Physics experiments with Nintendo Wii controllers

    NASA Astrophysics Data System (ADS)

    Wheeler, Martyn D.

    2011-01-01

    This article provides a detailed description of the use of Nintendo Wii game controllers in physics demonstrations. The main features of the controller relevant to physics are outlined and the procedure for communicating with a PC is described. A piece of software written by the author is applied to gathering data from a controller suspended from a spring undergoing simple harmonic motion, a pair of controllers mounted on colliding gliders on a linear air track, and a person jumping from a balance board.

  18. Design of a wheeled articulating land rover

    NASA Technical Reports Server (NTRS)

    Stauffer, Larry; Dilorenzo, Mathew; Yandle, Barbara

    1994-01-01

    The WALRUS is a wheeled articulating land rover that will provide Ames Research Center with a reliable, autonomous vehicle for demonstrating and evaluating advanced technologies. The vehicle is one component of the Ames Research Center's on-going Human Exploration Demonstration Project. Ames Research Center requested a system capable of traversing a broad spectrum of surface types and obstacles. In addition, this vehicle must have an autonomous navigation and control system on board and its own source of power. The resulting design is a rover that articulates in two planes of motion to allow for increased mobility and stability. The rover is driven by six conical shaped aluminum wheels, each with an independent, internally coupled motor. Mounted on the rover are two housings and a removable remote control system. In the housings, the motor controller board, tilt sensor, navigation circuitry, and QED board are mounted. Finally, the rover's motors and electronics are powered by thirty C-cell rechargeable batteries, which are located in the rover wheels and recharged by a specially designed battery charger.

  19. Motion Controlled Gait Enhancing Mobile Shoe for Rehabilitation

    PubMed Central

    Handzic, Ismet; Vasudevan, Erin V.; Reed, Kyle B.

    2011-01-01

    Walking on a split-belt treadmill, which has two belts that can be run at different speeds, has been shown to improve walking patterns post-stroke. However, these improvements are only temporarily retained once individuals transition to walking over ground. We hypothesize that longer-lasting effects would be observed if the training occurred during natural walking over ground, as opposed to on a treadmill. In order to study such long-term effects, we have developed a mobile and portable device which can simulate the same gait altering movements experienced on a split-belt treadmill. The new motion controlled gait enhancing mobile shoe improves upon the previous version’s drawbacks. This version of the GEMS has motion that is continuous, smooth, and regulated with on-board electronics. A vital component of this new design is the Archimedean spiral wheel shape that redirects the wearer’s downward force into a horizontal backward motion. The design is passive and does not utilize any motors. Its motion is regulated only by a small magnetic particle brake. Further experimentation is needed to evaluate the long-term after-effects. PMID:22275620

  20. Development of a Production Ready Automated Wire Delivery System

    NASA Technical Reports Server (NTRS)

    1997-01-01

    The current development effort is a Phase 3 research study entitled "A Production Ready Automated Wire Delivery System", contract number NAS8-39933, awarded to Nichols Research Corporation (NRC). The goals of this research study were to production harden the existing Automated Wire Delivery (AWDS) motion and sensor hardware and test the modified AWDS in a range of welding applications. In addition, the prototype AWDS controller would be moved to the VME bus platform by designing, fabricating and testing a single board VME bus AWDS controller. This effort was to provide an AWDS that could transition from the laboratory environment to production operations. The project was performed in two development steps. Step 1 modified and tested an improved MWG. Step 2 developed and tested the AWDS single board VME bus controller. Step 3 installed the Wire Pilot in a Weld Controller with the imbedded VME bus controller.

  1. Bench-top soldering aid for PC boards

    NASA Technical Reports Server (NTRS)

    Manton, N. R.; Schroff, R. A.

    1978-01-01

    Multiple-board rack allows technician to insert components into several boards, flip them all in single motion, and then systematically solder leads on reverse side. Two adjustable crossbars allow boards of any size up to 10 by 24 inches. Operator can rotate racks and adjust angle of boards from standing or sitting position.

  2. 78 FR 75553 - Cedar Rapids Water Board; Notice of Application Accepted for Filing, Soliciting Comments, Motions...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-12-12

    ... DEPARTMENT OF ENERGY Federal Energy Regulatory Commission [Project No. 4344-011] Cedar Rapids Water Board; Notice of Application Accepted for Filing, Soliciting Comments, Motions To Intervene, and Protests Take notice that the following hydroelectric application has been filed with the Commission and is available for public inspection: a. Type o...

  3. Apparatus for Teaching Physics: A Versatile Projectile Motion Board.

    ERIC Educational Resources Information Center

    Prigo, Robert B.; Korda, Anthony

    1984-01-01

    Describes the design and use of a projectile motion apparatus to illustrate a variety of projective motion results typically discussed in an introductory course. They include independence of horizontal (constant speed) and vertical (constant acceleration) motions, parabolic path shape, and other types of motion. (JN)

  4. An observatory control system for the University of Hawai'i 2.2m Telescope

    NASA Astrophysics Data System (ADS)

    McKay, Luke; Erickson, Christopher; Mukensnable, Donn; Stearman, Anthony; Straight, Brad

    2016-07-01

    The University of Hawai'i 2.2m telescope at Maunakea has operated since 1970, and has had several controls upgrades to date. The newest system will operate as a distributed hierarchy of GNU/Linux central server, networked single-board computers, microcontrollers, and a modular motion control processor for the main axes. Rather than just a telescope control system, this new effort is towards a cohesive, modular, and robust whole observatory control system, with design goals of fully robotic unattended operation, high reliability, and ease of maintenance and upgrade.

  5. 22 CFR 1423.22 - Motions.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 22 Foreign Relations 2 2012-04-01 2009-04-01 true Motions. 1423.22 Section 1423.22 Foreign Relations FOREIGN SERVICE LABOR RELATIONS BOARD; FEDERAL LABOR RELATIONS AUTHORITY; GENERAL COUNSEL OF THE... PROCEEDINGS § 1423.22 Motions. (a) Filing of Motions. (1) Motions made prior to a hearing and any response...

  6. 22 CFR 1423.22 - Motions.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 22 Foreign Relations 2 2013-04-01 2009-04-01 true Motions. 1423.22 Section 1423.22 Foreign Relations FOREIGN SERVICE LABOR RELATIONS BOARD; FEDERAL LABOR RELATIONS AUTHORITY; GENERAL COUNSEL OF THE... PROCEEDINGS § 1423.22 Motions. (a) Filing of Motions. (1) Motions made prior to a hearing and any response...

  7. 22 CFR 1423.22 - Motions.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 22 Foreign Relations 2 2011-04-01 2009-04-01 true Motions. 1423.22 Section 1423.22 Foreign Relations FOREIGN SERVICE LABOR RELATIONS BOARD; FEDERAL LABOR RELATIONS AUTHORITY; GENERAL COUNSEL OF THE... PROCEEDINGS § 1423.22 Motions. (a) Filing of Motions. (1) Motions made prior to a hearing and any response...

  8. 22 CFR 1423.22 - Motions.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 22 Foreign Relations 2 2014-04-01 2014-04-01 false Motions. 1423.22 Section 1423.22 Foreign Relations FOREIGN SERVICE LABOR RELATIONS BOARD; FEDERAL LABOR RELATIONS AUTHORITY; GENERAL COUNSEL OF THE... PROCEEDINGS § 1423.22 Motions. (a) Filing of Motions. (1) Motions made prior to a hearing and any response...

  9. 22 CFR 1423.22 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 22 Foreign Relations 2 2010-04-01 2010-04-01 true Motions. 1423.22 Section 1423.22 Foreign Relations FOREIGN SERVICE LABOR RELATIONS BOARD; FEDERAL LABOR RELATIONS AUTHORITY; GENERAL COUNSEL OF THE... PROCEEDINGS § 1423.22 Motions. (a) Filing of Motions. (1) Motions made prior to a hearing and any response...

  10. Miniature Six-Axis Load Sensor for Robotic Fingertip

    NASA Technical Reports Server (NTRS)

    Diftler, Myron A.; Martin, Toby B.; Valvo, Michael C.; Rodriguez, Dagoberto; Chu, Mars W.

    2009-01-01

    A miniature load sensor has been developed as a prototype of tactile sensors that could fit within fingertips of anthropomorphic robot hands. The sensor includes a force-and-torque transducer in the form of a spring instrumented with at least six semiconductor strain gauges. The strain-gauge wires are secured to one side of an interface circuit board mounted at the base of the spring. This board protects the strain-gauge wires from damage that could otherwise occur as a result of finger motions. On the opposite side of the interface board, cables routed along the neutral axis of the finger route the strain-gauge output voltages to an analog-to-digital converter (A/D) board. The A/D board is mounted as close as possible to the strain gauges to minimize electromagnetic noise and other interference effects. The outputs of the A/D board are fed to a controller, wherein, by means of a predetermined calibration matrix, the digitized strain-gauge output voltages are converted to three vector components of force and three of torque exerted by or on the fingertip.

  11. 48 CFR 6101.8 - Motions [Rule 8].

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... matter of law. A motion for summary relief should be filed as soon as feasible, to allow the Board to... 48 Federal Acquisition Regulations System 7 2014-10-01 2014-10-01 false Motions [Rule 8]. 6101.8... ADMINISTRATION CONTRACT DISPUTE CASES 6101.8 Motions [Rule 8]. (a) How motions are made. Motions may be oral or...

  12. 48 CFR 6101.8 - Motions [Rule 8].

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... matter of law. A motion for summary relief should be filed as soon as feasible, to allow the Board to... 48 Federal Acquisition Regulations System 7 2012-10-01 2012-10-01 false Motions [Rule 8]. 6101.8... ADMINISTRATION CONTRACT DISPUTE CASES 6101.8 Motions [Rule 8]. (a) How motions are made. Motions may be oral or...

  13. 48 CFR 6101.8 - Motions [Rule 8].

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... matter of law. A motion for summary relief should be filed as soon as feasible, to allow the Board to... 48 Federal Acquisition Regulations System 7 2013-10-01 2012-10-01 true Motions [Rule 8]. 6101.8... ADMINISTRATION CONTRACT DISPUTE CASES 6101.8 Motions [Rule 8]. (a) How motions are made. Motions may be oral or...

  14. Helmet Fit and Cervical Spine Motion in Collegiate Men's Lacrosse Athletes Secured to a Spine Board

    PubMed Central

    Petschauer, Meredith A.; Schmitz, Randy; Gill, Diane L.

    2010-01-01

    Abstract Context: Proper management of cervical spine injuries in men's lacrosse players depends in part upon the ability of the helmet to immobilize the head. Objective: To determine if properly and improperly fitted lacrosse helmets provide adequate stabilization of the head in the spine-boarded athlete. Design: Crossover study. Setting: Sports medicine research laboratory. Patients or Other Participants: Eighteen healthy collegiate men's lacrosse players. Intervention(s): Participants were asked to move their heads through 3 planes of motion after being secured to a spine board under 3 helmet conditions. Main Outcome Measure(s): Change in range of motion in the cervical spine was calculated for the sagittal, frontal, and transverse planes for both head-to-thorax and helmet-to-thorax range of motion in all 3 helmet conditions (properly fitted, improperly fitted, and no helmet). Results: Head-to-thorax range of motion with the properly fitted and improperly fitted helmets was greater than in the no-helmet condition (P < .0001). In the sagittal plane, range of motion was greater with the improperly fitted helmet than with the properly fitted helmet. No difference was observed in helmet-to-thorax range of motion between properly and improperly fitted helmet conditions. Head-to-thorax range of motion was greater than helmet-to-thorax range of motion in all 3 planes (P < .0001). Conclusions: Cervical spine motion was minimized the most in the no-helmet condition, indicating that in lacrosse players, unlike football players, the helmet may need to be removed before stabilization. PMID:20446833

  15. 37 CFR 41.125 - Decision on motions.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... Decision on motions. (a) Order of consideration. The Board may take up motions for decisions in any order, may grant, deny, or dismiss any motion, and may take such other action appropriate to secure the just... 37 Patents, Trademarks, and Copyrights 1 2011-07-01 2011-07-01 false Decision on motions. 41.125...

  16. 48 CFR 6302.7 - Motions (Rule 7).

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 48 Federal Acquisition Regulations System 7 2011-10-01 2011-10-01 false Motions (Rule 7). 6302.7... APPEALS RULES OF PROCEDURE 6302.7 Motions (Rule 7). (a) Motions are made by filing an original and two copies, together with any supporting papers, with the Board. Motions may also be made upon the record, in...

  17. 48 CFR 6302.7 - Motions (Rule 7).

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 48 Federal Acquisition Regulations System 7 2010-10-01 2010-10-01 false Motions (Rule 7). 6302.7... APPEALS RULES OF PROCEDURE 6302.7 Motions (Rule 7). (a) Motions are made by filing an original and two copies, together with any supporting papers, with the Board. Motions may also be made upon the record, in...

  18. 37 CFR 41.125 - Decision on motions.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... Decision on motions. (a) Order of consideration. The Board may take up motions for decisions in any order, may grant, deny, or dismiss any motion, and may take such other action appropriate to secure the just... 37 Patents, Trademarks, and Copyrights 1 2010-07-01 2010-07-01 false Decision on motions. 41.125...

  19. 29 CFR 102.48 - Action of the Board upon expiration of time to file exceptions to the administrative law judge's...

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... exceptions to the administrative law judge's decision; decisions by the Board; extraordinary postdecisional motions. 102.48 Section 102.48 Labor Regulations Relating to Labor NATIONAL LABOR RELATIONS BOARD RULES... to file exceptions to the administrative law judge's decision; decisions by the Board; extraordinary...

  20. 29 CFR 102.48 - Action of the Board upon expiration of time to file exceptions to the administrative law judge's...

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... exceptions to the administrative law judge's decision; decisions by the Board; extraordinary postdecisional motions. 102.48 Section 102.48 Labor Regulations Relating to Labor NATIONAL LABOR RELATIONS BOARD RULES... to file exceptions to the administrative law judge's decision; decisions by the Board; extraordinary...

  1. 29 CFR 102.48 - Action of the Board upon expiration of time to file exceptions to the administrative law judge's...

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... exceptions to the administrative law judge's decision; decisions by the Board; extraordinary postdecisional motions. 102.48 Section 102.48 Labor Regulations Relating to Labor NATIONAL LABOR RELATIONS BOARD RULES... to file exceptions to the administrative law judge's decision; decisions by the Board; extraordinary...

  2. Planetary Waves and Mesoscale Disturbances in the Middle and Upper Atmosphere

    DTIC Science & Technology

    1998-05-14

    processing of ionogram records made us to begin designing a computer - controlled system to collect, store, display and scale the ionograms in digital...circuit board " L - 154". L - 154 passed signals from the re- ceiver and the system of the control to computer in order to collect in for motion...the main purpose of the PSMOS project is the establishment of a ground-based mesopause observing system for the investigation of planetary scale

  3. [Research on Shielding of Emboli with the Phase-Controlled Ultrasound].

    PubMed

    Liu, Chuang; Bai, Jingfeng

    2016-01-01

    The postoperative neurological complications is associated with intraoperative cerebral emboli, which results from extracorporeal circulation and operation. It can effectively reduce the incidence of neurological complications with ultrasonic radiation. In fluids, a particle will change it's motion trail when it is acted by the radiation force generated by the ultrasound. This article mainly discuss how to shielding emboli with ultrasound. The equipment can transmit phased ultrasonic signals, which is designed on a FPGA development board. The board can generate a square wave, which is converted into a sine wave through a power amplifier. In addition, the control software has been developed on Qt development environment. The result indicates it's feasible to shielding emboli with ultrasonic radiation force. This article builds a strong foundation for the future research.

  4. 37 CFR 41.121 - Motions.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 37 Patents, Trademarks, and Copyrights 1 2013-07-01 2013-07-01 false Motions. 41.121 Section 41... COMMERCE PRACTICE BEFORE THE PATENT TRIAL AND APPEAL BOARD Contested Cases § 41.121 Motions. (a) Types of motions—(1) Substantive motions. Consistent with the notice of requested relief, if any, and to the extent...

  5. 37 CFR 41.121 - Motions.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 37 Patents, Trademarks, and Copyrights 1 2014-07-01 2014-07-01 false Motions. 41.121 Section 41... COMMERCE PRACTICE BEFORE THE PATENT TRIAL AND APPEAL BOARD Contested Cases § 41.121 Motions. (a) Types of motions—(1) Substantive motions. Consistent with the notice of requested relief, if any, and to the extent...

  6. 43 CFR 4.1114 - Advancement of proceedings.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... law judge or the Board, any party filing a motion under this section shall— (1) Make the motion in... statement in response to the motion. (e) Following the timely receipt by the administrative law judge of statements in response to the motion, the administrative law judge may schedule a hearing regarding the...

  7. 43 CFR 4.1114 - Advancement of proceedings.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... law judge or the Board, any party filing a motion under this section shall— (1) Make the motion in... statement in response to the motion. (e) Following the timely receipt by the administrative law judge of statements in response to the motion, the administrative law judge may schedule a hearing regarding the...

  8. 43 CFR 4.1114 - Advancement of proceedings.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... law judge or the Board, any party filing a motion under this section shall— (1) Make the motion in... statement in response to the motion. (e) Following the timely receipt by the administrative law judge of statements in response to the motion, the administrative law judge may schedule a hearing regarding the...

  9. 37 CFR 41.121 - Motions.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 37 Patents, Trademarks, and Copyrights 1 2012-07-01 2012-07-01 false Motions. 41.121 Section 41... COMMERCE PRACTICE BEFORE THE BOARD OF PATENT APPEALS AND INTERFERENCES Contested Cases § 41.121 Motions. (a) Types of motions—(1) Substantive motions. Consistent with the notice of requested relief, if any, and to...

  10. 43 CFR 4.1114 - Advancement of proceedings.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... law judge or the Board, any party filing a motion under this section shall— (1) Make the motion in... statement in response to the motion. (e) Following the timely receipt by the administrative law judge of statements in response to the motion, the administrative law judge may schedule a hearing regarding the...

  11. 49 CFR 1115.3 - Board actions other than initial decisions.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... action on its own motion or on petition. A petition to stay may be filed in advance of the petition for... 49 Transportation 8 2011-10-01 2011-10-01 false Board actions other than initial decisions. 1115.3... TRANSPORTATION BOARD, DEPARTMENT OF TRANSPORTATION RULES OF PRACTICE APPELLATE PROCEDURES § 1115.3 Board actions...

  12. 4 CFR 28.21 - Amendments to petitions and motions practice.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... parties or unduly delay the proceedings. (b) Motions practice. (1) When an action is before an... 4 Accounts 1 2011-01-01 2011-01-01 false Amendments to petitions and motions practice. 28.21... Amendments to petitions and motions practice. (a) Amendments to petitions. The Board, at its discretion, may...

  13. 4 CFR 28.21 - Amendments to petitions and motions practice.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... parties or unduly delay the proceedings. (b) Motions practice. (1) When an action is before an... 4 Accounts 1 2010-01-01 2010-01-01 false Amendments to petitions and motions practice. 28.21... Amendments to petitions and motions practice. (a) Amendments to petitions. The Board, at its discretion, may...

  14. 4 CFR 28.21 - Amendments to petitions and motions practice.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 4 Accounts 1 2014-01-01 2013-01-01 true Amendments to petitions and motions practice. 28.21... Amendments to petitions and motions practice. (a) Amendments to petitions. The Board, at its discretion, may... parties or unduly delay the proceedings. (b) Motions practice. (1) When an action is before an...

  15. 4 CFR 28.21 - Amendments to petitions and motions practice.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 4 Accounts 1 2012-01-01 2012-01-01 false Amendments to petitions and motions practice. 28.21... Amendments to petitions and motions practice. (a) Amendments to petitions. The Board, at its discretion, may... parties or unduly delay the proceedings. (b) Motions practice. (1) When an action is before an...

  16. 4 CFR 28.21 - Amendments to petitions and motions practice.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 4 Accounts 1 2013-01-01 2013-01-01 false Amendments to petitions and motions practice. 28.21... Amendments to petitions and motions practice. (a) Amendments to petitions. The Board, at its discretion, may... parties or unduly delay the proceedings. (b) Motions practice. (1) When an action is before an...

  17. Design and characterization of an ocean wave powered lifejacket using 2DOF floating boards

    NASA Astrophysics Data System (ADS)

    Mi, Jia; Xu, Lin; Yang, Yaling; Zuo, Lei

    2018-04-01

    Lifejacket is an indispensable life-saving equipment for ships and airplanes. Traditional lifejacket is designed to prevent human from drowning. However, the water temperature is usually low, especially in winter, which significantly reduces the human body temperature and leads to death. Meanwhile, power is critical for drowning people to use emergency communication equipment. This paper proposed an ocean wave powered lifejacket using 2DOF floating boards to provide both buoyance and electricity for drowning people. Hence, they can use this continuous electric power to keep key body warm and send distress signal. This lifejacket is featured with two 2DOF floating boards and the mechanical motion rectifier (MMR) can convert the 2-DOF motions to the unidirectional rotation of generator. The design principle is illustrated and the dynamic modelling for the 2-DOF motions has been analyzed. Bench test and lake test have been conducted to validate the design concept.

  18. Basics of Control: The Mechanical, Hydraulic, and Pneumatic Transfer of Power and Motion. Project Description, Teacher's Manual, and Student Manual.

    ERIC Educational Resources Information Center

    Collict, George

    In 1990, the New Jersey Department of Education awarded the Randolph Township Board of Education a grant to evaluate the effectiveness of an existing technology learning activity called the "Magic Box", as part of the Teacher Developed Technology Education for the Nineties grant project. This document is comprised of three publications:…

  19. Combinatorial electrochemical synthesis and screening of Pt-WO3 catalysts for electro-oxidation of methanol

    NASA Astrophysics Data System (ADS)

    Jayaraman, Shrisudersan; Baeck, Sung-Hyeon; Jaramillo, Thomas F.; Kleiman-Shwarsctein, Alan; McFarland, Eric W.

    2005-06-01

    An automated system for high-throughput electrochemical synthesis and screening of fuel cell electro-oxidation catalysts is described. This system consists of an electrode probe that contains counter and reference electrodes that can be positioned inside an array of electrochemical cells created within a polypropylene block. The electrode probe is attached to an automated of X-Y-Z motion system. An externally controlled potentiostat is used to apply the electrochemical potential to the catalyst substrate. The motion and electrochemical control are integrated using a user-friendly software interface. During automated synthesis the deposition potential and/or current may be controlled by a pulse program triggered by the software using a data acquisition board. The screening includes automated experiments to obtain cyclic voltammograms. As an example, a platinum-tungsten oxide (Pt-WO3) library was synthesized and characterized for reactivity towards methanol electro-oxidation.

  20. Parent-Child Talk about Motion: Links to Children's Development of Motion Event Language

    ERIC Educational Resources Information Center

    Hohenstein, Jill

    2013-01-01

    This study investigated the motion event language children and their parents engaged in while playing a board game. Children are sensitive to differences in manner and path at infancy, yet adult-like motion event expression appears relatively late in development. While multiple studies have examined how exposure to parent speech generally relates…

  1. Decentralized real-time simulation of forest machines

    NASA Astrophysics Data System (ADS)

    Freund, Eckhard; Adam, Frank; Hoffmann, Katharina; Rossmann, Juergen; Kraemer, Michael; Schluse, Michael

    2000-10-01

    To develop realistic forest machine simulators is a demanding task. A useful simulator has to provide a close- to-reality simulation of the forest environment as well as the simulation of the physics of the vehicle. Customers demand a highly realistic three dimensional forestry landscape and the realistic simulation of the complex motion of the vehicle even in rough terrain in order to be able to use the simulator for operator training under close-to- reality conditions. The realistic simulation of the vehicle, especially with the driver's seat mounted on a motion platform, greatly improves the effect of immersion into the virtual reality of a simulated forest and the achievable level of education of the driver. Thus, the connection of the real control devices of forest machines to the simulation system has to be supported, i.e. the real control devices like the joysticks or the board computer system to control the crane, the aggregate etc. Beyond, the fusion of the board computer system and the simulation system is realized by means of sensors, i.e. digital and analog signals. The decentralized system structure allows several virtual reality systems to evaluate and visualize the information of the control devices and the sensors. So, while the driver is practicing, the instructor can immerse into the same virtual forest to monitor the session from his own viewpoint. In this paper, we are describing the realized structure as well as the necessary software and hardware components and application experiences.

  2. 76 FR 9770 - Utah Board of Water Resources Notice of Successive Preliminary Permit Application Accepted for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-02-22

    ... Water Resources Notice of Successive Preliminary Permit Application Accepted for Filing and Soliciting Comments, Motions To Intervene, and Competing Applications On February 1, 2011, the Utah Board of Water... reservoir. Applicant Contact: Mr. Eric Millis, Utah Board of Water Resources, 1594 W. North Temple, Salt...

  3. 29 CFR 102.26 - Motions, rulings, and orders part of the record; rulings not to be appealed directly to the Board...

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... regional director or by the administrative law judge on motions and/or by the administrative law judge on... 29 Labor 2 2010-07-01 2010-07-01 false Motions, rulings, and orders part of the record; rulings... Unfair Labor Practices 1 Motions § 102.26 Motions, rulings, and orders part of the record; rulings not to...

  4. Advancements of In-Flight Mass Moment of Inertia and Structural Deflection Algorithms for Satellite Attitude Simulators

    DTIC Science & Technology

    2015-03-26

    pendulum [15] to estimate the MOI. The benefit to this methodology is that instead of a direct comparison to Euler’s equations when using an on-board ACS...the equations of motion of pendulum motion are evaluated to estimate the resistance to angular acceleration. Instead of attempting to compare noisy...sensor data instantaneously when using on-board ACS data, the pendulum oscillation frequency is estimated, which can be globally smoothed for highly

  5. 20 CFR 501.4 - Case record; inspection; submission of pleadings and motions.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 20 Employees' Benefits 3 2010-04-01 2010-04-01 false Case record; inspection; submission of pleadings and motions. 501.4 Section 501.4 Employees' Benefits EMPLOYEES' COMPENSATION APPEALS BOARD, DEPARTMENT OF LABOR RULES OF PROCEDURE § 501.4 Case record; inspection; submission of pleadings and motions...

  6. Design of a Soft Robot with Multiple Motion Patterns Using Soft Pneumatic Actuators

    NASA Astrophysics Data System (ADS)

    Miao, Yu; Dong, Wei; Du, Zhijiang

    2017-11-01

    Soft robots are made of soft materials and have good flexibility and infinite degrees of freedom in theory. These properties enable soft robots to work in narrow space and adapt to external environment. In this paper, a 2-DOF soft pneumatic actuator is introduced, with two chambers symmetrically distributed on both sides and a jamming cylinder along the axis. Fibers are used to constrain the expansion of the soft actuator. Experiments are carried out to test the performance of the soft actuator, including bending and elongation characteristics. A soft robot is designed and fabricated by connecting four soft pneumatic actuators to a 3D-printed board. The soft robotic system is then established. The pneumatic circuit is built by pumps and solenoid valves. The control system is based on the control board Arduino Mega 2560. Relay modules are used to control valves and pressure sensors are used to measure pressure in the pneumatic circuit. Experiments are conducted to test the performance of the proposed soft robot.

  7. SU-F-J-138: An Extension of PCA-Based Respiratory Deformation Modeling Via Multi-Linear Decomposition

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

    Iliopoulos, AS; Sun, X; Pitsianis, N

    Purpose: To address and lift the limited degree of freedom (DoF) of globally bilinear motion components such as those based on principal components analysis (PCA), for encoding and modeling volumetric deformation motion. Methods: We provide a systematic approach to obtaining a multi-linear decomposition (MLD) and associated motion model from deformation vector field (DVF) data. We had previously introduced MLD for capturing multi-way relationships between DVF variables, without being restricted by the bilinear component format of PCA-based models. PCA-based modeling is commonly used for encoding patient-specific deformation as per planning 4D-CT images, and aiding on-board motion estimation during radiotherapy. However, themore » bilinear space-time decomposition inherently limits the DoF of such models by the small number of respiratory phases. While this limit is not reached in model studies using analytical or digital phantoms with low-rank motion, it compromises modeling power in the presence of relative motion, asymmetries and hysteresis, etc, which are often observed in patient data. Specifically, a low-DoF model will spuriously couple incoherent motion components, compromising its adaptability to on-board deformation changes. By the multi-linear format of extracted motion components, MLD-based models can encode higher-DoF deformation structure. Results: We conduct mathematical and experimental comparisons between PCA- and MLD-based models. A set of temporally-sampled analytical trajectories provides a synthetic, high-rank DVF; trajectories correspond to respiratory and cardiac motion factors, including different relative frequencies and spatial variations. Additionally, a digital XCAT phantom is used to simulate a lung lesion deforming incoherently with respect to the body, which adheres to a simple respiratory trend. In both cases, coupling of incoherent motion components due to a low model DoF is clearly demonstrated. Conclusion: Multi-linear decomposition can enable decoupling of distinct motion factors in high-rank DVF measurements. This may improve motion model expressiveness and adaptability to on-board deformation, aiding model-based image reconstruction for target verification. NIH Grant No. R01-184173.« less

  8. 22 CFR 1423.19 - Duties and powers of the Administrative Law Judge.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... relate to the matter before such judge. Subject to the rules and regulations of the Board and the General... own motion; (k) Dispose of procedural requests, motions, or similar matters, including motions... any issue in the case or theory in support thereof; (m) Continue the hearing from day-to-day or...

  9. 22 CFR 1423.19 - Duties and powers of the Administrative Law Judge.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... relate to the matter before such judge. Subject to the rules and regulations of the Board and the General... own motion; (k) Dispose of procedural requests, motions, or similar matters, including motions... any issue in the case or theory in support thereof; (m) Continue the hearing from day-to-day or...

  10. 22 CFR 1423.19 - Duties and powers of the Administrative Law Judge.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... relate to the matter before such judge. Subject to the rules and regulations of the Board and the General... own motion; (k) Dispose of procedural requests, motions, or similar matters, including motions... any issue in the case or theory in support thereof; (m) Continue the hearing from day-to-day or...

  11. 22 CFR 1423.19 - Duties and powers of the Administrative Law Judge.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... relate to the matter before such judge. Subject to the rules and regulations of the Board and the General... own motion; (k) Dispose of procedural requests, motions, or similar matters, including motions... any issue in the case or theory in support thereof; (m) Continue the hearing from day-to-day or...

  12. 29 CFR 102.179 - Motions for default judgment, summary judgment, or dismissal referred to Chief Administrative Law...

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... Administrative Law Judge. During any period when the Board lacks a quorum, all motions for default judgment... 29 Labor 2 2012-07-01 2012-07-01 false Motions for default judgment, summary judgment, or dismissal referred to Chief Administrative Law Judge. 102.179 Section 102.179 Labor Regulations Relating to...

  13. 29 CFR 102.179 - Motions for default judgment, summary judgment, or dismissal referred to Chief Administrative Law...

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... Administrative Law Judge. During any period when the Board lacks a quorum, all motions for default judgment... 29 Labor 2 2014-07-01 2014-07-01 false Motions for default judgment, summary judgment, or dismissal referred to Chief Administrative Law Judge. 102.179 Section 102.179 Labor Regulations Relating to...

  14. 29 CFR 102.179 - Motions for default judgment, summary judgment, or dismissal referred to Chief Administrative Law...

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... Administrative Law Judge. During any period when the Board lacks a quorum, all motions for default judgment... 29 Labor 2 2013-07-01 2013-07-01 false Motions for default judgment, summary judgment, or dismissal referred to Chief Administrative Law Judge. 102.179 Section 102.179 Labor Regulations Relating to...

  15. 29 CFR 102.149 - Filing of documents; service of documents; motions for extension of time.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... extension of time. 102.149 Section 102.149 Labor Regulations Relating to Labor NATIONAL LABOR RELATIONS BOARD RULES AND REGULATIONS, SERIES 8 Awards of Fees and Other Expenses § 102.149 Filing of documents; service of documents; motions for extension of time. (a) All motions and pleadings after the time the case...

  16. Design, Construction and Testing of a Prototype Holonomic Autonomous Vehicle

    DTIC Science & Technology

    2007-12-01

    Circuit A simple 100 kHz crystal oscillator tank circuit using an LM741 opamp was fed to a LM393N comparator . The circuit’s schematic is provided...research in areas that support development of unmanned ground and air battlefield vehicles. Little attention has been paid to applying robotics to...motion control using a single board computer, a pulse width modulation (PWM) and optical isolation circuit, and a low-cost inertial measurement unit

  17. Motion Imagery and Robotics Application Project (MIRA)

    NASA Technical Reports Server (NTRS)

    Grubbs, Rodney P.

    2010-01-01

    This viewgraph presentation describes the Motion Imagery and Robotics Application (MIRA) Project. A detailed description of the MIRA camera service software architecture, encoder features, and on-board communications are presented. A description of a candidate camera under development is also shown.

  18. Adapting the Wii Fit Balance Board to Enable Active Video Game Play by Wheelchair Users: User-Centered Design and Usability Evaluation.

    PubMed

    Thirumalai, Mohanraj; Kirkland, William B; Misko, Samuel R; Padalabalanarayanan, Sangeetha; Malone, Laurie A

    2018-03-06

    Active video game (AVG) playing, also known as "exergaming," is increasingly employed to promote physical activity across all age groups. The Wii Fit Balance Board is a popular gaming controller for AVGs and is used in a variety of settings. However, the commercial off-the-shelf (OTS) design poses several limitations. It is inaccessible to wheelchair users, does not support the use of stabilization assistive devices, and requires the ability to shift the center of balance (COB) in all directions to fully engage in game play. The aim of this study was to design an adapted version of the Wii Fit Balance Board to overcome the identified limitations and to evaluate the usability of the newly designed adapted Wii Fit Balance Board in persons with mobility impairments. In a previous study, 16 participants tried the OTS version of the Wii Fit Balance Board. On the basis of observed limitations, a team of engineers developed and adapted the design of the Wii Fit Balance Board, which was then subjected to multiple iterations of user feedback and design tweaks. On design completion, we recruited a new pool of participants with mobility impairments for a larger study. During their first visit, we assessed lower-extremity function using selected mobility tasks from the International Classification of Functioning, Disability and Health. During a subsequent session, participants played 2 sets of games on both the OTS and adapted versions of the Wii Fit Balance Board. Order of controller version played first was randomized. After participants played each version, we administered the System Usability Scale (SUS) to examine the participants' perceived usability. The adapted version of the Wii Fit Balance Board resulting from the user-centered design approach met the needs of a variety of users. The adapted controller (1) allowed manual wheelchair users to engage in game play, which was previously not possible; (2) included Americans with Disabilities Act-compliant handrails as part of the controller, enabling stable and safe game play; and (3) included a sensitivity control feature, allowing users to fine-tune the controller to match the users' range of COB motion. More than half the sample could not use the OTS version of the Wii Fit Balance Board, while all participants were able to use the adapted version. All participants rated the adapted Wii Fit Balance Board at a minimum as "good," while those who could not use the OTS Wii Fit Balance Board rated the adapted Wii Fit Balance Board as "excellent." We found a significant negative correlation between lower-extremity function and differences between OTS and adapted SUS scores, indicating that as lower-extremity function decreased, participants perceived the adapted Wii Fit Balance Board as more usable. This study demonstrated a successful adaptation of a widely used AVG controller. The adapted controller's potential to increase physical activity levels among people with mobility impairments will be evaluated in a subsequent trial. ClinicalTrials.gov NCT02994199; https://clinicaltrials.gov/ct2/show/NCT02994199 (Archived by WebCite at http://www.webcitation.org/6xWTyiJWf). ©Mohanraj Thirumalai, William B Kirkland, Samuel R Misko, Sangeetha Padalabalanarayanan, Laurie A Malone. Originally published in JMIR Rehabilitation and Assistive Technology (http://rehab.jmir.org), 06.03.2018.

  19. 48 CFR 6101.26 - Reconsideration; amendment of decisions; new hearings [Rule 26].

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... amend a decision or order for any reason that would justify such action on motion of a party. (d) Effect... for granting a new hearing. Upon granting a motion for a new hearing, the Board will take additional... issue a new decision. (b) Procedure. Any motion under 6101.26 (Rule 26) shall comply with the provisions...

  20. 48 CFR 6101.26 - Reconsideration; amendment of decisions; new hearings [Rule 26].

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... amend a decision or order for any reason that would justify such action on motion of a party. (d) Effect... for granting a new hearing. Upon granting a motion for a new hearing, the Board will take additional... issue a new decision. (b) Procedure. Any motion under 6101.26 (Rule 26) shall comply with the provisions...

  1. 4 CFR 28.47 - Motion to quash.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 4 Accounts 1 2010-01-01 2010-01-01 false Motion to quash. 28.47 Section 28.47 Accounts GOVERNMENT ACCOUNTABILITY OFFICE GENERAL PROCEDURES GOVERNMENT ACCOUNTABILITY OFFICE PERSONNEL APPEALS BOARD; PROCEDURES APPLICABLE TO CLAIMS CONCERNING EMPLOYMENT PRACTICES AT THE GOVERNMENT ACCOUNTABILITY OFFICE Procedures...

  2. 5 CFR 1203.15 - Review of regulations on the Board's own motion.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... PROCEDURES PROCEDURES FOR REVIEW OF RULES AND REGULATIONS OF THE OFFICE OF PERSONNEL MANAGEMENT Procedures..., review a regulation on its own motion under 5 U.S.C. 1204(f)(1)(A). When it does so, it will publish...

  3. Motion behavior of water droplets driven by triboelectric nanogenerator

    NASA Astrophysics Data System (ADS)

    Nie, Jinhui; Jiang, Tao; Shao, Jiajia; Ren, Zewei; Bai, Yu; Iwamoto, Mitsumasa; Chen, Xiangyu; Wang, Zhong Lin

    2018-04-01

    By integrating a triboelectric nanogenerator (TENG) and a simple circuit board, the motion of water droplets can be controlled by the output of the TENG, which demonstrates a self-powered microfluidic system toward various practical applications in the fields of microfluidic system and soft robotics. This paper describes a method to construct a physical model for this self-powered system on the basis of electrostatic induction theory. The model can precisely simulate the detailed motion behavior of the droplet under driving of TENG, and it can also reveal the influences of surface hydrophobicity on the motion of the droplet, which can help us to better understand the key parameters that decide the performance of the system. The experimental observation of the dynamic performance of the droplet has also been done with a high speed camera system. A comparison between simulation results and real measurements confirms that the proposed model can predict the velocity and position of the water droplet driven by high voltage source as well as TENG. Hence, the proposed model in this work could serve as a guidance for optimizing the self-powered systems in future studies.

  4. Adapting the Wii Fit Balance Board to Enable Active Video Game Play by Wheelchair Users: User-Centered Design and Usability Evaluation

    PubMed Central

    Kirkland, William B; Misko, Samuel R; Padalabalanarayanan, Sangeetha; Malone, Laurie A

    2018-01-01

    Background Active video game (AVG) playing, also known as “exergaming,” is increasingly employed to promote physical activity across all age groups. The Wii Fit Balance Board is a popular gaming controller for AVGs and is used in a variety of settings. However, the commercial off-the-shelf (OTS) design poses several limitations. It is inaccessible to wheelchair users, does not support the use of stabilization assistive devices, and requires the ability to shift the center of balance (COB) in all directions to fully engage in game play. Objective The aim of this study was to design an adapted version of the Wii Fit Balance Board to overcome the identified limitations and to evaluate the usability of the newly designed adapted Wii Fit Balance Board in persons with mobility impairments. Methods In a previous study, 16 participants tried the OTS version of the Wii Fit Balance Board. On the basis of observed limitations, a team of engineers developed and adapted the design of the Wii Fit Balance Board, which was then subjected to multiple iterations of user feedback and design tweaks. On design completion, we recruited a new pool of participants with mobility impairments for a larger study. During their first visit, we assessed lower-extremity function using selected mobility tasks from the International Classification of Functioning, Disability and Health. During a subsequent session, participants played 2 sets of games on both the OTS and adapted versions of the Wii Fit Balance Board. Order of controller version played first was randomized. After participants played each version, we administered the System Usability Scale (SUS) to examine the participants’ perceived usability. Results The adapted version of the Wii Fit Balance Board resulting from the user-centered design approach met the needs of a variety of users. The adapted controller (1) allowed manual wheelchair users to engage in game play, which was previously not possible; (2) included Americans with Disabilities Act-compliant handrails as part of the controller, enabling stable and safe game play; and (3) included a sensitivity control feature, allowing users to fine-tune the controller to match the users’ range of COB motion. More than half the sample could not use the OTS version of the Wii Fit Balance Board, while all participants were able to use the adapted version. All participants rated the adapted Wii Fit Balance Board at a minimum as “good,” while those who could not use the OTS Wii Fit Balance Board rated the adapted Wii Fit Balance Board as “excellent.” We found a significant negative correlation between lower-extremity function and differences between OTS and adapted SUS scores, indicating that as lower-extremity function decreased, participants perceived the adapted Wii Fit Balance Board as more usable. Conclusions This study demonstrated a successful adaptation of a widely used AVG controller. The adapted controller’s potential to increase physical activity levels among people with mobility impairments will be evaluated in a subsequent trial. Trial Registration ClinicalTrials.gov NCT02994199; https://clinicaltrials.gov/ct2/show/NCT02994199 (Archived by WebCite at http://www.webcitation.org/6xWTyiJWf) PMID:29510972

  5. 43 CFR 4.1113 - Consolidation of proceedings.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... § 4.1113 Consolidation of proceedings. When proceedings involving a common question of law or fact are pending before an administrative law judge or the Board, such proceedings are subject to consolidation pursuant to a motion by a party or at the initiative of an administrative law judge or the Board. ...

  6. Spacecraft formation control using analytical finite-duration approaches

    NASA Astrophysics Data System (ADS)

    Ben Larbi, Mohamed Khalil; Stoll, Enrico

    2018-03-01

    This paper derives a control concept for formation flight (FF) applications assuming circular reference orbits. The paper focuses on a general impulsive control concept for FF which is then extended to the more realistic case of non-impulsive thrust maneuvers. The control concept uses a description of the FF in relative orbital elements (ROE) instead of the classical Cartesian description since the ROE provide a direct insight into key aspects of the relative motion and are particularly suitable for relative orbit control purposes and collision avoidance analysis. Although Gauss' variational equations have been first derived to offer a mathematical tool for processing orbit perturbations, they are suitable for several different applications. If the perturbation acceleration is due to a control thrust, Gauss' variational equations show the effect of such a control thrust on the Keplerian orbital elements. Integrating the Gauss' variational equations offers a direct relation between velocity increments in the local vertical local horizontal frame and the subsequent change of Keplerian orbital elements. For proximity operations, these equations can be generalized from describing the motion of single spacecraft to the description of the relative motion of two spacecraft. This will be shown for impulsive and finite-duration maneuvers. Based on that, an analytical tool to estimate the error induced through impulsive maneuver planning is presented. The resulting control schemes are simple and effective and thus also suitable for on-board implementation. Simulations show that the proposed concept improves the timing of the thrust maneuver executions and thus reduces the residual error of the formation control.

  7. An Investigation of Synthetic Aperture Radar Autofocus,

    DTIC Science & Technology

    1985-04-01

    uniform straight line motion of the aircraft. Unknown aircraft motions alter the matched filter required for processing . Autofocussing involves determi...REFERENCES APPENDIX 1 RESOLUTION OF SAR APPENDIX 2 AIRCRAFT MOTION TOLERANCE APPENDIX 3 INITIAL RESOLUTION FOR FOLLOW-DOWN PROCESSING APPENDIX 4 DEPENDENCE OF...Range resolution is achieved using on-board pulse-compression techniques, while azimuth processing is currently done at RSRE on a Marconi hardware

  8. Eliminating log rolling as a spine trauma order.

    PubMed

    Conrad, Bryan P; Rossi, Gianluca Del; Horodyski, Mary Beth; Prasarn, Mark L; Alemi, Yara; Rechtine, Glenn R

    2012-01-01

    Currently, up to 25% of patients with spinal cord injuries may experience neurologic deterioration during the initial management of their injuries. Therefore, more effective procedures need to be established for the transportation and care of these to reduce the risk of secondary neurologic damage. Here, we present more acceptable methods to minimize motion in the unstable spine during the management of patients with traumatic spine injuries. This review summarizes more than a decade of research aimed at evaluating different methods of caring for patients with spine trauma. The most commonly utilized technique to transport spinal cord injured patients, the log rolling maneuver, produced more motion than placing a patient on a spine board, removing a spine board, performing continuous lateral therapy, and positioning a patient prone for surgery. Alternative maneuvers that produced less motion included the straddle lift and slide, 6 + lift and slide, scoop stretcher, mechanical kinetic therapy, mechanical transfers, and the use of the operating table to rotate the patient to the prone position for surgical stabilization. The log roll maneuver should be removed from the trauma response guidelines for patients with suspected spine injuries, as it creates significantly more motion in the unstable spine than the readily available alternatives. The only exception is the patient who is found prone, in which case the patient should then be log rolled directly on to the spine board utilizing a push technique.

  9. 49 CFR 821.55 - Complaint, answer to complaint, motions and discovery.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... and upon just and reasonable terms. (d) Discovery. Discovery is authorized in proceedings governed by...) NATIONAL TRANSPORTATION SAFETY BOARD RULES OF PRACTICE IN AIR SAFETY PROCEEDINGS Special Rules Applicable... to complaint, motions and discovery. (a) Complaint. In proceedings governed by this subpart, the...

  10. SMART USE OF COMPUTER-AIDED SPERM ANALYSIS (CASA) TO CHARACTERIZE SPERM MOTION

    EPA Science Inventory

    Computer-aided sperm analysis (CASA) has evolved over the past fifteen years to provide an objective, practical means of measuring and characterizing the velocity and parttern of sperm motion. CASA instruments use video frame-grabber boards to capture multiple images of spermato...

  11. 20 CFR 901.41 - Motions and requests.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 20 Employees' Benefits 4 2012-04-01 2012-04-01 false Motions and requests. 901.41 Section 901.41 Employees' Benefits JOINT BOARD FOR THE ENROLLMENT OF ACTUARIES REGULATIONS GOVERNING THE PERFORMANCE OF ACTUARIAL SERVICES UNDER THE EMPLOYEE RETIREMENT INCOME SECURITY ACT OF 1974 Suspension or Termination of...

  12. 20 CFR 901.41 - Motions and requests.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 20 Employees' Benefits 4 2014-04-01 2014-04-01 false Motions and requests. 901.41 Section 901.41 Employees' Benefits JOINT BOARD FOR THE ENROLLMENT OF ACTUARIES REGULATIONS GOVERNING THE PERFORMANCE OF ACTUARIAL SERVICES UNDER THE EMPLOYEE RETIREMENT INCOME SECURITY ACT OF 1974 Suspension or Termination of...

  13. 20 CFR 901.41 - Motions and requests.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 20 Employees' Benefits 3 2011-04-01 2011-04-01 false Motions and requests. 901.41 Section 901.41 Employees' Benefits JOINT BOARD FOR THE ENROLLMENT OF ACTUARIES REGULATIONS GOVERNING THE PERFORMANCE OF ACTUARIAL SERVICES UNDER THE EMPLOYEE RETIREMENT INCOME SECURITY ACT OF 1974 Suspension or Termination of...

  14. 20 CFR 901.41 - Motions and requests.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 20 Employees' Benefits 4 2013-04-01 2013-04-01 false Motions and requests. 901.41 Section 901.41 Employees' Benefits JOINT BOARD FOR THE ENROLLMENT OF ACTUARIES REGULATIONS GOVERNING THE PERFORMANCE OF ACTUARIAL SERVICES UNDER THE EMPLOYEE RETIREMENT INCOME SECURITY ACT OF 1974 Suspension or Termination of...

  15. 20 CFR 901.41 - Motions and requests.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 20 Employees' Benefits 3 2010-04-01 2010-04-01 false Motions and requests. 901.41 Section 901.41 Employees' Benefits JOINT BOARD FOR THE ENROLLMENT OF ACTUARIES REGULATIONS GOVERNING THE PERFORMANCE OF ACTUARIAL SERVICES UNDER THE EMPLOYEE RETIREMENT INCOME SECURITY ACT OF 1974 Suspension or Termination of...

  16. 37 CFR 41.121 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... COMMERCE PRACTICE BEFORE THE BOARD OF PATENT APPEALS AND INTERFERENCES Contested Cases § 41.121 Motions. (a... case, (ii) To change benefit accorded for the contested subject matter, or (iii) For judgment in the... require that the statement of material facts be submitted as a separate paper. (e) Claim charts. Claim...

  17. 40 CFR 164.110 - Motion for reopening hearings; for rehearing; for reargument of any proceeding; or for...

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) PESTICIDE PROGRAMS RULES OF PRACTICE... REGISTER, CANCELLATIONS OF REGISTRATIONS, CHANGES OF CLASSIFICATIONS, SUSPENSIONS OF REGISTRATIONS AND... reconsideration of the order, must be made by motion to the Environmental Appeals Board filed with the hearing...

  18. 40 CFR 164.110 - Motion for reopening hearings; for rehearing; for reargument of any proceeding; or for...

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) PESTICIDE PROGRAMS RULES OF PRACTICE... REGISTER, CANCELLATIONS OF REGISTRATIONS, CHANGES OF CLASSIFICATIONS, SUSPENSIONS OF REGISTRATIONS AND... reconsideration of the order, must be made by motion to the Environmental Appeals Board filed with the hearing...

  19. 12 CFR 747.29 - Summary disposition.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... ADMINISTRATIVE ACTIONS, ADJUDICATIVE HEARINGS, RULES OF PRACTICE AND PROCEDURE, AND INVESTIGATIONS Uniform Rules... shall recommend that the NCUA Board issue a final order granting a motion for summary disposition if the... motion for summary disposition show that: (1) There is no genuine issue as to any material fact; and (2...

  20. 37 CFR 41.208 - Content of substantive and responsive motions.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 37 Patents, Trademarks, and Copyrights 1 2014-07-01 2014-07-01 false Content of substantive and responsive motions. 41.208 Section 41.208 Patents, Trademarks, and Copyrights UNITED STATES PATENT AND TRADEMARK OFFICE, DEPARTMENT OF COMMERCE PRACTICE BEFORE THE PATENT TRIAL AND APPEAL BOARD Patent...

  1. 37 CFR 41.208 - Content of substantive and responsive motions.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 37 Patents, Trademarks, and Copyrights 1 2013-07-01 2013-07-01 false Content of substantive and responsive motions. 41.208 Section 41.208 Patents, Trademarks, and Copyrights UNITED STATES PATENT AND TRADEMARK OFFICE, DEPARTMENT OF COMMERCE PRACTICE BEFORE THE PATENT TRIAL AND APPEAL BOARD Patent...

  2. 12 CFR 308.104 - Filings with the Board of Directors.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... Executive Secretary include pleadings and motions filed during the proceeding; the record filed by the administrative law judge after the issuance of a recommended decision; the recommended decision filed by the administrative law judge following a motion for summary disposition; referrals by the administrative law judge of...

  3. 12 CFR 308.104 - Filings with the Board of Directors.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... Executive Secretary include pleadings and motions filed during the proceeding; the record filed by the administrative law judge after the issuance of a recommended decision; the recommended decision filed by the administrative law judge following a motion for summary disposition; referrals by the administrative law judge of...

  4. 45 CFR 16.13 - Powers and responsibilities.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 45 Public Welfare 1 2010-10-01 2010-10-01 false Powers and responsibilities. 16.13 Section 16.13... DEPARTMENTAL GRANT APPEALS BOARD § 16.13 Powers and responsibilities. In addition to powers specified elsewhere... and motions, including motions to dismiss; to grant extensions of time for good reasons; to dismiss...

  5. Twisting/Swirling Motions during a Prominence Eruption as Seen from SDO/AIA

    NASA Astrophysics Data System (ADS)

    Pant, V.; Datta, A.; Banerjee, D.; Chandrashekhar, K.; Ray, S.

    2018-06-01

    A quiescent prominence was observed at the northwest limb of the Sun using different channels of the Atmospheric Imaging Assembly on board the Solar Dynamics Observatory. We report and analyze twisting/swirling motions during and after the prominence eruption. We segregate the observed rotational motions into small and large scales. Small-scale rotational motions manifest in the barbs of the prominence, while the large-scale rotation manifests as the roll motion during the prominence eruption. We noticed that both footpoints of the prominence rotate in the counterclockwise direction. We propose that a similar sense of rotation in both footpoints leads to a prominence eruption. The prominence erupted asymmetrically near the southern footpoint, which may be due to an uneven mass distribution and location of the cavity near the southern footpoint. Furthermore, we study the swirling motion of the plasma along different circular paths in the cavity of the prominence after the prominence eruption. The rotational velocities of the plasma moving along different circular paths are estimated to be ∼9–40 km s‑1. These swirling motions can be explained in terms of twisted magnetic field lines in the prominence cavity. Finally we observe the twist built up in the prominence, being carried away by the coronal mass ejection, as seen in the Large Angle Spectrometric Coronagraph on board the Solar and Heliospheric Observatory.

  6. 20 CFR 802.217 - Waiver of time limitations for filing.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 20 Employees' Benefits 3 2010-04-01 2010-04-01 false Waiver of time limitations for filing. 802.217 Section 802.217 Employees' Benefits BENEFITS REVIEW BOARD, DEPARTMENT OF LABOR RULES OF PRACTICE... run from the date of a party's receipt of the Board's order disposing of the motion referred to in...

  7. 38 CFR 20.1410 - Rule 1410. Stays pending court action.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... court action. 20.1410 Section 20.1410 Pensions, Bonuses, and Veterans' Relief DEPARTMENT OF VETERANS... Clear and Unmistakable Error § 20.1410 Rule 1410. Stays pending court action. The Board will stay its consideration of a motion under this subpart upon receiving notice that the Board decision that is the subject...

  8. 38 CFR 20.1410 - Rule 1410. Stays pending court action.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... court action. 20.1410 Section 20.1410 Pensions, Bonuses, and Veterans' Relief DEPARTMENT OF VETERANS... Clear and Unmistakable Error § 20.1410 Rule 1410. Stays pending court action. The Board will stay its consideration of a motion under this subpart upon receiving notice that the Board decision that is the subject...

  9. 29 CFR 101.21 - Procedure after hearing.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... entertain motions for oral argument. The Regional Director may at any time transfer the case to the Board... the right to transfer the case to the Board for decision at any time prior to disposition of the... formal hearing; pass upon rulings made at hearings and requests for extensions of time for filing of...

  10. 29 CFR 101.21 - Procedure after hearing.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... entertain motions for oral argument. The Regional Director may at any time transfer the case to the Board... the right to transfer the case to the Board for decision at any time prior to disposition of the... formal hearing; pass upon rulings made at hearings and requests for extensions of time for filing of...

  11. 29 CFR 101.21 - Procedure after hearing.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... entertain motions for oral argument. The Regional Director may at any time transfer the case to the Board... or after a hearing, with the right to transfer the case to the Board for decision at any time prior... formal hearing; pass upon rulings made at hearings and requests for extensions of time for filing of...

  12. SU-E-P-41: Imaging Coordination of Cone Beam CT, On-Board Image Conjunction with Optical Image Guidance for SBRT Treatment with Respiratory Motion Management

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

    Liu, Y; Campbell, J

    2015-06-15

    Purpose: To spare normal tissue for SBRT lung/liver patients, especially for patients with significant tumor motion, image guided respiratory motion management has been widely implemented in clinical practice. The purpose of this study was to evaluate imaging coordination of cone beam CT, on-board X-ray image conjunction with optical image guidance for SBRT treatment with motion management. Methods: Currently in our clinic a Varian Novlis Tx was utilized for treating SBRT patients implementing CBCT. A BrainLAB X-ray ExacTrac imaging system in conjunction with optical guidance was primarily used for SRS patients. CBCT and X-ray imaging system were independently calibrated with 1.0more » mm tolerance. For SBRT lung/liver patients, the magnitude of tumor motion was measured based-on 4DCT and the measurement was analyzed to determine if patients would be beneficial with respiratory motion management. For patients eligible for motion management, an additional CT with breath holding would be scanned and used as primary planning CT and as reference images for Cone beam CT. During the SBRT treatment, a CBCT with pause and continuing technology would be performed with patients holding breath, which may require 3–4 partially scanned CBCT to combine as a whole CBCT depending on how long patients capable of holding breath. After patients being setup by CBCT images, the ExactTrac X-ray imaging system was implemented with patients’ on-board X-ray images compared to breath holding CT-based DRR. Results: For breath holding patients SBRT treatment, after initially localizing patients with CBCT, we then position patients with ExacTrac X-ray and optical imaging system. The observed deviations of real-time optical guided position average at 3.0, 2.5 and 1.5 mm in longitudinal, vertical and lateral respectively based on 35 treatments. Conclusion: The respiratory motion management clinical practice improved our physician confidence level to give tighter tumor margin for sparing normal tissue for SBRT lung/liver patients.« less

  13. The Spatiotemporal Characteristics of Visual Motion Priming

    DTIC Science & Technology

    1994-07-01

    859. Barden, W. (1982, June). A general-purpose I/O board for the Color Computer. BYTE Magazine, pp. 260-281. B . ->,.. H . & Levick , W. (1965). The... B y ...... . ........ Distribution I Availability Codes Avail and i or Dist Special DTIC qU(A~ry niNPETEM 3 iii ABSTRACT THE...bistable diamond, apparent motion figure 52 (after Ramachandran & Anstis, 1983). ( b ) "Streaming" and "bouncing" percepts of apparent 52 motion dot

  14. Horizontal Slide Creates Less Cervical Motion When Centering an Injured Patient on a Spine Board.

    PubMed

    DuBose, Dewayne N; Zdziarski, Laura Ann; Scott, Nicole; Conrad, Bryan; Long, Allyson; Rechtine, Glenn R; Prasarn, Mark L; Horodyski, MaryBeth

    2016-05-01

    A patient with a suspected cervical spine injury may be at risk for secondary neurologic injury when initially placed and repositioned to the center of the spine board. We sought to determine which centering adjustment best limits cervical spine movement and minimizes the chance for secondary injury. Using five lightly embalmed cadaveric specimens with a created global instability at C5-C6, motion sensors were anchored to the anterior surface of the vertebral bodies. Three repositioning methods were used to center the cadavers on the spine board: horizontal slide, diagonal slide, and V-adjustment. An electromagnetic tracking device measured angular (degrees) and translation (millimeters) motions at the C5-C6 level during each of the three centering adjustments. The dependent variables were angular motion (flexion-extension, axial rotation, lateral flexion) and translational displacement (anteroposterior, axial, and medial-lateral). The nonuniform condition produced significantly less flexion-extension than the uniform condition (p = 0.048). The horizontal slide adjustment produced less cervical flexion-extension (p = 0.015), lateral bending (p = 0.003), and axial rotation (p = 0.034) than the V-adjustment. Similarly, translation was significantly less with the horizontal adjustment than with the V-adjustment; medial-lateral (p = 0.017), axial (p < 0.001), and anteroposterior (p = 0.006). Of the three adjustments, our team found that horizontal slide was also easier to complete than the other methods. The horizontal slide best limited cervical spine motion and may be the most helpful for minimizing secondary injury based on the study findings. Copyright © 2016 Elsevier Inc. All rights reserved.

  15. Driving a car with custom-designed fuzzy inferencing VLSI chips and boards

    NASA Technical Reports Server (NTRS)

    Pin, Francois G.; Watanabe, Yutaka

    1993-01-01

    Vehicle control in a-priori unknown, unpredictable, and dynamic environments requires many calculational and reasoning schemes to operate on the basis of very imprecise, incomplete, or unreliable data. For such systems, in which all the uncertainties can not be engineered away, approximate reasoning may provide an alternative to the complexity and computational requirements of conventional uncertainty analysis and propagation techniques. Two types of computer boards including custom-designed VLSI chips were developed to add a fuzzy inferencing capability to real-time control systems. All inferencing rules on a chip are processed in parallel, allowing execution of the entire rule base in about 30 microseconds, and therefore, making control of 'reflex-type' of motions envisionable. The use of these boards and the approach using superposition of elemental sensor-based behaviors for the development of qualitative reasoning schemes emulating human-like navigation in a-priori unknown environments are first discussed. Then how the human-like navigation scheme implemented on one of the qualitative inferencing boards was installed on a test-bed platform to investigate two control modes for driving a car in a-priori unknown environments on the basis of sparse and imprecise sensor data is described. In the first mode, the car navigates fully autonomously, while in the second mode, the system acts as a driver's aid providing the driver with linguistic (fuzzy) commands to turn left or right and speed up or slow down depending on the obstacles perceived by the sensors. Experiments with both modes of control are described in which the system uses only three acoustic range (sonar) sensor channels to perceive the environment. Simulation results as well as indoors and outdoors experiments are presented and discussed to illustrate the feasibility and robustness of autonomous navigation and/or safety enhancing driver's aid using the new fuzzy inferencing hardware system and some human-like reasoning schemes which may include as little as six elemental behaviors embodied in fourteen qualitative rules.

  16. a Sensor Aided H.264/AVC Video Encoder for Aerial Video Sequences with in the Loop Metadata Correction

    NASA Astrophysics Data System (ADS)

    Cicala, L.; Angelino, C. V.; Ruatta, G.; Baccaglini, E.; Raimondo, N.

    2015-08-01

    Unmanned Aerial Vehicles (UAVs) are often employed to collect high resolution images in order to perform image mosaicking and/or 3D reconstruction. Images are usually stored on board and then processed with on-ground desktop software. In such a way the computational load, and hence the power consumption, is moved on ground, leaving on board only the task of storing data. Such an approach is important in the case of small multi-rotorcraft UAVs because of their low endurance due to the short battery life. Images can be stored on board with either still image or video data compression. Still image system are preferred when low frame rates are involved, because video coding systems are based on motion estimation and compensation algorithms which fail when the motion vectors are significantly long and when the overlapping between subsequent frames is very small. In this scenario, UAVs attitude and position metadata from the Inertial Navigation System (INS) can be employed to estimate global motion parameters without video analysis. A low complexity image analysis can be still performed in order to refine the motion field estimated using only the metadata. In this work, we propose to use this refinement step in order to improve the position and attitude estimation produced by the navigation system in order to maximize the encoder performance. Experiments are performed on both simulated and real world video sequences.

  17. Quantitative evaluation of low-cost frame-grabber boards for personal computers.

    PubMed

    Kofler, J M; Gray, J E; Fuelberth, J T; Taubel, J P

    1995-11-01

    Nine moderately priced frame-grabber boards for both Macintosh (Apple Computers, Cupertino, CA) and IBM-compatible computers were evaluated using a Society of Motion Pictures and Television Engineers (SMPTE) pattern and a video signal generator for dynamic range, gray-scale reproducibility, and spatial integrity of the captured image. The degradation of the video information ranged from minor to severe. Some boards are of reasonable quality for applications in diagnostic imaging and education. However, price and quality are not necessarily directly related.

  18. 12 CFR 908.44 - Consolidation and severance of actions.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ....44 Consolidation and severance of actions. (a) Consolidation. On the motion of any party, or on the Finance Board's or the presiding officer's own motion, the presiding officer may consolidate, for some or... 12 Banks and Banking 7 2011-01-01 2011-01-01 false Consolidation and severance of actions. 908.44...

  19. 12 CFR 908.44 - Consolidation and severance of actions.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ....44 Consolidation and severance of actions. (a) Consolidation. On the motion of any party, or on the Finance Board's or the presiding officer's own motion, the presiding officer may consolidate, for some or... 12 Banks and Banking 7 2010-01-01 2010-01-01 false Consolidation and severance of actions. 908.44...

  20. 43 CFR 4.406 - Intervention; amicus curiae.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 43 Public Lands: Interior 1 2011-10-01 2011-10-01 false Intervention; amicus curiae. 4.406 Section... Intervention; amicus curiae. (a) A person who wishes to intervene in an appeal must file a motion to intervene... Board. (b) A motion to intervene must set forth the basis for the proposed intervention, including: (1...

  1. 43 CFR 4.406 - Intervention; amicus curiae.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 43 Public Lands: Interior 1 2014-10-01 2014-10-01 false Intervention; amicus curiae. 4.406 Section... Intervention; amicus curiae. (a) A person who wishes to intervene in an appeal must file a motion to intervene... Board. (b) A motion to intervene must set forth the basis for the proposed intervention, including: (1...

  2. 43 CFR 4.406 - Intervention; amicus curiae.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 43 Public Lands: Interior 1 2013-10-01 2013-10-01 false Intervention; amicus curiae. 4.406 Section... Intervention; amicus curiae. (a) A person who wishes to intervene in an appeal must file a motion to intervene... Board. (b) A motion to intervene must set forth the basis for the proposed intervention, including: (1...

  3. 43 CFR 4.406 - Intervention; amicus curiae.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 43 Public Lands: Interior 1 2012-10-01 2011-10-01 true Intervention; amicus curiae. 4.406 Section... Intervention; amicus curiae. (a) A person who wishes to intervene in an appeal must file a motion to intervene... Board. (b) A motion to intervene must set forth the basis for the proposed intervention, including: (1...

  4. 12 CFR 390.42 - Change of time limits.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    .... Extensions may be granted at the motion of a party or on the Board of Director's or the administrative law judge's own motion after notice and opportunity to respond is afforded all non-moving parties. ... Proceedings § 390.42 Change of time limits. Except as otherwise provided by law, the administrative law judge...

  5. 45 CFR 160.548 - Appeal of the ALJ's decision.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... extension within the initial 30 day period and shows good cause. (b) If a party files a timely notice of... such hearing is relevant and material and that there were reasonable grounds for the failure to adduce... the Board for good cause shown. Reply briefs are not permitted. (4) The Board must rule on the motion...

  6. 48 CFR Appendix A to Chapter 2 - Armed Services Board of Contract Appeals

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... officer has failed to issue a decision within a reasonable time, taking into account such factors as the... exhibits, post-hearing briefs, and documents which the Board has specifically designated be made a part of... order of appeals, Rule 12 requirements, and other pertinent factors. On request or motion by either...

  7. A Digital Motion Control System for Large Telescopes

    NASA Astrophysics Data System (ADS)

    Hunter, T. R.; Wilson, R. W.; Kimberk, R.; Leiker, P. S.

    2001-05-01

    We have designed and programmed a digital motion control system for large telescopes, in particular, the 6-meter antennas of the Submillimeter Array on Mauna Kea. The system consists of a single robust, high-reliability microcontroller board which implements a two-axis velocity servo while monitoring and responding to critical safety parameters. Excellent tracking performance has been achieved with this system (0.3 arcsecond RMS at sidereal rate). The 24x24 centimeter four-layer printed circuit board contains a multitude of hardware devices: 40 digital inputs (for limit switches and fault indicators), 32 digital outputs (to enable/disable motor amplifiers and brakes), a quad 22-bit ADC (to read the motor tachometers), four 16-bit DACs (that provide torque signals to the motor amplifiers), a 32-LED status panel, a serial port to the LynxOS PowerPC antenna computer (RS422/460kbps), a serial port to the Palm Vx handpaddle (RS232/115kbps), and serial links to the low-resolution absolute encoders on the azimuth and elevation axes. Each section of the board employs independent ground planes and power supplies, with optical isolation on all I/O channels. The processor is an Intel 80C196KC 16-bit microcontroller running at 20MHz on an 8-bit bus. This processor executes an interrupt-driven, scheduler-based software system written in C and assembled into an EPROM with user-accessible variables stored in NVSRAM. Under normal operation, velocity update requests arrive at 100Hz from the position-loop servo process running independently on the antenna computer. A variety of telescope safety checks are performed at 279Hz including routine servicing of a 6 millisecond watchdog timer. Additional ADCs onboard the microcontroller monitor the winding temperature and current in the brushless three-phase drive motors. The PID servo gains can be dynamically changed in software. Calibration factors and software filters can be applied to the tachometer readings prior to the application of the servo gains in the torque computations. The Palm pilot handpaddle displays the complete status of the telescope and allows full local control of the drives in an intuitive, touchscreen user interface which is especially useful during reconfigurations of the antenna array.

  8. A biologically inspired controller to solve the coverage problem in robotics.

    PubMed

    Rañó, Iñaki; Santos, José A

    2017-06-05

    The coverage problem consists on computing a path or trajectory for a robot to pass over all the points in some free area and has applications ranging from floor cleaning to demining. Coverage is solved as a planning problem-providing theoretical validation of the solution-or through heuristic techniques which rely on experimental validation. Through a combination of theoretical results and simulations, this paper presents a novel solution to the coverage problem that exploits the chaotic behaviour of a simple biologically inspired motion controller, the Braitenberg vehicle 2b. Although chaos has been used for coverage, our approach has much less restrictive assumptions about the environment and can be implemented using on-board sensors. First, we prove theoretically that this vehicle-a well known model of animal tropotaxis-behaves as a charge in an electro-magnetic field. The motion equations can be reduced to a Hamiltonian system, and, therefore the vehicle follows quasi-periodic or chaotic trajectories, which pass arbitrarily close to any point in the work-space, i.e. it solves the coverage problem. Secondly, through a set of extensive simulations, we show that the trajectories cover regions of bounded workspaces, and full coverage is achieved when the perceptual range of the vehicle is short. We compare the performance of this new approach with different types of random motion controllers in the same bounded environments.

  9. Feedback Linearization in a Six Degree-of-Freedom MAG-LEV Stage

    NASA Technical Reports Server (NTRS)

    Ludwick, Stephen J.; Trumper, David L.; Holmes, Michael L.

    1996-01-01

    A six degree-of-freedom electromagnetically suspended motion control stage (the Angstrom Stage) has been designed and constructed for use in short-travel, high-resolution motion control applications. It achieves better than 0.5 nm resolution over a 100 micron range of travel. The stage consists of a single moving element (the platen) floating in an oil filled chamber. The oil is crucial to the stage's operation since it forms squeeze film dampers between the platen and the frame. Twelve electromagnetic actuators provide the forces necessary to suspend and servo the platen, and six capacitance probes measure its position relative to the frame. The system is controlled using a digital signal processing board residing in a '486 based PC. This digital controller implements a feedback linearization algorithm in real-time to account for nonlinearities in both the magnetic actuators and the fluid film dampers. The feedback linearization technique reduces a highly nonlinear plant with coupling between the degrees of freedom into one that is linear, decoupled, and setpoint independent. The key to this procedure is a detailed plant model. The operation of the feedback linearization procedure is transparent to the outer loop of the controller, and so a proportional controller is sufficient for normal operation. We envision applications of this stage in scanned probe microscopy and for integrated circuit measurement.

  10. Loading, electromyograph, and motion during exercise

    NASA Technical Reports Server (NTRS)

    Figueroa, Fernando

    1993-01-01

    A system is being developed to gather kineto-dynamic data for a study to determine the load vectors applied to bone during exercise on equipment similar to that used in space. This information will quantify bone loading for exercise countermeasures development. Decreased muscle loading and external loading of bone during weightlessness results in cancellous bone loss of 1 percent per month in the lower extremities and 2 percent per month in the calcaneous. It is hypothesized that loading bone appropriately during exercise may prevent the bone loss. The system consists of an ergometer instrumented to provide position of the pedal (foot), pedaling forces on the foot (on the sagittal plane), and force on the seat. Accelerometers attached to the limbs will provide acceleration. These data will be used as input to an analytical model of the limb to determine forces on the bones and on groups of muscles. EMG signals from activity in the muscles will also be used in conjunction with the equations of mechanics of motion to be able to discern forces exerted by specific muscles. The tasks to be carried out include: design of various mechanical components to mount transducers, specification of mechanical components, specification of position transducers, development of a scheme to control the data acquisition instruments (TEAC recorder and optical encoder board), development of a dynamic model of the limbs in motion, and development of an overall scheme for data collection analysis and presentation. At the present time, all the hardware components of the system are operational, except for a computer board to gather position data from the pedals and crank. This board, however, may be put to use by anyone with background in computer based instrumentation. The software components are not all done. Software to transfer data recorded from the EMG measurements is operational, software to drive the optical encoder card is mostly done. The equations to model the kinematics and dynamics of motion of the limbs have been developed, but they have not yet been implemented in software. Aside from the development of the hardware and software components of the system, the methodology to use accelerometers and encoders and the formulation of the appropriate equations are an important contribution to the area of biomechanics, particularly in space applications.

  11. 49 CFR 1114.30 - Production of documents and records and entry upon land for inspection and other purposes.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... measuring, surveying, photographing, testing, or sampling the property or any designated object or operation... approval of the Board. The party seeking such approval must file an appropriate motion containing an... ensure the agreement is kept confidential. The motion seeking approval may be filed at any time after the...

  12. 49 CFR 1114.30 - Production of documents and records and entry upon land for inspection and other purposes.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... measuring, surveying, photographing, testing, or sampling the property or any designated object or operation... approval of the Board. The party seeking such approval must file an appropriate motion containing an... ensure the agreement is kept confidential. The motion seeking approval may be filed at any time after the...

  13. 49 CFR 1114.30 - Production of documents and records and entry upon land for inspection and other purposes.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... measuring, surveying, photographing, testing, or sampling the property or any designated object or operation... approval of the Board. The party seeking such approval must file an appropriate motion containing an... ensure the agreement is kept confidential. The motion seeking approval may be filed at any time after the...

  14. 49 CFR 1114.30 - Production of documents and records and entry upon land for inspection and other purposes.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... measuring, surveying, photographing, testing, or sampling the property or any designated object or operation... approval of the Board. The party seeking such approval must file an appropriate motion containing an... ensure the agreement is kept confidential. The motion seeking approval may be filed at any time after the...

  15. 33 CFR 210.5 - Rules of the Corps of Engineers Board of Contract Appeals for cases subject to the Contract...

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... evidence, admissions, stipulations, transcripts of conferences and hearings, hearing exhibits, post-hearing... pertinent factors. On request or motion by either party and for good cause, the Board may, in its discretion... therefor, during the hearing or at the conclusion thereof. (x) Rule 23, Post-hearing briefs. Post-hearing...

  16. 33 CFR 210.5 - Rules of the Corps of Engineers Board of Contract Appeals for cases subject to the Contract...

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... evidence, admissions, stipulations, transcripts of conferences and hearings, hearing exhibits, post-hearing... pertinent factors. On request or motion by either party and for good cause, the Board may, in its discretion... therefor, during the hearing or at the conclusion thereof. (x) Rule 23, Post-hearing briefs. Post-hearing...

  17. 33 CFR 210.5 - Rules of the Corps of Engineers Board of Contract Appeals for cases subject to the Contract...

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... evidence, admissions, stipulations, transcripts of conferences and hearings, hearing exhibits, post-hearing... pertinent factors. On request or motion by either party and for good cause, the Board may, in its discretion... therefor, during the hearing or at the conclusion thereof. (x) Rule 23, Post-hearing briefs. Post-hearing...

  18. 33 CFR 210.5 - Rules of the Corps of Engineers Board of Contract Appeals for cases subject to the Contract...

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... evidence, admissions, stipulations, transcripts of conferences and hearings, hearing exhibits, post-hearing... pertinent factors. On request or motion by either party and for good cause, the Board may, in its discretion... therefor, during the hearing or at the conclusion thereof. (x) Rule 23, Post-hearing briefs. Post-hearing...

  19. 33 CFR 210.5 - Rules of the Corps of Engineers Board of Contract Appeals for cases subject to the Contract...

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... evidence, admissions, stipulations, transcripts of conferences and hearings, hearing exhibits, post-hearing... pertinent factors. On request or motion by either party and for good cause, the Board may, in its discretion... therefor, during the hearing or at the conclusion thereof. (x) Rule 23, Post-hearing briefs. Post-hearing...

  20. Real-time implementation of electromyogram pattern recognition as a control command of man-machine interface.

    PubMed

    Chang, G C; Kang, W J; Luh, J J; Cheng, C K; Lai, J S; Chen, J J; Kuo, T S

    1996-10-01

    The purpose of this study was to develop a real-time electromyogram (EMG) discrimination system to provide control commands for man-machine interface applications. A host computer with a plug-in data acquisition and processing board containing a TMS320 C31 floating-point digital signal processor was used to attain real-time EMG classification. Two-channel EMG signals were collected by two pairs of surface electrodes located bilaterally between the sternocleidomastoid and the upper trapezius. Five motions of the neck and shoulders were discriminated for each subject. The zero-crossing rate was employed to detect the onset of muscle contraction. The cepstral coefficients, derived from autoregressive coefficients and estimated by a recursive least square algorithm, were used as the recognition features. These features were then discriminated using a modified maximum likelihood distance classifier. The total response time of this EMG discrimination system was achieved about within 0.17 s. Four able bodied and two C5/6 quadriplegic subjects took part in the experiment, and achieved 95% mean recognition rate in discrimination between the five specific motions. The response time and the reliability of recognition indicate that this system has the potential to discriminate body motions for man-machine interface applications.

  1. Innovative Interactive Lecture Demonstrations Using Wireless Force Sensors and Accelerometers for Introductory Physics Courses

    NASA Astrophysics Data System (ADS)

    Yoder, G.; Cook, J.

    2010-12-01

    Interactive lecture demonstrations1-6 (ILDs) are a powerful tool designed to help instructors bring state-of-the-art teaching pedagogies into the college-level introductory physics classroom. ILDs have been shown to improve students' conceptual understanding, and many examples have been created and published by Sokoloff and Thornton.6 We have used the new technology of Vernier's Wireless Dynamics Sensor System (WDSS)7 to develop three new ILDs for the first-semester introductory physics (calculus-based or algebra-based) classroom. These three are the Force Board, to demonstrate the vector nature of forces, addition of vectors, and the first condition of equilibrium; the Torque Board, to demonstrate torque and the second condition for equilibrium; and the Circular Motion Board, to discover the nature of the acceleration an object exhibiting uniform circular motion. With the WDSS, all three of these ILDs are easy to set up and use in any classroom or laboratory situation, and allow more instructors to utilize the technique of interactive lecture demonstrations.

  2. Dizziness and Motion Sickness

    MedlinePlus

    ... Humanitarian Efforts International Outreach Advocacy Board of Governors Industry Programs Professional Development Home AcademyU Home Study Course Maintenance of Certification Conferences & Events Practice Management Home Resources ...

  3. A motion-classification strategy based on sEMG-EEG signal combination for upper-limb amputees.

    PubMed

    Li, Xiangxin; Samuel, Oluwarotimi Williams; Zhang, Xu; Wang, Hui; Fang, Peng; Li, Guanglin

    2017-01-07

    Most of the modern motorized prostheses are controlled with the surface electromyography (sEMG) recorded on the residual muscles of amputated limbs. However, the residual muscles are usually limited, especially after above-elbow amputations, which would not provide enough sEMG for the control of prostheses with multiple degrees of freedom. Signal fusion is a possible approach to solve the problem of insufficient control commands, where some non-EMG signals are combined with sEMG signals to provide sufficient information for motion intension decoding. In this study, a motion-classification method that combines sEMG and electroencephalography (EEG) signals were proposed and investigated, in order to improve the control performance of upper-limb prostheses. Four transhumeral amputees without any form of neurological disease were recruited in the experiments. Five motion classes including hand-open, hand-close, wrist-pronation, wrist-supination, and no-movement were specified. During the motion performances, sEMG and EEG signals were simultaneously acquired from the skin surface and scalp of the amputees, respectively. The two types of signals were independently preprocessed and then combined as a parallel control input. Four time-domain features were extracted and fed into a classifier trained by the Linear Discriminant Analysis (LDA) algorithm for motion recognition. In addition, channel selections were performed by using the Sequential Forward Selection (SFS) algorithm to optimize the performance of the proposed method. The classification performance achieved by the fusion of sEMG and EEG signals was significantly better than that obtained by single signal source of either sEMG or EEG. An increment of more than 14% in classification accuracy was achieved when using a combination of 32-channel sEMG and 64-channel EEG. Furthermore, based on the SFS algorithm, two optimized electrode arrangements (10-channel sEMG + 10-channel EEG, 10-channel sEMG + 20-channel EEG) were obtained with classification accuracies of 84.2 and 87.0%, respectively, which were about 7.2 and 10% higher than the accuracy by using only 32-channel sEMG input. This study demonstrated the feasibility of fusing sEMG and EEG signals towards improving motion classification accuracy for above-elbow amputees, which might enhance the control performances of multifunctional myoelectric prostheses in clinical application. The study was approved by the ethics committee of Institutional Review Board of Shenzhen Institutes of Advanced Technology, and the reference number is SIAT-IRB-150515-H0077.

  4. Development of Arduino based wireless control system

    NASA Astrophysics Data System (ADS)

    Sun, Zhuoxiong; Dyke, Shirley J.; Pena, Francisco; Wilbee, Alana

    2015-03-01

    Over the past few decades, considerable attention has been given to structural control systems to mitigate structural vibration under natural hazards such as earthquakes and extreme weather conditions. Traditional wired structural control systems often employ a large amount of cables for communication among sensors, controllers and actuators. In such systems, implementation of wired sensors is usually quite complicated and expensive, especially on large scale structures such as bridges and buildings. To reduce the laborious installation and maintenance cost, wireless control systems (WCSs) are considered as a novel approach for structural vibration control. In this work, a WCS is developed based on the open source Arduino platform. Low cost, low power wireless sensing and communication components are built on the Arduino platform. Structural control algorithms are embedded within the wireless sensor board for feedback control. The developed WCS is first validated through a series of tests. Next, numerical simulations are performed simulating wireless control of a 3-story shear structure equipped with a semi-active control device (MR damper). Finally, experimental studies are carried out implementing the WCS on the 3-story shear structure in the Intelligent Infrastructure Systems Lab (IISL). A hydraulic shake table is used to generate seismic ground motions. The control performance is evaluated with the impact of modeling uncertainties, measurement noises as well as time delay and data loss induced by the wireless network. The developed WCS is shown to be effective in controlling structural vibrations under several historical earthquake ground motions.

  5. SU-E-J-246: A Deformation-Field Map Based Liver 4D CBCT Reconstruction Method Using Gold Nanoparticles as Constraints

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

    Harris, W; Zhang, Y; Ren, L

    2014-06-01

    Purpose: To investigate the feasibility of using nanoparticle markers to validate liver tumor motion together with a deformation field map-based four dimensional (4D) cone-beam computed tomography (CBCT) reconstruction method. Methods: A technique for lung 4D-CBCT reconstruction has been previously developed using a deformation field map (DFM)-based strategy. In this method, each phase of the 4D-CBCT is considered as a deformation of a prior CT volume. The DFM is solved by a motion modeling and free-form deformation (MM-FD) technique, using a data fidelity constraint and the deformation energy minimization. For liver imaging, there is low contrast of a liver tumor inmore » on-board projections. A validation of liver tumor motion using implanted gold nanoparticles, along with the MM-FD deformation technique is implemented to reconstruct onboard 4D CBCT liver radiotherapy images. These nanoparticles were placed around the liver tumor to reflect the tumor positions in both CT simulation and on-board image acquisition. When reconstructing each phase of the 4D-CBCT, the migrations of the gold nanoparticles act as a constraint to regularize the deformation field, along with the data fidelity and the energy minimization constraints. In this study, multiple tumor diameters and positions were simulated within the liver for on-board 4D-CBCT imaging. The on-board 4D-CBCT reconstructed by the proposed method was compared with the “ground truth” image. Results: The preliminary data, which uses reconstruction for lung radiotherapy suggests that the advanced reconstruction algorithm including the gold nanoparticle constraint will Resultin volume percentage differences (VPD) between lesions in reconstructed images by MM-FD and “ground truth” on-board images of 11.5% (± 9.4%) and a center of mass shift of 1.3 mm (± 1.3 mm) for liver radiotherapy. Conclusion: The advanced MM-FD technique enforcing the additional constraints from gold nanoparticles, results in improved accuracy for reconstructing on-board 4D-CBCT of liver tumor. Varian medical systems research grant.« less

  6. University of Maryland walking robot: A design project for undergraduate students

    NASA Technical Reports Server (NTRS)

    Olsen, Bob; Bielec, Jim; Hartsig, Dave; Oliva, Mani; Grotheer, Phil; Hekmat, Morad; Russell, David; Tavakoli, Hossein; Young, Gary; Nave, Tom

    1990-01-01

    The design and construction required that the walking robot machine be capable of completing a number of tasks including walking in a straight line, turning to change direction, and maneuvering over an obstable such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear-box and crank-arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating the machine about this support. The machine can be controlled by using either a user operated remote tether or the on-board computer for the execution of control commands. Absolute encoders are attached to all motors (leg, main drive, and Bigfoot) to provide the control computer with information regarding the status of the motors (up-down motion, forward or reverse rotation). Long and short range infrared sensors provide the computer with feedback information regarding the machine's relative position to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars.

  7. Development of hand exoskeleton for rehabilitation of post-stroke patient

    NASA Astrophysics Data System (ADS)

    Zaid, Amran Mohd; Chean, Tee Chu; Sukor, Jumadi Abdul; Hanafi, Dirman

    2017-10-01

    Degenerative muscle diseases characterized by loss of strength in human hand significantly affect the physical of affected individuals. A soft assistive exoskeleton glove is designed to help post-stroke patient with their rehabilitation process. The glove uses soft bending actuator which has a rubber like tender characteristic. Due to its rubber like characteristic, flexion of finger can be achieved easily through pneumatic air without considering other hand motions. The application involves a post-stroke patient to wear the soft exoskeleton glove on his paralyzed hand and control the actuation of the glove by using pneumatic air source. The fabrication of the soft bending actuator involves silicone rubber Mold Star® 15 SLOW which falls within the soft category of shore A hardness scale. The soft bending actuator is controlled by Arduino Mega 2560 as main controller board and relay module is used to trigger the 3/2-way single solenoid valve by switching on the 24VDC power supply. The actuation of the soft bending actuator can be manipulated by setting delay ON and OFF for the relay switching. Thus, the repetition of the bending motion can be customized to fulfil the rehabilitation needs of the patient.

  8. Design of relative trajectories for in orbit proximity operations

    NASA Astrophysics Data System (ADS)

    Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

    2018-04-01

    This paper presents an innovative approach to design relative trajectories suitable for close-proximity operations in orbit, by assigning high-level constraints regarding their stability, shape and orientation. Specifically, this work is relevant to space mission scenarios, e.g. formation flying, on-orbit servicing, and active debris removal, which involve either the presence of two spacecraft carrying out coordinated maneuvers, or a servicing/recovery spacecraft (chaser) performing monitoring, rendezvous and docking with respect to another space object (target). In the above-mentioned scenarios, an important aspect is the capability of reducing collision risks and of providing robust and accurate relative navigation solutions. To this aim, the proposed approach exploits a relative motion model relevant to two-satellite formations, and developed in mean orbit parameters, which takes the perturbation effect due to secular Earth oblateness, as well as the motion of the target along a small-eccentricity orbit, into account. This model is used to design trajectories which ensure safe relative motion, to minimize collision risks and relax control requirements, providing at the same time favorable conditions, in terms of target-chaser relative observation geometry for pose determination and relative navigation with passive or active electro-optical sensors on board the chaser. Specifically, three design strategies are proposed in the context of a space target monitoring scenario, considering as design cases both operational spacecraft and debris, characterized by highly variable shape, size and absolute rotational dynamics. The effectiveness of the proposed design approach in providing favorable observation conditions for target-chaser relative pose estimation is demonstrated within a simulation environment which reproduces the designed target-chaser relative trajectory, the operation of an active LIDAR installed on board the chaser, and pose estimation algorithms.

  9. Contrast-enhanced MR angiography of the chest and abdomen with use of controlled apnea in children.

    PubMed

    Saleh, Roya S; Patel, Swati; Lee, Margaret H; Boechat, M Ines; Ratib, Osman; Saraiva, Carla R; Finn, J Paul

    2007-06-01

    To retrospectively determine if controlled apnea improves the image quality of contrast material--enhanced magnetic resonance (MR) angiography of the chest and abdomen in children. Institutional review board approval and waiver of informed consent were obtained for this HIPAA-compliant study. The authors evaluated contrast-enhanced MR angiographic procedures performed in the chest, abdomen, or both, in 23 children (14 boys, nine girls; age range, 1 month to 8 years) who were under general anesthesia. All patients underwent mechanical ventilation with preoxygenation (100% oxygen) prior to controlled apnea during image acquisition. In control subjects, the authors assessed contrast-enhanced MR angiographic procedures performed in the chest, abdomen, or both, in 23 children (matched for age and type of study with children in the controlled apnea group; 11 boys, 12 girls; age range, 1 month to 8 years) who were under general anesthesia (n=15) or deep sedation (n=8) and were breathing spontaneously during image acquisition. MR angiograms of the chest, abdomen, or both, were assessed for image quality, motion artifacts, and vessel definition by two radiologists working in consensus with a subjective grading scale. Wilcoxon signed rank test was used to assess differences in measurements. Image quality was rated excellent in 97% (30 of 31) of studies with controlled apnea and in 30% (nine of 31) of control studies (P<.001). Motion artifacts were absent in 97% (30 of 31) of studies with controlled apnea and 13% (four of 31) of control studies (P<.001). Vessel sharpness was rated as being significantly better on images obtained with controlled apnea (P<.05). There were no complications caused by anesthesia or sedation in either group. Controlled apnea is highly effective in children for eliminating respiratory motion artifacts with contrast-enhanced MR angiographic studies, resulting in greatly improved image quality and spatial resolution. (c) RSNA, 2007.

  10. 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).

  11. An Arduino Investigation of Simple Harmonic Motion

    NASA Astrophysics Data System (ADS)

    Galeriu, Calin; Edwards, Scott; Esper, Geoffrey

    2014-03-01

    We cannot hope for a new generation of scientists and engineers if we don't let our young students take ownership of their scientific and engineering explorations, if we don't let them enjoy the hands-on cycle of design and production, and if we don't let them implant their creativity into a technologically friendly environment. With this educational philosophy in mind, Massimo Banzi and his team have developed and popularized the open source Arduino microcontroller board. The Arduino board has helped countless people in their science, electronics, robotics, or engineering projects, allowing them to build things that we have not even dreamed of. Physics instructors have also realized the advantages of using Arduino boards for lab experiments. The schools are saving money because the homemade experimental equipment is much cheaper than the commercial alternatives. The students are thankful for an educational experience that is more interesting, more loaded with STEM content, and more fun. As further proof of this new trend in physics education, Vernier5 is now documenting the use of their probes with Arduino boards. This is why we have developed an Arduino-based physics investigation of the simple harmonic motion (SHM) of a mass on a spring. The experimental data are collected with the help of an ultrasonic distance sensor and an Arduino Uno board. The data are then graphed and analyzed using Origin 9. This rich cross-curricular STEM activity integrates electronics, computer programming, physics, and mathematics in a way that is both experimentally exciting and intellectually rewarding.

  12. HETDEX tracker control system design and implementation

    NASA Astrophysics Data System (ADS)

    Beno, Joseph H.; Hayes, Richard; Leck, Ron; Penney, Charles; Soukup, Ian

    2012-09-01

    To enable the Hobby-Eberly Telescope Dark Energy Experiment, The University of Texas at Austin Center for Electromechanics and McDonald Observatory developed a precision tracker and control system - an 18,000 kg robot to position a 3,100 kg payload within 10 microns of a desired dynamic track. Performance requirements to meet science needs and safety requirements that emerged from detailed Failure Modes and Effects Analysis resulted in a system of 13 precision controlled actuators and 100 additional analog and digital devices (primarily sensors and safety limit switches). Due to this complexity, demanding accuracy requirements, and stringent safety requirements, two independent control systems were developed. First, a versatile and easily configurable centralized control system that links with modeling and simulation tools during the hardware and software design process was deemed essential for normal operation including motion control. A second, parallel, control system, the Hardware Fault Controller (HFC) provides independent monitoring and fault control through a dedicated microcontroller to force a safe, controlled shutdown of the entire system in the event a fault is detected. Motion controls were developed in a Matlab-Simulink simulation environment, and coupled with dSPACE controller hardware. The dSPACE real-time operating system collects sensor information; motor commands are transmitted over a PROFIBUS network to servo amplifiers and drive motor status is received over the same network. To interface the dSPACE controller directly to absolute Heidenhain sensors with EnDat 2.2 protocol, a custom communication board was developed. This paper covers details of operational control software, the HFC, algorithms, tuning, debugging, testing, and lessons learned.

  13. Get a Kick Out of Physics.

    ERIC Educational Resources Information Center

    Hildreth, David P.; Matthews, Catherine E.

    1997-01-01

    Describes a number of demonstrations for physics that employ techniques of the martial arts to illustrate Newton's second law of motion. Demonstrations focus on the breaking of wooden boards using weights. (DDR)

  14. Model-based Robotic Dynamic Motion Control for the Robonaut 2 Humanoid Robot

    NASA Technical Reports Server (NTRS)

    Badger, Julia M.; Hulse, Aaron M.; Taylor, Ross C.; Curtis, Andrew W.; Gooding, Dustin R.; Thackston, Allison

    2013-01-01

    Robonaut 2 (R2), an upper-body dexterous humanoid robot, has been undergoing experimental trials on board the International Space Station (ISS) for more than a year. R2 will soon be upgraded with two climbing appendages, or legs, as well as a new integrated model-based control system. This control system satisfies two important requirements; first, that the robot can allow humans to enter its workspace during operation and second, that the robot can move its large inertia with enough precision to attach to handrails and seat track while climbing around the ISS. This is achieved by a novel control architecture that features an embedded impedance control law on the motor drivers called Multi-Loop control which is tightly interfaced with a kinematic and dynamic coordinated control system nicknamed RoboDyn that resides on centralized processors. This paper presents the integrated control algorithm as well as several test results that illustrate R2's safety features and performance.

  15. A natural-language interface to a mobile robot

    NASA Technical Reports Server (NTRS)

    Michalowski, S.; Crangle, C.; Liang, L.

    1987-01-01

    The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

  16. Navigation of the autonomous vehicle reverse movement

    NASA Astrophysics Data System (ADS)

    Rachkov, M.; Petukhov, S.

    2018-02-01

    The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of а communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.

  17. Thai primary students' understanding of nature of science (NOS) in learning about force and motion for explicit NOS through STS approach

    NASA Astrophysics Data System (ADS)

    Jimakorn, Narakorn; Yuenyong, Chokchai

    2018-01-01

    This paper aimed to study of primary school students' understanding of nature of science in learning about force and motion for Explicit Nature of Science through science technology and society (STS) approach. Participants were 11 Grade 5 students who study in Baan Khongtaphet, Bothong, Chonburi, Thailand. This research regarded interpretive paradigm. The intervention of STS physics provided 4 weeks of teaching about force and motion through Yuenyong (2006) science technology and society (STS) approach. The issues of making skate board was brought into the class in order to enhance students learning about force and motion and applying knowledge for designing skate board. The intervention was also designed to allow students explicitly mentioning their ideas about nature of science related to learning activities of STS force and motion. Students' understanding of nature of science was interpreted through students' worksheets, participant observation, students' journal writing and informal interview. The findings revealed that majority of students could reflect their ideas related to many aspects of nature of science. This included Science demands and relies on empirical evidence; knowledge production in science shares many common factors and shared habits of mind, norms, logical thinking and methods; tentative of scientific knowledge; historical, cultural and social influences on science; historical, cultural and social influences on science; science and its methods cannot answer all questions. The study has implications for NOS teaching in Thailand primary school.

  18. 7 CFR 7.27 - Political activity.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... members of school boards, soil conservation district boards, weed control district boards, or of similar..., irrigation district boards, drainage district boards, weed control district boards, or for similar boards are...

  19. 7 CFR 7.27 - Political activity.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... members of school boards, soil conservation district boards, weed control district boards, or of similar..., irrigation district boards, drainage district boards, weed control district boards, or for similar boards are...

  20. Fighter Aircraft OBIGGS (On-Board Inert Gas Generator System) Study. Volume 2

    DTIC Science & Technology

    1987-06-01

    UNCLASSIFIED.UNLIMITED L SAME AS RPT. 0 OTIC USERS 0 UNCLASSIFIED 22m. NAME Or RESPONSIBLE INOIVIOUAL 22b TELEPHONE NUJN lER 22c OFFICE SYMBOL IflncI.de A C...Pressure Air System 53 3.2.1.6.11.3 Fuel Tank Vent System 54 3.2.1.6.11.4 Fuel Scrubbing System 54 3.2.1.6.12 Control/ Interface Processor 55 3.2.1.6.12.1...Flowmeters 60, 3.2.1.6.13.6 Motion Transducer 61 3.2.1.7 Interface Requirements 61 3.2.1.7.1 External Interfaces 61 3.2.1.7.1.1 External Systems

  1. SU-G-JeP3-04: Estimating 4D CBCT from Prior Information and Extremely Limited Angle Projections Using Structural PCA and Weighted Free-Form Deformation

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

    Harris, W; Yin, F; Zhang, Y

    Purpose: To investigate the feasibility of using structure-based principal component analysis (PCA) motion-modeling and weighted free-form deformation to estimate on-board 4D-CBCT using prior information and extremely limited angle projections for potential 4D target verification of lung radiotherapy. Methods: A technique for lung 4D-CBCT reconstruction has been previously developed using a deformation field map (DFM)-based strategy. In the previous method, each phase of the 4D-CBCT was generated by deforming a prior CT volume. The DFM was solved by a motion-model extracted by global PCA and a free-form deformation (GMM-FD) technique, using data fidelity constraint and the deformation energy minimization. In thismore » study, a new structural-PCA method was developed to build a structural motion-model (SMM) by accounting for potential relative motion pattern changes between different anatomical structures from simulation to treatment. The motion model extracted from planning 4DCT was divided into two structures: tumor and body excluding tumor, and the parameters of both structures were optimized together. Weighted free-form deformation (WFD) was employed afterwards to introduce flexibility in adjusting the weightings of different structures in the data fidelity constraint based on clinical interests. XCAT (computerized patient model) simulation with a 30 mm diameter lesion was simulated with various anatomical and respirational changes from planning 4D-CT to onboard volume. The estimation accuracy was evaluated by the Volume-Percent-Difference (VPD)/Center-of-Mass-Shift (COMS) between lesions in the estimated and “ground-truth” on board 4D-CBCT. Results: Among 6 different XCAT scenarios corresponding to respirational and anatomical changes from planning CT to on-board using single 30° on-board projections, the VPD/COMS for SMM-WFD was reduced to 10.64±3.04%/1.20±0.45mm from 21.72±9.24%/1.80±0.53mm for GMM-FD. Using 15° orthogonal projections, the VPD/COMS was further reduced to 1.91±0.86%/0.31±0.42mm based on SMM-WFD. Conclusion: Compared to GMM-FD technique, the SMM-WFD technique can substantially improve the 4D-CBCT estimation accuracy using extremely small scan angles to provide ultra-fast 4D verification. This work was supported by the National Institutes of Health under Grant No. R01-CA184173 and a research grant from Varian Medical Systems.« less

  2. Passive range estimation for rotorcraft low-altitude flight

    NASA Technical Reports Server (NTRS)

    Sridhar, B.; Suorsa, R.; Hussien, B.

    1991-01-01

    The automation of rotorcraft low-altitude flight presents challenging problems in control, computer vision and image understanding. A critical element in this problem is the ability to detect and locate obstacles, using on-board sensors, and modify the nominal trajectory. This requirement is also necessary for the safe landing of an autonomous lander on Mars. This paper examines some of the issues in the location of objects using a sequence of images from a passive sensor, and describes a Kalman filter approach to estimate the range to obstacles. The Kalman filter is also used to track features in the images leading to a significant reduction of search effort in the feature extraction step of the algorithm. The method can compute range for both straight line and curvilinear motion of the sensor. A laboratory experiment was designed to acquire a sequence of images along with sensor motion parameters under conditions similar to helicopter flight. Range estimation results using this imagery are presented.

  3. ARBRES: Light-Weight CW/FM SAR Sensors for Small UAVs

    PubMed Central

    Aguasca, Albert; Acevo-Herrera, Rene; Broquetas, Antoni; Mallorqui, Jordi J.; Fabregas, Xavier

    2013-01-01

    This paper describes a pair of compact CW/FM airborne SAR systems for small UAV-based operation (wingspan of 3.5 m) for low-cost testing of innovative SAR concepts. Two different SAR instruments, using the C and X bands, have been developed in the context of the ARBRES project, each of them achieving a payload weight below 5 Kg and a volume of 13.5 dm3 (sensor and controller). Every system has a dual receiving channel which allows operation in interferometric or polarimetric modes. Planar printed array antennas are used in both sensors for easy system integration and better isolation between transmitter and receiver subsystems. First experimental tests on board a 3.2 m wingspan commercial radio-controlled aircraft are presented. The SAR images of a field close to an urban area have been focused using a back-projection algorithm. Using the dual channel capability, a single pass interferogram and Digital Elevation Model (DEM) has been obtained which agrees with the scene topography. A simple Motion Compensation (MoCo) module, based on the information from an Inertial+GPS unit, has been included to compensate platform motion errors with respect to the nominal straight trajectory. PMID:23467032

  4. Standards for efficient employment of wide-area motion imagery (WAMI) sensors

    NASA Astrophysics Data System (ADS)

    Randall, L. Scott; Maenner, Paul F.

    2013-05-01

    Airborne Wide Area Motion Imagery (WAMI) sensors provide the opportunity for continuous high-resolution surveillance of geographic areas covering tens of square kilometers. This is both a blessing and a curse. Data volumes from "gigapixel-class" WAMI sensors are orders of magnitude greater than for traditional "megapixel-class" video sensors. The amount of data greatly exceeds the capacities of downlinks to ground stations, and even if this were not true, the geographic coverage is too large for effective human monitoring. Although collected motion imagery is recorded on the platform, typically only small "windows" of the full field of view are transmitted to the ground; the full set of collected data can be retrieved from the recording device only after the mission has concluded. Thus, the WAMI environment presents several difficulties: (1) data is too massive for downlink; (2) human operator selection and control of the video windows may not be effective; (3) post-mission storage and dissemination may be limited by inefficient file formats; and (4) unique system implementation characteristics may thwart exploitation by available analysis tools. To address these issues, the National Geospatial-Intelligence Agency's Motion Imagery Standards Board (MISB) is developing relevant standard data exchange formats: (1) moving target indicator (MTI) and tracking metadata to support tipping and cueing of WAMI windows using "watch boxes" and "trip wires"; (2) control channel commands for positioning the windows within the full WAMI field of view; and (3) a full-field-of-view spatiotemporal tiled file format for efficient storage, retrieval, and dissemination. The authors previously provided an overview of this suite of standards. This paper describes the latest progress, with specific concentration on a detailed description of the spatiotemporal tiled file format.

  5. Numerical estimates of secular effects in the translational-rotational motion of an orbital station with 'Martian' gravity on board

    NASA Astrophysics Data System (ADS)

    Koenov, D. Z.

    Attention is given to an orbital station consisting of two identical cylindrical spacecraft with symmetrical wings (solar arrays); connected by a long tether, the two craft rotate about an axis that passes through their common center of mass. It is assumed that a Martian type of gravity has been created on board. Numerical estimates show that, in the course of a single mean solar day, the station performs more than 15.5 revolutions around the earth.

  6. Effects of input device and motion type on a cursor-positioning task.

    PubMed

    Yau, Yi-Jan; Hwang, Sheue-Ling; Chao, Chin-Jung

    2008-02-01

    Many studies have investigated the performance of using nonkey-board input devices under static situations, but few have considered the effects of motion type on manipulating these input devices. In this study comparison of 12 mens' performance using four input devices (three trackballs: currently used, trackman wheel, and erectly held trackballs, as well as a touch screen) under five motion types of static, heave, roll, pitch, and random movements was conducted. The input device and motion type significantly affected movement speed and accuracy, and their interaction significantly affected the movement speed. The touch screen was the fastest but the least accurate input device. The erectly held trackball was the slowest, whereas the error rate of the currently used trackball was the lowest. Impairments of the random motion on movement time and error rate were larger than those of other motion types. Considering objective and subjective evaluations, the trackman wheel and currently used trackball were more efficient in operation than the erectly held trackball and touch screen under the motion environments.

  7. Sensorimotor Assessment and Rehabilitative Apparatus

    DTIC Science & Technology

    2017-10-01

    vestibulo-ocular assessment without measuring eye movements per se. VON uses a head-mounted motion sensor, laptop computer with user...powered laptop computer with extensive processing algorithms. Frequent occlusion of the pupil by 2 eurosc t a o t t T t m I L f t o e n o a s h e t t s...The apparatus consists of a laptop computer , mirror galvanometer, back-projected laser target, data acquisition board, rate sensor, and motion-gain

  8. Which shoulder motions cause subacromial impingement? Evaluating the vertical displacement and peak strain of the coracoacromial ligament by ultrasound speckle tracking imaging.

    PubMed

    Park, In; Lee, Hyo-Jin; Kim, Sung-Eun; Bae, Sung-Ho; Byun, Chu-Hwan; Kim, Yang-Soo

    2015-11-01

    Subacromial impingement is a common cause of shoulder pain and one cause of rotator cuff disease. We aimed to identify which shoulder motions cause subacromial impingement by measuring the vertical displacement and peak strain of the coracoacromial ligament using ultrasound speckle tracking imaging. Sixteen shoulders without shoulder disability were enrolled. All subjects were men, and the average age was 28.6 years. The vertical displacement and peak strain of the coracoacromial ligament were analyzed by the motion tracing program during the following active assisted motions (active motion controlled by the examiner): (1) forward flexion in the scapular plane, (2) horizontal abduction in the axial plane, (3) external rotation with the arm at 0° abduction (ER0), (4) internal rotation with the arm at 0° abduction (IR0), (5) internal rotation with the arm at 90° abduction (IR90), and (6) internal rotation at the back (IRB). The mean vertical displacement of the coracoacromial ligament during forward flexion (2.2 mm), horizontal abduction (2.2 mm), and IR90 (2.4 mm) was significantly greater than that during the other motions (ER0, -0.7 mm; IR0, 0.5 mm; IRB, 1.0 mm; P < .003). The mean peak strain was significantly higher in forward flexion (6.88%), horizontal abduction (6.58%), and IR90 (4.88%) than with the other motions (ER0, 1.42%; IR0, 1.78%; IRB, 2.61%; P < .003). Forward flexion, horizontal abduction, and IR90 showed higher vertical displacement and peak strain of the coracoacromial ligament, causing subacromial impingement. It is recommended that patients with impingement syndrome or a repaired rotator cuff avoid these shoulder motions. Copyright © 2015 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

  9. Rocking or Rolling – Perception of Ambiguous Motion after Returning from Space

    PubMed Central

    Clément, Gilles; Wood, Scott J.

    2014-01-01

    The central nervous system must resolve the ambiguity of inertial motion sensory cues in order to derive an accurate representation of spatial orientation. Adaptive changes during spaceflight in how the brain integrates vestibular cues with other sensory information can lead to impaired movement coordination, vertigo, spatial disorientation, and perceptual illusions after return to Earth. The purpose of this study was to compare tilt and translation motion perception in astronauts before and after returning from spaceflight. We hypothesized that these stimuli would be the most ambiguous in the low-frequency range (i.e., at about 0.3 Hz) where the linear acceleration can be interpreted either as a translation or as a tilt relative to gravity. Verbal reports were obtained in eleven astronauts tested using a motion-based tilt-translation device and a variable radius centrifuge before and after flying for two weeks on board the Space Shuttle. Consistent with previous studies, roll tilt perception was overestimated shortly after spaceflight and then recovered with 1–2 days. During dynamic linear acceleration (0.15–0.6 Hz, ±1.7 m/s2) perception of translation was also overestimated immediately after flight. Recovery to baseline was observed after 2 days for lateral translation and 8 days for fore–aft translation. These results suggest that there was a shift in the frequency dynamic of tilt-translation motion perception after adaptation to weightlessness. These results have implications for manual control during landing of a space vehicle after exposure to microgravity, as it will be the case for human asteroid and Mars missions. PMID:25354042

  10. Rocking or rolling--perception of ambiguous motion after returning from space.

    PubMed

    Clément, Gilles; Wood, Scott J

    2014-01-01

    The central nervous system must resolve the ambiguity of inertial motion sensory cues in order to derive an accurate representation of spatial orientation. Adaptive changes during spaceflight in how the brain integrates vestibular cues with other sensory information can lead to impaired movement coordination, vertigo, spatial disorientation, and perceptual illusions after return to Earth. The purpose of this study was to compare tilt and translation motion perception in astronauts before and after returning from spaceflight. We hypothesized that these stimuli would be the most ambiguous in the low-frequency range (i.e., at about 0.3 Hz) where the linear acceleration can be interpreted either as a translation or as a tilt relative to gravity. Verbal reports were obtained in eleven astronauts tested using a motion-based tilt-translation device and a variable radius centrifuge before and after flying for two weeks on board the Space Shuttle. Consistent with previous studies, roll tilt perception was overestimated shortly after spaceflight and then recovered with 1-2 days. During dynamic linear acceleration (0.15-0.6 Hz, ±1.7 m/s2) perception of translation was also overestimated immediately after flight. Recovery to baseline was observed after 2 days for lateral translation and 8 days for fore-aft translation. These results suggest that there was a shift in the frequency dynamic of tilt-translation motion perception after adaptation to weightlessness. These results have implications for manual control during landing of a space vehicle after exposure to microgravity, as it will be the case for human asteroid and Mars missions.

  11. Tracking and Counting Motion for Monitoring Food Intake Based-On Depth Sensor and UDOO Board: A Comprehensive Review

    NASA Astrophysics Data System (ADS)

    Kassim, Muhammad Fuad bin; Norzali Haji Mohd, Mohd

    2017-08-01

    Technology is all about helping people, which created a new opportunity to take serious action in managing their health care. Moreover, Obesity continues to be a serious public health concern in the Malaysia and continuing to rise. Obesity has been a serious health concern among people. Nearly half of Malaysian people overweight. Most of dietary approach is not tracking and detecting the right calorie intake for weight loss, but currently used tools such as food diaries require users to manually record and track the food calories, making them difficult for daily use. We will be developing a new tool that counts the food intake bite by monitoring hand gesture and face jaw motion movement of caloric intake. The Bite count method showed a good significant that can lead to a successful weight loss by simply monitoring the bite taken during eating. The device used was Kinect Xbox One which used a depth camera to detect the motion on person hand and face during food intake. Previous studies showed that most of the method used to count bite device is worn type. The recent trend is now going towards non-wearable devices due to the difficulty when wearing devices and it has high false alarm ratio. The proposed system gets data from the Kinect that will be monitoring the hand and face gesture of the user while eating. Then, the gesture of hand and face data is sent to the microcontroller board to recognize and start counting bite taken by the user. The system recognizes the patterns of bite taken from user by following the algorithm of basic eating type either using hand or chopstick. This system can help people who are trying to follow a proper way to reduce overweight or eating disorders by monitoring their meal intake and controlling eating rate.

  12. Perspectives on MEMS in bioengineering: a novel capacitive position microsensor.

    PubMed

    Pedrocchi, A; Hoen, S; Ferrigno, G; Pedotti, A

    2000-01-01

    We describe a novel capacitive position sensor using micromachining to achieve high sensitivity and large range of motion. These sensors require a new theoretical framework to describe and optimize their performance. Employing a complete description of the electrical fields, the sensor should deviate from the standard geometries used for capacitive sensors. By this optimization, the sensor gains a twofold increase in sensitivity. Results on a PC board 10x model imply that the micromachined sensor should achieve a sensitivity of less than 10 nm over 500-micron range of travel. Some bioengineering applications are addressed, including positioning of micromirrors for laser surgery and dose control for implantable drug delivery systems.

  13. Design and development aspects of flexure mechanism for high precision application

    NASA Astrophysics Data System (ADS)

    Sollapur, Shrishail B.; Patil, M. S.; Deshmukh, S. P.

    2018-04-01

    Planer XY Flexurel Mechanisms has various applications in precision motion mechanisms. A flexural mechanism generates relative motion between fixed support and motion stage using flexibility of material. This mechanism offers zero backlash, frictionless motion and high order repeatability. It is relatively compact in design as compared to rigid link mechanism. The merits of using flexure is complete mechanism can be from single monolith. Modelling of flexural mechanism to provide accurate scanning of comparatively larger range at a higher speed. Static Analysis of mechanism is carried out on FEA tool to determine static deflection of motion stage. Further Mechanism is actuated with the help of weight pan and weights. The resultant displacement is measured on Dial Gauge Indicator. Experimental set-up consists of Flexural mechanism, Dial Gauge, Weight Pan and Weights, Pulley, String, Small metal strip, Optical Bread Board etc. Further experimental Results and Analytical Results are compared and minimum deviation is found.

  14. Idea Project Final Report, Laser Vehicle Detector-Classifier

    DOT National Transportation Integrated Search

    1995-11-28

    WEIGH-IN-MOTION OR WIM, COMMERCIAL VEHICLE OPERATIONS OR CVO : THIS INVESTIGATION WAS COMPLETED AS PART OF THE ITS-IDEA PROGRAM, WHICH IS ONE OF THREE IDEA PROGRAMS MANAGED BY THE TRANSPORTATION RESEARCH BOARD (TRB) TO FOSTER INNOVATIONS IN SURFAC...

  15. A locomotion mechanism with external magnetic guidance for active capsule endoscope.

    PubMed

    Wang, Xiaona; Meng, Max Q H; Chen, Xijun

    2010-01-01

    Gastrointestinal (GI) disorder is one of the most common diseases in human body. The swallowable wireless capsule endoscopy has been proved to be a convenient, painless and effective way to examine the whole GI tract. However, lack of motion control makes the movement of the capsule substantially random, resulting in missing diagnosis. In this paper, a locomotion mechanism is developed for the next-generation active capsule endoscope. An internal actuator integrated on-board the capsule is designed to provide driving force and improve the dexterity. A small permanent magnet enclosed inside the capsule interacts with an external magnetic field to control the capsule's orientation and offer extra driving force. This mechanism avoids sophisticated and bulky control system and reduces power consumption inside the capsule. Ex-vivo experimental results showed that it can make a controllable movement inside the porcine large intestine. The mechanism also has the potential to be a platform for further development, such as devices of operations, spraying medicine, biopsy etc.

  16. 40 CFR 62.7856 - Albuquerque/Bernalillo County Air Quality Control Board.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... Albuquerque/Bernalillo County Air Quality Control Board. (a) Identification of Plan. Albuquerque-Bernalillo... County Air Quality Control Board on November 9, 2005. (b) Identification of Sources. The plan applies to... County Air Quality Control Board that commenced construction prior to May 30, 1991, and have not been...

  17. Software-codec-based full motion video conferencing on the PC using visual pattern image sequence coding

    NASA Astrophysics Data System (ADS)

    Barnett, Barry S.; Bovik, Alan C.

    1995-04-01

    This paper presents a real time full motion video conferencing system based on the Visual Pattern Image Sequence Coding (VPISC) software codec. The prototype system hardware is comprised of two personal computers, two camcorders, two frame grabbers, and an ethernet connection. The prototype system software has a simple structure. It runs under the Disk Operating System, and includes a user interface, a video I/O interface, an event driven network interface, and a free running or frame synchronous video codec that also acts as the controller for the video and network interfaces. Two video coders have been tested in this system. Simple implementations of Visual Pattern Image Coding and VPISC have both proven to support full motion video conferencing with good visual quality. Future work will concentrate on expanding this prototype to support the motion compensated version of VPISC, as well as encompassing point-to-point modem I/O and multiple network protocols. The application will be ported to multiple hardware platforms and operating systems. The motivation for developing this prototype system is to demonstrate the practicality of software based real time video codecs. Furthermore, software video codecs are not only cheaper, but are more flexible system solutions because they enable different computer platforms to exchange encoded video information without requiring on-board protocol compatible video codex hardware. Software based solutions enable true low cost video conferencing that fits the `open systems' model of interoperability that is so important for building portable hardware and software applications.

  18. Simulation studies using multibody dynamics code DART

    NASA Technical Reports Server (NTRS)

    Keat, James E.

    1989-01-01

    DART is a multibody dynamics code developed by Photon Research Associates for the Air Force Astronautics Laboratory (AFAL). The code is intended primarily to simulate the dynamics of large space structures, particularly during the deployment phase of their missions. DART integrates nonlinear equations of motion numerically. The number of bodies in the system being simulated is arbitrary. The bodies' interconnection joints can have an arbitrary number of degrees of freedom between 0 and 6. Motions across the joints can be large. Provision for simulating on-board control systems is provided. Conservation of energy and momentum, when applicable, are used to evaluate DART's performance. After a brief description of DART, studies made to test the program prior to its delivery to AFAL are described. The first is a large angle reorientating of a flexible spacecraft consisting of a rigid central hub and four flexible booms. Reorientation was accomplished by a single-cycle sine wave shape torque input. In the second study, an appendage, mounted on a spacecraft, was slewed through a large angle. Four closed-loop control systems provided control of this appendage and of the spacecraft's attitude. The third study simulated the deployment of the rim of a bicycle wheel configuration large space structure. This system contained 18 bodies. An interesting and unexpected feature of the dynamics was a pulsing phenomena experienced by the stays whole playout was used to control the deployment. A short description of the current status of DART is given.

  19. 40 CFR 164.111 - Procedure for disposition of motions.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    .... 164.111 Section 164.111 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED... RODENTICIDE ACT, ARISING FROM REFUSALS TO REGISTER, CANCELLATIONS OF REGISTRATIONS, CHANGES OF CLASSIFICATIONS... thereafter, the Environmental Appeals Board shall announce its decision whether to grant or to deny the...

  20. 40 CFR 164.111 - Procedure for disposition of motions.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    .... 164.111 Section 164.111 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED... RODENTICIDE ACT, ARISING FROM REFUSALS TO REGISTER, CANCELLATIONS OF REGISTRATIONS, CHANGES OF CLASSIFICATIONS... thereafter, the Environmental Appeals Board shall announce its decision whether to grant or to deny the...

  1. Nonlinear dynamics of a support-excited flexible rotor with hydrodynamic journal bearings

    NASA Astrophysics Data System (ADS)

    Dakel, Mzaki; Baguet, Sébastien; Dufour, Régis

    2014-05-01

    The major purpose of this study is to predict the dynamic behavior of an on-board rotor mounted on hydrodynamic journal bearings in the presence of rigid support movements, the target application being turbochargers of vehicles or rotating machines subject to seismic excitation. The proposed on-board rotor model is based on Timoshenko beam finite elements. The dynamic modeling takes into account the geometric asymmetry of shaft and/or rigid disk as well as the six deterministic translations and rotations of the rotor rigid support. Depending on the type of analysis used for the bearing, the fluid film forces computed with the Reynolds equation are linear/nonlinear. Thus the application of Lagrange's equations yields the linear/nonlinear equations of motion of the rotating rotor in bending with respect to the moving rigid support which represents a non-inertial frame of reference. These equations are solved using the implicit Newmark time-step integration scheme. Due to the geometric asymmetry of the rotor and to the rotational motions of the support, the equations of motion include time-varying parametric terms which can lead to lateral dynamic instability. The influence of sinusoidal rotational or translational motions of the support, the accuracy of the linear 8-coefficient bearing model and the interest of the nonlinear model for a hydrodynamic journal bearing are examined and discussed by means of stability charts, orbits of the rotor, time history responses, fast Fourier transforms, bifurcation diagrams as well as Poincaré maps.

  2. Judging complex movement performances for excellence: a principal components analysis-based technique applied to competitive diving.

    PubMed

    Young, Cole; Reinkensmeyer, David J

    2014-08-01

    Athletes rely on subjective assessment of complex movements from coaches and judges to improve their motor skills. In some sports, such as diving, snowboard half pipe, gymnastics, and figure skating, subjective scoring forms the basis for competition. It is currently unclear whether this scoring process can be mathematically modeled; doing so could provide insight into what motor skill is. Principal components analysis has been proposed as a motion analysis method for identifying fundamental units of coordination. We used PCA to analyze movement quality of dives taken from USA Diving's 2009 World Team Selection Camp, first identifying eigenpostures associated with dives, and then using the eigenpostures and their temporal weighting coefficients, as well as elements commonly assumed to affect scoring - gross body path, splash area, and board tip motion - to identify eigendives. Within this eigendive space we predicted actual judges' scores using linear regression. This technique rated dives with accuracy comparable to the human judges. The temporal weighting of the eigenpostures, body center path, splash area, and board tip motion affected the score, but not the eigenpostures themselves. These results illustrate that (1) subjective scoring in a competitive diving event can be mathematically modeled; (2) the elements commonly assumed to affect dive scoring actually do affect scoring (3) skill in elite diving is more associated with the gross body path and the effect of the movement on the board and water than the units of coordination that PCA extracts, which might reflect the high level of technique these divers had achieved. We also illustrate how eigendives can be used to produce dive animations that an observer can distort continuously from poor to excellent, which is a novel approach to performance visualization. Copyright © 2014 Elsevier B.V. All rights reserved.

  3. Multivariable control theory applied to hierarchial attitude control for planetary spacecraft

    NASA Technical Reports Server (NTRS)

    Boland, J. S., III; Russell, D. W.

    1972-01-01

    Multivariable control theory is applied to the design of a hierarchial attitude control system for the CARD space vehicle. The system selected uses reaction control jets (RCJ) and control moment gyros (CMG). The RCJ system uses linear signal mixing and a no-fire region similar to that used on the Skylab program; the y-axis and z-axis systems which are coupled use a sum and difference feedback scheme. The CMG system uses the optimum steering law and the same feedback signals as the RCJ system. When both systems are active the design is such that the torques from each system are never in opposition. A state-space analysis was made of the CMG system to determine the general structure of the input matrices (steering law) and feedback matrices that will decouple the axes. It is shown that the optimum steering law and proportional-plus-rate feedback are special cases. A derivation of the disturbing torques on the space vehicle due to the motion of the on-board television camera is presented. A procedure for computing an upper bound on these torques (given the system parameters) is included.

  4. Thrust Stand for Electric Propulsion Performance Evaluation

    NASA Technical Reports Server (NTRS)

    Markusic, T. E.; Jones, J. E.; Cox, M. D.

    2004-01-01

    An electric propulsion thrust stand capable of supporting thrusters with total mass of up to 125 kg and 1 mN to 1 N thrust levels has been developed and tested. The mechanical design features a conventional hanging pendulum arm attached to a balance mechanism that transforms horizontal motion into amplified vertical motion, with accommodation for variable displacement sensitivity. Unlike conventional hanging pendulum thrust stands, the deflection is independent of the length of the pendulum arm, and no reference structure is required at the end of the pendulum. Displacement is measured using a non-contact, optical linear gap displacement transducer. Mechanical oscillations are attenuated using a passive, eddy current damper. An on-board microprocessor-based level control system, which includes a two axis accelerometer and two linear-displacement stepper motors, continuously maintains the level of the balance mechanism - counteracting mechanical %era drift during thruster testing. A thermal control system, which includes heat exchange panels, thermocouples, and a programmable recirculating water chiller, continuously adjusts to varying thermal loads to maintain the balance mechanism temperature, to counteract thermal drifts. An in-situ calibration rig allows for steady state calibration both prior to and during thruster testing. Thrust measurements were carried out on a well-characterized 1 kW Hall thruster; the thrust stand was shown to produce repeatable results consistent with previously published performance data.

  5. Controlling front-end electronics boards using commercial solutions

    NASA Astrophysics Data System (ADS)

    Beneyton, R.; Gaspar, C.; Jost, B.; Schmeling, S.

    2002-04-01

    LHCb is a dedicated B-physics experiment under construction at CERN's large hadron collider (LHC) accelerator. This paper will describe the novel approach LHCb is taking toward controlling and monitoring of electronics boards. Instead of using the bus in a crate to exercise control over the boards, we use credit-card sized personal computers (CCPCs) connected via Ethernet to cheap control PCs. The CCPCs will provide a simple parallel, I2C, and JTAG buses toward the electronics board. Each board will be equipped with a CCPC and, hence, will be completely independently controlled. The advantages of this scheme versus the traditional bus-based scheme will be described. Also, the integration of the controls of the electronics boards into a commercial supervisory control and data acquisition (SCADA) system will be shown.

  6. Adaptive Radiation for Lung Cancer

    PubMed Central

    Gomez, Daniel R.; Chang, Joe Y.

    2011-01-01

    The challenges of lung cancer radiotherapy are intra/inter-fraction tumor/organ anatomy/motion changes and the need to spare surrounding critical structures. Evolving radiotherapy technologies, such as four-dimensional (4D) image-based motion management, daily on-board imaging and adaptive radiotherapy based on volumetric images over the course of radiotherapy, have enabled us to deliver higher dose to target while minimizing normal tissue toxicities. The image-guided radiotherapy adapted to changes of motion and anatomy has made the radiotherapy more precise and allowed ablative dose delivered to the target using novel treatment approaches such as intensity-modulated radiation therapy, stereotactic body radiation therapy, and proton therapy in lung cancer, techniques used to be considered very sensitive to motion change. Future clinical trials using real time tracking and biological adaptive radiotherapy based on functional images are proposed. PMID:20814539

  7. Effects of Wii balance board exercises on balance after posterior cruciate ligament reconstruction.

    PubMed

    Puh, Urška; Majcen, Nia; Hlebš, Sonja; Rugelj, Darja

    2014-05-01

    To establish the effects of training on Wii balance board (WBB) after posterior cruciate ligament (PCL) reconstruction on balance. Included patient injured her posterior cruciate ligament 22 months prior to the study. Training on WBB was performed 4 weeks, 6 times per week, 30-45 min per day. Center of pressure (CoP) sway during parallel and one-leg stance, and body weight distribution in parallel stance were measured. Additionally, measurements of joint range of motion and limb circumferences were taken before and after training. After training, the body weight was almost equally distributed on both legs. Decrease in CoP sway was most significant for one-leg stance with each leg on compliant surface with eyes open and closed. The knee joint range of motion increased and limb circumferences decreased. According to the results of this single case report, we might recommend the use of WBB for balance training after PCL reconstruction. Case series with no comparison group, Level IV.

  8. Three-dimensional shoulder kinematics normalize after rotator cuff repair.

    PubMed

    Kolk, Arjen; de Witte, Pieter Bas; Henseler, Jan Ferdinand; van Zwet, Erik W; van Arkel, Ewoud R A; van der Zwaal, Peer; Nelissen, Rob G H H; de Groot, Jurriaan H

    2016-06-01

    Patients with a rotator cuff (RC) tear often exhibit scapular dyskinesia with increased scapular lateral rotation and decreased glenohumeral elevation with arm abduction. We hypothesized that in patients with an RC tear, scapular lateral rotation, and thus glenohumeral elevation, will be restored to normal after RC repair. Shoulder kinematics were quantitatively analyzed in 26 patients with an electromagnetic tracking device (Flock of Birds) before and 1 year after RC repair in this observational case series. We focused on humeral range of motion and scapular kinematics during abduction. The asymptomatic contralateral shoulder was used as the control. Changes in scapular kinematics were associated with the gain in range of motion. Shoulder kinematics were analyzed using a linear mixed model. Mean arm abduction and forward flexion improved after surgery by 20° (95% confidence interval [CI], 2.7°-36.5°; P = .025) and 13° (95% CI, 1.2°-36.5°; P = .044), respectively. Kinematic analyses showed decreases in mean scapular protraction (ie, internal rotation) and lateral rotation (ie, upward rotation) during abduction by 3° (95% CI, 0.0°-5.2°; P = .046) and 4° (95% CI, 1.6°-8.4°; P = .042), respectively. Glenohumeral elevation increased by 5° (95% CI, 0.6°-9.7°; P = .028) at 80°. Humeral range of motion increased when scapular lateral rotation decreased and posterior tilt increased. Scapular kinematics normalize after RC repair toward a symmetrical scapular motion pattern as observed in the asymptomatic contralateral shoulder. The observed changes in scapular kinematics are associated with an increased overall range of motion and suggest restored function of shoulder muscles. Copyright © 2016 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

  9. Reverse shoulder prosthesis in the treatment of locked anterior shoulders: a comparison with classic reverse shoulder indications.

    PubMed

    Kurowicki, Jennifer; Triplet, Jacob J; Momoh, Enesi; Moor, Molly A; Levy, Jonathan C

    2016-12-01

    Locked anterior shoulder (LAS) with static instability and anterior glenoid bone loss is challenging in the elderly population. Reverse shoulder arthroplasty (RSA) has been employed in treating these patients. No study has compared RSA for LAS with classically indicated RSA. A retrospective case-control study of patients treated with RSA for LAS with glenoid bone loss and static instability was performed using matched controls treated with primary RSA for classic indications. Twenty-four cases and 48 controls were evaluated. Average follow-up was 25.5 months, and median age was 76 years. Motion, outcome assessments, and postoperative radiographs were compared. Preoperatively, LAS had significantly less rotation and lower baseline outcome scores. Glenoid bone grafting was more common (P = .05) in the control group (26%) than in the LAS group (6.3%). Larger glenospheres were used more often (P = .001) in the LAS group (75%) than in the control group (29%). Both groups demonstrated significant improvements in pain, function, and outcome scores. Postoperatively, the control group had significantly better elevation and functional outcome scores. With the exception of flexion and Simple Shoulder Test score, effectiveness of treatment was similar between groups. Postoperative acromion stress fractures were seen in 21% of LAS patients and 9% of controls (P = .023) with a predominance of type 3 fractures in LAS. Two LAS patients remained dislocated. Patients with LAS treated with RSA can anticipate improvements in pain and function by use of larger glenospheres, often without the need for glenoid bone grafting. Worse postoperative motion and function and a higher incidence of acromion stress fracture may be expected. Copyright © 2016 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

  10. Image-based tracking: a new emerging standard

    NASA Astrophysics Data System (ADS)

    Antonisse, Jim; Randall, Scott

    2012-06-01

    Automated moving object detection and tracking are increasingly viewed as solutions to the enormous data volumes resulting from emerging wide-area persistent surveillance systems. In a previous paper we described a Motion Imagery Standards Board (MISB) initiative to help address this problem: the specification of a micro-architecture for the automatic extraction of motion indicators and tracks. This paper reports on the development of an extended specification of the plug-and-play tracking micro-architecture, on its status as an emerging standard across DoD, the Intelligence Community, and NATO.

  11. Investigation of the Observability of a Satellite Cluster in a Near Circular Orbit

    DTIC Science & Technology

    1989-12-01

    investigation involved the use of dynamics based on the Clohessy - Wiltshire equa- tions and an on-board estimator based on the U-D covariance factorization...vectors were determined from the Clohessy - Wiltshire equations (10:80). These equations have the following * form: I I4 I I I sat i , ref pointI S iA lll ri... Clohessy - Wiltshire equations of motion, with 77 representing the mean motion (10:80). These equations are: 1 11I ;i - 2 )- 3 T12 X = 0 (27) +21 =0 (28

  12. A New Flying Wire System for the Tevatron

    NASA Astrophysics Data System (ADS)

    Blokland, Willem; Dey, Joseph; Vogel, Greg

    1997-05-01

    A new Flying Wires system replaces the old system to enhance the analysis of the beam emittance, improve the reliability, and handle the upcoming upgrades of the Tevatron. New VME data acquisition modules and timing modules allow for more bunches to be sampled more precisely. The programming language LabVIEW, running on a Macintosh computer, controls the VME modules and the nuLogic motion board that flies the wires. LabVIEW also analyzes and stores the data, and handles local and remote commands. The new system flies three wires and fits profiles of 72 bunches to a gaussian function within two seconds. A new console application operates the flying wires from any control console. This paper discusses the hardware and software setup, the capabilities and measurement results of the new Flying Wires system.

  13. 32 CFR 631.9 - Duties and functions of boards.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... ENFORCEMENT AND CRIMINAL INVESTIGATIONS ARMED FORCES DISCIPLINARY CONTROL BOARDS AND OFF-INSTALLATION LIAISON AND OPERATIONS Armed Forces Disciplinary Control Boards § 631.9 Duties and functions of boards. The... 32 National Defense 4 2011-07-01 2011-07-01 false Duties and functions of boards. 631.9 Section...

  14. 32 CFR 631.9 - Duties and functions of boards.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... ENFORCEMENT AND CRIMINAL INVESTIGATIONS ARMED FORCES DISCIPLINARY CONTROL BOARDS AND OFF-INSTALLATION LIAISON AND OPERATIONS Armed Forces Disciplinary Control Boards § 631.9 Duties and functions of boards. The... 32 National Defense 4 2010-07-01 2010-07-01 true Duties and functions of boards. 631.9 Section 631...

  15. 29 CFR 102.109 - Intervention.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 29 Labor 2 2011-07-01 2011-07-01 false Intervention. 102.109 Section 102.109 Labor Regulations... Advisory Opinions Regarding Board Jurisdiction § 102.109 Intervention. Any person desiring to intervene shall make a motion for intervention, stating the grounds upon which such person claims to have an...

  16. 29 CFR 102.102 - Intervention.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 29 Labor 2 2014-07-01 2014-07-01 false Intervention. 102.102 Section 102.102 Labor Regulations... Advisory Opinions Regarding Board Jurisdiction § 102.102 Intervention. Any person desiring to intervene shall make a motion for intervention, stating the grounds upon which such person claims to have an...

  17. 29 CFR 102.109 - Intervention.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 29 Labor 2 2013-07-01 2013-07-01 false Intervention. 102.109 Section 102.109 Labor Regulations... Advisory Opinions Regarding Board Jurisdiction § 102.109 Intervention. Any person desiring to intervene shall make a motion for intervention, stating the grounds upon which such person claims to have an...

  18. 29 CFR 102.109 - Intervention.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 29 Labor 2 2010-07-01 2010-07-01 false Intervention. 102.109 Section 102.109 Labor Regulations... Advisory Opinions Regarding Board Jurisdiction § 102.109 Intervention. Any person desiring to intervene shall make a motion for intervention, stating the grounds upon which such person claims to have an...

  19. 29 CFR 102.102 - Intervention.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 29 Labor 2 2011-07-01 2011-07-01 false Intervention. 102.102 Section 102.102 Labor Regulations... Advisory Opinions Regarding Board Jurisdiction § 102.102 Intervention. Any person desiring to intervene shall make a motion for intervention, stating the grounds upon which such person claims to have an...

  20. 29 CFR 102.102 - Intervention.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 29 Labor 2 2012-07-01 2012-07-01 false Intervention. 102.102 Section 102.102 Labor Regulations... Advisory Opinions Regarding Board Jurisdiction § 102.102 Intervention. Any person desiring to intervene shall make a motion for intervention, stating the grounds upon which such person claims to have an...

  1. 29 CFR 102.102 - Intervention.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 29 Labor 2 2013-07-01 2013-07-01 false Intervention. 102.102 Section 102.102 Labor Regulations... Advisory Opinions Regarding Board Jurisdiction § 102.102 Intervention. Any person desiring to intervene shall make a motion for intervention, stating the grounds upon which such person claims to have an...

  2. 29 CFR 102.109 - Intervention.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 29 Labor 2 2012-07-01 2012-07-01 false Intervention. 102.109 Section 102.109 Labor Regulations... Advisory Opinions Regarding Board Jurisdiction § 102.109 Intervention. Any person desiring to intervene shall make a motion for intervention, stating the grounds upon which such person claims to have an...

  3. 29 CFR 102.109 - Intervention.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 29 Labor 2 2014-07-01 2014-07-01 false Intervention. 102.109 Section 102.109 Labor Regulations... Advisory Opinions Regarding Board Jurisdiction § 102.109 Intervention. Any person desiring to intervene shall make a motion for intervention, stating the grounds upon which such person claims to have an...

  4. 29 CFR 102.102 - Intervention.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 29 Labor 2 2010-07-01 2010-07-01 false Intervention. 102.102 Section 102.102 Labor Regulations... Advisory Opinions Regarding Board Jurisdiction § 102.102 Intervention. Any person desiring to intervene shall make a motion for intervention, stating the grounds upon which such person claims to have an...

  5. Bioinspired microrobots

    NASA Astrophysics Data System (ADS)

    Palagi, Stefano; Fischer, Peer

    2018-06-01

    Microorganisms can move in complex media, respond to the environment and self-organize. The field of microrobotics strives to achieve these functions in mobile robotic systems of sub-millimetre size. However, miniaturization of traditional robots and their control systems to the microscale is not a viable approach. A promising alternative strategy in developing microrobots is to implement sensing, actuation and control directly in the materials, thereby mimicking biological matter. In this Review, we discuss design principles and materials for the implementation of robotic functionalities in microrobots. We examine different biological locomotion strategies, and we discuss how they can be artificially recreated in magnetic microrobots and how soft materials improve control and performance. We show that smart, stimuli-responsive materials can act as on-board sensors and actuators and that `active matter' enables autonomous motion, navigation and collective behaviours. Finally, we provide a critical outlook for the field of microrobotics and highlight the challenges that need to be overcome to realize sophisticated microrobots, which one day might rival biological machines.

  6. FPGA-based architecture for motion recovering in real-time

    NASA Astrophysics Data System (ADS)

    Arias-Estrada, Miguel; Maya-Rueda, Selene E.; Torres-Huitzil, Cesar

    2002-03-01

    A key problem in the computer vision field is the measurement of object motion in a scene. The main goal is to compute an approximation of the 3D motion from the analysis of an image sequence. Once computed, this information can be used as a basis to reach higher level goals in different applications. Motion estimation algorithms pose a significant computational load for the sequential processors limiting its use in practical applications. In this work we propose a hardware architecture for motion estimation in real time based on FPGA technology. The technique used for motion estimation is Optical Flow due to its accuracy, and the density of velocity estimation, however other techniques are being explored. The architecture is composed of parallel modules working in a pipeline scheme to reach high throughput rates near gigaflops. The modules are organized in a regular structure to provide a high degree of flexibility to cover different applications. Some results will be presented and the real-time performance will be discussed and analyzed. The architecture is prototyped in an FPGA board with a Virtex device interfaced to a digital imager.

  7. 33 CFR 223.1 - Mississippi River Water Control Management Board.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 33 Navigation and Navigable Waters 3 2012-07-01 2012-07-01 false Mississippi River Water Control Management Board. 223.1 Section 223.1 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE BOARDS, COMMISSIONS, AND COMMITTEES § 223.1 Mississippi River Water Control Management Board. (a) Purpose. This...

  8. 33 CFR 223.1 - Mississippi River Water Control Management Board.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 33 Navigation and Navigable Waters 3 2013-07-01 2013-07-01 false Mississippi River Water Control Management Board. 223.1 Section 223.1 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE BOARDS, COMMISSIONS, AND COMMITTEES § 223.1 Mississippi River Water Control Management Board. (a) Purpose. This...

  9. A low-cost test-bed for real-time landmark tracking

    NASA Astrophysics Data System (ADS)

    Csaszar, Ambrus; Hanan, Jay C.; Moreels, Pierre; Assad, Christopher

    2007-04-01

    A low-cost vehicle test-bed system was developed to iteratively test, refine and demonstrate navigation algorithms before attempting to transfer the algorithms to more advanced rover prototypes. The platform used here was a modified radio controlled (RC) car. A microcontroller board and onboard laptop computer allow for either autonomous or remote operation via a computer workstation. The sensors onboard the vehicle represent the types currently used on NASA-JPL rover prototypes. For dead-reckoning navigation, optical wheel encoders, a single axis gyroscope, and 2-axis accelerometer were used. An ultrasound ranger is available to calculate distance as a substitute for the stereo vision systems presently used on rovers. The prototype also carries a small laptop computer with a USB camera and wireless transmitter to send real time video to an off-board computer. A real-time user interface was implemented that combines an automatic image feature selector, tracking parameter controls, streaming video viewer, and user generated or autonomous driving commands. Using the test-bed, real-time landmark tracking was demonstrated by autonomously driving the vehicle through the JPL Mars yard. The algorithms tracked rocks as waypoints. This generated coordinates calculating relative motion and visually servoing to science targets. A limitation for the current system is serial computing-each additional landmark is tracked in order-but since each landmark is tracked independently, if transferred to appropriate parallel hardware, adding targets would not significantly diminish system speed.

  10. 46 CFR 202.1 - Purpose.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ...”) may, on his own motion or on the basis of a petition filed as hereinafter provided, review any... phrase includes the Board). Petitions for review under this paragraph may be filed by parties of record... petitions for review, together with proof of service thereof on all parties of record, shall be filed with...

  11. 42 CFR 426.505 - Authority of the Board.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... disposition of the proceeding. (6) Consult with scientific and clinical experts on its own motion, concerning clinical or scientific evidence. (7) Set schedules for submission of exhibits and written reports of... the scope and timing of documentary discovery as permitted by this part. (15) Regulate the course of a...

  12. 42 CFR 426.505 - Authority of the Board.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... disposition of the proceeding. (6) Consult with scientific and clinical experts on its own motion, concerning clinical or scientific evidence. (7) Set schedules for submission of exhibits and written reports of... the scope and timing of documentary discovery as permitted by this part. (15) Regulate the course of a...

  13. 42 CFR 426.505 - Authority of the Board.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... disposition of the proceeding. (6) Consult with scientific and clinical experts on its own motion, concerning clinical or scientific evidence. (7) Set schedules for submission of exhibits and written reports of... the scope and timing of documentary discovery as permitted by this part. (15) Regulate the course of a...

  14. 42 CFR 426.505 - Authority of the Board.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... disposition of the proceeding. (6) Consult with scientific and clinical experts on its own motion, concerning clinical or scientific evidence. (7) Set schedules for submission of exhibits and written reports of... the scope and timing of documentary discovery as permitted by this part. (15) Regulate the course of a...

  15. 42 CFR 426.505 - Authority of the Board.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... disposition of the proceeding. (6) Consult with scientific and clinical experts on its own motion, concerning clinical or scientific evidence. (7) Set schedules for submission of exhibits and written reports of... the scope and timing of documentary discovery as permitted by this part. (15) Regulate the course of a...

  16. 20 CFR 355.18 - Authority of the ALJ.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 20 Employees' Benefits 1 2010-04-01 2010-04-01 false Authority of the ALJ. 355.18 Section 355.18 Employees' Benefits RAILROAD RETIREMENT BOARD ADMINISTRATIVE REMEDIES FOR FRAUDULENT CLAIMS OR STATEMENTS..., or hearing on motions in person or by telephone; and (14) Exercise such other authority as is...

  17. 12 CFR 747.29 - Summary disposition.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 12 Banks and Banking 6 2010-01-01 2010-01-01 false Summary disposition. 747.29 Section 747.29... of Practice and Procedure § 747.29 Summary disposition. (a) In general. The administrative law judge shall recommend that the NCUA Board issue a final order granting a motion for summary disposition if the...

  18. Vision-based control for flight relative to dynamic environments

    NASA Astrophysics Data System (ADS)

    Causey, Ryan Scott

    The concept of autonomous systems has been considered an enabling technology for a diverse group of military and civilian applications. The current direction for autonomous systems is increased capabilities through more advanced systems that are useful for missions that require autonomous avoidance, navigation, tracking, and docking. To facilitate this level of mission capability, passive sensors, such as cameras, and complex software are added to the vehicle. By incorporating an on-board camera, visual information can be processed to interpret the surroundings. This information allows decision making with increased situational awareness without the cost of a sensor signature, which is critical in military applications. The concepts presented in this dissertation facilitate the issues inherent to vision-based state estimation of moving objects for a monocular camera configuration. The process consists of several stages involving image processing such as detection, estimation, and modeling. The detection algorithm segments the motion field through a least-squares approach and classifies motions not obeying the dominant trend as independently moving objects. An approach to state estimation of moving targets is derived using a homography approach. The algorithm requires knowledge of the camera motion, a reference motion, and additional feature point geometry for both the target and reference objects. The target state estimates are then observed over time to model the dynamics using a probabilistic technique. The effects of uncertainty on state estimation due to camera calibration are considered through a bounded deterministic approach. The system framework focuses on an aircraft platform of which the system dynamics are derived to relate vehicle states to image plane quantities. Control designs using standard guidance and navigation schemes are then applied to the tracking and homing problems using the derived state estimation. Four simulations are implemented in MATLAB that build on the image concepts present in this dissertation. The first two simulations deal with feature point computations and the effects of uncertainty. The third simulation demonstrates the open-loop estimation of a target ground vehicle in pursuit whereas the four implements a homing control design for the Autonomous Aerial Refueling (AAR) using target estimates as feedback.

  19. Scapular kinematic alterations during arm elevation with decrease in pectoralis minor stiffness after stretching in healthy individuals.

    PubMed

    Umehara, Jun; Nakamura, Masatoshi; Nishishita, Satoru; Tanaka, Hiroki; Kusano, Ken; Ichihashi, Noriaki

    2018-07-01

    Pectoralis minor tightness may be seen in individuals with scapular dyskinesis, and stretching is used for the treatment of altered scapular motion in sports and clinical fields. However, few researchers have reported on the effects of pectoralis minor stiffness on scapular motion during arm elevation. This study investigated whether an acute decrease of pectoralis minor stiffness after stretching changes the scapular motion during arm elevation. The study allocated 15 dominant and 15 nondominant upper limbs in healthy men as control and interventional limbs, respectively. In the intervention limb group, the shoulder was passively and horizontally abducted at 150° of elevation for 5 minutes to stretch the pectoralis minor muscle. Before and after stretching, an electromagnetic sensor was used to examine 3-dimensional scapular motion during abduction and scaption. Ultrasonic shear wave elastography was used to measure pectoralis minor stiffness before and immediately after stretching and after arm elevation. In the interventional limb, pectoralis minor stiffness decreased by 3.2 kPa immediately after stretching and by 2.5 kPa after arm elevation. The maximal changes in scapular kinematics after stretching were 4.8° of external rotation and 3.3° of posterior tilt in abduction, and 4.5° of external rotation and 3.7° of posterior tilt in scaption. Upward rotation in abduction or scaption did not change. Stretching for the pectoralis minor muscle increases external rotation and posterior tilt of the scapula during arm elevation. Copyright © 2018 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

  20. 21. DETAIL INTERIOR VIEW OF ORIGINAL BENCH BOARD CONTROLS IN ...

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

    21. DETAIL INTERIOR VIEW OF ORIGINAL BENCH BOARD CONTROLS IN CONTROL ROOM ON LEVEL +77 OF POWERHOUSE #1; THESE PANELS ARE ON LEFT SIDE OF BENCH BOARD CONTROLS. - Bonneville Project, Powerhouse No.1, Spanning Bradford Slough, from Bradford Island, Bonneville, Multnomah County, OR

  1. 40 CFR 52.720 - Identification of plan.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... Protection Agency on March 13, 1972. (2) Copies of the Illinois Pollution Control Board Regulations, Chapter... role of the Chicago Department of Environmental Control was submitted July 28, 1972, by the State... Pollution Control Board. (6) Compliance schedules submitted on April 3, 1973, by the Pollution Control Board...

  2. 40 CFR 52.720 - Identification of plan.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... Protection Agency on March 13, 1972. (2) Copies of the Illinois Pollution Control Board Regulations, Chapter... role of the Chicago Department of Environmental Control was submitted July 28, 1972, by the State... Pollution Control Board. (6) Compliance schedules submitted on April 3, 1973, by the Pollution Control Board...

  3. Circuit design of an EMCCD camera

    NASA Astrophysics Data System (ADS)

    Li, Binhua; Song, Qian; Jin, Jianhui; He, Chun

    2012-07-01

    EMCCDs have been used in the astronomical observations in many ways. Recently we develop a camera using an EMCCD TX285. The CCD chip is cooled to -100°C in an LN2 dewar. The camera controller consists of a driving board, a control board and a temperature control board. Power supplies and driving clocks of the CCD are provided by the driving board, the timing generator is located in the control board. The timing generator and an embedded Nios II CPU are implemented in an FPGA. Moreover the ADC and the data transfer circuit are also in the control board, and controlled by the FPGA. The data transfer between the image workstation and the camera is done through a Camera Link frame grabber. The software of image acquisition is built using VC++ and Sapera LT. This paper describes the camera structure, the main components and circuit design for video signal processing channel, clock driver, FPGA and Camera Link interfaces, temperature metering and control system. Some testing results are presented.

  4. 33 CFR 223.1 - Mississippi River Water Control Management Board.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... Management Board. 223.1 Section 223.1 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE... Management Board. (a) Purpose. This regulation establishes and prescribes the objectives, composition, responsibilities and authority of the Mississippi River Water Control Management Board. (b) Applicability. This...

  5. Hip capsular thickness correlates with range of motion limitations in femoroacetabular impingement.

    PubMed

    Zhang, Kailai; de Sa, Darren; Yu, Hang; Choudur, Hema Nalini; Simunovic, Nicole; Ayeni, Olufemi Rolland

    2018-03-24

    Femoroacetabular impingement (FAI) is a clinical entity of the hip causing derangements in range of motion, pain, gait, and function. Computer-assisted modeling and clinical studies suggest that patients with FAI have increased capsular thickness compared to those without.A retrospective chart review was performed to assess relationships between capsular thickness, hip range of motion, and demographic factors in patients with FAI. Local Research Ethics Board approval was obtained to extract electronic medical records for 188 patients at a single institution who had undergone hip arthroscopy. Procedures were performed from 2009 to 2017 by a single, fellowship-trained, board-certified sports medicine orthopaedic surgeon. Inclusion criteria were preoperative hip range of motion testing, positive clinical impingement testing, and magnetic resonance imaging (MRI) of the affected hip. Patient demographics, hip range of motion, and time to surgery were recorded. MRIs were reviewed by a board-certified musculoskeletal radiologist blinded to clinical data. Maximum thickness of the anterior hip capsule was measured in axial, axial oblique, and sagittal oblique sequences. Anterior capsular thickness was also measured at the level of the femoral head-neck junction in axial sequences (axial midline). Axial midline capsular thickness was negatively correlated with hip flexion (r = - 0.196, p = 0.0042) and internal rotation (r = - 0.143, p = 0.0278). Significant differences were seen between genders in axial midline thickness (5.3 ± 1.4 mm males/4.8 ± 1.3 mm females, p = 0.0079), flexion (113° ± 18° males/120° ± 17° females, p = 0.0029), and internal rotation (23° ± 13° males/29° ± 12° females, p = 0.0155). Significant differences also existed between side affected in flexion (116° ± 17° right/119° ± 17° left, p = 0.0396) and internal rotation (26° ± 12° right/29° ± 13° left, p = 0.0029). Positive correlation was observed between axial oblique capsular thickness and flexion (r = 0.2345) (p = 0.0229). Increased anterior hip capsular thickness at the femoral head-neck correlates with limitations in hip range of motion in FAI. The strength of this relationship may be affected between pathologies, genders, and affected side. Pathologic thickening of the hip capsule may contribute to restricted hip mobility on clinical examination, and elucidation of this relationship may provide guidance into capsular management during hip arthroscopy. 4, retrospective case series.

  6. Kinematics and Dynamics of Motion Control Based on Acceleration Control

    NASA Astrophysics Data System (ADS)

    Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro

    The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

  7. Design of the Wind Tunnel Model Communication Controller Board. Degree awarded by Christopher Newport Univ. on Dec. 1998

    NASA Technical Reports Server (NTRS)

    Wilson, William C.

    1999-01-01

    The NASA Langley Research Center's Wind Tunnel Reinvestment project plans to shrink the existing data acquisition electronics to fit inside a wind tunnel model. Space limitations within a model necessitate a distributed system of Application Specific Integrated Circuits (ASICs) rather than a centralized system based on PC boards. This thesis will focus on the design of the prototype of the communication Controller board. A portion of the communication Controller board is to be used as the basis of an ASIC design. The communication Controller board will communicate between the internal model modules and the external data acquisition computer. This board is based around an Field Programmable Gate Array (FPGA), to allow for reconfigurability. In addition to the FPGA, this board contains buffer Random Access Memory (RAM), configuration memory (EEPROM), drivers for the communications ports, and passive components.

  8. 33 CFR 223.1 - Mississippi River Water Control Management Board.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... Management Board. 223.1 Section 223.1 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE BOARDS, COMMISSIONS, AND COMMITTEES § 223.1 Mississippi River Water Control Management Board. (a) Purpose. This regulation establishes and prescribes the objectives, composition...

  9. 33 CFR 223.1 - Mississippi River Water Control Management Board.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... Management Board. 223.1 Section 223.1 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE BOARDS, COMMISSIONS, AND COMMITTEES § 223.1 Mississippi River Water Control Management Board. (a) Purpose. This regulation establishes and prescribes the objectives, composition...

  10. Reachability Analysis Applied to Space Situational Awareness

    NASA Astrophysics Data System (ADS)

    Holzinger, M.; Scheeres, D.

    Several existing and emerging applications of Space Situational Awareness (SSA) relate directly to spacecraft Rendezvous, Proximity Operations, and Docking (RPOD) and Formation / Cluster Flight (FCF). When multiple Resident Space Ob jects (RSOs) are in vicinity of one another with appreciable periods between observations, correlating new RSO tracks to previously known objects becomes a non-trivial problem. A particularly difficult sub-problem is seen when long breaks in observations are coupled with continuous, low- thrust maneuvers. Reachability theory, directly related to optimal control theory, can compute contiguous reachability sets for known or estimated control authority and can support such RSO search and correlation efforts in both ground and on-board settings. Reachability analysis can also directly estimate the minimum control authority of a given RSO. For RPOD and FCF applications, emerging mission concepts such as fractionation drastically increase system complexity of on-board autonomous fault management systems. Reachability theory, as applied to SSA in RPOD and FCF applications, can involve correlation of nearby RSO observations, control authority estimation, and sensor track re-acquisition. Additional uses of reachability analysis are formation reconfiguration, worst-case passive safety, and propulsion failure modes such as a "stuck" thruster. Existing reachability theory is applied to RPOD and FCF regimes. An optimal control policy is developed to maximize the reachability set and optimal control law discontinuities (switching) are examined. The Clohessy-Wiltshire linearized equations of motion are normalized to accentuate relative control authority for spacecraft propulsion systems at both Low Earth Orbit (LEO) and Geostationary Earth Orbit (GEO). Several examples with traditional and low thrust propulsion systems in LEO and GEO are explored to illustrate the effects of relative control authority on the time-varying reachability set surface. Both monopropellant spacecraft at LEO and Hall thruster spacecraft at GEO are shown to be strongly actuated while Hall thruster spacecraft at LEO are found to be weakly actuated. Weaknesses with the current implementation are discussed and future numerical improvements and analytical efforts are discussed.

  11. Adaptive correlation filter-based video stabilization without accumulative global motion estimation

    NASA Astrophysics Data System (ADS)

    Koh, Eunjin; Lee, Chanyong; Jeong, Dong Gil

    2014-12-01

    We present a digital video stabilization approach that provides both robustness and efficiency for practical applications. In this approach, we adopt a stabilization model that maintains spatio-temporal information of past input frames efficiently and can track original stabilization position. Because of the stabilization model, the proposed method does not need accumulative global motion estimation and can recover the original position even if there is a failure in interframe motion estimation. It can also intelligently overcome the situation of damaged or interrupted video sequences. Moreover, because it is simple and suitable to parallel scheme, we implement it on a commercial field programmable gate array and a graphics processing unit board with compute unified device architecture in a breeze. Experimental results show that the proposed approach is both fast and robust.

  12. Evaluation of FNS control systems: software development and sensor characterization.

    PubMed

    Riess, J; Abbas, J J

    1997-01-01

    Functional Neuromuscular Stimulation (FNS) systems activate paralyzed limbs by electrically stimulating motor neurons. These systems have been used to restore functions such as standing and stepping in people with thoracic level spinal cord injury. Research in our laboratory is directed at the design and evaluation of the control algorithms for generating posture and movement. This paper describes software developed for implementing FNS control systems and the characterization of a sensor system used to implement and evaluate controllers in the laboratory. In order to assess FNS control algorithms, we have developed a versatile software package using Lab VIEW (National Instruments, Corp). This package provides the ability to interface with sensor systems via serial port or A/D board, implement data processing and real-time control algorithms, and interface with neuromuscular stimulation devices. In our laboratory, we use the Flock of Birds (Ascension Technology Corp.) motion tracking sensor system to monitor limb segment position and orientation (6 degrees of freedom). Errors in the sensor system have been characterized and nonlinear polynomial models have been developed to account for these errors. With this compensation, the error in the distance measurement is reduced by 90 % so that the maximum error is less than 1 cm.

  13. 77 FR 3843 - Agency Information Collection (Board of Veterans' Appeals Customer Satisfaction With Hearing...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-01-25

    ... DEPARTMENT OF VETERANS AFFAIRS [OMB Control No. 2900-0548] Agency Information Collection (Board of Veterans' Appeals Customer Satisfaction With Hearing Survey) Under OMB Review AGENCY: Board of Veterans.... Title: Board of Veterans' Appeals Customer Satisfaction with Hearing Survey, VA Form 0745. OMB Control...

  14. Using Computerized Outlines in Teaching American Government.

    ERIC Educational Resources Information Center

    Janda, Kenneth

    Because writing an outline on the chalk board wastes time and space, a computer program, a videoprojector, and a standard motion picture screen were used to outline a lecture to a large history class. PC-Outline is an outline program for IBM-compatible microcomputers which aids in processing outlines by inserting Roman numerals, letters, and…

  15. 12 CFR 747.13 - Change of time limits.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... non-moving parties, or upon the NCUA Board's or the administrative law judge's own motion. ... of Practice and Procedure § 747.13 Change of time limits. Except as otherwise provided by law, the administrative law judge may, for good cause shown, extend the time limits prescribed by the Uniform Rules or by...

  16. Separation and recovery of fine particles from waste circuit boards using an inflatable tapered diameter separation bed.

    PubMed

    Duan, Chenlong; Sheng, Cheng; Wu, Lingling; Zhao, Yuemin; He, Jinfeng; Zhou, Enhui

    2014-01-01

    Recovering particle materials from discarded printed circuit boards can enhance resource recycling and reduce environmental pollution. Efficiently physically separating and recovering fine metal particles (-0.5 mm) from the circuit boards are a key recycling challenge. To do this, a new type of separator, an inflatable tapered diameter separation bed, was developed to study particle motion and separation mechanisms in the bed's fluid flow field. For 0.5-0.25 mm circuit board particles, metal recovery rates ranged from 87.56 to 94.17%, and separation efficiencies ranged from 87.71 to 94.20%. For 0.25-0.125 mm particles, metal recovery rates ranged from 84.76 to 91.97%, and separation efficiencies ranged from 84.74 to 91.86%. For superfine products (-0.125 mm), metal recovery rates ranged from 73.11 to 83.04%, and separation efficiencies ranged from 73.00 to 83.14%. This research showed that the inflatable tapered diameter separation bed achieved efficient particle separation and can be used to recover fine particles under a wide range of operational conditions. The bed offers a new mechanical technology to recycle valuable materials from discarded printed circuit boards, reducing environmental pollution.

  17. When does tool use become distinctively human?: Hammering in young children

    PubMed Central

    Kahrs, Björn; Lockman, Jeffrey J.; Jung, Wendy

    2013-01-01

    This study examines the development of hammering within an ontogenetic and evolutionary framework using motion-capture technology. Twenty-four right-handed toddlers (19–35 months) wore reflective markers while hammering a peg into a peg-board. The study focuses on the motor characteristics that make tool use uniquely human: wrist involvement, lateralization, and handle use. Older children showed more distally controlled movements, characterized by relatively more reliance on the wrist, but only when hammering with their right hand. Greater age, use of the right hand, and more wrist involvement were associated with higher accuracy; handle use did not systematically change with age. Collectively, the results provide new insights about the emergence of hammering in young children and when hammering begins to manifest distinctively human characteristics. PMID:24128178

  18. EVA Robotic Assistant Project: Platform Attitude Prediction

    NASA Technical Reports Server (NTRS)

    Nickels, Kevin M.

    2003-01-01

    The Robotic Systems Technology Branch is currently working on the development of an EVA Robotic Assistant under the sponsorship of the Surface Systems Thrust of the NASA Cross Enterprise Technology Development Program (CETDP). This will be a mobile robot that can follow a field geologist during planetary surface exploration, carry his tools and the samples that he collects, and provide video coverage of his activity. Prior experiments have shown that for such a robot to be useful it must be able to follow the geologist at walking speed over any terrain of interest. Geologically interesting terrain tends to be rough rather than smooth. The commercial mobile robot that was recently purchased as an initial testbed for the EVA Robotic Assistant Project, an ATRV Jr., is capable of faster than walking speed outside but it has no suspension. Its wheels with inflated rubber tires are attached to axles that are connected directly to the robot body. Any angular motion of the robot produced by driving over rough terrain will directly affect the pointing of the on-board stereo cameras. The resulting image motion is expected to make tracking of the geologist more difficult. This will either require the tracker to search a larger part of the image to find the target from frame to frame or to search mechanically in pan and tilt whenever the image motion is large enough to put the target outside the image in the next frame. This project consists of the design and implementation of a Kalman filter that combines the output of the angular rate sensors and linear accelerometers on the robot to estimate the motion of the robot base. The motion of the stereo camera pair mounted on the robot that results from this motion as the robot drives over rough terrain is then straightforward to compute. The estimates may then be used, for example, to command the robot s on-board pan-tilt unit to compensate for the camera motion induced by the base movement. This has been accomplished in two ways: first, a standalone head stabilizer has been implemented and second, the estimates have been used to influence the search algorithm of the stereo tracking algorithm. Studies of the image motion of a tracked object indicate that the image motion of objects is suppressed while the robot crossing rough terrain. This work expands the range of speed and surface roughness over which the robot should be able to track and follow a field geologist and accept arm gesture commands from the geologist.

  19. INTERNAL PROPER MOTIONS IN THE ESKIMO NEBULA

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

    García-Díaz, Ma. T.; Gutiérrez, L.; Steffen, W.

    We present measurements of internal proper motions at more than 500 positions of NGC 2392, the Eskimo Nebula, based on images acquired with WFPC2 on board the Hubble Space Telescope at two epochs separated by 7.695 yr. Comparisons of the two observations clearly show the expansion of the nebula. We measured the amplitude and direction of the motion of local structures in the nebula by determining their relative shift during that interval. In order to assess the potential uncertainties in the determination of proper motions in this object, in general, the measurements were performed using two different methods, used previously in themore » literature. We compare the results from the two methods, and to perform the scientific analysis of the results we choose one, the cross-correlation method, because it is more reliable. We go on to perform a ''criss-cross'' mapping analysis on the proper motion vectors, which helps in the interpretation of the velocity pattern. By combining our results of the proper motions with radial velocity measurements obtained from high resolution spectroscopic observations, and employing an existing 3D model, we estimate the distance to the nebula to be 1.3 kpc.« less

  20. Multicopter control with Navio using REX control system

    NASA Astrophysics Data System (ADS)

    Golembiovsky, Matej; Dedek, Jan; Ozana, Stepan

    2017-06-01

    This article deals with study of possible connection of the REXcontrols platform with Raspberry Pi based control system and Navio2 expansion board. This board is designed for development of autonomous robotic platforms type car, plane or multicopter. In this article, control system REXcontrols is introduced and its integration possibilities for control board Navio2 are discussed. The main discussed aspects are communication possibilities of the REXcontrols system with external scripts which further on allow control of this board. The main reasons for this undertaking are vast possibilities of archiving, visualization, signal processing and control which REXcontrols system allows. The control itself of the navio2 board is done through numerous interfaces. Specifically it is a pair of SPI data buses, an I2C data bus, UART and multiple GPIO pins. However, since REXcontrols control system has only limited access to these data buses, it is necessary to establish the communication through external scripts. For this purpose REXcontrols is equipped with mechanisms; SILO, EPC and REXLANG which are described in the article. Due to its simple implementation into REXcontrols and the option to utilize available libraries for communication with Navio2 board in external script, an EPC block was selected for the final implementation.

  1. Convective Influence and Transport Pathways Controlling the Tropical Distribution of Carbon Monoxide at 100 Hpa

    NASA Technical Reports Server (NTRS)

    Jensen, Eric; Bergman, John; Pfister, Leonard; Ueyama, Rei; Kinnison, Doug

    2014-01-01

    Trajectory calculations with convective influence diagnosed from geostationary-satellite cloud measurements are used to evaluate the relative importance of different Tropical Tropopause Layer (TTL) transport pathways for establishing the distribution of carbon monoxide (CO) at 100 hPa as observed by the Microwave Limb Sounder (MLS) on board the Aura satellite. Carbon monoxide is a useful tracer for investigating TTL transport and convective influence because the CO lifetime is comparable to the time require for slow ascent through the TTL (a couple of months). Offline calculations of TTL radiative heating are used to determine the vertical motion field. The simple trajectory model does a reasonable job of reproducing the MLS CO distributions during Boreal wintertime and summertime. The broad maximum in CO concentration over the Pacific is primarily a result of the strong radiative heating (indicating upward vertical motion) associated with the abundant TTL cirrus in this region. Sensitivity tests indicate that the distinct CO maximum in the Asian monsoon anticyclone is strongly impacted by extreme convective systems with detrainment of polluted air above 360 K potential temperature. The relative importance of different CO source regions will also be discussed.

  2. The American Society of Shoulder and Elbow Therapists' consensus statement on rehabilitation following arthroscopic rotator cuff repair.

    PubMed

    Thigpen, Charles A; Shaffer, Michael A; Gaunt, Bryce W; Leggin, Brian G; Williams, Gerald R; Wilcox, Reg B

    2016-04-01

    This is a consensus statement on rehabilitation developed by the American Society of Shoulder and Elbow Therapists. The purpose of this statement is to aid clinical decision making during the rehabilitation of patients after arthroscopic rotator cuff repair. The overarching philosophy of rehabilitation is centered on the principle of the gradual application of controlled stresses to the healing rotator cuff repair with consideration of rotator cuff tear size, tissue quality, and patient variables. This statement describes a rehabilitation framework that includes a 2-week period of strict immobilization and a staged introduction of protected, passive range of motion during weeks 2-6 postoperatively, followed by restoration of active range of motion, and then progressive strengthening beginning at postoperative week 12. When appropriate, rehabilitation continues with a functional progression for return to athletic or demanding work activities. This document represents the first consensus rehabilitation statement developed by a multidisciplinary society of international rehabilitation professionals specifically for the postoperative care of patients after arthroscopic rotator cuff repair. Copyright © 2016 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

  3. The Digital Motion Control System for the Submillimeter Array Antennas

    NASA Astrophysics Data System (ADS)

    Hunter, T. R.; Wilson, R. W.; Kimberk, R.; Leiker, P. S.; Patel, N. A.; Blundell, R.; Christensen, R. D.; Diven, A. R.; Maute, J.; Plante, R. J.; Riddle, P.; Young, K. H.

    2013-09-01

    We describe the design and performance of the digital servo and motion control system for the 6-meter parabolic antennas of the Submillimeter Array (SMA) on Mauna Kea, Hawaii. The system is divided into three nested layers operating at a different, appropriate bandwidth. (1) A rack-mounted, real-time Unix system runs the position loop which reads the high resolution azimuth and elevation encoders and sends velocity and acceleration commands at 100 Hz to a custom-designed servo control board (SCB). (2) The microcontroller-based SCB reads the motor axis tachometers and implements the velocity loop by sending torque commands to the motor amplifiers at 558 Hz. (3) The motor amplifiers implement the torque loop by monitoring and sending current to the three-phase brushless drive motors at 20 kHz. The velocity loop uses a traditional proportional-integral-derivative (PID) control algorithm, while the position loop uses only a proportional term and implements a command shaper based on the Gauss error function. Calibration factors and software filters are applied to the tachometer feedback prior to the application of the servo gains in the torque computations. All of these parameters are remotely adjustable in the software. The three layers of the control system monitor each other and are capable of shutting down the system safely if a failure or anomaly occurs. The Unix system continuously relays the antenna status to the central observatory computer via reflective memory. In each antenna, a Palm Vx hand controller displays the complete system status and allows full local control of the drives in an intuitive touchscreen user interface. The hand controller can also be connected outside the cabin, a major convenience during the frequent reconfigurations of the interferometer. Excellent tracking performance ( 0.3‧‧ rms) is achieved with this system. It has been in reliable operation on 8 antennas for over 10 years and has required minimal maintenance.

  4. A Remote Lab for Experiments with a Team of Mobile Robots

    PubMed Central

    Casini, Marco; Garulli, Andrea; Giannitrapani, Antonio; Vicino, Antonio

    2014-01-01

    In this paper, a remote lab for experimenting with a team of mobile robots is presented. Robots are built with the LEGO Mindstorms technology and user-defined control laws can be directly coded in the Matlab programming language and validated on the real system. The lab is versatile enough to be used for both teaching and research purposes. Students can easily go through a number of predefined mobile robotics experiences without having to worry about robot hardware or low-level programming languages. More advanced experiments can also be carried out by uploading custom controllers. The capability to have full control of the vehicles, together with the possibility to define arbitrarily complex environments through the definition of virtual obstacles, makes the proposed facility well suited to quickly test and compare different control laws in a real-world scenario. Moreover, the user can simulate the presence of different types of exteroceptive sensors on board of the robots or a specific communication architecture among the agents, so that decentralized control strategies and motion coordination algorithms can be easily implemented and tested. A number of possible applications and real experiments are presented in order to illustrate the main features of the proposed mobile robotics remote lab. PMID:25192316

  5. A remote lab for experiments with a team of mobile robots.

    PubMed

    Casini, Marco; Garulli, Andrea; Giannitrapani, Antonio; Vicino, Antonio

    2014-09-04

    In this paper, a remote lab for experimenting with a team of mobile robots is presented. Robots are built with the LEGO Mindstorms technology and user-defined control laws can be directly coded in the Matlab programming language and validated on the real system. The lab is versatile enough to be used for both teaching and research purposes. Students can easily go through a number of predefined mobile robotics experiences without having to worry about robot hardware or low-level programming languages. More advanced experiments can also be carried out by uploading custom controllers. The capability to have full control of the vehicles, together with the possibility to define arbitrarily complex environments through the definition of virtual obstacles, makes the proposed facility well suited to quickly test and compare different control laws in a real-world scenario. Moreover, the user can simulate the presence of different types of exteroceptive sensors on board of the robots or a specific communication architecture among the agents, so that decentralized control strategies and motion coordination algorithms can be easily implemented and tested. A number of possible applications and real experiments are presented in order to illustrate the main features of the proposed mobile robotics remote lab.

  6. Cinnarizine for Sea Sickness During a Remote Pacific Ocean Rescue Mission.

    PubMed

    Lyon, Regan F; Rush, Stephen C; Roland, J Thomas; Jethanamest, Daniel; Schwan, Christopher P; Kharon, Chetan U

    2015-01-01

    Motion sickness can be a limiting factor for sea and air missions. We report the experience of a Pararescue (PJ) team on a Pacific Ocean rescue mission in which motion sickness was prevalent. Cinnarizine, an antagonist of H1-histamine receptors, was used to treat affected PJs. We also report findings of a survey of PJs regarding motion sickness. A family of four on a disabled sailboat 900 miles off the coast of Mexico sent out a distress call because their 1-year-old daughter became severely ill with fever and diarrhea. Four PJs were deployed on a C-130, performed a free-fall parachute insertion into the ocean, and boarded the sailboat. All four PJs experienced onset of motion sickness at some point during the early part of the mission and symptoms persisted through the first 24 hours. Three PJs experienced ongoing nausea, vomiting, dizziness, and sensory imbalances. The captain of the sailboat offered the three sick PJs approximately 18mg of cinnarizine two or three times a day with relief of symptoms and improvement on operational effectiveness. A new, anonymous, voluntary survey of Air National Guard PJs and combat rescue officers revealed that 78.4% of Operators have experienced motion sickness at sea. We discuss the current theories on motion sickness, the effect of motion sickness on operational effectiveness, and research on treatment of motion sickness, including the medication cinnarizine. 2015.

  7. Two Solar Tornadoes Observed with the Interface Region Imaging Spectrograph

    NASA Astrophysics Data System (ADS)

    Yang, Zihao; Tian, Hui; Peter, Hardi; Su, Yang; Samanta, Tanmoy; Zhang, Jingwen; Chen, Yajie

    2018-01-01

    The barbs or legs of some prominences show an apparent motion of rotation, which are often termed solar tornadoes. It is under debate whether the apparent motion is a real rotating motion, or caused by oscillations or counter-streaming flows. We present analysis results from spectroscopic observations of two tornadoes by the Interface Region Imaging Spectrograph. Each tornado was observed for more than 2.5 hr. Doppler velocities are derived through a single Gaussian fit to the Mg II k 2796 Å and Si IV 1393 Å line profiles. We find coherent and stable redshifts and blueshifts adjacent to each other across the tornado axes, which appears to favor the interpretation of these tornadoes as rotating cool plasmas with temperatures of 104 K–105 K. This interpretation is further supported by simultaneous observations of the Atmospheric Imaging Assembly on board the Solar Dynamics Observatory, which reveal periodic motions of dark structures in the tornadoes. Our results demonstrate that spectroscopic observations can provide key information to disentangle different physical processes in solar prominences.

  8. Principal component analysis-based imaging angle determination for 3D motion monitoring using single-slice on-board imaging.

    PubMed

    Chen, Ting; Zhang, Miao; Jabbour, Salma; Wang, Hesheng; Barbee, David; Das, Indra J; Yue, Ning

    2018-04-10

    Through-plane motion introduces uncertainty in three-dimensional (3D) motion monitoring when using single-slice on-board imaging (OBI) modalities such as cine MRI. We propose a principal component analysis (PCA)-based framework to determine the optimal imaging plane to minimize the through-plane motion for single-slice imaging-based motion monitoring. Four-dimensional computed tomography (4DCT) images of eight thoracic cancer patients were retrospectively analyzed. The target volumes were manually delineated at different respiratory phases of 4DCT. We performed automated image registration to establish the 4D respiratory target motion trajectories for all patients. PCA was conducted using the motion information to define the three principal components of the respiratory motion trajectories. Two imaging planes were determined perpendicular to the second and third principal component, respectively, to avoid imaging with the primary principal component of the through-plane motion. Single-slice images were reconstructed from 4DCT in the PCA-derived orthogonal imaging planes and were compared against the traditional AP/Lateral image pairs on through-plane motion, residual error in motion monitoring, absolute motion amplitude error and the similarity between target segmentations at different phases. We evaluated the significance of the proposed motion monitoring improvement using paired t test analysis. The PCA-determined imaging planes had overall less through-plane motion compared against the AP/Lateral image pairs. For all patients, the average through-plane motion was 3.6 mm (range: 1.6-5.6 mm) for the AP view and 1.7 mm (range: 0.6-2.7 mm) for the Lateral view. With PCA optimization, the average through-plane motion was 2.5 mm (range: 1.3-3.9 mm) and 0.6 mm (range: 0.2-1.5 mm) for the two imaging planes, respectively. The absolute residual error of the reconstructed max-exhale-to-inhale motion averaged 0.7 mm (range: 0.4-1.3 mm, 95% CI: 0.4-1.1 mm) using optimized imaging planes, averaged 0.5 mm (range: 0.3-1.0 mm, 95% CI: 0.2-0.8 mm) using an imaging plane perpendicular to the minimal motion component only and averaged 1.3 mm (range: 0.4-2.8 mm, 95% CI: 0.4-2.3 mm) in AP/Lateral orthogonal image pairs. The root-mean-square error of reconstructed displacement was 0.8 mm for optimized imaging planes, 0.6 mm for imaging plane perpendicular to the minimal motion component only, and 1.6 mm for AP/Lateral orthogonal image pairs. When using the optimized imaging planes for motion monitoring, there was no significant absolute amplitude error of the reconstructed motion (P = 0.0988), while AP/Lateral images had significant error (P = 0.0097) with a paired t test. The average surface distance (ASD) between overlaid two-dimensional (2D) tumor segmentation at end-of-inhale and end-of-exhale for all eight patients was 0.6 ± 0.2 mm in optimized imaging planes and 1.4 ± 0.8 mm in AP/Lateral images. The Dice similarity coefficient (DSC) between overlaid 2D tumor segmentation at end-of-inhale and end-of-exhale for all eight patients was 0.96 ± 0.03 in optimized imaging planes and 0.89 ± 0.05 in AP/Lateral images. Both ASD (P = 0.034) and DSC (P = 0.022) were significantly improved in the optimized imaging planes. Motion monitoring using imaging planes determined by the proposed PCA-based framework had significantly improved performance. Single-slice image-based motion tracking can be used for clinical implementations such as MR image-guided radiation therapy (MR-IGRT). © 2018 American Association of Physicists in Medicine.

  9. Multi-camera sensor system for 3D segmentation and localization of multiple mobile robots.

    PubMed

    Losada, Cristina; Mazo, Manuel; Palazuelos, Sira; Pizarro, Daniel; Marrón, Marta

    2010-01-01

    This paper presents a method for obtaining the motion segmentation and 3D localization of multiple mobile robots in an intelligent space using a multi-camera sensor system. The set of calibrated and synchronized cameras are placed in fixed positions within the environment (intelligent space). The proposed algorithm for motion segmentation and 3D localization is based on the minimization of an objective function. This function includes information from all the cameras, and it does not rely on previous knowledge or invasive landmarks on board the robots. The proposed objective function depends on three groups of variables: the segmentation boundaries, the motion parameters and the depth. For the objective function minimization, we use a greedy iterative algorithm with three steps that, after initialization of segmentation boundaries and depth, are repeated until convergence.

  10. Using Simple Machines to Leverage Learning

    ERIC Educational Resources Information Center

    Dotger, Sharon

    2008-01-01

    What would your students say if you told them they could lift you off the ground using a block and a board? Using a simple machine, they'll find out they can, and they'll learn about work, energy, and motion in the process! In addition, this integrated lesson gives students the opportunity to investigate variables while practicing measurement…

  11. 12 CFR 622.106 - Service of subpoena and payment of witness fees.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... courts of the United States. The fees and mileage need not be tendered at the time a subpoena is served. (b) Motions to quash. Any person to whom a subpoena is directed may, prior to the time specified... Board, determines in his, her, or its discretion, to be just, reasonable, and proper. ...

  12. 47 CFR 1.113 - Action modified or set aside by person, panel, or board.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... the action may modify or set it aside on its own motion. (b) Within 60 days after notice of any... 47 Telecommunication 1 2011-10-01 2011-10-01 false Action modified or set aside by person, panel... AND PROCEDURE General Rules of Practice and Procedure Reconsideration and Review of Actions Taken by...

  13. 47 CFR 1.113 - Action modified or set aside by person, panel, or board.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... the action may modify or set it aside on its own motion. (b) Within 60 days after notice of any... 47 Telecommunication 1 2010-10-01 2010-10-01 false Action modified or set aside by person, panel... AND PROCEDURE General Rules of Practice and Procedure Reconsideration and Review of Actions Taken by...

  14. When Does Tool Use Become Distinctively Human? Hammering in Young Children

    ERIC Educational Resources Information Center

    Kahrs, Björn Alexander; Jung, Wendy P.; Lockman, Jeffrey J.

    2014-01-01

    This study examines the development of hammering within an ontogenetic and evolutionary framework using motion-capture technology. Twenty-four right-handed toddlers (19-35 months) wore reflective markers while hammering a peg into a peg-board. The study focuses on the motor characteristics that make tool use uniquely human: wrist involvement,…

  15. Lightweight Helmet For Eye/Balance Studies

    NASA Technical Reports Server (NTRS)

    Mcstravick, M. Catherine; Proctor, David R.; Wood, Scott J.

    1988-01-01

    Lightweight helmet serves as mounting platform for stimulus and sensor modules in experiments on role of vestibulo-ocular reflex in motion sickness and space-adaptation syndrome. Fitted liner and five inflatable air bladders stabilize helmet with respect to subject's head. Personal bite board attached to chin-bar assembly makes hard palate in subject's mouth serve as final position reference for helmet.

  16. On the Shoulders of Sir Isaac Newton and Arthur Storer

    ERIC Educational Resources Information Center

    Martin, Helen E.; Evans-Gondo, Bonita

    2013-01-01

    Helen E. Martin, the author of this article, is a retired National Board Certified Teacher who has been researching Sir Isaac Newton's unpublished manuscripts for over three decades. While researching the work of Newton, a teacher she was mentoring asked for some hands-on activities to study planetary motion. The description of the activity…

  17. 29 CFR 102.22 - Extension of time for filing.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 29 Labor 2 2010-07-01 2010-07-01 false Extension of time for filing. 102.22 Section 102.22 Labor Regulations Relating to Labor NATIONAL LABOR RELATIONS BOARD RULES AND REGULATIONS, SERIES 8 Procedure Under... of time for filing. Upon his own motion or upon proper cause shown by any other party the regional...

  18. 29 CFR 102.22 - Extension of time for filing.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 29 Labor 2 2013-07-01 2013-07-01 false Extension of time for filing. 102.22 Section 102.22 Labor Regulations Relating to Labor NATIONAL LABOR RELATIONS BOARD RULES AND REGULATIONS, SERIES 8 Procedure Under... of time for filing. Upon his own motion or upon proper cause shown by any other party the regional...

  19. 29 CFR 102.22 - Extension of time for filing.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 29 Labor 2 2012-07-01 2012-07-01 false Extension of time for filing. 102.22 Section 102.22 Labor Regulations Relating to Labor NATIONAL LABOR RELATIONS BOARD RULES AND REGULATIONS, SERIES 8 Procedure Under... of time for filing. Upon his own motion or upon proper cause shown by any other party the regional...

  20. 29 CFR 102.22 - Extension of time for filing.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 29 Labor 2 2014-07-01 2014-07-01 false Extension of time for filing. 102.22 Section 102.22 Labor Regulations Relating to Labor NATIONAL LABOR RELATIONS BOARD RULES AND REGULATIONS, SERIES 8 Procedure Under... of time for filing. Upon his own motion or upon proper cause shown by any other party the regional...

  1. 29 CFR 102.22 - Extension of time for filing.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 29 Labor 2 2011-07-01 2011-07-01 false Extension of time for filing. 102.22 Section 102.22 Labor Regulations Relating to Labor NATIONAL LABOR RELATIONS BOARD RULES AND REGULATIONS, SERIES 8 Procedure Under... of time for filing. Upon his own motion or upon proper cause shown by any other party the regional...

  2. 75 FR 11224 - VFRC, LLC-Acquisition Exemption-Union Pacific Railroad Company

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-03-10

    ... the process of finalizing a Line Sale Contract with UP, pursuant to which UP will: (1) Convey to VFRC... jurisdiction over the involved purchase. If such a motion is filed, it will be addressed in a subsequent Board decision. VFRC certifies that its projected annual revenues as a result of the transaction will not exceed...

  3. Politics of Decision Making in Relation to Education in Comparative Perspective, Unity and Diversity as a Problem. Centralization and Decentralization in Decision Making: The Lay Board of Control.

    ERIC Educational Resources Information Center

    Pfnister, Allan O.

    The evolution and role of the lay board of control (trustees, directors) of higher educational institutions and the part the board has played or may play in maintaining diversity in the American system are examined. The evolution of the lay board in the United States and in the United Kingdom is described. The lay board has become "the…

  4. An active balance board system with real-time control of stiffness and time-delay to assess mechanisms of postural stability.

    PubMed

    Cruise, Denise R; Chagdes, James R; Liddy, Joshua J; Rietdyk, Shirley; Haddad, Jeffrey M; Zelaznik, Howard N; Raman, Arvind

    2017-07-26

    Increased time-delay in the neuromuscular system caused by neurological disorders, concussions, or advancing age is an important factor contributing to balance loss (Chagdes et al., 2013, 2016a,b). We present the design and fabrication of an active balance board system that allows for a systematic study of stiffness and time-delay induced instabilities in standing posture. Although current commercial balance boards allow for variable stiffness, they do not allow for manipulation of time-delay. Having two controllable parameters can more accurately determine the cause of balance deficiencies, and allows us to induce instabilities even in healthy populations. An inverted pendulum model of human posture on such an active balance board predicts that reduced board rotational stiffness destabilizes upright posture through board tipping, and limit cycle oscillations about the upright position emerge as feedback time-delay is increased. We validate these two mechanisms of instability on the designed balance board, showing that rotational stiffness and board time-delay induced the predicted postural instabilities in healthy, young adults. Although current commercial balance boards utilize control of rotational stiffness, real-time control of both stiffness and time-delay on an active balance board is a novel and innovative manipulation to reveal balance deficiencies and potentially improve individualized balance training by targeting multiple dimensions contributing to standing balance. Copyright © 2017 Elsevier Ltd. All rights reserved.

  5. Development of a Wearable Controller for Gesture-Recognition-Based Applications Using Polyvinylidene Fluoride.

    PubMed

    Van Volkinburg, Kyle; Washington, Gregory

    2017-08-01

    This paper reports on a wearable gesture-based controller fabricated using the sensing capabilities of the flexible thin-film piezoelectric polymer polyvinylidene fluoride (PVDF) which is shown to repeatedly and accurately discern, in real time, between right and left hand gestures. The PVDF is affixed to a compression sleeve worn on the forearm to create a wearable device that is flexible, adaptable, and highly shape conforming. Forearm muscle movements, which drive hand motions, are detected by the PVDF which outputs its voltage signal to a developed microcontroller-based board and processed by an artificial neural network that was trained to recognize the generated voltage profile of right and left hand gestures. The PVDF has been spatially shaded (etched) in such a way as to increase sensitivity to expected deformations caused by the specific muscles employed in making the targeted right and left gestures. The device proves to be exceptionally accurate both when positioned as intended and when rotated and translated on the forearm.

  6. The real-time learning mechanism of the Scientific Research Associates Advanced Robotic System (SRAARS)

    NASA Technical Reports Server (NTRS)

    Chen, Alexander Y.

    1990-01-01

    Scientific research associates advanced robotic system (SRAARS) is an intelligent robotic system which has autonomous learning capability in geometric reasoning. The system is equipped with one global intelligence center (GIC) and eight local intelligence centers (LICs). It controls mainly sixteen links with fourteen active joints, which constitute two articulated arms, an extensible lower body, a vision system with two CCD cameras and a mobile base. The on-board knowledge-based system supports the learning controller with model representations of both the robot and the working environment. By consecutive verifying and planning procedures, hypothesis-and-test routines and learning-by-analogy paradigm, the system would autonomously build up its own understanding of the relationship between itself (i.e., the robot) and the focused environment for the purposes of collision avoidance, motion analysis and object manipulation. The intelligence of SRAARS presents a valuable technical advantage to implement robotic systems for space exploration and space station operations.

  7. Quadcopter Control Using Speech Recognition

    NASA Astrophysics Data System (ADS)

    Malik, H.; Darma, S.; Soekirno, S.

    2018-04-01

    This research reported a comparison from a success rate of speech recognition systems that used two types of databases they were existing databases and new databases, that were implemented into quadcopter as motion control. Speech recognition system was using Mel frequency cepstral coefficient method (MFCC) as feature extraction that was trained using recursive neural network method (RNN). MFCC method was one of the feature extraction methods that most used for speech recognition. This method has a success rate of 80% - 95%. Existing database was used to measure the success rate of RNN method. The new database was created using Indonesian language and then the success rate was compared with results from an existing database. Sound input from the microphone was processed on a DSP module with MFCC method to get the characteristic values. Then, the characteristic values were trained using the RNN which result was a command. The command became a control input to the single board computer (SBC) which result was the movement of the quadcopter. On SBC, we used robot operating system (ROS) as the kernel (Operating System).

  8. SOLARTRAK. Solar Array Tracking Control

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

    Manish, A.B.; Dudley, J.

    1995-06-01

    SolarTrak used in conjunction with various versions of 68HC11-based SolarTrack hardware boards provides control system for one or two axis solar tracking arrays. Sun position is computed from stored position data and time from an on-board clock/calendar chip. Position feedback can be by one or two offset motor turn counter square wave signals per axis, or by a position potentiometer. A limit of 256 counts resolution is imposed by the on-board analog to digital (A/D) convertor. Control is provided for one or two motors. Numerous options are provided to customize the controller for specific applications. Some options are imposed atmore » compile time, some are setable during operation. Software and hardware board designs are provided for Control Board and separate User Interface Board that accesses and displays variables from Control Board. Controller can be used with range of sensor options ranging from a single turn count sensor per motor to systems using dual turn-count sensors, limit sensors, and a zero reference sensor. Dual axis trackers oriented azimuth elevation, east west, north south, or polar declination can be controlled. Misalignments from these orientations can also be accommodated. The software performs a coordinate transformation using six parameters to compute sun position in misaligned coordinates of the tracker. Parameters account for tilt of tracker in two directions, rotation about each axis, and gear ration errors in each axis. The software can even measure and compute these prameters during an initial setup period if current from a sun position sensor or output from photovoltaic array is available as an anlog voltage to the control board`s A/D port. Wind or emergency stow to aj present position is available triggered by digital or analog signals. Night stow is also available. Tracking dead band is adjustable from narrow to wide. Numerous features of the hardware and software conserve energy for use with battery powered systems.« less

  9. Solar Array Tracking Control

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

    Maish, Alexander

    1995-06-22

    SolarTrak used in conjunction with various versions of 68HC11-based SolarTrack hardware boards provides control system for one or two axis solar tracking arrays. Sun position is computed from stored position data and time from an on-board clock/calendar chip. Position feedback can be by one or two offset motor turn counter square wave signals per axis, or by a position potentiometer. A limit of 256 counts resolution is imposed by the on-board analog to digital (A/D) convertor. Control is provided for one or two motors. Numerous options are provided to customize the controller for specific applications. Some options are imposed atmore » compile time, some are setable during operation. Software and hardware board designs are provided for Control Board and separate User Interface Board that accesses and displays variables from Control Board. Controller can be used with range of sensor options ranging from a single turn count sensor per motor to systems using dual turn-count sensors, limit sensors, and a zero reference sensor. Dual axis trackers oriented azimuth elevation, east west, north south, or polar declination can be controlled. Misalignments from these orientations can also be accommodated. The software performs a coordinate transformation using six parameters to compute sun position in misaligned coordinates of the tracker. Parameters account for tilt of tracker in two directions, rotation about each axis, and gear ration errors in each axis. The software can even measure and compute these prameters during an initial setup period if current from a sun position sensor or output from photovoltaic array is available as an anlog voltage to the control board''s A/D port. Wind or emergency stow to aj present position is available triggered by digital or analog signals. Night stow is also available. Tracking dead band is adjustable from narrow to wide. Numerous features of the hardware and software conserve energy for use with battery powered systems.« less

  10. Who Controls the Board in Non-Profit Organizations? The Case of Private Higher Education Institutions in Colombia

    ERIC Educational Resources Information Center

    Bradford, Henry; Guzmán, Alexander; Restrepo, José Manuel; Trujillo, María-Andrea

    2018-01-01

    How should the governance system in a non-membership non-profit organization be designed? This organizational form has no shareholders; instead, donors provide funds. Thus, at the organizational level, the board of directors could have all the power. Under this legal form, who controls the board? If too powerful, boards could misuse resources or…

  11. Considering chance in quality and safety performance measures: an analysis of performance reports by boards in English NHS trusts.

    PubMed

    Schmidtke, Kelly Ann; Poots, Alan J; Carpio, Juan; Vlaev, Ivo; Kandala, Ngianga-Bakwin; Lilford, Richard J

    2017-01-01

    Hospital board members are asked to consider large amounts of quality and safety data with a duty to act on signals of poor performance. However, in order to do so it is necessary to distinguish signals from noise (chance). This article investigates whether data in English National Health Service (NHS) acute care hospital board papers are presented in a way that helps board members consider the role of chance in their decisions. Thirty English NHS trusts were selected at random and their board papers retrieved. Charts depicting quality and safety were identified. Categorical discriminations were then performed to document the methods used to present quality and safety data in board papers, with particular attention given to whether and how the charts depicted the role of chance, that is, by including control lines or error bars. Thirty board papers, containing a total of 1488 charts, were sampled. Only 88 (6%) of these charts depicted the role of chance, and only 17 of the 30 board papers included any charts depicting the role of chance. Of the 88 charts that attempted to represent the role of chance, 16 included error bars and 72 included control lines. Only 6 (8%) of the 72 control charts indicated where the control lines had been set (eg, 2 vs 3 SDs). Hospital board members are expected to consider large amounts of information. Control charts can help board members distinguish signals from noise, but often boards are not using them. We discuss demand-side and supply-side barriers that could be overcome to increase use of control charts in healthcare. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/.

  12. Hospital power structure and the democratization of hospital administration in Quebec.

    PubMed

    Eakin, J M

    1984-01-01

    In 1973, the Canadian Province of Quebec 'democratized' its hospital boards of directors by replacing the previous 'elite' boards by boards representative of the hospitals' major interest groups. This study looks at the impact of these participatory boards on the distribution of power within hospitals, particularly their effect on the hospital administrators' position of control in relation to their boards of directors and medical staff. Findings include a deterioration in the administrators' sense of organizational control, a weakening of the boards' authority over physicians, and a concentration of decision-making outside of the boardroom.

  13. TH-EF-BRA-08: A Novel Technique for Estimating Volumetric Cine MRI (VC-MRI) From Multi-Slice Sparsely Sampled Cine Images Using Motion Modeling and Free Form Deformation

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

    Harris, W; Yin, F; Wang, C

    Purpose: To develop a technique to estimate on-board VC-MRI using multi-slice sparsely-sampled cine images, patient prior 4D-MRI, motion-modeling and free-form deformation for real-time 3D target verification of lung radiotherapy. Methods: A previous method has been developed to generate on-board VC-MRI by deforming prior MRI images based on a motion model(MM) extracted from prior 4D-MRI and a single-slice on-board 2D-cine image. In this study, free-form deformation(FD) was introduced to correct for errors in the MM when large anatomical changes exist. Multiple-slice sparsely-sampled on-board 2D-cine images located within the target are used to improve both the estimation accuracy and temporal resolution ofmore » VC-MRI. The on-board 2D-cine MRIs are acquired at 20–30frames/s by sampling only 10% of the k-space on Cartesian grid, with 85% of that taken at the central k-space. The method was evaluated using XCAT(computerized patient model) simulation of lung cancer patients with various anatomical and respirational changes from prior 4D-MRI to onboard volume. The accuracy was evaluated using Volume-Percent-Difference(VPD) and Center-of-Mass-Shift(COMS) of the estimated tumor volume. Effects of region-of-interest(ROI) selection, 2D-cine slice orientation, slice number and slice location on the estimation accuracy were evaluated. Results: VCMRI estimated using 10 sparsely-sampled sagittal 2D-cine MRIs achieved VPD/COMS of 9.07±3.54%/0.45±0.53mm among all scenarios based on estimation with ROI-MM-ROI-FD. The FD optimization improved estimation significantly for scenarios with anatomical changes. Using ROI-FD achieved better estimation than global-FD. Changing the multi-slice orientation to axial, coronal, and axial/sagittal orthogonal reduced the accuracy of VCMRI to VPD/COMS of 19.47±15.74%/1.57±2.54mm, 20.70±9.97%/2.34±0.92mm, and 16.02±13.79%/0.60±0.82mm, respectively. Reducing the number of cines to 8 enhanced temporal resolution of VC-MRI by 25% while maintaining the estimation accuracy. Estimation using slices sampled uniformly through the tumor achieved better accuracy than slices sampled non-uniformly. Conclusions: Preliminary studies showed that it is feasible to generate VC-MRI from multi-slice sparsely-sampled 2D-cine images for real-time 3D-target verification. This work was supported by the National Institutes of Health under Grant No. R01-CA184173 and a research grant from Varian Medical Systems.« less

  14. Development and Control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)

    NASA Astrophysics Data System (ADS)

    Porter, Robert D.

    2002-09-01

    The objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS) The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control, The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment, It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control, A 'star sensor' CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle, The on-board computer system leverages PXI technology and a single source, simplifying systems integration, The vehicle is powered by two lead-acid batteries for completely autonomous operation, A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location and rotation angle,

  15. On-board congestion control for satellite packet switching networks

    NASA Technical Reports Server (NTRS)

    Chu, Pong P.

    1991-01-01

    It is desirable to incorporate packet switching capability on-board for future communication satellites. Because of the statistical nature of packet communication, incoming traffic fluctuates and may cause congestion. Thus, it is necessary to incorporate a congestion control mechanism as part of the on-board processing to smooth and regulate the bursty traffic. Although there are extensive studies on congestion control for both baseband and broadband terrestrial networks, these schemes are not feasible for space based switching networks because of the unique characteristics of satellite link. Here, we propose a new congestion control method for on-board satellite packet switching. This scheme takes into consideration the long propagation delay in satellite link and takes advantage of the the satellite's broadcasting capability. It divides the control between the ground terminals and satellite, but distributes the primary responsibility to ground terminals and only requires minimal hardware resource on-board satellite.

  16. Separation and Recovery of Fine Particles from Waste Circuit Boards Using an Inflatable Tapered Diameter Separation Bed

    PubMed Central

    Sheng, Cheng; Wu, Lingling; Zhao, Yuemin; He, Jinfeng; Zhou, Enhui

    2014-01-01

    Recovering particle materials from discarded printed circuit boards can enhance resource recycling and reduce environmental pollution. Efficiently physically separating and recovering fine metal particles (−0.5 mm) from the circuit boards are a key recycling challenge. To do this, a new type of separator, an inflatable tapered diameter separation bed, was developed to study particle motion and separation mechanisms in the bed's fluid flow field. For 0.5–0.25 mm circuit board particles, metal recovery rates ranged from 87.56 to 94.17%, and separation efficiencies ranged from 87.71 to 94.20%. For 0.25–0.125 mm particles, metal recovery rates ranged from 84.76 to 91.97%, and separation efficiencies ranged from 84.74 to 91.86%. For superfine products (−0.125 mm), metal recovery rates ranged from 73.11 to 83.04%, and separation efficiencies ranged from 73.00 to 83.14%. This research showed that the inflatable tapered diameter separation bed achieved efficient particle separation and can be used to recover fine particles under a wide range of operational conditions. The bed offers a new mechanical technology to recycle valuable materials from discarded printed circuit boards, reducing environmental pollution. PMID:25379546

  17. RoboGlove - A Robonaut Derived Multipurpose Assistive Device

    NASA Technical Reports Server (NTRS)

    Diftler, Myron; Ihrke, C. A.; Bridgwater, L. B.; Davis, D. R.; Linn, D. M.; Laske, E. A.; Ensley, K. G.; Lee, J. H.

    2014-01-01

    The RoboGlove is an assistive device that can augment human strength, endurance or provide directed motion for use in rehabilitation. RoboGlove is a spinoff of the highly successful Robonaut 2 (R2) system developed as part of a partnership between General Motors and NASA. This extremely lightweight device employs an actuator system based on the R2 finger drive system to transfer part or the entire grasp load from human tendons to artificial ones contained in the glove. Steady state loads ranging from 15 to 20 lbs. and peaks approaching 50 lbs. are achievable. The technology holds great promise for use with space suit gloves to reduce fatigue during space walks. Tactile sensing, miniaturized electronics, and on-board processing provide sufficient flexibility for applications in many industries. The following describes the design, mechanical/electrical integration, and control features of the glove.

  18. Soft Actuators for Small-Scale Robotics.

    PubMed

    Hines, Lindsey; Petersen, Kirstin; Lum, Guo Zhan; Sitti, Metin

    2017-04-01

    This review comprises a detailed survey of ongoing methodologies for soft actuators, highlighting approaches suitable for nanometer- to centimeter-scale robotic applications. Soft robots present a special design challenge in that their actuation and sensing mechanisms are often highly integrated with the robot body and overall functionality. When less than a centimeter, they belong to an even more special subcategory of robots or devices, in that they often lack on-board power, sensing, computation, and control. Soft, active materials are particularly well suited for this task, with a wide range of stimulants and a number of impressive examples, demonstrating large deformations, high motion complexities, and varied multifunctionality. Recent research includes both the development of new materials and composites, as well as novel implementations leveraging the unique properties of soft materials. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  19. Selecting the Parameters of the Orientation Engine for a Technological Spacecraft

    NASA Astrophysics Data System (ADS)

    Belousov, A. I.; Sedelnikov, A. V.

    2018-01-01

    This work provides a solution to the issues of providing favorable conditions for carrying out gravitationally sensitive technological processes on board a spacecraft. It is noted that an important role is played by the optimal choice of the orientation system of the spacecraft and the main parameters of the propulsion system as the most important executive organ of the system of orientation and control of the orbital motion of the spacecraft. Advantages and disadvantages of two different orientation systems are considered. One of them assumes the periodic impulsive inclusion of a low thrust liquid rocket engines, the other is based on the continuous operation of the executing elements. A conclusion is drawn on the need to take into account the composition of gravitationally sensitive processes when choosing the orientation system of the spacecraft.

  20. Development of an ATCA IPMI controller mezzanine board to be used in the ATCA developments for the ATLAS Liquid Argon upgrade

    NASA Astrophysics Data System (ADS)

    Dumont Dayot, Nicolas

    2012-01-01

    In the context of the LHC upgrade, we develop a new Read Out Driver (ROD) for the ATLAS Liquid Argon (LAr) community. ATCA and μTCA (Advanced/Micro Telecom Computing Architecture) is becoming a standard in high energy physics and a strong candidate to be used for boards and crates. We work to master ATCA and to integrate a large number of high speed links (96 links at 8.5 Gbps) on a ROD evaluation ATCA board. A versatile ATCA IPMI controller for ATCA boards which is FPGA Mezzanine Card (FMC) compliant has been developed to control the ROD evaluation board.

  1. Realtime motion planning for a mobile robot in an unknown environment using a neurofuzzy based approach

    NASA Astrophysics Data System (ADS)

    Zheng, Taixiong

    2005-12-01

    A neuro-fuzzy network based approach for robot motion in an unknown environment was proposed. In order to control the robot motion in an unknown environment, the behavior of the robot was classified into moving to the goal and avoiding obstacles. Then, according to the dynamics of the robot and the behavior character of the robot in an unknown environment, fuzzy control rules were introduced to control the robot motion. At last, a 6-layer neuro-fuzzy network was designed to merge from what the robot sensed to robot motion control. After being trained, the network may be used for robot motion control. Simulation results show that the proposed approach is effective for robot motion control in unknown environment.

  2. U-PHOS Project: Development of a Large Diameter Pulsating Heat Pipe Experiment on board REXUS 22

    NASA Astrophysics Data System (ADS)

    Nannipieri, P.; Anichini, M.; Barsocchi, L.; Becatti, G.; Buoni, L.; Celi, F.; Catarsi, A.; Di Giorgio, P.; Fattibene, P.; Ferrato, E.; Guardati, P.; Mancini, E.; Meoni, G.; Nesti, F.; Piacquadio, S.; Pratelli, E.; Quadrelli, L.; Viglione, A. S.; Zanaboni, F.; Mameli, M.; Baronti, F.; Fanucci, L.; Marcuccio, S.; Bartoli, C.; Di Marco, P.; Bianco, N.; Marengo, M.; Filippeschi, S.

    2017-01-01

    U-PHOS Project aims at analysing and characterising the behaviour of a large diameter Pulsating Heat Pipe (PHP) on board REXUS 22 sounding rocket. A PHP is a passive thermal control device where the heat is efficiently transported by means of the self-sustained oscillatory fluid motion driven by the phase change phenomena. Since, in milli-gravity conditions, buoyancy forces become less intense, the PHP diameter may be increased still maintaining the slug/plug typical flow pattern. Consequently, the PHP heat power capability may be increased too. U-PHOS aims at proving that a large diameter PHP effectively works in milli-g conditions by characterizing its thermal response during a sounding rocket flight. The actual PHP tube is made of aluminum (3 mm inner diameter, filled with FC-72), heated at the evaporator by a compact electrical resistance, cooled at the condenser by a Phase Change Material (PCM) embedded in a metallic foam. The tube wall temperatures are recorded by means of Fibre Bragg Grating (FBG) sensors; the local fluid pressure is acquired by means of a pressure transducer. The present work intends to report the actual status of the project, focusing in particular on the experiment improvements with respect to the previous campaign.

  3. ANKLE JOINT CONTROL DURING SINGLE-LEGGED BALANCE USING COMMON BALANCE TRAINING DEVICES – IMPLICATIONS FOR REHABILITATION STRATEGIES

    PubMed Central

    Strøm, Mark; Thorborg, Kristian; Bandholm, Thomas; Tang, Lars; Zebis, Mette; Nielsen, Kristian

    2016-01-01

    ABSTRACT Background A lateral ankle sprain is the most prevalent musculoskeletal injury in sports. Exercises that aim to improve balance are a standard part of the ankle rehabilitation process. In an optimal progression model for ankle rehabilitation and prevention of future ankle sprains, it is important to characterize different balance exercises based on level of difficulty and sensori-motor training stimulus. Purpose The purpose of this study was to investigate frontal-plane ankle kinematics and associated peroneal muscle activity during single-legged balance on stable surface (floor) and three commonly used balance devices (Airex®, BOSU® Ball and wobble board). Design Descriptive exploratory laboratory study. Methods Nineteen healthy subjects performed single-legged balance with eyes open on an Airex® mat, BOSU® Ball, wobble board, and floor (reference condition). Ankle kinematics were measured using reflective markers and 3-dimensional recordings and expressed as inversion-eversion range of motion variability, peak velocity of inversion and number of inversion-eversion direction changes. Peroneus longus EMG activity was averaged and normalized to maximal activity during maximum voluntary contraction (MVC), and in addition amplitude probability distribution function (APDF) between 90 and 10% was calculated as a measure of muscle activation variability. Results Balancing on BOSU® Ball and wobble board generally resulted in increased ankle kinematic and muscle activity variables, compared to the other surfaces. BOSU® Ball was the most challenging in terms of inversion-eversion variability while wobble board was associated with a higher number of inversion-eversion direction changes. No differences in average muscle activation level were found between these two surfaces, but the BOSU® Ball did show a more variable activation pattern in terms of APDF. Conclusion The results showed large kinematic variability among different balance training devices and these differences are also reflected in muscle activation variability. The two most challenging devices were BOSU® Ball and Wobble board compared to Airex® and floor. This study can serve as guidance for clinicians who wish to implement a gradual progression of ankle rehabilitation and prevention exercises by taking the related ankle kinematics and muscle activity into account. Level of Evidence Level 3 PMID:27274425

  4. Design and Verification of a Digital Controller for a 2-Piece Hemispherical Resonator Gyroscope.

    PubMed

    Lee, Jungshin; Yun, Sung Wook; Rhim, Jaewook

    2016-04-20

    A Hemispherical Resonator Gyro (HRG) is the Coriolis Vibratory Gyro (CVG) that measures rotation angle or angular velocity using Coriolis force acting the vibrating mass. A HRG can be used as a rate gyro or integrating gyro without structural modification by simply changing the control scheme. In this paper, differential control algorithms are designed for a 2-piece HRG. To design a precision controller, the electromechanical modelling and signal processing must be pre-performed accurately. Therefore, the equations of motion for the HRG resonator with switched harmonic excitations are derived with the Duhamel Integral method. Electromechanical modeling of the resonator, electric module and charge amplifier is performed by considering the mode shape of a thin hemispherical shell. Further, signal processing and control algorithms are designed. The multi-flexing scheme of sensing, driving cycles and x, y-axis switching cycles is appropriate for high precision and low maneuverability systems. The differential control scheme is easily capable of rejecting the common mode errors of x, y-axis signals and changing the rate integrating mode on basis of these studies. In the rate gyro mode the controller is composed of Phase-Locked Loop (PLL), amplitude, quadrature and rate control loop. All controllers are designed on basis of a digital PI controller. The signal processing and control algorithms are verified through Matlab/Simulink simulations. Finally, a FPGA and DSP board with these algorithms is verified through experiments.

  5. Control of submersible vortex flows

    NASA Technical Reports Server (NTRS)

    Bushnell, D. M.; Donaldson, C. D.

    1990-01-01

    Vortex flows produced by submersibles typically unfavorably influence key figures of merit such as acoustic and nonacoustic stealth, control effectiveness/maneuverability, and propulsor efficiency/body drag. Sources of such organized, primarily longitudinal, vorticity include the basic body (nose and sides) and appendages (both base/intersection and tip regions) such as the fairwater, dive planes, rear control surfaces, and propulsor stators/tips. Two fundamentally different vortex control approaches are available: (1) deintensification of the amplitude and/or organization of the vortex during its initiation process; and (2) downstream vortex disablement. Vortex control techniques applicable to the initiation region (deintensification approach) include transverse pressure gradient minimization via altered body cross section, appendage dillets, fillets, and sweep, and various appendage tip and spanload treatment along with the use of active controls to minimize control surface size and motions. Vortex disablement can be accomplished either via use of control vortices (which can also be used to steer the vortices off-board), direct unwinding, inducement of vortex bursting, or segmentation/tailoring for enhanced dissipation. Submersible-applicable vortex control technology is also included derived from various aeronautical applications such as mitigation of the wing wake vortex hazard and flight aircraft maneuverability at high angle of attack as well as the status of vortex effects upon, and mitigation of, nonlinear control forces on submersibles. Specific suggestions for submersible-applicable vortex control techniques are presented.

  6. A joint resolution providing for congressional disapproval under chapter 8 of title 5, United States Code, of the rule submitted by the National Mediation Board relating to representation election procedures.

    THOMAS, 111th Congress

    Sen. Isakson, Johnny [R-GA

    2010-05-11

    Senate - 09/23/2010 Motion to proceed to consideration of measure rejected in Senate by Yea-Nay Vote. 43 - 56. Record Vote Number: 239. (All Actions) Tracker: This bill has the status IntroducedHere are the steps for Status of Legislation:

  7. 33 CFR 210.4 - Rules of the Corps of Engineers Board of Contract Appeals for cases not subject to the Contract...

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... order of appeals and other pertinent factors. On request or motion by either party and upon good cause... thereof. (x) Rule 23, Post hearing briefs—(1) General. Briefs must be compact, concise, logically arranged... be dismissed with prejudice. (gg) Rule 32, Ex Parte communications. No Administrative Judge or member...

  8. 33 CFR 210.4 - Rules of the Corps of Engineers Board of Contract Appeals for cases not subject to the Contract...

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... order of appeals and other pertinent factors. On request or motion by either party and upon good cause... thereof. (x) Rule 23, Post hearing briefs—(1) General. Briefs must be compact, concise, logically arranged... be dismissed with prejudice. (gg) Rule 32, Ex Parte communications. No Administrative Judge or member...

  9. 33 CFR 210.4 - Rules of the Corps of Engineers Board of Contract Appeals for cases not subject to the Contract...

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... order of appeals and other pertinent factors. On request or motion by either party and upon good cause... thereof. (x) Rule 23, Post hearing briefs—(1) General. Briefs must be compact, concise, logically arranged... be dismissed with prejudice. (gg) Rule 32, Ex Parte communications. No Administrative Judge or member...

  10. 33 CFR 210.4 - Rules of the Corps of Engineers Board of Contract Appeals for cases not subject to the Contract...

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... order of appeals and other pertinent factors. On request or motion by either party and upon good cause... thereof. (x) Rule 23, Post hearing briefs—(1) General. Briefs must be compact, concise, logically arranged... be dismissed with prejudice. (gg) Rule 32, Ex Parte communications. No Administrative Judge or member...

  11. 33 CFR 210.4 - Rules of the Corps of Engineers Board of Contract Appeals for cases not subject to the Contract...

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... order of appeals and other pertinent factors. On request or motion by either party and upon good cause... thereof. (x) Rule 23, Post hearing briefs—(1) General. Briefs must be compact, concise, logically arranged... be dismissed with prejudice. (gg) Rule 32, Ex Parte communications. No Administrative Judge or member...

  12. 48 CFR 6101.26 - Reconsideration; amendment of decisions; new hearings [Rule 26].

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... in 6101.27(a) (Rule 27(a)) and the reasons established by the rules of common law or equity... for granting a new hearing. Upon granting a motion for a new hearing, the Board will take additional testimony and, if a decision has been issued, either amend its findings of fact and conclusions or law or...

  13. Moving characteristics of single file passengers considering the effect of ship trim and heeling

    NASA Astrophysics Data System (ADS)

    Sun, Jinlu; Lu, Shouxiang; Lo, Siuming; Ma, Jian; Xie, Qimiao

    2018-01-01

    Ship listing and motion affects the movement pattern of passengers on board, thus pedestrian traffic and evacuation dynamics would be significantly different from those on level ground. To quantify the influence of ship listing and motion on passenger evacuation, we designed a ship corridor simulator, with which we performed single-file pedestrian movement experiments considering the effect of trim and heeling. Results indicated that density is not the only factor that affects pedestrian speed under ship trim or heeling conditions, for that both individual walking speed and group walking speed would be greatly attenuated due to the influence of the trim angles. However, heeling angles show less impact on speed when compared with trim angles. In addition, the speed correlation coefficient between the adjacent experimental subjects would be higher with larger angles and lower speed. Moreover, both female and male experimental subjects need similar distance headway for walking in different trim or heeling conditions. Furthermore, experimental subjects with lower individual walking speed need longer time headway to keep enough distance headway. This work will provide fundamental guidance to the development of evacuation models and the design of evacuation facilities on board.

  14. Target effect on the kinematics of Taekwondo Roundhouse Kick - is the presence of a physical target a stimulus, influencing muscle-power generation?

    PubMed

    Wąsik, Jacek; Shan, Gongbing

    2015-01-01

    Taekwondo is famous for its powerful kicking techniques and the roundhouse kick is the most frequently used one. In earlier literature, the influence of a physical target (exiting or not) on kicking power generation has not been given much attention. Therefore, the aim of this study was to investigate the kinematics of roundhouse kick execution and its factors related to power generation. 6 ITF taekwondo practitioners voluntarily participated in this study. They were asked to perform kicks with and without a physical target. The first kick aimed at breaking a board while the second one was a kick into the air. A Smart-D motion capture system (BTS S.p.A., Italy) was used to quantitatively determine their kinematic characteristics during each kick. The main findings showed that kicks aiming at a breaking board were significantly slower than kicks without a physical target (maximal kick-foot velocities were 10.61 ± 0.86 m/s and 14.61 ± 0.67 m/s, respectively, p < 0.01), but the kicking time of the former was shorter (0.58 ± 0.01 s and 0.67 ± 0.01, respectively, p < 0.01). The results suggest that a physical target will negatively influence the kick-foot velocity, which is not necessarily a disadvantage for creating a high quality kick. Possible motor control mechanisms are discussed for the phenomenon. The study made it clear: trainings with and without physical targets would develop different motor control patterns. More studies are needed for identifying the effectiveness of different controls and efficiencies of their training.

  15. Guaranteeing Isochronous Control of Networked Motion Control Systems Using Phase Offset Adjustment

    PubMed Central

    Kim, Ikhwan; Kim, Taehyoun

    2015-01-01

    Guaranteeing isochronous transfer of control commands is an essential function for networked motion control systems. The adoption of real-time Ethernet (RTE) technologies may be profitable in guaranteeing deterministic transfer of control messages. However, unpredictable behavior of software in the motion controller often results in unexpectedly large deviation in control message transmission intervals, and thus leads to imprecise motion. This paper presents a simple and efficient heuristic to guarantee the end-to-end isochronous control with very small jitter. The key idea of our approach is to adjust the phase offset of control message transmission time in the motion controller by investigating the behavior of motion control task. In realizing the idea, we performed a pre-runtime analysis to determine a safe and reliable phase offset and applied the phase offset to the runtime code of motion controller by customizing an open-source based integrated development environment (IDE). We also constructed an EtherCAT-based motion control system testbed and performed extensive experiments on the testbed to verify the effectiveness of our approach. The experimental results show that our heuristic is highly effective even for low-end embedded controller implemented in open-source software components under various configurations of control period and the number of motor drives. PMID:26076407

  16. How to Demonstrate Microgravity in your Classroom

    NASA Technical Reports Server (NTRS)

    DeLombard, Richard; Hall, Nancy Rabel

    2013-01-01

    Learn why zero gravity is a misnomer and learn how to demonstrate microgravity to students and the general public. In this session, a short theory segment will explain and reinforce these concepts so that you may explain to others. Session participants will also see simple equipment that demonstrates microgravity during the session and can just as well be done in the classroom or museum exhibit hall. The hands-on demonstration devices range from a leaky water bottle to an electronic drop tower with an on-board camera. The session will also include demonstration techniques for Physics, Forces & Motion, and orbits. This material is useful for middle school forces and motions instruction, high school physics instruction, public demonstrations at conferences & school open houses, travelling museum exhibits, fixed museum exhibits, and independent student projects or experiments. These activities also connect the terrestrial demonstration with planetary & moon motion, comet trajectory, and more.

  17. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  18. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  19. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  20. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  1. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  2. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  3. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  4. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  5. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  6. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  7. Contrast gain control in first- and second-order motion perception.

    PubMed

    Lu, Z L; Sperling, G

    1996-12-01

    A novel pedestal-plus-test paradigm is used to determine the nonlinear gain-control properties of the first-order (luminance) and the second-order (texture-contrast) motion systems, that is, how these systems' responses to motion stimuli are reduced by pedestals and other masking stimuli. Motion-direction thresholds were measured for test stimuli consisting of drifting luminance and texture-contrast-modulation stimuli superimposed on pedestals of various amplitudes. (A pedestal is a static sine-wave grating of the same type and same spatial frequency as the moving test grating.) It was found that first-order motion-direction thresholds are unaffected by small pedestals, but at pedestal contrasts above 1-2% (5-10 x pedestal threshold), motion thresholds increase proportionally to pedestal amplitude (a Weber law). For first-order stimuli, pedestal masking is specific to the spatial frequency of the test. On the other hand, motion-direction thresholds for texture-contrast stimuli are independent of pedestal amplitude (no gain control whatever) throughout the accessible pedestal amplitude range (from 0 to 40%). However, when baseline carrier contrast increases (with constant pedestal modulation amplitude), motion thresholds increase, showing that gain control in second-order motion is determined not by the modulator (as in first-order motion) but by the carrier. Note that baseline contrast of the carrier is inherently independent of spatial frequency of the modulator. The drastically different gain-control properties of the two motion systems and prior observations of motion masking and motion saturation are all encompassed in a functional theory. The stimulus inputs to both first- and second-order motion process are normalized by feedforward, shunting gain control. The different properties arise because the modulator is used to control the first-order gain and the carrier is used to control the second-order gain.

  8. Verification of Spin Magnetic Attitude Control System using air-bearing-based attitude control simulator

    NASA Astrophysics Data System (ADS)

    Ousaloo, H. S.; Nodeh, M. T.; Mehrabian, R.

    2016-09-01

    This paper accomplishes one goal and it was to verify and to validate a Spin Magnetic Attitude Control System (SMACS) program and to perform Hardware-In-the-Loop (HIL) air-bearing experiments. A study of a closed-loop magnetic spin controller is presented using only magnetic rods as actuators. The magnetic spin rate control approach is able to perform spin rate control and it is verified with an Attitude Control System (ACS) air-bearing MATLAB® SIMULINK® model and a hardware-embedded LABVIEW® algorithm that controls the spin rate of the test platform on a spherical air bearing table. The SIMULINK® model includes dynamic model of air-bearing, its disturbances, actuator emulation and the time delays caused by on-board calculations. The air-bearing simulator is employed to develop, improve, and carry out objective tests of magnetic torque rods and spin rate control algorithm in the experimental framework and to provide a more realistic demonstration of expected performance of attitude control as compared with software-based architectures. Six sets of two torque rods are used as actuators for the SMACS. It is implemented and simulated to fulfill mission requirement including spin the satellite up to 12 degs-1 around the z-axis. These techniques are documented for the full nonlinear equations of motion of the system and the performances of these techniques are compared in several simulations.

  9. FPGA Flash Memory High Speed Data Acquisition

    NASA Technical Reports Server (NTRS)

    Gonzalez, April

    2013-01-01

    The purpose of this research is to design and implement a VHDL ONFI Controller module for a Modular Instrumentation System. The goal of the Modular Instrumentation System will be to have a low power device that will store data and send the data at a low speed to a processor. The benefit of such a system will give an advantage over other purchased binary IP due to the capability of allowing NASA to re-use and modify the memory controller module. To accomplish the performance criteria of a low power system, an in house auxiliary board (Flash/ADC board), FPGA development kit, debug board, and modular instrumentation board will be jointly used for the data acquisition. The Flash/ADC board contains four, 1 MSPS, input channel signals and an Open NAND Flash memory module with an analog to digital converter. The ADC, data bits, and control line signals from the board are sent to an Microsemi/Actel FPGA development kit for VHDL programming of the flash memory WRITE, READ, READ STATUS, ERASE, and RESET operation waveforms using Libero software. The debug board will be used for verification of the analog input signal and be able to communicate via serial interface with the module instrumentation. The scope of the new controller module was to find and develop an ONFI controller with the debug board layout designed and completed for manufacture. Successful flash memory operation waveform test routines were completed, simulated, and tested to work on the FPGA board. Through connection of the Flash/ADC board with the FPGA, it was found that the device specifications were not being meet with Vdd reaching half of its voltage. Further testing showed that it was the manufactured Flash/ADC board that contained a misalignment with the ONFI memory module traces. The errors proved to be too great to fix in the time limit set for the project.

  10. Motion-mode energy method for vehicle dynamics analysis and control

    NASA Astrophysics Data System (ADS)

    Zhang, Nong; Wang, Lifu; Du, Haiping

    2014-01-01

    Vehicle motion and vibration control is a fundamental motivation for the development of advanced vehicle suspension systems. In a vehicle-fixed coordinate system, the relative motions of the vehicle between body and wheel can be classified into several dynamic stages based on energy intensity, and can be decomposed into sets of uncoupled motion-modes according to modal parameters. Vehicle motions are coupled, but motion-modes are orthogonal. By detecting and controlling the predominating vehicle motion-mode, the system cost and energy consumption of active suspensions could be reduced. A motion-mode energy method (MEM) is presented in this paper to quantify the energy contribution of each motion-mode to vehicle dynamics in real time. The control of motion-modes is prioritised according to the level of motion-mode energy. Simulation results on a 10 degree-of-freedom nonlinear full-car model with the magic-formula tyre model illustrate the effectiveness of the proposed MEM. The contribution of each motion-mode to the vehicle's dynamic behaviour is analysed under different excitation inputs from road irregularities, directional manoeuvres and braking. With the identified dominant motion-mode, novel cost-effective suspension systems, such as active reconfigurable hydraulically interconnected suspension, can possibly be used to control full-car motions with reduced energy consumption. Finally, discussion, conclusions and suggestions for future work are provided.

  11. Effects of Motion Cues on the Training of Multi-Axis Manual Control Skills

    NASA Technical Reports Server (NTRS)

    Zaal, Peter M. T.; Mobertz, Xander R. I.

    2017-01-01

    The study described in this paper investigated the effects of two different hexapod motion configurations on the training and transfer of training of a simultaneous roll and pitch control task. Pilots were divided between two groups which trained either under a baseline hexapod motion condition, with motion typically provided by current training simulators, or an optimized hexapod motion condition, with increased fidelity of the motion cues most relevant for the task. All pilots transferred to the same full-motion condition, representing motion experienced in flight. A cybernetic approach was used that gave insights into the development of pilots use of visual and motion cues over the course of training and after transfer. Based on the current results, neither of the hexapod motion conditions can unambiguously be chosen as providing the best motion for training and transfer of training of the used multi-axis control task. However, the optimized hexapod motion condition did allow pilots to generate less visual lead, control with higher gains, and have better disturbance-rejection performance at the end of the training session compared to the baseline hexapod motion condition. Significant adaptations in control behavior still occurred in the transfer phase under the full-motion condition for both groups. Pilots behaved less linearly compared to previous single-axis control-task experiments; however, this did not result in smaller motion or learning effects. Motion and learning effects were more pronounced in pitch compared to roll. Finally, valuable lessons were learned that allow us to improve the adopted approach for future transfer-of-training studies.

  12. 78 FR 40743 - Board of Scientific Counselors, Office of Public Health Preparedness and Response, Board of...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-07-08

    ... Scientific Counselors, Office of Public Health Preparedness and Response, Board of Scientific Counselors (BSC... Director, Centers for Disease Control and Prevention (CDC), and the Director, Office of Public Health... Public Health Practice Executive Assistant, Centers for Disease Control and Prevention, 1600 Clifton Road...

  13. Splitter board for steamer tube readout at the SLD

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

    Bacchetta, N.; Bisello, D.; Castro, A.

    1989-10-01

    This paper presents a controller board designed as a part of the data acquisition system for the readout of limited streamer tube strips in the warm iron calorimeter for the SLD detector. The board controls the data readout and allows for remote setting and diagnostic of the system.

  14. Dynamics of the eruptive prominence of 6 May 1980 and its relationship to the coronal transient

    NASA Technical Reports Server (NTRS)

    Mein, N.; Schmieder, B.; Simon, G.; Tandberg-Hanssen, E.; Wu, S. T.

    1982-01-01

    The active prominence of the 6 May 1980 has been observed between 5.23 and 10.22 UT with the Ultraviolet Spectrometer and Polarimeter (UVSP) on board the Solar Maximum Mission (SMM) satellite. Intensities of 1548 A line of CIV and dopplershifts have been derived. A motion of the magnetic tube maintaining the prominence material is noted. This motion is followed by a coronal transient observed with the Coronagraph and Polarimeter (C/P) between 11 and 13 UT. It is suggested that the event is related to a MHD wave induced by a flare occurring behind the solar disk, and a MHD modeling of the perturbation is proposed.

  15. Cycle life machine for AX-5 space suit

    NASA Technical Reports Server (NTRS)

    Schenberger, Deborah S.

    1990-01-01

    In order to accurately test the AX-5 space suit, a complex series of motions needed to be performed which provided a unique opportunity for mechanism design. The cycle life machine design showed how 3-D computer images can enhance mechanical design as well as help in visualizing mechanisms before manufacturing them. In the early stages of the design, potential problems in the motion of the joint and in the four bar linkage system were resolved using CAD. Since these problems would have been very difficult and tedious to solve on a drawing board, they would probably not have been addressed prior to fabrication, thus limiting the final design or requiring design modification after fabrication.

  16. Tool for use in lifting pin supported objects

    NASA Technical Reports Server (NTRS)

    Marzek, R. A.; Read, W. S. (Inventor)

    1974-01-01

    A tool for use in lifting a pin-supported, electronic package mounted in juxtaposition with the surface of an electronic circuit board is described. The tool is configured to be received beneath a pin-supported package and is characterized by a manually operable linkage, including an elongated, rigid link is supported for axial reciprocation and a pivotal link pinned to the body and supported for oscillation induced in response to axial motion imparted to the rigid link. A lifting plate is pivotally coupled to the distal end of the pivotal link so that oscillatory motion imparted to the pivotal link serves to move the plate vertically for elevating the plate into lifting engagement with the electronic package positioned thereabove.

  17. Design of an Inertial-Sensor-Based Data Glove for Hand Function Evaluation.

    PubMed

    Lin, Bor-Shing; Lee, I-Jung; Yang, Shu-Yu; Lo, Yi-Chiang; Lee, Junghsi; Chen, Jean-Lon

    2018-05-13

    Capturing hand motions for hand function evaluations is essential in the medical field. Various data gloves have been developed for rehabilitation and manual dexterity assessments. This study proposed a modular data glove with 9-axis inertial measurement units (IMUs) to obtain static and dynamic parameters during hand function evaluation. A sensor fusion algorithm is used to calculate the range of motion of joints. The data glove is designed to have low cost, easy wearability, and high reliability. Owing to the modular design, the IMU board is independent and extensible and can be used with various microcontrollers to realize more medical applications. This design greatly enhances the stability and maintainability of the glove.

  18. Experimental observation of the thermocapillary driven motion of bubbles in a molten glass under low gravity conditions

    NASA Technical Reports Server (NTRS)

    Smith, H. D.; Mattox, D. M.; Wilcox, W. R.; Subramanian, R. S.; Meyyappan, M.

    1982-01-01

    An experiment was carried out on board a Space Processing Applications Rocket with the aim of demonstrating bubble migration in molten glass due to a temperature gradient under low gravity conditions. During the flight, a sample of a sodium borate melt with a specific bubble array, contained in a platinum/fused silica cell, was subjected to a well defined temperature gradient for more than 4 minutes. Photographs taken at one second intervals during the experiment clearly show that the bubbles move toward the hot spot on the platinum heater strip. This result is consistent with the predictions of the theory of thermocapillary driven bubble motion.

  19. A power autonomous monopedal robot

    NASA Astrophysics Data System (ADS)

    Krupp, Benjamin T.; Pratt, Jerry E.

    2006-05-01

    We present the design and initial results of a power-autonomous planar monopedal robot. The robot is a gasoline powered, two degree of freedom robot that runs in a circle, constrained by a boom. The robot uses hydraulic Series Elastic Actuators, force-controllable actuators which provide high force fidelity, moderate bandwidth, and low impedance. The actuators are mounted in the body of the robot, with cable drives transmitting power to the hip and knee joints of the leg. A two-stroke, gasoline engine drives a constant displacement pump which pressurizes an accumulator. Absolute position and spring deflection of each of the Series Elastic Actuators are measured using linear encoders. The spring deflection is translated into force output and compared to desired force in a closed loop force-control algorithm implemented in software. The output signal of each force controller drives high performance servo valves which control flow to each of the pistons of the actuators. In designing the robot, we used a simulation-based iterative design approach. Preliminary estimates of the robot's physical parameters were based on past experience and used to create a physically realistic simulation model of the robot. Next, a control algorithm was implemented in simulation to produce planar hopping. Using the joint power requirements and range of motions from simulation, we worked backward specifying pulley diameter, piston diameter and stroke, hydraulic pressure and flow, servo valve flow and bandwidth, gear pump flow, and engine power requirements. Components that meet or exceed these specifications were chosen and integrated into the robot design. Using CAD software, we calculated the physical parameters of the robot design, replaced the original estimates with the CAD estimates, and produced new joint power requirements. We iterated on this process, resulting in a design which was prototyped and tested. The Monopod currently runs at approximately 1.2 m/s with the weight of all the power generating components, but powered from an off-board pump. On a test stand, the eventual on-board power system generates enough pressure and flow to meet the requirements of these runs and we are currently integrating the power system into the real robot. When operated from an off-board system without carrying the weight of the power generating components, the robot currently runs at approximately 2.25 m/s. Ongoing work is focused on integrating the power system into the robot, improving the control algorithm, and investigating methods for improving efficiency.

  20. 77 FR 52335 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-08-29

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety.... Background: The Advisory Board was established under the Energy Employees Occupational Illness Compensation...

  1. 77 FR 9254 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-02-16

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety.... Background: The Advisory Board was established under the Energy Employees Occupational Illness Compensation...

  2. 77 FR 69486 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-11-19

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... people. Background: The Advisory Board was established under the Energy Employees Occupational Illness...

  3. 77 FR 43090 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-07-23

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... Advisory Board was established under the Energy Employees Occupational Illness Compensation Program Act of...

  4. 75 FR 35496 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-06-22

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... Advisory Board was established under the Energy Employees Occupational Illness Compensation Program Act of...

  5. 76 FR 5814 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-02-02

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety...: The Advisory Board was established under the Energy Employees Occupational Illness Compensation...

  6. 77 FR 32117 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-05-31

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... Advisory Board was established under the Energy Employees Occupational Illness Compensation Program Act of...

  7. 76 FR 47590 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-08-05

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... Advisory Board was established under the Energy Employees Occupational Illness Compensation Program Act of...

  8. 75 FR 66769 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-10-29

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety...: The Advisory Board was established under the Energy Employees Occupational Illness Compensation...

  9. Estimating 4D-CBCT from prior information and extremely limited angle projections using structural PCA and weighted free-form deformation for lung radiotherapy.

    PubMed

    Harris, Wendy; Zhang, You; Yin, Fang-Fang; Ren, Lei

    2017-03-01

    To investigate the feasibility of using structural-based principal component analysis (PCA) motion-modeling and weighted free-form deformation to estimate on-board 4D-CBCT using prior information and extremely limited angle projections for potential 4D target verification of lung radiotherapy. A technique for lung 4D-CBCT reconstruction has been previously developed using a deformation field map (DFM)-based strategy. In the previous method, each phase of the 4D-CBCT was generated by deforming a prior CT volume. The DFM was solved by a motion model extracted by a global PCA and free-form deformation (GMM-FD) technique, using a data fidelity constraint and deformation energy minimization. In this study, a new structural PCA method was developed to build a structural motion model (SMM) by accounting for potential relative motion pattern changes between different anatomical structures from simulation to treatment. The motion model extracted from planning 4DCT was divided into two structures: tumor and body excluding tumor, and the parameters of both structures were optimized together. Weighted free-form deformation (WFD) was employed afterwards to introduce flexibility in adjusting the weightings of different structures in the data fidelity constraint based on clinical interests. XCAT (computerized patient model) simulation with a 30 mm diameter lesion was simulated with various anatomical and respiratory changes from planning 4D-CT to on-board volume to evaluate the method. The estimation accuracy was evaluated by the volume percent difference (VPD)/center-of-mass-shift (COMS) between lesions in the estimated and "ground-truth" on-board 4D-CBCT. Different on-board projection acquisition scenarios and projection noise levels were simulated to investigate their effects on the estimation accuracy. The method was also evaluated against three lung patients. The SMM-WFD method achieved substantially better accuracy than the GMM-FD method for CBCT estimation using extremely small scan angles or projections. Using orthogonal 15° scanning angles, the VPD/COMS were 3.47 ± 2.94% and 0.23 ± 0.22 mm for SMM-WFD and 25.23 ± 19.01% and 2.58 ± 2.54 mm for GMM-FD among all eight XCAT scenarios. Compared to GMM-FD, SMM-WFD was more robust against reduction of the scanning angles down to orthogonal 10° with VPD/COMS of 6.21 ± 5.61% and 0.39 ± 0.49 mm, and more robust against reduction of projection numbers down to only 8 projections in total for both orthogonal-view 30° and orthogonal-view 15° scan angles. SMM-WFD method was also more robust than the GMM-FD method against increasing levels of noise in the projection images. Additionally, the SMM-WFD technique provided better tumor estimation for all three lung patients compared to the GMM-FD technique. Compared to the GMM-FD technique, the SMM-WFD technique can substantially improve the 4D-CBCT estimation accuracy using extremely small scan angles and low number of projections to provide fast low dose 4D target verification. © 2017 American Association of Physicists in Medicine.

  10. FPGA and USB based control board for quantum random number generator

    NASA Astrophysics Data System (ADS)

    Wang, Jian; Wan, Xu; Zhang, Hong-Fei; Gao, Yuan; Chen, Teng-Yun; Liang, Hao

    2009-09-01

    The design and implementation of FPGA-and-USB-based control board for quantum experiments are discussed. The usage of quantum true random number generator, control- logic in FPGA and communication with computer through USB protocol are proposed in this paper. Programmable controlled signal input and output ports are implemented. The error-detections of data frame header and frame length are designed. This board has been used in our decoy-state based quantum key distribution (QKD) system successfully.

  11. [Energy education exhibits for Insights El Paso Science Museum

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

    Shubinski, R.

    The grant in question, DE-FG03-94ER75954, was awarded to Insights El Paso Science Museum to build key exhibits. These exhibits helped the Museum fulfill its mission to ``promote curiosity and stimulate interest by exploratory, entertaining, exciting, and participatory learning in a broad range of scientific disciplines to persons of all ages regionally and internationally.`` There are several current Board of Directors members who also were Board members during the grant period and who helped construct some of the exhibits. Through speaking with them and reviewing minutes of Board meetings during 1994, it has been determined that seven of the ten proposedmore » exhibits were constructed, with an eighth exhibit constructed as an alternative. Photos of seven of the exhibits and preliminary sketches of some are attached. Following is a list of the constructed exhibits: Hot or Cold, Give and Take, Conduction, Convection, Sources of Energy, Wind Generator, Solar Tracker, and Perpetual Motion.« less

  12. Multi-institutional arrangements: relationships between governing boards and hospital chief executive officers.

    PubMed

    Alexander, J; Morlock, L L

    1985-02-01

    This investigation focuses on the impact of multi-institutional arrangements on the role of governing boards in limiting or enhancing the managerial autonomy of individual hospitals. Data from a 1979 Special Survey by the American Hospital Association (N = 4213) are used to examine governing board-administrator relationships as a function of the degree of autonomy and scope of responsibility of the hospital governing board. It is hypothesized that governing boards responsible for multiple hospitals or for multiple nonhospital organizations and those boards accountable to a higher organizational authority will exercise more formal control over hospital chief executive officers (CEOs) than will boards of single or autonomous hospitals. The analysis assumes that formal control by the governing board over the management function of the individual hospital is exercised partly through soliciting or limiting participation by hospital administrators in key policy decisions and through the evaluation of administrative performance. Therefore, it is anticipated that hospitals governed by boards with multiple responsibilities as well as hospitals governed by boards accountable to a higher authority will be (1) less likely to have CEOs who are members of the governing board executive committee, (2) more likely to have annual performance reviews of the CEO by the governing board, and (3) more likely to have such reviews conducted according to preestablished criteria. Study results provide general support for the hypotheses with respect to hospital boards with multiple responsibilities: the data suggest that such boards do exercise greater control over hospital administrators and these effects do appear to be stronger for hospitals in the private sector. Hospitals governed by boards accountable to a higher authority, however, are more likely to have CEOs who are members of the governing board executive committee--a pattern in direct opposition to that hypothesized. Furthermore, these boards are no more likely to conduct annual CEO performance reviews than are boards with more autonomy. Boards accountable to higher authorities are more likely, however, to use preestablished criteria when such reviews are conducted. This general pattern is similar whether hospital boards are accountable to religious authorities, to investor-owned corporate boards, or to the boards of not-for-profit multi-institutional systems. A different pattern emerges, however, for boards accountable to a state, county, or local government authority.(ABSTRACT TRUNCATED AT 400 WORDS)

  13. Multi-institutional arrangements: relationships between governing boards and hospital chief executive officers.

    PubMed Central

    Alexander, J; Morlock, L L

    1985-01-01

    This investigation focuses on the impact of multi-institutional arrangements on the role of governing boards in limiting or enhancing the managerial autonomy of individual hospitals. Data from a 1979 Special Survey by the American Hospital Association (N = 4213) are used to examine governing board-administrator relationships as a function of the degree of autonomy and scope of responsibility of the hospital governing board. It is hypothesized that governing boards responsible for multiple hospitals or for multiple nonhospital organizations and those boards accountable to a higher organizational authority will exercise more formal control over hospital chief executive officers (CEOs) than will boards of single or autonomous hospitals. The analysis assumes that formal control by the governing board over the management function of the individual hospital is exercised partly through soliciting or limiting participation by hospital administrators in key policy decisions and through the evaluation of administrative performance. Therefore, it is anticipated that hospitals governed by boards with multiple responsibilities as well as hospitals governed by boards accountable to a higher authority will be (1) less likely to have CEOs who are members of the governing board executive committee, (2) more likely to have annual performance reviews of the CEO by the governing board, and (3) more likely to have such reviews conducted according to preestablished criteria. Study results provide general support for the hypotheses with respect to hospital boards with multiple responsibilities: the data suggest that such boards do exercise greater control over hospital administrators and these effects do appear to be stronger for hospitals in the private sector. Hospitals governed by boards accountable to a higher authority, however, are more likely to have CEOs who are members of the governing board executive committee--a pattern in direct opposition to that hypothesized. Furthermore, these boards are no more likely to conduct annual CEO performance reviews than are boards with more autonomy. Boards accountable to higher authorities are more likely, however, to use preestablished criteria when such reviews are conducted. This general pattern is similar whether hospital boards are accountable to religious authorities, to investor-owned corporate boards, or to the boards of not-for-profit multi-institutional systems. A different pattern emerges, however, for boards accountable to a state, county, or local government authority.(ABSTRACT TRUNCATED AT 400 WORDS) PMID:3972592

  14. Sampling and Control Circuit Board for an Inertial Measurement Unit

    NASA Technical Reports Server (NTRS)

    Chelmins, David T (Inventor); Sands, Obed (Inventor); Powis, Richard T., Jr. (Inventor)

    2016-01-01

    A circuit board that serves as a control and sampling interface to an inertial measurement unit ("IMU") is provided. The circuit board is also configured to interface with a local oscillator and an external trigger pulse. The circuit board is further configured to receive the external trigger pulse from an external source that time aligns the local oscillator and initiates sampling of the inertial measurement device for data at precise time intervals based on pulses from the local oscillator. The sampled data may be synchronized by the circuit board with other sensors of a navigation system via the trigger pulse.

  15. Kinematic analysis of dynamic shoulder motion in patients with reverse total shoulder arthroplasty.

    PubMed

    Kwon, Young W; Pinto, Vivek J; Yoon, Jangwhon; Frankle, Mark A; Dunning, Page E; Sheikhzadeh, Ali

    2012-09-01

    Reverse total shoulder arthroplasty (rTSA) has been used to treat patients with irreparable rotator cuff dysfunction. Despite the proven clinical efficacy, there is minimal information regarding the underlying changes to the shoulder kinematics associated with this construct. Therefore, we sought to examine the kinematics of dynamic shoulder motion in patients with well-functioning rTSA. We tested 12 healthy subjects and 17 patients with rTSA. All rTSA patients were able to elevate their arms to at least 90° and received the implant as the primary arthroplasty at least 6 months before testing. On average, the rTSA patients elevated their arms to 112° ± 12° (mean ± SD) and reported an American Shoulder and Elbow Surgeons outcome score of 90.6 ± 6.3. A 3-dimensional electromagnetic motion capture device was used to detect the dynamic motion of the trunk, scapula, and humerus during bilateral active shoulder elevation along the sagittal, scapular, and coronal planes. In both healthy and rTSA shoulders, the majority of the humeral-thoracic motion was provided by the glenohumeral motion. Therefore, the ratio of glenohumeral to scapulothoracic (ST) motion was always greater than 1.62 during elevation along the scapular plane. In comparison to healthy subjects, however, the contribution of ST motion to overall shoulder motion was significantly increased in the rTSA shoulders. This increased contribution was noted in all planes of shoulder elevation and was maintained when weights were attached to the arm. Kinematics of the rTSA shoulders are significantly altered, and more ST motion is used to achieve shoulder elevation. Copyright © 2012 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Mosby, Inc. All rights reserved.

  16. WeaselBoard :

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

    Mulder, John C.; Schwartz, Moses Daniel; Berg, Michael J.

    2013-10-01

    Critical infrastructures, such as electrical power plants and oil refineries, rely on programmable logic controllers (PLCs) to control essential processes. State of the art security cannot detect attacks on PLCs at the hardware or firmware level. This renders critical infrastructure control systems vulnerable to costly and dangerous attacks. WeaselBoard is a PLC backplane analysis system that connects directly to the PLC backplane to capture backplane communications between modules. WeaselBoard forwards inter-module traffic to an external analysis system that detects changes to process control settings, sensor values, module configuration information, firmware updates, and process control program (logic) updates. WeaselBoard provides zero-daymore » exploit detection for PLCs by detecting changes in the PLC and the process. This approach to PLC monitoring is protected under U.S. Patent Application 13/947,887.« less

  17. Clever imaging with SmartScan

    NASA Astrophysics Data System (ADS)

    Tchernykh, Valerij; Dyblenko, Sergej; Janschek, Klaus; Seifart, Klaus; Harnisch, Bernd

    2005-08-01

    The cameras commonly used for Earth observation from satellites require high attitude stability during the image acquisition. For some types of cameras (high-resolution "pushbroom" scanners in particular), instantaneous attitude changes of even less than one arcsecond result in significant image distortion and blurring. Especially problematic are the effects of high-frequency attitude variations originating from micro-shocks and vibrations produced by the momentum and reaction wheels, mechanically activated coolers, and steering and deployment mechanisms on board. The resulting high attitude-stability requirements for Earth-observation satellites are one of the main reasons for their complexity and high cost. The novel SmartScan imaging concept, based on an opto-electronic system with no moving parts, offers the promise of high-quality imaging with only moderate satellite attitude stability. SmartScan uses real-time recording of the actual image motion in the focal plane of the camera during frame acquisition to correct the distortions in the image. Exceptional real-time performances with subpixel-accuracy image-motion measurement are provided by an innovative high-speed onboard opto-electronic correlation processor. SmartScan will therefore allow pushbroom scanners to be used for hyper-spectral imaging from satellites and other space platforms not primarily intended for imaging missions, such as micro- and nano-satellites with simplified attitude control, low-orbiting communications satellites, and manned space stations.

  18. BrainPort Technology Tongue Interface Characterization Tactical Underwater Navigation System (TUNS)

    DTIC Science & Technology

    2008-06-01

    Control board. We currently have 22 boards in house. … … … … … Experiment Control Workstation HDA with 2000 to 20,000 electrodes ●●● TCP/IP...Program Interface DARPA Defense Advanced Research Projects Agency HD High Density HDA High Density Array IRB Internal Review Board Tactor

  19. Autonomous & Adaptive Oceanographic Feature Tracking on Board Autonomous Underwater Vehicles

    DTIC Science & Technology

    2015-02-01

    44 3.6 Tracking the Marine ermocline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 3.6.1 ermocline Definition ...intelligent autonomy algorithms to adapt the vehicle’s motion to changes in the environment, effectively seeking out and tracking an oceanographic...interface, H is the mean water depth, and f is the Coriolis parameter (twice the earth’s angular velocity about its vertical axis) [38]. at is, the

  20. A joint resolution providing for congressional disapproval under chapter 8 of title 5, United States Code, of the rule submitted by the National Labor Relations Board relating to representation election procedures.

    THOMAS, 112th Congress

    Sen. Enzi, Michael B. [R-WY

    2012-02-16

    Senate - 04/24/2012 Motion to proceed to consideration of measure rejected in Senate by Yea-Nay Vote. 45 - 54. Record Vote Number: 68. (All Actions) Tracker: This bill has the status IntroducedHere are the steps for Status of Legislation:

  1. Honoring the life and legacy of Václav Havel by directing the House of Representatives Fine Arts Board to provide for the display of a bust of Václav Havel in the United States Capitol.

    THOMAS, 113th Congress

    Rep. Royce, Edward R. [R-CA-39

    2014-03-06

    House - 03/11/2014 On motion to suspend the rules and agree to the resolution Agreed to by voice vote. (All Actions) Tracker: This bill has the status Agreed to in HouseHere are the steps for Status of Legislation:

  2. 76 FR 23799 - Erie Boulevard Hydropower, L.P.; Notice of Application Accepted for Filing, Soliciting Motions To...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-04-28

    ... seasonal flash boards; (2) a 168-acre reservoir with a gross storage capacity of 3,234 acre-feet and a...; (2) a 159-acre reservoir with a gross storage capacity of 2,646 acre-feet and a normal maximum pool... reservoir, with concrete core walls and partially equipped with 10-inch-high flashboards; (3) a 79.2- acre...

  3. Wood-framed building deconstruction : a source of lumber for construction?

    Treesearch

    Bob Falk

    2002-01-01

    The sounds are much like those found at any building site. Hammers pounding. Saws whining. Lumber in motion. However, everything here seems to be in reverse ... windows and doors are being unhung rather than set in place, nails are being pounded out of boards instead of into them, lumber is being stacked up, banded, and hauled away rather than delivered and unstacked....

  4. Ask the pendulum: personality predictors of ideomotor performance.

    PubMed

    Olson, Jay A; Jeyanesan, Ewalina; Raz, Amir

    2017-01-01

    For centuries, people have asked questions to hand-held pendulums and interpreted their movements as responses from the divine. These movements occur due to the ideomotor effect, wherein priming or thinking of a motion causes muscle movements that end up swinging the pendulum. By associating particular swinging movements with "yes" and "no" responses, we investigated whether pendulums can aid decision-making and which personality traits correlate with this performance. Participants ( N = 80 ) completed a visual detection task in which they searched for a target letter among rapidly presented characters. In the verbal condition, participants stated whether they saw the target in each trial. In the pendulum condition, participants instead mentally "asked" a hand-held pendulum whether the target was present; particular motions signified "yes" and "no". We measured the accuracy of their responses as well as their sensitivity and bias using signal detection theory. We also assessed four personality measures: locus of control (feelings of control over one's life), transliminality (sensitivity to subtle stimuli), need for cognition (preference for analytical thinking), and faith in intuition (preference for intuitive thinking). Overall, locus of control predicted verbal performance and transliminality predicted pendulum performance. Accuracy was low in both conditions (verbal: 57%, pendulum: 53%), but bias was higher in the verbal condition ( d = 1.10 ). We confirmed this bias difference in a second study ( d = 0.47 , N = 40 ). Our results suggest that people have different decision strategies when using a pendulum compared to conscious guessing. These findings may help explain why some people can answer questions more accurately with pendulums and Ouija boards. More broadly, identifying the differences between ideomotor and verbal responses could lead to practical ways to improve decision-making.

  5. Ask the pendulum: personality predictors of ideomotor performance

    PubMed Central

    Olson, Jay A; Jeyanesan, Ewalina; Raz, Amir

    2017-01-01

    Abstract For centuries, people have asked questions to hand-held pendulums and interpreted their movements as responses from the divine. These movements occur due to the ideomotor effect, wherein priming or thinking of a motion causes muscle movements that end up swinging the pendulum. By associating particular swinging movements with “yes” and “no” responses, we investigated whether pendulums can aid decision-making and which personality traits correlate with this performance. Participants (N=80) completed a visual detection task in which they searched for a target letter among rapidly presented characters. In the verbal condition, participants stated whether they saw the target in each trial. In the pendulum condition, participants instead mentally “asked” a hand-held pendulum whether the target was present; particular motions signified “yes” and “no”. We measured the accuracy of their responses as well as their sensitivity and bias using signal detection theory. We also assessed four personality measures: locus of control (feelings of control over one’s life), transliminality (sensitivity to subtle stimuli), need for cognition (preference for analytical thinking), and faith in intuition (preference for intuitive thinking). Overall, locus of control predicted verbal performance and transliminality predicted pendulum performance. Accuracy was low in both conditions (verbal: 57%, pendulum: 53%), but bias was higher in the verbal condition (d=1.10). We confirmed this bias difference in a second study (d=0.47, N=40). Our results suggest that people have different decision strategies when using a pendulum compared to conscious guessing. These findings may help explain why some people can answer questions more accurately with pendulums and Ouija boards. More broadly, identifying the differences between ideomotor and verbal responses could lead to practical ways to improve decision-making. PMID:29877514

  6. ANALYSIS OF AIRCRAFT MOTIONS

    NASA Technical Reports Server (NTRS)

    Wingrove, R. C.

    1994-01-01

    This program was developed by Ames Research Center, in cooperation with the National Transportation Safety Board, as a technique for deriving time histories of an aircraft's motion from Air Traffic Control (ATC) radar records. This technique uses the radar range and azimuth data, along with the downlinked altitude data, to derive an expanded set of data which includes airspeed, lift, attitude angles (pitch, roll, and heading), etc. This technique should prove useful as a source of data in the investigation of commercial airline accidents and in the analysis of accidents involving aircraft which do not have onboard data recorders (e.g., military, short-haul, and general aviation). The technique used to determine the aircraft motions involves smoothing of raw radar data. These smoothed results, in combination with other available information (wind profiles and aircraft performance data), are used to derive the expanded set of data. This program uses a cubic least-square fit to smooth the raw data. This moving-arc procedure provides a smoothed time history of the aircraft position, the inertial velocities, and accelerations. Using known winds, these inertial data are transformed to aircraft stability axes to provide true airspeed, thrust-drag, lift, and roll angle. Further derivation, based on aircraft dependent performance data, can determine the aircraft angle of attack, pitch, and heading angle. Results of experimental tests indicate that values derived from ATC radar records using this technique agree favorably with airborne measurements. This program is written in FORTRAN IV to be executed in the batch mode, and has been implemented on a CDC 6000 series computer with a central memory requirement of 64k (octal) of 60 bit words.

  7. Nonholonomic camera-space manipulation using cameras mounted on a mobile base

    NASA Astrophysics Data System (ADS)

    Goodwine, Bill; Seelinger, Michael J.; Skaar, Steven B.; Ma, Qun

    1998-10-01

    The body of work called `Camera Space Manipulation' is an effective and proven method of robotic control. Essentially, this technique identifies and refines the input-output relationship of the plant using estimation methods and drives the plant open-loop to its target state. 3D `success' of the desired motion, i.e., the end effector of the manipulator engages a target at a particular location with a particular orientation, is guaranteed when there is camera space success in two cameras which are adequately separated. Very accurate, sub-pixel positioning of a robotic end effector is possible using this method. To date, however, most efforts in this area have primarily considered holonomic systems. This work addresses the problem of nonholonomic camera space manipulation by considering the problem of a nonholonomic robot with two cameras and a holonomic manipulator on board the nonholonomic platform. While perhaps not as common in robotics, such a combination of holonomic and nonholonomic degrees of freedom are ubiquitous in industry: fork lifts and earth moving equipment are common examples of a nonholonomic system with an on-board holonomic actuator. The nonholonomic nature of the system makes the automation problem more difficult due to a variety of reasons; in particular, the target location is not fixed in the image planes, as it is for holonomic systems (since the cameras are attached to a moving platform), and there is a fundamental `path dependent' nature of nonholonomic kinematics. This work focuses on the sensor space or camera-space-based control laws necessary for effectively implementing an autonomous system of this type.

  8. Analysis of muscle activation in lower extremity for static balance.

    PubMed

    Chakravarty, Kingshuk; Chatterjee, Debatri; Das, Rajat Kumar; Tripathy, Soumya Ranjan; Sinha, Aniruddha

    2017-07-01

    Balance plays an important role for human bipedal locomotion. Degeneration of balance control is prominent in stroke patients, elderly adults and even for majority of obese people. Design of personalized balance training program, in order to strengthen muscles, requires the analysis of muscle activation during an activity. In this paper we have proposed an affordable and portable approach to analyze the relationship between the static balance strategy and activation of various lower extremity muscles. To do that we have considered Microsoft Kinect XBox 360 as a motion sensing device and Wii balance board for measuring external force information. For analyzing the muscle activation pattern related to static balance, participants are asked to do the single limb stance (SLS) exercise on the balance board and in front of the Kinect. Static optimization to minimize the overall muscle activation pattern is carried out using OpenSim, which is an open-source musculoskeletal simulation software. The study is done on ten normal and ten obese people, grouped according to body mass index (BMI). Results suggest that the lower extremity muscles like biceps femoris, psoas major, sartorius, iliacus play the major role for both maintaining the balance using one limb as well as maintaining the flexion of the other limb during SLS. Further investigations reveal that the higher muscle activations of the flexed leg for normal group demonstrate higher strength. Moreover, the lower muscle activation of the standing leg for normal group demonstrate more headroom for the biceps femoris-short-head and psoas major to withstand the load and hence have better static balance control.

  9. Effects of False Tilt Cues on the Training of Manual Roll Control Skills

    NASA Technical Reports Server (NTRS)

    Zaal, Peter M. T.; Popovici, Alexandru; Zavala, Melinda A.

    2015-01-01

    This paper describes a transfer-of-training study performed in the NASA Ames Vertica lMotion Simulator. The purpose of the study was to investigate the effect of false tilt cues on training and transfer of training of manual roll control skills. Of specific interest were the skills needed to control unstable roll dynamics of a mid-size transport aircraft close to the stall point. Nineteen general aviation pilots trained on a roll control task with one of three motion conditions: no motion, roll motion only, or reduced coordinated roll motion. All pilots transferred to full coordinated roll motion in the transfer session. A novel multimodal pilot model identification technique was successfully applied to characterize how pilots' use of visual and motion cues changed over the course of training and after transfer. Pilots who trained with uncoordinated roll motion had significantly higher performance during training and after transfer, even though they experienced the false tilt cues. Furthermore, pilot control behavior significantly changed during the two sessions, as indicated by increasing visual and motion gains, and decreasing lead time constants. Pilots training without motion showed higher learning rates after transfer to the full coordinated roll motion case.

  10. A new control system hardware architecture for the Hobby-Eberly Telescope prime focus instrument package

    NASA Astrophysics Data System (ADS)

    Ramiller, Chuck; Taylor, Trey; Rafferty, Tom H.; Cornell, Mark E.; Rafal, Marc; Savage, Richard

    2010-07-01

    The Hobby-Eberly Telescope (HET) will be undergoing a major upgrade as a precursor to the HET Dark Energy Experiment (HETDEX‡). As part of this upgrade, the Prime Focus Instrument Package (PFIP) will be replaced with a new design that supports the HETDEX requirements along with the existing suite of instruments and anticipated future additions. This paper describes the new PFIP control system hardware plus the physical constraints and other considerations driving its design. Because of its location at the top end of the telescope, the new PFIP is essentially a stand-alone remote automation island containing over a dozen subsystems. Within the PFIP, motion controllers and modular IO systems are interconnected using a local Controller Area Network (CAN) bus and the CANOpen messaging protocol. CCD cameras that are equipped only with USB 2.0 interfaces are connected to a local Ethernet network via small microcontroller boards running embedded Linux. Links to ground-level systems pass through a 100 m cable bundle and use Ethernet over fiber optic cable exclusively; communications are either direct or through Ethernet/CAN gateways that pass CANOpen messages transparently. All of the control system hardware components are commercially available, designed for rugged industrial applications, and rated for extended temperature operation down to -10 °C.

  11. A navigation and control system for an autonomous rescue vehicle in the space station environment

    NASA Technical Reports Server (NTRS)

    Merkel, Lawrence

    1991-01-01

    A navigation and control system was designed and implemented for an orbital autonomous rescue vehicle envisioned to retrieve astronauts or equipment in the case that they become disengaged from the space station. The rescue vehicle, termed the Extra-Vehicular Activity Retriever (EVAR), has an on-board inertial measurement unit ahd GPS receivers for self state estimation, a laser range imager (LRI) and cameras for object state estimation, and a data link for reception of space station state information. The states of the retriever and objects (obstacles and the target object) are estimated by inertial state propagation which is corrected via measurements from the GPS, the LRI system, or the camera system. Kalman filters are utilized to perform sensor fusion and estimate the state propagation errors. Control actuation is performed by a Manned Maneuvering Unit (MMU). Phase plane control techniques are used to control the rotational and translational state of the retriever. The translational controller provides station-keeping or motion along either Clohessy-Wiltshire trajectories or straight line trajectories in the LVLH frame of any sufficiently observed object or of the space station. The software was used to successfully control a prototype EVAR on an air bearing floor facility, and a simulated EVAR operating in a simulated orbital environment. The design of the navigation system and the control system are presented. Also discussed are the hardware systems and the overall software architecture.

  12. 75 FR 35078 - Notice of Call for Nominations for the Wild Horse and Burro Advisory Board

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-06-21

    ... for Nominations for the Wild Horse and Burro Advisory Board AGENCY: Bureau of Land Management... members to the Wild Horse and Burro Advisory Board (Board). The Board provides advice concerning the management, protection, and control of wild free-roaming horses and burros on the public lands administered...

  13. Open architecture CMM motion controller

    NASA Astrophysics Data System (ADS)

    Chang, David; Spence, Allan D.; Bigg, Steve; Heslip, Joe; Peterson, John

    2001-12-01

    Although initially the only Coordinate Measuring Machine (CMM) sensor available was a touch trigger probe, technological advances in sensors and computing have greatly increased the variety of available inspection sensors. Non-contact laser digitizers and analog scanning touch probes require very well tuned CMM motion control, as well as an extensible, open architecture interface. This paper describes the implementation of a retrofit CMM motion controller designed for open architecture interface to a variety of sensors. The controller is based on an Intel Pentium microcomputer and a Servo To Go motion interface electronics card. Motor amplifiers, safety, and additional interface electronics are housed in a separate enclosure. Host Signal Processing (HSP) is used for the motion control algorithm. Compared to the usual host plus DSP architecture, single CPU HSP simplifies integration with the various sensors, and implementation of software geometric error compensation. Motion control tuning is accomplished using a remote computer via 100BaseTX Ethernet. A Graphical User Interface (GUI) is used to enter geometric error compensation data, and to optimize the motion control tuning parameters. It is shown that this architecture achieves the required real time motion control response, yet is much easier to extend to additional sensors.

  14. The effect of autogenic training and biofeedback on motion sickness tolerance.

    PubMed

    Jozsvai, E E; Pigeau, R A

    1996-10-01

    Motion sickness is characterized by symptoms of vomiting, drowsiness, fatigue and idiosyncratic changes in autonomic nervous system (ANS) responses such as heart rate (HR) and skin temperature (ST). Previous studies found that symptoms of motion sickness are controllable through self-regulation of ANS responses and the best method to teach such control is autogenic-feedback (biofeedback) training. Recent experiments indicated that biofeedback training is ineffective in reducing symptoms of motion sickness or in increasing tolerance to motion. If biofeedback facilitates learning of ANS self-regulation then autogenic training with true feedback (TFB) should lead to better control over ANS responses and better motion tolerance than autogenic training with false feedback (FFB). If there is a relationship between ANS self-regulation and coping with motion stress, a significant correlation should be found between amounts of control over ANS responses and measures of motion tolerance and/or symptoms of motion sickness. There were 3 groups of 6 subjects exposed for 6 weeks to weekly sessions of Coriolis stimulation to induce motion sickness. Between the first and second Coriolis sessions, subjects in the experimental groups received five episodes of autogenic training with either true (group TFB) or false (group FFB) feedback on their HR and ST. The control group (CTL) received no treatment. Subjects learned to control their HR and ST independent of whether they received true or false feedback. Learned control of ST and HR was not related to severity of motion sickness or subject's ability to withstand Coriolis stimulation following treatment. A lack of significant correlation between these variables suggested that subjects were not able to apply their skills of ANS self-regulation in the motion environment, and/ or such skills had little value in reducing symptoms of motion sickness or enhancing their ability to withstand rotations.

  15. Real-time co-registered ultrasound and photoacoustic imaging system based on FPGA and DSP architecture

    NASA Astrophysics Data System (ADS)

    Alqasemi, Umar; Li, Hai; Aguirre, Andres; Zhu, Quing

    2011-03-01

    Co-registering ultrasound (US) and photoacoustic (PA) imaging is a logical extension to conventional ultrasound because both modalities provide complementary information of tumor morphology, tumor vasculature and hypoxia for cancer detection and characterization. In addition, both modalities are capable of providing real-time images for clinical applications. In this paper, a Field Programmable Gate Array (FPGA) and Digital Signal Processor (DSP) module-based real-time US/PA imaging system is presented. The system provides real-time US/PA data acquisition and image display for up to 5 fps* using the currently implemented DSP board. It can be upgraded to 15 fps, which is the maximum pulse repetition rate of the used laser, by implementing an advanced DSP module. Additionally, the photoacoustic RF data for each frame is saved for further off-line processing. The system frontend consists of eight 16-channel modules made of commercial and customized circuits. Each 16-channel module consists of two commercial 8-channel receiving circuitry boards and one FPGA board from Analog Devices. Each receiving board contains an IC† that combines. 8-channel low-noise amplifiers, variable-gain amplifiers, anti-aliasing filters, and ADC's‡ in a single chip with sampling frequency of 40MHz. The FPGA board captures the LVDSξ Double Data Rate (DDR) digital output of the receiving board and performs data conditioning and subbeamforming. A customized 16-channel transmission circuitry is connected to the two receiving boards for US pulseecho (PE) mode data acquisition. A DSP module uses External Memory Interface (EMIF) to interface with the eight 16-channel modules through a customized adaptor board. The DSP transfers either sub-beamformed data (US pulse-echo mode or PAI imaging mode) or raw data from FPGA boards to its DDR-2 memory through the EMIF link, then it performs additional processing, after that, it transfer the data to the PC** for further image processing. The PC code performs image processing including demodulation, beam envelope detection and scan conversion. Additionally, the PC code pre-calculates the delay coefficients used for transmission focusing and receiving dynamic focusing for different types of transducers to speed up the imaging process. To further speed up the imaging process, a multi-threads technique is implemented in order to allow formation of previous image frame data and acquisition of the next one simultaneously. The system is also capable of doing semi-real-time automated SO2 imaging at 10 seconds per frame by changing the wavelength knob of the laser automatically using a stepper motor controlled by the system. Initial in vivo experiments were performed on animal tumors to map out its vasculature and hypoxia level, which were superimposed on co-registered US images. The real-time system allows capturing co-registered US/PA images free of motion artifacts and also provides dynamitic information when contrast agents are used.

  16. Relevance of motion-related assessment metrics in laparoscopic surgery.

    PubMed

    Oropesa, Ignacio; Chmarra, Magdalena K; Sánchez-González, Patricia; Lamata, Pablo; Rodrigues, Sharon P; Enciso, Silvia; Sánchez-Margallo, Francisco M; Jansen, Frank-Willem; Dankelman, Jenny; Gómez, Enrique J

    2013-06-01

    Motion metrics have become an important source of information when addressing the assessment of surgical expertise. However, their direct relationship with the different surgical skills has not been fully explored. The purpose of this study is to investigate the relevance of motion-related metrics in the evaluation processes of basic psychomotor laparoscopic skills and their correlation with the different abilities sought to measure. A framework for task definition and metric analysis is proposed. An explorative survey was first conducted with a board of experts to identify metrics to assess basic psychomotor skills. Based on the output of that survey, 3 novel tasks for surgical assessment were designed. Face and construct validation was performed, with focus on motion-related metrics. Tasks were performed by 42 participants (16 novices, 22 residents, and 4 experts). Movements of the laparoscopic instruments were registered with the TrEndo tracking system and analyzed. Time, path length, and depth showed construct validity for all 3 tasks. Motion smoothness and idle time also showed validity for tasks involving bimanual coordination and tasks requiring a more tactical approach, respectively. Additionally, motion smoothness and average speed showed a high internal consistency, proving them to be the most task-independent of all the metrics analyzed. Motion metrics are complementary and valid for assessing basic psychomotor skills, and their relevance depends on the skill being evaluated. A larger clinical implementation, combined with quality performance information, will give more insight on the relevance of the results shown in this study.

  17. The dynamics and control of large flexible asymmetric spacecraft

    NASA Astrophysics Data System (ADS)

    Humphries, T. T.

    1991-02-01

    This thesis develops the equations of motion for a large flexible asymmetric Earth observation satellite and finds the characteristics of its motion under the influence of control forces. The mathematical model of the structure is produced using analytical methods. The equations of motion are formed using an expanded momentum technique which accounts for translational motion of the spacecraft hub and employs orthogonality relations between appendage and vehicle modes. The controllability and observability conditions of the full spacecraft motions using force and torque actuators are defined. A three axis reaction wheel control system is implemented for both slewing the spacecraft and controlling its resulting motions. From minor slew results it is shown that the lowest frequency elastic mode of the spacecraft is more important than higher frequency modes, when considering the effects of elastic motion on instrument pointing from the hub. Minor slews of the spacecraft configurations considered produce elastic deflections resulting in rotational attitude motions large enough to contravene pointing accuracy requirements of instruments aboard the spacecraft hub. Active vibration damping is required to reduce these hub motions to acceptable bounds in sufficiently small time. A comparison between hub mounted collocated and hub/appendage mounted non-collocated control systems verifies that provided the non-collocated system is stable, it can more effectively damp elastic modes whilst maintaining adequate damping of rigid modes. Analysis undertaken shows that the reaction wheel controller could be replaced by a thruster control system which decouples the modes of the spacecraft motion, enabling them to be individually damped.

  18. Estimating the accuracy of the technique of reconstructing the rotational motion of a satellite based on the measurements of its angular velocity and the magnetic field of the Earth

    NASA Astrophysics Data System (ADS)

    Belyaev, M. Yu.; Volkov, O. N.; Monakhov, M. I.; Sazonov, V. V.

    2017-09-01

    The paper has studied the accuracy of the technique that allows the rotational motion of the Earth artificial satellites (AES) to be reconstructed based on the data of onboard measurements of angular velocity vectors and the strength of the Earth magnetic field (EMF). The technique is based on kinematic equations of the rotational motion of a rigid body. Both types of measurement data collected over some time interval have been processed jointly. The angular velocity measurements have been approximated using convenient formulas, which are substituted into the kinematic differential equations for the quaternion that specifies the transition from the body-fixed coordinate system of a satellite to the inertial coordinate system. Thus obtained equations represent a kinematic model of the rotational motion of a satellite. The solution of these equations, which approximate real motion, has been found by the least-square method from the condition of best fitting between the data of measurements of the EMF strength vector and its calculated values. The accuracy of the technique has been estimated by processing the data obtained from the board of the service module of the International Space Station ( ISS). The reconstruction of station motion using the aforementioned technique has been compared with the telemetry data on the actual motion of the station. The technique has allowed us to reconstruct the station motion in the orbital orientation mode with a maximum error less than 0.6° and the turns with a maximal error of less than 1.2°.

  19. A temperature controller board for the ARC controller

    NASA Astrophysics Data System (ADS)

    Tulloch, Simon

    2016-07-01

    A high-performance temperature controller board has been produced for the ARC Generation-3 CCD controller. It contains two 9W temperature servo loops and four temperature input channels and is fully programmable via the ARC API and OWL data acquisition program. PI-loop control is implemented in an on-board micro. Both diode and RTD sensors can be used. Control and telemetry data is sent via the ARC backplane although a USB-2 interface is also available. Further functionality includes hardware timers and high current drivers for external shutters and calibration LEDs, an LCD display, a parallel i/o port, a pressure sensor interface and an uncommitted analogue telemetry input.

  20. National Transportation Safety Board : weak internal control impaired financial accountability

    DOT National Transportation Integrated Search

    2001-09-28

    The U. S. General Accounting Office (GAO) was asked to review the National Transportation Safety Board's (NTSB) internal controls over selected types of fiscal year expenditures. They were asked to determine whether internal control weaknesses were a...

  1. Mobile technology and telemedicine for shoulder range of motion: validation of a motion-based machine-learning software development kit.

    PubMed

    Ramkumar, Prem N; Haeberle, Heather S; Navarro, Sergio M; Sultan, Assem A; Mont, Michael A; Ricchetti, Eric T; Schickendantz, Mark S; Iannotti, Joseph P

    2018-03-07

    Mobile technology offers the prospect of delivering high-value care with increased patient access and reduced costs. Advances in mobile health (mHealth) and telemedicine have been inhibited by the lack of interconnectivity between devices and software and inability to process consumer sensor data. The objective of this study was to preliminarily validate a motion-based machine learning software development kit (SDK) for the shoulder compared with a goniometer for 4 arcs of motion: (1) abduction, (2) forward flexion, (3) internal rotation, and (4) external rotation. A mobile application for the SDK was developed and "taught" 4 arcs of shoulder motion. Ten subjects without shoulder pain or prior shoulder surgery performed the arcs of motion for 5 repetitions. Each motion was measured by the SDK and compared with a physician-measured manual goniometer measurement. Angular differences between SDK and goniometer measurements were compared with univariate and power analyses. The comparison between the SDK and goniometer measurement detected a mean difference of less than 5° for all arcs of motion (P > .05), with a 94% chance of detecting a large effect size from a priori power analysis. Mean differences for the arcs of motion were: abduction, -3.7° ± 3.2°; forward flexion, -4.9° ± 2.5°; internal rotation, -2.4° ± 3.7°; and external rotation -2.6° ± 3.4°. The SDK has the potential to remotely substitute for a shoulder range of motion examination within 5° of goniometer measurements. An open-source motion-based SDK that can learn complex movements, including clinical shoulder range of motion, from consumer sensors offers promise for the future of mHealth, particularly in telemonitoring before and after orthopedic surgery. Copyright © 2018 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

  2. The research of the coupled orbital-attitude controlled motion of celestial body in the neighborhood of the collinear libration point L1

    NASA Astrophysics Data System (ADS)

    Shmyrov, A.; Shmyrov, V.; Shymanchuk, D.

    2017-10-01

    This article considers the motion of a celestial body within the restricted three-body problem of the Sun-Earth system. The equations of controlled coupled attitude-orbit motion in the neighborhood of collinear libration point L1 are investigated. The translational orbital motion of a celestial body is described using Hill's equations of circular restricted three-body problem of the Sun-Earth system. Rotational orbital motion is described using Euler's dynamic equations and quaternion kinematic equation. We investigate the problem of stability of celestial body rotational orbital motion in relative equilibrium positions and stabilization of celestial body rotational orbital motion with proposed control laws in the neighborhood of collinear libration point L1. To study stabilization problem, Lyapunov function is constructed in the form of the sum of the kinetic energy and special "kinematic function" of the Rodriguez-Hamiltonian parameters. Numerical modeling of the controlled rotational motion of a celestial body at libration point L1 is carried out. The numerical characteristics of the control parameters and rotational motion are given.

  3. Dosimetric verification of lung cancer treatment using the CBCTs estimated from limited-angle on-board projections.

    PubMed

    Zhang, You; Yin, Fang-Fang; Ren, Lei

    2015-08-01

    Lung cancer treatment is susceptible to treatment errors caused by interfractional anatomical and respirational variations of the patient. On-board treatment dose verification is especially critical for the lung stereotactic body radiation therapy due to its high fractional dose. This study investigates the feasibility of using cone-beam (CB)CT images estimated by a motion modeling and free-form deformation (MM-FD) technique for on-board dose verification. Both digital and physical phantom studies were performed. Various interfractional variations featuring patient motion pattern change, tumor size change, and tumor average position change were simulated from planning CT to on-board images. The doses calculated on the planning CT (planned doses), the on-board CBCT estimated by MM-FD (MM-FD doses), and the on-board CBCT reconstructed by the conventional Feldkamp-Davis-Kress (FDK) algorithm (FDK doses) were compared to the on-board dose calculated on the "gold-standard" on-board images (gold-standard doses). The absolute deviations of minimum dose (ΔDmin), maximum dose (ΔDmax), and mean dose (ΔDmean), and the absolute deviations of prescription dose coverage (ΔV100%) were evaluated for the planning target volume (PTV). In addition, 4D on-board treatment dose accumulations were performed using 4D-CBCT images estimated by MM-FD in the physical phantom study. The accumulated doses were compared to those measured using optically stimulated luminescence (OSL) detectors and radiochromic films. Compared with the planned doses and the FDK doses, the MM-FD doses matched much better with the gold-standard doses. For the digital phantom study, the average (± standard deviation) ΔDmin, ΔDmax, ΔDmean, and ΔV100% (values normalized by the prescription dose or the total PTV) between the planned and the gold-standard PTV doses were 32.9% (±28.6%), 3.0% (±2.9%), 3.8% (±4.0%), and 15.4% (±12.4%), respectively. The corresponding values of FDK PTV doses were 1.6% (±1.9%), 1.2% (±0.6%), 2.2% (±0.8%), and 17.4% (±15.3%), respectively. In contrast, the corresponding values of MM-FD PTV doses were 0.3% (±0.2%), 0.9% (±0.6%), 0.6% (±0.4%), and 1.0% (±0.8%), respectively. Similarly, for the physical phantom study, the average ΔDmin, ΔDmax, ΔDmean, and ΔV100% of planned PTV doses were 38.1% (±30.8%), 3.5% (±5.1%), 3.0% (±2.6%), and 8.8% (±8.0%), respectively. The corresponding values of FDK PTV doses were 5.8% (±4.5%), 1.6% (±1.6%), 2.0% (±0.9%), and 9.3% (±10.5%), respectively. In contrast, the corresponding values of MM-FD PTV doses were 0.4% (±0.8%), 0.8% (±1.0%), 0.5% (±0.4%), and 0.8% (±0.8%), respectively. For the 4D dose accumulation study, the average (± standard deviation) absolute dose deviation (normalized by local doses) between the accumulated doses and the OSL measured doses was 3.3% (±2.7%). The average gamma index (3%/3 mm) between the accumulated doses and the radiochromic film measured doses was 94.5% (±2.5%). MM-FD estimated 4D-CBCT enables accurate on-board dose calculation and accumulation for lung radiation therapy. It can potentially be valuable for treatment quality assessment and adaptive radiation therapy.

  4. The Vestibular System and Human Dynamic Space Orientation

    NASA Technical Reports Server (NTRS)

    Meiry, J. L.

    1966-01-01

    The motion sensors of the vestibular system are studied to determine their role in human dynamic space orientation and manual vehicle control. The investigation yielded control models for the sensors, descriptions of the subsystems for eye stabilization, and demonstrations of the effects of motion cues on closed loop manual control. Experiments on the abilities of subjects to perceive a variety of linear motions provided data on the dynamic characteristics of the otoliths, the linear motion sensors. Angular acceleration threshold measurements supplemented knowledge of the semicircular canals, the angular motion sensors. Mathematical models are presented to describe the known control characteristics of the vestibular sensors, relating subjective perception of motion to objective motion of a vehicle. The vestibular system, the neck rotation proprioceptors and the visual system form part of the control system which maintains the eye stationary relative to a target or a reference. The contribution of each of these systems was identified through experiments involving head and body rotations about a vertical axis. Compensatory eye movements in response to neck rotation were demonstrated and their dynamic characteristics described by a lag-lead model. The eye motions attributable to neck rotations and vestibular stimulation obey superposition when both systems are active. Human operator compensatory tracking is investigated in simple vehicle orientation control system with stable and unstable controlled elements. Control of vehicle orientation to a reference is simulated in three modes: visual, motion and combined. Motion cues sensed by the vestibular system through tactile sensation enable the operator to generate more lead compensation than in fixed base simulation with only visual input. The tracking performance of the human in an unstable control system near the limits of controllability is shown to depend heavily upon the rate information provided by the vestibular sensors.

  5. Planning assistance for the NASA 30/20 GHz program. Network control architecture study.

    NASA Technical Reports Server (NTRS)

    Inukai, T.; Bonnelycke, B.; Strickland, S.

    1982-01-01

    Network Control Architecture for a 30/20 GHz flight experiment system operating in the Time Division Multiple Access (TDMA) was studied. Architecture development, identification of processing functions, and performance requirements for the Master Control Station (MCS), diversity trunking stations, and Customer Premises Service (CPS) stations are covered. Preliminary hardware and software processing requirements as well as budgetary cost estimates for the network control system are given. For the trunking system control, areas covered include on board SS-TDMA switch organization, frame structure, acquisition and synchronization, channel assignment, fade detection and adaptive power control, on board oscillator control, and terrestrial network timing. For the CPS control, they include on board processing and adaptive forward error correction control.

  6. 77 FR 19017 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-03-29

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... Energy Employees Occupational Illness Compensation Program [[Page 19018

  7. Ionic polymer-metal composite enabled robotic manta ray

    NASA Astrophysics Data System (ADS)

    Chen, Zheng; Um, Tae I.; Bart-Smith, Hilary

    2011-04-01

    The manta ray, Manta birostris, demonstrates excellent swimming capabilities; generating highly efficient thrust via flapping of dorsally flattened pectoral fins. In this paper, we present an underwater robot that mimics the swimming behavior of the manta ray. An assembly-based fabrication method is developed to create the artificial pectoral fins, which are capable of generating oscillatory with a large twisting angle between leading and trailing edges. Ionic polymer-metal composite (IPMC) actuators are used as artificial muscles in the fin. Each fin consists of four IPMC beams bonded with a compliant poly(dimethylsiloxane) (PDMS) membrane. By controlling each individual IPMC strips, we are able to generate complex flapping motions. The fin is characterized in terms of tip deflection, tip blocking force, twist angle, and power consumption. Based on the characteristics of the artificial pectoral fin, a small size and free-swimming robotic manta ray is developed. The robot consists of two artificial pectoral fins, a rigid body, and an on-board control unit with a lithium ion rechargeable battery. Experimental results show that the robot swam at a speed of up to 0.055 body length per second (BL/sec).

  8. Design and Verification of a Digital Controller for a 2-Piece Hemispherical Resonator Gyroscope

    PubMed Central

    Lee, Jungshin; Yun, Sung Wook; Rhim, Jaewook

    2016-01-01

    A Hemispherical Resonator Gyro (HRG) is the Coriolis Vibratory Gyro (CVG) that measures rotation angle or angular velocity using Coriolis force acting the vibrating mass. A HRG can be used as a rate gyro or integrating gyro without structural modification by simply changing the control scheme. In this paper, differential control algorithms are designed for a 2-piece HRG. To design a precision controller, the electromechanical modelling and signal processing must be pre-performed accurately. Therefore, the equations of motion for the HRG resonator with switched harmonic excitations are derived with the Duhamel Integral method. Electromechanical modeling of the resonator, electric module and charge amplifier is performed by considering the mode shape of a thin hemispherical shell. Further, signal processing and control algorithms are designed. The multi-flexing scheme of sensing, driving cycles and x, y-axis switching cycles is appropriate for high precision and low maneuverability systems. The differential control scheme is easily capable of rejecting the common mode errors of x, y-axis signals and changing the rate integrating mode on basis of these studies. In the rate gyro mode the controller is composed of Phase-Locked Loop (PLL), amplitude, quadrature and rate control loop. All controllers are designed on basis of a digital PI controller. The signal processing and control algorithms are verified through Matlab/Simulink simulations. Finally, a FPGA and DSP board with these algorithms is verified through experiments. PMID:27104539

  9. 78 FR 40744 - Request for Nominations of Candidates To Serve on the Board of Scientific Counselors (BSC...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-07-08

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Request for Nominations of Candidates To Serve on the Board of Scientific Counselors (BSC), Office of Infectious Diseases (OID) The Centers for Disease Control and Prevention (CDC) is soliciting nominations for possible membership on the BSC, OID. This board...

  10. Design and construction of a high frame rate imaging system

    NASA Astrophysics Data System (ADS)

    Wang, Jing; Waugaman, John L.; Liu, Anjun; Lu, Jian-Yu

    2002-05-01

    A new high frame rate imaging method has been developed recently [Jian-yu Lu, ``2D and 3D high frame rate imaging with limited diffraction beams,'' IEEE Trans. Ultrason. Ferroelectr. Freq. Control 44, 839-856 (1997)]. This method may have a clinical application for imaging of fast moving objects such as human hearts, velocity vector imaging, and low-speckle imaging. To implement the method, an imaging system has been designed. The system consists of one main printed circuit board (PCB) and 16 channel boards (each channel board contains 8 channels), in addition to a set-top box for connections to a personal computer (PC), a front panel board for user control and message display, and a power control and distribution board. The main board contains a field programmable gate array (FPGA) and controls all channels (each channel has also an FPGA). We will report the analog and digital circuit design and simulations, multiplayer PCB designs with commercial software (Protel 99), PCB signal integrity testing and system RFI/EMI shielding, and the assembly and construction of the entire system. [Work supported in part by Grant 5RO1 HL60301 from NIH.

  11. Mobile, Virtual Enhancements for Rehabilitation (MOVER)

    DTIC Science & Technology

    2015-08-28

    The patient uses COTS input devices, such as the Microsoft Kinect and the Wii Balance Board , to perform therapeutic exercises that are mapped to...motion and balance disorder patients. We made these games highly customizable to enable therapists to tune each game to the capabilities of individual...settings. Figure 5 shows the setting for the target graphic styles. Figure 6 shows the setting for which foot the patient must balance on during the

  12. JASMINE: Data analysis and simulation

    NASA Astrophysics Data System (ADS)

    Yamada, Yoshiyuki; Gouda, Naoteru; Yano, Taihei; Kobayashi, Yukiyasu; Sako, Nobutada; Jasmine Working Group

    JASMINE will study the structure and evolution of the Milky Way Galaxy. To accomplish these objectives JASMINE will measure trigonometric parallaxes, positions and proper motions of about 10 million stars with a precision of 10 μas at z = 14 mag. In this paper methods for data analysis and error budgets, on-board data handling such as sampling strategy and data compression, and simulation software for end-to-end simulation are presented.

  13. Synthesis of a controller for stabilizing the motion of a rigid body about a fixed point

    NASA Astrophysics Data System (ADS)

    Zabolotnov, Yu. M.; Lobanov, A. A.

    2017-05-01

    A method for the approximate design of an optimal controller for stabilizing the motion of a rigid body about a fixed point is considered. It is assumed that rigid body motion is nearly the motion in the classical Lagrange case. The method is based on the common use of the Bellman dynamic programming principle and the averagingmethod. The latter is used to solve theHamilton-Jacobi-Bellman equation approximately, which permits synthesizing the controller. The proposed method for controller design can be used in many problems close to the problem of motion of the Lagrange top (the motion of a rigid body in the atmosphere, the motion of a rigid body fastened to a cable in deployment of the orbital cable system, etc.).

  14. Model Predictive Control Based Motion Drive Algorithm for a Driving Simulator

    NASA Astrophysics Data System (ADS)

    Rehmatullah, Faizan

    In this research, we develop a model predictive control based motion drive algorithm for the driving simulator at Toronto Rehabilitation Institute. Motion drive algorithms exploit the limitations of the human vestibular system to formulate a perception of motion within the constrained workspace of a simulator. In the absence of visual cues, the human perception system is unable to distinguish between acceleration and the force of gravity. The motion drive algorithm determines control inputs to displace the simulator platform, and by using the resulting inertial forces and angular rates, creates the perception of motion. By using model predictive control, we can optimize the use of simulator workspace for every maneuver while simulating the vehicle perception. With the ability to handle nonlinear constraints, the model predictive control allows us to incorporate workspace limitations.

  15. 78 FR 69093 - Performance Review Board Members

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-11-18

    ... Review Board Members AGENCY: Centers for Disease Control and Prevention (CDC), Department of Health and... Performance Review Board Members who are reviewing performance for Fiscal Year 2013. FOR FURTHER INFORMATION... Performance Review Board Members be published in the Federal Register. The following persons will serve on the...

  16. Vestibular models for design and evaluation of flight simulator motion

    NASA Technical Reports Server (NTRS)

    Bussolari, S. R.; Sullivan, R. B.; Young, L. R.

    1986-01-01

    The use of spatial orientation models in the design and evaluation of control systems for motion-base flight simulators is investigated experimentally. The development of a high-fidelity motion drive controller using an optimal control approach based on human vestibular models is described. The formulation and implementation of the optimal washout system are discussed. The effectiveness of the motion washout system was evaluated by studying the response of six motion washout systems to the NASA/AMES Vertical Motion Simulator for a single dash-quick-stop maneuver. The effects of the motion washout system on pilot performance and simulator acceptability are examined. The data reveal that human spatial orientation models are useful for the design and evaluation of flight simulator motion fidelity.

  17. Do motion controllers make action video games less sedentary? A randomized experiment.

    PubMed

    Lyons, Elizabeth J; Tate, Deborah F; Ward, Dianne S; Ribisl, Kurt M; Bowling, J Michael; Kalyanaraman, Sriram

    2012-01-01

    Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100) were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12). An interaction was found such that in one pair, motion control (mean [SD] 0.96 [0.20] kcal · kg(-1) · hr(-1)) produced 0.10 kcal · kg(-1) · hr(-1) (95% confidence interval 0.03 to 0.17) greater energy expenditure than traditional control (0.86 [0.17] kcal · kg(-1) · hr(-1), P = .048). All games were sedentary. As currently implemented, motion control is unlikely to produce moderate intensity physical activity in action games. However, some games produce small but significant increases in energy expenditure, which may benefit health by decreasing sedentary behavior.

  18. Do Motion Controllers Make Action Video Games Less Sedentary? A Randomized Experiment

    PubMed Central

    Lyons, Elizabeth J.; Tate, Deborah F.; Ward, Dianne S.; Ribisl, Kurt M.; Bowling, J. Michael; Kalyanaraman, Sriram

    2012-01-01

    Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100) were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12). An interaction was found such that in one pair, motion control (mean [SD] 0.96 [0.20] kcal · kg−1 · hr−1) produced 0.10 kcal · kg−1 · hr−1 (95% confidence interval 0.03 to 0.17) greater energy expenditure than traditional control (0.86 [0.17] kcal · kg−1 · hr−1, P = .048). All games were sedentary. As currently implemented, motion control is unlikely to produce moderate intensity physical activity in action games. However, some games produce small but significant increases in energy expenditure, which may benefit health by decreasing sedentary behavior. PMID:22028959

  19. Test-bench system for a borehole azimuthal acoustic reflection imaging logging tool

    NASA Astrophysics Data System (ADS)

    Liu, Xianping; Ju, Xiaodong; Qiao, Wenxiao; Lu, Junqiang; Men, Baiyong; Liu, Dong

    2016-06-01

    The borehole azimuthal acoustic reflection imaging logging tool (BAAR) is a new generation of imaging logging tool, which is able to investigate stratums in a relatively larger range of space around the borehole. The BAAR is designed based on the idea of modularization with a very complex structure, so it has become urgent for us to develop a dedicated test-bench system to debug each module of the BAAR. With the help of a test-bench system introduced in this paper, test and calibration of BAAR can be easily achieved. The test-bench system is designed based on the client/server model. The hardware system mainly consists of a host computer, an embedded controlling board, a bus interface board, a data acquisition board and a telemetry communication board. The host computer serves as the human machine interface and processes the uploaded data. The software running on the host computer is designed based on VC++. The embedded controlling board uses Advanced Reduced Instruction Set Machines 7 (ARM7) as the micro controller and communicates with the host computer via Ethernet. The software for the embedded controlling board is developed based on the operating system uClinux. The bus interface board, data acquisition board and telemetry communication board are designed based on a field programmable gate array (FPGA) and provide test interfaces for the logging tool. To examine the feasibility of the test-bench system, it was set up to perform a test on BAAR. By analyzing the test results, an unqualified channel of the electronic receiving cabin was discovered. It is suggested that the test-bench system can be used to quickly determine the working condition of sub modules of BAAR and it is of great significance in improving production efficiency and accelerating industrial production of the logging tool.

  20. Behavioral methods of alleviating motion sickness: effectiveness of controlled breathing and a music audiotape.

    PubMed

    Yen Pik Sang, Fleur D; Billar, Jessica P; Golding, John F; Gresty, Michael A

    2003-01-01

    Behavioral countermeasures for motion sickness would be advantageous because of the side effects of antiemetic drugs, but few alternative treatments are available. The objective of this study was to compare the effectiveness of controlling breathing and listening to a music audiotape designed to reduce motion sickness symptoms, on increasing tolerance to motion-induced nausea. Twenty-four healthy subjects were exposed to nauseogenic Coriolis stimulation on a rotating turntable under three conditions: whilst focusing on controlling breathing; listening to a music audiotape; or without intervention (control). The three conditions were performed by each subject according to a replicated factorial design at 1-week intervals at the same time of day. Ratings of motion sickness were obtained every 30 seconds. Once a level of mild nausea was reached subjects commenced controlling breathing or listened to the music audiotape. Motion was stopped after the onset of moderate nausea. Mean (+/- SD) motion exposure time in minutes tolerated before the onset of moderate nausea was significantly longer (p <.01) for controlling breathing (10.7 +/- 5.6 min) and longer (p <.01) for music (10.4 +/- 5.6 min) compared with control (9.2 +/- 5.9 min). Both controlling breathing and the music audiotape provided significant protection against motion sickness and with similar effectiveness. These nonpharmacologic countermeasures are only half as effective as standard doses of anti-motion sickness drugs, such as oral scopolamine; however, they are easy to implement and free of side effects.

  1. 78 FR 66938 - Board of Scientific Counselors, Office of Public Health Preparedness and Response, Board of...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-11-07

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Board of Scientific Counselors, Office of Public Health Preparedness and Response, Board of Scientific Counselors (BSC.... Contact Person for More Information: Marquita Black, Executive Assistant, Office of Science and Public...

  2. 76 FR 60135 - Proposed Information Collection (Appeal to Board of Veterans' Appeals) Activity Comment Request

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-09-28

    ... DEPARTMENT OF VETERANS AFFAIRS [OMB Control No. 2900-0085] Proposed Information Collection (Appeal to Board of Veterans' Appeals) Activity Comment Request AGENCY: Board of Veterans' Appeals, Department of Veterans Affairs. ACTION: Notice. SUMMARY: The Board of Veterans' Appeals (BVA), Department of...

  3. 75 FR 9399 - Defense Health Board (DHB) Meeting

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-03-02

    ... DEPARTMENT OF DEFENSE Office of the Secretary Defense Health Board (DHB) Meeting AGENCY... of the Defense Health Board (DHB), will meet on March 11, 2010. Subject to the availability of space... INFORMATION: Due to internal DoD difficulties, beyond the control of the Defense Health Board or its...

  4. 76 FR 16787 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-03-25

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... was established under the Energy Employees Occupational Illness Compensation Program Act of 2000 to...

  5. 32 CFR 724.404 - Director, Naval Council of Personnel Boards.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 32 National Defense 5 2010-07-01 2010-07-01 false Director, Naval Council of Personnel Boards. 724... PERSONNEL NAVAL DISCHARGE REVIEW BOARD Principal Elements of the Navy Department Discharge Review System § 724.404 Director, Naval Council of Personnel Boards. Exercises adminstrative control and oversight of...

  6. 32 CFR 724.404 - Director, Naval Council of Personnel Boards.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 32 National Defense 5 2011-07-01 2011-07-01 false Director, Naval Council of Personnel Boards. 724... PERSONNEL NAVAL DISCHARGE REVIEW BOARD Principal Elements of the Navy Department Discharge Review System § 724.404 Director, Naval Council of Personnel Boards. Exercises adminstrative control and oversight of...

  7. Micromotor-based energy generation.

    PubMed

    Singh, Virendra V; Soto, Fernando; Kaufmann, Kevin; Wang, Joseph

    2015-06-01

    A micromotor-based strategy for energy generation, utilizing the conversion of liquid-phase hydrogen to usable hydrogen gas (H2), is described. The new motion-based H2-generation concept relies on the movement of Pt-black/Ti Janus microparticle motors in a solution of sodium borohydride (NaBH4) fuel. This is the first report of using NaBH4 for powering micromotors. The autonomous motion of these catalytic micromotors, as well as their bubble generation, leads to enhanced mixing and transport of NaBH4 towards the Pt-black catalytic surface (compared to static microparticles or films), and hence to a substantially faster rate of H2 production. The practical utility of these micromotors is illustrated by powering a hydrogen-oxygen fuel cell car by an on-board motion-based hydrogen and oxygen generation. The new micromotor approach paves the way for the development of efficient on-site energy generation for powering external devices or meeting growing demands on the energy grid. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  8. Seismic waveform classification using deep learning

    NASA Astrophysics Data System (ADS)

    Kong, Q.; Allen, R. M.

    2017-12-01

    MyShake is a global smartphone seismic network that harnesses the power of crowdsourcing. It has an Artificial Neural Network (ANN) algorithm running on the phone to distinguish earthquake motion from human activities recorded by the accelerometer on board. Once the ANN detects earthquake-like motion, it sends a 5-min chunk of acceleration data back to the server for further analysis. The time-series data collected contains both earthquake data and human activity data that the ANN confused. In this presentation, we will show the Convolutional Neural Network (CNN) we built under the umbrella of supervised learning to find out the earthquake waveform. The waveforms of the recorded motion could treat easily as images, and by taking the advantage of the power of CNN processing the images, we achieved very high successful rate to select the earthquake waveforms out. Since there are many non-earthquake waveforms than the earthquake waveforms, we also built an anomaly detection algorithm using the CNN. Both these two methods can be easily extended to other waveform classification problems.

  9. Analysis and compensation of synchronous measurement error for multi-channel laser interferometer

    NASA Astrophysics Data System (ADS)

    Du, Shengwu; Hu, Jinchun; Zhu, Yu; Hu, Chuxiong

    2017-05-01

    Dual-frequency laser interferometer has been widely used in precision motion system as a displacement sensor, to achieve nanoscale positioning or synchronization accuracy. In a multi-channel laser interferometer synchronous measurement system, signal delays are different in the different channels, which will cause asynchronous measurement, and then lead to measurement error, synchronous measurement error (SME). Based on signal delay analysis of the measurement system, this paper presents a multi-channel SME framework for synchronous measurement, and establishes the model between SME and motion velocity. Further, a real-time compensation method for SME is proposed. This method has been verified in a self-developed laser interferometer signal processing board (SPB). The experiment result showed that, using this compensation method, at a motion velocity 0.89 m s-1, the max SME between two measuring channels in the SPB is 1.1 nm. This method is more easily implemented and applied to engineering than the method of directly testing smaller signal delay.

  10. Contrast and assimilation in motion perception and smooth pursuit eye movements.

    PubMed

    Spering, Miriam; Gegenfurtner, Karl R

    2007-09-01

    The analysis of visual motion serves many different functions ranging from object motion perception to the control of self-motion. The perception of visual motion and the oculomotor tracking of a moving object are known to be closely related and are assumed to be controlled by shared brain areas. We compared perceived velocity and the velocity of smooth pursuit eye movements in human observers in a paradigm that required the segmentation of target object motion from context motion. In each trial, a pursuit target and a visual context were independently perturbed simultaneously to briefly increase or decrease in speed. Observers had to accurately track the target and estimate target speed during the perturbation interval. Here we show that the same motion signals are processed in fundamentally different ways for perception and steady-state smooth pursuit eye movements. For the computation of perceived velocity, motion of the context was subtracted from target motion (motion contrast), whereas pursuit velocity was determined by the motion average (motion assimilation). We conclude that the human motion system uses these computations to optimally accomplish different functions: image segmentation for object motion perception and velocity estimation for the control of smooth pursuit eye movements.

  11. Image dissector control and data system electronics, part 1, part 2, and part 3

    NASA Technical Reports Server (NTRS)

    1975-01-01

    The operating and calibration procedures, design details, and maintenance information for the control console and the associated electronics are presented. Detailed circuit connector information is included which describes the destination of each wire leaving each pin of each circuit board. The schematic diagrams of the circuit boards in the system and of the interconnection between boards and consoles are presented.

  12. A Generalized-Compliant-Motion Primitive

    NASA Technical Reports Server (NTRS)

    Backes, Paul G.

    1993-01-01

    Computer program bridges gap between planning and execution of compliant robotic motions developed and installed in control system of telerobot. Called "generalized-compliant-motion primitive," one of several task-execution-primitive computer programs, which receives commands from higher-level task-planning programs and executes commands by generating required trajectories and applying appropriate control laws. Program comprises four parts corresponding to nominal motion, compliant motion, ending motion, and monitoring. Written in C language.

  13. An optimal control strategy for two-dimensional motion camouflage with non-holonimic constraints.

    PubMed

    Rañó, Iñaki

    2012-07-01

    Motion camouflage is a stealth behaviour observed both in hover-flies and in dragonflies. Existing controllers for mimicking motion camouflage generate this behaviour on an empirical basis or without considering the kinematic motion restrictions present in animal trajectories. This study summarises our formal contributions to solve the generation of motion camouflage as a non-linear optimal control problem. The dynamics of the system capture the kinematic restrictions to motion of the agents, while the performance index ensures camouflage trajectories. An extensive set of simulations support the technique, and a novel analysis of the obtained trajectories contributes to our understanding of possible mechanisms to obtain sensor based motion camouflage, for instance, in mobile robots.

  14. 40 CFR 52.2299 - Original identification of plan section.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ...), Appendix AG, Emission Reduction Commitments for Transportation Control Measures in Post-1982 SIP Areas...; as adopted by the Texas Air Control Board on October 14, 1988. (C) The following portions of the Post... Transportation Control Measures in Post-1982 SIP Areas, as adopted by the Texas Air Control Board on December 18...

  15. 40 CFR 52.2299 - Original identification of plan section.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ...), Appendix AG, Emission Reduction Commitments for Transportation Control Measures in Post-1982 SIP Areas...; as adopted by the Texas Air Control Board on October 14, 1988. (C) The following portions of the Post... Transportation Control Measures in Post-1982 SIP Areas, as adopted by the Texas Air Control Board on December 18...

  16. 77 FR 30900 - Approval and Promulgation of Implementation Plans; New Mexico; Albuquerque/Bernalillo County...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-05-24

    ... in implementing the New Mexico Air Quality Control Act, the joint Air Quality Control Board (AQCB... Department in implementing the New Mexico Air Quality Control Act, the joint Air Quality Control Board (AQCB... Promulgation of Implementation Plans; New Mexico; Albuquerque/Bernalillo County; Fees for Permits and...

  17. Scapulohumeral rhythm in shoulders with reverse shoulder arthroplasty.

    PubMed

    Walker, David; Matsuki, Keisuke; Struk, Aimee M; Wright, Thomas W; Banks, Scott A

    2015-07-01

    Little is known about kinematic function of reverse total shoulder arthroplasty (RTSA). Scapulohumeral rhythm (SHR) is a common metric for assessing muscle function and shoulder joint motion. The purpose of this study was to compare SHR in shoulders with RTSA to normal shoulders. Twenty-eight subjects, more than 12 months after unilateral RTSA, were recruited for an Institutional Review Board-approved study. Subjects performed arm abduction in the coronal plane with and without a 1.4-kg hand-held weight. Three-dimensional model-image registration techniques were used to measure orientation and position for the humerus and scapula from fluoroscopic images. Analysis of variance and Tukey tests were used to assess groupwise and pairwise differences. SHR in RTSA shoulders (1.3:1) was significantly lower than in normal shoulders (3:1). Below 30° abduction, RTSA and normal shoulders show a wide range of SHR (1.3:1 to 17:1). Above 30° abduction, SHR in RTSA shoulders was 1.3:1 for unweighted abduction and 1.3:1 for weighted abduction. Maximum RTSA shoulder abduction in weighted trials was lower than in unweighted trials. SHR variability in RTSA shoulders decreased with increasing arm elevation. RTSA shoulders show kinematics that are significantly different from normal shoulders. SHR in RTSA shoulders was significantly lower than in normal shoulders, indicating that RTSA shoulders use more scapulothoracic motion and less glenohumeral motion to elevate the arm. With these observations, it may be possible to improve rehabilitation protocols, with particular attention to the periscapular muscles, and implant design or placement to optimize functional outcomes in shoulders with RTSA. Copyright © 2015 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

  18. FPGA-Based Networked Phasemeter for a Heterodyne Interferometer

    NASA Technical Reports Server (NTRS)

    Rao, Shanti

    2009-01-01

    A document discusses a component of a laser metrology system designed to measure displacements along the line of sight with precision on the order of a tenth the diameter of an atom. This component, the phasemeter, measures the relative phase of two electrical signals and transfers that information to a computer. Because the metrology system measures the differences between two optical paths, the phasemeter has two inputs, called measure and reference. The reference signal is nominally a perfect square wave with a 50- percent duty cycle (though only rising edges are used). As the metrology system detects motion, the difference between the reference and measure signal phases is proportional to the displacement of the motion. The phasemeter, therefore, counts the elapsed time between rising edges in the two signals, and converts the time into an estimate of phase delay. The hardware consists of a circuit board that plugs into a COTS (commercial, off-the- shelf) Spartan-III FPGA (field-programmable gate array) evaluation board. It has two BNC inputs, (reference and measure), a CMOS logic chip to buffer the inputs, and an Ethernet jack for transmitting reduced-data to a PC. Two extra BNC connectors can be attached for future expandability, such as external synchronization. Each phasemeter handles one metrology channel. A bank of six phasemeters (and two zero-crossing detector cards) with an Ethernet switch can monitor the rigid body motion of an object. This device is smaller and cheaper than existing zero-crossing phasemeters. Also, because it uses Ethernet for communication with a computer, instead of a VME bridge, it is much easier to use. The phasemeter is a key part of the Precision Deployable Apertures and Structures strategic R&D effort to design large, deployable, segmented space telescopes.

  19. 14 CFR 25.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    .... Rudder Right pedal forward for nose right. (2) Secondary. Controls Motion and effect Flaps (or auxiliary lift devices) Forward for flaps up; rearward for flaps down. Trim tabs (or equivalent) Rotate to... and auxiliary controls: (1) Powerplant. Controls Motion and effect Power or thrust Forward to increase...

  20. 14 CFR 25.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    .... Rudder Right pedal forward for nose right. (2) Secondary. Controls Motion and effect Flaps (or auxiliary lift devices) Forward for flaps up; rearward for flaps down. Trim tabs (or equivalent) Rotate to... and auxiliary controls: (1) Powerplant. Controls Motion and effect Power or thrust Forward to increase...

  1. Report of Apollo 204 Review Board to the Administrator, National Aeronautics and Space Administration . Appendix F ; Schedule of Physical Evidence

    NASA Technical Reports Server (NTRS)

    1967-01-01

    Immediately following the Apollo 204 accident of January 27, 1961. all associated equipment and material were impounded. Release of this equipment and material for normal use was under the close control of the Apollo 204 Review Board. Apollo Review Board Administrative Procedure No. 11, February 11, 1961, established the Apollo 204 Review Board Material Release Record (MRR). This MRR was the official form used to release material from full impoundment and was valid only after being approved by the Board and signed by a Member. The form was used as the authority to place any impounded item into one of the three Categories defined in Administrative Procedure No. 11. This appendix contains all of the authorized MRR's. Each item submitted on an MRR was given a control number; a description, including the part number and serial number; the relevance and location to the accident; any constraints before release; and the control category. The categories placed on the equipment were as follows: Category A - Items which may have a significant influence or bearing on the results or findings of the Apollo 204 Review Board; Category B - All material other than Category A which is considered relevant to the Apollo 204 Review Board investigation; Category C - Material released from Board jurisdiction. Several classes of equipment were released by special Board action prior to the establishment of the MRR system. The operating procedure for release of these classes is Enclosure F-l to this appendix.

  2. Bird's Eye View - A 3-D Situational Awareness Tool for the Space Station

    NASA Technical Reports Server (NTRS)

    Dershowitz, Adam; Chamitoff, Gregory

    2002-01-01

    Even as space-qualified computer hardware lags well behind the latest home computers, the possibility of using high-fidelity interactive 3-D graphics for displaying important on board information has finally arrived, and is being used on board the International Space Station (ISS). With the quantity and complexity of space-flight telemetry, 3-D displays can greatly enhance the ability of users, both onboard and on the ground, to interpret data quickly and accurately. This is particularly true for data related to vehicle attitude, position, configuration, and relation to other objects on the ground or in-orbit Bird's Eye View (BEV) is a 3-D real-time application that provides a high degree of Situational Awareness for the crew. Its purpose is to instantly convey important motion-related parameters to the crew and mission controllers by presenting 3-D simulated camera views of the International Space Station (ISS) in its actual environment Driven by actual telemetry, and running on board, as well as on the ground, the user can visualize the Space Station relative to the Earth, Sun, stars, various reference frames, and selected targets, such as ground-sites or communication satellites. Since the actual ISS configuration (geometry) is also modeled accurately, everything from the alignment of the solar panels to the expected view from a selected window can be visualized accurately. A virtual representation of the Space Station in real time has many useful applications. By selecting different cameras, the crew or mission control can monitor the station's orientation in space, position over the Earth, transition from day to night, direction to the Sun, the view from a particular window, or the motion of the robotic arm. By viewing the vehicle attitude and solar panel orientations relative to the Sun, the power status of the ISS can be easily visualized and understood. Similarly, the thermal impacts of vehicle attitude can be analyzed and visually confirmed. Communication opportunities can be displayed, and line-of-sight blockage due to interference by the vehicle structure (or the Earth) can be seen easily. Additional features in BEV display targets on the ground and in-orbit, including cities, communication sites, landmarks, satellites, and special sites of scientific interest for Earth observation and photography. Any target can be selected and tracked. This gives the user a continual line-of-sight to the target of current interest, and real-time knowledge about its visibility. Similarly, the vehicle ground-track, and an option to show "visibility circles" around displayed ground sites, provide continuous insight regarding current and future visibility to any target BEV was designed with inputs from many disciplines in the flight control and operations community both at NASA and from the International Partners. As such, BEV is setting the standards for interactive 3-D graphics for spacecraft applications. One important contribution of BEV is a generic graphical interface for camera control that can be used for any 3-D applications. This interface has become part of the International Display and Graphics Standards for the 16-nation ISS partnership. Many other standards related to camera properties, and the display of 3-D data, also have been defined by BEV. Future enhancements to BEV will include capabilities related to simulating ahead of the current time. This will give the user tools for analyzing off-nominal and future scenarios, as well as for planning future operations.

  3. Motion control of the rabbit ankle joint with a flat interface nerve electrode.

    PubMed

    Park, Hyun-Joo; Durand, Dominique M

    2015-12-01

    A flat interface nerve electrode (FINE) has been shown to improve fascicular and subfascicular selectivity. A recently developed novel control algorithm for FINE was applied to motion control of the rabbit ankle. A 14-contact FINE was placed on the rabbit sciatic nerve (n = 8), and ankle joint motion was controlled for sinusoidal trajectories and filtered random trajectories. To this end, a real-time controller was implemented with a multiple-channel current stimulus isolator. The performance test results showed good tracking performance of rabbit ankle joint motion for filtered random trajectories and sinusoidal trajectories (0.5 Hz and 1.0 Hz) with <10% average root-mean-square (RMS) tracking error, whereas the average range of ankle joint motion was between -20.0 ± 9.3° and 18.1 ± 8.8°. The proposed control algorithm enables the use of a multiple-contact nerve electrode for motion trajectory tracking control of musculoskeletal systems. © 2015 Wiley Periodicals, Inc.

  4. Maximum Principle for General Controlled Systems Driven by Fractional Brownian Motions

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

    Han Yuecai; Hu Yaozhong; Song Jian, E-mail: jsong2@math.rutgers.edu

    2013-04-15

    We obtain a maximum principle for stochastic control problem of general controlled stochastic differential systems driven by fractional Brownian motions (of Hurst parameter H>1/2). This maximum principle specifies a system of equations that the optimal control must satisfy (necessary condition for the optimal control). This system of equations consists of a backward stochastic differential equation driven by both fractional Brownian motions and the corresponding underlying standard Brownian motions. In addition to this backward equation, the maximum principle also involves the Malliavin derivatives. Our approach is to use conditioning and Malliavin calculus. To arrive at our maximum principle we need tomore » develop some new results of stochastic analysis of the controlled systems driven by fractional Brownian motions via fractional calculus. Our approach of conditioning and Malliavin calculus is also applied to classical system driven by standard Brownian motions while the controller has only partial information. As a straightforward consequence, the classical maximum principle is also deduced in this more natural and simpler way.« less

  5. Vertical-angle control system in the LLMC

    NASA Astrophysics Data System (ADS)

    Li, Binhua; Yang, Lei; Tie, Qiongxian; Mao, Wei

    2000-10-01

    A control system of the vertical angle transmission used in the Lower Latitude Meridian Circle (LLMC) is described in this paper. The transmission system can change the zenith distance of the tube quickly and precisely. It works in three modes: fast motion, slow motion and lock mode. The fast motion mode and the slow motion mode are that the tube of the instrument is driven by a fast motion stepper motor and a slow motion one separately. The lock mode is running for lock mechanism that is driven by a lock stepper motor. These three motors are controlled together by a single chip microcontroller, which is controlled in turn by a host personal computer. The slow motion mechanism and its rotational step angle are fully discussed because the mechanism is not used before. Then the hardware structure of this control system based on a microcontroller is described. Control process of the system is introduced during a normal observation, which is divided into eleven steps. All the steps are programmed in our control software in C++ and/or in ASM. The C++ control program is set up in the host PC, while the ASM control program is in the microcontroller system. Structures and functions of these rprograms are presented. Some details and skills for programming are discussed in the paper too.

  6. Planning and executing motions for multibody systems in free-fall. Ph.D. Thesis

    NASA Technical Reports Server (NTRS)

    Cameron, Jonathan M.

    1991-01-01

    The purpose of this research is to develop an end-to-end system that can be applied to a multibody system in free-fall to analyze its possible motions, save those motions in a database, and design a controller that can execute those motions. A goal is for the process to be highly automated and involve little human intervention. Ideally, the output of the system would be data and algorithms that could be put in ROM to control the multibody system in free-fall. The research applies to more than just robots in space. It applies to any multibody system in free-fall. Mathematical techniques from nonlinear control theory were used to study the nature of the system dynamics and its possible motions. Optimization techniques were applied to plan motions. Image compression techniques were proposed to compress the precomputed motion data for storage. A linearized controller was derived to control the system while it executes preplanned trajectories.

  7. ON THE PARALLEL AND PERPENDICULAR PROPAGATING MOTIONS VISIBLE IN POLAR PLUMES: AN INCUBATOR FOR (FAST) SOLAR WIND ACCELERATION?

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

    Liu, Jiajia; Wang, Yuming; McIntosh, Scott W.

    We combine observations of the Coronal Multi-channel Polarimeter and the Atmospheric Imaging Assembly on board the Solar Dynamics Observatory to study the characteristic properties of (propagating) Alfvénic motions and quasi-periodic intensity disturbances in polar plumes. This unique combination of instruments highlights the physical richness of the processes taking place at the base of the (fast) solar wind. The (parallel) intensity perturbations with intensity enhancements around 1% have an apparent speed of 120 km s{sup −1} (in both the 171 and 193 Å passbands) and a periodicity of 15 minutes, while the (perpendicular) Alfvénic wave motions have a velocity amplitude ofmore » 0.5 km s{sup −1}, a phase speed of 830 km s{sup −1}, and a shorter period of 5 minutes on the same structures. These observations illustrate a scenario where the excited Alfvénic motions are propagating along an inhomogeneously loaded magnetic field structure such that the combination could be a potential progenitor of the magnetohydrodynamic turbulence required to accelerate the fast solar wind.« less

  8. Effects of Different Heave Motion Components on Pilot Pitch Control Behavior

    NASA Technical Reports Server (NTRS)

    Zaal, Petrus M. T.; Zavala, Melinda A.

    2016-01-01

    The study described in this paper had two objectives. The first objective was to investigate if a different weighting of heave motion components decomposed at the center of gravity, allowing for a higher fidelity of individual components, would result in pilot manual pitch control behavior and performance closer to that observed with full aircraft motion. The second objective was to investigate if decomposing the heave components at the aircraft's instantaneous center of rotation rather than at the center of gravity could result in additional improvements in heave motion fidelity. Twenty-one general aviation pilots performed a pitch attitude control task in an experiment conducted on the Vertical Motion Simulator at NASA Ames under different hexapod motion conditions. The large motion capability of the Vertical Motion Simulator also allowed for a full aircraft motion condition, which served as a baseline. The controlled dynamics were of a transport category aircraft trimmed close to the stall point. When the ratio of center of gravity pitch heave to center of gravity heave increased in the hexapod motion conditions, pilot manual control behavior and performance became increasingly more similar to what is observed with full aircraft motion. Pilot visual and motion gains significantly increased, while the visual lead time constant decreased. The pilot visual and motion time delays remained approximately constant and decreased, respectively. The neuromuscular damping and frequency both decreased, with their values more similar to what is observed with real aircraft motion when there was an equal weighting of the heave of the center of gravity and heave due to rotations about the center of gravity. In terms of open- loop performance, the disturbance and target crossover frequency increased and decreased, respectively, and their corresponding phase margins remained constant and increased, respectively. The decomposition point of the heave components only had limited effects on pilot manual control behavior and performance.

  9. 40 CFR 52.720 - Identification of plan.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... Illinois Pollution Control Board Regulations, Chapter 2, Parts I, II and III were submitted May 4, 1972, by the Governor. (3) A document describing the role of the Chicago Department of Environmental Control...) Compliance schedules submitted on March 13, 1973, by the Pollution Control Board. (6) Compliance schedules...

  10. 77 FR 58585 - Appointment of Members of Senior Executive Services Performance Review Board

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-09-21

    ... OFFICE OF NATIONAL DRUG CONTROL POLICY Appointment of Members of Senior Executive Services Performance Review Board AGENCY: Office of National Drug Control Policy [ONDCP]. ACTION: Notice of... Counsel (202) 395-6709, Office of National Drug Control Policy, Executive Office of the President...

  11. 40 CFR 52.720 - Identification of plan.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... Illinois Pollution Control Board Regulations, Chapter 2, Parts I, II and III were submitted May 4, 1972, by the Governor. (3) A document describing the role of the Chicago Department of Environmental Control...) Compliance schedules submitted on March 13, 1973, by the Pollution Control Board. (6) Compliance schedules...

  12. The influence of ship motion of manual control skills

    NASA Technical Reports Server (NTRS)

    Mcleod, P.; Poulton, C.; Duross, H.; Lewis, W.

    1981-01-01

    The effects of ship motion on a range of typical manual control skills were examined on the Warren Spring ship motion simulator driven in heave, pitch, and roll by signals taken from the frigate HMS Avenger at 13 m/s (25 knots) into a force 4 wind. The motion produced a vertical r.m.s. acceleration of 0.024g, mostly between 0.1 and 0.3 Hz, with comparatively little pitch or roll. A task involving unsupported arm movements was seriously affected by the motion; a pursuit tracking task showed a reliable decrement although it was still performed reasonably well (pressure and free moving tracking controls were affected equally by the motion); a digit keying task requiring ballistic hand movements was unaffected. There was no evidence that these effects were caused by sea sickness. The differing response to motion of the different tasks, from virtual destruction to no effect, suggests that a major benefit could come from an attempt to design the man/control interface onboard ship around motion resistant tasks.

  13. Alternative Fuels Data Center: Maps and Data

    Science.gov Websites

    control systems and appliances with off-board sources of electricity, thereby reducing the need to idle trucks to power climate control systems and appliances with off-board sources of electricity, thereby

  14. Control system and method for payload control in mobile platform cranes

    DOEpatents

    Robinett, III, Rush D.; Groom, Kenneth N.; Feddema, John T.; Parker, Gordon G.

    2002-01-01

    A crane control system and method provides a way to generate crane commands responsive to a desired payload motion to achieve substantially pendulation-free actual payload motion. The control system and method apply a motion compensator to maintain a payload in a defined payload configuration relative to an inertial coordinate frame. The control system and method can further comprise a pendulation damper controller to reduce an amount of pendulation between a sensed payload configuration and the defined payload configuration. The control system and method can further comprise a command shaping filter to filter out a residual payload pendulation frequency from the desired payload motion.

  15. 75 FR 81277 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-12-27

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... under the Energy Employees Occupational Illness Compensation Program Act of 2000 to advise the President...

  16. 78 FR 11650 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-02-19

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... established under the Energy Employees Occupational Illness Compensation Program Act of 2000 to advise the...

  17. 78 FR 732 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-01-04

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... established under the Energy Employees Occupational Illness Compensation Program Act of 2000 to advise the...

  18. 75 FR 57281 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-09-20

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... under the Energy Employees Occupational Illness Compensation Program Act of 2000 to advise the President...

  19. 75 FR 11186 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-03-10

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... the Energy Employees Occupational Illness Compensation Program Act of 2000 to advise the President on...

  20. 78 FR 38347 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-06-26

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... Employees Occupational Illness Compensation Program Act of 2000 to advise the President on a variety of...

  1. 76 FR 71567 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-11-18

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety and Health (NIOSH) In accordance with section 10(a)(2) of the Federal Advisory Committee Act (Pub. L...

  2. 78 FR 69682 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-11-20

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention (CDC) Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety and Health (NIOSH) In accordance with section 10(a)(2) of the Federal Advisory Committee Act (Pub...

  3. 76 FR 61364 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-10-04

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... Energy Employees Occupational Illness Compensation Program Act of 2000 to advise the President on a...

  4. 77 FR 11547 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-02-27

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention (CDC) Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety and Health (NIOSH) The meeting scheduled to convene on February 28-29, 2012 was published in the...

  5. 78 FR 44954 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-07-25

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... established under the Energy Employees Occupational Illness Compensation Program Act of 2000 to advise the...

  6. 78 FR 21370 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-04-10

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... Energy Employees Occupational Illness Compensation Program Act of 2000 to advise the President on a...

  7. 76 FR 36925 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-06-23

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... under the Energy Employees Occupational Illness Compensation Program Act of 2000 to advise the President...

  8. 76 FR 26301 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-05-06

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety and Health (NIOSH) In accordance with section 10(a)(2) of the Federal Advisory Committee Act (Pub. L...

  9. 77 FR 62240 - Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-10-12

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Advisory Board on Radiation and Worker Health (ABRWH or Advisory Board), National Institute for Occupational Safety... established under the Energy Employees Occupational Illness Compensation Program Act of 2000 to advise the...

  10. 46 CFR 96.40-1 - Pilot boarding equipment.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 46 Shipping 4 2011-10-01 2011-10-01 false Pilot boarding equipment. 96.40-1 Section 96.40-1... CONTROL AND MISCELLANEOUS SYSTEMS AND EQUIPMENT Pilot Boarding Equipment § 96.40-1 Pilot boarding equipment. (a) This section applies to each vessel that normally embarks or disembarks a pilot from a pilot...

  11. 46 CFR 195.40-1 - Pilot boarding equipment.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Pilot boarding equipment. 195.40-1 Section 195.40-1... CONTROL AND MISCELLANEOUS SYSTEMS AND EQUIPMENT Pilot Boarding Equipment § 195.40-1 Pilot boarding equipment. (a) This section applies to each vessel that normally embarks or disembarks a pilot from a pilot...

  12. 46 CFR 96.40-1 - Pilot boarding equipment.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Pilot boarding equipment. 96.40-1 Section 96.40-1... CONTROL AND MISCELLANEOUS SYSTEMS AND EQUIPMENT Pilot Boarding Equipment § 96.40-1 Pilot boarding equipment. (a) This section applies to each vessel that normally embarks or disembarks a pilot from a pilot...

  13. 46 CFR 195.40-1 - Pilot boarding equipment.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 46 Shipping 7 2011-10-01 2011-10-01 false Pilot boarding equipment. 195.40-1 Section 195.40-1... CONTROL AND MISCELLANEOUS SYSTEMS AND EQUIPMENT Pilot Boarding Equipment § 195.40-1 Pilot boarding equipment. (a) This section applies to each vessel that normally embarks or disembarks a pilot from a pilot...

  14. Directing Discipline: State Medical Board Responsiveness to State Legislatures.

    PubMed

    Lillvis, Denise F; McGrath, Robert J

    2017-02-01

    State medical boards are increasingly responsible for regulating medical and osteopathic licensure and professional conduct in the United States. Yet, there is great variation in the extent to which such boards take disciplinary action against physicians, indicating that some boards are more zealous regulators than others. We look to the political roots of such variation and seek to answer a simple, yet important, question: are nominally apolitical state medical boards responsive to political preferences? To address this question, we use panel data on disciplinary actions across sixty-four state medical boards from 1993 through 2006 and control for over-time changes in board characteristics (e.g., composition, independence, budgetary status), regulatory structure, and resources. We show that as state legislatures become more liberal [conservative], state boards increasingly [decreasingly] discipline physicians, especially during unified government and in the presence of highly professional legislatures. Our conclusions join others in emphasizing the importance of state medical boards and the contingent nature of political control of state regulation. In addition, we emphasize the roles that oversight capacity and strategy play in offsetting concerns regarding self-regulation of a powerful organized interest. Copyright © 2017 by Duke University Press.

  15. Characterization and control of self-motions in redundant manipulators

    NASA Technical Reports Server (NTRS)

    Burdick, J.; Seraji, Homayoun

    1989-01-01

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

  16. Illusory visual motion stimulus elicits postural sway in migraine patients

    PubMed Central

    Imaizumi, Shu; Honma, Motoyasu; Hibino, Haruo; Koyama, Shinichi

    2015-01-01

    Although the perception of visual motion modulates postural control, it is unknown whether illusory visual motion elicits postural sway. The present study examined the effect of illusory motion on postural sway in patients with migraine, who tend to be sensitive to it. We measured postural sway for both migraine patients and controls while they viewed static visual stimuli with and without illusory motion. The participants’ postural sway was measured when they closed their eyes either immediately after (Experiment 1), or 30 s after (Experiment 2), viewing the stimuli. The patients swayed more than the controls when they closed their eyes immediately after viewing the illusory motion (Experiment 1), and they swayed less than the controls when they closed their eyes 30 s after viewing it (Experiment 2). These results suggest that static visual stimuli with illusory motion can induce postural sway that may last for at least 30 s in patients with migraine. PMID:25972832

  17. Brain-machine interfacing control of whole-body humanoid motion

    PubMed Central

    Bouyarmane, Karim; Vaillant, Joris; Sugimoto, Norikazu; Keith, François; Furukawa, Jun-ichiro; Morimoto, Jun

    2014-01-01

    We propose to tackle in this paper the problem of controlling whole-body humanoid robot behavior through non-invasive brain-machine interfacing (BMI), motivated by the perspective of mapping human motor control strategies to human-like mechanical avatar. Our solution is based on the adequate reduction of the controllable dimensionality of a high-DOF humanoid motion in line with the state-of-the-art possibilities of non-invasive BMI technologies, leaving the complement subspace part of the motion to be planned and executed by an autonomous humanoid whole-body motion planning and control framework. The results are shown in full physics-based simulation of a 36-degree-of-freedom humanoid motion controlled by a user through EEG-extracted brain signals generated with motor imagery task. PMID:25140134

  18. The Pharmacokinetics and Efficacy of a Low-dose, Aqueous, Intranasal Scopolamine Spray

    DTIC Science & Technology

    2017-09-27

    In this study , we found no correlation between plasma levels at any time point and the number of head tilts tolerated. However, there was a positive... study protocol was approved by the Naval Medical Research Unit Dayton Institutional Review Board in compliance with all applicable Federal...The study examined both the pharmacokinetic properties and efficacy of a low-dose, aqueous, intranasal scopolamine spray (INSCOP) as an anti-motion

  19. A New Standing Posture Detector to Enable People with Multiple Disabilities to Control Environmental Stimulation by Changing Their Standing Posture through a Commercial Wii Balance Board

    ERIC Educational Resources Information Center

    Shih, Ching-Hsiang; Shih, Ching-Tien; Chiang, Ming-Shan

    2010-01-01

    This study assessed whether two persons with multiple disabilities would be able to control environmental stimulation using body swing (changing standing posture) and a Wii Balance Board with a newly developed standing posture detection program (i.e. a new software program turns a Wii Balance Board into a precise standing posture detector). The…

  20. The use of vestibular models for design and evaluation of flight simulator motion

    NASA Technical Reports Server (NTRS)

    Bussolari, Steven R.; Young, Laurence R.; Lee, Alfred T.

    1989-01-01

    Quantitative models for the dynamics of the human vestibular system are applied to the design and evaluation of flight simulator platform motion. An optimal simulator motion control algorithm is generated to minimize the vector difference between perceived spatial orientation estimated in flight and in simulation. The motion controller has been implemented on the Vertical Motion Simulator at NASA Ames Research Center and evaluated experimentally through measurement of pilot performance and subjective rating during VTOL aircraft simulation. In general, pilot performance in a longitudinal tracking task (formation flight) did not appear to be sensitive to variations in platform motion condition as long as motion was present. However, pilot assessment of motion fidelity by means of a rating scale designed for this purpose, were sensitive to motion controller design. Platform motion generated with the optimal motion controller was found to be generally equivalent to that generated by conventional linear crossfeed washout. The vestibular models are used to evaluate the motion fidelity of transport category aircraft (Boeing 727) simulation in a pilot performance and simulator acceptability study at the Man-Vehicle Systems Research Facility at NASA Ames Research Center. Eighteen airline pilots, currently flying B-727, were given a series of flight scenarios in the simulator under various conditions of simulator motion. The scenarios were chosen to reflect the flight maneuvers that these pilots might expect to be given during a routine pilot proficiency check. Pilot performance and subjective rating of simulator fidelity was relatively insensitive to the motion condition, despite large differences in the amplitude of motion provided. This lack of sensitivity may be explained by means of the vestibular models, which predict little difference in the modeled motion sensations of the pilots when different motion conditions are imposed.

  1. Resistance of insecticide-treated foam board insulation against the eastern subterranean termite and the Formosan subterranean termite (Isoptera: Rhinotermitidae).

    PubMed

    Su, Nan-Yao; Ban, Paul; Scheffrahn, Rudolf H

    2003-10-01

    Three foam board types, one untreated control, one containing 2,000 ppm disodium octaborate tetrahydrate (DOT), and one containing 1,000 ppm deltamethrin, were exposed to field populations of the eastern subterranean termite, Reticulitermes flavipes (Kollar), and the Formosan subterranean termite, Coptotermes formosanus Shiraki. There was no significant difference in termite damage between foam boards treated with 2,000 ppm DOT and the untreated control. Form boards containing 1,000 ppm deltamethrin were not damaged by R. flavipes, whereas only minor damage occurred after exposure to C. formosanus.

  2. Analysis of achievable disturbance attenuation in a precision magnetically-suspended motion control system

    NASA Technical Reports Server (NTRS)

    Kuzin, Alexander V.; Holmes, Michael L.; Behrouzjou, Roxana; Trumper, David L.

    1994-01-01

    The results of the analysis of the achievable disturbance attenuation to get an Angstrom motion control resolution and macroscopic travel in a precision magnetically-suspended motion control system are presented in this paper. Noise sources in the transducers, electronics, and mechanical vibrations are used to develop the control design.

  3. Design and implementation of a control system for a quadrotor MAV

    NASA Astrophysics Data System (ADS)

    Bawek, Dean

    The quadrotor is a 200 g MAV with rapid-prototyped rotors that are driven by four brushless electric motors, capable of a collective thrust of around 400 g using an 11 V battery. The vehicle is compact with its largest dimension at 188 mm. Without any feedback control, the quadrotor is unstable. For flight stability, the vehicle incorporates a linear quadratic regulator to augment its dynamics for hover. The quadrotor's nonlinear dynamics are linearized about hover in order to be used in controller formulation. Feedback comes both directly from sensors and a Luenberger observer that computes the rotor velocities. A Simulink simulation uses hardware and software properties to serve as an environment for controller gain tuning prior to flight testing. The results from the simulation generate stabilizing control gains for the on-board attitude controller and for an off-board PC autopilot that uses the Vicon computer vision system for position feedback. Through the combined effort of the on-board and off-board controllers, the quadrotor successfully demonstrates stable hover in both nominal and disturbed conditions.

  4. Signatures of the Martian rotation parameters in the Doppler and range observables

    NASA Astrophysics Data System (ADS)

    Yseboodt, Marie; Dehant, Véronique; Péters, Marie-Julie

    2017-09-01

    The position of a Martian lander is affected by different aspects of Mars' rotational motions: the nutations, the precession, the length-of-day variations and the polar motion. These various motions have a different signature in a Doppler observable between the Earth and a lander on Mars' surface. Knowing the correlations between these signatures and the moments when these signatures are not null during one day or on a longer timescale is important to identify strategies that maximize the geophysical return of observations with a geodesy experiment, in particular for the ones on-board the future NASA InSight or ESA-Roscosmos ExoMars2020 missions. We provide first-order formulations of the signature of the rotation parameters in the Doppler and range observables. These expressions are functions of the diurnal rotation of Mars, the lander position, the planet radius and the rotation parameter. Additionally, the nutation signature in the Doppler observable is proportional to the Earth declination with respect to Mars. For a lander on Mars close to the equator, the motions with the largest signature in the Doppler observable are due to the length-of-day variations, the precession rate and the rigid nutations. The polar motion and the liquid core signatures have a much smaller amplitude. For a lander closer to the pole, the polar motion signature is enhanced while the other signatures decrease. We also numerically evaluate the amplitudes of the rotation parameters signature in the Doppler observable for landers on other planets or moons.

  5. Portable control device for networked mobile robots

    DOEpatents

    Feddema, John T.; Byrne, Raymond H.; Bryan, Jon R.; Harrington, John J.; Gladwell, T. Scott

    2002-01-01

    A handheld control device provides a way for controlling one or multiple mobile robotic vehicles by incorporating a handheld computer with a radio board. The device and software use a personal data organizer as the handheld computer with an additional microprocessor and communication device on a radio board for use in controlling one robot or multiple networked robots.

  6. Minimum-variance Brownian motion control of an optically trapped probe.

    PubMed

    Huang, Yanan; Zhang, Zhipeng; Menq, Chia-Hsiang

    2009-10-20

    This paper presents a theoretical and experimental investigation of the Brownian motion control of an optically trapped probe. The Langevin equation is employed to describe the motion of the probe experiencing random thermal force and optical trapping force. Since active feedback control is applied to suppress the probe's Brownian motion, actuator dynamics and measurement delay are included in the equation. The equation of motion is simplified to a first-order linear differential equation and transformed to a discrete model for the purpose of controller design and data analysis. The derived model is experimentally verified by comparing the model prediction to the measured response of a 1.87 microm trapped probe subject to proportional control. It is then employed to design the optimal controller that minimizes the variance of the probe's Brownian motion. Theoretical analysis is derived to evaluate the control performance of a specific optical trap. Both experiment and simulation are used to validate the design as well as theoretical analysis, and to illustrate the performance envelope of the active control. Moreover, adaptive minimum variance control is implemented to maintain the optimal performance in the case in which the system is time varying when operating the actively controlled optical trap in a complex environment.

  7. 75 FR 25870 - Board of Scientific Counselors (BSC), National Center for Environmental Health/Agency for Toxic...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-05-10

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Board of... Control and Prevention, 4770 Buford Highway, Chamblee, Georgia 30341. Status: Open to the public, limited..., experiments, demonstrations, and studies relating to the causes, diagnosis, treatment, control, and prevention...

  8. 76 FR 24031 - Board of Scientific Counselors, National Center for Environmental Health/Agency for Toxic...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-04-29

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Board of.... L. 92-463), the Centers for Disease Control and Prevention (CDC), announces the following meeting of..., investigations, experiments, demonstrations, and studies relating to the causes, diagnosis, treatment, control...

  9. 40 CFR 52.800 - Original identification of plan section.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... were submitted on the dates specified. (1) The State Air Pollution Control Board submitted a SO2 control strategy for the City of Indianapolis on March 16, 1972. (2) The Governor submitted Pub. L. 100...) The State Air Pollution Control Board submitted additional information on surveillance methodology...

  10. 40 CFR 52.800 - Original identification of plan section.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... were submitted on the dates specified. (1) The State Air Pollution Control Board submitted a SO2 control strategy for the City of Indianapolis on March 16, 1972. (2) The Governor submitted Pub. L. 100...) The State Air Pollution Control Board submitted additional information on surveillance methodology...

  11. 40 CFR 52.800 - Original identification of plan section.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... were submitted on the dates specified. (1) The State Air Pollution Control Board submitted a SO2 control strategy for the City of Indianapolis on March 16, 1972. (2) The Governor submitted Pub. L. 100...) The State Air Pollution Control Board submitted additional information on surveillance methodology...

  12. 40 CFR 52.800 - Original identification of plan section.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... were submitted on the dates specified. (1) The State Air Pollution Control Board submitted a SO2 control strategy for the City of Indianapolis on March 16, 1972. (2) The Governor submitted Pub. L. 100...) The State Air Pollution Control Board submitted additional information on surveillance methodology...

  13. A theoretical and experimental study of wood planer noise and its control

    NASA Technical Reports Server (NTRS)

    Stewart, J. S.

    1972-01-01

    A combined analytical and experimental study of wood planer noise is made and the results applied to the development of practical noise control techniques. The dominant mechanisms of sound generation are identified and an analysis is presented which accurately predicts the governing levels of noise emission. Planing operations in which the length of the board is much greater than the width are considered. The dominant source of planer noise is identified as the board being surfaced, which is set into vibration by the impact of cutterhead knives. This is determined from studies made both in the laboratory and in the field concerning the effect of board width on the resulting noise, which indicate a six decibel increase in noise level for each doubling of board width. The theoretical development of a model for board vibration defines the vibrational field set up in the board and serves as a guide for cutterhead redesign.

  14. Optimal Control of Stochastic Systems Driven by Fractional Brownian Motions

    DTIC Science & Technology

    2014-10-09

    problems for stochastic partial differential equations driven by fractional Brownian motions are explicitly solved. For the control of a continuous time...linear systems with Brownian motion or a discrete time linear system with a white Gaussian noise and costs 1. REPORT DATE (DD-MM-YYYY) 4. TITLE AND...Army Research Office P.O. Box 12211 Research Triangle Park, NC 27709-2211 stochastic optimal control, fractional Brownian motion , stochastic

  15. Model-based control strategies for systems with constraints of the program type

    NASA Astrophysics Data System (ADS)

    Jarzębowska, Elżbieta

    2006-08-01

    The paper presents a model-based tracking control strategy for constrained mechanical systems. Constraints we consider can be material and non-material ones referred to as program constraints. The program constraint equations represent tasks put upon system motions and they can be differential equations of orders higher than one or two, and be non-integrable. The tracking control strategy relies upon two dynamic models: a reference model, which is a dynamic model of a system with arbitrary order differential constraints and a dynamic control model. The reference model serves as a motion planner, which generates inputs to the dynamic control model. It is based upon a generalized program motion equations (GPME) method. The method enables to combine material and program constraints and merge them both into the motion equations. Lagrange's equations with multipliers are the peculiar case of the GPME, since they can be applied to systems with constraints of first orders. Our tracking strategy referred to as a model reference program motion tracking control strategy enables tracking of any program motion predefined by the program constraints. It extends the "trajectory tracking" to the "program motion tracking". We also demonstrate that our tracking strategy can be extended to a hybrid program motion/force tracking.

  16. Integrated Real-Time Control and Imaging System for Microbiorobotics and Nanobiostructures

    DTIC Science & Technology

    2016-01-11

    kit with a control board and ALP 4.1 basic controller suite. The digital micromirror device is the highest resolution 16:9 aspect ratio system. This...in Figure 1, consisted of the following: (1) digital micromirror device (DMD) and controller, (2) an inverted epifluorescence microscope with a flat...accompanying control board and ALP 4.1 basic controller suite. The digital micromirror device is currently the highest commercially available

  17. Motion and Balance. Physical Science in Action[TM]. Schlessinger Science Library. [Videotape].

    ERIC Educational Resources Information Center

    2000

    Motion allows things to get done, to communicate and to travel. But is motion controlled? Students will learn about the universal laws that apply to motion, the forces that cause it and how it is related to balance. They will also discover why motion occurs when forces are out of control and learn more about this interesting concept by viewing…

  18. Integration Method of Emphatic Motions and Adverbial Expressions with Scalar Parameters for Robotic Motion Coaching System

    NASA Astrophysics Data System (ADS)

    Okuno, Keisuke; Inamura, Tetsunari

    A robotic coaching system can improve humans' learning performance of motions by intelligent usage of emphatic motions and adverbial expressions according to user reactions. In robotics, however, method to control both the motions and the expressions and how to bind them had not been adequately discussed from an engineering point of view. In this paper, we propose a method for controlling and binding emphatic motions and adverbial expressions by using two scalar parameters in a phase space. In the phase space, variety of motion patterns and verbal expressions are connected and can be expressed as static points. We show the feasibility of the proposing method through experiments of actual sport coaching tasks for beginners. From the results of participants' improvements in motion learning, we confirmed the feasibility of the methods to control and bind emphatic motions and adverbial expressions, as well as confirmed contribution of the emphatic motions and positive correlation of adverbial expressions for participants' improvements in motion learning. Based on the results, we introduce a hypothesis that individually optimized method for binding adverbial expression is required.

  19. [Implementation of control system and software design for limbs rehabilitation training based on PCI-1240].

    PubMed

    Zhu, Wenchao; Xu, Xiulin; Hu, Xiufang; An, Meijun

    2017-06-01

    This article presents the design of a motion control system for seated lower-limb rehabilitation training. The system is composed of lower limb exoskeleton, motor drive circuit, program of motion control, and so forth. The power of lower limbs joints is provided by six motors. The PCI-1240 motion control card is used as the core. This study achieved repetitive rotation training and gait trajectory training of lower limbs joints, of which the velocity, angle and time can be accurately controlled and adjusted. The experimental results showed that the motion control system can meet the requirement of repetitive rehabilitation training for patients with lower limb dysfunction. This article provides a new method to the research of motion control system in rehabilitation training, which can promote industrial automation technique to be used for health care, and conducive to the further study of the rehabilitation robot.

  20. Control of joint motion simulators for biomechanical research

    NASA Technical Reports Server (NTRS)

    Colbaugh, R.; Glass, K.

    1992-01-01

    The authors present a hierarchical adaptive algorithm for controlling upper extremity human joint motion simulators. A joint motion simulator is a computer-controlled, electromechanical system which permits the application of forces to the tendons of a human cadaver specimen in such a way that the cadaver joint under study achieves a desired motion in a physiologic manner. The proposed control scheme does not require knowledge of the cadaver specimen dynamic model, and solves on-line the indeterminate problem which arises because human joints typically possess more actuators than degrees of freedom. Computer simulation results are given for an elbow/forearm system and wrist/hand system under hierarchical control. The results demonstrate that any desired normal joint motion can be accurately tracked with the proposed algorithm. These simulation results indicate that the controller resolved the indeterminate problem redundancy in a physiologic manner, and show that the control scheme was robust to parameter uncertainty and to sensor noise.

  1. An open architecture motion controller

    NASA Technical Reports Server (NTRS)

    Rossol, Lothar

    1994-01-01

    Nomad, an open architecture motion controller, is described. It is formed by a combination of TMOS, C-WORKS, and other utilities. Nomad software runs in a UNIX environment and provides for sensor-controlled robotic motions, with user replaceable kinematics. It can also be tailored for highly specialized applications. Open controllers such as Nomad should have a major impact on the robotics industry.

  2. Circuit-lead trimming template

    NASA Technical Reports Server (NTRS)

    Ofarrell, K.; Winn, E.

    1979-01-01

    Template for use in trimming leads on production wiring boards is low-cost means for eliminating rejections for short leads and improving lead-strength uniformity. Template is simply unclad piece of printed-circuit board material that is drilled using same drill control tape used in making original production board. Revisions in component layout of board can therefore be made simultaneously in template.

  3. 12 CFR Appendix C to Part 1720 - Policy Guidance; Safety and Soundness Standards for Information

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... Information Security Program 1. Involve the Board of Directors. 2. Assess Risk. 3. Manage and Control Risk. 4. Oversee Service Provider Arrangements. 5. Adjust the Program. 6. Report to the Board. 7. Implementation. A...—Development and Implementation of Information Security Program 1. Involve the Board of Directors. The board of...

  4. Effects of restoration burns on macroinvertebrates in southern Appalachian pine-oak forests

    Treesearch

    Jason P. Love; James M. Vose; Katherine J. Elliott

    2007-01-01

    Cover board arrays were used to measure the relative abundance of macroinvertebrates and terrestrial salamanders on prescribed burn and control sites in xeric southern Appalachians of northern Georgia and southeastern Tennessee pine-oak forests. Three microsite variables were measured at each cover board: cover board moisture level, temperature under the cover board,...

  5. Corning Community College By-Laws of the Board of Trustees.

    ERIC Educational Resources Information Center

    Corning Community Coll., NY.

    This publication gives the complete by-laws (including amendments) of the Corning Community College as they deal with (1) administrative control and powers and duties of the board of trustees, (2) terms of office and duties of officers and committees of the board, (3) time, place, frequency, and procedures of meetings of the board, (4) functions…

  6. Influence of Visual Motion, Suggestion, and Illusory Motion on Self-Motion Perception in the Horizontal Plane.

    PubMed

    Rosenblatt, Steven David; Crane, Benjamin Thomas

    2015-01-01

    A moving visual field can induce the feeling of self-motion or vection. Illusory motion from static repeated asymmetric patterns creates a compelling visual motion stimulus, but it is unclear if such illusory motion can induce a feeling of self-motion or alter self-motion perception. In these experiments, human subjects reported the perceived direction of self-motion for sway translation and yaw rotation at the end of a period of viewing set visual stimuli coordinated with varying inertial stimuli. This tested the hypothesis that illusory visual motion would influence self-motion perception in the horizontal plane. Trials were arranged into 5 blocks based on stimulus type: moving star field with yaw rotation, moving star field with sway translation, illusory motion with yaw, illusory motion with sway, and static arrows with sway. Static arrows were used to evaluate the effect of cognitive suggestion on self-motion perception. Each trial had a control condition; the illusory motion controls were altered versions of the experimental image, which removed the illusory motion effect. For the moving visual stimulus, controls were carried out in a dark room. With the arrow visual stimulus, controls were a gray screen. In blocks containing a visual stimulus there was an 8s viewing interval with the inertial stimulus occurring over the final 1s. This allowed measurement of the visual illusion perception using objective methods. When no visual stimulus was present, only the 1s motion stimulus was presented. Eight women and five men (mean age 37) participated. To assess for a shift in self-motion perception, the effect of each visual stimulus on the self-motion stimulus (cm/s) at which subjects were equally likely to report motion in either direction was measured. Significant effects were seen for moving star fields for both translation (p = 0.001) and rotation (p<0.001), and arrows (p = 0.02). For the visual motion stimuli, inertial motion perception was shifted in the direction consistent with the visual stimulus. Arrows had a small effect on self-motion perception driven by a minority of subjects. There was no significant effect of illusory motion on self-motion perception for either translation or rotation (p>0.1 for both). Thus, although a true moving visual field can induce self-motion, results of this study show that illusory motion does not.

  7. Packaging Of Control Circuits In A Robot Arm

    NASA Technical Reports Server (NTRS)

    Kast, William

    1994-01-01

    Packaging system houses and connects control circuitry mounted on circuit boards within shoulder, upper section, and lower section of seven-degree-of-freedom robot arm. Has modular design that incorporates surface-mount technology, multilayer circuit boards, large-scale integrated circuits, and multi-layer flat cables between sections for compactness. Three sections of robot arm contain circuit modules in form of stardardized circuit boards. Each module contains two printed-circuit cards, one of each face.

  8. Enabling people with developmental disabilities to actively follow simple instructions and perform designated physical activities according to simple instructions with Nintendo Wii Balance Boards by controlling environmental stimulation.

    PubMed

    Shih, Ching-Hsiang; Chung, Chiao-Chen; Shih, Ching-Tien; Chen, Ling-Che

    2011-01-01

    The latest researches have adopted software technology turning the Nintendo Wii Balance Board into a high performance standing location detector. This study extended Wii Balance Board functionality to assess whether two people with developmental disabilities would be able to actively perform designated physical activities according to simple instructions by controlling their favorite environmental stimulation using Nintendo Wii Balance Boards. This study was carried out according to an A-B-A-B design. Data showed that both participants significantly increased their target response (performing a designated physical activity) by activating the control system to produce their preferred environmental stimulation during the intervention phases. Copyright © 2011 Elsevier Ltd. All rights reserved.

  9. Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft.

    PubMed

    Wang, Xingjian; Liao, Rui; Shi, Cun; Wang, Shaoping

    2017-10-25

    Moving towards the more electric aircraft (MEA), a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA) into primary flight control. In the hybrid actuation system (HAS), an electro-hydraulic servo actuator (EHSA) and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO)-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA.

  10. Composite synchronization of three eccentric rotors driven by induction motors in a vibrating system

    NASA Astrophysics Data System (ADS)

    Kong, Xiangxi; Chen, Changzheng; Wen, Bangchun

    2018-03-01

    This paper addresses the problem of composite synchronization of three eccentric rotors (ERs) driven by induction motors in a vibrating system. The composite synchronous motion of three ERs is composed of the controlled synchronous motion of two ERs and the self-synchronous motion of the third ER. Combining an adaptive sliding mode control (ASMC) algorithm with a modified master-slave control structure, the controllers are designed to implement controlled synchronous motion of two ERs with zero phase difference. Based on Lyapunov stability theorem and Barbalat's lemma, the stability of the designed controllers is verified. On basis of controlled synchronization of two ERs, self-synchronization of the third ER is introduced to implement composite synchronous motion of three ERs. The feasibility of the proposed composite synchronization method is analyzed by numerical method. The effects of motor and structure parameters on composite synchronous motion are discussed. Experiments on a vibrating test bench driven by three ERs are operated to validate the effectiveness of the proposed composite synchronization method, including a comparison with self-synchronization method.

  11. Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft

    PubMed Central

    Liao, Rui; Shi, Cun; Wang, Shaoping

    2017-01-01

    Moving towards the more electric aircraft (MEA), a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA) into primary flight control. In the hybrid actuation system (HAS), an electro-hydraulic servo actuator (EHSA) and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO)-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA. PMID:29068392

  12. OCILOW-Wheeled Platform Controls Executable Set

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

    Jansen, John F.

    2005-11-30

    The OCILOW Controls Executable Set is the complete set of machine executable instructions to control the motion of wheeled platforms that incorporate Off-Centered In-Line Omni-directional Wheels (OCILOW). The controls utilize command signals for the desired motion of the platform (X, Y and Theta) and calculate and control the steering and rolling motion required of each OCILOW wheels to achieve the desired translational and rotational platform motion. The controls utilize signals from the wheel steering and rolling resolvers, and from three load cells located at each wheels, to coordinate the motion of all wheels, while respecting their non-holonomic constraints (i.e., keepingmore » internal stresses and slippage due to possible errors, uneven floors, bumps, misalignment, etc. bounded). The OCILOW Controls Executable Set, which is copyrighted here, is an embodiment of the generic OCILOW algorithms (patented separately) developed specifically for controls of the Proof-of-Principle-Transporter (POP-T) system that has been developed to demonstrate the overall OCILOW controls feasibility and capabilities.« less

  13. An embedded vision system for an unmanned four-rotor helicopter

    NASA Astrophysics Data System (ADS)

    Lillywhite, Kirt; Lee, Dah-Jye; Tippetts, Beau; Fowers, Spencer; Dennis, Aaron; Nelson, Brent; Archibald, James

    2006-10-01

    In this paper an embedded vision system and control module is introduced that is capable of controlling an unmanned four-rotor helicopter and processing live video for various law enforcement, security, military, and civilian applications. The vision system is implemented on a newly designed compact FPGA board (Helios). The Helios board contains a Xilinx Virtex-4 FPGA chip and memory making it capable of implementing real time vision algorithms. A Smooth Automated Intelligent Leveling daughter board (SAIL), attached to the Helios board, collects attitude and heading information to be processed in order to control the unmanned helicopter. The SAIL board uses an electrolytic tilt sensor, compass, voltage level converters, and analog to digital converters to perform its operations. While level flight can be maintained, problems stemming from the characteristics of the tilt sensor limits maneuverability of the helicopter. The embedded vision system has proven to give very good results in its performance of a number of real-time robotic vision algorithms.

  14. Visual motion integration for perception and pursuit

    NASA Technical Reports Server (NTRS)

    Stone, L. S.; Beutter, B. R.; Lorenceau, J.

    2000-01-01

    To examine the relationship between visual motion processing for perception and pursuit, we measured the pursuit eye-movement and perceptual responses to the same complex-motion stimuli. We show that humans can both perceive and pursue the motion of line-figure objects, even when partial occlusion makes the resulting image motion vastly different from the underlying object motion. Our results show that both perception and pursuit can perform largely accurate motion integration, i.e. the selective combination of local motion signals across the visual field to derive global object motion. Furthermore, because we manipulated perceived motion while keeping image motion identical, the observed parallel changes in perception and pursuit show that the motion signals driving steady-state pursuit and perception are linked. These findings disprove current pursuit models whose control strategy is to minimize retinal image motion, and suggest a new framework for the interplay between visual cortex and cerebellum in visuomotor control.

  15. Dynamic CT perfusion imaging of the myocardium: a technical note on improvement of image quality.

    PubMed

    Muenzel, Daniela; Kabus, Sven; Gramer, Bettina; Leber, Vivian; Vembar, Mani; Schmitt, Holger; Wildgruber, Moritz; Fingerle, Alexander A; Rummeny, Ernst J; Huber, Armin; Noël, Peter B

    2013-01-01

    To improve image and diagnostic quality in dynamic CT myocardial perfusion imaging (MPI) by using motion compensation and a spatio-temporal filter. Dynamic CT MPI was performed using a 256-slice multidetector computed tomography scanner (MDCT). Data from two different patients-with and without myocardial perfusion defects-were evaluated to illustrate potential improvements for MPI (institutional review board approved). Three datasets for each patient were generated: (i) original data (ii) motion compensated data and (iii) motion compensated data with spatio-temporal filtering performed. In addition to the visual assessment of the tomographic slices, noise and contrast-to-noise-ratio (CNR) were measured for all data. Perfusion analysis was performed using time-density curves with regions-of-interest (ROI) placed in normal and hypoperfused myocardium. Precision in definition of normal and hypoperfused areas was determined in corresponding coloured perfusion maps. The use of motion compensation followed by spatio-temporal filtering resulted in better alignment of the cardiac volumes over time leading to a more consistent perfusion quantification and improved detection of the extend of perfusion defects. Additionally image noise was reduced by 78.5%, with CNR improvements by a factor of 4.7. The average effective radiation dose estimate was 7.1±1.1 mSv. The use of motion compensation and spatio-temporal smoothing will result in improved quantification of dynamic CT MPI using a latest generation CT scanner.

  16. Navigation systems. [for interplanetary flight

    NASA Technical Reports Server (NTRS)

    Jordan, J. F.

    1985-01-01

    The elements of the measurement and communications network comprising the global deep space navigation system (DSN) for NASA missions are described. Among the measurement systems discussed are: VLBI, two-way Doppler and range measurements, and optical measurements carried out on board the spacecraft. Processing of navigation measurement is carried out using two modules: an N-body numerical integration of the trajectory (and state transition partial derivatives) based on pre-guessed initial conditions; and partial derivatives of simulated observables corresponding to each actual observation. Calculations of velocity correction parameters is performed by precise modelling of all physical phenomena influencing the observational measurements, including: planetary motions; tracking station locations, gravity field structure, and transmission media effects. Some of the contributions to earth-relative orbit estimate errors for the Doppler/range system on board Voyager are discussed in detail. A line drawing of the DSN navigation system is provided.

  17. 75 FR 1062 - Board of Scientific Counselors, National Center for Injury Prevention and Control, (BSC, NCIPC)

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-01-08

    ... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention Board of Scientific Counselors, National Center for Injury Prevention and Control, (BSC, NCIPC) In accordance with Section 10(a)(2) of the Federal Advisory Committee Act (Pub. L. 92-463), the Centers for Disease Control and Prevention (CDC) announces, the followin...

  18. Complex motion of a vehicle through a series of signals controlled by power-law phase

    NASA Astrophysics Data System (ADS)

    Nagatani, Takashi

    2017-07-01

    We study the dynamic motion of a vehicle moving through the series of traffic signals controlled by the position-dependent phase of power law. All signals are controlled by both cycle time and position-dependent phase. The dynamic model of the vehicular motion is described in terms of the nonlinear map. The vehicular motion varies in a complex manner by varying cycle time for various values of the power of the position-dependent phase. The vehicle displays the periodic motion with a long cycle for the integer power of the phase, while the vehicular motion exhibits the very complex behavior for the non-integer power of the phase.

  19. Dynamics and control of tethered antennas/reflectors in orbit

    NASA Astrophysics Data System (ADS)

    Liu, Liangdong; Bainum, Peter M.

    The system linear equations for the motion of a tethered shallow spherical shell in orbit with its symmetry axis nominally following the local vertical are developed. The shell roll, yaw, tether out-of-plane swing motion and elastic vibrations are decoupled from the shell and tether in-plane pitch motions and elastic vibrations. The neutral gravity stability conditions for the special case of a constant length rigid tether are given for in-plane motion and out-of-plant motion. It is proved that the in-plane motion of the system could be asymptotically stable based on Rupp's tension control law, for a variable length tether. However, the system simulation results indicate that the transient responses can be improved significantly, especially for the damping of the tether and shell pitch motion, by an optimal feedback control law for the rigid variable length tether model. It is also seen that the system could be unstable when the effect of tether flexibility is included if the control gains are not chosen carefully. The transient responses for three different tension control laws are compared during typical station keeping operations.

  20. 78 FR 32657 - Board of Scientific Counselors, National Center for Environmental Health/Agency for Toxic...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-05-31

    ..., diagnosis, treatment, control, and prevention of physical and mental diseases and other impairments; (2... DEPARTMENT OF HEALTH AND HUMAN SERVICES Centers for Disease Control and Prevention (CDC) Board of.... L. 92-463), the Centers for Disease Control and Prevention (CDC), announces the following meeting of...

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