Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree

NASA Astrophysics Data System (ADS)

Shao, Zhu-Feng; Mo, Jiao; Tang, Xiao-Qiang; Wang, Li-Ping

2017-11-01

Performance index is the standard of performance evaluation, and is the foundation of both performance analysis and optimal design for the parallel manipulator. Seeking the suitable kinematic indices is always an important and challenging issue for the parallel manipulator. So far, there are extensive studies in this field, but few existing indices can meet all the requirements, such as simple, intuitive, and universal. To solve this problem, the matrix orthogonal degree is adopted, and generalized transmission indices that can evaluate motion/force transmissibility of fully parallel manipulators are proposed. Transmission performance analysis of typical branches, end effectors, and parallel manipulators is given to illustrate proposed indices and analysis methodology. Simulation and analysis results reveal that proposed transmission indices possess significant advantages, such as normalized finite (ranging from 0 to 1), dimensionally homogeneous, frame-free, intuitive and easy to calculate. Besides, proposed indices well indicate the good transmission region and relativity to the singularity with better resolution than the traditional local conditioning index, and provide a novel tool for kinematic analysis and optimal design of fully parallel manipulators.

Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

NASA Astrophysics Data System (ADS)

Lee, Po-Chih; Lee, Jyh-Jone

2012-06-01

This paper presents the analysis of three parallel manipulators with Schoenflies-motion. Each parallel manipulator possesses two limbs in structure and the end-effector has three DOFs (degree of freedom) in the translational motion and one DOF in rotational motion about a given direction axis with respect to the world coordinate system. The three isoconstrained parallel manipulators have the structures denoted as C{u/u}UwHw-//-C{v/v}UwHw, CuR{u/u}Uhw-//-CvR{v/v}Uhw and CuPuUhw-//-CvPvUhw. The kinematic equations are first introduced for each manipulator. Then, Jacobian matrix, singularity, workspace, and performance index for each mechanism are subsequently derived and analysed for the first time. The results can be helpful for the engineers to evaluate such kind of parallel robots for possible application in industry where pick-and-place motion is required.

Positional control of space robot manipulator

NASA Astrophysics Data System (ADS)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

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

Multiple Optical Traps with a Single-Beam Optical Tweezer Utilizing Surface Micromachined Planar Curved Grating

NASA Astrophysics Data System (ADS)

Kuo, Ju-Nan; Chen, Kuan-Yu

2010-11-01

In this paper, we present a single-beam optical tweezer integrated with a planar curved diffraction grating for microbead manipulation. Various curvatures of the surface micromachined planar curved grating are systematically investigated. The planar curved grating was fabricated using multiuser micro-electro-mechanical-system (MEMS) processes (MUMPs). The angular separation and the number of diffracted orders were determined. Experimental results indicate that the diffraction patterns and curvature of the planar curved grating are closely related. As the curvature of the planar curved grating increases, the vertical diffraction angle increases, resulting in the strip patterns of the planar curved grating. A single-beam optical tweezer integrated with a planar curved diffraction grating was developed. We demonstrate a technique for creating multiple optical traps from a single laser beam using the developed planar curved grating. The strip patterns of the planar curved grating that resulted from diffraction were used to trap one row of polystyrene beads.

Compact hohlraum configuration with parallel planar-wire-array x-ray sources at the 1.7-MA Zebra generator.

PubMed

Kantsyrev, V L; Chuvatin, A S; Rudakov, L I; Velikovich, A L; Shrestha, I K; Esaulov, A A; Safronova, A S; Shlyaptseva, V V; Osborne, G C; Astanovitsky, A L; Weller, M E; Stafford, A; Schultz, K A; Cooper, M C; Cuneo, M E; Jones, B; Vesey, R A

2014-12-01

A compact Z-pinch x-ray hohlraum design with parallel-driven x-ray sources is experimentally demonstrated in a configuration with a central target and tailored shine shields at a 1.7-MA Zebra generator. Driving in parallel two magnetically decoupled compact double-planar-wire Z pinches has demonstrated the generation of synchronized x-ray bursts that correlated well in time with x-ray emission from a central reemission target. Good agreement between simulated and measured hohlraum radiation temperature of the central target is shown. The advantages of compact hohlraum design applications for multi-MA facilities are discussed.

Lassoing saddle splay and the geometrical control of topological defects

NASA Astrophysics Data System (ADS)

Tran, Lisa; Lavrentovich, Maxim O.; Beller, Daniel A.; Li, Ningwei; Stebe, Kathleen J.; Kamien, Randall D.

2016-06-01

Systems with holes, such as colloidal handlebodies and toroidal droplets, have been studied in the nematic liquid crystal (NLC) 4-cyano-4'-pentylbiphenyl (5CB): Both point and ring topological defects can occur within each hole and around the system while conserving the system's overall topological charge. However, what has not been fully appreciated is the ability to manipulate the hole geometry with homeotropic (perpendicular) anchoring conditions to induce complex, saddle-like deformations. We exploit this by creating an array of holes suspended in an NLC cell with oriented planar (parallel) anchoring at the cell boundaries. We study both 5CB and a binary mixture of bicyclohexane derivatives (CCN-47 and CCN-55). Through simulations and experiments, we study how the bulk saddle deformations of each hole interact to create defect structures, including an array of disclination lines, reminiscent of those found in liquid-crystal blue phases. The line locations are tunable via the NLC elastic constants, the cell geometry, and the size and spacing of holes in the array. This research lays the groundwork for the control of complex elastic deformations of varying length scales via geometrical cues in materials that are renowned in the display industry for their stability and easy manipulability.

Manipulability, force, and compliance analysis for planar continuum manipulators

NASA Technical Reports Server (NTRS)

Gravagne, Ian A.; Walker, Ian D.

2002-01-01

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

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

PubMed

Gravagne, Ian A; Walker, Ian D

2002-06-01

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

Spine centerline extraction and efficient spine reading of MRI and CT data

NASA Astrophysics Data System (ADS)

Lorenz, C.; Vogt, N.; Börnert, P.; Brosch, T.

2018-03-01

Radiological assessment of the spine is performed regularly in the context of orthopedics, neurology, oncology, and trauma management. Due to the extension and curved geometry of the spinal column, reading is time-consuming and requires substantial user interaction to navigate through the data during inspection. In this paper a spine geometry guided viewing approach is proposed facilitating reading by reducing the degrees of freedom to be manipulated during inspection of the data. The method is using the spine centerline as a representation of the spine geometry. We assume that renderings most useful for reading are those that can be locally defined based on a rotation and translation relative to the spine centerline. The resulting renderings conserve locally the relation to the spine and lead to curved planar reformats that can be adjusted using a small set of parameters to minimize user interaction. The spine centerline is extracted by an automated image to image foveal fully convolutional neural network (FFCN) based approach. The network consists of three parallel convolutional pathways working on different levels of resolution and processed fields of view. The outputs of the parallel pathways are combined by a subsequent feature integration pathway to yield the (final) centerline probability map, which is converted into a set of spine centerline points. The network has been trained separately using two data set types, one comprising a mixture of T1 and T2 weighted spine MR images and one using CT image data. We achieve an average centerline position error of 1.7 mm for MR and 0.9 mm for CT and a DICE coefficient of 0.84 for MR and 0.95 for CT. Based on the thus obtained centerline viewing and multi-planar reformatting can be easily facilitated.

A fast ultrasonic simulation tool based on massively parallel implementations

NASA Astrophysics Data System (ADS)

Lambert, Jason; Rougeron, Gilles; Lacassagne, Lionel; Chatillon, Sylvain

2014-02-01

This paper presents a CIVA optimized ultrasonic inspection simulation tool, which takes benefit of the power of massively parallel architectures: graphical processing units (GPU) and multi-core general purpose processors (GPP). This tool is based on the classical approach used in CIVA: the interaction model is based on Kirchoff, and the ultrasonic field around the defect is computed by the pencil method. The model has been adapted and parallelized for both architectures. At this stage, the configurations addressed by the tool are : multi and mono-element probes, planar specimens made of simple isotropic materials, planar rectangular defects or side drilled holes of small diameter. Validations on the model accuracy and performances measurements are presented.

Imaging electric field dynamics with graphene optoelectronics.

PubMed

Horng, Jason; Balch, Halleh B; McGuire, Allister F; Tsai, Hsin-Zon; Forrester, Patrick R; Crommie, Michael F; Cui, Bianxiao; Wang, Feng

2016-12-16

The use of electric fields for signalling and control in liquids is widespread, spanning bioelectric activity in cells to electrical manipulation of microstructures in lab-on-a-chip devices. However, an appropriate tool to resolve the spatio-temporal distribution of electric fields over a large dynamic range has yet to be developed. Here we present a label-free method to image local electric fields in real time and under ambient conditions. Our technique combines the unique gate-variable optical transitions of graphene with a critically coupled planar waveguide platform that enables highly sensitive detection of local electric fields with a voltage sensitivity of a few microvolts, a spatial resolution of tens of micrometres and a frequency response over tens of kilohertz. Our imaging platform enables parallel detection of electric fields over a large field of view and can be tailored to broad applications spanning lab-on-a-chip device engineering to analysis of bioelectric phenomena.

Development of structural schemes of parallel structure manipulators using screw calculus

NASA Astrophysics Data System (ADS)

Rashoyan, G. V.; Shalyukhin, K. A.; Gaponenko, EV

2018-03-01

The paper considers the approach to the structural analysis and synthesis of parallel structure robots based on the mathematical apparatus of groups of screws and on a concept of reciprocity of screws. The results are depicted of synthesis of parallel structure robots with different numbers of degrees of freedom, corresponding to the different groups of screws. Power screws are applied with this aim, based on the principle of static-kinematic analogy; the power screws are similar to the orts of axes of not driven kinematic pairs of a corresponding connecting chain. Accordingly, kinematic screws of the outlet chain of a robot are simultaneously determined which are reciprocal to power screws of kinematic sub-chains. Solution of certain synthesis problems is illustrated with practical applications. Closed groups of screws can have eight types. The three-membered groups of screws are of greatest significance, as well as four-membered screw groups [1] and six-membered screw groups. Three-membered screw groups correspond to progressively guiding mechanisms, to spherical mechanisms, and to planar mechanisms. The four-membered group corresponds to the motion of the SCARA robot. The six-membered group includes all possible motions. From the works of A.P. Kotelnikov, F.M. Dimentberg, it is known that closed fifth-order screw groups do not exist. The article presents examples of the mechanisms corresponding to the given groups.

Efficient dynamic modeling of manipulators containing closed kinematic loops

NASA Astrophysics Data System (ADS)

Ferretti, Gianni; Rocco, Paolo

An approach to efficiently solve the forward dynamics problem for manipulators containing closed chains is proposed. The two main distinctive features of this approach are: the dynamics of the equivalent open loop tree structures (any closed loop can be in general modeled by imposing some additional kinematic constraints to a suitable tree structure) is computed through an efficient Newton Euler formulation; the constraint equations relative to the most commonly adopted closed chains in industrial manipulators are explicitly solved, thus, overcoming the redundancy of Lagrange's multipliers method while avoiding the inefficiency due to a numerical solution of the implicit constraint equations. The constraint equations considered for an explicit solution are those imposed by articulated gear mechanisms and planar closed chains (pantograph type structures). Articulated gear mechanisms are actually used in all industrial robots to transmit motion from actuators to links, while planar closed chains are usefully employed to increase the stiffness of the manipulators and their load capacity, as well to reduce the kinematic coupling of joint axes. The accuracy and the efficiency of the proposed approach are shown through a simulation test.

Design and implementation of a novel modal space active force control concept for spatial multi-DOF parallel robotic manipulators actuated by electrical actuators.

PubMed

Yang, Chifu; Zhao, Jinsong; Li, Liyi; Agrawal, Sunil K

2018-01-01

Robotic spine brace based on parallel-actuated robotic system is a new device for treatment and sensing of scoliosis, however, the strong dynamic coupling and anisotropy problem of parallel manipulators result in accuracy loss of rehabilitation force control, including big error in direction and value of force. A novel active force control strategy named modal space force control is proposed to solve these problems. Considering the electrical driven system and contact environment, the mathematical model of spatial parallel manipulator is built. The strong dynamic coupling problem in force field is described via experiments as well as the anisotropy problem of work space of parallel manipulators. The effects of dynamic coupling on control design and performances are discussed, and the influences of anisotropy on accuracy are also addressed. With mass/inertia matrix and stiffness matrix of parallel manipulators, a modal matrix can be calculated by using eigenvalue decomposition. Making use of the orthogonality of modal matrix with mass matrix of parallel manipulators, the strong coupled dynamic equations expressed in work space or joint space of parallel manipulator may be transformed into decoupled equations formulated in modal space. According to this property, each force control channel is independent of others in the modal space, thus we proposed modal space force control concept which means the force controller is designed in modal space. A modal space active force control is designed and implemented with only a simple PID controller employed as exampled control method to show the differences, uniqueness, and benefits of modal space force control. Simulation and experimental results show that the proposed modal space force control concept can effectively overcome the effects of the strong dynamic coupling and anisotropy problem in the physical space, and modal space force control is thus a very useful control framework, which is better than the current joint space control and work space control. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Detecting Planar Surfaces in Outdoor Urban Environments

DTIC Science & Technology

2008-09-01

coplanar or parallel scene points and lines. Sturm and Maybank (18) perform 3D reconstruction given user-provided coplanarity, perpendicularity, and... Maybank , S. J. A method for intactive 3d reconstruction of piercewise planar objects from single images. in BMVC, 1999, 265–274 [19] Schaffalitzky, F

Plane representations of graphs and visibility between parallel segments

NASA Astrophysics Data System (ADS)

Tamassia, R.; Tollis, I. G.

1985-04-01

Several layout compaction strategies for VLSI are based on the concept of visibility between parallel segments, where we say that two parallel segments of a given set are visible if they can be joined by a segment orthogonal to them, which does not intersect any other segment. This paper studies visibility representations of graphs, which are constructed by mapping vertices to horizontal segments, and edges to vertical segments drawn between visible vertex-segments. Clearly, every graph that admits such a representation must be a planar. The authors consider three types of visibility representations, and give complete characterizations of the classes of graphs that admit them. Furthermore, they present linear time algorithms for testing the existence of and constructing visibility representations of planar graphs.

Ordering transitions of weakly anisotropic hard rods in narrow slitlike pores.

PubMed

Aliabadi, Roohollah; Gurin, Péter; Velasco, Enrique; Varga, Szabolcs

2018-01-01

The effect of strong confinement on the positional and orientational ordering is examined in a system of hard rectangular rods with length L and diameter D (L>D) using the Parsons-Lee modification of the second virial density-functional theory. The rods are nonmesogenic (L/D<3) and confined between two parallel hard walls, where the width of the pore (H) is chosen in such a way that both planar (particle's long axis parallel to the walls) and homeotropic (particle's long axis perpendicular to the walls) orderings are possible and a maximum of two layers is allowed to form in the pore. In the extreme confinement limit of H≤2D, where only one-layer structures appear, we observe a structural transition from a planar to a homeotropic fluid layer with increasing density, which becomes sharper as L→H. In wider pores (2D

Six-degree-of-freedom parallel minimanipulator with three inextensible limbs

NASA Technical Reports Server (NTRS)

Tahmasebi, Farhad (Inventor); Tsai, Lung-Wen (Inventor)

1994-01-01

A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described. The three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar linkage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform. The actuators are mounted on the fixed base without using any power transmission devices such as gears or belts.

Observation of extraordinary optical activity in planar chiral photonic crystals.

PubMed

Konishi, Kuniaki; Bai, Benfeng; Meng, Xiangfeng; Karvinen, Petri; Turunen, Jari; Svirko, Yuri P; Kuwata-Gonokami, Makoto

2008-05-12

Control of light polarization is a key technology in modern photonics including application to optical manipulation of quantum information. The requisite is to obtain large rotation in isotropic media with small loss. We report on extraordinary optical activity in a planar dielectric on-waveguide photonic crystal structure, which has no in-plane birefringence and shows polarization rotation of more than 25 degrees for transmitted light. We demonstrate that in the planar chiral photonic crystal, the coupling of the normally incident light wave with low-loss waveguide and Fabry-Pérot resonance modes results in a dramatic enhancement of the optical activity.

Lassoing saddle splay and the geometrical control of topological defects

PubMed Central

Tran, Lisa; Lavrentovich, Maxim O.; Beller, Daniel A.; Li, Ningwei; Stebe, Kathleen J.; Kamien, Randall D.

2016-01-01

Systems with holes, such as colloidal handlebodies and toroidal droplets, have been studied in the nematic liquid crystal (NLC) 4-cyano-4′-pentylbiphenyl (5CB): Both point and ring topological defects can occur within each hole and around the system while conserving the system’s overall topological charge. However, what has not been fully appreciated is the ability to manipulate the hole geometry with homeotropic (perpendicular) anchoring conditions to induce complex, saddle-like deformations. We exploit this by creating an array of holes suspended in an NLC cell with oriented planar (parallel) anchoring at the cell boundaries. We study both 5CB and a binary mixture of bicyclohexane derivatives (CCN-47 and CCN-55). Through simulations and experiments, we study how the bulk saddle deformations of each hole interact to create defect structures, including an array of disclination lines, reminiscent of those found in liquid-crystal blue phases. The line locations are tunable via the NLC elastic constants, the cell geometry, and the size and spacing of holes in the array. This research lays the groundwork for the control of complex elastic deformations of varying length scales via geometrical cues in materials that are renowned in the display industry for their stability and easy manipulability. PMID:27222582

On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

PubMed Central

Buzzi, Jacopo; Ferrigno, Giancarlo; Jansma, Joost M.; De Momi, Elena

2017-01-01

Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration. PMID:29018319

Dynamic analysis and control of lightweight manipulators with flexible parallel link mechanisms

NASA Technical Reports Server (NTRS)

Lee, Jeh Won

1991-01-01

The flexible parallel link mechanism is designed for increased rigidity to sustain the buckling when it carries a heavy payload. Compared to a one link flexible manipulator, a two link flexible manipulator, especially the flexible parallel mechanism, has more complicated characteristics in dynamics and control. The objective of this research is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model. The step response of the analytical model and the TREETOPS model match each other well. The nonlinear dynamics is studied using a sinusoidal excitation. The actuator dynamic effect on a flexible robot was investigated. The effects are explained by the root loci and the Bode plot theoretically and experimentally. For the base performance for the advanced control scheme, a simple decoupled feedback scheme is applied.

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

Morgansen, K.A.; Pin, F.G.

A new method for mitigating unexpected impact of a redundant manipulator with an object in its environment is presented. Kinematic constraints are utilized with the recently developed method known as Full Space Parameterization (FSP). System performance criterion and constraints are changed at impact to return the end effector to the point of impact and halt the arm. Since large joint accelerations could occur as the manipulator is halted, joint acceleration bounds are imposed to simulate physical actuator limitations. Simulation results are presented for the case of a simple redundant planar manipulator.

A class of parallel algorithms for computation of the manipulator inertia matrix

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1989-01-01

Parallel and parallel/pipeline algorithms for computation of the manipulator inertia matrix are presented. An algorithm based on composite rigid-body spatial inertia method, which provides better features for parallelization, is used for the computation of the inertia matrix. Two parallel algorithms are developed which achieve the time lower bound in computation. Also described is the mapping of these algorithms with topological variation on a two-dimensional processor array, with nearest-neighbor connection, and with cardinality variation on a linear processor array. An efficient parallel/pipeline algorithm for the linear array was also developed, but at significantly higher efficiency.

An optimal resolved rate law for kindematically redundant manipulators

NASA Technical Reports Server (NTRS)

Bourgeois, B. J.

1987-01-01

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution was found to cause large joint rates in some case. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to nonplanar manipulators.

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

PubMed

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

2015-04-01

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

Large planar maneuvers for articulated flexible manipulators

NASA Technical Reports Server (NTRS)

Huang, Jen-Kuang; Yang, Li-Farn

1988-01-01

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

Imaging electric field dynamics with graphene optoelectronics

DOE PAGES

Horng, Jason; Balch, Halleh B.; McGuire, Allister F.; ...

2016-12-16

The use of electric fields for signalling and control in liquids is widespread, spanning bioelectric activity in cells to electrical manipulation of microstructures in lab-on-a-chip devices. However, an appropriate tool to resolve the spatio-temporal distribution of electric fields over a large dynamic range has yet to be developed. Here we present a label-free method to image local electric fields in real time and under ambient conditions. Our technique combines the unique gate-variable optical transitions of graphene with a critically coupled planar waveguide platform that enables highly sensitive detection of local electric fields with a voltage sensitivity of a few microvolts,more » a spatial resolution of tens of micrometres and a frequency response over tens of kilohertz. Our imaging platform enables parallel detection of electric fields over a large field of view and can be tailored to broad applications spanning lab-on-a-chip device engineering to analysis of bioelectric phenomena.« less

Imaging electric field dynamics with graphene optoelectronics

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

Horng, Jason; Balch, Halleh B.; McGuire, Allister F.

The use of electric fields for signalling and control in liquids is widespread, spanning bioelectric activity in cells to electrical manipulation of microstructures in lab-on-a-chip devices. However, an appropriate tool to resolve the spatio-temporal distribution of electric fields over a large dynamic range has yet to be developed. Here we present a label-free method to image local electric fields in real time and under ambient conditions. Our technique combines the unique gate-variable optical transitions of graphene with a critically coupled planar waveguide platform that enables highly sensitive detection of local electric fields with a voltage sensitivity of a few microvolts,more » a spatial resolution of tens of micrometres and a frequency response over tens of kilohertz. Our imaging platform enables parallel detection of electric fields over a large field of view and can be tailored to broad applications spanning lab-on-a-chip device engineering to analysis of bioelectric phenomena.« less

Silicon-fiber blanket solar-cell array concept

NASA Technical Reports Server (NTRS)

Eliason, J. T.

1973-01-01

Proposed economical manufacture of solar-cell arrays involves parallel, planar weaving of filaments made of doped silicon fibers with diffused radial junction. Each filament is a solar cell connected either in series or parallel with others to form a blanket of deposited grids or attached electrode wire mesh screens.

Issues of planning trajectory of parallel robots taking into account zones of singularity

NASA Astrophysics Data System (ADS)

Rybak, L. A.; Khalapyan, S. Y.; Gaponenko, E. V.

2018-03-01

A method for determining the design characteristics of a parallel robot necessary to provide specified parameters of its working space that satisfy the controllability requirement is developed. The experimental verification of the proposed method was carried out using an approximate planar 3-RPR mechanism.

Study of noise propagation and the effects of insufficient numbers of projection angles and detector samplings for iterative reconstruction using planar-integral data

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

Zhang, B.; Zeng, G. L.

2006-09-15

A rotating slat collimator can be used to acquire planar-integral data. It achieves higher geometric efficiency than a parallel-hole collimator by accepting more photons, but the planar-integral data contain less tomographic information that may result in larger noise amplification in the reconstruction. Lodge evaluated the rotating slat system and the parallel-hole system based on noise behavior for an FBP reconstruction. Here, we evaluate the noise propagation properties of the two collimation systems for iterative reconstruction. We extend Huesman's noise propagation analysis of the line-integral system to the planar-integral case, and show that approximately 2.0(D/dp) SPECT angles, 2.5(D/dp) self-spinning angles atmore » each detector position, and a 0.5dp detector sampling interval are required in order for the planar-integral data to be efficiently utilized. Here, D is the diameter of the object and dp is the linear dimension of the voxels that subdivide the object. The noise propagation behaviors of the two systems are then compared based on a least-square reconstruction using the ratio of the SNR in the image reconstructed using a planar-integral system to that reconstructed using a line-integral system. The ratio is found to be proportional to {radical}(F/D), where F is a geometric efficiency factor. This result has been verified by computer simulations. It confirms that for an iterative reconstruction, the noise tradeoff of the two systems is not only dependent on the increase of the geometric efficiency afforded by the planar projection method, but also dependent on the size of the object. The planar-integral system works better for small objects, while the line-integral system performs better for large ones. This result is consistent with Lodge's results based on the FBP method.« less

Experimental characterization of a binary actuated parallel manipulator

NASA Astrophysics Data System (ADS)

Giuseppe, Carbone

2016-05-01

This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics (LARM). Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy (SMA) actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.

Parallel algorithms for computation of the manipulator inertia matrix

NASA Technical Reports Server (NTRS)

Amin-Javaheri, Masoud; Orin, David E.

1989-01-01

The development of an O(log2N) parallel algorithm for the manipulator inertia matrix is presented. It is based on the most efficient serial algorithm which uses the composite rigid body method. Recursive doubling is used to reformulate the linear recurrence equations which are required to compute the diagonal elements of the matrix. It results in O(log2N) levels of computation. Computation of the off-diagonal elements involves N linear recurrences of varying-size and a new method, which avoids redundant computation of position and orientation transforms for the manipulator, is developed. The O(log2N) algorithm is presented in both equation and graphic forms which clearly show the parallelism inherent in the algorithm.

Recursive Newton-Euler formulation of manipulator dynamics

NASA Technical Reports Server (NTRS)

Nasser, M. G.

1989-01-01

A recursive Newton-Euler procedure is presented for the formulation and solution of manipulator dynamical equations. The procedure includes rotational and translational joints and a topological tree. This model was verified analytically using a planar two-link manipulator. Also, the model was tested numerically against the Walker-Orin model using the Shuttle Remote Manipulator System data. The hinge accelerations obtained from both models were identical. The computational requirements of the model vary linearly with the number of joints. The computational efficiency of this method exceeds that of Walker-Orin methods. This procedure may be viewed as a considerable generalization of Armstrong's method. A six-by-six formulation is adopted which enhances both the computational efficiency and simplicity of the model.

Performance limitations of joint variable-feedback controllers due to manipulator structural flexibility

NASA Technical Reports Server (NTRS)

Cetinkunt, Sabri; Book, Wayne J.

1990-01-01

The performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model of a two-link two-joint planar manipulator is used in the study. Emphasis is placed on determining the limitations of control algorithms that use only joint variable-feedback information in calculations of control decisions, since most motion control systems in practice are of this kind. Both fine and gross motion cases are studied. Results for fine motion agree well with previously reported results in the literature and are also helpful in explaining the performance limitations in fast gross motions.

Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

NASA Astrophysics Data System (ADS)

Lee, J.; Kim, K.

A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

NASA Technical Reports Server (NTRS)

Lee, J.; Kim, K.

1991-01-01

A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

Docking alignment system

NASA Technical Reports Server (NTRS)

Monford, Leo G. (Inventor)

1990-01-01

Improved techniques are provided for alignment of two objects. The present invention is particularly suited for three-dimensional translation and three-dimensional rotational alignment of objects in outer space. A camera 18 is fixedly mounted to one object, such as a remote manipulator arm 10 of the spacecraft, while the planar reflective surface 30 is fixed to the other object, such as a grapple fixture 20. A monitor 50 displays in real-time images from the camera, such that the monitor displays both the reflected image of the camera and visible markings on the planar reflective surface when the objects are in proper alignment. The monitor may thus be viewed by the operator and the arm 10 manipulated so that the reflective surface is perpendicular to the optical axis of the camera, the roll of the reflective surface is at a selected angle with respect to the camera, and the camera is spaced a pre-selected distance from the reflective surface.

Improved docking alignment system

NASA Technical Reports Server (NTRS)

Monford, Leo G. (Inventor)

1988-01-01

Improved techniques are provided for the alignment of two objects. The present invention is particularly suited for 3-D translation and 3-D rotational alignment of objects in outer space. A camera is affixed to one object, such as a remote manipulator arm of the spacecraft, while the planar reflective surface is affixed to the other object, such as a grapple fixture. A monitor displays in real-time images from the camera such that the monitor displays both the reflected image of the camera and visible marking on the planar reflective surface when the objects are in proper alignment. The monitor may thus be viewed by the operator and the arm manipulated so that the reflective surface is perpendicular to the optical axis of the camera, the roll of the reflective surface is at a selected angle with respect to the camera, and the camera is spaced a pre-selected distance from the reflective surface.

Single Fiber Star Couplers. [optical waveguides for spacecraft communication

NASA Technical Reports Server (NTRS)

Asawa, C. K.

1979-01-01

An ion exchange process was developed and used in the fabrication of state-of-the-art planar star couplers for distribution of optical radiation between optical fibers. An 8 x 8 planar transmission star coupler was packaged for evaluation purposes with sixteen fiber connectors and sixteen pigtails. Likewise a transmission star coupler and an eight-port reflection star coupler with eight-fiber ribbons rigidly attached to these couplers, and a planar coupler with silicon guides and a parallel channel guide with pigtails were also fabricated. Optical measurements of the transmission star couplers are included with a description of the manufacturing process.

Two-dimensional displacement measurement based on two parallel gratings

NASA Astrophysics Data System (ADS)

Wei, Peipei; Lu, Xi; Qiao, Decheng; Zou, Limin; Huang, Xiangdong; Tan, Jiubin; Lu, Zhengang

2018-06-01

In this paper, a two-dimensional (2-D) planar encoder based on two parallel gratings, which includes a scanning grating and scale grating, is presented. The scanning grating is a combined transmission rectangular grating comprised of a 2-D grating located at the center and two one-dimensional (1-D) gratings located at the sides. The grating lines of the two 1-D gratings are perpendicular to each other and parallel with the 2-D grating lines. The scale grating is a 2-D reflective-type rectangular grating placed in parallel with the scanning grating, and there is an angular difference of 45° between the grating lines of the two 2-D gratings. With the special structural design of the scanning grating, the encoder can measure the 2-D displacement in the grating plane simultaneously, and the measured interference signals in the two directions are uncoupled. Moreover, by utilizing the scanning grating to modulate the phase of the interference signals instead of the prisms, the structure of the encoder is compact. Experiments were implemented, and the results demonstrate the validity of the 2-D planar grating encoder.

Synchronized motion control and precision positioning compensation of a 3-DOFs macro-micro parallel manipulator fully actuated by piezoelectric actuators

NASA Astrophysics Data System (ADS)

Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Xu

2017-11-01

The macro-micro combined approach, as an effective way to realize trans-scale nano-precision positioning with multi-dimensions and high velocity, plays a significant role in integrated circuit manufacturing field. A 3-degree-of-freedoms (3-DOFs) macro-micro manipulator is designed and analyzed to compromise the conflictions among the large stroke, high precision and multi-DOFs. The macro manipulator is a 3-Prismatic-Revolute-Revolute (3-PRR) structure parallel manipulator which is driven by three linear ultrasonic motors. The dynamic model and the cross-coupling error based synchronized motion controller of the 3-PRR parallel manipulator are theoretical analyzed and experimental tested. To further improve the positioning accuracy, a 3-DOFs monolithic compliant manipulator actuated by three piezoelectric stack actuators is designed. Then a multilayer BP neural network based inverse kinematic model identifier is developed to perform the positioning control. Finally, by forming the macro-micro structure, the dual stage manipulator successfully achieved the positioning task from the point (2 mm, 2 mm, 0 rad) back to the original point (0 mm, 0 mm, 0 rad) with the translation errors in X and Y directions less than ±50 nm and the rotation error around Z axis less than ±1 μrad, respectively.

Direct and Inverse Kinematics of a Novel Tip-Tilt-Piston Parallel Manipulator

NASA Technical Reports Server (NTRS)

Tahmasebi, Farhad

2004-01-01

Closed-form direct and inverse kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base-mounted; higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

Kinematics of a New High Precision Three Degree-of-Freedom Parallel Manipulator

NASA Technical Reports Server (NTRS)

Tahmasebi, Farhad

2005-01-01

Closed-form direct and inverse kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base-mounted; higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the base plane. Hence, there are at most sixteen assembly configurations for the manipulator. In addition, it is shown that the sixteen solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

Conjugate-Gradient Algorithms For Dynamics Of Manipulators

NASA Technical Reports Server (NTRS)

Fijany, Amir; Scheid, Robert E.

1993-01-01

Algorithms for serial and parallel computation of forward dynamics of multiple-link robotic manipulators by conjugate-gradient method developed. Parallel algorithms have potential for speedup of computations on multiple linked, specialized processors implemented in very-large-scale integrated circuits. Such processors used to stimulate dynamics, possibly faster than in real time, for purposes of planning and control.

Ethyl 2-[(carbamothioyl-amino)-imino]-propano-ate.

PubMed

Corrêa, Charlane C; Graúdo, José Eugênio J C; de Oliveira, Luiz Fernando C; de Almeida, Mauro V; Diniz, Renata

2011-08-01

The title compound, C(6)H(11)N(3)O(2)S, consists of a roughly planar mol-ecule (r.m.s deviation from planarity = 0.077 Å for the non-H atoms) and has the S atom in an anti position to the imine N atom. This N atom is the acceptor of a strongly bent inter-nal N-H⋯N hydrogen bond donated by the amino group. In the crystal, mol-ecules are arranged in undulating layers parallel to (010). The mol-ecules are linked via inter-molecular amino-carboxyl N-H⋯O hydrogen bonds, forming chains parallel to [001]. The chains are cross-linked by N(carbazone)-H⋯S and C-H⋯S inter-actions, forming infinite sheets.

Planned development of a 3D computer based on free-space optical interconnects

NASA Astrophysics Data System (ADS)

Neff, John A.; Guarino, David R.

1994-05-01

Free-space optical interconnection has the potential to provide upwards of a million data channels between planes of electronic circuits. This may result in the planar board and backplane structures of today giving away to 3-D stacks of wafers or multi-chip modules interconnected via channels running perpendicular to the processor planes, thereby eliminating much of the packaging overhead. Three-dimensional packaging is very appealing for tightly coupled fine-grained parallel computing where the need for massive numbers of interconnections is severely taxing the capabilities of the planar structures. This paper describes a coordinated effort by four research organizations to demonstrate an operational fine-grained parallel computer that achieves global connectivity through the use of free space optical interconnects.

Fuzzy logic control of telerobot manipulators

NASA Technical Reports Server (NTRS)

Franke, Ernest A.; Nedungadi, Ashok

1992-01-01

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

Engineering shadows to fabricate optical metasurfaces.

PubMed

Nemiroski, Alex; Gonidec, Mathieu; Fox, Jerome M; Jean-Remy, Philip; Turnage, Evan; Whitesides, George M

2014-11-25

Optical metasurfaces-patterned arrays of plasmonic nanoantennas that enable the precise manipulation of light-matter interactions-are emerging as critical components in many nanophotonic materials, including planar metamaterials, chemical and biological sensors, and photovoltaics. The development of these materials has been slowed by the difficulty of efficiently fabricating patterns with the required combinations of intricate nanoscale structure, high areal density, and/or heterogeneous composition. One convenient strategy that enables parallel fabrication of periodic nanopatterns uses self-assembled colloidal monolayers as shadow masks; this method has, however, not been extended beyond a small set of simple patterns and, thus, has remained incompatible with the broad design requirements of metasurfaces. This paper demonstrates a technique-shadow-sphere lithography (SSL)-that uses sequential deposition from multiple angles through plasma-etched microspheres to expand the variety and complexity of structures accessible by colloidal masks. SSL harnesses the entire, relatively unexplored, space of shadow-derived shapes and-with custom software to guide multiangled deposition-contains sufficient degrees of freedom to (i) design and fabricate a wide variety of metasurfaces that incorporate complex structures with small feature sizes and multiple materials and (ii) generate, in parallel, thousands of variations of structures for high-throughput screening of new patterns that may yield unexpected optical spectra. This generalized approach to engineering shadows of spheres provides a new strategy for efficient prototyping and discovery of periodic metasurfaces.

Electrical manipulation of glycan-phosphatidyl inositol-tethered proteins in planar supported bilayers.

PubMed Central

Groves, J T; Wülfing, C; Boxer, S G

1996-01-01

Electric fields have been used to manipulate and concentrate glycan-phosphatidyl inositol (GPI)-tethered proteins in planar supported bilayers. Naturally GPI-linked CD48, along with engineered forms of I-Ek and B7-2, in which their transmembrane domains have been genetically replaced with the GPI linkage, were studied. The proteins were labeled with fluorescently tagged antibodies, allowing the electric field-induced behavior to be followed by epifluorescence microscopy. All three protein complexes were observed to migrate toward the cathode with the B7-2 and CD48, each tethered to the membrane by a single GPI linker, moving significantly faster than the I-Ek, which has two GPI linkers. Patterns scratched into the membrane function as barriers to lateral diffusion and were used to isolate the proteins into highly concentrated corrals. All field-induced concentration profiles were completely reversible, indicating that the supported bilayer provides a stable, fluid environment in which GPI-tethered proteins can be manipulated. The ability to electrically control the spatial distribution of membrane-tethered proteins provides new opportunities for the study of biological membranes and the development of membrane-based devices. Images FIGURE 2 FIGURE 3 FIGURE 4 FIGURE 5 FIGURE 6 PMID:8913608

Different-Level Simultaneous Minimization Scheme for Fault Tolerance of Redundant Manipulator Aided with Discrete-Time Recurrent Neural Network

PubMed Central

Jin, Long; Liao, Bolin; Liu, Mei; Xiao, Lin; Guo, Dongsheng; Yan, Xiaogang

2017-01-01

By incorporating the physical constraints in joint space, a different-level simultaneous minimization scheme, which takes both the robot kinematics and robot dynamics into account, is presented and investigated for fault-tolerant motion planning of redundant manipulator in this paper. The scheme is reformulated as a quadratic program (QP) with equality and bound constraints, which is then solved by a discrete-time recurrent neural network. Simulative verifications based on a six-link planar redundant robot manipulator substantiate the efficacy and accuracy of the presented acceleration fault-tolerant scheme, the resultant QP and the corresponding discrete-time recurrent neural network. PMID:28955217

Dynamic Analysis and Control of Lightweight Manipulators with Flexible Parallel Link Mechanisms. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lee, Jeh Won

1990-01-01

The objective is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equation of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to higher order. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. Elastic motion is expressed by the assumed mode method. Mode shape functions of each link are chosen using the load interfaced component mode synthesis. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model.

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

PubMed

Singh, Amanpreet; Singla, Ashish; Soni, Sanjeev

2015-10-01

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

A Mobile Robot for Small Object Handling

NASA Astrophysics Data System (ADS)

Fišer, Ondřej; Szűcsová, Hana; Grimmer, Vladimír; Popelka, Jan; Vonásek, Vojtěch; Krajník, Tomáš; Chudoba, Jan

The aim of this paper is to present an intelligent autonomous robot capable of small object manipulation. The design of the robot is influenced mainly by the rules of EUROBOT 09 competition. In this challenge, two robots pick up objects scattered on a planar rectangular playfield and use these elements to build models of Hellenistic temples. This paper describes the robot hardware, i.e. electro-mechanics of the drive, chassis and manipulator, as well as the software, i.e. localization, collision avoidance, motion control and planning algorithms.

Ethyl 2-[(carbamothioyl­amino)­imino]­propano­ate

PubMed Central

Corrêa, Charlane C.; Graúdo, José Eugênio J.C.; de Oliveira, Luiz Fernando C.; de Almeida, Mauro V.; Diniz, Renata

2011-01-01

The title compound, C6H11N3O2S, consists of a roughly planar mol­ecule (r.m.s deviation from planarity = 0.077 Å for the non-H atoms) and has the S atom in an anti position to the imine N atom. This N atom is the acceptor of a strongly bent inter­nal N—H⋯N hydrogen bond donated by the amino group. In the crystal, mol­ecules are arranged in undulating layers parallel to (010). The mol­ecules are linked via inter­molecular amino–carboxyl N—H⋯O hydrogen bonds, forming chains parallel to [001]. The chains are cross-linked by Ncarbazone—H⋯S and C—H⋯S inter­actions, forming infinite sheets. PMID:22091006

Research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor

NASA Astrophysics Data System (ADS)

Liu, Wei; Li, Ying-jun; Jia, Zhen-yuan; Zhang, Jun; Qian, Min

2011-01-01

In working process of huge heavy-load manipulators, such as the free forging machine, hydraulic die-forging press, forging manipulator, heavy grasping manipulator, large displacement manipulator, measurement of six-dimensional heavy force/torque and real-time force feedback of the operation interface are basis to realize coordinate operation control and force compliance control. It is also an effective way to raise the control accuracy and achieve highly efficient manufacturing. Facing to solve dynamic measurement problem on six-dimensional time-varying heavy load in extremely manufacturing process, the novel principle of parallel load sharing on six-dimensional heavy force/torque is put forward. The measuring principle of six-dimensional force sensor is analyzed, and the spatial model is built and decoupled. The load sharing ratios are analyzed and calculated in vertical and horizontal directions. The mapping relationship between six-dimensional heavy force/torque value to be measured and output force value is built. The finite element model of parallel piezoelectric six-dimensional heavy force/torque sensor is set up, and its static characteristics are analyzed by ANSYS software. The main parameters, which affect load sharing ratio, are analyzed. The experiments for load sharing with different diameters of parallel axis are designed. The results show that the six-dimensional heavy force/torque sensor has good linearity. Non-linearity errors are less than 1%. The parallel axis makes good effect of load sharing. The larger the diameter is, the better the load sharing effect is. The results of experiments are in accordance with the FEM analysis. The sensor has advantages of large measuring range, good linearity, high inherent frequency, and high rigidity. It can be widely used in extreme environments for real-time accurate measurement of six-dimensional time-varying huge loads on manipulators.

Broadband Planar 5:1 Impedence Transformer

NASA Technical Reports Server (NTRS)

Ehsan, Negar; Hsieh, Wen-Ting; Moseley, Samuel H.; Wollack, Edward J.

2015-01-01

This paper presents a broadband Guanella-type planar impedance transformer that transforms so 50 omega to 10 omega with a 10 dB bandwidth of 1-14GHz. The transformer is designed on a flexible 50 micrometer thick polyimide substrate in microstrip and parallel-plate transmission line topologies, and is Inspired by the traditional 4:1 Guanella transformer. Back-to-back transformers were designed and fabricated for characterization in a 50 omega system. Simulated and measured results are in excellent agreement.

Manipulator trajectories during orbital servicing mission: numerical simulations and experiments on microgravity simulator

NASA Astrophysics Data System (ADS)

Rybus, T.; Seweryn, K.

2018-06-01

It is considered to use a manipulator-equipped satellite for performing On-Orbit Servicing (OOS) or Active Debris Removal (ADR) missions. In this paper, several possible approaches are reviewed for end-effector (EE) trajectory planning in the Cartesian space, such as application of the Bézier curves for singularity avoidance and method for trajectory optimization. The results of numerical simulations for a satellite equipped with a 7 degree-of-freedom (DoF) manipulator and results of experiments performed on a planar air-bearing microgravity simulator for a simplified two-dimensional (2D) case with a 2-DoF manipulator are presented. Differences between the free-floating case and the case where Attitude and Orbit Control Systems (AOCS) keep constant position and orientation of the satellite are also shown.

Support assembly having three dimension position adjustment capabilities

DOEpatents

Cutburth, Ronald W.; House, F. Allen

1987-01-01

An assembly for supporting an apparatus such as a microscope or laser to and against a planar surface is disclosed herein. This apparatus includes three specific arrangements for adjusting the positions of three segments of the apparatus so as to adjust the position of the overall apparatus with respect to the planar surface in the x-, y-and z-directions, where the x-direction and the y-direction are both parallel with the planar surface and perpendicular to one another and where the z-direction is perpendicular to the planar surface and the x-and y-directions. Each of two of the three arrangements includes its own means for providing x-, y- and z-adjustments (which includes rotation in the x, y plane) while it is only necessary for the third arrangement to provide adjustments in the z-direction.

Microradiographic microsphere manipulator

DOEpatents

Singleton, R.M.

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

Parallelism in Manipulator Dynamics. Revision.

DTIC Science & Technology

1983-12-01

computing the motor torques required to drive a lower-pair kinematic chain (e.g., a typical manipulator arm in free motion, or a mechanical leg in the... computations , and presents two "mathematically exact" formulationsespecially suited to high-speed, highly parallel implementa- tions using special-purpose...YNAMICS by I(IIAR) IIAROLI) LATIROP .4ISTRACT This paper addresses the problem of efficiently computing the motor torques required to drive a lower-pair

Microradiographic microsphere manipulator

DOEpatents

Singleton, Russell M.

1980-01-01

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

Parallel conjugate gradient algorithms for manipulator dynamic simulation

NASA Technical Reports Server (NTRS)

Fijany, Amir; Scheld, Robert E.

1989-01-01

Parallel conjugate gradient algorithms for the computation of multibody dynamics are developed for the specialized case of a robot manipulator. For an n-dimensional positive-definite linear system, the Classical Conjugate Gradient (CCG) algorithms are guaranteed to converge in n iterations, each with a computation cost of O(n); this leads to a total computational cost of O(n sq) on a serial processor. A conjugate gradient algorithms is presented that provide greater efficiency using a preconditioner, which reduces the number of iterations required, and by exploiting parallelism, which reduces the cost of each iteration. Two Preconditioned Conjugate Gradient (PCG) algorithms are proposed which respectively use a diagonal and a tridiagonal matrix, composed of the diagonal and tridiagonal elements of the mass matrix, as preconditioners. Parallel algorithms are developed to compute the preconditioners and their inversions in O(log sub 2 n) steps using n processors. A parallel algorithm is also presented which, on the same architecture, achieves the computational time of O(log sub 2 n) for each iteration. Simulation results for a seven degree-of-freedom manipulator are presented. Variants of the proposed algorithms are also developed which can be efficiently implemented on the Robot Mathematics Processor (RMP).

In-Bore Prostate Transperineal Interventions with an MRI-guided Parallel Manipulator: System Development and Preliminary Evaluation

PubMed Central

Eslami, Sohrab; Shang, Weijian; Li, Gang; Patel, Nirav; Fischer, Gregory S.; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M.; Iordachita, Iulian

2015-01-01

Background The robot-assisted minimally-invasive surgery is well recognized as a feasible solution for diagnosis and treatment of the prostate cancer in human. Methods In this paper the kinematics of a parallel 4 Degrees-of-Freedom (DOF) surgical manipulator designed for minimally invasive in-bore prostate percutaneous interventions through the patient's perineum. The proposed manipulator takes advantage of 4 sliders actuated by MRI-compatible piezoelectric motors and incremental rotary encoders. Errors, mostly originating from the design and manufacturing process, need to be identified and reduced before the robot is deployed in the clinical trials. Results The manipulator has undergone several experiments to evaluate the repeatability and accuracy of the needle placement which is an essential concern in percutaneous prostate interventions. Conclusion The acquired results endorse the sustainability, precision (about 1 mm in air (in x or y direction) at the needle's reference point) and reliability of the manipulator. PMID:26111458

Nondestructive determination of the depth of planar p-n junctions by scanning electron microscopy

NASA Technical Reports Server (NTRS)

Chi, J.-Y.; Gatos, H. C.

1977-01-01

A method was developed for measuring nondestructively the depth of planar p-n junctions in simple devices as well as in integrated-circuit structures with the electron-beam induced current (EBIC) by scanning parallel to the junction in a scanning electron microscope (SEM). The results were found to be in good agreement with those obtained by the commonly used destructive method of lapping at an angle to the junction and staining to reveal the junction.

Experiments in autonomous robotics

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

Hamel, W.R.

1987-01-01

The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

Three Degree of Freedom Parallel Mechanical Linkage

NASA Technical Reports Server (NTRS)

Adelstein, Bernard D. (Inventor)

1998-01-01

A three degree of freedom parallel mechanism or linkage that couples three degree of freedom translational displacements at an endpoint, such as a handle, a hand grip, or a robot tool, to link rotations about three axes that are fixed with respect to a common base or ground link. The mechanism includes a three degree of freedom spherical linkage formed of two closed loops, and a planar linkage connected to the endpoint. The closed loops are rotatably interconnected, and made of eight rigid links connected by a plurality of single degree of freedom revolute joints. Three of these revolute joints are base joints and are connected to a common ground. such that the axis lines passing through the revolute joints intersect at a common fixed center point K forming the center of a spherical work volume in which the endpoint is capable of moving. 'Me three degrees of freedom correspond to the spatial displacement of the endpoint, for instance. The mechanism provides a new overall spatial kinematic linkage composed of a minimal number of rigid links and rotary joints. The mechanism has improved mechanical stiffness, and conveys mechanical power bidirectionally between the human operator and the electromechanical actuators. It does not require gears, belts. cable, screw or other types of transmission elements, and is useful in applications requiring full backdrivability. Thus, this invention can serve as the mechanical linkage for actively powered devices such as compliant robotic manipulators and force-reflecting hand controllers, and passive devices such as manual input devices for computers and other systems.

Partially orthogonal resonators for magnetic resonance imaging

NASA Astrophysics Data System (ADS)

Chacon-Caldera, Jorge; Malzacher, Matthias; Schad, Lothar R.

2017-02-01

Resonators for signal reception in magnetic resonance are traditionally planar to restrict coil material and avoid coil losses. Here, we present a novel concept to model resonators partially in a plane with maximum sensitivity to the magnetic resonance signal and partially in an orthogonal plane with reduced signal sensitivity. Thus, properties of individual elements in coil arrays can be modified to optimize physical planar space and increase the sensitivity of the overall array. A particular case of the concept is implemented to decrease H-field destructive interferences in planar concentric in-phase arrays. An increase in signal to noise ratio of approximately 20% was achieved with two resonators placed over approximately the same planar area compared to common approaches at a target depth of 10 cm at 3 Tesla. Improved parallel imaging performance of this configuration is also demonstrated. The concept can be further used to increase coil density.

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

NASA Technical Reports Server (NTRS)

Chung, C. L.; Desa, S.

1989-01-01

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

Method and apparatus for fabrication of high gradient insulators with parallel surface conductors spaced less than one millimeter apart

DOEpatents

Sanders, David M.; Decker, Derek E.

1999-01-01

Optical patterns and lithographic techniques are used as part of a process to embed parallel and evenly spaced conductors in the non-planar surfaces of an insulator to produce high gradient insulators. The approach extends the size that high gradient insulating structures can be fabricated as well as improves the performance of those insulators by reducing the scale of the alternating parallel lines of insulator and conductor along the surface. This fabrication approach also substantially decreases the cost required to produce high gradient insulators.

PSD Camera Based Position and Posture Control of Redundant Robot Considering Contact Motion

NASA Astrophysics Data System (ADS)

Oda, Naoki; Kotani, Kentaro

The paper describes a position and posture controller design based on the absolute position by external PSD vision sensor for redundant robot manipulator. The redundancy enables a potential capability to avoid obstacle while continuing given end-effector jobs under contact with middle link of manipulator. Under contact motion, the deformation due to joint torsion obtained by comparing internal and external position sensor, is actively suppressed by internal/external position hybrid controller. The selection matrix of hybrid loop is given by the function of the deformation. And the detected deformation is also utilized in the compliant motion controller for passive obstacle avoidance. The validity of the proposed method is verified by several experimental results of 3link planar redundant manipulator.

Total internal reflection-evanescent coupler for fiber-to-waveguide integration of planar optoelectric devices.

PubMed

Lu, Zhaolin; Prather, Dennis W

2004-08-01

We present a method for parallel coupling from a single-mode fiber, or fiber ribbon, into a silicon-on-insulator waveguide for integration with silicon optoelectronic circuits. The coupler incorporates the advantages of the vertically tapered waveguides and prism couplers, yet offers the flexibility of planar integration. The coupler can be fabricated by use of either wafer polishing technology or gray-scale photolithography. When optimal coupling is achieved in our experimental setup, the coupler can be packaged by epoxy bonding to form a fiber-waveguide parallel coupler or connector. Two-dimensional electromagnetic calculation predicts a coupling efficiency of 77% (- 1.14-dB insertion loss) for a silicon-to-silicon coupler with a uniform tunnel layer. The coupling efficiency is experimentally achieved to be 46% (-3.4-dB insertion loss), excluding the loss in silicon and the reflections from the input surface and the output facet.

Orientation dependence of the dislocation microstructure in compressed body-centered cubic molybdenum

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

Wang, S.; Wang, M.P.; Chen, C., E-mail: chench011-33@163.com

2014-05-01

The orientation dependence of the deformation microstructure has been investigated in commercial pure molybdenum. After deformation, the dislocation boundaries of compressed molybdenum can be classified, similar to that in face-centered cubic metals, into three types: dislocation cells (Type 2), and extended planar boundaries parallel to (Type 1) or not parallel to (Type 3) a (110) trace. However, it shows a reciprocal relationship between face-centered cubic metals and body-centered cubic metals on the orientation dependence of the deformation microstructure. The higher the strain, the finer the microstructure is and the smaller the inclination angle between extended planar boundaries and the compressionmore » axis is. - Highlights: • A reciprocal relationship between FCC metals and BCC metals is confirmed. • The dislocation boundaries can be classified into three types in compressed Mo. • The dislocation characteristic of different dislocation boundaries is different.« less

Motorized manipulator for positioning a TEM specimen

DOEpatents

Schmid, Andreas Karl; Andresen, Nord

2010-12-14

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

A universal sample manipulator with 50 kV negative bias

NASA Astrophysics Data System (ADS)

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

1991-04-01

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

Molecular engineering of lanthanide ion chelating phospholipids generating assemblies with a switched magnetic susceptibility.

PubMed

Isabettini, Stéphane; Massabni, Sarah; Hodzic, Arnel; Durovic, Dzana; Kohlbrecher, Joachim; Ishikawa, Takashi; Fischer, Peter; Windhab, Erich J; Walde, Peter; Kuster, Simon

2017-08-09

Lanthanide ion (Ln 3+ ) chelating amphiphiles are powerful molecules for tailoring the magnetic response of polymolecular assemblies. Mixtures of 1,2-dimyristoyl-sn-glycero-3-phosphocholine (DMPC) and 1,2-dimyristoyl-sn-glycero-3-phospho-ethanolamine-diethylene triaminepentaacetate (DMPE-DTPA) complexed to Ln 3+ deliver highly magnetically responsive bicelles. Their magnetic properties are readily tuned by changing the bicellar size or the magnetic susceptibility Δχ of the bilayer lipids. The former technique is intrinsically bound to the region of the phase diagram guarantying the formation of bicelles. Methods aiming towards manipulating the Δχ of the bilayer are comparatively more robust, flexible and lacking. Herein, we synthesized a new Ln 3+ chelating phospholipid using glutamic acid as a backbone: DMPE-Glu-DTPA. The chelate polyhedron was specifically engineered to alter the Δχ, whilst remaining geometrically similar to DMPE-DTPA. Planar asymmetric assemblies hundreds of nanometers in size were achieved presenting unprecedented magnetic alignments. The DMPE-Glu-DTPA/Ln 3+ complex switched the Δχ, achieving perpendicular alignment of assemblies containing Dy 3+ and parallel alignment of those containing Tm 3+ . Moreover, samples with chelated Yb 3+ were more alignable than the Tm 3+ chelating counterparts. Such a possibility has never been demonstrated for planar Ln 3+ chelating polymolecular assemblies. The physico-chemical properties of these novel assemblies were further studied by monitoring the alignment behavior at different temperatures and by including 16 mol% of cholesterol (Chol-OH) in the phospholipid bilayer. The DMPE-Glu-DTPA/Ln 3+ complex and the resulting assemblies are promising candidates for applications in numerous fields including pharmaceutical technologies, structural characterization of membrane biomolecules by NMR spectroscopy, as contrasting agents for magnetic resonance imaging, and for the development of smart optical gels.

Using Parallel Processing for Problem Solving.

DTIC Science & Technology

1979-12-01

are the basic parallel proces- sing primitive . Different goals of the system can be pursued in parallel by placing them in separate activities...Language primitives are provided for manipulating running activities. Viewpoints are a generalization of context FOM -(over "*’ DD I FON 1473 ’EDITION OF I...arc the basic parallel processing primitive . Different goals of the system can be pursued in parallel by placing them in separate activities. Language

Precise and programmable manipulation of microbubbles by two-dimensional standing surface acoustic waves

NASA Astrophysics Data System (ADS)

Meng, Long; Cai, Feiyan; Chen, Juanjuan; Niu, Lili; Li, Yanming; Wu, Junru; Zheng, Hairong

2012-04-01

A microfluidic device is developed to transport microbubbles (MBs) along a desired trajectory in fluid by introducing the phase-shift to a planar standing surface acoustic wave (SSAW). The radiation force of SSAW due to the acoustic pressure gradient modulated by a phase-shift can move MBs to anticipated potential wells in a programmable manner. The resolution of the transportation is approximately 2.2 µm and the estimated radiation force on the MBs is on the order of 10-9 N. This device can be used for manipulation of bioparticles, cell sorting, tissue engineering, and other biomedical applications.

Preliminary study on magnetic tracking-based planar shape sensing and navigation for flexible surgical robots in transoral surgery: methods and phantom experiments.

PubMed

Song, Shuang; Zhang, Changchun; Liu, Li; Meng, Max Q-H

2018-02-01

Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of the curvilinear manipulator in real time during the procedures. In this paper, we propose a magnetic tracking-based planar shape sensing and navigation system for flexible surgical robots in the transoral surgery. The system can provide the real-time tip position and shape information of the robot during the operation. We use wire-driven flexible robot to serve as the manipulator. It has three degrees of freedom. A permanent magnet is mounted at the distal end of the robot. Its magnetic field can be sensed with a magnetic sensor array. Therefore, position and orientation of the tip can be estimated utilizing a tracking method. A shape sensing algorithm is then carried out to estimate the real-time shape based on the tip pose. With the tip pose and shape display in the 3D reconstructed CT model, navigation can be achieved. Using the proposed system, we carried out planar navigation experiments on a skull phantom to touch three different target positions under the navigation of the skull display interface. During the experiments, the real-time shape has been well monitored and distance errors between the robot tip and the targets in the skull have been recorded. The mean navigation error is [Formula: see text] mm, while the maximum error is 3.2 mm. The proposed method provides the advantages that no sensors are needed to mount on the robot and no line-of-sight problem. Experimental results verified the feasibility of the proposed method.

A fabrication guide for planar silicon quantum dot heterostructures

NASA Astrophysics Data System (ADS)

Spruijtenburg, Paul C.; Amitonov, Sergey V.; van der Wiel, Wilfred G.; Zwanenburg, Floris A.

2018-04-01

We describe important considerations to create top-down fabricated planar quantum dots in silicon, often not discussed in detail in literature. The subtle interplay between intrinsic material properties, interfaces and fabrication processes plays a crucial role in the formation of electrostatically defined quantum dots. Processes such as oxidation, physical vapor deposition and atomic-layer deposition must be tailored in order to prevent unwanted side effects such as defects, disorder and dewetting. In two directly related manuscripts written in parallel we use techniques described in this work to create depletion-mode quantum dots in intrinsic silicon, and low-disorder silicon quantum dots defined with palladium gates. While we discuss three different planar gate structures, the general principles also apply to 0D and 1D systems, such as self-assembled islands and nanowires.

Output Error Analysis of Planar 2-DOF Five-bar Mechanism

NASA Astrophysics Data System (ADS)

Niu, Kejia; Wang, Jun; Ting, Kwun-Lon; Tao, Fen; Cheng, Qunchao; Wang, Quan; Zhang, Kaiyang

2018-03-01

Aiming at the mechanism error caused by clearance of planar 2-DOF Five-bar motion pair, the method of equivalent joint clearance of kinematic pair to virtual link is applied. The structural error model of revolute joint clearance is established based on the N-bar rotation laws and the concept of joint rotation space, The influence of the clearance of the moving pair is studied on the output error of the mechanis. and the calculation method and basis of the maximum error are given. The error rotation space of the mechanism under the influence of joint clearance is obtained. The results show that this method can accurately calculate the joint space error rotation space, which provides a new way to analyze the planar parallel mechanism error caused by joint space.

Topological Proximity Effect: A Gauge Influence from Distant Fields on Planar Quantum-Coherent Systems

NASA Astrophysics Data System (ADS)

Moulopoulos, K.

2015-06-01

A quantum system that lies nearby a magnetic or time-varying electric field region, and that is under periodic boundary conditions parallel to the interface, is shown to exhibit a "hidden" Aharonov-Bohm effect (magnetic or electric), caused by fluxes that are not enclosed by, but are merely neighboring to our system - its origin being the absence of magnetic monopoles in 3D space (with corresponding spacetime generalizations). Novel possibilities then arise, where a field-free system can be dramatically affected by manipulating fields in an adjacent or even distant land, provided that these nearby fluxes are not quantized (i.e. they are fractional or irrational parts of the flux quantum). Topological effects (such as Quantum Hall types of behaviors) can therefore be induced from outside our system (that is always field-free and can even reside in simply-connected space). Potential novel applications are outlined, and exotic consequences in solid state physics are pointed out (i.e. the possibility of field-free quantum periodic systems that violate Bloch's theorem), while formal analogies with certain high energy physics phenomena and with some rather under-explored areas in mechanics and thermodynamics are noted.

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

PubMed

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

2013-01-01

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

Characteristics of manipulator for industrial robot with three rotational pairs having parallel axes

NASA Astrophysics Data System (ADS)

Poteyev, M. I.

1986-01-01

The dynamics of a manipulator with three rotatinal kinematic pairs having parallel axes are analyzed, for application in an industrial robot. The system of Lagrange equations of the second kind, describing the motion of such a mechanism in terms of kinetic energy in generalized coordinates, is reduced to equations of motion in terms of Newton's laws. These are useful not only for either determining the moments of force couples which will produce a prescribed motion or, conversely determining the motion which given force couples will produce but also for solving optimization problems under constraints in both cases and for estimating dynamic errors. As a specific example, a manipulator with all three axes of vertical rotation is considered. The performance of this manipulator, namely the parameters of its motion as functions of time, is compared with that of a manipulator having one rotational and two translational kinematic pairs. Computer aided simulation of their motion on the basis of ideal models, with all three links represented by identical homogeneous bars, has yielded velocity time diagrams which indicate that the manipulator with three rotational pairs is 4.5 times faster.

High-resolution small field-of-view magnetic resonance image acquisition system using a small planar coil and a pneumatic manipulator in an open MRI scanner.

PubMed

Miki, Kohei; Masamune, Ken

2015-10-01

Low-field open magnetic resonance imaging (MRI) is frequently used for performing image-guided neurosurgical procedures. Intraoperative magnetic resonance (MR) images are useful for tracking brain shifts and verifying residual tumors. However, it is difficult to precisely determine the boundary of the brain tumors and normal brain tissues because the MR image resolution is low, especially when using a low-field open MRI scanner. To overcome this problem, a high-resolution MR image acquisition system was developed and tested. An MR-compatible manipulator with pneumatic actuators containing an MR signal receiver with a small radiofrequency (RF) coil was developed. The manipulator had five degrees of freedom for position and orientation control of the RF coil. An 8-mm planar RF coil with resistance and inductance of 2.04 [Formula: see text] and 1.00 [Formula: see text] was attached to the MR signal receiver at the distal end of the probe. MR images of phantom test devices were acquired using the MR signal receiver and normal head coil for signal-to-noise ratio (SNR) testing. The SNR of MR images acquired using the MR signal receiver was 8.0 times greater than that of MR images acquired using the normal head coil. The RF coil was moved by the manipulator, and local MR images of a phantom with a 2-mm grid were acquired using the MR signal receiver. A wide field-of-view MR image was generated from a montage of local MR images. A small field-of-view RF system with a pneumatic manipulator was integrated in a low-field MRI scanner to allow acquisition of both wide field-of-view and high-resolution MR images. This system is promising for image-guided neurosurgery as it may allow brain tumors to be observed more clearly and removed precisely.

Social Interactions and Instructional Artifacts: Emergent Socio-Technical Affordances and Constraints for Children's Geometric Thinking

ERIC Educational Resources Information Center

Evans, Michael A.; Wilkins, Jesse L. M.

2011-01-01

The reported exploratory study consisted primarily of classroom visits, videotaped sessions, and post-treatment interviews whereby second graders (n = 12) worked on problems in planar geometry, individually and in triads, using physical and virtual manipulatives. The goal of the study was to: 1) characterize the nature of geometric thinking found…

Parallel manipulation of individual magnetic microbeads for lab-on-a-chip applications

NASA Astrophysics Data System (ADS)

Peng, Zhengchun

Many scientists and engineers are turning to lab-on-a-chip systems for faster and cheaper analysis of chemical reactions and biomolecular interactions. A common approach that facilitates the handling of reagents and biomolecules in these systems utilizes micro/nano beads as the solid carrier. Physical manipulation, such as assembly, transport, sorting, and tweezing, of beads on a chip represents an essential step for fully utilizing their potentials in a wide spectrum of bead-based analysis. Previous work demonstrated manipulation of either an ensemble of beads without individual control, or single beads but lacks the capability for parallel operation. Parallel manipulation of individual beads is required to meet the demand for high-throughput and location-specific analysis. In this work, we introduced two methods for parallel manipulation of individual magnetic microbeads, which can serve as effective lab-on-a-chip platforms and/or efficient analytic tools. The first method employs arrays of soft ferromagnetic patterns fabricated inside a microfluidic channel and subjected to an external magnetic field. We demonstrated that the system can be used to assemble individual beads (1-3 mum) from a flow of suspended beads into a regular array on the chip, hence improving the integrated electrochemical detection of biomolecules bound to the bead surface. By rotating the external field, the assembled microbeads can be remotely controlled with synchronized, high-speed circular motion around individual soft magnets on the chip. We employed this manipulation mode for efficient sample mixing in continuous microflow. Furthermore, we discovered a simple but effective way of transporting the microbeads on the chip by varying the strength of the local bias field within a revolution of the external field. In addition, selective transport of microbeads with different size was realized, providing a platform for effective on-chip sample separation and offering the potential for multiplexing capability. The second method integrates magnetic and dielectrophoretic manipulations of the same microbeads. The device combines tapered conducting wires and fingered electrodes to generate desirable magnetic and electric fields, respectively. By externally programming the magnetic attraction and dielectrophoretic repulsion forces, out-of-plane oscillation of the microbeads across the channel height was realized. This manipulation mode can facilitate the interaction between the beads with multiple layers of sample fluid inside the channel. We further demonstrated the tweezing of microbeads in liquid with high spatial resolutions, i.e., from submicrometer to nanometer range, by fine-tuning the net force from magnetic attraction and dielectrophoretic repulsion of the beads. The highresolution control of the out-of-plane motion of the microbeads led to the invention of massively parallel biomolecular tweezers. We believe the maturation of bead-based microtweezers will revolutionize the state-of-art tools currently used for single cell and single molecule studies.

Ion manipulation method and device

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

Anderson, Gordon A.; Baker, Erin M.; Smith, Richard D.

2017-11-07

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

Ion manipulation device

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

Anderson, Gordon A.; Baker, Erin M.; Smith, Richard D.

2018-05-08

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

Tunable multiband polarization conversion and manipulation in vanadium dioxide-based asymmetric chiral metamaterial

NASA Astrophysics Data System (ADS)

Song, Shichao; Ma, Xiaoliang; Pu, Mingbo; Li, Xiong; Zhang, Zuojun; Gao, Ping; Luo, Xiangang

2018-04-01

Tunable multiband polarization conversion and manipulation are achieved by introducing vanadium dioxide (VO2) into a planar spiral asymmetric chiral metamaterial. Numerical simulations demonstrate that when VO2 is in the insulating state, circularly polarized electromagnetic waves are emitted at two distinct resonant frequencies. When VO2 is in the metallic state, the number of resonant frequencies changes from two to four. In addition, the initial left-handed and right-handed circularly polarized transmitted waves correspondingly transform into right and left ones. Moreover, the surface current distributions are studied in order to investigate the transformation behaviors of both the insulating and metallic states.

Parallel machine architecture and compiler design facilities

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

An ultrathin terahertz quarter-wave plate using planar babinet-inverted metasurface.

PubMed

Wang, Dacheng; Gu, Yinghong; Gong, Yandong; Qiu, Cheng-Wei; Hong, Minghui

2015-05-04

Metamaterials promise an exotic approach to artificially manipulate the polarization state of electromagnetic waves and boost the design of polarimetric devices for sensitive detection, imaging and wireless communication. Here, we present the design and experimental demonstration of an ultrathin (0.29λ) terahertz quarter-wave plate based on planar babinet-inverted metasurface. The quarter-wave plate consisting of arrays of asymmetric cross apertures reveals a high transmission of 0.545 with 90 degrees phase delay at 0.870 THz. The calculated ellipticity indicates a high degree of polarization conversion from linear to circular polarization. With respect to different incident polarization angles, left-handed circular polarized light, right-handed circular polarized light and elliptically polarized light can be created by this novel design. An analytical model is applied to describe transmitted amplitude, phase delay and ellipticitiy, which are in good agreement with the measured and simulated results. The planar babinet-inverted metasurface with the analytical model opens up avenues for new functional terahertz devices design.

WITHDRAWN: A novel robust adaptive sliding mode control using fuzzy self-tuning PID controller for 3 DOF planar robot manipulators.

PubMed

Amer, Ahmed Foad; Sallam, Elsayed Abdelhameed; Elawady, Wael Mohammed

2011-02-22

This article has been withdrawn at the request of the author(s) and/or editor. The Publisher apologizes for any inconvenience this may cause. The full Elsevier Policy on Article Withdrawal can be found at http://www.elsevier.com/locate/withdrawalpolicy. Copyright © 2011. Published by Elsevier Ltd.. All rights reserved.

Alignment of smectic mesogens over engineered surfaces

NASA Astrophysics Data System (ADS)

Chandran, Achu; Joshi, Tilak; Khanna, P. K.; Mehta, Dalip. S.; Haranath, D.; Biradar, Ashok M.

2017-07-01

The alignment of smectic C* liquid crystals (LCs) has been manipulated over and near different surfaces such as bare glass, indium tin oxide (ITO) coated glass, patterned glass, and near spacers. The LC sample cell is made of one ITO coated glass plate and other having striped ITO with a Mylar spacer maintaining a finite cell gap between them. Laser scribing is used to make striped ITO, while the scribed area results in the formation of the patterned glass surface. The geometry of the cell is such that overlapped ITO lie in the middle and spacers are placed in the two extreme corners of the cell. The alignment of LC is found to be homeotropic over the ITO coated glass, while it is planar near the spacer. Interestingly, a transition from homeotropic to planar is observed while moving away from the middle towards either corner of the cell. The origin of both types of alignment in the same cell has been explained by considering the difference in the surface energy of different surfaces. This work renders new advancement towards the manipulation of LC alignment using different surfaces and interfaces for advanced electro-optical and photonic devices based on LCs.

Flexible robot control: Modeling and experiments

NASA Technical Reports Server (NTRS)

Oppenheim, Irving J.; Shimoyama, Isao

1989-01-01

Described here is a model and its use in experimental studies of flexible manipulators. The analytical model uses the equivalent of Rayleigh's method to approximate the displaced shape of a flexible link as the static elastic displacement which would occur under end rotations as applied at the joints. The generalized coordinates are thereby expressly compatible with joint motions and rotations in serial link manipulators, because the amplitude variables are simply the end rotations between the flexible link and the chord connecting the end points. The equations for the system dynamics are quite simple and can readily be formulated for the multi-link, three-dimensional case. When the flexible links possess mass and (polar moment of) inertia which are small compared to the concentrated mass and inertia at the joints, the analytical model is exact and displays the additional advantage of reduction in system dimension for the governing equations. Four series of pilot tests have been completed. Studies on a planar single-link system were conducted at Carnegie-Mellon University, and tests conducted at Toshiba Corporation on a planar two-link system were then incorporated into the study. A single link system under three-dimensional motion, displaying biaxial flexure, was then tested at Carnegie-Mellon.

Superresolution parallel magnetic resonance imaging: Application to functional and spectroscopic imaging

PubMed Central

Otazo, Ricardo; Lin, Fa-Hsuan; Wiggins, Graham; Jordan, Ramiro; Sodickson, Daniel; Posse, Stefan

2009-01-01

Standard parallel magnetic resonance imaging (MRI) techniques suffer from residual aliasing artifacts when the coil sensitivities vary within the image voxel. In this work, a parallel MRI approach known as Superresolution SENSE (SURE-SENSE) is presented in which acceleration is performed by acquiring only the central region of k-space instead of increasing the sampling distance over the complete k-space matrix and reconstruction is explicitly based on intra-voxel coil sensitivity variation. In SURE-SENSE, parallel MRI reconstruction is formulated as a superresolution imaging problem where a collection of low resolution images acquired with multiple receiver coils are combined into a single image with higher spatial resolution using coil sensitivities acquired with high spatial resolution. The effective acceleration of conventional gradient encoding is given by the gain in spatial resolution, which is dictated by the degree of variation of the different coil sensitivity profiles within the low resolution image voxel. Since SURE-SENSE is an ill-posed inverse problem, Tikhonov regularization is employed to control noise amplification. Unlike standard SENSE, for which acceleration is constrained to the phase-encoding dimension/s, SURE-SENSE allows acceleration along all encoding directions — for example, two-dimensional acceleration of a 2D echo-planar acquisition. SURE-SENSE is particularly suitable for low spatial resolution imaging modalities such as spectroscopic imaging and functional imaging with high temporal resolution. Application to echo-planar functional and spectroscopic imaging in human brain is presented using two-dimensional acceleration with a 32-channel receiver coil. PMID:19341804

Learning control system design based on 2-D theory - An application to parallel link manipulator

NASA Technical Reports Server (NTRS)

Geng, Z.; Carroll, R. L.; Lee, J. D.; Haynes, L. H.

1990-01-01

An approach to iterative learning control system design based on two-dimensional system theory is presented. A two-dimensional model for the iterative learning control system which reveals the connections between learning control systems and two-dimensional system theory is established. A learning control algorithm is proposed, and the convergence of learning using this algorithm is guaranteed by two-dimensional stability. The learning algorithm is applied successfully to the trajectory tracking control problem for a parallel link robot manipulator. The excellent performance of this learning algorithm is demonstrated by the computer simulation results.

A dual-armed free flyer

NASA Technical Reports Server (NTRS)

Beck, D.; Das, B.; Dickson, C.; Douglas, B.; Long, L.; Middour, K.; Reid, S.; Uber, J.; Walsh, G.; Wang, L.

1989-01-01

This summary presents the main conclusions and results of the design studies conducted by a group of 13 students at the University of Maryland. The students, all participants in the spring 1989 course ENEE418 in the Electrical Engineering Department, met weekly in a two-hour class to discuss and evaluate design alternatives. The main problem considered was the design and control of a planar testbed simulating a free-flying space robot for applications in satellite servicing. This project grew out of the 1988 class where a dual-armed free flyer (DAFF) was designed and partially built. This year, a group of six students continued the development of the DAFF, achieving computer-controlled motion of the DAFF's arms. All fabrication and testing of the DAFF is being conducted in the Intelligent Servosystems Laboratory at the University of Maryland. While the work related to the design and development of the DAFF is the main subject of the report, it should be noted that other students in the ENEE418 class have investigated additional issues related to manipulation in space. For example, one group studied a new parallel linkage based manipulator for fine motion applications such as in assembly operations in space. They investigated the mechanism's kinematics, its reachable workspace, and precision of applying forces and torques. In yet another project, a student set out to measure and map the friction characteristics of the actuators used in the Modular Dextrous Hand, which has been recently developed in the Intelligent Servosystems Laboratory. The results are expected to help compensate for this friction, which is a highly nonlinear disturbance and presents significant problems in high-precision, low-speed operations. This summary continues with the discussion of the results obtained by the group of students who have been working on developing the DAFF testbed.

A miniaturized planar patch-clamp system for transportable use.

PubMed

Boussaoud, Adrien; Fonteille, Isabelle; Collier, Guilhem; Kermarrec, Frédérique; Vermont, Fabien; Tresallet, Eric; De Waard, Michel; Arnoult, Christophe; Picollet-D'hahan, Nathalie

2012-02-15

In the last decade, planar patch-clamp (PPC) has emerged as an innovative technology allowing parallel recordings of cellular electrophysiological activity on planar substrates. If PPC is widely adopted by the pharmaceutical sector, it remains poorly extended to other areas (i.e. environment and safety organizations) probably because of the large, expensive and non-easily transportable format of those commercial equipments. The present work describes for the first time a new compact and transportable planar patch-clamp system (named Toxint'patch or TIP, for Toxin detection with integrated patch-clamp) focusing on environmental matters and meant to be used in coastal laboratories, for direct on-site monitoring of the seawater and shellfish quality. The TIP system incorporates silicon chips tailored to monitor cellular ionic currents from cultured cells stably expressing a phycotoxin molecular target. The functionality of this novel briefcase-sized PPC system is described in terms of fluidic control, electronic performances with amplifying and filtering boards and of user interface for data acquisition and control implemented on a computer. Copyright © 2011 Elsevier B.V. All rights reserved.

Multi-pass light amplifier

NASA Technical Reports Server (NTRS)

Plaessmann, Henry (Inventor); Grossman, William M. (Inventor); Olson, Todd E. (Inventor)

1996-01-01

A multiple-pass laser amplifier that uses optical focusing between subsequent passes through a single gain medium so that a reproducibly stable beam size is achieved within the gain region. A resonator or a White Cell cavity is provided, including two or more mirrors (planar or curvilinearly shaped) facing each other along a resonator axis and an optical gain medium positioned on a resonator axis between the mirrors or adjacent to one of the mirrors. In a first embodiment, two curvilinear mirrors, which may include adjacent lenses, are configured so that a light beam passing through the gain medium and incident on the first mirror is reflected by that mirror toward the second mirror in a direction approximately parallel to the resonator axis. A light beam translator, such as an optical flat of transparent material, is positioned to translate this light beam by a controllable amount toward or away from the resonator axis for each pass of the light beam through the translator. A second embodiment uses two curvilinear mirrors and one planar mirror, with a gain medium positioned in the optical path between each curvilinear mirror and the planar mirror. A third embodiment uses two curvilinear mirrors and two planar mirrors, with a gain medium positioned adjacent to a planar mirror. A fourth embodiment uses a curvilinear mirror and three planar mirrors, with a gain medium positioned adjacent to a planar mirror. A fourth embodiment uses four planar mirrors and a focusing lens system, with a gain medium positioned between the four mirrors. A fifth embodiment uses first and second planar mirrors, a focusing lens system and a third mirror that may be planar or curvilinear, with a gain medium positioned adjacent to the third mirror. A sixth embodiment uses two planar mirrors and a curvilinear mirror and a fourth mirror that may be planar or curvilinear, with a gain medium positioned adjacent to the fourth mirror. In a seventh embodiment, first and second mirrors face a third mirror, all curvilinear, in a White Cell configuration, and a gain medium is positioned adjacent to one of the mirrors.

A History of Manipulative Therapy

PubMed Central

Pettman, Erland

2007-01-01

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

Accuracy in planar cutting of bones: an ISO-based evaluation.

PubMed

Cartiaux, Olivier; Paul, Laurent; Docquier, Pierre-Louis; Francq, Bernard G; Raucent, Benoît; Dombre, Etienne; Banse, Xavier

2009-03-01

Computer- and robot-assisted technologies are capable of improving the accuracy of planar cutting in orthopaedic surgery. This study is a first step toward formulating and validating a new evaluation methodology for planar bone cutting, based on the standards from the International Organization for Standardization. Our experimental test bed consisted of a purely geometrical model of the cutting process around a simulated bone. Cuts were performed at three levels of surgical assistance: unassisted, computer-assisted and robot-assisted. We measured three parameters of the standard ISO1101:2004: flatness, parallelism and location of the cut plane. The location was the most relevant parameter for assessing cutting errors. The three levels of assistance were easily distinguished using the location parameter. Our ISO methodology employs the location to obtain all information about translational and rotational cutting errors. Location may be used on any osseous structure to compare the performance of existing assistance technologies.

Electrolytic/fuel cell bundles and systems including a current collector in communication with an electrode thereof

DOEpatents

Hawkes, Grant L.; Herring, James S.; Stoots, Carl M.; O& #x27; Brien, James E.

2013-03-05

Electrolytic/fuel cell bundles and systems including such bundles include an electrically conductive current collector in communication with an anode or a cathode of each of a plurality of cells. A cross-sectional area of the current collector may vary in a direction generally parallel to a general direction of current flow through the current collector. The current collector may include a porous monolithic structure. At least one cell of the plurality of cells may include a current collector that surrounds an outer electrode of the cell and has at least six substantially planar exterior surfaces. The planar surfaces may extend along a length of the cell, and may abut against a substantially planar surface of a current collector of an adjacent cell. Methods for generating electricity and for performing electrolysis include flowing current through a conductive current collector having a varying cross-sectional area.

N-(ferrocenecarbonyl)-N'-(quinolin-8-yl)thiourea.

PubMed

Yang, Jia-Xiang; Tian, Yu-Peng; Liu, Qing-Liang; Xie, Yong-Shu; Fun, Hoong-Kun; Chantrapromma, Suchada; Razak, Ibrahim Abdul

2002-01-01

In the title compound, [Fe(C5H5)(C16H12N3OS)], the 8-aminoquinoline and acylthiourea moieties are almost planar. There are two perpendicular arrangements of the molecules in the crystal with slightly different conformations. The two cyclopentadienyl rings in each molecule are parallel and eclipsed.

New Factorization Techniques and Parallel (log N) Algorithms for Forward Dynamics Solution of Single Closed-Chain Robot Manipulators

NASA Technical Reports Server (NTRS)

Fijany, Amir

1993-01-01

In this paper parallel 0(log N) algorithms for dynamic simulation of single closed-chain rigid multibody system as specialized to the case of a robot manipulatoar in contact with the environment are developed.

Vacuum chamber for ion manipulation device

DOEpatents

Chen, Tsung-Chi; Tang, Keqi; Ibrahim, Yehia M; Smith, Richard D; Anderson, Gordon A; Baker, Erin M

2014-12-09

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

From the generalized reflection law to the realization of perfect anomalous reflectors

PubMed Central

Díaz-Rubio, Ana; Asadchy, Viktar S.; Elsakka, Amr; Tretyakov, Sergei A.

2017-01-01

The use of the generalized Snell’s law opens wide possibilities for the manipulation of transmitted and reflected wavefronts. However, known structures designed to shape reflection wavefronts suffer from significant parasitic reflections in undesired directions. We explore the limitations of the existing solutions for the design of passive planar reflectors and demonstrate that strongly nonlocal response is required for perfect performance. A new paradigm for the design of perfect reflectors based on energy surface channeling is introduced. We realize and experimentally verify a perfect design of an anomalously reflective surface using an array of rectangular metal patches backed by a metallic plate. This conceptually new mechanism for wavefront manipulation allows the design of thin perfect reflectors, offering a versatile design method applicable to other scenarios, such as focusing reflectors, surface wave manipulations, or metasurface holograms, extendable to other frequencies. PMID:28819642

Manipulators with flexible links: A simple model and experiments

NASA Technical Reports Server (NTRS)

Shimoyama, Isao; Oppenheim, Irving J.

1989-01-01

A simple dynamic model proposed for flexible links is briefly reviewed and experimental control results are presented for different flexible systems. A simple dynamic model is useful for rapid prototyping of manipulators and their control systems, for possible application to manipulator design decisions, and for real time computation as might be applied in model based or feedforward control. Such a model is proposed, with the further advantage that clear physical arguments and explanations can be associated with its simplifying features and with its resulting analytical properties. The model is mathematically equivalent to Rayleigh's method. Taking the example of planar bending, the approach originates in its choice of two amplitude variables, typically chosen as the link end rotations referenced to the chord (or the tangent) motion of the link. This particular choice is key in establishing the advantageous features of the model, and it was used to support the series of experiments reported.

Effect of Rolling Massage on the Vortex Flow in Blood Vessels with Lattice Boltzmann Simulation

NASA Astrophysics Data System (ADS)

Yi, Hou Hui

The rolling massage manipulation is a classic Chinese Medical Massage, which is a nature therapy in eliminating many diseases. Here, the effect of the rolling massage on the cavity flows in blood vessel under the rolling manipulation is studied by the lattice Boltzmann simulation. The simulation results show that the vortex flows are fully disturbed by the rolling massage. The flow behavior depends on the rolling velocity and the rolling depth. Rolling massage has a better effect on the flows in the cavity than that of the flows in a planar blood vessel. The result is helpful to understand the mechanism of the massage and develop the rolling techniques.

Planar Diffractive Lenses: Fundamentals, Functionalities, and Applications.

PubMed

Huang, Kun; Qin, Fei; Liu, Hong; Ye, Huapeng; Qiu, Cheng-Wei; Hong, Minghui; Luk'yanchuk, Boris; Teng, Jinghua

2018-06-01

Traditional objective lenses in modern microscopy, based on the refraction of light, are restricted by the Rayleigh diffraction limit. The existing methods to overcome this limit can be categorized into near-field (e.g., scanning near-field optical microscopy, superlens, microsphere lens) and far-field (e.g., stimulated emission depletion microscopy, photoactivated localization microscopy, stochastic optical reconstruction microscopy) approaches. However, they either operate in the challenging near-field mode or there is the need to label samples in biology. Recently, through manipulation of the diffraction of light with binary masks or gradient metasurfaces, some miniaturized and planar lenses have been reported with intriguing functionalities such as ultrahigh numerical aperture, large depth of focus, and subdiffraction-limit focusing in far-field, which provides a viable solution for the label-free superresolution imaging. Here, the recent advances in planar diffractive lenses (PDLs) are reviewed from a united theoretical account on diffraction-based focusing optics, and the underlying physics of nanofocusing via constructive or destructive interference is revealed. Various approaches of realizing PDLs are introduced in terms of their unique performances and interpreted by using optical aberration theory. Furthermore, a detailed tutorial about applying these planar lenses in nanoimaging is provided, followed by an outlook regarding future development toward practical applications. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Planar air-bearing microgravity simulators: Review of applications, existing solutions and design parameters

NASA Astrophysics Data System (ADS)

Rybus, Tomasz; Seweryn, Karol

2016-03-01

All devices designed to be used in space must be thoroughly tested in relevant conditions. For several classes of devices the reduced gravity conditions are the key factor. In early stages of development and later due to financial reasons, the tests need to be done on Earth. However, in Earth conditions it is impossible to obtain a different gravity field independent on all linear and rotational spatial coordinates. Therefore, various test-bed systems are used, with their design driven by the device's specific needs. One of such test-beds are planar air-bearing microgravity simulators. In such an approach, the tested objects (e.g., manipulators intended for on-orbit operations or vehicles simulating satellites in a close formation flight) are mounted on planar air-bearings that allow almost frictionless motion on a flat surface, thus simulating microgravity conditions in two dimensions. In this paper we present a comprehensive review of research activities related to planar air-bearing microgravity simulators, demonstrating achievements of the most active research groups and describing newest trends and ideas, such as tests of landing gears for low-g bodies. Major design parameters of air-bearing test-beds are also reviewed and a list of notable existing test-beds is presented.

Parafoveal processing during reading is reduced across a morphological boundary

PubMed Central

Drieghe, Denis; Pollatsek, Alexander; Juhasz, Barbara J.; Rayner, Keith

2010-01-01

A boundary change manipulation was implemented within a monomorphemic word (e.g., fountaom as a preview for fountain), where parallel processing should occur given adequate visual acuity, and within an unspaced compound (bathroan as a preview for bathroom), where some serial processing of the constituents is likely. Consistent with that hypothesis, there was no effect of the preview manipulation on fixation time on the 1st constituent of the compound, whereas there was on the corresponding letters of the monomorphemic word. There was also a larger preview disruption on gaze duration on the whole monomorphemic word than on the compound, suggesting more parallel processing within monomorphemic words. PMID:20409538

THz wavefront manipulation based on metal waveguides

NASA Astrophysics Data System (ADS)

Wu, Mengru; Lang, Tingting; Shen, Changyu; Shi, Guohua; Han, Zhanghua

2018-07-01

In this paper, two waveguiding structures for arbitrary wavefront manipulation in the terahertz spectral region were proposed, designed and characterized. The first structure consists of parallel stack copper plates forming an array of parallel-plate waveguides (PPWGs). The second structure is three-dimensional metal rectangular waveguides array. The phase delay of the input wave after passing through the waveguide array is mainly determined by the effective index of the waveguides. Therefore, the waveguide array can be engineered using different core width distribution to generate any desired light beam. Examples, working at the frequency of 0.3 THz show that good focusing phenomenon with different focus lengths and spot sizes were observed, as well as arbitrarily tilted propagation of incident plane waves. The structure introduces a new method to perform wavefront manipulation, and can be utilized in many important applications in terahertz imaging and communication systems.

Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

NASA Technical Reports Server (NTRS)

Komendera, Erik E.; Adhikari, Shaurav; Glassner, Samantha; Kishen, Ashwin; Quartaro, Amy

2017-01-01

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests.

A surgical parallel continuum manipulator with a cable-driven grasper.

PubMed

Orekhov, Andrew L; Bryson, Caroline E; Till, John; Chung, Scotty; Rucker, D Caleb

2015-01-01

In this paper, we present the design, construction, and control of a six-degree-of-freedom (DOF), 12 mm diameter, parallel continuum manipulator with a 2-DOF, cable-driven grasper. This work is a proof-of-concept first step towards miniaturization of this type of manipulator design to provide increased dexterity and stability in confined-space surgical applications, particularly for endoscopic procedures. Our robotic system consists of six superelastic NiTi (Nitinol) tubes in a standard Stewart-Gough configuration and an end effector with 180 degree motion of its two jaws. Two Kevlar cables pass through the centers of the tube legs to actuate the end effector. A computationally efficient inverse kinematics model provides low-level control inputs to ten independent linear actuators, which drive the Stewart-Gough platform and end-effector actuation cables. We demonstrate the performance and feasibility of this design by conducting open-loop range-of-motion tests for our system.

A three-degree-of-freedom parallel manipulator for concentrated solar power towers: Modeling, simulation and design

NASA Astrophysics Data System (ADS)

Ghosal, Ashitava; Shyam, R. B. Ashith

2016-05-01

There is an increased thrust to harvest solar energy in India to meet increasing energy requirements and to minimize imported fossil fuels. In a solar power tower system, an array of tracking mirrors or heliostats are used to concentrate the incident solar energy on an elevated stationary receiver and then the thermal energy converted to electricity using a heat engine. The conventional method of tracking are the Azimuth-Elevation (Az-El) or Target-Aligned (T-A) mount. In both the cases, the mirror is rotated about two mutually perpendicular axes and is supported at the center using a pedestal which is fixed to the ground. In this paper, a three degree-of-freedom parallel manipulator, namely the 3-RPS, is proposed for tracking the sun in a solar power tower system. We present modeling, simulation and design of the 3-RPS parallel manipulator and show its advantages over conventional Az-El and T-A mounts. The 3-RPS manipulator consists of three rotary (R), three prismatic (P) and three spherical (S) joints and the mirror assembly is mounted at three points in contrast to the Az-El and T-A mounts. The kinematic equations for sun tracking are derived for the 3-RPS manipulator and from the simulations, we obtain the range of motion of the rotary, prismatic and spherical joints. Since the mirror assembly is mounted at three points, the wind load and self-weight are distributed and as a consequence, the deflections due to loading are smaller than in conventional mounts. It is shown that the weight of the supporting structure is between 15% and 65% less than that of conventional systems. Hence, even though one additional actuator is used, the larger area mirrors can be used and costs can be reduced.

Development of a planar-type high sensitivity metallic contaminant detector

NASA Astrophysics Data System (ADS)

Okabe, Shunsuke; Sasada, Ichiro

2017-05-01

Metallic contaminant detectors based on the balanced coil system are widely used in the food industry. In the balanced coil system, an excitation coil and two identical pickup coils are used in a way that the magnetic coupling of pickup coils to the excitation coil is cancelled with each other when no metallic contaminants present. In a conventional system, the excitation coil and the pickup coil are planar and are parallel, therefore the magnetic coupling is strong even if there is no metallic contaminant. Such strong magnetic coupling makes balancing procedure tedious. In this paper, we introduce a new coil system in which pickup coils are set orthogonal to the excitation coil, making the magnetic coupling much small compared to conventional counterpart. Pickup coils are equipped with thin magnetic cores and placed inside the excitation coil being parallel to the excitation coil plane. The balancing method consists of two steps; the one is geometrical and the other is digital processing including down conversion. Experiments are carried out to show the detection capability of ferromagnetic contaminants and non-magnetic contaminants.

The Rock Elm meteorite impact structure, Wisconsin: Geology and shock-metamorphic effects in quartz

USGS Publications Warehouse

French, B.M.; Cordua, W.S.; Plescia, J.B.

2004-01-01

The Rock Elm structure in southwest Wisconsin is an anomalous circular area of highly deformed rocks, ???6.5 km in diameter, located in a region of virtually horizontal undeformed sedimentary rocks. Shock-produced planar microstructures (PMs) have been identified in quartz grains in several lithologies associated with the structure: sandstones, quartzite pebbles, and breccia. Two distinct types of PMs are present: P1 features, which appear identical to planar fractures (PFs or cleavage), and P2 features, which are interpreted as possible incipient planar deformation features (PDFs). The latter are uniquely produced by the shock waves associated with meteorite impact events. Both types of PMs are oriented parallel to specific crystallographic planes in the quartz, most commonly to c(0001), ??112??2, and r/z101??1. The association of unusual, structurally deformed strata with distinct shock-produced microdeformation features in their quartz-bearing rocks establishes Rock Elm as a meteorite impact structure and supports the view that the presence of multiple parallel cleavages in quartz may be used independently as a criterion for meteorite impact. Preliminary paleontological studies indicate a minimum age of Middle Ordovician for the Rock Elm structure. A similar age estimate (450-400 Ma) is obtained independently by combining the results of studies of the general morphology of complex impact structures with estimated rates of sedimentation for the region. Such methods may be applicable to dating other old and deeply eroded impact structures formed in sedimentary target rocks.

Kinematic sensitivity of robot manipulators

NASA Technical Reports Server (NTRS)

Vuskovic, Marko I.

1989-01-01

Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.

Effects of precursor concentration and annealing temperature on CH3NH3PbI3 film crystallization and photovoltaic performance

NASA Astrophysics Data System (ADS)

Zheng, Yan-Zhen; Lai, Xue-Sen; Luo, Yi; Zhao, Er-Fei; Meng, Fan-Li; Zhang, Xiang-Feng; Tao, Xia

2017-08-01

The ability to prepare homogeneous and highly crystalline planar perovskite films via the precise manipulation of a one-step solution-based crystallization process is still a key issue that hinders improvements to the ultimate photoelectric conversion efficiency (PCE) of devices. In this study, we prepared a series of planar CH3NH3PbI3 films using a chlorobenzene-assisted fast perovskite crystallization process with various precursor concentrations ranging from 30 to 50 wt% and subsequent annealing at 50-90 °C in order to investigate the effects of the precursor concentration and annealing temperature on crystallization and the photovoltaic performance. By precisely controlling the precursor concentration and annealing temperature, we obtained a homogeneous and highly crystalline planar perovskite film with high coverage under the optimized conditions (ca. 40 wt% and 70 °C), which led to sufficient light absorption and inhibited charge recombination, thereby yielding an enhanced PCE of 16.21%. Furthermore, the unsealed cell still retained a PCE of 10.98% after ambient air exposure for a period of 408 h.

Method and device for ion mobility separations

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

Ibrahim, Yehia M.; Garimella, Sandilya V. B.; Smith, Richard D.

2017-07-11

Methods and devices for ion separations or manipulations in gas phase are disclosed. The device includes a single non-planar surface. Arrays of electrodes are coupled to the surface. A combination of RF and DC voltages are applied to the arrays of electrodes to create confining and driving fields that move ions through the device. The DC voltages are static DC voltages or time-dependent DC potentials or waveforms.

INVITED TOPICAL REVIEW: Parallel magnetic resonance imaging

NASA Astrophysics Data System (ADS)

Larkman, David J.; Nunes, Rita G.

2007-04-01

Parallel imaging has been the single biggest innovation in magnetic resonance imaging in the last decade. The use of multiple receiver coils to augment the time consuming Fourier encoding has reduced acquisition times significantly. This increase in speed comes at a time when other approaches to acquisition time reduction were reaching engineering and human limits. A brief summary of spatial encoding in MRI is followed by an introduction to the problem parallel imaging is designed to solve. There are a large number of parallel reconstruction algorithms; this article reviews a cross-section, SENSE, SMASH, g-SMASH and GRAPPA, selected to demonstrate the different approaches. Theoretical (the g-factor) and practical (coil design) limits to acquisition speed are reviewed. The practical implementation of parallel imaging is also discussed, in particular coil calibration. How to recognize potential failure modes and their associated artefacts are shown. Well-established applications including angiography, cardiac imaging and applications using echo planar imaging are reviewed and we discuss what makes a good application for parallel imaging. Finally, active research areas where parallel imaging is being used to improve data quality by repairing artefacted images are also reviewed.

A parallel Monte Carlo code for planar and SPECT imaging: implementation, verification and applications in (131)I SPECT.

PubMed

Dewaraja, Yuni K; Ljungberg, Michael; Majumdar, Amitava; Bose, Abhijit; Koral, Kenneth F

2002-02-01

This paper reports the implementation of the SIMIND Monte Carlo code on an IBM SP2 distributed memory parallel computer. Basic aspects of running Monte Carlo particle transport calculations on parallel architectures are described. Our parallelization is based on equally partitioning photons among the processors and uses the Message Passing Interface (MPI) library for interprocessor communication and the Scalable Parallel Random Number Generator (SPRNG) to generate uncorrelated random number streams. These parallelization techniques are also applicable to other distributed memory architectures. A linear increase in computing speed with the number of processors is demonstrated for up to 32 processors. This speed-up is especially significant in Single Photon Emission Computed Tomography (SPECT) simulations involving higher energy photon emitters, where explicit modeling of the phantom and collimator is required. For (131)I, the accuracy of the parallel code is demonstrated by comparing simulated and experimental SPECT images from a heart/thorax phantom. Clinically realistic SPECT simulations using the voxel-man phantom are carried out to assess scatter and attenuation correction.

Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.

1989-01-01

This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

Multilayer MgB{sub 2} superconducting quantum interference filter magnetometers

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

Galan, Elias; Melbourne, Thomas; Davidson, Bruce A.

2016-04-25

We report two types of all-MgB{sub 2} superconductive quantum interference filter (SQIF) magnetometers that can measure absolute magnetic fields with high sensitivity. In one configuration, the SQIFs were made of 20 multilayer nonplanar all-MgB{sub 2} superconducting quantum interference devices (SQUIDs) connected in parallel with loop areas ranging in size from 0.4 to 3.6 μm{sup 2}. These devices are sensitive to magnetic fields parallel to the substrate and show a single antipeak from 3 to 16 K with a maximum transfer function of ∼16 V/T at 3 K and a field noise of ∼110 pT/Hz{sup 1/2} above 100 Hz at 10 K. In a second configuration, themore » SQIFs were made with 16 planar SQUIDs connected in parallel with loop areas ranging in size from 4 μm{sup 2} to 25 μm{sup 2} and are sensitive to the magnetic fields perpendicular to the substrate. The planar SQIF shows a single antipeak from 10 to 22 K with a maximum transfer function of 7800 V/T at 10 K and a field noise of ∼70 pT/Hz{sup 1/2} above 100 Hz at 20 K.« less

Second order gradiometer and dc SQUID integrated on a planar substrate

NASA Astrophysics Data System (ADS)

van Nieuwenhuyzen, G. J.; de Waal, V. J.

1985-02-01

An integrated system of a thin-film niobium dc superconducting quantum interference device (SQUID) and a second order gradiometer on a planar substrate is described. The system consists of a dc SQUID with eight loops in parallel, each sensitive to the second derivative ∂2Bz/∂x2 of the magnetic field. The calculated SQUID inductance is 1.3 nH. With an overall size of 16×16.5 mm2 a sensitivity of 1.5×10-9 Tm-2 Hz-1/2 is obtained. The measured transfer function for uniform fields perpendicular to the plane of the gradiometer is 2.1×10-7 T Φ-10.

Crack Front Segmentation and Facet Coarsening in Mixed-Mode Fracture

NASA Astrophysics Data System (ADS)

Chen, Chih-Hung; Cambonie, Tristan; Lazarus, Veronique; Nicoli, Matteo; Pons, Antonio J.; Karma, Alain

2015-12-01

A planar crack generically segments into an array of "daughter cracks" shaped as tilted facets when loaded with both a tensile stress normal to the crack plane (mode I) and a shear stress parallel to the crack front (mode III). We investigate facet propagation and coarsening using in situ microscopy observations of fracture surfaces at different stages of quasistatic mixed-mode crack propagation and phase-field simulations. The results demonstrate that the bifurcation from propagating a planar to segmented crack front is strongly subcritical, reconciling previous theoretical predictions of linear stability analysis with experimental observations. They further show that facet coarsening is a self-similar process driven by a spatial period-doubling instability of facet arrays.

Recirculating planar magnetrons: simulations and experiment

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

Franzi, Matthew; Gilgenbach, Ronald; French, David

2011-07-01

The Recirculating Planar Magnetron (RPM) is a novel crossed-field device whose geometry is expected to reduce thermal load, enhance current yield as well as ease the geometric limitations in scaling to high RF frequencies as compared to the conventional cylindrical magnetrons. The RPM has two different adaptations: A. Axial B field and radial E field; B. Radial B field and axial E field. The preliminary configuration (A) to be used in experiments at the University of Michigan consists of two parallel planar sections which join on either end by cylindrical regions to form a concentric extruded ellipse. Similar to conventionalmore » magnetrons, a voltage across the AK gap in conjunction with an axial magnetic field provides the electrons with an ExB drift. The device is named RPM because the drifting electrons recirculate from one planar region to the other. The drifting electrons interact with the resonantly tuned slow wave structure on the anode causing spoke formation. These electron spokes drive a RF electric field in the cavities from which RF power may be extracted to Waveguides. The RPM may be designed in either a conventional configuration with the anode on the outside, for simplified extraction, or as an inverted magnetron with the anode at the inner conductor, for fast start-up. Currently, experiments at the Pulsed Power and Microwave Laboratory at the University of Michigan are in the setup and design phase. A conventional RPM with planar cavities is to be installed on the Michigan Electron Long Beam Accelerator (MELBA) and is anticipated to operate at -200kV, 0.2T with a beam current of 1-10 kA at 1GHz. The conventional RPM consists of 12 identical planar cavities, 6 on each planar side, with simulated quality factor of 20.« less

Arbitrary-Shaped Graphene-Based Planar Sandwich Supercapacitors on One Substrate with Enhanced Flexibility and Integration.

PubMed

Zheng, Shuanghao; Tang, Xingyan; Wu, Zhong-Shuai; Tan, Yuan-Zhi; Wang, Sen; Sun, Chenglin; Cheng, Hui-Ming; Bao, Xinhe

2017-02-28

The emerging smart power source-unitized electronics represent an utmost innovative paradigm requiring dramatic alteration from materials to device assembly and integration. However, traditional power sources with huge bottlenecks on the design and performance cannot keep pace with the revolutionized progress of shape-confirmable integrated circuits. Here, we demonstrate a versatile printable technology to fabricate arbitrary-shaped, printable graphene-based planar sandwich supercapacitors based on the layer-structured film of electrochemically exfoliated graphene as two electrodes and nanosized graphene oxide (lateral size of 100 nm) as a separator on one substrate. These monolithic planar supercapacitors not only possess arbitrary shapes, e.g., rectangle, hollow-square, "A" letter, "1" and "2" numbers, circle, and junction-wire shape, but also exhibit outstanding performance (∼280 F cm -3 ), excellent flexibility (no capacitance degradation under different bending states), and applicable scalability, which are far beyond those achieved by conventional technologies. More notably, such planar supercapacitors with superior integration can be readily interconnected in parallel and series, without use of metal interconnects and contacts, to modulate the output current and voltage of modular power sources for designable integrated circuits in various shapes and sizes.

[Optical Design of Miniature Infrared Gratings Spectrometer Based on Planar Waveguide].

PubMed

Li, Yang-yu; Fang, Yong-hua; Li, Da-cheng; Liu, Yang

2015-03-01

In order to miniaturize an infrared spectrometer, we analyze the current optical design of miniature spectrometers and propose a method for designing a miniature infrared gratings spectrometer based on planar waveguide. Common miniature spectrometer uses miniature optical elements to reduce the size of system, which also shrinks the effective aperture. So the performance of spectrometer has dropped. Miniaturization principle of planar waveguide spectrometer is different from the principle of common miniature spectrometer. In planar waveguide spectrometer, the propagation of light is limited in a thin planar waveguide, which looks like the whole optical system is squashed flat. In the direction parallel to the planar waveguide, the light through the slit is collimated, dispersed and focused. And a spectral image is formed in the detector plane. This propagation of light is similar to the light in common miniature spectrometer. In the direction perpendicular to the planar waveguide, light is multiple reflected by the upper and lower surfaces of the planar waveguide and propagates in the waveguide. So the size of corresponding optical element could be very small in the vertical direction, which can reduce the size of the optical system. And the performance of the spectrometer is still good. The design method of the planar waveguide spectrometer can be separated into two parts, Czerny-Turner structure design and planar waveguide structure design. First, by using aberration theory an aberration-corrected (spherical aberration, coma, focal curve) Czerny-Turner structure is obtained. The operation wavelength range and spectral resolution are also fixed. Then, by using geometrical optics theory a planar waveguide structure is designed for reducing the system size and correcting the astigmatism. The planar waveguide structure includes a planar waveguide and two cylindrical lenses. Finally, they are modeled together in optical design software and are optimized as a whole. An infrared planar waveguide spectrometer is designed using this method. The operation wavelength range is 8 - 12 μm, the numerical aperture is 0.22, and the linear array detector contains 64 elements. By using Zemax software, the design is optimized and analyzed. The results indicate that the size of the optical system is 130 mm x 125 mm x 20 mm and the spectral resolution of spectrometer is 80 nm, which satisfy the requirements of design index. Thus it is this method that can be used for designing a miniature spectrometer without movable parts and sizes in the range of several cubic centimeters.

Method of analyzing multiple sample simultaneously by detecting absorption and systems for use in such a method

DOEpatents

Yeung, Edward S.; Gong, Xiaoyi

2004-09-07

The present invention provides a method of analyzing multiple samples simultaneously by absorption detection. The method comprises: (i) providing a planar array of multiple containers, each of which contains a sample comprising at least one absorbing species, (ii) irradiating the planar array of multiple containers with a light source and (iii) detecting absorption of light with a detetion means that is in line with the light source at a distance of at leaat about 10 times a cross-sectional distance of a container in the planar array of multiple containers. The absorption of light by a sample indicates the presence of an absorbing species in it. The method can further comprise: (iv) measuring the amount of absorption of light detected in (iii) indicating the amount of the absorbing species in the sample. Also provided by the present invention is a system for use in the abov metho.The system comprises; (i) a light source comrnpising or consisting essentially of at leaat one wavelength of light, the absorption of which is to be detected, (ii) a planar array of multiple containers, and (iii) a detection means that is in line with the light source and is positioned in line with and parallel to the planar array of multiple contiainers at a distance of at least about 10 times a cross-sectional distance of a container.

Ion manipulation device with electrical breakdown protection

DOEpatents

Chen, Tsung-Chi; Tang, Keqi; Ibrahim, Yehia M; Smith, Richard D; Anderson, Gordon A; Baker, Erin M

2014-12-02

An ion manipulation method and device is disclosed. The device includes a pair of substantially parallel surfaces. An array of inner electrodes is contained within, and extends substantially along the length of, each parallel surface. The device includes a first outer array of electrodes and a second outer array of electrodes. Each outer array of electrodes is positioned on either side of the inner electrodes, and is contained within and extends substantially along the length of each parallel surface. A DC voltage is applied to the first and second outer array of electrodes. A RF voltage, with a superimposed electric field, is applied to the inner electrodes by applying the DC voltages to each electrode. Ions either move between the parallel surfaces within an ion confinement area or along paths in the direction of the electric field, or can be trapped in the ion confinement area. The surfaces are housed in a chamber, and at least one electrically insulative shield is coupled to an inner surface of the chamber for increasing a mean-free-path between two adjacent electrodes in the chamber.

PLATES WITH OXIDE INSERTS

DOEpatents

West, J.M.; Schumar, J.F.

1958-06-10

Planar-type fuel assemblies for nuclear reactors are described, particularly those comprising fuel in the oxide form such as thoria and urania. The fuel assembly consists of a plurality of parallel spaced fuel plate mennbers having their longitudinal side edges attached to two parallel supporting side plates, thereby providing coolant flow channels between the opposite faces of adjacent fuel plates. The fuel plates are comprised of a plurality of longitudinally extending tubular sections connected by web portions, the tubular sections being filled with a plurality of pellets of the fuel material and the pellets being thermally bonded to the inside of the tubular section by lead.

3-D Modeling of Planar Target-Mount Perturbation Experiments on OMEGA

NASA Astrophysics Data System (ADS)

Collins, T. J. B.; Marshall, F. J.; Marozas, J. A.; Bonino, M. J.; Forties, R.; Goncharov, V. N.; Igumenshchev, I. V.; McKenty, P. W.; Smalyuk, V. A.

2008-11-01

OMEGA cryogenic targets are suspended in the target chamber using four spider silks attached to a C-shaped mount. The spider silks are typically composed of two entwined protein strands comparable to 1 μm in diameter. The silks and mount refract the incident laser light and cast shadows on the target surface. Experiments to measure the effects of the silks on target illumination have been performed in planar geometry using silks suspended parallel to a 20-μm-thick laser-driven target. The evolution of the surface perturbations introduced by the silks was measured using x-ray backlighting. The results of these experiments will be compared to simulations performed with DRACO, employing three-dimensional (3-D) planar hydrodynamics and a new 3-D refractive ray-trace package written specifically for this geometry. This work was supported by the U.S. Department of Energy Office of Inertial Confinement Fusion under Cooperative Agreement No. DE-FC52-08NA28302.

Proportional counter radiation camera

DOEpatents

Borkowski, C.J.; Kopp, M.K.

1974-01-15

A gas-filled proportional counter camera that images photon emitting sources is described. A two-dimensional, positionsensitive proportional multiwire counter is provided as the detector. The counter consists of a high- voltage anode screen sandwiched between orthogonally disposed planar arrays of multiple parallel strung, resistively coupled cathode wires. Two terminals from each of the cathode arrays are connected to separate timing circuitry to obtain separate X and Y coordinate signal values from pulse shape measurements to define the position of an event within the counter arrays which may be recorded by various means for data display. The counter is further provided with a linear drift field which effectively enlarges the active gas volume of the counter and constrains the recoil electrons produced from ionizing radiation entering the counter to drift perpendicularly toward the planar detection arrays. A collimator is interposed between a subject to be imaged and the counter to transmit only the radiation from the subject which has a perpendicular trajectory with respect to the planar cathode arrays of the detector. (Official Gazette)

Power superconducting power transmission cable

DOEpatents

Ashworth, Stephen P.

2003-06-10

The present invention is for a compact superconducting power transmission cable operating at distribution level voltages. The superconducting cable is a conductor with a number of tapes assembled into a subconductor. These conductors are then mounted co-planarly in an elongated dielectric to produce a 3-phase cable. The arrangement increases the magnetic field parallel to the tapes thereby reducing ac losses.

Power superconducting power transmission cable

DOEpatents

Ashworth, Stephen P.

2003-01-01

The present invention is for a compact superconducting power transmission cable operating at distribution level voltages. The superconducting cable is a conductor with a number of tapes assembled into a subconductor. These conductors are then mounted co-planarly in an elongated dielectric to produce a 3-phase cable. The arrangement increases the magnetic field parallel to the tapes thereby reducing ac losses.

Parallel Electrochemical Treatment System and Application for Identifying Acid-Stable Oxygen Evolution Electrocatalysts

DOE PAGES

Jones, Ryan J. R.; Shinde, Aniketa; Guevarra, Dan; ...

2015-01-05

There are many energy technologies require electrochemical stability or preactivation of functional materials. Due to the long experiment duration required for either electrochemical preactivation or evaluation of operational stability, parallel screening is required to enable high throughput experimentation. We found that imposing operational electrochemical conditions to a library of materials in parallel creates several opportunities for experimental artifacts. We discuss the electrochemical engineering principles and operational parameters that mitigate artifacts int he parallel electrochemical treatment system. We also demonstrate the effects of resistive losses within the planar working electrode through a combination of finite element modeling and illustrative experiments. Operationmore » of the parallel-plate, membrane-separated electrochemical treatment system is demonstrated by exposing a composition library of mixed metal oxides to oxygen evolution conditions in 1M sulfuric acid for 2h. This application is particularly important because the electrolysis and photoelectrolysis of water are promising future energy technologies inhibited by the lack of highly active, acid-stable catalysts containing only earth abundant elements.« less

Interactive 3D segmentation using connected orthogonal contours.

PubMed

de Bruin, P W; Dercksen, V J; Post, F H; Vossepoel, A M; Streekstra, G J; Vos, F M

2005-05-01

This paper describes a new method for interactive segmentation that is based on cross-sectional design and 3D modelling. The method represents a 3D model by a set of connected contours that are planar and orthogonal. Planar contours overlayed on image data are easily manipulated and linked contours reduce the amount of user interaction.1 This method solves the contour-to-contour correspondence problem and can capture extrema of objects in a more flexible way than manual segmentation of a stack of 2D images. The resulting 3D model is guaranteed to be free of geometric and topological errors. We show that manual segmentation using connected orthogonal contours has great advantages over conventional manual segmentation. Furthermore, the method provides effective feedback and control for creating an initial model for, and control and steering of, (semi-)automatic segmentation methods.

Dimensional synthesis of a 3-DOF parallel manipulator with full circle rotation

NASA Astrophysics Data System (ADS)

Ni, Yanbing; Wu, Nan; Zhong, Xueyong; Zhang, Biao

2015-07-01

Parallel robots are widely used in the academic and industrial fields. In spite of the numerous achievements in the design and dimensional synthesis of the low-mobility parallel robots, few research efforts are directed towards the asymmetric 3-DOF parallel robots whose end-effector can realize 2 translational and 1 rotational(2T1R) motion. In order to develop a manipulator with the capability of full circle rotation to enlarge the workspace, a new 2T1R parallel mechanism is proposed. The modeling approach and kinematic analysis of this proposed mechanism are investigated. Using the method of vector analysis, the inverse kinematic equations are established. This is followed by a vigorous proof that this mechanism attains an annular workspace through its circular rotation and 2 dimensional translations. Taking the first order perturbation of the kinematic equations, the error Jacobian matrix which represents the mapping relationship between the error sources of geometric parameters and the end-effector position errors is derived. With consideration of the constraint conditions of pressure angles and feasible workspace, the dimensional synthesis is conducted with a goal to minimize the global comprehensive performance index. The dimension parameters making the mechanism to have optimal error mapping and kinematic performance are obtained through the optimization algorithm. All these research achievements lay the foundation for the prototype building of such kind of parallel robots.

A kinematic analysis of the modified flight telerobotic servicer manipulator system

NASA Technical Reports Server (NTRS)

Crane, Carl; Carnahan, Tim; Duffy, Joseph

1992-01-01

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

Lexical and Post-Lexical Complexity Effects on Eye Movements in Reading

PubMed Central

Warren, Tessa; Reichle, Erik D.; Patson, Nikole D.

2011-01-01

The current study investigated how a post-lexical complexity manipulation followed by a lexical complexity manipulation affects eye movements during reading. Both manipulations caused disruption in all measures on the manipulated words, but the patterns of spill-over differed. Critically, the effects of the two kinds of manipulations did not interact, and there was no evidence that post-lexical processing difficulty delayed lexical processing on the next word (c.f. Henderson & Ferreira, 1990). This suggests that post-lexical processing of one word and lexical processing of the next can proceed independently and likely in parallel. This finding is consistent with the assumptions of the E-Z Reader model of eye movement control in reading (Reichle, Warren, & McConnell, 2009). PMID:21603125

Modification in drag of turbulent boundary layers resulting from manipulation of large-scale structures

NASA Technical Reports Server (NTRS)

Corke, T. C.; Guezennec, Y.; Nagib, H. M.

1981-01-01

The effects of placing a parallel-plate turbulence manipulator in a boundary layer are documented through flow visualization and hot wire measurements. The boundary layer manipulator was designed to manage the large scale structures of turbulence leading to a reduction in surface drag. The differences in the turbulent structure of the boundary layer are summarized to demonstrate differences in various flow properties. The manipulator inhibited the intermittent large scale structure of the turbulent boundary layer for at least 70 boundary layer thicknesses downstream. With the removal of the large scale, the streamwise turbulence intensity levels near the wall were reduced. The downstream distribution of the skin friction was also altered by the introduction of the manipulator.

Controlling the Morphology of Side Chain Liquid Crystalline Block Copolymer Thin Films through Variations in Liquid Crystalline Content

PubMed Central

Verploegen, Eric; Zhang, Tejia; Jung, Yeon Sik; Ross, Caroline; Hammond, Paula T.

2009-01-01

In this paper we describe methods for manipulating the morphology of side-chain liquid crystalline block copolymers through variations in the liquid crystalline content. By systematically controlling the covalent attachment of side chain liquid crystals to a block copolymer (BCP) backbone, the morphology of both the liquid crystalline (LC) mesophase and the phase segregated BCP microstructures can be precisely manipulated. Increases in LC functionalization lead to stronger preferences for the anchoring of the LC mesophase relative to the substrate and the inter-material dividing surface (IMDS). By manipulating the strength of these interactions the arrangement and ordering of the ultrathin film block copolymer nanostructures can be controlled, yielding a range of morphologies that includes perpendicular and parallel cylinders, as well as both perpendicular and parallel lamellae. Additionally, we demonstrate the utilization of selective etching to create a nanoporous liquid crystalline polymer thin film. The unique control over the orientation and order of the self-assembled morphologies with respect to the substrate will allow for the custom design of thin films for specific nano-patterning applications without manipulation of the surface chemistry or the application of external fields. PMID:18763835

Controlling the morphology of side chain liquid crystalline block copolymer thin films through variations in liquid crystalline content.

PubMed

Verploegen, Eric; Zhang, Tejia; Jung, Yeon Sik; Ross, Caroline; Hammond, Paula T

2008-10-01

In this paper, we describe methods for manipulating the morphology of side-chain liquid crystalline block copolymers through variations in the liquid crystalline content. By systematically controlling the covalent attachment of side chain liquid crystals to a block copolymer (BCP) backbone, the morphology of both the liquid crystalline (LC) mesophase and the phase-segregated BCP microstructures can be precisely manipulated. Increases in LC functionalization lead to stronger preferences for the anchoring of the LC mesophase relative to the substrate and the intermaterial dividing surface. By manipulating the strength of these interactions, the arrangement and ordering of the ultrathin film block copolymer nanostructures can be controlled, yielding a range of morphologies that includes perpendicular and parallel cylinders, as well as both perpendicular and parallel lamellae. Additionally, we demonstrate the utilization of selective etching to create a nanoporous liquid crystalline polymer thin film. The unique control over the orientation and order of the self-assembled morphologies with respect to the substrate will allow for the custom design of thin films for specific nanopatterning applications without manipulation of the surface chemistry or the application of external fields.

Pressure-constrained, reduced-DOF, interconnected parallel manipulators with applications to space suit design

NASA Astrophysics Data System (ADS)

Jacobs, Shane Earl

This dissertation presents the concept of a Morphing Upper Torso, an innovative pressure suit design that incorporates robotic elements to enable a resizable, highly mobile and easy to don/doff spacesuit. The torso is modeled as a system of interconnected, pressure-constrained, reduced-DOF, wire-actuated parallel manipulators, that enable the dimensions of the suit to be reconfigured to match the wearer. The kinematics, dynamics and control of wire-actuated manipulators are derived and simulated, along with the Jacobian transforms, which relate the total twist vector of the system to the vector of actuator velocities. Tools are developed that allow calculation of the workspace for both single and interconnected reduced-DOF robots of this type, using knowledge of the link lengths. The forward kinematics and statics equations are combined and solved to produce the pose of the platforms along with the link tensions. These tools allow analysis of the full Morphing Upper Torso design, in which the back hatch of a rear-entry torso is interconnected with the waist ring, helmet ring and two scye bearings. Half-scale and full-scale experimental models are used along with analytical models to examine the feasibility of this novel space suit concept. The analytical and experimental results demonstrate that the torso could be expanded to facilitate donning and doffng, and then contracted to match different wearer's body dimensions. Using the system of interconnected parallel manipulators, suit components can be accurately repositioned to different desired configurations. The demonstrated feasibility of the Morphing Upper Torso concept makes it an exciting candidate for inclusion in a future planetary suit architecture.

Microfluidic local perfusion chambers for the visualization and manipulation of synapses

PubMed Central

Taylor, Anne M.; Dieterich, Daniela C.; Ito, Hiroshi T.; Kim, Sally A.; Schuman, Erin M.

2010-01-01

Summary The polarized nature of neurons as well as the size and density of synapses complicates the manipulation and visualization of cell biological processes that control synaptic function. Here we developed a microfluidic local perfusion (μLP) chamber to access and manipulate synaptic regions and pre- and post-synaptic compartments in vitro. This chamber directs the formation of synapses in >100 parallel rows connecting separate neuron populations. A perfusion channel transects the parallel rows allowing access to synaptic regions with high spatial and temporal resolution. We used this chamber to investigate synapse-to-nucleus signaling. Using the calcium indicator dye, Fluo-4, we measured changes in calcium at dendrites and somata, following local perfusion of glutamate. Exploiting the high temporal resolution of the chamber, we exposed synapses to “spaced” or “massed” application of glutamate and then examined levels of pCREB in somata. Lastly, we applied the metabotropic receptor agonist, DHPG, to dendrites and observed increases in Arc transcription and Arc transcript localization. PMID:20399729

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

PubMed

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

2017-09-01

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

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

NASA Technical Reports Server (NTRS)

Mutambara, Arthur G. O.; Litt, Jonathan

1998-01-01

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

Mechanically expandable annular seal

DOEpatents

Gilmore, R.F.

1983-07-19

A mechanically expandable annular reusable seal assembly to form an annular hermetic barrier between two stationary, parallel, and planar containment surfaces is described. A rotatable ring, attached to the first surface, has ring wedges resembling the saw-tooth array of a hole saw. Matching seal wedges are slidably attached to the ring wedges and have their motion restricted to be perpendicular to the second surface. Each seal wedge has a face parallel to the second surface. An annular elastomer seal has a central annular region attached to the seal wedges' parallel faces and has its inner and outer circumferences attached to the first surface. A rotation of the ring extends the elastomer seal's central region perpendicularly towards the second surface to create the fluid tight barrier. A counter rotation removes the barrier. 6 figs.

Method to mosaic gratings that relies on analysis of far-field intensity patterns in two wavelengths

NASA Astrophysics Data System (ADS)

Hu, Yao; Zeng, Lijiang; Li, Lifeng

2007-01-01

We propose an experimental method to coherently mosaic two planar diffraction gratings. The method uses a Twyman-Green interferometer to guarantee the planar parallelism of the two sub-aperture gratings, and obtains the in-plane rotational error and the two translational errors from analysis of the far-field diffraction intensity patterns in two alignment wavelengths. We adjust the relative attitude and position of the two sub-aperture gratings to produce Airy disk diffraction patterns in both wavelengths. In our experiment, the repeatability of in-plane rotation adjustment was 2.35 μrad and that of longitudinal adjustment was 0.11 μm. The accuracy of lateral adjustment was about 2.9% of the grating period.

Simulation of Tip-Sample Interaction in the Atomic Force Microscope

NASA Technical Reports Server (NTRS)

Good, Brian S.; Banerjea, Amitava

1994-01-01

Recent simulations of the interaction between planar surfaces and model Atomic Force Microscope (AFM) tips have suggested that there are conditions under which the tip may become unstable and 'avalanche' toward the sample surface. Here we investigate via computer simulation the stability of a variety of model AFM tip configurations with respect to the avalanche transition for a number of fcc metals. We perform Monte-Carlo simulations at room temperature using the Equivalent Crystal Theory (ECT) of Smith and Banerjea. Results are compared with recent experimental results as well as with our earlier work on the avalanche of parallel planar surfaces. Our results on a model single-atom tip are in excellent agreement with recent experiments on tunneling through mechanically-controlled break junctions.

Bis(2,1,3-benzoselenadiazole-κN)dibromidocopper(II)

PubMed Central

Fun, Hoong-Kun; Goh, Jia Hao; Maity, Annada C.; Goswami, Shyamaprosad

2011-01-01

In the title complex, [CuBr2(C6H4N2Se)2], the CuII ion is tetra­coordinated by two bromide anions and two N atoms in a distorted square-planar geometry. The two essentially planar 2,1,3-benzoselenadiazole ligands [maximum deviations = 0.012 (2) and 0.030 (2) Å] are approximately coplanar [dihedral angle = 6.14 (6)°]. In the crystal, short inter­molecular Se⋯Br, Se⋯N and N⋯N inter­actions are observed. These short inter­actions and inter­molecular C—H⋯Br hydrogen bonds link the complex mol­ecules into two-dimensional arrays parallel to the ac plane. PMID:21522854

The Complexity of Parallel Algorithms,

DTIC Science & Technology

1985-11-01

programns have been written for se(luiential coiipn ters. Many p~eop~le want coimp ~ilers dihal. will c(nimpile t he, code for parallel machines, to avoid...between two vertices. We also rely on parallel algorithms for maintaining data structures and manipulating graphs. We do not go into the details of these...Jpatlis and maintain connected coimp ~onents. The routine is: - 35 .- ExtendPath(r, Q, V) begin P +-0; s 4- while there is a path in V - P from s to a vertex

A novel design for a hybrid space manipulator

NASA Technical Reports Server (NTRS)

Shahinpoor, MO

1991-01-01

Described are the structural design, kinematics, and characteristics of a robot manipulator for space applications and use as an articulate and powerful space shuttle manipulator. Hybrid manipulators are parallel-serial connection robots that give rise to a multitude of highly precise robot manipulators. These manipulators are modular and can be extended by additional modules over large distances. Every module has a hemispherical work space and collective modules give rise to highly dexterous symmetrical work space. Some basic designs and kinematic structures of these robot manipulators are discussed, the associated direct and inverse kinematics formulations are presented, and solutions to the inverse kinematic problem are obtained explicitly and elaborated upon. These robot manipulators are shown to have a strength-to-weight ratio that is many times larger than the value that is currently available with industrial or research manipulators. This is due to the fact that these hybrid manipulators are stress-compensated and have an ultralight weight, yet, they are extremely stiff due to the fact that force distribution in their structure is mostly axial. Actuation is prismatic and can be provided by ball screws for maximum precision.

A study of fractography in the low-temperature brittle fracture of an 18Cr-18Mn-0.7N austenitic steel

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

Liu, S.C.; Hashida, T.; Takahashi, H.

1998-03-01

The fracture mode and crack propagation behavior of brittle fracture at 77 and 4 K in an 18Cr-18Mn-0.7N austenitic stainless were investigated using optical and scanning electron microscopy. The fracture path was examined by observing the side surface in a partially ruptured specimen. The relationship of the fracture facets to the microstructures were established by observing the fracture surface and the adjacent side surface simultaneously. Three kinds of fracture facets were identified at either temperature. The first is a smooth curved intergranular fracture facet with characteristic parallel lines on it. The second is a fairly planar facet formed by partingmore » along an annealing twin boundary, a real {l_brace}111{r_brace} plane. There are three sets of parallel lines on the facet and the lines in different sets intersect at 60 deg. The third is a lamellar transgranular fracture facet with sets of parallel steps on it. Fracture propagated by the formation of microcracks on a grain boundary, annealing twin boundary, and coalescence of these cracks. The observation suggests that the ease of crack initiation and propagation along the grain boundary and the annealing twin boundary may be the main reason for the low-temperature brittleness of this steel. A mechanism for grain boundary cracking, including annealing twin boundary parting, has been discussed based on the stress concentration induced by impinging planar deformation structures on the grain boundaries.« less

Soft grippers using micro-fibrillar adhesives for transfer printing.

PubMed

Song, Sukho; Sitti, Metin

2014-07-23

The adhesive characteristics of fibrillar adhesives on a soft deformable membrane are reported. A soft gripper with an inflatable membrane covered by elastomer mushroom-shaped microfibers have a superior conformation to non-planar 3D part geometries, enabling the transfer printing of various parts serially or in parallel. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Use of Parallel Micro-Platform for the Simulation the Space Exploration

NASA Astrophysics Data System (ADS)

Velasco Herrera, Victor Manuel; Velasco Herrera, Graciela; Rosano, Felipe Lara; Rodriguez Lozano, Salvador; Lucero Roldan Serrato, Karen

The purpose of this work is to create a parallel micro-platform, that simulates the virtual movements of a space exploration in 3D. One of the innovations presented in this design consists of the application of a lever mechanism for the transmission of the movement. The development of such a robot is a challenging task very different of the industrial manipulators due to a totally different target system of requirements. This work presents the study and simulation, aided by computer, of the movement of this parallel manipulator. The development of this model has been developed using the platform of computer aided design Unigraphics, in which it was done the geometric modeled of each one of the components and end assembly (CAD), the generation of files for the computer aided manufacture (CAM) of each one of the pieces and the kinematics simulation of the system evaluating different driving schemes. We used the toolbox (MATLAB) of aerospace and create an adaptive control module to simulate the system.

A PC-Based Controller for Dextrous Arms

NASA Technical Reports Server (NTRS)

Fiorini, Paolo; Seraji, Homayoun; Long, Mark

1996-01-01

This paper describes the architecture and performance of a PC-based controller for 7-DOF dextrous manipulators. The computing platform is a 486-based personal computer equipped with a bus extender to access the robot Multibus controller, together with a single board computer as the graphical engine, and with a parallel I/O board to interface with a force-torque sensor mounted on the manipulator wrist.

Real-time obstacle avoidance using harmonic potential functions

NASA Technical Reports Server (NTRS)

Kim, Jin-Oh; Khosla, Pradeep K.

1992-01-01

This paper presents a new formulation of the artificial potential approach to the obstacle avoidance problem for a mobile robot or a manipulator in a known environment. Previous formulations of artificial potentials for obstacle avoidance have exhibited local minima in a cluttered environment. To build an artificial potential field, harmonic functions that completely eliminate local minima even for a cluttered environment are used. The panel method is employed to represent arbitrarily shaped obstacles and to derive the potential over the whole space. Based on this potential function, an elegant control strategy is proposed for the real-time control of a robot. The harmonic potential, the panel method, and the control strategy are tested with a bar-shaped mobile robot and a three-degree-of-freedom planar redundant manipulator.

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

McCarthy, J.M.

The theory and methodology of design of general-purpose machines that may be controlled by a computer to perform all the tasks of a set of special-purpose machines is the focus of modern machine design research. These seventeen contributions chronicle recent activity in the analysis and design of robot manipulators that are the prototype of these general-purpose machines. They focus particularly on kinematics, the geometry of rigid-body motion, which is an integral part of machine design theory. The challenges to kinematics researchers presented by general-purpose machines such as the manipulator are leading to new perspectives in the design and control ofmore » simpler machines with two, three, and more degrees of freedom. Researchers are rethinking the uses of gear trains, planar mechanisms, adjustable mechanisms, and computer controlled actuators in the design of modern machines.« less

Means and method for the focusing and acceleration of parallel beams of charged particles

DOEpatents

Maschke, Alfred W.

1983-07-05

A novel apparatus and method for focussing beams of charged particles comprising planar arrays of electrostatic quadrupoles. The quadrupole arrays may comprise electrodes which are shared by two or more quadrupoles. Such quadrupole arrays are particularly adapted to providing strong focussing forces for high current, high brightness, beams of charged particles, said beams further comprising a plurality of parallel beams, or beamlets, each such beamlet being focussed by one quadrupole of the array. Such arrays may be incorporated in various devices wherein beams of charged particles are accelerated or transported, such as linear accelerators, klystron tubes, beam transport lines, etc.

Affordance Access Matters: Preschool Children's Learning Progressions While Interacting with Touch-Screen Mathematics Apps

ERIC Educational Resources Information Center

Bullock, Emma P.; Shumway, Jessica F.; Watts, Christina M.; Moyer-Packenham, Patricia S.

2017-01-01

The purpose of this study was to contribute to the research on mathematics app use by very young children, and specifically mathematics apps for touch-screen mobile devices that contain virtual manipulatives. The study used a convergent parallel mixed methods design, in which quantitative and qualitative data were collected in parallel, analyzed…

Radiography and partial tomography of wood with thermal neutrons

NASA Astrophysics Data System (ADS)

Osterloh, K.; Fratzscher, D.; Schwabe, A.; Schillinger, B.; Zscherpel, U.; Ewert, U.

2011-09-01

The effective high neutron scattering absorption coefficient of hydrogen (48.5 cm 2/g) due to the scattering allows neutrons to reveal hydrocarbon structures with more contrast than X-rays, but at the same time limits the sample size and thickness that can be investigated. Many planar shaped objects, particularly wood samples, are sufficiently thin to allow thermal neutrons to transmit through the sample in a direction perpendicular to the planar face but not in a parallel direction, due to increased thickness. Often, this is an obstacle that prevents some tomographic reconstruction algorithms from obtaining desired results because of inadequate information or presence of distracting artifacts due to missing projections. This can be true for samples such as the distribution of glue in glulam (boards of wooden layers glued together), or the course of partially visible annual rings in trees where the features of interest are parallel to the planar surface of the sample. However, it should be possible to study these features by rotating the specimen within a limited angular range. In principle, this approach has been shown previously in a study with fast neutrons [2]. A study of this kind was performed at the Antares facility of FRM II in Garching with a 2.6×10 7/cm 2 s thermal neutron beam. The limit of penetration was determined for a wooden step wedge carved from a 2 cm×4 cm block of wood in comparison to other materials such as heavy metals and Lucite as specimens rich in hydrogen. The depth of the steps was 1 cm, the height 0.5 cm. The annual ring structures were clearly detectable up to 2 cm thickness. Wooden specimens, i.e. shivers, from a sunken old ship have been subjected to tomography. Not visible from the outside, clear radial structures have been found that are typical for certain kinds of wood. This insight was impaired in a case where the specimen had been soaked with ethylene glycol. In another large sample study, a planar board made of glulam has been studied to show the glued layers. This study shows not only the limits of penetration in wood but also demonstrates access to structures perpendicular to the surface in larger planar objects by tomography with fast neutrons, even with incomplete sets of projection data that covers an angular range of only 90° or even 60°.

Terahertz metamaterials and systems based on rolled-up 3D elements: designs, technological approaches, and properties

PubMed Central

Prinz, Victor Ya.; Naumova, Elena V.; Golod, Sergey V.; Seleznev, Vladimir A.; Bocharov, Andrey A.; Kubarev, Vitaliy V.

2017-01-01

Electromagnetic metamaterials opened the way to extraordinary manipulation of radiation. Terahertz (THz) and optical metamaterials are usually fabricated by traditional planar-patterning approaches, while the majority of practical applications require metamaterials with 3D resonators. Making arrays of precise 3D micro- and nanoresonators is still a challenging problem. Here we present a versatile set of approaches to fabrication of metamaterials with 3D resonators rolled-up from strained films, demonstrate novel THz metamaterials/systems, and show giant polarization rotation by several chiral metamaterials/systems. The polarization spectra of chiral metamaterials on semiconductor substrates exhibit ultrasharp quasiperiodic peaks. Application of 3D printing allowed assembling more complex systems, including the bianisotropic system with optimal microhelices, which showed an extreme polarization azimuth rotation of 85° with drop by 150° at a frequency shift of 0.4%. We refer the quasiperiodic peaks in the polarization spectra of metamaterial systems to the interplay of different resonances, including peculiar chiral waveguide resonance. Formed metamaterials cannot be made by any other presently available technology. All steps of presented fabrication approaches are parallel, IC-compatible and allow mass fabrication with scaling of rolled-up resonators up to visible frequencies. We anticipate that the rolled-up meta-atoms will be ideal building blocks for future generations of commercial metamaterials, devices and systems on their basis. PMID:28256587

Terahertz metamaterials and systems based on rolled-up 3D elements: designs, technological approaches, and properties

NASA Astrophysics Data System (ADS)

Prinz, Victor Ya.; Naumova, Elena V.; Golod, Sergey V.; Seleznev, Vladimir A.; Bocharov, Andrey A.; Kubarev, Vitaliy V.

2017-03-01

Electromagnetic metamaterials opened the way to extraordinary manipulation of radiation. Terahertz (THz) and optical metamaterials are usually fabricated by traditional planar-patterning approaches, while the majority of practical applications require metamaterials with 3D resonators. Making arrays of precise 3D micro- and nanoresonators is still a challenging problem. Here we present a versatile set of approaches to fabrication of metamaterials with 3D resonators rolled-up from strained films, demonstrate novel THz metamaterials/systems, and show giant polarization rotation by several chiral metamaterials/systems. The polarization spectra of chiral metamaterials on semiconductor substrates exhibit ultrasharp quasiperiodic peaks. Application of 3D printing allowed assembling more complex systems, including the bianisotropic system with optimal microhelices, which showed an extreme polarization azimuth rotation of 85° with drop by 150° at a frequency shift of 0.4%. We refer the quasiperiodic peaks in the polarization spectra of metamaterial systems to the interplay of different resonances, including peculiar chiral waveguide resonance. Formed metamaterials cannot be made by any other presently available technology. All steps of presented fabrication approaches are parallel, IC-compatible and allow mass fabrication with scaling of rolled-up resonators up to visible frequencies. We anticipate that the rolled-up meta-atoms will be ideal building blocks for future generations of commercial metamaterials, devices and systems on their basis.

Terahertz metamaterials and systems based on rolled-up 3D elements: designs, technological approaches, and properties.

PubMed

Prinz, Victor Ya; Naumova, Elena V; Golod, Sergey V; Seleznev, Vladimir A; Bocharov, Andrey A; Kubarev, Vitaliy V

2017-03-03

Electromagnetic metamaterials opened the way to extraordinary manipulation of radiation. Terahertz (THz) and optical metamaterials are usually fabricated by traditional planar-patterning approaches, while the majority of practical applications require metamaterials with 3D resonators. Making arrays of precise 3D micro- and nanoresonators is still a challenging problem. Here we present a versatile set of approaches to fabrication of metamaterials with 3D resonators rolled-up from strained films, demonstrate novel THz metamaterials/systems, and show giant polarization rotation by several chiral metamaterials/systems. The polarization spectra of chiral metamaterials on semiconductor substrates exhibit ultrasharp quasiperiodic peaks. Application of 3D printing allowed assembling more complex systems, including the bianisotropic system with optimal microhelices, which showed an extreme polarization azimuth rotation of 85° with drop by 150° at a frequency shift of 0.4%. We refer the quasiperiodic peaks in the polarization spectra of metamaterial systems to the interplay of different resonances, including peculiar chiral waveguide resonance. Formed metamaterials cannot be made by any other presently available technology. All steps of presented fabrication approaches are parallel, IC-compatible and allow mass fabrication with scaling of rolled-up resonators up to visible frequencies. We anticipate that the rolled-up meta-atoms will be ideal building blocks for future generations of commercial metamaterials, devices and systems on their basis.

Terahertz photonic crystals

NASA Astrophysics Data System (ADS)

Jian, Zhongping

This thesis describes the study of two-dimensional photonic crystals slabs with terahertz time domain spectroscopy. In our study we first demonstrate the realization of planar photonic components to manipulate terahertz waves, and then characterize photonic crystals using terahertz pulses. Photonic crystal slabs at the scale of micrometers are first designed and fabricated free of defects. Terahertz time domain spectrometer generates and detects the electric fields of single-cycle terahertz pulses. By putting photonic crystals into waveguide geometry, we successfully demonstrate planar photonic components such as transmission filters, reflection frequency-selective filters, defects modes as well as superprisms. In the characterization study of out-of-plane properties of photonic crystal slabs, we observe very strong dispersion at low frequencies, guided resonance modes at middle frequencies, and a group velocity anomaly at high frequencies. We employ Finite Element Method and Finite-Difference Time-Domain method to simulate the photonic crystals, and excellent agreement is achieved between simulation results and experimental results.

Strain induced plasmon tuning in planar square-shaped aluminum nanoparticles array

NASA Astrophysics Data System (ADS)

Mokkath, Junais Habeeb

2018-06-01

Metal nanoparticle aggregate is an exciting platform for manipulating light-matter interactions at the nanoscale, thanks to the optically driven free electrons couple electrically across the inter-particle gap region. We use time dependent density functional theory calculations to investigate the optical response modulations in planar square-shaped aluminum nanoparticles array via morphology deformation (varying the inter-particle gap distance in the range of 2-20 Å) separately along one and two directions. We report the surprising observation that irrespective of the different morphology deformations, there exists a unique inter-particle gap distance of 12 Å for which, a maximum optical field enhancement can be achieved. We remark that plasmonic interaction between metal nanoparticles in an aggregate is controlled to a large extent by the size of the inter-particle gap distance. We believe that our quantum mechanical calculations will inspire and contribute to the design, control, and exploitation of aluminum based plasmonic devices.

Facets : a Cloudcompare Plugin to Extract Geological Planes from Unstructured 3d Point Clouds

NASA Astrophysics Data System (ADS)

Dewez, T. J. B.; Girardeau-Montaut, D.; Allanic, C.; Rohmer, J.

2016-06-01

Geological planar facets (stratification, fault, joint…) are key features to unravel the tectonic history of rock outcrop or appreciate the stability of a hazardous rock cliff. Measuring their spatial attitude (dip and strike) is generally performed by hand with a compass/clinometer, which is time consuming, requires some degree of censoring (i.e. refusing to measure some features judged unimportant at the time), is not always possible for fractures higher up on the outcrop and is somewhat hazardous. 3D virtual geological outcrop hold the potential to alleviate these issues. Efficiently segmenting massive 3D point clouds into individual planar facets, inside a convenient software environment was lacking. FACETS is a dedicated plugin within CloudCompare v2.6.2 (http://cloudcompare.org/ ) implemented to perform planar facet extraction, calculate their dip and dip direction (i.e. azimuth of steepest decent) and report the extracted data in interactive stereograms. Two algorithms perform the segmentation: Kd-Tree and Fast Marching. Both divide the point cloud into sub-cells, then compute elementary planar objects and aggregate them progressively according to a planeity threshold into polygons. The boundaries of the polygons are adjusted around segmented points with a tension parameter, and the facet polygons can be exported as 3D polygon shapefiles towards third party GIS software or simply as ASCII comma separated files. One of the great features of FACETS is the capability to explore planar objects but also 3D points with normals with the stereogram tool. Poles can be readily displayed, queried and manually segmented interactively. The plugin blends seamlessly into CloudCompare to leverage all its other 3D point cloud manipulation features. A demonstration of the tool is presented to illustrate these different features. While designed for geological applications, FACETS could be more widely applied to any planar objects.

Giant Enhancement in Radiative Heat Transfer in Sub-30 nm Gaps of Plane Parallel Surfaces.

PubMed

Fiorino, Anthony; Thompson, Dakotah; Zhu, Linxiao; Song, Bai; Reddy, Pramod; Meyhofer, Edgar

2018-06-13

Radiative heat transfer rates that exceed the blackbody limit by several orders of magnitude are expected when the gap size between plane parallel surfaces is reduced to the nanoscale. To date, experiments have only realized enhancements of ∼100 fold as the smallest gap sizes in radiative heat transfer studies have been limited to ∼50 nm by device curvature and particle contamination. Here, we report a 1,200-fold enhancement with respect to the far-field value in the radiative heat flux between parallel planar silica surfaces separated by gaps as small as ∼25 nm. Achieving such small gap sizes and the resultant dramatic enhancement in near-field energy flux is critical to achieve a number of novel near-field based nanoscale energy conversion systems that have been theoretically predicted but remain experimentally unverified.

Designing electronic properties of two-dimensional crystals through optimization of deformations

NASA Astrophysics Data System (ADS)

Jones, Gareth W.; Pereira, Vitor M.

2014-09-01

One of the enticing features common to most of the two-dimensional (2D) electronic systems that, in the wake of (and in parallel with) graphene, are currently at the forefront of materials science research is the ability to easily introduce a combination of planar deformations and bending in the system. Since the electronic properties are ultimately determined by the details of atomic orbital overlap, such mechanical manipulations translate into modified (or, at least, perturbed) electronic properties. Here, we present a general-purpose optimization framework for tailoring physical properties of 2D electronic systems by manipulating the state of local strain, allowing a one-step route from their design to experimental implementation. A definite example, chosen for its relevance in light of current experiments in graphene nanostructures, is the optimization of the experimental parameters that generate a prescribed spatial profile of pseudomagnetic fields (PMFs) in graphene. But the method is general enough to accommodate a multitude of possible experimental parameters and conditions whereby deformations can be imparted to the graphene lattice, and complies, by design, with graphene's elastic equilibrium and elastic compatibility constraints. As a result, it efficiently answers the inverse problem of determining the optimal values of a set of external or control parameters (such as substrate topography, sample shape, load distribution, etc) that result in a graphene deformation whose associated PMF profile best matches a prescribed target. The ability to address this inverse problem in an expedited way is one key step for practical implementations of the concept of 2D systems with electronic properties strain-engineered to order. The general-purpose nature of this calculation strategy means that it can be easily applied to the optimization of other relevant physical quantities which directly depend on the local strain field, not just in graphene but in other 2D electronic membranes.

Adjustable Powder Injector For Vacuum Plasma Sprayer

NASA Technical Reports Server (NTRS)

Burns, D. H.; Woodford, W. H.; Mckechnie, T. N.; Mcferrin, D. C.; Davis, W. M.; Beason, G. P., Jr.

1993-01-01

Attachment for plasma spray gun provides four degrees of freedom for adjustment of position and orientation at which powder injected externally into plasma flame. Manipulator provides for adjustment of pitch angle of injection tube: set to inject powder at any angle ranging from perpendicular to parallel to cylindrical axis. Scribed lines on extension bar and manipulator indicate pitch angle of extension tube. Collar changed to adapt injector to different gun.

Analysis of a closed-kinematic chain robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

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

Limited angle tomographic breast imaging: A comparison of parallel beam and pinhole collimation

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

Wessell, D.E.; Kadrmas, D.J.; Frey, E.C.

1996-12-31

Results from clinical trials have suggested no improvement in lesion detection with parallel hole SPECT scintimammography (SM) with Tc-99m over parallel hole planar SM. In this initial investigation, we have elucidated some of the unique requirements of SPECT SM. With these requirements in mind, we have begun to develop practical data acquisition and reconstruction strategies that can reduce image artifacts and improve image quality. In this paper we investigate limited angle orbits for both parallel hole and pinhole SPECT SM. Singular Value Decomposition (SVD) is used to analyze the artifacts associated with the limited angle orbits. Maximum likelihood expectation maximizationmore » (MLEM) reconstructions are then used to examine the effects of attenuation compensation on the quality of the reconstructed image. All simulations are performed using the 3D-MCAT breast phantom. The results of these simulation studies demonstrate that limited angle SPECT SM is feasible, that attenuation correction is needed for accurate reconstructions, and that pinhole SPECT SM may have an advantage over parallel hole SPECT SM in terms of improved image quality and reduced image artifacts.« less

Beyond the Renderer: Software Architecture for Parallel Graphics and Visualization

NASA Technical Reports Server (NTRS)

Crockett, Thomas W.

1996-01-01

As numerous implementations have demonstrated, software-based parallel rendering is an effective way to obtain the needed computational power for a variety of challenging applications in computer graphics and scientific visualization. To fully realize their potential, however, parallel renderers need to be integrated into a complete environment for generating, manipulating, and delivering visual data. We examine the structure and components of such an environment, including the programming and user interfaces, rendering engines, and image delivery systems. We consider some of the constraints imposed by real-world applications and discuss the problems and issues involved in bringing parallel rendering out of the lab and into production.

Multiple Beam Optical Processing

DTIC Science & Technology

1989-12-01

the interference of multiple reflections between the two mirrors. The most promising optical bistable devices, at present, are very thin, solid Fabry...MEDIUM b) R - Ir ,, PMASE SHIFTr Figure 1.3 (a) Nonlinear Fabry-Perot etalon consisting of solid material with parallel surfaces with coatings of...instead of the solid planar structure [2.10]. Voids between columns cause an Inhomogeneous broadening and an exponential extension (Urbach tail) of the

Quantitative separation of the anisotropic magnetothermopower and planar Nernst effect by the rotation of an in-plane thermal gradient

NASA Astrophysics Data System (ADS)

Reimer, Oliver; Meier, Daniel; Bovender, Michel; Helmich, Lars; Dreessen, Jan-Oliver; Krieft, Jan; Shestakov, Anatoly S.; Back, Christian H.; Schmalhorst, Jan-Michael; Hütten, Andreas; Reiss, Günter; Kuschel, Timo

2017-01-01

A thermal gradient as the driving force for spin currents plays a key role in spin caloritronics. In this field the spin Seebeck effect (SSE) is of major interest and was investigated in terms of in-plane thermal gradients inducing perpendicular spin currents (transverse SSE) and out-of-plane thermal gradients generating parallel spin currents (longitudinal SSE). Up to now all spincaloric experiments employ a spatially fixed thermal gradient. Thus, anisotropic measurements with respect to well defined crystallographic directions were not possible. Here we introduce a new experiment that allows not only the in-plane rotation of the external magnetic field, but also the rotation of an in-plane thermal gradient controlled by optical temperature detection. As a consequence, the anisotropic magnetothermopower and the planar Nernst effect in a permalloy thin film can be measured simultaneously. Thus, the angular dependence of the magnetothermopower with respect to the magnetization direction reveals a phase shift, that allows the quantitative separation of the thermopower, the anisotropic magnetothermopower and the planar Nernst effect.

Radiation from mixed multi-planar wire arrays

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

Safronova, A. S.; Kantsyrev, V. L.; Esaulov, A. A.

2014-03-15

The study of radiation from different wire materials in wire array Z-pinch plasma is a very challenging topic because it is almost impossible to separate different plasmas at the stagnation. A new approach is suggested based on planar wire array (PWA) loads to assess this problem. Multi-planar wire arrays are implemented that consist of few planes, each with the same number of wires and masses but from different wire materials, arranged in parallel rows. In particular, the experimental results obtained with triple PWAs (TPWAs) on the UNR Zebra generator are analyzed with Wire Ablation Dynamics Model, non-local thermodynamic equilibrium kineticmore » model, and 2D radiation magneto-hydrodynamic to illustrate this new approach. In TPWAs, two wire planes were from mid-atomic-number wire material and another plane was from alloyed Al, placed either in the middle or at the edge of the TPWA. Spatial and temporal properties of K-shell Al and L-shell Cu radiations were analyzed and compared from these two configurations of TPWAs. Advantages of the new approach are demonstrated and future work is discussed.« less

Long baseline planar superconducting gradiometer for biomagnetic imaging

NASA Astrophysics Data System (ADS)

Granata, C.; Vettoliere, A.; Nappi, C.; Lisitskiy, M.; Russo, M.

2009-07-01

A niobium based dc-superconducting quantum interference device (SQUID) planar gradiometer with a long baseline (50 mm) for biomagnetic applications has been developed. The pickup antenna consists of two integrated rectangular coils connected in series and magnetically coupled to a dc-SQUID in a double parallel washer configuration by two series multiturn input coils. Due to a high intrinsic responsivity, the sensors have shown at T =4.2 K a white magnetic flux noise spectral density as low as 3 μΦ0/Hz1/2. The spectral density of the magnetic field noise referred to one sensing coil, is 3.0 fT/Hz1/2 resulting in a gradient spectral noise of 0.6 fT/(cm Hz1/2). In order to verify the effectiveness of such sensors for biomagnetic applications, the magnetic response to a current dipole has been calculated and the results have been compared with those of an analogous axial gradiometer. The results show that there is no significant difference. Due to their high intrinsic balance and good performances, planar gradiometers may be the elective sensors for biomagnetic application in a soft shielded environment.

High-resolution parallel-detection sensor array using piezo-phototronics effect

DOEpatents

Wang, Zhong L.; Pan, Caofeng

2015-07-28

A pressure sensor element includes a substrate, a first type of semiconductor material layer and an array of elongated light-emitting piezoelectric nanostructures extending upwardly from the first type of semiconductor material layer. A p-n junction is formed between each nanostructure and the first type semiconductor layer. An insulative resilient medium layer is infused around each of the elongated light-emitting piezoelectric nanostructures. A transparent planar electrode, disposed on the resilient medium layer, is electrically coupled to the top of each nanostructure. A voltage source is coupled to the first type of semiconductor material layer and the transparent planar electrode and applies a biasing voltage across each of the nanostructures. Each nanostructure emits light in an intensity that is proportional to an amount of compressive strain applied thereto.

Directional multimode coupler for planar magnonics: Side-coupled magnetic stripes

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

Sadovnikov, A. V., E-mail: sadovnikovav@gmail.com; Nikitov, S. A.; Kotel'nikov Institute of Radioengineering and Electronics, Russian Academy of Sciences, Moscow 125009

We experimentally demonstrate spin waves coupling in two laterally adjacent magnetic stripes. By the means of Brillouin light scattering spectroscopy, we show that the coupling efficiency depends both on the magnonic waveguides' geometry and the characteristics of spin-wave modes. In particular, the lateral confinement of coupled yttrium-iron-garnet stripes enables the possibility of control over the spin-wave propagation characteristics. Numerical simulations (in time domain and frequency domain) reveal the nature of intermodal coupling between two magnonic stripes. The proposed topology of multimode magnonic coupler can be utilized as a building block for fabrication of integrated parallel functional and logic devices suchmore » as the frequency selective directional coupler or tunable splitter, enabling a number of potential applications for planar magnonics.« less

Dynamic Modelling for Planar Extensible Continuum Robot Manipulators

DTIC Science & Technology

2006-01-01

5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7... octopus arm [18]. The OCTARM, shown in Figure 1, is a three-section robot with nine degrees of freedom. Aside from two axis bending with constant... octopus arm. However, while allowing extensibility, the model is based on an approximation (by a Þnite number of linear models) to the true continuum

Robust stability of second-order systems

NASA Technical Reports Server (NTRS)

Chuang, C.-H.

1993-01-01

A feedback linearization technique is used in conjunction with passivity concepts to design robust controllers for space robots. It is assumed that bounded modeling uncertainties exist in the inertia matrix and the vector representing the coriolis, centripetal, and friction forces. Under these assumptions, the controller guarantees asymptotic tracking of the joint variables. A Lagrangian approach is used to develop a dynamic model for space robots. Closed-loop simulation results are illustrated for a simple case of a single link planar manipulator with freely floating base.

Self-propulsion of Leidenfrost Drops between Non-Parallel Structures.

PubMed

Luo, Cheng; Mrinal, Manjarik; Wang, Xiang

2017-09-20

In this work, we explored self-propulsion of a Leidenfrost drop between non-parallel structures. A theoretical model was first developed to determine conditions for liquid drops to start moving away from the corner of two non-parallel plates. These conditions were then simplified for the case of a Leidenfrost drop. Furthermore, ejection speeds and travel distances of Leidenfrost drops were derived using a scaling law. Subsequently, the theoretical models were validated by experiments. Finally, three new devices have been developed to manipulate Leidenfrost drops in different ways.

Hypercluster parallel processing library user's manual

NASA Technical Reports Server (NTRS)

Quealy, Angela

1990-01-01

This User's Manual describes the Hypercluster Parallel Processing Library, composed of FORTRAN-callable subroutines which enable a FORTRAN programmer to manipulate and transfer information throughout the Hypercluster at NASA Lewis Research Center. Each subroutine and its parameters are described in detail. A simple heat flow application using Laplace's equation is included to demonstrate the use of some of the library's subroutines. The manual can be used initially as an introduction to the parallel features provided by the library. Thereafter it can be used as a reference when programming an application.

Object impedance control for cooperative manipulation - Theory and experimental results

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Parallel pumping for magnon spintronics: Amplification and manipulation of magnon spin currents on the micron-scale

NASA Astrophysics Data System (ADS)

Brächer, T.; Pirro, P.; Hillebrands, B.

2017-06-01

Magnonics and magnon spintronics aim at the utilization of spin waves and magnons, their quanta, for the construction of wave-based logic networks via the generation of pure all-magnon spin currents and their interfacing with electric charge transport. The promise of efficient parallel data processing and low power consumption renders this field one of the most promising research areas in spintronics. In this context, the process of parallel parametric amplification, i.e., the conversion of microwave photons into magnons at one half of the microwave frequency, has proven to be a versatile tool to excite and to manipulate spin waves. Its beneficial and unique properties such as frequency and mode-selectivity, the possibility to excite spin waves in a wide wavevector range and the creation of phase-correlated wave pairs, have enabled the achievement of important milestones like the magnon Bose-Einstein condensation and the cloning and trapping of spin-wave packets. Parallel parametric amplification, which allows for the selective amplification of magnons while conserving their phase is, thus, one of the key methods of spin-wave generation and amplification. The application of parallel parametric amplification to CMOS-compatible micro- and nano-structures is an important step towards the realization of magnonic networks. This is motivated not only by the fact that amplifiers are an important tool for the construction of any extended logic network but also by the unique properties of parallel parametric amplification. In particular, the creation of phase-correlated wave pairs allows for rewarding alternative logic operations such as a phase-dependent amplification of the incident waves. Recently, the successful application of parallel parametric amplification to metallic microstructures has been reported which constitutes an important milestone for the application of magnonics in practical devices. It has been demonstrated that parametric amplification provides an excellent tool to generate and to amplify spin waves in these systems in a wide wavevector range. In particular, the amplification greatly benefits from the discreteness of the spin-wave spectra since the size of the microstructures is comparable to the spin-wave wavelength. This opens up new, interesting routes of spin-wave amplification and manipulation. In this review, we will give an overview over the recent developments and achievements in this field.

Study of design and control of remote manipulators. Modeling manipulator arms with distributed flexibility for design and control

NASA Technical Reports Server (NTRS)

Book, W. J.

1974-01-01

The interactions of control system and distributed flexible structural dynamics is explored for mechanical arms. A modeling process using 4 x 4 transfer matrices is described which permits the closed loop response of many current arm configurations to be evaluated. Root locus, frequency response, modal shapes, and time impulse response have all been obtained from the digital computer implementation of this model, which is oriented to arm design and allows for easy variation of the arm configuration through data cards. The model corresponds with experimentally observed natural frequencies with an average error of less than 5% in the first three flexible modes in the seven cases considered. The model was used to explore the limits imposed by structural flexibility on a nondimensionalized two link arm with one and two joints for planar motion.

Adaptive elastic metasurfaces for wave front manipulation

NASA Astrophysics Data System (ADS)

Li, Shilong; Xu, Jiawen; Tang, Jiong

2018-04-01

In this research, by combining the concept of elastic metasurfaces with piezoelectric transducer with shunted circuitry, we investigate the designs of elastic metasurfaces, consisting of an array of piezoelectric transducers shunted with negative capacitance, which is capable of modulating wave fronts adaptively. In order to construct different adaptive elastic metasurfaces, different phase profiles along the interface can be framed through properly adjusting the negative capacitance values. Flat planar lenses for focusing transmitted A0 Lamb waves are achieved, and possess the flexibility of changing focal locations through electromechanical tunings. Additionally, nonparaxial self-bending beams with arbitrary trajectories and source illusion devices can also be accomplished owing to the free manipulation of phase shifts. With their versatility and tunability, the adaptive elastic metasurfaces could pave new avenues to a wide variety of potential applications, such as nondestructive testing, ultrasound imaging, and caustic engineering.

On the costs of parallel processing in dual-task performance: The case of lexical processing in word production.

PubMed

Paucke, Madlen; Oppermann, Frank; Koch, Iring; Jescheniak, Jörg D

2015-12-01

Previous dual-task picture-naming studies suggest that lexical processes require capacity-limited processes and prevent other tasks to be carried out in parallel. However, studies involving the processing of multiple pictures suggest that parallel lexical processing is possible. The present study investigated the specific costs that may arise when such parallel processing occurs. We used a novel dual-task paradigm by presenting 2 visual objects associated with different tasks and manipulating between-task similarity. With high similarity, a picture-naming task (T1) was combined with a phoneme-decision task (T2), so that lexical processes were shared across tasks. With low similarity, picture-naming was combined with a size-decision T2 (nonshared lexical processes). In Experiment 1, we found that a manipulation of lexical processes (lexical frequency of T1 object name) showed an additive propagation with low between-task similarity and an overadditive propagation with high between-task similarity. Experiment 2 replicated this differential forward propagation of the lexical effect and showed that it disappeared with longer stimulus onset asynchronies. Moreover, both experiments showed backward crosstalk, indexed as worse T1 performance with high between-task similarity compared with low similarity. Together, these findings suggest that conditions of high between-task similarity can lead to parallel lexical processing in both tasks, which, however, does not result in benefits but rather in extra performance costs. These costs can be attributed to crosstalk based on the dual-task binding problem arising from parallel processing. Hence, the present study reveals that capacity-limited lexical processing can run in parallel across dual tasks but only at the expense of extraordinary high costs. (c) 2015 APA, all rights reserved).

Coaxial microreactor for particle synthesis

DOEpatents

Bartsch, Michael; Kanouff, Michael P; Ferko, Scott M; Crocker, Robert W; Wally, Karl

2013-10-22

A coaxial fluid flow microreactor system disposed on a microfluidic chip utilizing laminar flow for synthesizing particles from solution. Flow geometries produced by the mixing system make use of hydrodynamic focusing to confine a core flow to a small axially-symmetric, centrally positioned and spatially well-defined portion of a flow channel cross-section to provide highly uniform diffusional mixing between a reactant core and sheath flow streams. The microreactor is fabricated in such a way that a substantially planar two-dimensional arrangement of microfluidic channels will produce a three-dimensional core/sheath flow geometry. The microreactor system can comprise one or more coaxial mixing stages that can be arranged singly, in series, in parallel or nested concentrically in parallel.

Detection of gamma-irradiation effect on DNA and protein using magnetic sensor and cyclic voltammetry.

PubMed

Park, Duck-Gun; Song, Hoon; Kishore, M B; Vértesy, G; Lee, Duk-Hyun

2013-11-01

In this study, a magnetic sensor utilizing Planar Hall Resistance (PHR) and cyclic Voltammetry (CV) for detecting the radiation effect was fabricated. Specifically, we applied in parallel a PHR sensor and CV device to monitor the irradiation effect on DNA and protein respectively. Through parallel measurements, we demonstrated that the PHR sensor and CV are sensitive enough to measure irradiation effect. The PHR voltage decreased by magnetic nanobead labeled DNA was slightly recovered after gamma ray irradiation. The behavior of cdk inhibitor protein p21 having a sandwich structure of Au/protein G/Ab/Ag/Ab was checked by monitoring the cyclic Voltammetry signal in analyzing the gamma ray irradiation effect.

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

PubMed

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

2018-06-01

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

Manipulating the magnetic anisotropy and magnetization dynamics by stress: Numerical calculation and experiment

NASA Astrophysics Data System (ADS)

Correa, M. A.; Bohn, F.

2018-05-01

We perform a theoretical and experimental investigation of the magnetic properties and magnetization dynamics of a ferromagnetic magnetostrictive multilayer grown onto a flexible substrate and submitted to external stress. We calculate the magnetic behavior and magnetoimpedance effect for a trilayered system from an approach that considers a magnetic permeability model for planar geometry and a magnetic free energy density which takes into account induced uniaxial and magnetoelastic anisotropy contributions. We verify remarkable modifications of the magnetic anisotropy with external stress, as well as we show that the dynamic magnetic response is strongly affected by these changes. We discuss the magnetic features that lead to modifications of the frequency limits where distinct mechanisms are responsible by the magnetoimpedance variations, enabling us to manipulate the resonance fields. To test the robustness of the approach, we directly compare theoretical results with experimental data. Thus, we provide experimental evidence to confirm the validity of the theoretical approach, as well as to manipulate the resonance fields to tune the MI response according to real applications in devices.

Cable-driven elastic parallel humanoid head with face tracking for Autism Spectrum Disorder interventions.

PubMed

Su, Hao; Dickstein-Fischer, Laurie; Harrington, Kevin; Fu, Qiushi; Lu, Weina; Huang, Haibo; Cole, Gregory; Fischer, Gregory S

2010-01-01

This paper presents the development of new prismatic actuation approach and its application in human-safe humanoid head design. To reduce actuator output impedance and mitigate unexpected external shock, the prismatic actuation method uses cables to drive a piston with preloaded spring. By leveraging the advantages of parallel manipulator and cable-driven mechanism, the developed neck has a parallel manipulator embodiment with two cable-driven limbs embedded with preloaded springs and one passive limb. The eye mechanism is adapted for low-cost webcam with succinct "ball-in-socket" structure. Based on human head anatomy and biomimetics, the neck has 3 degree of freedom (DOF) motion: pan, tilt and one decoupled roll while each eye has independent pan and synchronous tilt motion (3 DOF eyes). A Kalman filter based face tracking algorithm is implemented to interact with the human. This neck and eye structure is translatable to other human-safe humanoid robots. The robot's appearance reflects a non-threatening image of a penguin, which can be translated into a possible therapeutic intervention for children with Autism Spectrum Disorders.

Isotropic Backward Waves Supported by a Spiral Array Metasurface.

PubMed

Tremain, Ben; Hooper, Ian R; Sambles, J Roy; Hibbins, Alastair P

2018-05-08

A planar metallic metasurface formed of spiral elements is shown to support an isotropic backward wave over a narrow band of microwave frequencies. The magnetic field of this left-handed mode is mapped experimentally using a near-field scanning technique, allowing the anti-parallel group and phase velocities to be directly visualised. The corresponding dispersion relation and isofrequency contours are obtained through Fourier transformation of the field images.

Ethyl 4-ethyl­amino-3-nitro­benzoate

PubMed Central

Li, Hao-Yuan; Liu, Bo-Nian; Tang, Shi-Gui; Guo, Cheng

2009-01-01

In the mol­ecule of the title compound, C11H14N2O4, a bifurcated intra/intermolecular N—H⋯(O,O) hydrogen bond occurs.The intramolecular component results in a non-planar six-membered ring with a flattened-boat conformation. In the crystal structure, the inter­molecular interaction links the mol­ecules into chains parallel to the b axis. PMID:21581844

6-(4-Nitro­phen­oxy)hexa­nol

PubMed Central

Saif Ullah Khan, Muhammad; Akhter, Zareen; Bolte, Michael; Cheema, Sajjad A.; Siddiqi, Humaira M.

2009-01-01

The title compound, C12H17NO4, features an almost planar mol­ecule (r.m.s. deviation for all non-H atoms = 0.070 Å). All methyl­ene C—C bonds adopt an anti­periplanar conformation. In the crystal structure the mol­ecules lie in planes parallel to (12) and the packing is stabilized by O—H⋯O hydrogen bonds. PMID:21583147

Means for the focusing and acceleration of parallel beams of charged particles. [Patent application

DOEpatents

Maschke, A.W.

1980-09-23

Apparatus for focusing beams of charged particles comprising planar arrays of electrostatic quadrupoles. The array may be assembled from a single component which comprises a support plate containing uniform rows of poles. Each pole is separated by a hole through the plate designed to pass a beam. Two such plates may be positioned with their poles intermeshed to form a plurality of quadrupoles.

X-ray-structure of a cytidylyl-3',5'-adenosine-proflavine complex: a self-paired parallel-chain double helical dimer with an intercalated acridine dye.

PubMed Central

Westhof, E; Sundaralingam, M

1980-01-01

The non-self-complementary dinucleoside monophosphate cytidylyl-3',5'-adenosine (CpA) forms a base-paired parallel-chain dimer with an intercalated proflavine. The dimer complex possesses a right-handed helical twist. The dimer helix has an irregular girth with a neutral adenine-adenine (A-A) pair, hydrogen-bonded through the N6 and N7 sites (C1'...C1' separation of 10.97 A), and a triply hydrogen-bonded protonated cytosine-cytosine (C-C) pair with a proton shared between the base N3 sites (Cl'...Cl' separation of 9.59 A). The torsion angles of the sugar-phosphate backbone are within their most preferred ranges and the sugar puckering sequence (5' leads to 3') is C3'-endo, C2'-endo. There is also a second proflavine molecule sandwiched between CpA dimers on the 21-axis. Both proflavines are necessarily disordered, being on dyad axis, and this suggests possible insights into the dynamics of intercalation of planar drugs. This structure shows that intercalation of planar drugs in nucleic acids may not be restricted to antiparallel complementary Watson-Crick pairing regions and provides additional mechanisms for acridine mutagenesis. PMID:6929524

Single-Shot MR Spectroscopic Imaging with Partial Parallel Imaging

PubMed Central

Posse, Stefan; Otazo, Ricardo; Tsai, Shang-Yueh; Yoshimoto, Akio Ernesto; Lin, Fa-Hsuan

2010-01-01

An MR spectroscopic imaging (MRSI) pulse sequence based on Proton-Echo-Planar-Spectroscopic-Imaging (PEPSI) is introduced that measures 2-dimensional metabolite maps in a single excitation. Echo-planar spatial-spectral encoding was combined with interleaved phase encoding and parallel imaging using SENSE to reconstruct absorption mode spectra. The symmetrical k-space trajectory compensates phase errors due to convolution of spatial and spectral encoding. Single-shot MRSI at short TE was evaluated in phantoms and in vivo on a 3 T whole body scanner equipped with 12-channel array coil. Four-step interleaved phase encoding and 4-fold SENSE acceleration were used to encode a 16×16 spatial matrix with 390 Hz spectral width. Comparison with conventional PEPSI and PEPSI with 4-fold SENSE acceleration demonstrated comparable sensitivity per unit time when taking into account g-factor related noise increases and differences in sampling efficiency. LCModel fitting enabled quantification of Inositol, Choline, Creatine and NAA in vivo with concentration values in the ranges measured with conventional PEPSI and SENSE-accelerated PEPSI. Cramer-Rao lower bounds were comparable to those obtained with conventional SENSE-accelerated PEPSI at the same voxel size and measurement time. This single-shot MRSI method is therefore suitable for applications that require high temporal resolution to monitor temporal dynamics or to reduce sensitivity to tissue movement. PMID:19097245

An integrated open-cavity system for magnetic bead manipulation.

PubMed

Abu-Nimeh, F T; Salem, F M

2013-02-01

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

Robot training of upper limb in multiple sclerosis: comparing protocols with or without manipulative task components.

PubMed

Carpinella, Ilaria; Cattaneo, Davide; Bertoni, Rita; Ferrarin, Maurizio

2012-05-01

In this pilot study, we compared two protocols for robot-based rehabilitation of upper limb in multiple sclerosis (MS): a protocol involving reaching tasks (RT) requiring arm transport only and a protocol requiring both objects' reaching and manipulation (RMT). Twenty-two MS subjects were assigned to RT or RMT group. Both protocols consisted of eight sessions. During RT training, subjects moved the handle of a planar robotic manipulandum toward circular targets displayed on a screen. RMT protocol required patients to reach and manipulate real objects, by moving the robotic arm equipped with a handle which left the hand free for distal tasks. In both trainings, the robot generated resistive and perturbing forces. Subjects were evaluated with clinical and instrumental tests. The results confirmed that MS patients maintained the ability to adapt to the robot-generated forces and that the rate of motor learning increased across sessions. Robot-therapy significantly reduced arm tremor and improved arm kinematics and functional ability. Compared to RT, RMT protocol induced a significantly larger improvement in movements involving grasp (improvement in Grasp ARAT sub-score: RMT 77.4%, RT 29.5%, p=0.035) but not precision grip. Future studies are needed to evaluate if longer trainings and the use of robotic handles would significantly improve also fine manipulation.

Three-dimensional crossbar interconnection using planar-integrated free-space optics and digital mirror-device

NASA Astrophysics Data System (ADS)

Lohmann, U.; Jahns, J.; Limmer, S.; Fey, D.

2011-01-01

We consider the implementation of a dynamic crossbar interconnect using planar-integrated free-space optics (PIFSO) and a digital mirror-device™ (DMD). Because of the 3D nature of free-space optics, this approach is able to solve geometrical problems with crossings of the signal paths that occur in waveguide optical and electrical interconnection, especially for large number of connections. The DMD device allows one to route the signals dynamically. Due to the large number of individual mirror elements in the DMD, different optical path configurations are possible, thus offering the chance for optimizing the network configuration. The optimization is achieved by using an evolutionary algorithm for finding best values for a skewless parallel interconnection. Here, we present results and experimental examples for the use of the PIFSO/DMD-setup.

(2E,5E)-2,5-Bis(4-hy-droxy-3-meth-oxy-benzyl-idene)cyclo-penta-none ethanol monosolvate.

PubMed

Da'i, Muhammad; Yanuar, Arry; Meiyanto, Edy; Jenie, Umar Anggara; Supardjan, Amir Margono

2013-04-01

In the title structure, C21H20O5·C2H5OH, the curcumine-type mol-ecule has a double E conformation for the two benzyl-idene double bonds [C=C = 1.342 (4) and 1.349 (4) Å] and is nearly planar with respect to the non-H atoms (r.m.s. deviation from planarity = 0.069 Å). The two phenolic OH groups form bifurcated hydrogen bonds with intra-molecular branches to adjacent meth-oxy O atoms and inter-molecular branches to either a neighbouring mol-ecule or an ethanol solvent mol-ecule. The ethanol O atom donates a hydrogen bond to the keto O atom. These hydrogen bonds link the constituents into layers parallel to (101) in the crystal structure.

Putting corannulene in its place. Reactivity studies comparing corannulene with other aromatic hydrocarbons.

PubMed

George, Stephen R D; Frith, Thomas D H; Thomas, Donald S; Harper, Jason B

2015-09-14

A series of aromatic hydrocarbons were investigated so as to compare the reactivity of corannulene with planar aromatic hydrocarbons. Corannulene was found to be more reactive than benzene, naphthalene and triphenylene to Friedel-Crafts acylation whilst electrophilic aromatic bromination was also used to confirm that triphenylene was less reactive than corannulene and that pyrene, perylene and acenaphthene were more so. The stabilisation of a neighbouring carbocation by the various aromatic systems was investigated through consideration of the rates of methanolysis of a series of benzylic alcohols. The reactivity series was found to parallel that observed for the electrophilic aromatic substitutions and both series are supported by computational studies. As such, a reactivity scale was devised that showed that corannulene was less reactive than would be expected for an aromatic planar species of similar pi electron count.

Construction of a parallel processor for simulating manipulators and other mechanical systems

NASA Technical Reports Server (NTRS)

Hannauer, George

1991-01-01

This report summarizes the results of NASA Contract NAS5-30905, awarded under phase 2 of the SBIR Program, for a demonstration of the feasibility of a new high-speed parallel simulation processor, called the Real-Time Accelerator (RTA). The principal goals were met, and EAI is now proceeding with phase 3: development of a commercial product. This product is scheduled for commercial introduction in the second quarter of 1992.

A psychoanalyst views inception.

PubMed

Clemens, Norman A

2013-05-01

The author, a psychoanalyst, discusses the 2010 film, Inception, discerning the parallels and differences between cinematic dreaming states as shown in the film and psychoanalytic processes. The movie presents the unknown and un-psychoanalytic phenomena of group shared dreaming, manipulation of other people's dreams with criminal intent, and multiple structured layers of dreaming. In parallel, however, the lead character appears to work through a complicated state of derealization, mourning, guilt, rage, and loss in the course of dreaming.

PEM-PCA: a parallel expectation-maximization PCA face recognition architecture.

PubMed

Rujirakul, Kanokmon; So-In, Chakchai; Arnonkijpanich, Banchar

2014-01-01

Principal component analysis or PCA has been traditionally used as one of the feature extraction techniques in face recognition systems yielding high accuracy when requiring a small number of features. However, the covariance matrix and eigenvalue decomposition stages cause high computational complexity, especially for a large database. Thus, this research presents an alternative approach utilizing an Expectation-Maximization algorithm to reduce the determinant matrix manipulation resulting in the reduction of the stages' complexity. To improve the computational time, a novel parallel architecture was employed to utilize the benefits of parallelization of matrix computation during feature extraction and classification stages including parallel preprocessing, and their combinations, so-called a Parallel Expectation-Maximization PCA architecture. Comparing to a traditional PCA and its derivatives, the results indicate lower complexity with an insignificant difference in recognition precision leading to high speed face recognition systems, that is, the speed-up over nine and three times over PCA and Parallel PCA.

System and method for representing and manipulating three-dimensional objects on massively parallel architectures

DOEpatents

Karasick, Michael S.; Strip, David R.

1996-01-01

A parallel computing system is described that comprises a plurality of uniquely labeled, parallel processors, each processor capable of modelling a three-dimensional object that includes a plurality of vertices, faces and edges. The system comprises a front-end processor for issuing a modelling command to the parallel processors, relating to a three-dimensional object. Each parallel processor, in response to the command and through the use of its own unique label, creates a directed-edge (d-edge) data structure that uniquely relates an edge of the three-dimensional object to one face of the object. Each d-edge data structure at least includes vertex descriptions of the edge and a description of the one face. As a result, each processor, in response to the modelling command, operates upon a small component of the model and generates results, in parallel with all other processors, without the need for processor-to-processor intercommunication.

Parallel computation with molecular-motor-propelled agents in nanofabricated networks.

PubMed

Nicolau, Dan V; Lard, Mercy; Korten, Till; van Delft, Falco C M J M; Persson, Malin; Bengtsson, Elina; Månsson, Alf; Diez, Stefan; Linke, Heiner; Nicolau, Dan V

2016-03-08

The combinatorial nature of many important mathematical problems, including nondeterministic-polynomial-time (NP)-complete problems, places a severe limitation on the problem size that can be solved with conventional, sequentially operating electronic computers. There have been significant efforts in conceiving parallel-computation approaches in the past, for example: DNA computation, quantum computation, and microfluidics-based computation. However, these approaches have not proven, so far, to be scalable and practical from a fabrication and operational perspective. Here, we report the foundations of an alternative parallel-computation system in which a given combinatorial problem is encoded into a graphical, modular network that is embedded in a nanofabricated planar device. Exploring the network in a parallel fashion using a large number of independent, molecular-motor-propelled agents then solves the mathematical problem. This approach uses orders of magnitude less energy than conventional computers, thus addressing issues related to power consumption and heat dissipation. We provide a proof-of-concept demonstration of such a device by solving, in a parallel fashion, the small instance {2, 5, 9} of the subset sum problem, which is a benchmark NP-complete problem. Finally, we discuss the technical advances necessary to make our system scalable with presently available technology.

Independent Controls of Differently-Polarized Reflected Waves by Anisotropic Metasurfaces

PubMed Central

Ma, Hui Feng; Wang, Gui Zhen; Kong, Gu Sheng; Cui, Tie Jun

2015-01-01

We propose a kind of anisotropic planar metasurface, which has capacity to manipulate the orthogonally-polarized electromagnetic waves independently in the reflection mode. The metasurface is composed of orthogonally I-shaped structures and a metal-grounded plane spaced by a dielectric isolator, with the thickness of about 1/15 wavelength. The normally incident linear-polarized waves will be totally reflected by the metal plane, but the reflected phases of x- and y-polarized waves can be controlled independently by the orthogonally I-shaped structures. Based on this principle, we design four functional devices using the anisotropic metasurfaces to realize polarization beam splitting, beam deflection, and linear-to-circular polarization conversion with a deflection angle, respectively. Good performances have been observed from both simulation and measurement results, which show good capacity of the anisotropic metasurfaces to manipulate the x- and y-polarized reflected waves independently. PMID:25873323

Topography-Assisted Electromagnetic Platform for Blood-to-PCR in a Droplet

PubMed Central

Chiou, Chi-Han; Shin, Dong Jin; Zhang, Yi; Wang, Tza-Huei

2013-01-01

This paper presents an electromagnetically actuated platform for automated sample preparation and detection of nucleic acids. The proposed platform integrates nucleic acid extraction using silica-coated magnetic particles with real-time polymerase chain reaction (PCR) on a single cartridge. Extraction of genomic material was automated by manipulating magnetic particles in droplets using a series of planar coil electromagnets assisted by topographical features, enabling efficient fluidic processing over a variety of buffers and reagents. The functionality of the platform was demonstrated by performing nucleic acid extraction from whole blood, followed by real-time PCR detection of KRAS oncogene. Automated sample processing from whole blood to PCR-ready droplet was performed in 15 minutes. We took a modular approach of decoupling the modules of magnetic manipulation and optical detection from the device itself, enabling a low-complexity cartridge that operates in tandem with simple external instruments. PMID:23835223

Sensory Agreement Guides Kinetic Energy Optimization of Arm Movements during Object Manipulation.

PubMed

Farshchiansadegh, Ali; Melendez-Calderon, Alejandro; Ranganathan, Rajiv; Murphey, Todd D; Mussa-Ivaldi, Ferdinando A

2016-04-01

The laws of physics establish the energetic efficiency of our movements. In some cases, like locomotion, the mechanics of the body dominate in determining the energetically optimal course of action. In other tasks, such as manipulation, energetic costs depend critically upon the variable properties of objects in the environment. Can the brain identify and follow energy-optimal motions when these motions require moving along unfamiliar trajectories? What feedback information is required for such optimal behavior to occur? To answer these questions, we asked participants to move their dominant hand between different positions while holding a virtual mechanical system with complex dynamics (a planar double pendulum). In this task, trajectories of minimum kinetic energy were along curvilinear paths. Our findings demonstrate that participants were capable of finding the energy-optimal paths, but only when provided with veridical visual and haptic information pertaining to the object, lacking which the trajectories were executed along rectilinear paths.

Improving microwave antenna gain and bandwidth with phase compensation metasurface

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

Chen, Ke; Yang, Zhongjie; Feng, Yijun, E-mail: yjfeng@nju.edu.cn

Metasurface, as a planar version of artificial metamaterial, provide an effective way to manipulate electromagnetic wave propagation. Here, we present a transparent metasurface for compensating the out-of-phase radiation from a microstrip patch antenna to improve its radiation gain and bandwidth. Based on the equivalence principle of Huygens’ surface, we propose metasurface composed of both inductive and capacitive resonant elements which could produce high transmission with variable phase characteristics. Such metasurface mounted on a patch antenna can transform the spherical-like phase profile generated from the patch into an in-phase planar one. A prototype antenna has been fabricated and validated the squeezedmore » radiation pattern with suppressed sidelobes as well as enhanced impedance bandwidth due to strong near-field coupling. As operating at around 5.7 GHz, the proposed antenna may have potential application in wireless communication systems especially for point-to-point data transmission. It is believed that the design methodology could also be scaled to other frequency bands such as millimeter or terahertz wave.« less

Microfabricated Patch Clamp Electrodes for Improved Ion Channel Protein Measurements

NASA Astrophysics Data System (ADS)

Klemic, James; Klemic, Kathryn; Reed, Mark; Sigworth, Frederick

2002-03-01

Ion channels are trans-membrane proteins that underlie many cell functions including hormone and neurotransmitter release, muscle contraction and cell signaling cascades. Ion channel proteins are commonly characterized via the patch clamp method in which an extruded glass tube containing ionic solution, manipulated by an expert technician, is brought into contact with a living cell to record ionic current through the cell membrane. Microfabricated planar patch electrodes, micromolded in the silicone elastomer poly-dimethylsiloxane (PDMS) from microlithographically patterned structures, have been developed that improve on this method. Microfabrication techniques allow arrays of patch electrodes to be fabricated, increasing the throughput of the measurement technique. Planar patch electrodes readily allow the automation of cell sealing, further increasing throughput. Microfabricated electrode arrays may be readily integrated with microfluidic structures to allow fast, in situ solution exchange. Miniaturization of the electrode geometry should increase both the signal to noise and the bandwidth of the measurement. Microfabricated patch electrode arrays have been fabricated and measurements have been taken.

Assembly and positioning of actomyosin rings by contractility and planar cell polarity

PubMed Central

Sehring, Ivonne M; Recho, Pierre; Denker, Elsa; Kourakis, Matthew; Mathiesen, Birthe; Hannezo, Edouard; Dong, Bo; Jiang, Di

2015-01-01

The actomyosin cytoskeleton is a primary force-generating mechanism in morphogenesis, thus a robust spatial control of cytoskeletal positioning is essential. In this report, we demonstrate that actomyosin contractility and planar cell polarity (PCP) interact in post-mitotic Ciona notochord cells to self-assemble and reposition actomyosin rings, which play an essential role for cell elongation. Intriguingly, rings always form at the cells′ anterior edge before migrating towards the center as contractility increases, reflecting a novel dynamical property of the cortex. Our drug and genetic manipulations uncover a tug-of-war between contractility, which localizes cortical flows toward the equator and PCP, which tries to reposition them. We develop a simple model of the physical forces underlying this tug-of-war, which quantitatively reproduces our results. We thus propose a quantitative framework for dissecting the relative contribution of contractility and PCP to the self-assembly and repositioning of cytoskeletal structures, which should be applicable to other morphogenetic events. DOI: http://dx.doi.org/10.7554/eLife.09206.001 PMID:26486861

Sequential development of apical-basal and planar polarities in aggregating epitheliomuscular cells of Hydra.

PubMed

Seybold, Anna; Salvenmoser, Willi; Hobmayer, Bert

2016-04-01

Apical-basal and planar cell polarities are hallmarks of metazoan epithelia required to separate internal and external environments and to regulate trans- and intracellular transport, cytoskeletal organization, and morphogenesis. Mechanisms of cell polarization have been intensively studied in bilaterian model organisms, particularly in early embryos and cultured cells, while cell polarity in pre-bilaterian tissues is poorly understood. Here, we have studied apical-basal and planar polarization in regenerating (aggregating) clusters of epitheliomuscular cells of Hydra, a simple representative of the ancestral, pre-bilaterian phylum Cnidaria. Immediately after dissociation, single epitheliomuscular cells do not exhibit cellular polarity, but they polarize de novo during aggregation. Reestablishment of the Hydra-specific epithelial bilayer is a result of short-range cell sorting. In the early phase of aggregation, apical-basal polarization starts with an enlargement of the epithelial apical-basal diameter and by the development of belt-like apical septate junctions. Specification of the basal pole of epithelial cells occurs shortly later and is linked to synthesis of mesoglea, development of hemidesmosome-like junctions, and formation of desmosome-like junctions connecting the basal myonemes of neighbouring cells. Planar polarization starts, while apical-basal polarization is already ongoing. It is executed gradually starting with cell-autonomous formation, parallelization, and condensation of myonemes at the basal end of each epithelial cell and continuing with a final planar alignment of epitheliomuscular cells at the tissue level. Our findings reveal that epithelial polarization in Hydra aggregates occurs in defined steps well accessible by histological and ultrastructural techniques and they will provide a basis for future molecular studies. Copyright © 2016 Elsevier Inc. All rights reserved.

Optimal trajectory generation for mechanical arms. M.S. Thesis

NASA Technical Reports Server (NTRS)

Iemenschot, J. A.

1972-01-01

A general method of generating optimal trajectories between an initial and a final position of an n degree of freedom manipulator arm with nonlinear equations of motion is proposed. The method is based on the assumption that the time history of each of the coordinates can be expanded in a series of simple time functions. By searching over the coefficients of the terms in the expansion, trajectories which minimize the value of a given cost function can be obtained. The method has been applied to a planar three degree of freedom arm.

Morphology manipulation of M13 bacteriophage template for nanostructure assembly

NASA Astrophysics Data System (ADS)

Ngo-Duc, Tam-Triet; Zaman, Mohammed S.; Moon, Chung-Hee; Haberer, Elaine D.

2014-08-01

A gold-binding M13 bacteriophage was used as a model system to explore templating of inorganic material on geometrically transformed viruses . Gold-binding filamentous phage were converted to spheroid form with a short chloroform treatment, and the resulting morphology was investigated with electron microscopy. Binding studies revealed that spheroid-shaped gold-binding phage preserved its affinity for gold. Spheroids adhered to a planar substrate assembled clusters or rings of gold nanoparticles. This gold-binding phage served as a demonstration of a highly shape-modifiable viral-template for inorganic materials.

Ultra-wideband filtering of spoof surface plasmon polaritons using deep subwavelength planar structures

PubMed Central

Hu, Ming Zhe; Zhang, Hao Chi; Yin, Jia Yuan; Ding, Zhao; Liu, Jun Feng; Tang, Wen Xuan; Cui, Tie Jun

2016-01-01

Novel ultra-wideband filtering of spoof surface plasmon polaritons (SPPs) is proposed in the microwave frequency using deep subwavelength planar structures printed on thin and flexible dielectric substrate. The proposed planar SPPs waveguide is composed of two mirror-oriented metallic corrugated strips, which are further decorated with parallel-arranged slots in the main corrugated strips. This compound structure provides deep subwavelength field confinement as well as flexible parameters when employed as a plasmonic waveguide, which is potential to construct miniaturization. Using momentum and impedance matching technology, we achieve a smooth conversion between the proposed SPPs waveguide and the conventional transmission line. To verify the validity of the design, we fabricate a spoof SPPs filter, and the measured results illustrate excellent performance, in which the reflection coefficient is less than −10 dB within the −3 dB passband from 1.21 GHz to 7.21 GHz with the smallest insertion loss of 1.23 dB at 2.21 GHz, having very good agreements with numerical simulations. The ultra-wideband filter with low insertion loss and high transmission efficiency possesses great potential in modern communication systems. PMID:27883028

Ultra-wideband filtering of spoof surface plasmon polaritons using deep subwavelength planar structures.

PubMed

Hu, Ming Zhe; Zhang, Hao Chi; Yin, Jia Yuan; Ding, Zhao; Liu, Jun Feng; Tang, Wen Xuan; Cui, Tie Jun

2016-11-24

Novel ultra-wideband filtering of spoof surface plasmon polaritons (SPPs) is proposed in the microwave frequency using deep subwavelength planar structures printed on thin and flexible dielectric substrate. The proposed planar SPPs waveguide is composed of two mirror-oriented metallic corrugated strips, which are further decorated with parallel-arranged slots in the main corrugated strips. This compound structure provides deep subwavelength field confinement as well as flexible parameters when employed as a plasmonic waveguide, which is potential to construct miniaturization. Using momentum and impedance matching technology, we achieve a smooth conversion between the proposed SPPs waveguide and the conventional transmission line. To verify the validity of the design, we fabricate a spoof SPPs filter, and the measured results illustrate excellent performance, in which the reflection coefficient is less than -10 dB within the -3 dB passband from 1.21 GHz to 7.21 GHz with the smallest insertion loss of 1.23 dB at 2.21 GHz, having very good agreements with numerical simulations. The ultra-wideband filter with low insertion loss and high transmission efficiency possesses great potential in modern communication systems.

Reflectivities of uniform and broken marine stratiform clouds

NASA Technical Reports Server (NTRS)

Coakley, James A., Jr.

1990-01-01

Plane-parallel radiative transfer models are often used to estimate the effects of clouds on the earth's energy budget and to retrieve cloud properties from satellite observations. An attempt is made to assess the performance of such models by using AVHRR data collected during the FIRE MARINE Stratus IFO to determine the reflectivities and, in particular, the anisotropy of the reflected radiances for the clouds observed during the field experiment. The intent is to determine the anisotropy for conditions that are overcast and to compare this anisotropy with that produced by the same cloud when broken. The observations are used to quantify aspects of the differences between reflection by plane-parallel clouds and non-planar clouds expected on the basis of theoretical studies.

An image-space parallel convolution filtering algorithm based on shadow map

NASA Astrophysics Data System (ADS)

Li, Hua; Yang, Huamin; Zhao, Jianping

2017-07-01

Shadow mapping is commonly used in real-time rendering. In this paper, we presented an accurate and efficient method of soft shadows generation from planar area lights. First this method generated a depth map from light's view, and analyzed the depth-discontinuities areas as well as shadow boundaries. Then these areas were described as binary values in the texture map called binary light-visibility map, and a parallel convolution filtering algorithm based on GPU was enforced to smooth out the boundaries with a box filter. Experiments show that our algorithm is an effective shadow map based method that produces perceptually accurate soft shadows in real time with more details of shadow boundaries compared with the previous works.

Mixing enhancement of reacting parallel fuel jets in a supersonic combustor

NASA Technical Reports Server (NTRS)

Drummond, J. P.

1991-01-01

Pursuant to a NASA-Langley development program for a scramjet HST propulsion system entailing the optimization of the scramjet combustor's fuel-air mixing and reaction characteristics, a numerical study has been conducted of the candidate parallel fuel injectors. Attention is given to a method for flow mixing-process and combustion-efficiency enhancement in which a supersonic circular hydrogen jet coflows with a supersonic air stream. When enhanced by a planar oblique shock, the injector configuration exhibited a substantial degree of induced vorticity in the fuel stream which increased mixing and chemical reaction rates, relative to the unshocked configuration. The resulting heat release was effective in breaking down the stable hydrogen vortex pair that had inhibited more extensive fuel-air mixing.

Ising versus XY anisotropy in frustrated R(2)Ti(2)O(7) compounds as "Seen" by Polarized Neutrons.

PubMed

Cao, H; Gukasov, A; Mirebeau, I; Bonville, P; Decorse, C; Dhalenne, G

2009-07-31

We studied the field induced magnetic order in R(2)Ti(2)O(7) pyrochlore compounds with either uniaxial (R=Ho, Tb) or planar (R=Er, Yb) anisotropy, by polarized neutron diffraction. The determination of the local susceptibility tensor {chi(parallel to),chi(perpendicular)} provides a universal description of the field induced structures in the paramagnetic phase (2-270 K), whatever the field value (1-7 T) and direction. Comparison of the thermal variations of chi(parallel to) and chi(perpendicular) with calculations using the rare earth crystal field shows that exchange and dipolar interactions must be taken into account. We determine the molecular field tensor in each case and show that it can be strongly anisotropic.

Experimental Studies of the Interaction Between a Parallel Shear Flow and a Directionally-Solidifying Front

NASA Technical Reports Server (NTRS)

Zhang, Meng; Maxworthy, Tony

1999-01-01

It has long been recognized that flow in the melt can have a profound influence on the dynamics of a solidifying interface and hence the quality of the solid material. In particular, flow affects the heat and mass transfer, and causes spatial and temporal variations in the flow and melt composition. This results in a crystal with nonuniform physical properties. Flow can be generated by buoyancy, expansion or contraction upon phase change, and thermo-soluto capillary effects. In general, these flows can not be avoided and can have an adverse effect on the stability of the crystal structures. This motivates crystal growth experiments in a microgravity environment, where buoyancy-driven convection is significantly suppressed. However, transient accelerations (g-jitter) caused by the acceleration of the spacecraft can affect the melt, while convection generated from the effects other than buoyancy remain important. Rather than bemoan the presence of convection as a source of interfacial instability, Hurle in the 1960s suggested that flow in the melt, either forced or natural convection, might be used to stabilize the interface. Delves considered the imposition of both a parabolic velocity profile and a Blasius boundary layer flow over the interface. He concluded that fast stirring could stabilize the interface to perturbations whose wave vector is in the direction of the fluid velocity. Forth and Wheeler considered the effect of the asymptotic suction boundary layer profile. They showed that the effect of the shear flow was to generate travelling waves parallel to the flow with a speed proportional to the Reynolds number. There have been few quantitative, experimental works reporting on the coupling effect of fluid flow and morphological instabilities. Huang studied plane Couette flow over cells and dendrites. It was found that this flow could greatly enhance the planar stability and even induce the cell-planar transition. A rotating impeller was buried inside the sample cell, driven by an outside rotating magnet, in order to generate the flow. However, it appears that this was not a well-controlled flow and may also have been unsteady. In the present experimental study, we want to study how a forced parallel shear flow in a Hele-Shaw cell interacts with the directionally solidifying crystal interface. The comparison of experimental data show that the parallel shear flow in a Hele-Shaw cell has a strong stabilizing effect on the planar interface by damping the existing initial perturbations. The flow also shows a stabilizing effect on the cellular interface by slightly reducing the exponential growth rate of cells. The left-right symmetry of cells is broken by the flow with cells tilting toward the incoming flow direction. The tilting angle increases with the velocity ratio. The experimental results are explained through the parallel flow effect on lateral solute transport. The phenomenon of cells tilting against the flow is consistent with the numerical result of Dantzig and Chao.

STABILITY OF SMALL SELF-INTERSTITIAL CLUSTERS IN TUNGSTEN

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

Setyawan, Wahyu; Nandipati, Giridhar; Kurtz, Richard J.

2015-12-31

Density functional theory was employed to explore the stability of interstitial clusters in W up to size seven. For each cluster size, the most stable configuration consists of parallel dumbbells. For clusters larger than size three, parallel dumbbells prefer to form in a multilayer fashion, instead of a planar structure. For size-7 clusters, the most stable configuration is a complete octahedron. The binding energy of a [111] dumbbell to the most stable cluster increases with cluster size, namely 2.49, 3.68, 4.76, 4.82, 5.47, and 6.85 eV for clusters of size 1, 2, 3, 4, 5, and 6, respectively. For amore » size-2 cluster, collinear dumbbells are still repulsive at the maximum allowable distance of 13.8 Å (the fifth neighbor along [111]). On the other hand, parallel dumbbells are strongly bound together. Two parallel dumbbells in which the axis-to-axis distance is within a cylindrical radius of 5.2 Å still exhibit a considerable binding of 0.28 eV. The most stable cluster in each size will be used to explore interactions with transmutation products.« less

Rapid optimization of tension distribution for cable-driven parallel manipulators with redundant cables

NASA Astrophysics Data System (ADS)

Ouyang, Bo; Shang, Weiwei

2016-03-01

The solution of tension distributions is infinite for cable-driven parallel manipulators(CDPMs) with redundant cables. A rapid optimization method for determining the optimal tension distribution is presented. The new optimization method is primarily based on the geometry properties of a polyhedron and convex analysis. The computational efficiency of the optimization method is improved by the designed projection algorithm, and a fast algorithm is proposed to determine which two of the lines are intersected at the optimal point. Moreover, a method for avoiding the operating point on the lower tension limit is developed. Simulation experiments are implemented on a six degree-of-freedom(6-DOF) CDPM with eight cables, and the results indicate that the new method is one order of magnitude faster than the standard simplex method. The optimal distribution of tension distribution is thus rapidly established on real-time by the proposed method.

Full Wave Analysis of RF Signal Attenuation in a Lossy Rough Surface Cave using a High Order Time Domain Vector Finite Element Method

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

Pingenot, J; Rieben, R; White, D

2005-10-31

We present a computational study of signal propagation and attenuation of a 200 MHz planar loop antenna in a cave environment. The cave is modeled as a straight and lossy random rough wall. To simulate a broad frequency band, the full wave Maxwell equations are solved directly in the time domain via a high order vector finite element discretization using the massively parallel CEM code EMSolve. The numerical technique is first verified against theoretical results for a planar loop antenna in a smooth lossy cave. The simulation is then performed for a series of random rough surface meshes in ordermore » to generate statistical data for the propagation and attenuation properties of the antenna in a cave environment. Results for the mean and variance of the power spectral density of the electric field are presented and discussed.« less

(2E,5E)-2,5-Bis(4-hy­droxy-3-meth­oxy­benzyl­idene)cyclo­penta­none ethanol monosolvate

PubMed Central

Da’i, Muhammad; Yanuar, Arry; Meiyanto, Edy; Jenie, Umar Anggara; Supardjan, Amir Margono

2013-01-01

In the title structure, C21H20O5·C2H5OH, the curcumine-type mol­ecule has a double E conformation for the two benzyl­idene double bonds [C=C = 1.342 (4) and 1.349 (4) Å] and is nearly planar with respect to the non-H atoms (r.m.s. deviation from planarity = 0.069 Å). The two phenolic OH groups form bifurcated hydrogen bonds with intra­molecular branches to adjacent meth­oxy O atoms and inter­molecular branches to either a neighbouring mol­ecule or an ethanol solvent mol­ecule. The ethanol O atom donates a hydrogen bond to the keto O atom. These hydrogen bonds link the constituents into layers parallel to (101) in the crystal structure. PMID:23634071

In-vacuum exposure shutter

DOEpatents

Johnson, Terry A.; Replogle, William C.; Bernardez, Luis J.

2004-06-01

An in-vacuum radiation exposure shutter device can be employed to regulate a large footprint light beam. The shutter device includes (a) a source of radiation that generates an energy beam; (2) a shutter that includes (i) a frame defining an aperture toward which the energy beam is directed and (ii) a plurality of blades that are secured to the frame; and (3) device that rotates the shutter to cause the plurality of blades to intercept or allow the energy beam to travel through the aperture. Each blade can have a substantially planar surface and the plurality of blades are secured to the frame such that the planar surfaces of the plurality of blades are substantially parallel to each other. The shutter device is particularly suited for operation in a vacuum environment and can achieve shuttering speeds from about 0.1 second to 0.001 second or faster.

Spatially and temporally resolved gas distributions around heterogeneous catalysts using infrared planar laser-induced fluorescence

PubMed Central

Zetterberg, Johan; Blomberg, Sara; Gustafson, Johan; Evertsson, Jonas; Zhou, Jianfeng; Adams, Emma C.; Carlsson, Per-Anders; Aldén, Marcus; Lundgren, Edvin

2015-01-01

Visualizing and measuring the gas distribution in close proximity to a working catalyst is crucial for understanding how the catalytic activity depends on the structure of the catalyst. However, existing methods are not able to fully determine the gas distribution during a catalytic process. Here we report on how the distribution of a gas during a catalytic reaction can be imaged in situ with high spatial (400 μm) and temporal (15 μs) resolution using infrared planar laser-induced fluorescence. The technique is demonstrated by monitoring, in real-time, the distribution of carbon dioxide during catalytic oxidation of carbon monoxide above powder catalysts. Furthermore, we demonstrate the versatility and potential of the technique in catalysis research by providing a proof-of-principle demonstration of how the activity of several catalysts can be measured simultaneously, either in the same reactor chamber, or in parallel, in different reactor tubes. PMID:25953006

Shock response of 7068 aluminium alloy

NASA Astrophysics Data System (ADS)

Chapman, David; Eakins, Daniel; Proud, William

2013-06-01

Aluminium alloys are widely employed throughout the aerospace and defence industries due to their high specific strength. Aluminium alloy 7068, often described as the ultimate aluminium alloy was developed by Kasier Aluminium in the mid-1990s and is the strongest aluminium commercially produced. There remains little published data on the response of this micro-structurally anisotropic alloy to dynamic loading. As part of an investigation of the high-rate mechanical properties of Al 7068, a series of plate-impact experiments using a novel meso-scale planar impact facility and a more conventional large bore gas gun were undertaken. The evolution of the elastic-plastic shock wave and spall strength as a function of sample thickness and specimen orientation were investigated using optical velocimetry (line-VISAR, PDV) techniques. Planar shock wave experiments were conducted on specimens several 100 microns to several millimetres thick cut from either parallel or perpendicular to the extrusion direction.

Luneburg lens and optical matrix algebra research

NASA Technical Reports Server (NTRS)

Wood, V. E.; Busch, J. R.; Verber, C. M.; Caulfield, H. J.

1984-01-01

Planar, as opposed to channelized, integrated optical circuits (IOCs) were stressed as the basis for computational devices. Both fully-parallel and systolic architectures are considered and the tradeoffs between the two device types are discussed. The Kalman filter approach is a most important computational method for many NASA problems. This approach to deriving a best-fit estimate for the state vector describing a large system leads to matrix sizes which are beyond the predicted capacities of planar IOCs. This problem is overcome by matrix partitioning, and several architectures for accomplishing this are described. The Luneburg lens work has involved development of lens design techniques, design of mask arrangements for producing lenses of desired shape, investigation of optical and chemical properties of arsenic trisulfide films, deposition of lenses both by thermal evaporation and by RF sputtering, optical testing of these lenses, modification of lens properties through ultraviolet irradiation, and comparison of measured lens properties with those expected from ray trace analyses.

Misalignments calibration in small-animal PET scanners based on rotating planar detectors and parallel-beam geometry.

PubMed

Abella, M; Vicente, E; Rodríguez-Ruano, A; España, S; Lage, E; Desco, M; Udias, J M; Vaquero, J J

2012-11-21

Technological advances have improved the assembly process of PET detectors, resulting in quite small mechanical tolerances. However, in high-spatial-resolution systems, even submillimetric misalignments of the detectors may lead to a notable degradation of image resolution and artifacts. Therefore, the exact characterization of misalignments is critical for optimum reconstruction quality in such systems. This subject has been widely studied for CT and SPECT scanners based on cone beam geometry, but this is not the case for PET tomographs based on rotating planar detectors. The purpose of this work is to analyze misalignment effects in these systems and to propose a robust and easy-to-implement protocol for geometric characterization. The result of the proposed calibration method, which requires no more than a simple calibration phantom, can then be used to generate a correct 3D-sinogram from the acquired list mode data.

Manipulating parallel circuits: the perioperative management of patients with complex congenital cardiac disease.

PubMed

Lawrenson, John; Eyskens, Benedicte; Vlasselaers, Dirk; Gewillig, Marc

2003-08-01

In all patients undergoing cardiac surgery, the effective delivery of oxygen to the tissues is of paramount importance. In the patient with relatively normal cardiac structures, the pulmonary and systemic circulations are relatively independent of each other. In the patient with a functional single ventricle, the pulmonary and systemic circulations are dependent on the same pump. As a consequence of this interdependency, the haemodynamic changes following complex palliative procedures, such as the Norwood operation, can be difficult to understand. Comparison of the newly created surgical connections to a simple set of direct current electrical circuits may help the practitioner to successfully care for the patient. In patients undergoing complex palliations, the pulmonary and systemic circulations can be compared to two circuits in parallel. Manipulations of variables, such as resistance or flow, in one circuit, can profoundly affect the performance of the other circuit. A large pulmonary flow might result in a large increase in the saturation of haemoglobin with oxygen returning to the heart via the pulmonary veins at the expense of a decreased systemic flow. Accurate balancing of these parallel circulations requires an appreciation of all interventions that can affect individual components of both circulations.

Three-dimensional mid-air acoustic manipulation by ultrasonic phased arrays.

PubMed

Ochiai, Yoichi; Hoshi, Takayuki; Rekimoto, Jun

2014-01-01

The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in conventional studies was parallel to the gravitational force, and the levitated objects were manipulated along the fixed axis (i.e. one-dimensionally) by controlling the phases or frequencies of bolted Langevin-type transducers. In the present study, we considered extended acoustic manipulation whereby millimetre-sized particles were levitated and moved three-dimensionally by localised ultrasonic standing waves, which were generated by ultrasonic phased arrays. Our manipulation system has two original features. One is the direction of the ultrasound beam, which is arbitrary because the force acting toward its centre is also utilised. The other is the manipulation principle by which a localised standing wave is generated at an arbitrary position and moved three-dimensionally by opposed and ultrasonic phased arrays. We experimentally confirmed that expanded-polystyrene particles of 0.6 mm, 1 mm, and 2 mm in diameter could be manipulated by our proposed method.

Three-Dimensional Mid-Air Acoustic Manipulation by Ultrasonic Phased Arrays

PubMed Central

Ochiai, Yoichi; Hoshi, Takayuki; Rekimoto, Jun

2014-01-01

The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in conventional studies was parallel to the gravitational force, and the levitated objects were manipulated along the fixed axis (i.e. one-dimensionally) by controlling the phases or frequencies of bolted Langevin-type transducers. In the present study, we considered extended acoustic manipulation whereby millimetre-sized particles were levitated and moved three-dimensionally by localised ultrasonic standing waves, which were generated by ultrasonic phased arrays. Our manipulation system has two original features. One is the direction of the ultrasound beam, which is arbitrary because the force acting toward its centre is also utilised. The other is the manipulation principle by which a localised standing wave is generated at an arbitrary position and moved three-dimensionally by opposed and ultrasonic phased arrays. We experimentally confirmed that expanded-polystyrene particles of 0.6 mm, 1 mm, and 2 mm in diameter could be manipulated by our proposed method. PMID:24849371

Microfluidic devices for the controlled manipulation of small volumes

DOEpatents

Ramsey, J Michael [Knoxville, TN; Jacobson, Stephen C [Knoxville, TN

2003-02-25

A method for conducting a broad range of biochemical analyses or manipulations on a series of nano- to subnanoliter reaction volumes and an apparatus for carrying out the same are disclosed. The method and apparatus are implemented on a fluidic microchip to provide high serial throughput. The method and device of the invention also lend themselves to multiple parallel analyses and manipulation to provide greater throughput for the generation of biochemical information. In particular, the disclosed device is a microfabricated channel device that can manipulate nanoliter or subnanoliter biochemical reaction volumes in a controlled manner to produce results at rates of 1 to 10 Hz per channel. The individual reaction volumes are manipulated in serial fashion analogous to a digital shift register. The method and apparatus according to this invention have application to such problems as screening molecular or cellular targets using single beads from split-synthesis combinatorial libraries, screening single cells for RNA or protein expression, genetic diagnostic screening at the single cell level, or performing single cell signal transduction studies.

Measurements and modeling of the impact of weak magnetic fields on the plasma properties of a planar slot antenna driven plasma source

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

Yoshikawa, Jun, E-mail: jun.yoshikawa@tel.com; Susa, Yoshio; Ventzek, Peter L. G.

The radial line slot antenna plasma source is a type of surface wave plasma source driven by a planar slot antenna. Microwave power is transmitted through a slot antenna structure and dielectric window to a plasma characterized by a generation zone adjacent to the window and a diffusion zone that contacts a substrate. The diffusion zone is characterized by a very low electron temperature. This renders the source useful for soft etch applications and thin film deposition processes requiring low ion energy. Another property of the diffusion zone is that the plasma density tends to decrease from the axis tomore » the walls under the action of ambipolar diffusion at distances far from where the plasma is generated. A previous simulation study [Yoshikawa and. Ventzek, J. Vac. Sci. Technol. A 31, 031306 (2013)] predicted that the anisotropy in transport parameters due to weak static magnetic fields less than 50 G could be leveraged to manipulate the plasma profile in the radial direction. These simulations motivated experimental tests in which weak magnetic fields were applied to a radial line slot antenna source. Plasma absorption probe measurements of electron density and etch rate showed that the magnetic fields remote from the wafer were able to manipulate both parameters. A summary of these results is presented in this paper. Argon plasma simulation trends are compared with experimental plasma and etch rate measurements. A test of the impact of magnetic fields on charge up damage showed no perceptible negative effect.« less

Charge line quad pulser

DOEpatents

Booth, R.

1996-10-08

A quartet of parallel coupled planar triodes is removably mounted in a quadrahedron shaped PCB structure. Releasable brackets and flexible means attached to each triode socket make triode cathode and grid contact with respective conductive coatings on the PCB and a detachable cylindrical conductive element enclosing and contacting the triode anodes jointly permit quick and easy replacement of faulty triodes. By such orientation, the quad pulser can convert a relatively low and broad pulse into a very high and narrow pulse. 16 figs.

Charge line quad pulser

DOEpatents

Booth, Rex

1996-01-01

A quartet of parallel coupled planar triodes is removably mounted in a quadrahedron shaped PCB structure. Releasable brackets and flexible means attached to each triode socket make triode cathode and grid contact with respective conductive coatings on the PCB and a detachable cylindrical conductive element enclosing and contacting the triode anodes jointly permit quick and easy replacement of faulty triodes. By such orientation, the quad pulser can convert a relatively low and broad pulse into a very high and narrow pulse.

7-Meth­oxy­indan-1-one

PubMed Central

Chang, Yuan Jay; Chen, Kew-Yu

2012-01-01

In the title compound, C10H10O2, the 1-indanone unit is essentially planar (r.m.s. deviation = 0.028 Å). In the crystal, molecules are linked via C—H⋯O hydrogen bonds, forming layers lying parallel to the ab plane. This two-dimensional structure is stabilized by a weak C—H⋯π inter­action. A second weak C—H⋯π inter­action links the layers, forming a three-dimensional structure. PMID:23284398

Crystal structure of 4,5-dinitro-1 H-imidazole

DOE PAGES

Windler, G. Kenneth; Scott, Brian L.; Tomson, Neil C.; ...

2015-01-01

Here, the title compound, C 3H 2N 4O 4, forms crystals with two molecules in the asymmetric unit which are conformationally similar. With the exception of the O atoms of the nitro groups, the molecules are essentially planar. In the crystal, adjacent molecules are associated by N—H...N hydrogen bonds involving the imidazole N—H donors and N-atom acceptors of the unsaturated nitrogen of neighboring rings, forming layers parallel to (010).

Exact analysis of surface field reduction due to field-emitted vacuum space charge, in parallel-plane geometry, using simple dimensionless equations

NASA Astrophysics Data System (ADS)

Forbes, Richard G.

2008-10-01

This paper reports (a) a simple dimensionless equation relating to field-emitted vacuum space charge (FEVSC) in parallel-plane geometry, namely 9ζ2θ2-3θ-4ζ+3=0, where ζ is the FEVSC "strength" and θ is the reduction in emitter surface field (θ =field-with/field-without FEVSC), and (b) the formula j =9θ2ζ/4, where j is the ratio of emitted current density JP to that predicted by Child's law. These equations apply to any charged particle, positive or negative, emitted with near-zero kinetic energy. They yield existing and additional basic formulas in planar FEVSC theory. The first equation also yields the well-known cubic equation describing the relationship between JP and applied voltage; a method of analytical solution is described. Illustrative FEVSC effects in a liquid metal ion source and in field electron emission are discussed. For Fowler-Nordheim plots, a "turn-over" effect is predicted in the high FEVSC limit. The higher the voltage-to-local-field conversion factor for the emitter concerned, then the higher is the field at which turn over occurs. Past experiments have not found complete turn over; possible reasons are noted. For real field emitters, planar theory is a worst-case limit; however, adjusting ζ on the basis of Monte Carlo calculations might yield formulae adequate for real situations.

Long-time self-diffusion of charged spherical colloidal particles in parallel planar layers.

PubMed

Contreras-Aburto, Claudio; Báez, César A; Méndez-Alcaraz, José M; Castañeda-Priego, Ramón

2014-06-28

The long-time self-diffusion coefficient, D(L), of charged spherical colloidal particles in parallel planar layers is studied by means of Brownian dynamics computer simulations and mode-coupling theory. All particles (regardless which layer they are located on) interact with each other via the screened Coulomb potential and there is no particle transfer between layers. As a result of the geometrical constraint on particle positions, the simulation results show that D(L) is strongly controlled by the separation between layers. On the basis of the so-called contraction of the description formalism [C. Contreras-Aburto, J. M. Méndez-Alcaraz, and R. Castañeda-Priego, J. Chem. Phys. 132, 174111 (2010)], the effective potential between particles in a layer (the so-called observed layer) is obtained from integrating out the degrees of freedom of particles in the remaining layers. We have shown in a previous work that the effective potential performs well in describing the static structure of the observed layer (loc. cit.). In this work, we find that the D(L) values determined from the simulations of the observed layer, where the particles interact via the effective potential, do not agree with the exact values of D(L). Our findings confirm that even when an effective potential can perform well in describing the static properties, there is no guarantee that it will correctly describe the dynamic properties of colloidal systems.

Sinusoidal echo-planar imaging with parallel acquisition technique for reduced acoustic noise in auditory fMRI.

PubMed

Zapp, Jascha; Schmitter, Sebastian; Schad, Lothar R

2012-09-01

To extend the parameter restrictions of a silent echo-planar imaging (sEPI) sequence using sinusoidal readout (RO) gradients, in particular with increased spatial resolution. The sound pressure level (SPL) of the most feasible configurations is compared to conventional EPI having trapezoidal RO gradients. We enhanced the sEPI sequence by integrating a parallel acquisition technique (PAT) on a 3 T magnetic resonance imaging (MRI) system. The SPL was measured for matrix sizes of 64 × 64 and 128 × 128 pixels, without and with PAT (R = 2). The signal-to-noise ratio (SNR) was examined for both sinusoidal and trapezoidal RO gradients. Compared to EPI PAT, the SPL could be reduced by up to 11.1 dB and 5.1 dB for matrix sizes of 64 × 64 and 128 × 128 pixels, respectively. The SNR of sinusoidal RO gradients is lower by a factor of 0.96 on average compared to trapezoidal RO gradients. The sEPI PAT sequence allows for 1) increased resolution, 2) expanded RO frequency range toward lower frequencies, which is in general beneficial for SPL, or 3) shortened TE, TR, and RO train length. At the same time, it generates lower SPL compared to conventional EPI for a wide range of RO frequencies while having the same imaging parameters. Copyright © 2012 Wiley Periodicals, Inc.

Single-shot magnetic resonance spectroscopic imaging with partial parallel imaging.

PubMed

Posse, Stefan; Otazo, Ricardo; Tsai, Shang-Yueh; Yoshimoto, Akio Ernesto; Lin, Fa-Hsuan

2009-03-01

A magnetic resonance spectroscopic imaging (MRSI) pulse sequence based on proton-echo-planar-spectroscopic-imaging (PEPSI) is introduced that measures two-dimensional metabolite maps in a single excitation. Echo-planar spatial-spectral encoding was combined with interleaved phase encoding and parallel imaging using SENSE to reconstruct absorption mode spectra. The symmetrical k-space trajectory compensates phase errors due to convolution of spatial and spectral encoding. Single-shot MRSI at short TE was evaluated in phantoms and in vivo on a 3-T whole-body scanner equipped with a 12-channel array coil. Four-step interleaved phase encoding and fourfold SENSE acceleration were used to encode a 16 x 16 spatial matrix with a 390-Hz spectral width. Comparison with conventional PEPSI and PEPSI with fourfold SENSE acceleration demonstrated comparable sensitivity per unit time when taking into account g-factor-related noise increases and differences in sampling efficiency. LCModel fitting enabled quantification of inositol, choline, creatine, and N-acetyl-aspartate (NAA) in vivo with concentration values in the ranges measured with conventional PEPSI and SENSE-accelerated PEPSI. Cramer-Rao lower bounds were comparable to those obtained with conventional SENSE-accelerated PEPSI at the same voxel size and measurement time. This single-shot MRSI method is therefore suitable for applications that require high temporal resolution to monitor temporal dynamics or to reduce sensitivity to tissue movement.

Experimental Observation of the Effects of Translational and Rotational Electrode Misalignment on a Planar Linear Ion Trap Mass Spectrometer

NASA Astrophysics Data System (ADS)

Tian, Yuan; Decker, Trevor K.; McClellan, Joshua S.; Wu, Qinghao; De la Cruz, Abraham; Hawkins, Aaron R.; Austin, Daniel E.

2018-04-01

The performance of miniaturized ion trap mass analyzers is limited, in part, by the accuracy with which electrodes can be fabricated and positioned relative to each other. Alignment of plates in a two-plate planar LIT is ideal to characterize misalignment effects, as it represents the simplest possible case, having only six degrees of freedom (DOF) (three translational and three rotational). High-precision motorized actuators were used to vary the alignment between the two ion trap plates in five DOFs—x, y, z, pitch, and yaw. A comparison between the experiment and previous simulations shows reasonable agreement. Pitch, or the degree to which the plates are parallel along the axial direction, has the largest and sharpest impact to resolving power, with resolving power dropping noticeably with pitch misalignment of a fraction of a degree. Lateral displacement (x) and yaw (rotation of one plate, but plates remain parallel) both have a strong impact on ion ejection efficiency, but little effect on resolving power. The effects of plate spacing (y-displacement) on both resolving power and ion ejection efficiency are attributable to higher-order terms in the trapping field. Varying the DC (axial) trapping potential can elucidate the effects where more misalignments in more than one DOF affect performance. Implications of these results for miniaturized ion traps are discussed. [Figure not available: see fulltext.

Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload.

PubMed

Sharma, Richa; Gaur, Prerna; Mittal, A P

2015-09-01

The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Dispersionless Manipulation of Reflected Acoustic Wavefront by Subwavelength Corrugated Surface

PubMed Central

Zhu, Yi-Fan; Zou, Xin-Ye; Li, Rui-Qi; Jiang, Xue; Tu, Juan; Liang, Bin; Cheng, Jian-Chun

2015-01-01

Free controls of optic/acoustic waves for bending, focusing or steering the energy of wavefronts are highly desirable in many practical scenarios. However, the dispersive nature of the existing metamaterials/metasurfaces for wavefront manipulation necessarily results in limited bandwidth. Here, we propose the concept of dispersionless wavefront manipulation and report a theoretical, numerical and experimental work on the design of a reflective surface capable of controlling the acoustic wavefront arbitrarily without bandwidth limitation. Analytical analysis predicts the possibility to completely eliminate the frequency dependence with a specific gradient surface which can be implemented by designing a subwavelength corrugated surface. Experimental and numerical results, well consistent with the theoretical predictions, have validated the proposed scheme by demonstrating a distinct phenomenon of extraordinary acoustic reflection within an ultra-broad band. For acquiring a deeper insight into the underlying physics, a simple physical model is developed which helps to interpret this extraordinary phenomenon and predict the upper cutoff frequency precisely. Generations of planar focusing and non-diffractive beam have also been exemplified. With the dispersionless wave-steering capability and deep discrete resolution, our designed structure may open new avenue to fully steer classical waves and offer design possibilities for broadband optical/acoustical devices. PMID:26077772

Roller-gear drives for robotic manipulators design, fabrication and test

NASA Technical Reports Server (NTRS)

Anderson, William J.; Shipitalo, William

1991-01-01

Two single axis planetary roller-gear drives and a two axis roller-gear drive with dual inputs were designed for use as robotic transmissions. Each of the single axis drives is a two planet row, four planet arrangement with spur gears and compressively loaded cylindrical rollers acting in parallel. The two axis drive employs bevel gears and cone rollers acting in parallel. The rollers serve a dual function: they remove backlash from the system, and they transmit torque when the gears are not fully engaged.

Computational structures for robotic computations

NASA Technical Reports Server (NTRS)

Lee, C. S. G.; Chang, P. R.

1987-01-01

The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking advantage of parallelism and pipelining architectures is discussed. For the computation of inverse kinematic position solution, a maximum pipelined CORDIC architecture has been designed based on a functional decomposition of the closed-form joint equations. For the inverse dynamics computation, an efficient p-fold parallel algorithm to overcome the recurrence problem of the Newton-Euler equations of motion to achieve the time lower bound of O(log sub 2 n) has also been developed.

An Approach Using Parallel Architecture to Storage DICOM Images in Distributed File System

NASA Astrophysics Data System (ADS)

Soares, Tiago S.; Prado, Thiago C.; Dantas, M. A. R.; de Macedo, Douglas D. J.; Bauer, Michael A.

2012-02-01

Telemedicine is a very important area in medical field that is expanding daily motivated by many researchers interested in improving medical applications. In Brazil was started in 2005, in the State of Santa Catarina has a developed server called the CyclopsDCMServer, which the purpose to embrace the HDF for the manipulation of medical images (DICOM) using a distributed file system. Since then, many researches were initiated in order to seek better performance. Our approach for this server represents an additional parallel implementation in I/O operations since HDF version 5 has an essential feature for our work which supports parallel I/O, based upon the MPI paradigm. Early experiments using four parallel nodes, provide good performance when compare to the serial HDF implemented in the CyclopsDCMServer.

Basal ganglia and gait control: apomorphine administration and internal pallidum stimulation in Parkinson's disease.

PubMed

Grasso, R; Peppe, A; Stratta, F; Angelini, D; Zago, M; Stanzione, P; Lacquaniti, F

1999-05-01

Gait coordination was analyzed (four-camera 100 Hz ELITE system) in two groups of idiopathic Parkinson disease (PD) patients. Five patients underwent continuous infusion of apomorphine and were recorded in two different sessions (APO OFF and APO ON) in the same day. Three patients with a previous chronic electrode implantation in both internal globi pallidi (GPi) were recorded in the same experimental session with the electrodes on and off (STIM ON and STIM OFF). The orientation of both the trunk and the lower-limb segments was described with respect to the vertical in the sagittal plane. Lower-limb inter-segmental coordination was evaluated by analyzing the co-variation between thigh, shank, and foot elevation angles by means of orthogonal planar regression. At least 30 gait cycles per experimental condition were processed. We found that the trunk was bent forward in STIM OFF, whereas it was better aligned with the vertical in STIM ON in both PD groups. The legs never fully extended during the gait cycle in STIM OFF, whereas they extended before heel strike in STIM ON. The multisegmental coordination of the lower limb changed almost in parallel with the changes in trunk orientation. In STIM OFF, both the shape and the spatial orientation of the planar gait loops (thigh angle vs. shank angle vs. foot angle) differed from those of physiological locomotion, whereas in STIM ON the gait loop tended to resume features closer to the control. Switching the electrodes on and off in patients with GPi electrodes resulted in quasi-parallel changes of the trunk inclination and of the planar gait loop. The bulk of the data suggest that the basal-ganglia circuitry may be relevant in locomotion by providing an appropriate spatio-temporal framework for the control of posture and movement in a gravity-based body-centered frame of reference. Pallido-thalamic and/or pallido-mesencephalic pathways may influence the timing of the inter-segmental coordination for gait.

Design and performance evaluation of a new high energy parallel hole collimator for radioiodine planar imaging by gamma cameras: Monte Carlo simulation study.

PubMed

Moslemi, Vahid; Ashoor, Mansour

2017-05-01

In addition to the trade-off between resolution and sensitivity which is a common problem among all types of parallel hole collimators (PCs), obtained images by high energy PCs (HEPCs) suffer from hole-pattern artifact (HPA) due to further septa thickness. In this study, a new design on the collimator has been proposed to improve the trade-off between resolution and sensitivity and to eliminate the HPA. A novel PC, namely high energy extended PC (HEEPC), is proposed and is compared to HEPCs. In the new PC, trapezoidal denticles were added upon the septa in the detector side. The performance of the HEEPCs were evaluated and compared to that of HEPCs using a Monte Carlo-N-particle version5 (MCNP5) simulation. The point spread functions (PSF) of HEPCs and HEEPCs were obtained as well as the various parameters such as resolution, sensitivity, scattering, and penetration ratios, and the HPA of the collimators was assessed. Furthermore, a Picker phantom study was performed to examine the effects of the collimators on the quality of planar images. It was found that the HEEPC D with an identical resolution to that of HEPC C increased sensitivity by 34.7%, and it improved the trade-off between resolution and sensitivity as well as to eliminate the HPA. In the picker phantom study, the HEEPC D indicated the hot and cold lesions with the higher contrast, lower noise, and higher contrast to noise ratio (CNR). Since the HEEPCs modify the shaping of PSFs, they are able to improve the trade-off between the resolution and sensitivity; consequently, planar images can be achieved with higher contrast resolutions. Furthermore, because the HEEPC S reduce the HPA and produce images with a higher CNR, compared to HEPCs, the obtained images by HEEPCs have a higher quality, which can help physicians to provide better diagnosis.

Experimental and modelling study of the effect of airflow orientation with respect to strip electrode on ozone production of surface dielectric barrier discharge

NASA Astrophysics Data System (ADS)

Mikeš, J.; Pekárek, S.; Soukup, I.

2016-11-01

This study examines the effect of airflow orientation with respect to the strip active electrode on concentration of ozone and nitrogen dioxide produced in a planar generator based on the surface dielectric barrier discharge. The orientation of the airflow was tested in parallel and perpendicular with respect to the strips. It was found that in the investigated range of average discharge power, the ozone concentration increases approximately by 25% when airflow was oriented in parallel with respect to the strips in comparison with perpendicular orientation of the airflow. Similarly the increase of nitrogen dioxide concentration was observed for parallel orientation of the airflow with respect to the strips in comparison with the perpendicular orientation of the airflow. Within the range of wavelengths from 250 to 1100 nm, the changes of intensities of spectral lines associated with airflow orientation have been observed. A 3D numerical model describing ion trajectories and airflow patterns have also been developed.

Quadrature transmit array design using single-feed circularly polarized patch antenna for parallel transmission in MR imaging.

PubMed

Pang, Yong; Yu, Baiying; Vigneron, Daniel B; Zhang, Xiaoliang

2014-02-01

Quadrature coils are often desired in MR applications because they can improve MR sensitivity and also reduce excitation power. In this work, we propose, for the first time, a quadrature array design strategy for parallel transmission at 298 MHz using single-feed circularly polarized (CP) patch antenna technique. Each array element is a nearly square ring microstrip antenna and is fed at a point on the diagonal of the antenna to generate quadrature magnetic fields. Compared with conventional quadrature coils, the single-feed structure is much simple and compact, making the quadrature coil array design practical. Numerical simulations demonstrate that the decoupling between elements is better than -35 dB for all the elements and the RF fields are homogeneous with deep penetration and quadrature behavior in the area of interest. Bloch equation simulation is also performed to simulate the excitation procedure by using an 8-element quadrature planar patch array to demonstrate its feasibility in parallel transmission at the ultrahigh field of 7 Tesla.

Integrated parallel reception, excitation, and shimming (iPRES).

PubMed

Han, Hui; Song, Allen W; Truong, Trong-Kha

2013-07-01

To develop a new concept for a hardware platform that enables integrated parallel reception, excitation, and shimming. This concept uses a single coil array rather than separate arrays for parallel excitation/reception and B0 shimming. It relies on a novel design that allows a radiofrequency current (for excitation/reception) and a direct current (for B0 shimming) to coexist independently in the same coil. Proof-of-concept B0 shimming experiments were performed with a two-coil array in a phantom, whereas B0 shimming simulations were performed with a 48-coil array in the human brain. Our experiments show that individually optimized direct currents applied in each coil can reduce the B0 root-mean-square error by 62-81% and minimize distortions in echo-planar images. The simulations show that dynamic shimming with the 48-coil integrated parallel reception, excitation, and shimming array can reduce the B0 root-mean-square error in the prefrontal and temporal regions by 66-79% as compared with static second-order spherical harmonic shimming and by 12-23% as compared with dynamic shimming with a 48-coil conventional shim array. Our results demonstrate the feasibility of the integrated parallel reception, excitation, and shimming concept to perform parallel excitation/reception and B0 shimming with a unified coil system as well as its promise for in vivo applications. Copyright © 2013 Wiley Periodicals, Inc.

5-Methylpyrazine-2-carboxamide

DOE PAGES

Rillema, D. Paul; Senaratne, Nilmini K.; Moore, Curtis; ...

2017-07-28

The title compound, C 6H 7N 3O, is nearly planar, with a dihedral angle of 2.14 (11)° between the pyrazine ring and the mean plane of the carboxamide group [C—C(=O)—N]. In the crystal, molecules are linked via pairs of N—H...O hydrogen bonds forming inversion dimers with an R 2 2 (8) ring motif. These dimers are further linked by a pair of N—H...N hydrogen bonds, enclosing an R 2 2 (10) ring motif, and C—H...O hydrogen bonds, forming ribbons lying parallel to the ab plane. The ribbons are linked by offset π–π interactions [intercentroid distance = 3.759(1)Å], forming two setsmore » of mutually perpendicular slabs parallel to planes (110) and (1-10).« less

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

PubMed Central

Jerome, Jason; Heck, Detlef H.

2011-01-01

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

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

PubMed

Jerome, Jason; Heck, Detlef H

2011-01-01

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

System and method for representing and manipulating three-dimensional objects on massively parallel architectures

DOEpatents

Karasick, M.S.; Strip, D.R.

1996-01-30

A parallel computing system is described that comprises a plurality of uniquely labeled, parallel processors, each processor capable of modeling a three-dimensional object that includes a plurality of vertices, faces and edges. The system comprises a front-end processor for issuing a modeling command to the parallel processors, relating to a three-dimensional object. Each parallel processor, in response to the command and through the use of its own unique label, creates a directed-edge (d-edge) data structure that uniquely relates an edge of the three-dimensional object to one face of the object. Each d-edge data structure at least includes vertex descriptions of the edge and a description of the one face. As a result, each processor, in response to the modeling command, operates upon a small component of the model and generates results, in parallel with all other processors, without the need for processor-to-processor intercommunication. 8 figs.

Accelerating EPI distortion correction by utilizing a modern GPU-based parallel computation.

PubMed

Yang, Yao-Hao; Huang, Teng-Yi; Wang, Fu-Nien; Chuang, Tzu-Chao; Chen, Nan-Kuei

2013-04-01

The combination of phase demodulation and field mapping is a practical method to correct echo planar imaging (EPI) geometric distortion. However, since phase dispersion accumulates in each phase-encoding step, the calculation complexity of phase modulation is Ny-fold higher than conventional image reconstructions. Thus, correcting EPI images via phase demodulation is generally a time-consuming task. Parallel computing by employing general-purpose calculations on graphics processing units (GPU) can accelerate scientific computing if the algorithm is parallelized. This study proposes a method that incorporates the GPU-based technique into phase demodulation calculations to reduce computation time. The proposed parallel algorithm was applied to a PROPELLER-EPI diffusion tensor data set. The GPU-based phase demodulation method reduced the EPI distortion correctly, and accelerated the computation. The total reconstruction time of the 16-slice PROPELLER-EPI diffusion tensor images with matrix size of 128 × 128 was reduced from 1,754 seconds to 101 seconds by utilizing the parallelized 4-GPU program. GPU computing is a promising method to accelerate EPI geometric correction. The resulting reduction in computation time of phase demodulation should accelerate postprocessing for studies performed with EPI, and should effectuate the PROPELLER-EPI technique for clinical practice. Copyright © 2011 by the American Society of Neuroimaging.

Application of finite-element methods to dynamic analysis of flexible spatial and co-planar linkage systems, part 2

NASA Technical Reports Server (NTRS)

Dubowsky, Steven

1989-01-01

An approach is described to modeling the flexibility effects in spatial mechanisms and manipulator systems. The method is based on finite element representations of the individual links in the system. However, it should be noted that conventional finite element methods and software packages will not handle the highly nonlinear dynamic behavior of these systems which results form their changing geometry. In order to design high-performance lightweight systems and their control systems, good models of their dynamic behavior which include the effects of flexibility are required.

Integration of an Anti-parallel Pair of Planar Schottky Barrier Diodes for Millimeter and Submillimeter Wavelengths

DTIC Science & Technology

1991-08-01

built in potential OB - barrier potential Om - metal work function Os - semiconductor work function Xs semiconductor electron affinity (tOF...undoped Si0 2 (grown at 350 ’C) at a rate of 35 A/sec. The etch is isotropic, with 75 a lateral etch rate equal to the vertical etch rate. Agitation...the chromium to the atmosphere when the target is changed. The samples must therefore be allowed to outgas in a vacuum for several hours before the

Physical and Genetic Mechanisms Guiding the Evolution and Development of Dendritic, Flapping Insect-Wings

DTIC Science & Technology

2010-04-12

computer graphics, to music . Map L systems [2, 6, 7] extend the parallel rewriting in L systems to planar graphs with cycles, called maps [8]. The maps...carbon. For easy of reading , in the results below the mass is represented by the percentage carbon laminate coverage. As explained previously, the...previously, that value can be read in the left vertical axis. There are nine designs in the Pareto front. Depending on design goals any of these individuals

Object Recognition Using Range Images.

DTIC Science & Technology

1985-12-01

and Reflectance Data to Find Planar Suface Regions," IEEE Transactions on Pattern Reco1iio n and Machine Intelligence , PAMI-l: 259-271 (July 1979...large number of data points. The dashed curve in the second through fourth qua- drants was drawn so as to parallel the curve in the first quadrant. One...find too much data . This lack of data has to do with the discri- mination ability of SDFs for objects of which the SDF’s are not composed. Thus for

Seismicity, shear failure and modes of deformation in deep subduction zones

NASA Technical Reports Server (NTRS)

Lundgren, Paul R.; Giardini, Domenico

1992-01-01

The joint hypocentral determination method is used to relocate deep seismicity reported in the International Seismological Center catalog for earthquakes deeper than 400 km in the Honshu, Bonin, Mariannas, Java, Banda, and South America subduction zones. Each deep seismic zone is found to display planar features of seismicity parallel to the Harvard centroid-moment tensor nodal planes, which are identified as planes of shear failure. The sense of displacement on these planes is one of resistance to deeper penetration.

1-(o-Tol­yl)thio­urea

PubMed Central

Corrêa, Rodrigo S.; Ribeiro, Leandro; Ellena, Javier; Estévez-Hernández, Osvaldo; Duque, Julio

2008-01-01

In the title compound, C8H10N2S, the o-tolyl group and the thio­urea core are planar. The mean planes of the two groups are almost perpendicular [82.19 (8)°]. The thio­urea group is in the thio­amide form, in which resonance is present. In the crystal structure, mol­ecules are linked by inter­molecular N—H⋯S hydrogen bonds, forming two infinite chains parallel to the (110) and (10) planes. PMID:21201662

Plasmon resonant cavities in vertical nanowire arrays

DOEpatents

Bora, Mihail; Bond, Tiziana C.; Fasenfest, Benjamin J.; Behymer, Elaine M.

2014-07-15

Tunable plasmon resonant cavity arrays in paired parallel nanowire waveguides are presented. Resonances can be observed when the waveguide length is an odd multiple of quarter plasmon wavelengths, consistent with boundary conditions of node and antinode at the ends. Two nanowire waveguides can satisfy the dispersion relation of a planar metal-dielectric-metal waveguide of equivalent width equal to the square field average weighted gap. Confinement factors of over 10.sup.3 are possible due to plasmon focusing in the inter-wire space.

N-(1H-Indazol-5-yl)-4-meth-oxy-benzene-sulfonamide.

PubMed

Chicha, Hakima; Rakib, El Mostapha; Bouissane, Latifa; Saadi, Mohamed; El Ammari, Lahcen

2013-10-26

In the title compound, C14H13N3O3S, the fused ring system is almost planar, the largest deviation from the mean plane being 0.023 (2) Å, and makes a dihedral angle of 47.92 (10)° with the benzene ring of the benzene-sulfonamide moiety. In the crystal, mol-ecules are connected through N-H⋯O hydrogen bonds and weak C-H⋯O contacts, forming a two-dimensional network which is parallel to (010).

Pneumatic artificial muscle actuators for compliant robotic manipulators

NASA Astrophysics Data System (ADS)

Robinson, Ryan Michael

Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and adaptive neural network control. Results demonstrated the benefits of an accurate model in model-based control, and the advantages of adaptive neural network control when a model is unavailable or variations in payload are expected. Lastly, a variable recruitment strategy was applied to a group of parallel muscles actuating a common joint. Increased manipulator efficiency was observed when fewer PAMs were activated, justifying the use of variable recruitment strategies. Overall, this research demonstrates the benefits of pneumatic artificial muscles as actuators in robotics applications. It demonstrates that PAM-based manipulators can be well-modeled and can achieve high tracking accuracy over a wide range of payloads and inputs while maintaining natural compliance.

Metal spintronics: Tunneling spectroscopy in junctions with magnetic and superconducting electrodes

NASA Astrophysics Data System (ADS)

Yang, Hyunsoo

Recent advances in generating, manipulating and detecting spin-polarized electrons and their electrical current make possible entirely new classes of spin-based sensor, logic and storage devices. An important such device is the magnetic tunnel junction (MTJ) which has been under intensive study in recent years: important applications include nonvolatile memory cells for high performance magnetic random access memory (MRAMs), and magnetic field sensors for high density hard disk drive read heads. Many aspects of the tunneling magnetoresistance (TMR) phenomenon are poorly understood although it is clear that the fundamental origin of TMR is the spin-polarization of the tunneling current. Thus, the measurement of the magnitude and sign of the tunneling spin polarization (TSP) is very important to help the further understanding of TMR. Recently, an extremely high TMR value, of up to 350% at room temperature, has been reported in practical MTJ devices. These MTJs are fabricated with highly oriented crystalline MgO(100) tunnel barriers by straightforward magnetron sputter deposition at room temperature. In parallel with this observation, we report extremely high TSP values exceeding 90% from CoFe/MgO tunnel spin injectors. These TSP values rival the highest polarization values previously reported using exotic half-metallic oxide ferromagnets. The spin polarization of electrons extracted from ferromagnetic films can be probed by a variety of techniques. Amongst these techniques, STS is perhaps the most relevant with respect to TMR but until now all measurements have been made with Al superconducting films which have low superconducting transition temperatures (Tc) so that the measurements must be made at temperatures below 400mK. We demonstrate the use of superconducting electrodes formed from NbN which has a much higher Tc (˜16K) than Al. The use of NbN allows measurements of TSP at higher temperatures above 1K. We have observed the phenomenon of Kondo-assisted tunneling in planar magnetic tunnel junctions. We demonstrate not only an increased conductance at low bias but also show that the tunneling magnetoresistance is quenched in the Kondo regime. The Kondo effect may be a useful means of detecting and possibly manipulating the spins of individual electrons in nanodots.

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

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

Real-time label-free biosensing with integrated planar waveguide ring resonators

NASA Astrophysics Data System (ADS)

Sohlström, Hans; Gylfason, Kristinn B.; Hill, Daniel

2010-05-01

We review the use of planar integrated optical waveguide ring resonators for label free bio-sensing and present recent results from two European biosensor collaborations: SABIO and InTopSens. Planar waveguide ring resonators are attractive for label-free biosensing due to their small footprint, high Q-factors, and compatibility with on-chip optics and microfluidics. This enables integrated sensor arrays for compact labs-on-chip. One application of label-free sensor arrays is for point-of-care medical diagnostics. Bringing such powerful tools to the single medical practitioner is an important step towards personalized medicine, but requires addressing a number of issues: improving limit of detection, managing the influence of temperature, parallelization of the measurement for higher throughput and on-chip referencing, efficient light-coupling strategies to simplify alignment, and packaging of the optical chip and integration with microfluidics. From the SABIO project we report refractive index measurement and label-free biosensing in an 8-channel slotwaveguide ring resonator sensor array, within a compact cartridge with integrated microfluidics. The sensors show a volume sensing detection limit of 5 x 10-6 RIU and a surface sensing detection limit of 0.9 pg/mm2. From the InTopSens project we report early results on silicon-on-insulator racetrack resonators.

Cerebellarlike corrective model inference engine for manipulation tasks.

PubMed

Luque, Niceto Rafael; Garrido, Jesús Alberto; Carrillo, Richard Rafael; Coenen, Olivier J-M D; Ros, Eduardo

2011-10-01

This paper presents how a simple cerebellumlike architecture can infer corrective models in the framework of a control task when manipulating objects that significantly affect the dynamics model of the system. The main motivation of this paper is to evaluate a simplified bio-mimetic approach in the framework of a manipulation task. More concretely, the paper focuses on how the model inference process takes place within a feedforward control loop based on the cerebellar structure and on how these internal models are built up by means of biologically plausible synaptic adaptation mechanisms. This kind of investigation may provide clues on how biology achieves accurate control of non-stiff-joint robot with low-power actuators which involve controlling systems with high inertial components. This paper studies how a basic temporal-correlation kernel including long-term depression (LTD) and a constant long-term potentiation (LTP) at parallel fiber-Purkinje cell synapses can effectively infer corrective models. We evaluate how this spike-timing-dependent plasticity correlates sensorimotor activity arriving through the parallel fibers with teaching signals (dependent on error estimates) arriving through the climbing fibers from the inferior olive. This paper addresses the study of how these LTD and LTP components need to be well balanced with each other to achieve accurate learning. This is of interest to evaluate the relevant role of homeostatic mechanisms in biological systems where adaptation occurs in a distributed manner. Furthermore, we illustrate how the temporal-correlation kernel can also work in the presence of transmission delays in sensorimotor pathways. We use a cerebellumlike spiking neural network which stores the corrective models as well-structured weight patterns distributed among the parallel fibers to Purkinje cell connections.

Automatic Camera Calibration for Cultural Heritage Applications Using Unstructured Planar Objects

NASA Astrophysics Data System (ADS)

Adam, K.; Kalisperakis, I.; Grammatikopoulos, L.; Karras, G.; Petsa, E.

2013-07-01

As a rule, image-based documentation of cultural heritage relies today on ordinary digital cameras and commercial software. As such projects often involve researchers not familiar with photogrammetry, the question of camera calibration is important. Freely available open-source user-friendly software for automatic camera calibration, often based on simple 2D chess-board patterns, are an answer to the demand for simplicity and automation. However, such tools cannot respond to all requirements met in cultural heritage conservation regarding possible imaging distances and focal lengths. Here we investigate the practical possibility of camera calibration from unknown planar objects, i.e. any planar surface with adequate texture; we have focused on the example of urban walls covered with graffiti. Images are connected pair-wise with inter-image homographies, which are estimated automatically through a RANSAC-based approach after extracting and matching interest points with the SIFT operator. All valid points are identified on all images on which they appear. Provided that the image set includes a "fronto-parallel" view, inter-image homographies with this image are regarded as emulations of image-to-world homographies and allow computing initial estimates for the interior and exterior orientation elements. Following this initialization step, the estimates are introduced into a final self-calibrating bundle adjustment. Measures are taken to discard unsuitable images and verify object planarity. Results from practical experimentation indicate that this method may produce satisfactory results. The authors intend to incorporate the described approach into their freely available user-friendly software tool, which relies on chess-boards, to assist non-experts in their projects with image-based approaches.

Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

NASA Astrophysics Data System (ADS)

Wang, Yue; Yu, Jingjun; Pei, Xu

2018-06-01

A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: Spherical) parallel manipulators is proposed in this study. This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanism, and it eliminates the errors produced by parasitic motions to improve and ensure accuracy. Specifically, the errors can be less than 10-6. In this method, only the group of solutions that is consistent with the actual situation of the platform is obtained rapidly. This algorithm substantially improves calculation efficiency because the selected initial values are reasonable, and all the formulas in the calculation are analytical. This novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.

Parallel constraint satisfaction in memory-based decisions.

PubMed

Glöckner, Andreas; Hodges, Sara D

2011-01-01

Three studies sought to investigate decision strategies in memory-based decisions and to test the predictions of the parallel constraint satisfaction (PCS) model for decision making (Glöckner & Betsch, 2008). Time pressure was manipulated and the model was compared against simple heuristics (take the best and equal weight) and a weighted additive strategy. From PCS we predicted that fast intuitive decision making is based on compensatory information integration and that decision time increases and confidence decreases with increasing inconsistency in the decision task. In line with these predictions we observed a predominant usage of compensatory strategies under all time-pressure conditions and even with decision times as short as 1.7 s. For a substantial number of participants, choices and decision times were best explained by PCS, but there was also evidence for use of simple heuristics. The time-pressure manipulation did not significantly affect decision strategies. Overall, the results highlight intuitive, automatic processes in decision making and support the idea that human information-processing capabilities are less severely bounded than often assumed.

Alignment of an acoustic manipulation device with cepstral analysis of electronic impedance data.

PubMed

Hughes, D A; Qiu, Y; Démoré, C; Weijer, C J; Cochran, S

2015-02-01

Acoustic particle manipulation is an emerging technology that uses ultrasonic standing waves to position objects with pressure gradients and acoustic radiation forces. To produce strong standing waves, the transducer and the reflector must be aligned properly such that they are parallel to each other. This can be a difficult process due to the need to visualise the ultrasound waves and as higher frequencies are introduced, this alignment requires higher accuracy. In this paper, we present a method for aligning acoustic resonators with cepstral analysis. This is a simple signal processing technique that requires only the electrical impedance measurement data of the resonator, which is usually recorded during the fabrication process of the device. We first introduce the mathematical basis of cepstral analysis and then demonstrate and validate it using a computer simulation of an acoustic resonator. Finally, the technique is demonstrated experimentally to create many parallel linear traps for 10 μm fluorescent beads inside an acoustic resonator. Copyright © 2014 Elsevier B.V. All rights reserved.

The invariant cleavage pattern displayed by ascidian embryos depends on spindle positioning along the cell's longest axis in the apical plane and relies on asynchronous cell divisions

PubMed Central

Dumollard, Rémi; Minc, Nicolas; Salez, Gregory; Aicha, Sameh Ben; Bekkouche, Faisal; Hebras, Céline; Besnardeau, Lydia; McDougall, Alex

2017-01-01

The ascidian embryo is an ideal system to investigate how cell position is determined during embryogenesis. Using 3D timelapse imaging and computational methods we analyzed the planar cell divisions in ascidian early embryos and found that spindles in every cell tend to align at metaphase in the long length of the apical surface except in cells undergoing unequal cleavage. Furthermore, the invariant and conserved cleavage pattern of ascidian embryos was found to consist in alternate planar cell divisions between ectoderm and endomesoderm. In order to test the importance of alternate cell divisions we manipulated zygotic transcription induced by β-catenin or downregulated wee1 activity, both of which abolish this cell cycle asynchrony. Crucially, abolishing cell cycle asynchrony consistently disrupted the spindle orienting mechanism underpinning the invariant cleavage pattern. Our results demonstrate how an evolutionary conserved cell cycle asynchrony maintains the invariant cleavage pattern driving morphogenesis of the ascidian blastula. DOI: http://dx.doi.org/10.7554/eLife.19290.001 PMID:28121291

Optofluidic waveguides: I. Concepts and implementations

PubMed Central

Schmidt, Holger; Hawkins, Aaron R.

2011-01-01

We review recent developments and current status of liquid-core optical waveguides in optofluidics with emphasis on suitability for creating fully planar optofluidic labs-on-a-chip. In this first of two contributions, we give an overview of the different waveguide types that are being considered for effectively combining micro and nanofluidics with integrated optics. The large number of approaches is separated into conventional index-guided waveguides and more recent implementations using wave interference. The underlying principle for waveguiding and the current status are described for each type. We then focus on reviewing recent work on microfabricated liquid-core antiresonant reflecting optical (ARROW) waveguides, including the development of intersecting 2D waveguide networks and optical fluorescence and Raman detection with planar beam geometry. Single molecule detection capability and addition of electrical control for electrokinetic manipulation and analysis of single bioparticles are demonstrated. The demonstrated performance of liquid-core ARROWs is representative of the potential of integrated waveguides for on-chip detection with ultrahigh sensitivity, and points the way towards the next generation of high-performance, low-cost and portable biomedical instruments. PMID:21442048

Scalable planar fabrication processes for chalcogenide-based topological insulators

NASA Astrophysics Data System (ADS)

Sharma, Peter; Henry, M. David; Douglas, Erica; Wiwi, Michael; Lima Sharma, Ana; Lewis, Rupert; Sugar, Joshua; Salehi, Maryam; Koirala, Nikesh; Oh, Seongshik

Surface currents in topological insulators are expected to have long spin diffusion lengths, which could lead to numerous applications. Experiments that show promising transport properties were conducted on exfoliated flakes from bulk material, thin films on substrates of limited dimensions, or bulk material, with limited yield. A planar thin film-based technology is needed to make topological insulator devices at scale and could also lead to new device designs. We address two problems related to fabricating chalcogenide-based topological insulator devices on 3'' wafers in the Sandia Microfabrication Facility using Bi2Te3 films. (2) Implantation damage and its subsequent mitigation through annealing is characterized. (2) The degradation in dielectric layers used to manipulate surface potential for elucidating topological surface state transport is characterized under different processing conditions. Sandia National Laboratories is a multi-program laboratory managed and operated by Sandia Corporation, a wholly owned subsidiary of Lockheed Martin Corporation, for the U.S. Department of Energy's National Nuclear Security Administration under Contract No. DE-AC04-94AL85000. Funded by the Office of Naval Research (N0001416IP00098-0).

A chip-integrated coherent photonic-phononic memory.

PubMed

Merklein, Moritz; Stiller, Birgit; Vu, Khu; Madden, Stephen J; Eggleton, Benjamin J

2017-09-18

Controlling and manipulating quanta of coherent acoustic vibrations-phonons-in integrated circuits has recently drawn a lot of attention, since phonons can function as unique links between radiofrequency and optical signals, allow access to quantum regimes and offer advanced signal processing capabilities. Recent approaches based on optomechanical resonators have achieved impressive quality factors allowing for storage of optical signals. However, so far these techniques have been limited in bandwidth and are incompatible with multi-wavelength operation. In this work, we experimentally demonstrate a coherent buffer in an integrated planar optical waveguide by transferring the optical information coherently to an acoustic hypersound wave. Optical information is extracted using the reverse process. These hypersound phonons have similar wavelengths as the optical photons but travel at five orders of magnitude lower velocity. We demonstrate the storage of phase and amplitude of optical information with gigahertz bandwidth and show operation at separate wavelengths with negligible cross-talk.Optical storage implementations based on optomechanical resonator are limited to one wavelength. Here, exploiting stimulated Brillouin scattering, the authors demonstrate a coherent optical memory based on a planar integrated waveguide, which can operate at different wavelengths without cross-talk.

Planar Steering of a Single Ferrofluid Drop by Optimal Minimum Power Dynamic Feedback Control of Four Electromagnets at a Distance

PubMed Central

Probst, R.; Lin, J.; Komaee, A.; Nacev, A.; Cummins, Z.

2010-01-01

Any single permanent or electro magnet will always attract a magnetic fluid. For this reason it is difficult to precisely position and manipulate ferrofluid at a distance from magnets. We develop and experimentally demonstrate optimal (minimum electrical power) 2-dimensional manipulation of a single droplet of ferrofluid by feedback control of 4 external electromagnets. The control algorithm we have developed takes into account, and is explicitly designed for, the nonlinear (fast decay in space, quadratic in magnet strength) nature of how the magnets actuate the ferrofluid, and it also corrects for electro-magnet charging time delays. With this control, we show that dynamic actuation of electro-magnets held outside a domain can be used to position a droplet of ferrofluid to any desired location and steer it along any desired path within that domain – an example of precision control of a ferrofluid by magnets acting at a distance. PMID:21218157

Real-time three-dimensional ultrasound-assisted axillary plexus block defines soft tissue planes.

PubMed

Clendenen, Steven R; Riutort, Kevin; Ladlie, Beth L; Robards, Christopher; Franco, Carlo D; Greengrass, Roy A

2009-04-01

Two-dimensional (2D) ultrasound is commonly used for regional block of the axillary brachial plexus. In this technical case report, we described a real-time three-dimensional (3D) ultrasound-guided axillary block. The difference between 2D and 3D ultrasound is similar to the difference between plain radiograph and computer tomography. Unlike 2D ultrasound that captures a planar image, 3D ultrasound technology acquires a 3D volume of information that enables multiple planes of view by manipulating the image without movement of the ultrasound probe. Observation of the brachial plexus in cross-section demonstrated distinct linear hyperechoic tissue structures (loose connective tissue) that initially inhibited the flow of the local anesthesia. After completion of the injection, we were able to visualize the influence of arterial pulsation on the spread of the local anesthesia. Possible advantages of this novel technology over current 2D methods are wider image volume and the capability to manipulate the planes of the image without moving the probe.

A generalized analytical approach to the coupled effect of SMA actuation and elastica deflection

NASA Astrophysics Data System (ADS)

Sreekumar, M.; Singaperumal, M.

2009-11-01

A compliant miniature parallel manipulator made of superelastic nitinol pipe as its central pillar and actuated by three symmetrically attached shape memory alloy (SMA) wires is under development. The mobility for the platform is obtained by the selective actuation of one or two wires at a time. If one wire is actuated, the other two unactuated wires provide the counter effect. Similarly, if two wires are actuated simultaneously or in a differential manner, the third unactuated wire resists the movement of the platform. In an earlier work of the authors, the static displacement analysis was presented without considering the effect of unactuated wires. In this contribution, the force-displacement analysis is presented considering the effect of both actuated and unactuated wires. Subsequently, an attempt has been made to obtain a generalized approach from which six types of actuation methods are identified using a group of conditional parameters. Each method leads to a set of large deflection expressions suitable for a particular actuation method. As the large deflection expressions derived for the mechanism are nonlinear and involve interdependent parameters, their simplified form using a parametric approximation have also been obtained using Howell's algorithm. The generalized approach and the solution algorithm developed can be applied to any kind of compliant mechanism having large deflection capabilities, including planar and spatial MEMS devices and stability analysis of long slender columns supported by wires or cables. The procedure developed is also suitable for the static analysis of spatial compliant mechanisms actuated by multiple SMA actuators.

Kinematics and design of a class of parallel manipulators

NASA Astrophysics Data System (ADS)

Hertz, Roger Barry

1998-12-01

This dissertation is concerned with the kinematic analysis and design of a class of three degree-of-freedom, spatial parallel manipulators. The class of manipulators is characterized by two platforms, between which are three legs, each possessing a succession of revolute, spherical, and revolute joints. The class is termed the "revolute-spherical-revolute" class of parallel manipulators. Two members of this class are examined. The first mechanism is a double-octahedral variable-geometry truss, and the second is termed a double tripod. The history the mechanisms is explored---the variable-geometry truss dates back to 1984, while predecessors of the double tripod mechanism date back to 1869. This work centers on the displacement analysis of these three-degree-of-freedom mechanisms. Two types of problem are solved: the forward displacement analysis (forward kinematics) and the inverse displacement analysis (inverse kinematics). The kinematic model of the class of mechanism is general in nature. A classification scheme for the revolute-spherical-revolute class of mechanism is introduced, which uses dominant geometric features to group designs into 8 different sub-classes. The forward kinematics problem is discussed: given a set of independently controllable input variables, solve for the relative position and orientation between the two platforms. For the variable-geometry truss, the controllable input variables are assumed to be the linear (prismatic) joints. For the double tripod, the controllable input variables are the three revolute joints adjacent to the base (proximal) platform. Multiple solutions are presented to the forward kinematics problem, indicating that there are many different positions (assemblies) that the manipulator can assume with equivalent inputs. For the double tripod these solutions can be expressed as a 16th degree polynomial in one unknown, while for the variable-geometry truss there exist two 16th degree polynomials, giving rise to 256 solutions. For special cases of the double tripod, the forward kinematics problem is shown to have a closed-form solution. Numerical examples are presented for the solution to the forward kinematics. A double tripod is presented that admits 16 unique and real forward kinematics solutions. Another example for a variable geometry truss is given that possesses 64 real solutions: 8 for each 16th order polynomial. The inverse kinematics problem is also discussed: given the relative position of the hand (end-effector), which is rigidly attached to one platform, solve for the independently controlled joint variables. Iterative solutions are proposed for both the variable-geometry truss and the double tripod. For special cases of both mechanisms, closed-form solutions are given. The practical problems of designing, building, and controlling a double-tripod manipulator are addressed. The resulting manipulator is a first-of-its kind prototype of a tapered (asymmetric) double-tripod manipulator. Real-time forward and inverse kinematics algorithms on an industrial robot controller is presented. The resulting performance of the prototype is impressive, since it was to achieve a maximum tool-tip speed of 4064 mm/s, maximum acceleration of 5 g, and a cycle time of 1.2 seconds for a typical pick-and-place pattern.

Acoustic Resonator Optimisation for Airborne Particle Manipulation

NASA Astrophysics Data System (ADS)

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

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

An application of the MPP to the interactive manipulation of stereo images of digital terrain models

NASA Technical Reports Server (NTRS)

Pol, Sanjay; Mcallister, David; Davis, Edward

1987-01-01

Massively Parallel Processor algorithms were developed for the interactive manipulation of flat shaded digital terrain models defined over grids. The emphasis is on real time manipulation of stereo images. Standard graphics transformations are applied to a 128 x 128 grid of elevations followed by shading and a perspective projection to produce the right eye image. The surface is then rendered using a simple painter's algorithm for hidden surface removal. The left eye image is produced by rotating the surface 6 degs about the viewer's y axis followed by a perspective projection and rendering of the image as described above. The left and right eye images are then presented on a graphics device using standard stereo technology. Performance evaluations and comparisons are presented.

A discrete decentralized variable structure robotic controller

NASA Technical Reports Server (NTRS)

Tumeh, Zuheir S.

1989-01-01

A decentralized trajectory controller for robotic manipulators is designed and tested using a multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal model-based component and a correction component based on a variable structure suction control approach. The second control component is designed using bounds on the difference between the used and actual values of the model parameters. Since the continuous manipulator system is digitally controlled along a trajectory, a discretized equivalent model of the manipulator is used to derive the controller. The motivation for decentralized control is that the derived algorithms can be executed in parallel using a distributed, relatively inexpensive, architecture where each joint is assigned a microprocessor. Nonlinear interaction and coupling between joints is treated as a disturbance torque that is estimated and compensated for.

A SPECT Scanner for Rodent Imaging Based on Small-Area Gamma Cameras

NASA Astrophysics Data System (ADS)

Lage, Eduardo; Villena, José L.; Tapias, Gustavo; Martinez, Naira P.; Soto-Montenegro, Maria L.; Abella, Mónica; Sisniega, Alejandro; Pino, Francisco; Ros, Domènec; Pavia, Javier; Desco, Manuel; Vaquero, Juan J.

2010-10-01

We developed a cost-effective SPECT scanner prototype (rSPECT) for in vivo imaging of rodents based on small-area gamma cameras. Each detector consists of a position-sensitive photomultiplier tube (PS-PMT) coupled to a 30 x 30 Nal(Tl) scintillator array and electronics attached to the PS-PMT sockets for adapting the detector signals to an in-house developed data acquisition system. The detector components are enclosed in a lead-shielded case with a receptacle to insert the collimators. System performance was assessed using 99mTc for a high-resolution parallel-hole collimator, and for a 0.75-mm pinhole collimator with a 60° aperture angle and a 42-mm collimator length. The energy resolution is about 10.7% of the photopeak energy. The overall system sensitivity is about 3 cps/μCi/detector and planar spatial resolution ranges from 2.4 mm at 1 cm source-to-collimator distance to 4.1 mm at 4.5 cm with parallel-hole collimators. With pinhole collimators planar spatial resolution ranges from 1.2 mm at 1 cm source-to-collimator distance to 2.4 mm at 4.5 cm; sensitivity at these distances ranges from 2.8 to 0.5 cps/μCi/detector. Tomographic hot-rod phantom images are presented together with images of bone, myocardium and brain of living rodents to demonstrate the feasibility of preclinical small-animal studies with the rSPECT.

Semantic Support and Parallel Parsing in Chinese

ERIC Educational Resources Information Center

Hsieh, Yufen; Boland, Julie E.

2015-01-01

Two eye-tracking experiments were conducted using written Chinese sentences that contained a multi-word ambiguous region. The goal was to determine whether readers maintained multiple interpretations throughout the ambiguous region or selected a single interpretation at the point of ambiguity. Within the ambiguous region, we manipulated the…

Mossbauer Study of Low Temperature Magnetic and magnetooptic Properties of Amorphous Tb/Fe Multilayers

NASA Astrophysics Data System (ADS)

Chowdhury, Ataur

Magnetic and magnetooptic properties of multilayers critically depend on detailed magnetic and structural ordering of the interface. To study these properties in Tb/Fe multilayers, samples with varying layer thicknesses were fabricated by planar magnetic sputtering on polyester substrates. Mossbauer effect spectra were recorded at different temperatures ranging between 20 K and 300 K. The results show that perpendicular magnetic anisotropy (PMA) increases as temperature decreases for samples that show parallel anisotropy at room temperature, and for samples that show strong PMA at room temperature, no significant change in PMA is observed at low temperature (<100 K). Hyperfine field of samples that display parallel anisotropy at room temperature shows oscillatory behavior, reminiscent of RKKY oscillations, at low temperatures (<100 K). Plausible causes of these properties will be discussed in the paper.

Self-assembly in densely grafted macromolecules with amphiphilic monomer units: diagram of states.

PubMed

Lazutin, A A; Vasilevskaya, V V; Khokhlov, A R

2017-11-22

By means of computer modelling, the self-organization of dense planar brushes of macromolecules with amphiphilic monomer units was addressed and their state diagram was constructed. The diagram of states includes the following regions: disordered position of monomer units with respect to each other, strands composed of a few polymer chains and lamellae with different domain spacing. The transformation of lamellae structures with different domain spacing occurred within the intermediate region and could proceed through the formation of so-called parking garage structures. The parking garage structure joins the lamellae with large (on the top of the brushes) and small (close to the grafted surface) domain spacing, which appears like a system of inclined locally parallel layers connected with each other by bridges. The parking garage structures were observed for incompatible A and B groups in selective solvents, which result in aggregation of the side B groups and dense packing of amphiphilic macromolecules in the restricted volume of the planar brushes.

Performance Effects of Adding a Parallel Capacitor to a Pulse Inductive Plasma Accelerator Powertrain

NASA Technical Reports Server (NTRS)

Polzin, Kurt A.; Sivak, Amy D.; Balla, Joseph V.

2011-01-01

Pulsed inductive plasma accelerators are electrodeless space propulsion devices where a capacitor is charged to an initial voltage and then discharged through a coil as a high-current pulse that inductively couples energy into the propellant. The field produced by this pulse ionizes the propellant, producing a plasma near the face of the coil. Once a plasma is formed if can be accelerated and expelled at a high exhaust velocity by the Lorentz force arising from the interaction of an induced plasma current and the magnetic field. While there are many coil geometries that can be employed to inductively accelerate a plasma, in this paper the discussion is limit to planar geometries where the coil take the shape of a flat spiral. A recent review of the developmental history of planar-geometry pulsed inductive thrusters can be found in Ref. [1]. Two concepts that have employed this geometry are the Pulsed Inductive Thruster (PIT) and the Faraday Accelerator with Radio-frequency Assisted Discharge (FARAD).

Surface-directed capillary system; theory, experiments and applications.

PubMed

Bouaidat, Salim; Hansen, Ole; Bruus, Henrik; Berendsen, Christian; Bau-Madsen, Niels Kristian; Thomsen, Peter; Wolff, Anders; Jonsmann, Jacques

2005-08-01

We present a capillary flow system for liquid transport in microsystems. Our simple microfluidic system consists of two planar parallel surfaces, separated by spacers. One of the surfaces is entirely hydrophobic, the other mainly hydrophobic, but with hydrophilic pathways defined on it by photolithographic means. By controlling the wetting properties of the surfaces in this manner, the liquid can be confined to certain areas defined by the hydrophilic pathways. This technique eliminates the need for alignment of the two surfaces. Patterned plasma-polymerized hexafluoropropene constitutes the hydrophobic areas, whereas the untreated glass surface constitutes the hydrophilic pathways. We developed a theoretical model of the capillary flow and obtained analytical solutions which are in good agreement with the experimental results. The capillarity-driven microflow system was also used to pattern and immobilize biological material on planar substrates: well-defined 200 microm wide strips of human cells (HeLa) and fluorescence labelled proteins (fluorescein isothiocyanate-labelled bovine serum albumin, i.e., FITC-BSA) were fabricated using the capillary flow system presented here.

Precision Measurement of Phonon-Polaritonic Near-Field Energy Transfer between Macroscale Planar Structures Under Large Thermal Gradients

NASA Astrophysics Data System (ADS)

Ghashami, Mohammad; Geng, Hongyao; Kim, Taehoon; Iacopino, Nicholas; Cho, Sung Kwon; Park, Keunhan

2018-04-01

Despite its strong potentials in emerging energy applications, near-field thermal radiation between large planar structures has not been fully explored in experiments. Particularly, it is extremely challenging to control a subwavelength gap distance with good parallelism under large thermal gradients. This article reports the precision measurement of near-field radiative energy transfer between two macroscale single-crystalline quartz plates that support surface phonon polaritons. Our measurement scheme allows the precise control of a gap distance down to 200 nm in a highly reproducible manner for a surface area of 5 × 5 mm2 . We have measured near-field thermal radiation as a function of the gap distance for a broad range of thermal gradients up to ˜156 K , observing more than 40 times enhancement of thermal radiation compared to the blackbody limit. By comparing with theoretical prediction based on fluctuational electrodynamics, we demonstrate that such remarkable enhancement is owing to phonon-polaritonic energy transfer across a nanoscale vacuum gap.

Planar and finger-shaped optical tactile sensors for robotic applications

NASA Technical Reports Server (NTRS)

Begej, Stefan

1988-01-01

Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and produce a grey-scale tactile image that represents the normal (vertical) forces of contact. The first tactile sensor discussed is a compact, 32 x 32 planar sensor array intended for mounting on a parallel-jaw gripper. Optical fibers were employed to convey the tactile image to a CCD camera and microprocessor-based image analysis system. The second sensor had the shape and size of a human fingertip and was designed for a dexterous robotic hand. It contained 256 sensing sites (taxels) distributed in a dual-density pattern that included a tactile fovea near the tip measuring 13 x 13 mm and containing 169 taxels. The design and construction details of these tactile sensors are presented, in addition to photographs of tactile imprints.

Bottom-Up Tri-gate Transistors and Submicrosecond Photodetectors from Guided CdS Nanowalls.

PubMed

Xu, Jinyou; Oksenberg, Eitan; Popovitz-Biro, Ronit; Rechav, Katya; Joselevich, Ernesto

2017-11-08

Tri-gate transistors offer better performance than planar transistors by exerting additional gate control over a channel from two lateral sides of semiconductor nanowalls (or "fins"). Here we report the bottom-up assembly of aligned CdS nanowalls by a simultaneous combination of horizontal catalytic vapor-liquid-solid growth and vertical facet-selective noncatalytic vapor-solid growth and their parallel integration into tri-gate transistors and photodetectors at wafer scale (cm 2 ) without postgrowth transfer or alignment steps. These tri-gate transistors act as enhancement-mode transistors with an on/off current ratio on the order of 10 8 , 4 orders of magnitude higher than the best results ever reported for planar enhancement-mode CdS transistors. The response time of the photodetector is reduced to the submicrosecond level, 1 order of magnitude shorter than the best results ever reported for photodetectors made of bottom-up semiconductor nanostructures. Guided semiconductor nanowalls open new opportunities for high-performance 3D nanodevices assembled from the bottom up.

Quantitative metrics for evaluating parallel acquisition techniques in diffusion tensor imaging at 3 Tesla.

PubMed

Ardekani, Siamak; Selva, Luis; Sayre, James; Sinha, Usha

2006-11-01

Single-shot echo-planar based diffusion tensor imaging is prone to geometric and intensity distortions. Parallel imaging is a means of reducing these distortions while preserving spatial resolution. A quantitative comparison at 3 T of parallel imaging for diffusion tensor images (DTI) using k-space (generalized auto-calibrating partially parallel acquisitions; GRAPPA) and image domain (sensitivity encoding; SENSE) reconstructions at different acceleration factors, R, is reported here. Images were evaluated using 8 human subjects with repeated scans for 2 subjects to estimate reproducibility. Mutual information (MI) was used to assess the global changes in geometric distortions. The effects of parallel imaging techniques on random noise and reconstruction artifacts were evaluated by placing 26 regions of interest and computing the standard deviation of apparent diffusion coefficient and fractional anisotropy along with the error of fitting the data to the diffusion model (residual error). The larger positive values in mutual information index with increasing R values confirmed the anticipated decrease in distortions. Further, the MI index of GRAPPA sequences for a given R factor was larger than the corresponding mSENSE images. The residual error was lowest in the images acquired without parallel imaging and among the parallel reconstruction methods, the R = 2 acquisitions had the least error. The standard deviation, accuracy, and reproducibility of the apparent diffusion coefficient and fractional anisotropy in homogenous tissue regions showed that GRAPPA acquired with R = 2 had the least amount of systematic and random noise and of these, significant differences with mSENSE, R = 2 were found only for the fractional anisotropy index. Evaluation of the current implementation of parallel reconstruction algorithms identified GRAPPA acquired with R = 2 as optimal for diffusion tensor imaging.

Detection and manipulation of phosphoinositides.

PubMed

Idevall-Hagren, Olof; De Camilli, Pietro

2015-06-01

Phosphoinositides (PIs) are minor components of cell membranes, but play key roles in cell function. Recent refinements in techniques for their detection, together with imaging methods to study their distribution and changes, have greatly facilitated the study of these lipids. Such methods have been complemented by the parallel development of techniques for the acute manipulation of their levels, which in turn allow bypassing the long-term adaptive changes implicit in genetic perturbations. Collectively, these advancements have helped elucidate the role of PIs in physiology and the impact of the dysfunction of their metabolism in disease. Combining methods for detection and manipulation enables the identification of specific roles played by each of the PIs and may eventually lead to the complete deconstruction of the PI signaling network. Here, we review current techniques used for the study and manipulation of cellular PIs and also discuss advantages and disadvantages associated with the various methods. This article is part of a Special Issue entitled Phosphoinositides. Copyright © 2014 Elsevier B.V. All rights reserved.

Detection and manipulation of phosphoinositides☆

PubMed Central

Idevall-Hagren, Olof; Camilli, Pietro De

2016-01-01

Phosphoinositides (PIs) are minor components of cell membranes, but play key roles in cell function. Recent refinements in techniques for their detection, together with imaging methods to study their distribution and changes, have greatly facilitated the study of these lipids. Such methods have been complemented by the parallel development of techniques for the acute manipulation of their levels, which in turn allow bypassing the long-term adaptive changes implicit in genetic perturbations. Collectively, these advancements have helped elucidate the role of PIs in physiology and the impact of the dysfunction of their metabolism in disease. Combining methods for detection and manipulation enables the identification of specific roles played by each of the PIs and may eventually lead to the complete deconstruction of the PI signaling network. Here, we review current techniques used for the study and manipulation of cellular PIs and also discuss advantages and disadvantages associated with the various methods. This article is part of a Special Issue entitled Phosphoinositides. PMID:25514766

Force reflecting hand controller for manipulator teleoperation

NASA Technical Reports Server (NTRS)

Bryfogle, Mark D.

1991-01-01

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

A review of magnetic resonance imaging compatible manipulators in surgery.

PubMed

Elhawary, H; Zivanovic, A; Davies, B; Lampérth, M

2006-04-01

Developments in magnetic resonance imaging (MRI), coupled with parallel progress in the field of computer-assisted surgery, mean that an ideal environment has been created for the development of MRI-compatible robotic systems and manipulators, capable of enhancing many types of surgical procedure. However, MRI does impose severe restrictions on mechatronic devices to be used in or around the scanners. In this article a review of the developments in the field of MRI-compatible surgical manipulators over the last decade is presented. The manipulators developed make use of different methods of actuation, but they can be reduced to four main groups: actuation transmitted through hydraulics, pneumatic actuators, ultrasonic motors based on the piezoceramic principle and remote manual actuation. Progress has been made concerning material selection, position sensing, and different actuation techniques, and design strategies have been implemented to overcome the multiple restrictions imposed by the MRI environment. Most systems lack the clinical validation needed to continue on to commercial products.

Transforming Play: An Analysis of First-, Third-, and Fifth-Graders' Play.

ERIC Educational Resources Information Center

Bagley, Donna M.; Chaille, Christine

1996-01-01

Compared children's play with transformational objects (vehicles that change to robots) to play with representational objects (cars and figures). Found that those playing with transformers engaged in more parallel play and manipulative activity, while those with representational objects displayed more social play and more symbolic play. Found no…

Processing MPI Datatypes Outside MPI

NASA Astrophysics Data System (ADS)

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

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

BCYCLIC: A parallel block tridiagonal matrix cyclic solver

NASA Astrophysics Data System (ADS)

Hirshman, S. P.; Perumalla, K. S.; Lynch, V. E.; Sanchez, R.

2010-09-01

A block tridiagonal matrix is factored with minimal fill-in using a cyclic reduction algorithm that is easily parallelized. Storage of the factored blocks allows the application of the inverse to multiple right-hand sides which may not be known at factorization time. Scalability with the number of block rows is achieved with cyclic reduction, while scalability with the block size is achieved using multithreaded routines (OpenMP, GotoBLAS) for block matrix manipulation. This dual scalability is a noteworthy feature of this new solver, as well as its ability to efficiently handle arbitrary (non-powers-of-2) block row and processor numbers. Comparison with a state-of-the art parallel sparse solver is presented. It is expected that this new solver will allow many physical applications to optimally use the parallel resources on current supercomputers. Example usage of the solver in magneto-hydrodynamic (MHD), three-dimensional equilibrium solvers for high-temperature fusion plasmas is cited.

Simultaneous Multislice Echo Planar Imaging With Blipped Controlled Aliasing in Parallel Imaging Results in Higher Acceleration: A Promising Technique for Accelerated Diffusion Tensor Imaging of Skeletal Muscle.

PubMed

Filli, Lukas; Piccirelli, Marco; Kenkel, David; Guggenberger, Roman; Andreisek, Gustav; Beck, Thomas; Runge, Val M; Boss, Andreas

2015-07-01

The aim of this study was to investigate the feasibility of accelerated diffusion tensor imaging (DTI) of skeletal muscle using echo planar imaging (EPI) applying simultaneous multislice excitation with a blipped controlled aliasing in parallel imaging results in higher acceleration unaliasing technique. After federal ethics board approval, the lower leg muscles of 8 healthy volunteers (mean [SD] age, 29.4 [2.9] years) were examined in a clinical 3-T magnetic resonance scanner using a 15-channel knee coil. The EPI was performed at a b value of 500 s/mm2 without slice acceleration (conventional DTI) as well as with 2-fold and 3-fold acceleration. Fractional anisotropy (FA) and mean diffusivity (MD) were measured in all 3 acquisitions. Fiber tracking performance was compared between the acquisitions regarding the number of tracks, average track length, and anatomical precision using multivariate analysis of variance and Mann-Whitney U tests. Acquisition time was 7:24 minutes for conventional DTI, 3:53 minutes for 2-fold acceleration, and 2:38 minutes for 3-fold acceleration. Overall FA and MD values ranged from 0.220 to 0.378 and 1.595 to 1.829 mm2/s, respectively. Two-fold acceleration yielded similar FA and MD values (P ≥ 0.901) and similar fiber tracking performance compared with conventional DTI. Three-fold acceleration resulted in comparable MD (P = 0.199) but higher FA values (P = 0.006) and significantly impaired fiber tracking in the soleus and tibialis anterior muscles (number of tracks, P < 0.001; anatomical precision, P ≤ 0.005). Simultaneous multislice EPI with blipped controlled aliasing in parallel imaging results in higher acceleration can remarkably reduce acquisition time in DTI of skeletal muscle with similar image quality and quantification accuracy of diffusion parameters. This may increase the clinical applicability of muscle anisotropy measurements.

The characteristics of rotational slumps and subaqueous translational slab slides of the Lower Murray River, South Australia: do they have any implications for the weak-layer hypothesis?

NASA Astrophysics Data System (ADS)

Hubble, Thomas; De Carli, Elyssa; Airey, David; Breakfree 2012-2013, Scientific Parties MV

2014-05-01

The peak of the recent prolonged 'Millennium Drought' (1997-2011) triggered an episode of widespread mass failure in the alluvial river-banks of the Lower Murray River in South Australia. Multi-beam surveying of the channel and submerged river-banks between Mannum and Murray Bridge and coring of the bank sediments has been undertaken in sections of the river where large bank failures threatened private housing or public infrastructure. This data demonstrates that the bank materials are soft, horizontally-layered muds and that translational, planar slab-slides have frequently occurred in permanently submerged portions of the Murray's river banks. Despite these riverine features being several orders of magnitude smaller than the translational submarine landslides of the continental margins, the submerged river-bank slides are strikingly similar in their morphology to their submarine equivalents. Intriguingly, the Murray River translational slide failure-surfaces are usually developed as river-floor-parallel features in a manner similar to many submarine landslides which present failure-surfaces that are developed on seafloor-parallel, bedding planes. In contrast however, the Murray's river-bank slides occur on steep slopes (>20o) and their failure surfaces must cut across the horizontal laminations and layering of the muds at a relative high angle which removes the possibility of a weak sediment layer being responsible for the occurrence of these failures. Modelling of the river-bank failures with classical soil mechanics methods and the measured physical properties of the river-bank materials indicates that the failures are probably a consequence of flood-flow scour removing the bank-slope toe in combination with pore-pressure effects related to river-level fluctuation (ie. drawdown). Nevertheless, the Murray's translational slab-slides provide a reliable example of slope-parallel planar failure in muds that does not require a stratigraphic weak layer to explain the occurrence of those failures.

Thin-film-transistor array: an exploratory attempt for high throughput cell manipulation using electrowetting principle

NASA Astrophysics Data System (ADS)

Shaik, F. Azam; Cathcart, G.; Ihida, S.; Lereau-Bernier, M.; Leclerc, E.; Sakai, Y.; Toshiyoshi, H.; Tixier-Mita, A.

2017-05-01

In lab-on-a-chip (LoC) devices, microfluidic displacement of liquids is a key component. electrowetting on dielectric (EWOD) is a technique to move fluids, with the advantage of not requiring channels, pumps or valves. Fluids are discretized into droplets on microelectrodes and moved by applying an electric field via the electrodes to manipulate the contact angle. Micro-objects, such as biological cells, can be transported inside of these droplets. However, the design of conventional microelectrodes, made by standard micro-fabrication techniques, fixes the path of the droplets, and limits the reconfigurability of paths and thus limits the parallel processing of droplets. In that respect, thin film transistor (TFT) technology presents a great opportunity as it allows infinitely reconfigurable paths, with high parallelizability. We propose here to investigate the possibility of using TFT array devices for high throughput cell manipulation using EWOD. A COMSOL based 2D simulation coupled with a MATLAB algorithm was used to simulate the contact angle modulation, displacement and mixing of droplets. These simulations were confirmed by experimental results. The EWOD technique was applied to a droplet of culture medium containing HepG2 carcinoma cells and demonstrated no negative effects on the viability of the cells. This confirms the possibility of applying EWOD techniques to cellular applications, such as parallel cell analysis.

Simulation and display of macromolecular complexes

NASA Technical Reports Server (NTRS)

Nir, S.; Garduno, R.; Rein, R.; Macelroy, R. D.

1977-01-01

In association with an investigation of the interaction of proteins with DNA and RNA, an interactive computer program for building, manipulating, and displaying macromolecular complexes has been designed. The system provides perspective, planar, and stereoscopic views on the computer terminal display, as well as views for standard and nonstandard observer locations. The molecule or its parts may be rotated and/or translated in any direction; bond connections may be added or removed by the viewer. Molecular fragments may be juxtaposed in such a way that given bonds are aligned, and given planes and points coincide. Another subroutine provides for the duplication of a given unit such as a DNA or amino-acid base.

A Kinematic, Flexure-based Mechanism for Precise, Parallel Motion for the Hertz Variable-delay Polarization Modulator (VPM)

NASA Technical Reports Server (NTRS)

Voellmer, G. M.; Chuss, D. T.; Jackson, M.; Krejny, M.; Moseley, S. H.; Novak, G.; Wollack, E. J.

2008-01-01

We describe the design of the linear motion stage for a Variable-delay Polarization Modulator (VPM) and of a grid flattener that has been built and integrated into the Hertz ground-based, submillimeter polarimeter. VPMs allow the modulation of a polarized source by controlling the phase difference between two linear, orthogonal polarizations. The size of the gap between a mirror and a very flat polarizing grid determines the amount of the phase difference. This gap must be parallel to better than 1% of the wavelength. A novel, kinematic, flexure-based mechanism is described that passively maintains the parallelism of the mirror and the grid to 1.5 pm over a 150 mm diameter, with a 400 pm throw. A single piezoceramic actuator is used to modulate the gap, and a capacitive sensor provides position feedback for closed-loop control. A simple device that ensures the planarity of the polarizing grid is also described. Engineering results from the deployment of this device in the Hertz instrument April 2006 at the Submillimeter Telescope Observatory (SMTO) in Arizona are presented.

Effect of surface morphology on drag and roughness sublayer in flows over regular roughness elements

NASA Astrophysics Data System (ADS)

Placidi, Marco; Ganapathisubramani, Bharathram

2014-11-01

The effects of systematically varied roughness morphology on bulk drag and on the spatial structure of turbulent boundary layers are examined by performing a series of wind tunnel experiments. In this study, rough surfaces consisting of regularly and uniformly distributed LEGO™ bricks are employed. Twelve different patterns are adopted in order to methodically examine the individual effects of frontal solidity (λF, frontal area of the roughness elements per unit wall-parallel area) and plan solidity (λP, plan area of roughness elements per unit wall-parallel area), on both the bulk drag and the turbulence structure. A floating element friction balance based on Krogstad & Efros (2010) was designed and manufactured to measure the drag generated by the different surfaces. In parallel, high resolution planar and stereoscopic Particle Image Velocimetry (PIV) was applied to investigate the flow features. This talk will focus on the effects of each solidity parameter on the bulk drag and attempt to relate the observed trends to the flow structures in the roughness sublayer. Currently at City University London.

Optimizing for Large Planar Fractures in Multistage Horizontal Wells in Enhanced Geothermal Systems Using a Coupled Fluid and Geomechanics Simulator

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

Hu, Xiexiaomen; Tutuncu, Azra; Eustes, Alfred

Enhanced Geothermal Systems (EGS) could potentially use technological advancements in coupled implementation of horizontal drilling and multistage hydraulic fracturing techniques in tight oil and shale gas reservoirs along with improvements in reservoir simulation techniques to design and create EGS reservoirs. In this study, a commercial hydraulic fracture simulation package, Mangrove by Schlumberger, was used in an EGS model with largely distributed pre-existing natural fractures to model fracture propagation during the creation of a complex fracture network. The main goal of this study is to investigate optimum treatment parameters in creating multiple large, planar fractures to hydraulically connect a horizontal injectionmore » well and a horizontal production well that are 10,000 ft. deep and spaced 500 ft. apart from each other. A matrix of simulations for this study was carried out to determine the influence of reservoir and treatment parameters on preventing (or aiding) the creation of large planar fractures. The reservoir parameters investigated during the matrix simulations include the in-situ stress state and properties of the natural fracture set such as the primary and secondary fracture orientation, average fracture length, and average fracture spacing. The treatment parameters investigated during the simulations were fluid viscosity, proppant concentration, pump rate, and pump volume. A final simulation with optimized design parameters was performed. The optimized design simulation indicated that high fluid viscosity, high proppant concentration, large pump volume and pump rate tend to minimize the complexity of the created fracture network. Additionally, a reservoir with 'friendly' formation characteristics such as large stress anisotropy, natural fractures set parallel to the maximum horizontal principal stress (SHmax), and large natural fracture spacing also promote the creation of large planar fractures while minimizing fracture complexity.« less

Light-driven 3D droplet manipulation on flexible optoelectrowetting devices fabricated by a simple spin-coating method.

PubMed

Jiang, Dongyue; Park, Sung-Yong

2016-05-21

Technical advances in electrowetting-on-dielectric (EWOD) over the past few years have extended our attraction to three-dimensional (3D) devices capable of providing more flexibility and functionality with larger volumetric capacity than conventional 2D planar ones. However, typical 3D EWOD devices require complex and expensive fabrication processes for patterning and wiring of pixelated electrodes that also restrict the minimum droplet size to be manipulated. Here, we present a flexible single-sided continuous optoelectrowetting (SCOEW) device which is not only fabricated by a spin-coating method without the need for patterning and wiring processes, but also enables light-driven 3D droplet manipulations. To provide photoconductive properties, previous optoelectrowetting (OEW) devices have used amorphous silicon (a-Si) typically fabricated through high-temperature processes over 300 °C such as CVD or PECVD. However, most of the commercially-available flexible substrates such as polyethylene terephthalate (PET) and polyethylene naphthalate (PEN) experience serious thermal deformation under such high-temperature processes. Because of this compatibility issue of conventional OEW devices with flexible substrates, light-driven 3D droplet manipulations have not yet been demonstrated on flexible substrates. Our study overcomes this compatibility issue by using a polymer-based photoconductive material, titanium oxide phthalocyanine (TiOPc) and thus SCOEW devices can be simply fabricated on flexible substrates through a low-cost, spin-coating method. In this paper, analytical studies were conducted to understand the effects of light patterns on static contact angles and EWOD forces. For experimental validations of our study, flexible SCOEW devices were successfully fabricated through the TiOPc-based spin-coating method and light-driven droplet manipulations (e.g. transportation, merging, and splitting) have been demonstrated on various 3D terrains such as inclined, vertical, upside-down, and curved surfaces. Our flexible SCOEW technology offers the benefits of device simplicity, flexibility, and functionality over conventional EWOD and OEW devices by enabling optical droplet manipulations on a 3D featureless surface.

Fuel cell arrangement

DOEpatents

Isenberg, A.O.

1987-05-12

A fuel cell arrangement is provided wherein cylindrical cells of the solid oxide electrolyte type are arranged in planar arrays where the cells within a plane are parallel. Planes of cells are stacked with cells of adjacent planes perpendicular to one another. Air is provided to the interior of the cells through feed tubes which pass through a preheat chamber. Fuel is provided to the fuel cells through a channel in the center of the cell stack; the fuel then passes the exterior of the cells and combines with the oxygen-depleted air in the preheat chamber. 3 figs.

Right/left assignment in drift chambers and proportional multiwire chambers (PWC's) using induced signals

DOEpatents

Walenta, Albert H.

1979-01-01

Improved multiwire chamber having means for resolving the left/right ambiguity in the location of an ionizing event. The chamber includes a plurality of spaced parallel anode wires positioned between spaced planar cathodes. Associated with each of the anode wires are a pair of localizing wires, one positioned on either side of the anode wire. The localizing wires are connected to a differential amplifier whose output polarity is determined by whether the ionizing event occurs to the right or left of the anode wire.

4-Methyl-N-(1-methyl-1H-indazol-5-yl)benzene-sulfonamide.

PubMed

Chicha, Hakima; Oulemda, Bassou; Rakib, El Mostapha; Saadi, Mohamed; El Ammari, Lahcen

2013-01-01

In the title compound, C15H15N3O2S, the fused ring system is close to planar, the largest deviation from the mean plane being 0.030 (2) Å, and makes a dihedral angle of 48.84 (9)° with the benzene ring belonging to the methyl-benzene-sulfonamide moiety. In the crystal, mol-ecules are -connected through N-H⋯N hydrogen bonds and weak C-H⋯O contacts, forming a two-dimensional network parallel to (001).

4-Methyl-N-(1-methyl-1H-indazol-5-yl)benzene­sulfonamide

PubMed Central

Chicha, Hakima; Oulemda, Bassou; Rakib, El Mostapha; Saadi, Mohamed; El Ammari, Lahcen

2013-01-01

In the title compound, C15H15N3O2S, the fused ring system is close to planar, the largest deviation from the mean plane being 0.030 (2) Å, and makes a dihedral angle of 48.84 (9)° with the benzene ring belonging to the methyl­benzene­sulfonamide moiety. In the crystal, mol­ecules are ­connected through N—H⋯N hydrogen bonds and weak C—H⋯O contacts, forming a two-dimensional network parallel to (001). PMID:24427093

N-(1H-Indazol-5-yl)-4-meth­oxy­benzene­sulfonamide

PubMed Central

Chicha, Hakima; Rakib, El Mostapha; Bouissane, Latifa; Saadi, Mohamed; El Ammari, Lahcen

2013-01-01

In the title compound, C14H13N3O3S, the fused ring system is almost planar, the largest deviation from the mean plane being 0.023 (2) Å, and makes a dihedral angle of 47.92 (10)° with the benzene ring of the benzene­sulfonamide moiety. In the crystal, mol­ecules are connected through N—H⋯O hydrogen bonds and weak C—H⋯O contacts, forming a two-dimensional network which is parallel to (010). PMID:24454128

N-(2-Allyl-4-eth-oxy-2H-indazol-5-yl)-4-methyl-benzene-sulfonamide.

PubMed

Chicha, Hakima; Rakib, El Mostapha; Bouissane, Latifa; Viale, Maurizio; Saadi, Mohamed; El Ammari, Lahcen

2014-05-01

The indazole ring system of the title compound, C19H21N3O3S, is almost planar (r.m.s. deviation = 0.0192 Å) and forms dihedral angles of 77.99 (15) and 83.9 (3)° with the benzene ring and allyl group, respectively. In the crystal, centrosymmetrically related mol-ecules are connected by pairs of N-H⋯O hydrogen bonds into dimers, which are further linked by C-H⋯O hydrogen bonds, forming columns parallel to the b axis.

Fuel cell arrangement

DOEpatents

Isenberg, Arnold O.

1987-05-12

A fuel cell arrangement is provided wherein cylindrical cells of the solid oxide electrolyte type are arranged in planar arrays where the cells within a plane are parallel. Planes of cells are stacked with cells of adjacent planes perpendicular to one another. Air is provided to the interior of the cells through feed tubes which pass through a preheat chamber. Fuel is provided to the fuel cells through a channel in the center of the cell stack; the fuel then passes the exterior of the cells and combines with the oxygen-depleted air in the preheat chamber.

Object-Image Correspondence for Algebraic Curves under Projections

NASA Astrophysics Data System (ADS)

Burdis, Joseph M.; Kogan, Irina A.; Hong, Hoon

2013-03-01

We present a novel algorithm for deciding whether a given planar curve is an image of a given spatial curve, obtained by a central or a parallel projection with unknown parameters. The motivation comes from the problem of establishing a correspondence between an object and an image, taken by a camera with unknown position and parameters. A straightforward approach to this problem consists of setting up a system of conditions on the projection parameters and then checking whether or not this system has a solution. The computational advantage of the algorithm presented here, in comparison to algorithms based on the straightforward approach, lies in a significant reduction of a number of real parameters that need to be eliminated in order to establish existence or non-existence of a projection that maps a given spatial curve to a given planar curve. Our algorithm is based on projection criteria that reduce the projection problem to a certain modification of the equivalence p! roblem of planar curves under affine and projective transformations. To solve the latter problem we make an algebraic adaptation of signature construction that has been used to solve the equivalence problems for smooth curves. We introduce a notion of a classifying set of rational differential invariants and produce explicit formulas for such invariants for the actions of the projective and the affine groups on the plane.

Measurement of six-degree-of-freedom planar motions by using a multiprobe surface encoder

NASA Astrophysics Data System (ADS)

Li, Xinghui; Shimizu, Yuki; Ito, Takeshi; Cai, Yindi; Ito, So; Gao, Wei

2014-12-01

A multiprobe surface encoder for optical metrology of six-degree-of-freedom (six-DOF) planar motions is presented. The surface encoder is composed of an XY planar scale grating with identical microstructures in X- and Y-axes and an optical sensor head. In the optical sensor head, three paralleled laser beams were used as laser probes. After being divided by a beam splitter, the three laser probes were projected onto the scale grating and a reference grating with identical microstructures, respectively. For each probe, the first-order positive and negative diffraction beams along the X- and Y-directions from the scale grating and from the reference grating superimposed with each other and four pieces of interference signals were generated. Three-DOF translational motions of the scale grating Δx, Δy, and Δz can be obtained simultaneously from the interference signals of each probe. Three-DOF angular error motions θX, θY, and θZ can also be calculated simultaneously from differences of displacement output variations and the geometric relationship among the three probes. A prototype optical sensor head was designed, constructed, and evaluated. Experimental results verified that this surface encoder could provide measurement resolutions of subnanometer and better than 0.1 arc sec for three-DOF translational motions and three-DOF angular error motions, respectively.

Santa Clara County Planar Solid Oxide Fuel Cell Demonstration Project

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

Fred Mitlitsky; Sara Mulhauser; David Chien

2009-11-14

The Santa Clara County Planar Solid Oxide Fuel Cell (PSOFC) project demonstrated the technical viability of pre-commercial PSOFC technology at the County 911 Communications headquarters, as well as the input fuel flexibility of the PSOFC. PSOFC operation was demonstrated on natural gas and denatured ethanol. The Santa Clara County Planar Solid Oxide Fuel Cell (PSOFC) project goals were to acquire, site, and demonstrate the technical viability of a pre-commercial PSOFC technology at the County 911 Communications headquarters. Additional goals included educating local permit approval authorities, and other governmental entities about PSOFC technology, existing fuel cell standards and specific code requirements.more » The project demonstrated the Bloom Energy (BE) PSOFC technology in grid parallel mode, delivering a minimum 15 kW over 8760 operational hours. The PSOFC system demonstrated greater than 81% electricity availability and 41% electrical efficiency (LHV net AC), providing reliable, stable power to a critical, sensitive 911 communications system that serves geographical boundaries of the entire Santa Clara County. The project also demonstrated input fuel flexibility. BE developed and demonstrated the capability to run its prototype PSOFC system on ethanol. BE designed the hardware necessary to deliver ethanol into its existing PSOFC system. Operational parameters were determined for running the system on ethanol, natural gas (NG), and a combination of both. Required modeling was performed to determine viable operational regimes and regimes where coking could occur.« less

Robust manipulation of light using topologically protected plasmonic modes.

PubMed

Liu, Chenxu; Gurudev Dutt, M V; Pekker, David

2018-02-05

We propose using a topological plasmonic crystal structure composed of an array of nearly parallel nanowires with unequal spacing for manipulating light. In the paraxial approximation, the Helmholtz equation that describes the propagation of light along the nanowires maps onto the Schrödinger equation of the Su-Schrieffer-Heeger (SSH) model. Using a full three-dimensional finite difference time domain solution of the Maxwell equations, we verify the existence of topological defect modes, with sub-wavelength localization, bound to domain walls of the plasmonic crystal. We show that by manipulating domain walls we can construct spatial mode filters that couple bulk modes to topological defect modes, and topological beam-splitters that couple two topological defect modes. Finally, we show that the structures are tolerant to fabrication errors with an inverse length-scale smaller than the topological band gap.

Self-Locking Optoelectronic Tweezers for Single-Cell and Microparticle Manipulation across a Large Area in High Conductivity Media

PubMed Central

Yang, Yajia; Mao, Yufei; Shin, Kyeong-Sik; Chui, Chi On; Chiou, Pei-Yu

2016-01-01

Optoelectronic tweezers (OET) has advanced within the past decade to become a promising tool for cell and microparticle manipulation. Its incompatibility with high conductivity media and limited throughput remain two major technical challenges. Here a novel manipulation concept and corresponding platform called Self-Locking Optoelectronic Tweezers (SLOT) are proposed and demonstrated to tackle these challenges concurrently. The SLOT platform comprises a periodic array of optically tunable phototransistor traps above which randomly dispersed single cells and microparticles are self-aligned to and retained without light illumination. Light beam illumination on a phototransistor turns off the trap and releases the trapped cell, which is then transported downstream via a background flow. The cell trapping and releasing functions in SLOT are decoupled, which is a unique feature that enables SLOT’s stepper-mode function to overcome the small field-of-view issue that all prior OET technologies encountered in manipulation with single-cell resolution across a large area. Massively parallel trapping of more than 100,000 microparticles has been demonstrated in high conductivity media. Even larger scale trapping and manipulation can be achieved by linearly scaling up the number of phototransistors and device area. Cells after manipulation on the SLOT platform maintain high cell viability and normal multi-day divisibility. PMID:26940301

Why do spinal manipulation techniques take the form they do? Towards a general model of spinal manipulation.

PubMed

Evans, David W

2010-06-01

For centuries, techniques used to manipulate joints in the spine have been passed down from one generation of manipulators to the next. Today, spinal manipulation is in the curious position that positive clinical effects have now been demonstrated, yet the theoretical base underpinning every aspect of its use is still underdeveloped. An important question is posed in this masterclass: why do spinal manipulation techniques take the form they do? From the available literature, two factors appear to provide an answer: 1. Action of a force upon vertebrae. Any 'direct' spinal manipulation technique requires that the patient be orientated in such a way that force is applied perpendicular to the overlying skin surface so as to act upon the vertebrae beneath. If the vertebral motion produced by 'directly' applied force is insufficient to produce the desired effect (e.g. cavitation), then force must be applied 'indirectly', often through remote body segments such as the head, thorax, abdomen, pelvis, and extremities. 2. Spinal segment morphology. A new hypothesis is presented. Spinal manipulation techniques exploit the morphology of vertebrae by inducing rotation at a spinal segment, about an axis that is always parallel to the articular surfaces of the constituent zygapophysial joints. In doing so, the articular surfaces of one zygapophysial joint appose to the point of contact, resulting in migration of the axis of rotation towards these contacting surfaces, and in turn this facilitates gapping of the other (target) zygapophysial joint. Other variations in the form of spinal manipulation techniques are likely to depend upon the personal style and individual choices of the practitioner.

Configuration of twins in glass-embedded silver nanoparticles of various origin

NASA Astrophysics Data System (ADS)

Hofmeister, H.; Dubiel, M.; Tan, G. L.; Schicke, K.-D.

2005-09-01

Structural characterization using high resolution electron microscopy and diffractogram analysis of silver nanoparticles embedded in glass by various routes of fabrication was aimed at revealing the characteristic features of twin faults occuring in such particles. Nearly spherical silver nanoparticles well below 10 nm size embedded in commercial soda-lime silicate float glass have been fabricated either by silver/sodium ion exchange or by Ag+ ion implantation. Twinned nanoparticles, besides single crystalline species, have frequently been observed for both fabrication routes, mainly at sizes above 5 nm, but also at smaller sizes, even around 1 nm. The variety of particle forms comprises single crystalline particles of nearly cuboctahedron shape, particles containing single twin faults, and multiply twinned particles containing parallel twin lamellae, or cyclic twinned segments arranged around axes of fivefold symmetry. Parallel twinning is distinctly favoured by ion implantation whereas cyclic twinning preferably occurs upon ion exchange processing. Regardless of single or repeated twinning, parallel or cyclic twin arrangement, one may classify simple twin faults of regular atomic configuration and compound twin faults whose irregular configuration consists of additional planar defects like associated stacking faults or secondary twin faults. Besides, a particular superstructure composed of parallel twin lamellae of only three atomic layers thickness is observed.

Real-time trajectory optimization on parallel processors

NASA Technical Reports Server (NTRS)

Psiaki, Mark L.

1993-01-01

A parallel algorithm has been developed for rapidly solving trajectory optimization problems. The goal of the work has been to develop an algorithm that is suitable to do real-time, on-line optimal guidance through repeated solution of a trajectory optimization problem. The algorithm has been developed on an INTEL iPSC/860 message passing parallel processor. It uses a zero-order-hold discretization of a continuous-time problem and solves the resulting nonlinear programming problem using a custom-designed augmented Lagrangian nonlinear programming algorithm. The algorithm achieves parallelism of function, derivative, and search direction calculations through the principle of domain decomposition applied along the time axis. It has been encoded and tested on 3 example problems, the Goddard problem, the acceleration-limited, planar minimum-time to the origin problem, and a National Aerospace Plane minimum-fuel ascent guidance problem. Execution times as fast as 118 sec of wall clock time have been achieved for a 128-stage Goddard problem solved on 32 processors. A 32-stage minimum-time problem has been solved in 151 sec on 32 processors. A 32-stage National Aerospace Plane problem required 2 hours when solved on 32 processors. A speed-up factor of 7.2 has been achieved by using 32-nodes instead of 1-node to solve a 64-stage Goddard problem.

Electromagnetic Design of a Magnetically Coupled Spatial Power Combiner

NASA Astrophysics Data System (ADS)

Bulcha, B. T.; Cataldo, G.; Stevenson, T. R.; U-Yen, K.; Moseley, S. H.; Wollack, E. J.

2018-04-01

The design of a two-dimensional spatial beam-combining network employing a parallel-plate superconducting waveguide filled with a monocrystalline silicon dielectric substrate is presented. This component uses arrays of magnetically coupled antenna elements to achieve high coupling efficiency and full sampling of the intensity distribution while avoiding diffractive losses in the multimode waveguide region. These attributes enable the structure's use in realizing compact far-infrared spectrometers for astrophysical and instrumentation applications. If unterminated, reflections within a finite-sized spatial beam combiner can potentially lead to spurious couplings between elements. A planar meta-material electromagnetic absorber is implemented to control this response within the device. This broadband termination absorbs greater than 0.99 of the power over the 1.7:1 operational band at angles ranging from normal to near-parallel incidence. The design approach, simulations and applications of the spatial power combiner and meta-material termination structure are presented.

Vacuum-barrier window for wide-bandwidth high-power microwave transmission

DOEpatents

Caplan, M.; Shang, C.C.

1996-08-20

A vacuum output window comprises a planar dielectric material with identical systems of parallel ridges and valleys formed in opposite surfaces. The valleys in each surface neck together along parallel lines in the bulk of the dielectric. Liquid-coolant conduits are disposed linearly along such lines of necking and have water or even liquid nitrogen pumped through to remove heat. The dielectric material can be alumina, or its crystalline form, sapphire. The electric-field of a broadband incident megawatt millimeter-wave radio frequency energy is oriented perpendicular to the system of ridges and valleys. The ridges, about one wavelength tall and with a period of about one wavelength, focus the incident energy through in ribbons that squeeze between the liquid-coolant conduits without significant losses over very broad bands of the radio spectrum. In an alternative embodiment, the liquid-coolant conduits are encased in metal within the bulk of the dielectric. 4 figs.

Vacuum-barrier window for wide-bandwidth high-power microwave transmission

DOEpatents

Caplan, Malcolm; Shang, Clifford C.

1996-01-01

A vacuum output window comprises a planar dielectric material with identical systems of parallel ridges and valleys formed in opposite surfaces. The valleys in each surface neck together along parallel lines in the bulk of the dielectric. Liquid-coolant conduits are disposed linearly along such lines of necking and have water or even liquid nitrogen pumped through to remove heat. The dielectric material can be alumina, or its crystalline form, sapphire. The electric-field of a broadband incident megawatt millimeter-wave radio frequency energy is oriented perpendicular to the system of ridges and valleys. The ridges, about one wavelength tall and with a period of about one wavelength, focus the incident energy through in ribbons that squeeze between the liquid-coolant conduits without significant losses over very broad bands of the radio spectrum. In an alternative embodiment, the liquid-coolant conduits are encased in metal within the bulk of the dielectric.

Optoelectronic tweezers integrated with lensfree holographic microscopy for wide-field interactive cell and particle manipulation on a chip.

PubMed

Huang, Kuo-Wei; Su, Ting-Wei; Ozcan, Aydogan; Chiou, Pei-Yu

2013-06-21

We demonstrate an optoelectronic tweezer (OET) coupled to a lensfree holographic microscope for real-time interactive manipulation of cells and micro-particles over a large field-of-view (FOV). This integrated platform can record the holographic images of cells and particles over the entire active area of a CCD sensor array, perform digital image reconstruction to identify target cells, dynamically track the positions of cells and particles, and project light beams to trigger light-induced dielectrophoretic forces to pattern and sort cells on a chip. OET technology has been previously shown to be capable of performing parallel single cell manipulation over a large area. However, its throughput has been bottlenecked by the number of cells that can be imaged within the limited FOV of a conventional microscope objective lens. Integrating lensfree holographic imaging with OET solves this fundamental FOV barrier, while also creating a compact on-chip cell/particle manipulation platform. Using this unique platform, we have successfully demonstrated real-time interactive manipulation of thousands of single cells and micro-particles over an ultra-large area of e.g., 240 mm(2) (i.e. 17.96 mm × 13.52 mm).

Control of parallel manipulators using force feedback

NASA Technical Reports Server (NTRS)

Nanua, Prabjot

1994-01-01

Two control schemes are compared for parallel robotic mechanisms actuated by hydraulic cylinders. One scheme, the 'rate based scheme', uses the position and rate information only for feedback. The second scheme, the 'force based scheme' feeds back the force information also. The force control scheme is shown to improve the response over the rate control one. It is a simple constant gain control scheme better suited to parallel mechanisms. The force control scheme can be easily modified for the dynamic forces on the end effector. This paper presents the results of a computer simulation of both the rate and force control schemes. The gains in the force based scheme can be individually adjusted in all three directions, whereas the adjustment in just one direction of the rate based scheme directly affects the other two directions.

Three-dimensional vectorial multifocal arrays created by pseudo-period encoding

NASA Astrophysics Data System (ADS)

Zeng, Tingting; Chang, Chenliang; Chen, Zhaozhong; Wang, Hui-Tian; Ding, Jianping

2018-06-01

Multifocal arrays have been attracting considerable attention recently owing to their potential applications in parallel optical tweezers, parallel single-molecule orientation determination, parallel recording and multifocal multiphoton microscopy. However, the generation of vectorial multifocal arrays with a tailorable structure and polarization state remains a great challenge, and reports on multifocal arrays have hitherto been restricted either to scalar focal spots without polarization versatility or to regular arrays with fixed spacing. In this work, we propose a specific pseudo-period encoding technique to create three-dimensional (3D) vectorial multifocal arrays with the ability to manipulate the position, polarization state and intensity of each focal spot. We experimentally validated the flexibility of our approach in the generation of 3D vectorial multiple spots with polarization multiplicity and position tunability.

Bioinformatics goes back to the future.

PubMed

Miller, Crispin J; Attwood, Teresa K

2003-02-01

The need to turn raw data into knowledge has led the bioinformatics field to focus increasingly on the manipulation of information. By drawing parallels with both cryptography and artificial intelligence, we can develop an understanding of the changes that are occurring in bioinformatics, and how these changes are likely to influence the bioinformatics job market.

Deaf Students' Reading and Writing in College: Fluency, Coherence, and Comprehension

ERIC Educational Resources Information Center

Albertini, John A.; Marschark, Marc; Kincheloe, Pamela J.

2016-01-01

Research in discourse reveals numerous cognitive connections between reading and writing. Rather than one being the inverse of the other, there are parallels and interactions between them. To understand the variables and possible connections in the reading and writing of adult deaf students, we manipulated writing conditions and reading texts.…

Parallel Consolidation of Simple Features into Visual Short-Term Memory

ERIC Educational Resources Information Center

Mance, Irida; Becker, Mark W.; Liu, Taosheng

2012-01-01

Although considerable research has examined the storage limits of visual short-term memory (VSTM), little is known about the initial formation (i.e., the consolidation) of VSTM representations. A few previous studies have estimated the capacity of consolidation to be one item at a time. Here we used a sequential-simultaneous manipulation to…

Interface colloidal robotic manipulator

DOEpatents

Aronson, Igor; Snezhko, Oleksiy

2015-08-04

A magnetic colloidal system confined at the interface between two immiscible liquids and energized by an alternating magnetic field dynamically self-assembles into localized asters and arrays of asters. The colloidal system exhibits locomotion and shape change. By controlling a small external magnetic field applied parallel to the interface, structures can capture, transport, and position target particles.

Social interaction shapes babbling: Testing parallels between birdsong and speech

NASA Astrophysics Data System (ADS)

Goldstein, Michael H.; King, Andrew P.; West, Meredith J.

2003-06-01

Birdsong is considered a model of human speech development at behavioral and neural levels. Few direct tests of the proposed analogs exist, however. Here we test a mechanism of phonological development in human infants that is based on social shaping, a selective learning process first documented in songbirds. By manipulating mothers' reactions to their 8-month-old infants' vocalizations, we demonstrate that phonological features of babbling are sensitive to nonimitative social stimulation. Contingent, but not noncontingent, maternal behavior facilitates more complex and mature vocal behavior. Changes in vocalizations persist after the manipulation. The data show that human infants use social feedback, facilitating immediate transitions in vocal behavior. Social interaction creates rapid shifts to developmentally more advanced sounds. These transitions mirror the normal development of speech, supporting the predictions of the avian social shaping model. These data provide strong support for a parallel in function between vocal precursors of songbirds and infants. Because imitation is usually considered the mechanism for vocal learning in both taxa, the findings introduce social shaping as a general process underlying the development of speech and song.

Manipulation of light via subwavelength nanostructures

NASA Astrophysics Data System (ADS)

Yinghong, Gu

Subwavelength nanostructures have exhibited different and controllable optical characteristics from their original material, leading a way to artificial metamaterials and metasurfaces. These nanostructures interact with light with surface plasmon resonances, cavity and waveguide modes, scattering and diffractions and etc., so they can realize the manipulation of light, which has attracted enduring and fanatic research interest, ranging from visible light, infrared light, THz to microwaves. Nanostructures, which are welldesigned and patterned to control and engineer the resonances, have realized and improved the performance of numerous optical applications such as color printing, perfect absorption, waveplates, planar lens, holograms, cloaking, optical trapping and sensing. This thesis has presents several works on manipulating light with subwavelength nanostructures, which can be generalized into two main parts. In the first part our works are manipulating far-field characteristics of light by meta-surfaces, including the high resolution color printing and imaging with spectra manipulation, and quarter wave plate (QWP) with the phase and polarization manipulation. For the color generation applications, we have presented a comprehensive literature review on the recent developments of plasmonic colors, and then we reported our ultra-high resolution nonplasmonic color printing with ultra-narrow Si fin nanostructures and an efficient TMM calculation. For the quarter wave plate, we present a series works of plasmonic QWPs including active hybrid QWPs working at multi-wavelength in visible/near-infrared light, and in THz range based on similar mechanism. The other main part is the near-field manipulation of light by nanostructures including two aspects. One is the direct excited dark modes, and the other is the photoluminescence (PL) enhancement by nanostructures. We have proposed a new mechanism to directly excite dark modes by using an electrical shorting approach with a continuous metal cover on a periodic HSQ pillar template without any asymmetry in geometry, environment and incidence. And we will also present a cooperative work on giant PL enhancement of WSe2-Au plasmonic hybrid nanostructures. In simulation, we have explained how a squared trenched Au nanostructure with gap plasmon enhances the PL of monolayer WSe2 on top of it, in both excitation process and emission process.

Tree-manipulating systems and Church-Rosser theorems.

NASA Technical Reports Server (NTRS)

Rosen, B. K.

1973-01-01

Study of a broad class of tree-manipulating systems called subtree replacement systems. The use of this framework is illustrated by general theorems analogous to the Church-Rosser theorem and by applications of these theorems. Sufficient conditions are derived for the Church-Rosser property, and their applications to recursive definitions, the lambda calculus, and parallel programming are discussed. McCarthy's (1963) recursive calculus is extended by allowing a choice between call-by-value and call-by-name. It is shown that recursively defined functions are single-valued despite the nondeterminism of the evaluation algorithm. It is also shown that these functions solve their defining equations in a 'canonical' manner.

An efficient method for computation of the manipulator inertia matrix

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1989-01-01

An efficient method of computation of the manipulator inertia matrix is presented. Using spatial notations, the method leads to the definition of the composite rigid-body spatial inertia, which is a spatial representation of the notion of augmented body. The previously proposed methods, the physical interpretations leading to their derivation, and their redundancies are analyzed. The proposed method achieves a greater efficiency by eliminating the redundancy in the intrinsic equations as well as by a better choice of coordinate frame for their projection. In this case, removing the redundancy leads to greater efficiency of the computation in both serial and parallel senses.

Effect of Ground Patterns Size on FM-Band Cross-Talks between Two Parallel Signal Traces of Printed Circuit Boards for Vehicles

NASA Astrophysics Data System (ADS)

Iida, Michihira; Maeno, Tsuyoshi; Fujiwara, Osamu

It is well known that electromagnetic disturbances in vehicle-mounted radios are mainly caused by conducted noise currents flowing through wiring-harnesses from vehicle-mounted printed circuit boards (PCBs) with common ground patterns containing slits. To suppress the noise currents outflow from PCBs of these kinds, we previously measured noise currents outflow from simple two-layer PCBs having two parallel signal traces and different ground patterns with/without slits to reveal that making slits with open ends on the ground patterns in parallel with the traces can reduce the conducted noise currents. In the present study, with FDTD simulation, we investigated reduction effects of ground patterns size on the FM-band cross-talk noise levels between two parallel signal traces, by using four types of simple PCB models having different ground patterns formed in different numbers but containing the same planar dimension slits parallel to the traces, in addition to two types of PCB models with different ground patterns divided into two parts parallel to the traces. As a result, we found that the cross-talk noise currents for the above six types of PCBs decrease by 6.9-8.5dB compared to the PCB which has a plain ground with no slits. From this study, we got the finding that the contributing factor for the above mentioned cross-talk reduction relies on the reduction of mutual inductance between the two parallel traces. In addition, in case of this study, it is interesting to note that the noise currents outflow from PCBs can rather be suppressed when the size of the return ground of each signal trace is small.

Accelerated proton echo planar spectroscopic imaging (PEPSI) using GRAPPA with a 32-channel phased-array coil.

PubMed

Tsai, Shang-Yueh; Otazo, Ricardo; Posse, Stefan; Lin, Yi-Ru; Chung, Hsiao-Wen; Wald, Lawrence L; Wiggins, Graham C; Lin, Fa-Hsuan

2008-05-01

Parallel imaging has been demonstrated to reduce the encoding time of MR spectroscopic imaging (MRSI). Here we investigate up to 5-fold acceleration of 2D proton echo planar spectroscopic imaging (PEPSI) at 3T using generalized autocalibrating partial parallel acquisition (GRAPPA) with a 32-channel coil array, 1.5 cm(3) voxel size, TR/TE of 15/2000 ms, and 2.1 Hz spectral resolution. Compared to an 8-channel array, the smaller RF coil elements in this 32-channel array provided a 3.1-fold and 2.8-fold increase in signal-to-noise ratio (SNR) in the peripheral region and the central region, respectively, and more spatial modulated information. Comparison of sensitivity-encoding (SENSE) and GRAPPA reconstruction using an 8-channel array showed that both methods yielded similar quantitative metabolite measures (P > 0.1). Concentration values of N-acetyl-aspartate (NAA), total creatine (tCr), choline (Cho), myo-inositol (mI), and the sum of glutamate and glutamine (Glx) for both methods were consistent with previous studies. Using the 32-channel array coil the mean Cramer-Rao lower bounds (CRLB) were less than 8% for NAA, tCr, and Cho and less than 15% for mI and Glx at 2-fold acceleration. At 4-fold acceleration the mean CRLB for NAA, tCr, and Cho was less than 11%. In conclusion, the use of a 32-channel coil array and GRAPPA reconstruction can significantly reduce the measurement time for mapping brain metabolites. (c) 2008 Wiley-Liss, Inc.

A Novel Small-Specimen Planar Biaxial Testing System With Full In-Plane Deformation Control.

PubMed

Potter, Samuel; Graves, Jordan; Drach, Borys; Leahy, Thomas; Hammel, Chris; Feng, Yuan; Baker, Aaron; Sacks, Michael S

2018-05-01

Simulations of soft tissues require accurate and robust constitutive models, whose form is derived from carefully designed experimental studies. For such investigations of membranes or thin specimens, planar biaxial systems have been used extensively. Yet, all such systems remain limited in their ability to: (1) fully prescribe in-plane deformation gradient tensor F2D, (2) ensure homogeneity of the applied deformation, and (3) be able to accommodate sufficiently small specimens to ensure a reasonable degree of material homogeneity. To address these issues, we have developed a novel planar biaxial testing device that overcomes these difficulties and is capable of full control of the in-plane deformation gradient tensor F2D and of testing specimens as small as ∼4 mm × ∼4 mm. Individual actuation of the specimen attachment points, combined with a robust real-time feedback control, enabled the device to enforce any arbitrary F2D with a high degree of accuracy and homogeneity. Results from extensive device validation trials and example tissues illustrated the ability of the device to perform as designed and gather data needed for developing and validating constitutive models. Examples included the murine aortic tissues, allowing for investigators to take advantage of the genetic manipulation of murine disease models. These capabilities highlight the potential of the device to serve as a platform for informing and verifying the results of inverse models and for conducting robust, controlled investigation into the biomechanics of very local behaviors of soft tissues and membrane biomaterials.

Dimensional effects on the magnetic domains in planar magnetophotonic crystal waveguides

NASA Astrophysics Data System (ADS)

Huang, Xiaoyue

2007-05-01

The application of photonic crystal technology in magneto-optic media can yield significant improvements in polarization rotation efficiency and optical switching capability and an overall reduction in magneto-optic device dimensions. Resonant photonic crystal structures in planar ferrimagnetic film waveguides are of interest because they may lead to the development of on-chip magneto-optical switches and isolators for photonic device integration. In the present work, two different methods for the fabrication of on-chip waveguide magnetophotonic crystals, through electron beam lithography and focused ion beam milling, are discussed and demonstrated. A high precision photonic measurement system was set up for testing and analysis of the waveguide devices. The results obtained show photonic band gaps with resonant transmission in the gap, and enhanced magneto-optic rotation efficiency. The character of waveguide modes therein, birefringence effects, and structural variation effects were studied extensively and are presented in this thesis. Planar magnetization control produced by manipulation of the magnetic shape anisotropy in the photonic crystal micro-cavity was demonstrated in this work. By introducing strip structures into the resonant cavity formed on magnetic garnet films with in-plane anisotropy, a bi-stable magnetic state and an enhanced magnetic field reversal mechanism were demonstrated. This effect was extensively studied through experimental and micromagnetic simulation analysis of the polarization rotation hysteresis. The results discussed herein show that domain closure loops between the strips limit the magnification of the coercivity in the resonant cavity and that these limitations can be overcome by the formation of isolated single-domain magnetic microstrips in the cavity.

High-speed droplet actuation on single-plate electrode arrays.

PubMed

Banerjee, Arghya Narayan; Qian, Shizhi; Joo, Sang Woo

2011-10-15

This paper reports a droplet-based microfluidic device composed of patterned co-planar electrodes in an all-in-a-single-plate arrangement and coated with dielectric layers for electrowetting-on-dielectric (EWOD) actuation of discrete droplets. The co-planar arrangement is preferred over conventional two-plate electrowetting devices because it provides simpler manufacturing process, reduced viscous drag, and easier liquid-handling procedures. These advantages lead to more versatile and efficient microfluidic devices capable of generating higher droplet speed and can incorporate various other droplet manipulation functions into the system for biological, sensing, and other microfluidic applications. We have designed, fabricated, and tested the devices using an insulating layer with materials having relatively high dielectric constant (SiO(2)) and compared the results with polymer coatings (Cytop) with low dielectric constant. Results show that the device with high dielectric layer generates more reproducible droplet transfer over a longer distance with a 25% reduction in the actuation voltage with respect to the polymer coatings, leading to more energy efficient microfluidic applications. We can generate droplet speeds as high as 26 cm/s using materials with high dielectric constant such as SiO(2). Copyright © 2011. Published by Elsevier Inc.

Mechanical interface having multiple grounded actuators

DOEpatents

Martin, Kenneth M.; Levin, Mike D.; Rosenberg, Louis B.

1998-01-01

An apparatus and method for interfacing the motion of a user-manipulable object with a computer system includes a user object physically contacted or grasped by a user. A 3-D spatial mechanism is coupled to the user object, such as a stylus or a medical instrument, and provides three degrees of freedom to the user object. Three grounded actuators provide forces in the three degrees of freedom. Two of the degrees of freedom are a planar workspace provided by a closed-loop linkage of members, and the third degree of freedom is rotation of the planar workspace provided by a rotatable carriage. Capstan drive mechanisms transmit forces between actuators and the user object and include drums coupled to the carriage, pulleys coupled to grounded actuators, and flexible cables transmitting force between the pulleys and the drums. The flexibility of the cable allows the drums to rotate with the carriage while the pulleys and actuators remain fixed to ground. The interface also may include a floating gimbal mechanism coupling the linkage to the user object. The floating gimbal mechanism includes rotatably coupled gimbal members that provide three degrees of freedom to the user object and capstan mechanisms coupled between sensors and the gimbal members for providing enhanced sensor resolution.

Towards circuit optogenetics.

PubMed

Chen, I-Wen; Papagiakoumou, Eirini; Emiliani, Valentina

2018-06-01

Optogenetics neuronal targeting combined with single-photon wide-field illumination has already proved its enormous potential in neuroscience, enabling the optical control of entire neuronal networks and disentangling their role in the control of specific behaviors. However, establishing how a single or a sub-set of neurons controls a specific behavior, or how functionally identical neurons are connected in a particular task, or yet how behaviors can be modified in real-time by the complex wiring diagram of neuronal connections requires more sophisticated approaches enabling to drive neuronal circuits activity with single-cell precision and millisecond temporal resolution. This has motivated on one side the development of flexible optical methods for two-photon (2P) optogenetic activation using either, or a hybrid of two approaches: scanning and parallel illumination. On the other side, it has stimulated the engineering of new opsins with modified spectral characteristics, channel kinetics and spatial distribution of expression, offering the necessary flexibility of choosing the appropriate opsin for each application. The need for optical manipulation of multiple targets with millisecond temporal resolution has imposed three-dimension (3D) parallel holographic illumination as the technique of choice for optical control of neuronal circuits organized in 3D. Today 3D parallel illumination exists in several complementary variants, each with a different degree of simplicity, light uniformity, temporal precision and axial resolution. In parallel, the possibility to reach hundreds of targets in 3D volumes has prompted the development of low-repetition rate amplified laser sources enabling high peak power, while keeping low average power for stimulating each cell. All together those progresses open the way for a precise optical manipulation of neuronal circuits with unprecedented precision and flexibility. Copyright © 2018 Elsevier Ltd. All rights reserved.

Cross-over studies underestimate energy compensation: The example of sucrose-versus sucralose-containing drinks.

PubMed

Gadah, Nouf S; Brunstrom, Jeffrey M; Rogers, Peter J

2016-12-01

The vast majority of preload-test-meal studies that have investigated the effects on energy intake of disguised nutrient or other food/drink ingredient manipulations have used a cross-over design. We argue that this design may underestimate the effect of the manipulation due to carry-over effects. To test this we conducted comparable cross-over (n = 69) and parallel-groups (n = 48) studies testing the effects of sucrose versus low-calorie sweetener (sucralose) in a drink preload on test-meal energy intake. The parallel-groups study included a baseline day in which only the test meal was consumed. Energy intake in that meal was used to control for individual differences in energy intake in the analysis of the effects of sucrose versus sucralose on energy intake on the test day. Consistent with our prediction, the effect of consuming sucrose on subsequent energy intake was greater when measured in the parallel-groups study than in the cross-over study (respectively 64% versus 36% compensation for the 162 kcal difference in energy content of the sucrose and sucralose drinks). We also included a water comparison group in the parallel-groups study (n = 24) and found that test-meal energy intake did not differ significantly between the water and sucralose conditions. Together, these results confirm that consumption of sucrose in a drink reduces subsequent energy intake, but by less than the energy content of the drink, whilst drink sweetness does not increase food energy intake. Crucially, though, the studies demonstrate that study design affects estimated energy compensation. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

Optical Symbolic Computing

NASA Astrophysics Data System (ADS)

Neff, John A.

1989-12-01

Experiments originating from Gestalt psychology have shown that representing information in a symbolic form provides a more effective means to understanding. Computer scientists have been struggling for the last two decades to determine how best to create, manipulate, and store collections of symbolic structures. In the past, much of this struggling led to software innovations because that was the path of least resistance. For example, the development of heuristics for organizing the searching through knowledge bases was much less expensive than building massively parallel machines that could search in parallel. That is now beginning to change with the emergence of parallel architectures which are showing the potential for handling symbolic structures. This paper will review the relationships between symbolic computing and parallel computing architectures, and will identify opportunities for optics to significantly impact the performance of such computing machines. Although neural networks are an exciting subset of massively parallel computing structures, this paper will not touch on this area since it is receiving a great deal of attention in the literature. That is, the concepts presented herein do not consider the distributed representation of knowledge.

LiNbO{sub 3}: A photovoltaic substrate for massive parallel manipulation and patterning of nano-objects

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

Carrascosa, M.; García-Cabañes, A.; Jubera, M.

The application of evanescent photovoltaic (PV) fields, generated by visible illumination of Fe:LiNbO{sub 3} substrates, for parallel massive trapping and manipulation of micro- and nano-objects is critically reviewed. The technique has been often referred to as photovoltaic or photorefractive tweezers. The main advantage of the new method is that the involved electrophoretic and/or dielectrophoretic forces do not require any electrodes and large scale manipulation of nano-objects can be easily achieved using the patterning capabilities of light. The paper describes the experimental techniques for particle trapping and the main reported experimental results obtained with a variety of micro- and nano-particles (dielectricmore » and conductive) and different illumination configurations (single beam, holographic geometry, and spatial light modulator projection). The report also pays attention to the physical basis of the method, namely, the coupling of the evanescent photorefractive fields to the dielectric response of the nano-particles. The role of a number of physical parameters such as the contrast and spatial periodicities of the illumination pattern or the particle deposition method is discussed. Moreover, the main properties of the obtained particle patterns in relation to potential applications are summarized, and first demonstrations reviewed. Finally, the PV method is discussed in comparison to other patterning strategies, such as those based on the pyroelectric response and the electric fields associated to domain poling of ferroelectric materials.« less

On utilizing alternating current-flow field effect transistor for flexibly manipulating particles in microfluidics and nanofluidics

PubMed Central

Liu, Weiyu; Shao, Jinyou; Ren, Yukun; Liu, Jiangwei; Tao, Ye; Jiang, Hongyuan; Ding, Yucheng

2016-01-01

By imposing a biased gate voltage to a center metal strip, arbitrary symmetry breaking in induced-charge electroosmotic flow occurs on the surface of this planar gate electrode, a phenomenon termed as AC-flow field effect transistor (AC-FFET). In this work, the potential of AC-FFET with a shiftable flow stagnation line to flexibly manipulate micro-nano particle samples in both a static and continuous flow condition is demonstrated via theoretical analysis and experimental validation. The effect of finite Debye length of induced double-layer and applied field frequency on the manipulating flexibility factor for static condition is investigated, which indicates AC-FFET turns out to be more effective for achieving a position-controllable concentrating of target nanoparticle samples in nanofluidics compared to the previous trial in microfluidics. Besides, a continuous microfluidics-based particle concentrator/director is developed to deal with incoming analytes in dynamic condition, which exploits a design of tandem electrode configuration to consecutively flow focus and divert incoming particle samples to a desired downstream branch channel, as prerequisite for a following biochemical analysis. Our physical demonstrations with AC-FFET prove valuable for innovative designs of flexible electrokinetic frameworks, which can be conveniently integrated with other microfluidic or nanofluidic components into a complete lab-on-chip diagnostic platform due to a simple electrode structure. PMID:27190570

On utilizing alternating current-flow field effect transistor for flexibly manipulating particles in microfluidics and nanofluidics.

PubMed

Liu, Weiyu; Shao, Jinyou; Ren, Yukun; Liu, Jiangwei; Tao, Ye; Jiang, Hongyuan; Ding, Yucheng

2016-05-01

By imposing a biased gate voltage to a center metal strip, arbitrary symmetry breaking in induced-charge electroosmotic flow occurs on the surface of this planar gate electrode, a phenomenon termed as AC-flow field effect transistor (AC-FFET). In this work, the potential of AC-FFET with a shiftable flow stagnation line to flexibly manipulate micro-nano particle samples in both a static and continuous flow condition is demonstrated via theoretical analysis and experimental validation. The effect of finite Debye length of induced double-layer and applied field frequency on the manipulating flexibility factor for static condition is investigated, which indicates AC-FFET turns out to be more effective for achieving a position-controllable concentrating of target nanoparticle samples in nanofluidics compared to the previous trial in microfluidics. Besides, a continuous microfluidics-based particle concentrator/director is developed to deal with incoming analytes in dynamic condition, which exploits a design of tandem electrode configuration to consecutively flow focus and divert incoming particle samples to a desired downstream branch channel, as prerequisite for a following biochemical analysis. Our physical demonstrations with AC-FFET prove valuable for innovative designs of flexible electrokinetic frameworks, which can be conveniently integrated with other microfluidic or nanofluidic components into a complete lab-on-chip diagnostic platform due to a simple electrode structure.

The effect of applied control strategy on the current-voltage correlation of a solid oxide fuel cell stack during dynamic operation

NASA Astrophysics Data System (ADS)

Szmyd, Janusz S.; Komatsu, Yosuke; Brus, Grzegorz; Ghigliazza, Francesco; Kimijima, Shinji; Ściążko, Anna

2014-09-01

This paper discusses the transient characteristics of the planar type SOFC cell stack, of which the standard output is 300 W. The transient response of the voltage to the manipulation of an electric current was investigated. The effects of the response and of the operating condition determined by the operating temperature of the stack were studied by mapping a current-voltage (I-V) correlation. The current-based fuel control (CBFC) was adopted for keeping the fuel utilization factor at constant while the value of the electric current was ramped at the constant rate. The present experimental study shows that the transient characteristics of the cell voltage are determined by primarily the operating temperature caused by the manipulation of the current. Particularly, the slope of the I-V curve and the overshoot found on the voltage was remarkably influenced by the operating temperature. The different values of the fuel utilization factor influence the height of the settled voltages. The CBFC has significance in determining the slope of the I-V characteristic, but the different values ofthe fuel utilization factor does not affect the slope as the operating temperature does. The CBFC essentially does not alter the amplitude of the overshoot on the voltage response, since this is dominated by the operating temperature and its change is caused by manipulating the current.

Efficacy and safety of manual acupuncture manipulations with different frequencies on epigastric pain syndrome (EPS) in functional dyspepsia (FD) patients: study protocol for a randomized controlled trial.

PubMed

Hong, Shou-Hai; Ding, Sha-Sha; Wu, Fei; Bi, Ying; Xu, Fu; Wan, Yi-Jia; Xuan, Li-Hua

2017-03-06

Manual acupuncture (MA) manipulations are one of the key factors influencing acupuncture effects in traditional Chinese medicine theory. Different MA manipulations contain different stimulating parameters, thus generating different acupuncture responses or effects. Evidence has demonstrated that acupuncture is effective for functional dyspepsia (FD). However, the effects of different stimulating parameters of MA manipulations on FD remain unclear. This study is a randomized controlled trial with a four-arm, parallel-group structure. Patients with FD with epigastric pain syndrome (EPS) will be included and randomly allocated into four groups: three MA manipulation groups (separately treated with a frequency of 1 Hz, 2 Hz, or 3 Hz) and a control group. All groups will receive omeprazole as a basic treatment and acupuncture: in the MA manipulation groups, the needles will be manipulated manually with three different frequencies on the basis when de qi is reached, while in the control group, the needles will be inserted without any manipulation. All patients will receive acupuncture treatment of five consecutive sessions per week for 2 weeks and be followed up at 4, 8, and 12 weeks. The primary outcomes of the study include patients' response to the treatment. The secondary outcomes include dyspeptic symptoms, quality of life, mental status, fasting serum gastrin, motilin, and ghrelin concentrations, and adverse events. The protocol was approved by the Ethics committee of the First Affiliated Hospital of Zhejiang Chinese Medical University (2016-K-057-01). The aim of this study is to evaluate the efficacy and safety of MA manipulations with different stimulating parameters (different frequencies) on EPS in patients with FD. Chinese Clinical Trial Registry, ChiCTR-IOR-16008189 . Registered on 30 March 2016.

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

PubMed

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

2015-08-01

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

A New View on Origin, Role and Manipulation of Large Scales in Turbulent Boundary Layers

NASA Technical Reports Server (NTRS)

Corke, T. C.; Nagib, H. M.; Guezennec, Y. G.

1982-01-01

The potential of passive 'manipulators' for altering the large scale turbulent structures in boundary layers was investigated. Utilizing smoke wire visualization and multisensor probes, the experiment verified that the outer scales could be suppressed by simple arrangements of parallel plates. As a result of suppressing the outer scales in turbulent layers, a decrease in the streamwise growth of the boundary layer thickness was achieved and was coupled with a 30 percent decrease in the local wall friction coefficient. After accounting for the drag on the manipulator plates, the net drag reduction reached a value of 20 percent within 55 boundary layer thicknesses downstream of the device. No evidence for the reoccurrence of the outer scales was present at this streamwise distance thereby suggesting that further reductions in the net drag are attainable. The frequency of occurrence of the wall events is simultaneously dependent on the two parameters, Re2 delta sub 2 and Re sub x. As a result of being able to independently control the inner and outer boundary layer characteristics with these manipulators, a different view of these layers emerged.

Enhanced Optical Transmission Mediated by Localized Plasmons in Anisotropic, 3D Nanohole Arrays

PubMed Central

Yang, Jiun-Chan; Gao, Hanwei; Suh, Jae Yong; Zhou, Wei; Lee, Min Hyung; Odom, Teri W.

2010-01-01

This paper describes 3D nanohole arrays whose high optical transmission is mediated more by localized surface plasmon (LSP) excitations than by surface plasmon polaritons (SPPs). First, LSPs on 3D hole arrays lead to optical transmission an order of magnitude higher than 2D planar hole arrays. Second, LSP-mediated transmission is broadband and more tunable than SPP-enhanced transmission which is restricted by Bragg coupling. Third, for the first time, two types of surface plasmons can be selectively excited and manipulated on the same plasmonic substrate. This new plasmonic substrate fabricated by high-throughput nanolithography techniques paves the way for cutting-edge optoelectronic and biomedical applications. PMID:20698633

Improvement on RCS reduction using flat lossy focusing reflectors.

PubMed

Chin, Cheng-Yuan; Jou, Christina F

2013-12-30

In this paper, we propose a planar non-periodic subwavelength resistive grating (SWRG). The phase front of the scattered fields can be completely manipulated through non-periodic design of the grating while high absorptivity is preserved. The SWRG has an interesting property similar to a resistive concave reflecting lens. Scattered wave is focused in the near-field region, and spread out in the far-field. This feature of non-periodic resistive grating can improve the original radar cross section (RCS) reduction up to 22.86 dB in the boresight direction comparing to the periodic counterpart. Non-periodic design of SWRG could have a substantial impact on stealth technology, aerospace engineering, and microwave anechoic chamber.

Tunable modulation of refracted lamb wave front facilitated by adaptive elastic metasurfaces

NASA Astrophysics Data System (ADS)

Li, Shilong; Xu, Jiawen; Tang, J.

2018-01-01

This letter reports designs of adaptive metasurfaces capable of modulating incoming wave fronts of elastic waves through electromechanical-tuning of their cells. The proposed elastic metasurfaces are composed of arrayed piezoelectric units with individually connected negative capacitance elements that are online tunable. By adjusting the negative capacitances properly, accurately formed, discontinuous phase profiles along the elastic metasurfaces can be achieved. Subsequently, anomalous refraction with various angles can be realized on the transmitted lowest asymmetric mode Lamb wave. Moreover, designs to facilitate planar focal lenses and source illusion devices can also be accomplished. The proposed flexible and versatile strategy to manipulate elastic waves has potential applications ranging from structural fault detection to vibration/noise control.

Parallel Grid Manipulations in Earth Science Calculations

NASA Technical Reports Server (NTRS)

Sawyer, W.; Lucchesi, R.; daSilva, A.; Takacs, L. L.

1999-01-01

The National Aeronautics and Space Administration (NASA) Data Assimilation Office (DAO) at the Goddard Space Flight Center is moving its data assimilation system to massively parallel computing platforms. This parallel implementation of GEOS DAS will be used in the DAO's normal activities, which include reanalysis of data, and operational support for flight missions. Key components of GEOS DAS, including the gridpoint-based general circulation model and a data analysis system, are currently being parallelized. The parallelization of GEOS DAS is also one of the HPCC Grand Challenge Projects. The GEOS-DAS software employs several distinct grids. Some examples are: an observation grid- an unstructured grid of points at which observed or measured physical quantities from instruments or satellites are associated- a highly-structured latitude-longitude grid of points spanning the earth at given latitude-longitude coordinates at which prognostic quantities are determined, and a computational lat-lon grid in which the pole has been moved to a different location to avoid computational instabilities. Each of these grids has a different structure and number of constituent points. In spite of that, there are numerous interactions between the grids, e.g., values on one grid must be interpolated to another, or, in other cases, grids need to be redistributed on the underlying parallel platform. The DAO has designed a parallel integrated library for grid manipulations (PILGRIM) to support the needed grid interactions with maximum efficiency. It offers a flexible interface to generate new grids, define transformations between grids and apply them. Basic communication is currently MPI, however the interfaces defined here could conceivably be implemented with other message-passing libraries, e.g., Cray SHMEM, or with shared-memory constructs. The library is written in Fortran 90. First performance results indicate that even difficult problems, such as above-mentioned pole rotation- a sparse interpolation with little data locality between the physical lat-lon grid and a pole rotated computational grid- can be solved efficiently and at the GFlop/s rates needed to solve tomorrow's high resolution earth science models. In the subsequent presentation we will discuss the design and implementation of PILGRIM as well as a number of the problems it is required to solve. Some conclusions will be drawn about the potential performance of the overall earth science models on the supercomputer platforms foreseen for these problems.

Microwell arrays with nanoholes

NASA Technical Reports Server (NTRS)

Kosar, Turgut Fettah (Inventor); Folch, Albert (Inventor)

2009-01-01

A device for conducting parallel analysis or manipulation of multiple cells or biomolecules is disclosed. In one embodiment, the device comprises a silicon chip with a microwell, and at least one membrane suspended at the bottom opening of the microwell. The suspended portion of the membrane defines a nanohole that provides access to the material on the other side of the membrane.

Relating the Stored Magnetic Energy of a Parallel-Plate Inductor to the Work of External Forces

ERIC Educational Resources Information Center

Gauthier, N.

2007-01-01

Idealized models are often used in introductory physics courses. For one, such models involve simple mathematics, which is a definite plus since complex mathematical manipulations quickly become an obstacle rather than a tool for a beginner. Idealized models facilitate a student's understanding and grasp of a given physical phenomenon, yet they…

Wire-Guide Manipulator For Automated Welding

NASA Technical Reports Server (NTRS)

Morris, Tim; White, Kevin; Gordon, Steve; Emerich, Dave; Richardson, Dave; Faulkner, Mike; Stafford, Dave; Mccutcheon, Kim; Neal, Ken; Milly, Pete

1994-01-01

Compact motor drive positions guide for welding filler wire. Drive part of automated wire feeder in partly or fully automated welding system. Drive unit contains three parallel subunits. Rotations of lead screws in three subunits coordinated to obtain desired motions in three degrees of freedom. Suitable for both variable-polarity plasma arc welding and gas/tungsten arc welding.

Overcoming rule-based rigidity and connectionist limitations through massively-parallel case-based reasoning

NASA Technical Reports Server (NTRS)

Barnden, John; Srinivas, Kankanahalli

1990-01-01

Symbol manipulation as used in traditional Artificial Intelligence has been criticized by neural net researchers for being excessively inflexible and sequential. On the other hand, the application of neural net techniques to the types of high-level cognitive processing studied in traditional artificial intelligence presents major problems as well. A promising way out of this impasse is to build neural net models that accomplish massively parallel case-based reasoning. Case-based reasoning, which has received much attention recently, is essentially the same as analogy-based reasoning, and avoids many of the problems leveled at traditional artificial intelligence. Further problems are avoided by doing many strands of case-based reasoning in parallel, and by implementing the whole system as a neural net. In addition, such a system provides an approach to some aspects of the problems of noise, uncertainty and novelty in reasoning systems. The current neural net system (Conposit), which performs standard rule-based reasoning, is being modified into a massively parallel case-based reasoning version.

The cost of conservative synchronization in parallel discrete event simulations

NASA Technical Reports Server (NTRS)

Nicol, David M.

1990-01-01

The performance of a synchronous conservative parallel discrete-event simulation protocol is analyzed. The class of simulation models considered is oriented around a physical domain and possesses a limited ability to predict future behavior. A stochastic model is used to show that as the volume of simulation activity in the model increases relative to a fixed architecture, the complexity of the average per-event overhead due to synchronization, event list manipulation, lookahead calculations, and processor idle time approach the complexity of the average per-event overhead of a serial simulation. The method is therefore within a constant factor of optimal. The analysis demonstrates that on large problems--those for which parallel processing is ideally suited--there is often enough parallel workload so that processors are not usually idle. The viability of the method is also demonstrated empirically, showing how good performance is achieved on large problems using a thirty-two node Intel iPSC/2 distributed memory multiprocessor.

Thermal Casimir and Casimir–Polder interactions in N parallel 2D Dirac materials

NASA Astrophysics Data System (ADS)

Khusnutdinov, Nail; Kashapov, Rashid; Woods, Lilia M.

2018-07-01

The Casimir and Casimir–Polder interactions are investigated in a stack of equally spaced graphene layers. The optical response of the individual graphene is taken into account using gauge invariant components of the polarization tensor extended to the whole complex frequency plane. The planar symmetry for the electromagnetic boundary conditions is further used to obtain explicit forms for the Casimir energy stored in the stack and the Casimir–Polder energy between an atom above the stack. Our calculations show that these fluctuation induced interactions experience strong thermal effects due to the graphene Dirac-like energy spectrum. The spatial dispersion and temperature dependence in the optical response are also found to be important for enhancing the interactions especially at smaller separations. Analytical expressions for low and high temperature limits and their comparison with corresponding expressions for an infinitely conducting planar stack are further used to expand our understanding of Casimir and Casimir–Polder energies in Dirac materials. Our results may be useful to experimentalists as new ways to probe thermal effects at the nanoscale in such universal interactions.

Long range spin qubit interaction mediated by microcavity polaritons

NASA Astrophysics Data System (ADS)

Piermarocchi, Carlo; Quinteiro, Guillermo F.; Fernandez-Rossier, Joaquin

2007-03-01

Planar microcavities are semiconductor devices that confine the electromagnetic field by means of two parallel semiconductor mirrors. When a quantum well (QW) is placed inside a planar microcavity, the excitons in the QW couple to confined electromagnetic modes. In the strong-coupling regime, excitons and cavity photons give rise to new states, cavity polaritons, which appear in two branches separated by a vacuum Rabi splitting. We study theoretically the dynamics of localized spins in the QW interacting with cavity polaritons. Our calculations consider localized electron spins of shallow neutral donors in GaAs (e.g., Si), but the theory is valid for other impurities and host semiconductors, as well as to charged quantum dots. In the strong-coupling regime, the vacuum Rabi splitting introduces anisotropies in the spin coupling. Moreover, due to their photon-like mass, polaritons provide an extremely long spin coupling range. This suggests the realization of two-qubit all-optical quantum operations within tens of picoseconds with spins localized as far as hundreds of nanometers apart. [G. F. Quinteiro et al., Phys. Rev. Lett. 97 097401, (2006)].

Precision Measurement of Phonon-Polaritonic Near-Field Energy Transfer between Macroscale Planar Structures Under Large Thermal Gradients.

PubMed

Ghashami, Mohammad; Geng, Hongyao; Kim, Taehoon; Iacopino, Nicholas; Cho, Sung Kwon; Park, Keunhan

2018-04-27

Despite its strong potentials in emerging energy applications, near-field thermal radiation between large planar structures has not been fully explored in experiments. Particularly, it is extremely challenging to control a subwavelength gap distance with good parallelism under large thermal gradients. This article reports the precision measurement of near-field radiative energy transfer between two macroscale single-crystalline quartz plates that support surface phonon polaritons. Our measurement scheme allows the precise control of a gap distance down to 200 nm in a highly reproducible manner for a surface area of 5×5  mm^{2}. We have measured near-field thermal radiation as a function of the gap distance for a broad range of thermal gradients up to ∼156  K, observing more than 40 times enhancement of thermal radiation compared to the blackbody limit. By comparing with theoretical prediction based on fluctuational electrodynamics, we demonstrate that such remarkable enhancement is owing to phonon-polaritonic energy transfer across a nanoscale vacuum gap.

An investigation of voxel geometries for MCNP-based radiation dose calculations.

PubMed

Zhang, Juying; Bednarz, Bryan; Xu, X George

2006-11-01

Voxelized geometry such as those obtained from medical images is increasingly used in Monte Carlo calculations of absorbed doses. One useful application of calculated absorbed dose is the determination of fluence-to-dose conversion factors for different organs. However, confusion still exists about how such a geometry is defined and how the energy deposition is best computed, especially involving a popular code, MCNP5. This study investigated two different types of geometries in the MCNP5 code, cell and lattice definitions. A 10 cm x 10 cm x 10 cm test phantom, which contained an embedded 2 cm x 2 cm x 2 cm target at its center, was considered. A planar source emitting parallel photons was also considered in the study. The results revealed that MCNP5 does not calculate total target volume for multi-voxel geometries. Therefore, tallies which involve total target volume must be divided by the user by the total number of voxels to obtain a correct dose result. Also, using planar source areas greater than the phantom size results in the same fluence-to-dose conversion factor.

OH PLIF Visualization of a Premixed Ethylene-fueled Dual-Mode Scramjet Combustor

NASA Technical Reports Server (NTRS)

Cantu, Luca M. L.; Gallo, Emanuela C. A.; Cutler, Andrew D.; Danehy, Paul M.; Johansen, Craig T.; Rockwell, Robert D.; Goyne, Christopher P.; McDaniel, James C.

2016-01-01

Hydroxyl radical (OH) planar induced laser fluorescence (PLIF) measurements have been performed in a small-scale scramjet combustor at the University of Virginia Aerospace Research Laboratory at nominal simulated Mach 5 enthalpy. OH lines were carefully chosen to have fluorescent signal that is independent of pressure and temperature but linear with mole fraction. The OH PLIF signal was imaged in planes orthogonal to and parallel to the freestream flow at different equivalence ratios. Flameout limits were tested and identified. Instantaneous planar images were recorded and analyzed to compare the results with width increased dual-pump enhanced coherent anti-Stokes Raman spectroscopy (WIDECARS) measurements in the same facility and large eddy simulation/Reynolds average Navier-Stokes (LES/RANS) numerical simulation. The flame angle was found to be approximately 10 degrees for several different conditions, which is in agreement with numerical predictions and measurements using WIDECARS. Finally, a comparison between NO PLIF non-combustion cases and OH PLIF combustion cases is provided: the comparison reveals that the dominant effect of flame propagation is freestream turbulence rather than heat release and concentration gradients.

Crystal structure of di-bromo-meth-oxy-seselin (DBMS), a photobiologically active pyran-ocoumarin.

PubMed

Bauri, A K; Foro, Sabine; Rahman, A F M M

2017-05-01

The title compound, C 15 H 14 Br 2 O 4 [systematic name: rac -(9 S ,10 R )-3,9-dibromo-10-methoxy-8,8-dimethyl-9,10-dihydropyrano[2,3- h ]chromen-2(8 H )-one], is a pyran-ocoumarin derivative formed by the bromination of seselin, which is a naturally occurring angular pyran-ocoumarin isolated from the Indian herb Trachyspermum stictocarpum . In the mol-ecule, the benzo-pyran ring system is essentially planar, with a maximum deviation of 0.044 (2) Å for the O atom. The di-hydro-pyran ring is in a half-chair conformation and the four essentially planar atoms of this ring form a dihedral angle of 4.6 (2)° with the benzo-pyran ring system. In the crystal, mol-ecules are linked by weak C-H⋯O hydrogen bonds, forming chains propagating along [010]. In addition, π-π stacking inter-actions, with centroid-centroid distances of 3.902 (2) and 3.908 (2) Å, link the hydrogen-bonded chains into layers parallel to (001).

Shock-driven transition to turbulence: Emergence of power-law scaling

DOE PAGES

Olmstead, D.; Wayne, P.; Simons, D.; ...

2017-05-25

Here, we consider two cases of interaction between a planar shock and a cylindrical density interface. In the first case (planar normal shock), the axis of the gas cylinder is parallel to the shock front and baroclinic vorticity deposited by the shock is predominantly two dimensional (directed along the axis of the cylinder). In the second case, the cylinder is tilted, resulting in an oblique shock interaction and a fully-three-dimensional shock-induced vorticity field. Furthermore, the statistical properties of the flow for both cases are analyzed based on images from two orthogonal visualization planes, using structure functions of the intensity mapsmore » of fluorescent tracer premixed with heavy gas. And at later times, these structure functions exhibit power-law-like behavior over a considerable range of scales. Manifestation of this behavior is remarkably consistent in terms of dimensionless time τ defined based on Richtmyer's linear theory within the range of Mach numbers from 1.1 to 2.0 and the range of gas cylinder tilt angles with respect to the plane of the shock front (0–30°).« less

Van der Waals interactions between planar substrate and tubular lipid membranes undergoing pearling instability

NASA Astrophysics Data System (ADS)

Valchev, G. S.; Djondjorov, P. A.; Vassilev, V. M.; Dantchev, D. M.

2017-10-01

In the current article we study the behavior of the van der Waals force between a planar substrate and an axisymmetric bilayer lipid membrane undergoing pearling instability, caused by uniform hydrostatic pressure difference. To do so, the recently suggested "surface integration approach" is used, which can be considered a generalization of the well known and widely used Derjaguin approximation. The static equilibrium shape after the occurrence of the instability is described in the framework of Helfrich's spontaneous curvature model. Some specific classes of exact analytical solutions to the corresponding shape equation are considered, and the components of the respective position vectors given in terms of elliptic integrals and Jacobi elliptic functions. The mutual orientation between the interacting objects is chosen such that the axis of revolution of the distorted cylinder be parallel to the plane bounding the substrate. Based on the discussed models and approaches we made some estimations for the studied force in real experimentally realizable systems, thus showing the possibility of pearling as an useful technique for reduction of the adhesion in variety of industrial processes using lipid membranes as carriers.

Studies of Shock Wave Interaction with a Curtain of Massive Particles

NASA Astrophysics Data System (ADS)

Lingampally, Sumanth Reddy; Wayne, Patrick; Cooper, Sean; Izard, Ricardo Gonzalez; Jacobs, Gustaaf; Vorobieff, Peter

2017-11-01

Interaction of a shock wave with planar and perturbed curtain of massive particles is studied experimentally. To form the curtain, solid soda lime particles (30-50 micron diameter) are dropped from a hopper fitted with mesh sieves and vibrated with a motor. The curtain forms when the particles move through a rectangular slot in the top of the test section of the shock tube used in experiment. The curtain can be either planar or perturbed in the horizontal plane (parallel to the shock direction) based on the shape of the slot. This setup generates a particle curtain with a volume fraction varying between 2 and 8 percent along its vertical height. A laser illuminates the curtain in vertical and horizontal planes. When the diaphragm separating the driver and the driven section is ruptured, shock waves with Mach numbers ranging from 1 to 2, depending on the pressure, propagate down the driven section and into test section. The phenomena following the shock wave impingement on the particle curtain are captured using an Apogee Alta U42 camera. This work is supported by the National Science Foundation Grant 1603915/1603326.

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

Olmstead, D.; Wayne, P.; Simons, D.

Here, we consider two cases of interaction between a planar shock and a cylindrical density interface. In the first case (planar normal shock), the axis of the gas cylinder is parallel to the shock front and baroclinic vorticity deposited by the shock is predominantly two dimensional (directed along the axis of the cylinder). In the second case, the cylinder is tilted, resulting in an oblique shock interaction and a fully-three-dimensional shock-induced vorticity field. Furthermore, the statistical properties of the flow for both cases are analyzed based on images from two orthogonal visualization planes, using structure functions of the intensity mapsmore » of fluorescent tracer premixed with heavy gas. And at later times, these structure functions exhibit power-law-like behavior over a considerable range of scales. Manifestation of this behavior is remarkably consistent in terms of dimensionless time τ defined based on Richtmyer's linear theory within the range of Mach numbers from 1.1 to 2.0 and the range of gas cylinder tilt angles with respect to the plane of the shock front (0–30°).« less

A clathrin coat assembly role for the muniscin protein central linker revealed by TALEN-mediated gene editing

PubMed Central

Umasankar, Perunthottathu K; Ma, Li; Thieman, James R; Jha, Anupma; Doray, Balraj; Watkins, Simon C; Traub, Linton M

2014-01-01

Clathrin-mediated endocytosis is an evolutionarily ancient membrane transport system regulating cellular receptivity and responsiveness. Plasmalemma clathrin-coated structures range from unitary domed assemblies to expansive planar constructions with internal or flanking invaginated buds. Precisely how these morphologically-distinct coats are formed, and whether all are functionally equivalent for selective cargo internalization is still disputed. We have disrupted the genes encoding a set of early arriving clathrin-coat constituents, FCHO1 and FCHO2, in HeLa cells. Endocytic coats do not disappear in this genetic background; rather clustered planar lattices predominate and endocytosis slows, but does not cease. The central linker of FCHO proteins acts as an allosteric regulator of the prime endocytic adaptor, AP-2. By loading AP-2 onto the plasma membrane, FCHO proteins provide a parallel pathway for AP-2 activation and clathrin-coat fabrication. Further, the steady-state morphology of clathrin-coated structures appears to be a manifestation of the availability of the muniscin linker during lattice polymerization. DOI: http://dx.doi.org/10.7554/eLife.04137.001 PMID:25303365

Emergent propagation modes of ferromagnetic swimmers in constrained geometries

NASA Astrophysics Data System (ADS)

Bryan, M. T.; Shelley, S. R.; Parish, M. J.; Petrov, P. G.; Winlove, C. P.; Gilbert, A. D.; Ogrin, F. Y.

2017-02-01

Magnetic microswimmers, composed of hard and soft ferromagnets connected by an elastic spring, are modelled under low Reynolds number conditions in the presence of geometrical boundaries. Approaching a surface, the magneto-elastic swimmer's velocity increases and its trajectory bends parallel to the surface contour. Further confinement to form a planar channel generates new propagation modes as the channel width narrows, altering the magneto-elastic swimmer's speed, orientation, and direction of travel. Our results demonstrate that constricted geometric environments, such as occuring in microfluidic channels or blood vessels, may influence the functionality of magneto-elastic microswimmers for applications such as drug delivery.

Crystal structure of 2-oxopyrrolidin-3-yl 4-(2-phenyl-diazen-1-yl)benzoate.

PubMed

Elkin, Igor; Maris, Thierry; Melkoumov, Alexandre; Hildgen, Patrice; Banquy, Xavier; Leclair, Grégoire; Barrett, Christopher

2018-04-01

In the title compound, C 17 H 15 N 3 O 3 , the plane of the pyrrolidone ring is inclined at an angle of 59.791 (2)° to that of the azo-benzene segment, which adopts a configuration close to planar. In the crystal, mol-ecules are oriented pairwise by (2-oxopyrrolidin-3-yl)-oxy moieties at an angle of 76.257 (3)°, linked by hydrogen bonds and π-stacking inter-actions, forming zigzag supra-molecular chains parallel to [010] further linked via additional C-H⋯π inter-actions.

N,N′-Bis(3,5-dichloro­benzyl­idene)­ethane-1,2-diamine

PubMed Central

Fun, Hoong-Kun; Kia, Reza

2008-01-01

The mol­ecule of the title Schiff base compound, C16H12Cl4N2, lies across an inversion centre and adopts an E configuration with respect to the azomethine C=N bond. The imine groups are coplanar with the aromatic rings. Within the mol­ecule, the planar units are parallel but extend in opposite directions from the dimethyl­ene bridge. In the crystal structure, mol­ecules are linked together by inter­molecular C—H⋯Cl hydrogen bonds along the a axis. PMID:21580993

2-Amino-4,6-dimethyl­pyrimidin-1-ium chloride

PubMed Central

Hu, Hui-Ling; Yeh, Chun-Wei

2012-01-01

In the title compound, C6H10N3 +·Cl−, the cation is essentially planar with an r.m.s. deviations of the fitted atoms of 0.008 Å. In the crystal, adjacent ions are linked by weak N—H⋯Cl hydrogen bonds involving the pyrimidine and amine N atoms, forming a three-dimensional network. C—H⋯π inter­actions between the methyl and pyrimidine groups and π–π stacking [centroid–centroid distance = 3.474 (1) Å] between parallel pyrimidine ring systems are also observed. PMID:23476204

Higher-order continuation for the determination of robot workspace boundaries

NASA Astrophysics Data System (ADS)

Hentz, Gauthier; Charpentier, Isabelle; Renaud, Pierre

2016-02-01

In the medical and surgical fields, robotics may be of great interest for safer and more accurate procedures. Space constraints for a robotic assistant are however strict. Therefore, roboticists study non-conventional mechanisms with advantageous size/workspace ratios. The determination of mechanism workspace, and primarily its boundaries, is thus of major importance. This Note builds on boundary equation definition, continuation and automatic differentiation to propose a general, accurate, fast and automated method for the determination of mechanism workspace. The method is illustrated with a planar RRR mechanism and a three-dimensional Orthoglide parallel mechanism.

N-(2-Allyl-4-eth­oxy-2H-indazol-5-yl)-4-methyl­benzene­sulfonamide

PubMed Central

Chicha, Hakima; Rakib, El Mostapha; Bouissane, Latifa; Viale, Maurizio; Saadi, Mohamed; El Ammari, Lahcen

2014-01-01

The indazole ring system of the title compound, C19H21N3O3S, is almost planar (r.m.s. deviation = 0.0192 Å) and forms dihedral angles of 77.99 (15) and 83.9 (3)° with the benzene ring and allyl group, respectively. In the crystal, centrosymmetrically related mol­ecules are connected by pairs of N—H⋯O hydrogen bonds into dimers, which are further linked by C—H⋯O hydrogen bonds, forming columns parallel to the b axis. PMID:24860413

Unsteady planar diffusion flames: Ignition, travel, burnout

NASA Technical Reports Server (NTRS)

Fendell, F.; Wu, F.

1995-01-01

In microgravity, a thin planar diffusion flame is created and thenceforth travels so that the flame is situated at all times at an interface at which the hydrogen and oxygen meet in stoichiometric proportion. If the initial amount of hydrogen is deficient relative to the initial amount of oxygen, then the planar flame will travel further and further into the half volume initially containing hydrogen, until the hydrogen is (virtually) fully depleted. Of course, when the amount of residual hydrogen becomes small, the diffusion flame is neither vigorous nor thin; in practice, the flame is extinguished before the hydrogen is fully depleted, owing to the finite rate of the actual chemical-kinetic mechanism. The rate of travel of the hydrogen-air diffusion flame is much slower than the rate of laminar flame propagation through a hydrogen-air mixture. This slow travel facilitates diagnostic detection of the flame position as a function of time, but the slow travel also means that the time to burnout (extinction) probably far exceeds the testing time (typically, a few seconds) available in earth-sited facilities for microgravity-environment experiments. We undertake an analysis to predict (1) the position and temperature of the diffusion flame as a function of time, (2) the time at which extinction of the diffusion flame occurs, and (3) the thickness of quench layers formed on side walls (i.e., on lateral boundaries, with normal vectors parallel to the diffusion-flame plane), and whether, prior to extinction, water vapor formed by burning will condense on these cold walls.

Sensitivity-encoded (SENSE) proton echo-planar spectroscopic imaging (PEPSI) in the human brain.

PubMed

Lin, Fa-Hsuan; Tsai, Shang-Yueh; Otazo, Ricardo; Caprihan, Arvind; Wald, Lawrence L; Belliveau, John W; Posse, Stefan

2007-02-01

Magnetic resonance spectroscopic imaging (MRSI) provides spatially resolved metabolite information that is invaluable for both neuroscience studies and clinical applications. However, lengthy data acquisition times, which are a result of time-consuming phase encoding, represent a major challenge for MRSI. Fast MRSI pulse sequences that use echo-planar readout gradients, such as proton echo-planar spectroscopic imaging (PEPSI), are capable of fast spectral-spatial encoding and thus enable acceleration of image acquisition times. Combining PEPSI with recent advances in parallel MRI utilizing RF coil arrays can further accelerate MRSI data acquisition. Here we investigate the feasibility of ultrafast spectroscopic imaging at high field (3T and 4T) by combining PEPSI with sensitivity-encoded (SENSE) MRI using eight-channel head coil arrays. We show that the acquisition of single-average SENSE-PEPSI data at a short TE (15 ms) can be accelerated to 32 s or less, depending on the field strength, to obtain metabolic images of choline (Cho), creatine (Cre), N-acetyl-aspartate (NAA), and J-coupled metabolites (e.g., glutamate (Glu) and inositol (Ino)) with acceptable spectral quality and localization. The experimentally measured reductions in signal-to-noise ratio (SNR) and Cramer-Rao lower bounds (CRLBs) of metabolite resonances were well explained by both the g-factor and reduced measurement times. Thus, this technology is a promising means of reducing the scan times of 3D acquisitions and time-resolved 2D measurements. Copyright (c) 2007 Wiley-Liss, Inc.

Facing competition: Neural mechanisms underlying parallel programming of antisaccades and prosaccades.

PubMed

Talanow, Tobias; Kasparbauer, Anna-Maria; Steffens, Maria; Meyhöfer, Inga; Weber, Bernd; Smyrnis, Nikolaos; Ettinger, Ulrich

2016-08-01

The antisaccade task is a prominent tool to investigate the response inhibition component of cognitive control. Recent theoretical accounts explain performance in terms of parallel programming of exogenous and endogenous saccades, linked to the horse race metaphor. Previous studies have tested the hypothesis of competing saccade signals at the behavioral level by selectively slowing the programming of endogenous or exogenous processes e.g. by manipulating the probability of antisaccades in an experimental block. To gain a better understanding of inhibitory control processes in parallel saccade programming, we analyzed task-related eye movements and blood oxygenation level dependent (BOLD) responses obtained using functional magnetic resonance imaging (fMRI) at 3T from 16 healthy participants in a mixed antisaccade and prosaccade task. The frequency of antisaccade trials was manipulated across blocks of high (75%) and low (25%) antisaccade frequency. In blocks with high antisaccade frequency, antisaccade latencies were shorter and error rates lower whilst prosaccade latencies were longer and error rates were higher. At the level of BOLD, activations in the task-related saccade network (left inferior parietal lobe, right inferior parietal sulcus, left precentral gyrus reaching into left middle frontal gyrus and inferior frontal junction) and deactivations in components of the default mode network (bilateral temporal cortex, ventromedial prefrontal cortex) compensated increased cognitive control demands. These findings illustrate context dependent mechanisms underlying the coordination of competing decision signals in volitional gaze control. Copyright © 2016 Elsevier Inc. All rights reserved.

Research on precision grinding technology of large scale and ultra thin optics

NASA Astrophysics Data System (ADS)

Zhou, Lian; Wei, Qiancai; Li, Jie; Chen, Xianhua; Zhang, Qinghua

2018-03-01

The flatness and parallelism error of large scale and ultra thin optics have an important influence on the subsequent polishing efficiency and accuracy. In order to realize the high precision grinding of those ductile elements, the low deformation vacuum chuck was designed first, which was used for clamping the optics with high supporting rigidity in the full aperture. Then the optics was planar grinded under vacuum adsorption. After machining, the vacuum system was turned off. The form error of optics was on-machine measured using displacement sensor after elastic restitution. The flatness would be convergenced with high accuracy by compensation machining, whose trajectories were integrated with the measurement result. For purpose of getting high parallelism, the optics was turned over and compensation grinded using the form error of vacuum chuck. Finally, the grinding experiment of large scale and ultra thin fused silica optics with aperture of 430mm×430mm×10mm was performed. The best P-V flatness of optics was below 3 μm, and parallelism was below 3 ″. This machining technique has applied in batch grinding of large scale and ultra thin optics.

Substructure analysis using NICE/SPAR and applications of force to linear and nonlinear structures. [spacecraft masts

NASA Technical Reports Server (NTRS)

Razzaq, Zia; Prasad, Venkatesh; Darbhamulla, Siva Prasad; Bhati, Ravinder; Lin, Cai

1987-01-01

Parallel computing studies are presented for a variety of structural analysis problems. Included are the substructure planar analysis of rectangular panels with and without a hole, the static analysis of space mast, using NICE/SPAR and FORCE, and substructure analysis of plane rigid-jointed frames using FORCE. The computations are carried out on the Flex/32 MultiComputer using one to eighteen processors. The NICE/SPAR runstream samples are documented for the panel problem. For the substructure analysis of plane frames, a computer program is developed to demonstrate the effectiveness of a substructuring technique when FORCE is enforced. Ongoing research activities for an elasto-plastic stability analysis problem using FORCE, and stability analysis of the focus problem using NICE/SPAR are briefly summarized. Speedup curves for the panel, the mast, and the frame problems provide a basic understanding of the effectiveness of parallel computing procedures utilized or developed, within the domain of the parameters considered. Although the speedup curves obtained exhibit various levels of computational efficiency, they clearly demonstrate the excellent promise which parallel computing holds for the structural analysis problem. Source code is given for the elasto-plastic stability problem and the FORCE program.

Smisc - A collection of miscellaneous functions

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

Landon Sego, PNNL

2015-08-31

A collection of functions for statistical computing and data manipulation. These include routines for rapidly aggregating heterogeneous matrices, manipulating file names, loading R objects, sourcing multiple R files, formatting datetimes, multi-core parallel computing, stream editing, specialized plotting, etc. Smisc-package A collection of miscellaneous functions allMissing Identifies missing rows or columns in a data frame or matrix as.numericSilent Silent wrapper for coercing a vector to numeric comboList Produces all possible combinations of a set of linear model predictors cumMax Computes the maximum of the vector up to the current index cumsumNA Computes the cummulative sum of a vector without propogating NAsmore » d2binom Probability functions for the sum of two independent binomials dataIn A flexible way to import data into R. dbb The Beta-Binomial Distribution df2list Row-wise conversion of a data frame to a list dfplapply Parallelized single row processing of a data frame dframeEquiv Examines the equivalence of two dataframes or matrices dkbinom Probability functions for the sum of k independent binomials factor2character Converts all factor variables in a dataframe to character variables findDepMat Identify linearly dependent rows or columns in a matrix formatDT Converts date or datetime strings into alternate formats getExtension Filename manipulations: remove the extension or path, extract the extension or path getPath Filename manipulations: remove the extension or path, extract the extension or path grabLast Filename manipulations: remove the extension or path, extract the extension or path ifelse1 Non-vectorized version of ifelse integ Simple numerical integration routine interactionPlot Two-way Interaction Plot with Error Bar linearMap Linear mapping of a numerical vector or scalar list2df Convert a list to a data frame loadObject Loads and returns the object(s) in an ".Rdata" file more Display the contents of a file to the R terminal movAvg2 Calculate the moving average using a 2-sided window openDevice Opens a graphics device based on the filename extension p2binom Probability functions for the sum of two independent binomials padZero Pad a vector of numbers with zeros parseJob Parses a collection of elements into (almost) equal sized groups pbb The Beta-Binomial Distribution pcbinom A continuous version of the binomial cdf pkbinom Probability functions for the sum of k independent binomials plapply Simple parallelization of lapply plotFun Plot one or more functions on a single plot PowerData An example of power data pvar Prints the name and value of one or more objects qbb The Beta-Binomial Distribution rbb And numerous others (space limits reporting).« less

Closed-form dynamics of a hexarot parallel manipulator by means of the principle of virtual work

NASA Astrophysics Data System (ADS)

Pedrammehr, Siamak; Nahavandi, Saeid; Abdi, Hamid

2018-04-01

In this research, a systematic approach to solving the inverse dynamics of hexarot manipulators is addressed using the methodology of virtual work. For the first time, a closed form of the mathematical formulation of the standard dynamic model is presented for this class of mechanisms. An efficient algorithm for solving this closed-form dynamic model of the mechanism is developed and it is used to simulate the dynamics of the system for different trajectories. Validation of the proposed model is performed using SimMechanics and it is shown that the results of the proposed mathematical model match with the results obtained by the SimMechanics model.

Simulation Exploration through Immersive Parallel Planes

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

Brunhart-Lupo, Nicholas J; Bush, Brian W; Gruchalla, Kenny M

We present a visualization-driven simulation system that tightly couples systems dynamics simulations with an immersive virtual environment to allow analysts to rapidly develop and test hypotheses in a high-dimensional parameter space. To accomplish this, we generalize the two-dimensional parallel-coordinates statistical graphic as an immersive 'parallel-planes' visualization for multivariate time series emitted by simulations running in parallel with the visualization. In contrast to traditional parallel coordinate's mapping the multivariate dimensions onto coordinate axes represented by a series of parallel lines, we map pairs of the multivariate dimensions onto a series of parallel rectangles. As in the case of parallel coordinates, eachmore » individual observation in the dataset is mapped to a polyline whose vertices coincide with its coordinate values. Regions of the rectangles can be 'brushed' to highlight and select observations of interest: a 'slider' control allows the user to filter the observations by their time coordinate. In an immersive virtual environment, users interact with the parallel planes using a joystick that can select regions on the planes, manipulate selection, and filter time. The brushing and selection actions are used to both explore existing data as well as to launch additional simulations corresponding to the visually selected portions of the input parameter space. As soon as the new simulations complete, their resulting observations are displayed in the virtual environment. This tight feedback loop between simulation and immersive analytics accelerates users' realization of insights about the simulation and its output.« less

Simulation Exploration through Immersive Parallel Planes: Preprint

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

Brunhart-Lupo, Nicholas; Bush, Brian W.; Gruchalla, Kenny

We present a visualization-driven simulation system that tightly couples systems dynamics simulations with an immersive virtual environment to allow analysts to rapidly develop and test hypotheses in a high-dimensional parameter space. To accomplish this, we generalize the two-dimensional parallel-coordinates statistical graphic as an immersive 'parallel-planes' visualization for multivariate time series emitted by simulations running in parallel with the visualization. In contrast to traditional parallel coordinate's mapping the multivariate dimensions onto coordinate axes represented by a series of parallel lines, we map pairs of the multivariate dimensions onto a series of parallel rectangles. As in the case of parallel coordinates, eachmore » individual observation in the dataset is mapped to a polyline whose vertices coincide with its coordinate values. Regions of the rectangles can be 'brushed' to highlight and select observations of interest: a 'slider' control allows the user to filter the observations by their time coordinate. In an immersive virtual environment, users interact with the parallel planes using a joystick that can select regions on the planes, manipulate selection, and filter time. The brushing and selection actions are used to both explore existing data as well as to launch additional simulations corresponding to the visually selected portions of the input parameter space. As soon as the new simulations complete, their resulting observations are displayed in the virtual environment. This tight feedback loop between simulation and immersive analytics accelerates users' realization of insights about the simulation and its output.« less

Toward automated formation of microsphere arrangements using multiplexed optical tweezers

NASA Astrophysics Data System (ADS)

Rajasekaran, Keshav; Bollavaram, Manasa; Banerjee, Ashis G.

2016-09-01

Optical tweezers offer certain advantages such as multiplexing using a programmable spatial light modulator, flexibility in the choice of the manipulated object and the manipulation medium, precise control, easy object release, and minimal object damage. However, automated manipulation of multiple objects in parallel, which is essential for efficient and reliable formation of micro-scale assembly structures, poses a difficult challenge. There are two primary research issues in addressing this challenge. First, the presence of stochastic Langevin force giving rise to Brownian motion requires motion control for all the manipulated objects at fast rates of several Hz. Second, the object dynamics is non-linear and even difficult to represent analytically due to the interaction of multiple optical traps that are manipulating neighboring objects. As a result, automated controllers have not been realized for tens of objects, particularly with three dimensional motions with guaranteed collision avoidances. In this paper, we model the effect of interacting optical traps on microspheres with significant Brownian motions in stationary fluid media, and develop simplified state-space representations. These representations are used to design a model predictive controller to coordinate the motions of several spheres in real time. Preliminary experiments demonstrate the utility of the controller in automatically forming desired arrangements of varying configurations starting with randomly dispersed microspheres.

Integrated Parallel Reception, Excitation, and Shimming (iPRES)

PubMed Central

Han, Hui; Song, Allen W.; Truong, Trong-Kha

2013-01-01

Purpose To develop a new concept for a hardware platform that enables integrated parallel reception, excitation, and shimming (iPRES). Theory This concept uses a single coil array rather than separate arrays for parallel excitation/reception and B0 shimming. It relies on a novel design that allows a radiofrequency current (for excitation/reception) and a direct current (for B0 shimming) to coexist independently in the same coil. Methods Proof-of-concept B0 shimming experiments were performed with a two-coil array in a phantom, whereas B0 shimming simulations were performed with a 48-coil array in the human brain. Results Our experiments show that individually optimized direct currents applied in each coil can reduce the B0 root-mean-square error by 62–81% and minimize distortions in echo-planar images. The simulations show that dynamic shimming with the 48-coil iPRES array can reduce the B0 root-mean-square error in the prefrontal and temporal regions by 66–79% as compared to static 2nd-order spherical harmonic shimming and by 12–23% as compared to dynamic shimming with a 48-coil conventional shim array. Conclusion Our results demonstrate the feasibility of the iPRES concept to perform parallel excitation/reception and B0 shimming with a unified coil system as well as its promise for in vivo applications. PMID:23629974

Efficient Synthesis of γ-Lactams by a Tandem Reductive Amination/Lactamization Sequence

PubMed Central

Nöth, Julica; Frankowski, Kevin J.; Neuenswander, Benjamin; Aubé, Jeffrey; Reiser, Oliver

2009-01-01

A three-component method for synthesizing highly-substituted γ-lactams from readily available maleimides, aldehydes and amines is described. A new reductive amination/intramolecular lactamization sequence provides a straightforward route to the lactam products in a single manipulation. The general utility of this method is demonstrated by the parallel synthesis of a γ-lactam library. PMID:18338857

Efficient synthesis of gamma-lactams by a tandem reductive amination/lactamization sequence.

PubMed

Nöth, Julica; Frankowski, Kevin J; Neuenswander, Benjamin; Aubé, Jeffrey; Reiser, Oliver

2008-01-01

A three-component method for the synthesis of highly substituted gamma-lactams from readily available maleimides, aldehydes, and amines is described. A new reductive amination/intramolecular lactamization sequence provides a straightforward route to the lactam products in a single manipulation. The general utility of this method is demonstrated by the parallel synthesis of a gamma-lactam library.

Information engineering

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

Hunt, D.N.

1997-02-01

The Information Engineering thrust area develops information technology to support the programmatic needs of Lawrence Livermore National Laboratory`s Engineering Directorate. Progress in five programmatic areas are described in separate reports contained herein. These are entitled Three-dimensional Object Creation, Manipulation, and Transport, Zephyr:A Secure Internet-Based Process to Streamline Engineering Procurements, Subcarrier Multiplexing: Optical Network Demonstrations, Parallel Optical Interconnect Technology Demonstration, and Intelligent Automation Architecture.

Characterization of Planctomyces limnophilus and development of genetic tools for its manipulation establish it as a model species for the phylum Planctomycetes.

PubMed

Jogler, Christian; Glöckner, Frank Oliver; Kolter, Roberto

2011-08-15

Planctomycetes represent a remarkable clade in the domain Bacteria because they play crucial roles in global carbon and nitrogen cycles and display cellular structures that closely parallel those of eukaryotic cells. Studies on Planctomycetes have been hampered by the lack of genetic tools, which we developed for Planctomyces limnophilus.

Web 2.0, Pedagogical Support for Reflexive and Emotional Social Interaction among Swedish Students

ERIC Educational Resources Information Center

Augustsson, Gunnar

2010-01-01

Collaborative social interaction when using Web 2.0 in terms of VoiceThread is investigated in a case study of a Swedish university course in social psychology. The case study method was chosen because of the desire not to manipulate the students' behaviour, and data was collected in parallel with course implementation. Two particular…

Modified Petri net model sensitivity to workload manipulations

NASA Technical Reports Server (NTRS)

White, S. A.; Mackinnon, D. P.; Lyman, J.

1986-01-01

Modified Petri Nets (MPNs) are investigated as a workload modeling tool. The results of an exploratory study of the sensitivity of MPNs to work load manipulations in a dual task are described. Petri nets have been used to represent systems with asynchronous, concurrent and parallel activities (Peterson, 1981). These characteristics led some researchers to suggest the use of Petri nets in workload modeling where concurrent and parallel activities are common. Petri nets are represented by places and transitions. In the workload application, places represent operator activities and transitions represent events. MPNs have been used to formally represent task events and activities of a human operator in a man-machine system. Some descriptive applications demonstrate the usefulness of MPNs in the formal representation of systems. It is the general hypothesis herein that in addition to descriptive applications, MPNs may be useful for workload estimation and prediction. The results are reported of the first of a series of experiments designed to develop and test a MPN system of workload estimation and prediction. This first experiment is a screening test of MPN model general sensitivity to changes in workload. Positive results from this experiment will justify the more complicated analyses and techniques necessary for developing a workload prediction system.

Electronic Switch Arrays for Managing Microbattery Arrays

NASA Technical Reports Server (NTRS)

Mojarradi, Mohammad; Alahmad, Mahmoud; Sukumar, Vinesh; Zghoul, Fadi; Buck, Kevin; Hess, Herbert; Li, Harry; Cox, David

2008-01-01

Integrated circuits have been invented for managing the charging and discharging of such advanced miniature energy-storage devices as planar arrays of microscopic energy-storage elements [typically, microscopic electrochemical cells (microbatteries) or microcapacitors]. The architecture of these circuits enables implementation of the following energy-management options: dynamic configuration of the elements of an array into a series or parallel combination of banks (subarrarys), each array comprising a series of parallel combination of elements; direct addressing of individual banks for charging/or discharging; and, disconnection of defective elements and corresponding reconfiguration of the rest of the array to utilize the remaining functional elements to obtain the desited voltage and current performance. An integrated circuit according to the invention consists partly of a planar array of field-effect transistors that function as switches for routing electric power among the energy-storage elements, the power source, and the load. To connect the energy-storage elements to the power source for charging, a specific subset of switches is closed; to connect the energy-storage elements to the load for discharging, a different specific set of switches is closed. Also included in the integrated circuit is circuitry for monitoring and controlling charging and discharging. The control and monitoring circuitry, the switching transistors, and interconnecting metal lines are laid out on the integrated-circuit chip in a pattern that registers with the array of energy-storage elements. There is a design option to either (1) fabricate the energy-storage elements in the corresponding locations on, and as an integral part of, this integrated circuit; or (2) following a flip-chip approach, fabricate the array of energy-storage elements on a separate integrated-circuit chip and then align and bond the two chips together.

Solvent-molecule-mediated manipulation of crystalline grains for efficient planar binary lead and tin triiodide perovskite solar cells

NASA Astrophysics Data System (ADS)

Zhu, Leize; Yuh, Brian; Schoen, Stefan; Li, Xinpei; Aldighaithir, Mohammed; Richardson, Beau J.; Alamer, Ahmed; Yu, Qiuming

2016-03-01

Binary lead and tin perovskites offer the benefits of narrower band gaps for broader adsorption of solar spectrum and better charge transport for higher photocurrent density. Here, we report the growth of large, smooth crystalline grains of bianry lead and tin triiodide perovskite films via a two-step solution process with thermal plus solvent vapor-assisted thermal annealing. The crystalline SnxPb1-xI2 films formed in the first step served as the templates for the formation of crystalline CH3NH3SnxPb1-xI3 films during the second step interdiffusion of methylammonium iodide (MAI). Followed by dimethylsulfoxide (DMSO) vapor-assisted thermal annealing, small, faceted perovskite grains grew into large, smooth grains via the possible mechanism involving bond breaking and reforming mediated by DMSO solvent molecules. The absorption onset was extended to 950 and 1010 nm for the CH3NH3SnxPb1-xI3 perovskites with x = 0.1 and 0.25, respectively. The highest PCE of 10.25% was achieved from the planar perovskite solar cell with the CH3NH3Sn0.1Pb0.9I3 layer prepared via the thermal plus DMSO vapor-assisted thermal annealing. This research provides a way to control and manipulate film morphology, grain size, and especially the distribution of metal cations in binary metal perovskite layers, which opens an avenue to grow perovskite materials with desired properties to enhance device performance.Binary lead and tin perovskites offer the benefits of narrower band gaps for broader adsorption of solar spectrum and better charge transport for higher photocurrent density. Here, we report the growth of large, smooth crystalline grains of bianry lead and tin triiodide perovskite films via a two-step solution process with thermal plus solvent vapor-assisted thermal annealing. The crystalline SnxPb1-xI2 films formed in the first step served as the templates for the formation of crystalline CH3NH3SnxPb1-xI3 films during the second step interdiffusion of methylammonium iodide (MAI). Followed by dimethylsulfoxide (DMSO) vapor-assisted thermal annealing, small, faceted perovskite grains grew into large, smooth grains via the possible mechanism involving bond breaking and reforming mediated by DMSO solvent molecules. The absorption onset was extended to 950 and 1010 nm for the CH3NH3SnxPb1-xI3 perovskites with x = 0.1 and 0.25, respectively. The highest PCE of 10.25% was achieved from the planar perovskite solar cell with the CH3NH3Sn0.1Pb0.9I3 layer prepared via the thermal plus DMSO vapor-assisted thermal annealing. This research provides a way to control and manipulate film morphology, grain size, and especially the distribution of metal cations in binary metal perovskite layers, which opens an avenue to grow perovskite materials with desired properties to enhance device performance. Electronic supplementary information (ESI) available. See DOI: 10.1039/c6nr00301j

Magnetophoretic circuits for digital control of single particles and cells

NASA Astrophysics Data System (ADS)

Lim, Byeonghwa; Reddy, Venu; Hu, Xinghao; Kim, Kunwoo; Jadhav, Mital; Abedini-Nassab, Roozbeh; Noh, Young-Woock; Lim, Yong Taik; Yellen, Benjamin B.; Kim, Cheolgi

2014-05-01

The ability to manipulate small fluid droplets, colloidal particles and single cells with the precision and parallelization of modern-day computer hardware has profound applications for biochemical detection, gene sequencing, chemical synthesis and highly parallel analysis of single cells. Drawing inspiration from general circuit theory and magnetic bubble technology, here we demonstrate a class of integrated circuits for executing sequential and parallel, timed operations on an ensemble of single particles and cells. The integrated circuits are constructed from lithographically defined, overlaid patterns of magnetic film and current lines. The magnetic patterns passively control particles similar to electrical conductors, diodes and capacitors. The current lines actively switch particles between different tracks similar to gated electrical transistors. When combined into arrays and driven by a rotating magnetic field clock, these integrated circuits have general multiplexing properties and enable the precise control of magnetizable objects.

Parallel MR Imaging with Accelerations Beyond the Number of Receiver Channels Using Real Image Reconstruction.

PubMed

Ji, Jim; Wright, Steven

2005-01-01

Parallel imaging using multiple phased-array coils and receiver channels has become an effective approach to high-speed magnetic resonance imaging (MRI). To obtain high spatiotemporal resolution, the k-space is subsampled and later interpolated using multiple channel data. Higher subsampling factors result in faster image acquisition. However, the subsampling factors are upper-bounded by the number of parallel channels. Phase constraints have been previously proposed to overcome this limitation with some success. In this paper, we demonstrate that in certain applications it is possible to obtain acceleration factors potentially up to twice the channel numbers by using a real image constraint. Data acquisition and processing methods to manipulate and estimate of the image phase information are presented for improving image reconstruction. In-vivo brain MRI experimental results show that accelerations up to 6 are feasible with 4-channel data.

A robot arm simulation with a shared memory multiprocessor machine

NASA Technical Reports Server (NTRS)

Kim, Sung-Soo; Chuang, Li-Ping

1989-01-01

A parallel processing scheme for a single chain robot arm is presented for high speed computation on a shared memory multiprocessor. A recursive formulation that is derived from a virtual work form of the d'Alembert equations of motion is utilized for robot arm dynamics. A joint drive system that consists of a motor rotor and gears is included in the arm dynamics model, in order to take into account gyroscopic effects due to the spinning of the rotor. The fine grain parallelism of mechanical and control subsystem models is exploited, based on independent computation associated with bodies, joint drive systems, and controllers. Efficiency and effectiveness of the parallel scheme are demonstrated through simulations of a telerobotic manipulator arm. Two different mechanical subsystem models, i.e., with and without gyroscopic effects, are compared, to show the trade-off between efficiency and accuracy.

Six degree-of-freedom scanning supports and manipulators based on parallel robots

NASA Astrophysics Data System (ADS)

Comin, Fabio

1995-02-01

The exploitation of third generation SR sources heavily relies on accurate and stable positioning and scanning of samples and optical elements. In some cases, active feedback is also necessary. Normally, these tasks are carried out by serial addition of individual components, each of them providing a well-defined excursion path. On the contrary, the exploitation of the concept of parallel robots, structures in close cinematic chain, permits us to follow any given trajectory in the six-dimensional space with a large increase in accuracy and stiffness. At ESRF, the parallel robot architecture conceived some tens of years ago for flight simulators has been adapted to both actively align and operate optical elements of considerable weight and position small samples in ultrahigh vacuum. The performance of these devices gives results far superior to the initial specification and a variety of drive mechanisms are being developed to fit the different needs of the ESRF beamlines.

Characterization of robotics parallel algorithms and mapping onto a reconfigurable SIMD machine

NASA Technical Reports Server (NTRS)

Lee, C. S. G.; Lin, C. T.

1989-01-01

The kinematics, dynamics, Jacobian, and their corresponding inverse computations are six essential problems in the control of robot manipulators. Efficient parallel algorithms for these computations are discussed and analyzed. Their characteristics are identified and a scheme on the mapping of these algorithms to a reconfigurable parallel architecture is presented. Based on the characteristics including type of parallelism, degree of parallelism, uniformity of the operations, fundamental operations, data dependencies, and communication requirement, it is shown that most of the algorithms for robotic computations possess highly regular properties and some common structures, especially the linear recursive structure. Moreover, they are well-suited to be implemented on a single-instruction-stream multiple-data-stream (SIMD) computer with reconfigurable interconnection network. The model of a reconfigurable dual network SIMD machine with internal direct feedback is introduced. A systematic procedure internal direct feedback is introduced. A systematic procedure to map these computations to the proposed machine is presented. A new scheduling problem for SIMD machines is investigated and a heuristic algorithm, called neighborhood scheduling, that reorders the processing sequence of subtasks to reduce the communication time is described. Mapping results of a benchmark algorithm are illustrated and discussed.

Ammonium 4-meth­oxy­benzene­sulfonate

PubMed Central

Suarez, Sebastián; Doctorovich, Fabio; Baggio, Ricardo

2012-01-01

The mol­ecular structure of the title compound, NH4 +·C7H7O4S−, is featureless [the methoxy C atom deviating 0.173 (6) Å from the phenyl mean plane] with inter­atomic distances and angles in the expected ranges. The main feature of inter­est is the packing mode. Hydro­philic (SO3 and NH4) and hydro­phobic (PhOCH3) parts in the structure segregate, the former inter­acting through a dense hydrogen-bonding scheme, leading to a well connected two-dimensional structure parallel to (100) and the latter hydro­phobic groups acting as spacers for an inter­planar separation of c/2 = 10.205 (2) Å. In spite of being aligned along [110], the benzene rings stack in a far from parallel fashion [viz. consecutive ring centers determine a broken line with a 164.72 (12)° zigzag angle], thus preventing any possible π–π inter­action. PMID:22798885

Trichlorido[(meth­yl{2-[meth­yl(2-pyridyl­meth­yl)amino]eth­yl}amino)acetonitrile]iron(III) methanol hemisolvate

PubMed Central

Nielsen, Anne; McKenzie, Christine J.; Bond, Andrew D.

2009-01-01

The title compound, [FeCl3(C12H18N4)]·0.5CH3OH, contains an FeIII ion in a distorted octa­hedral coordination environment. The neutral N,N′,N′′-tridentate ligand adopts a fac coordination mode, and chloride ligands lie trans to each of the three coordinated N atoms. In the crystal, the complexes form columns extending parallel to the approximate local threefold axes of the FeN3Cl3 octa­hedra, and the columns are arranged so that the uncoordinated nitrile groups align in an anti­parallel manner and the pyridyl rings form offset face-to-face arrangements [inter­planar separations = 2.95 (1) and 3.11 (1) Å; centroid–centroid distances = 5.31 (1) and 4.92 (1) Å]. The methanol solvent mol­ecule is disordered about a twofold rotation axis. PMID:21578169

Experimental study on the 300W class planar type solid oxide fuel cell stack: Investigation for appropriate fuel provision control and the transient capability of the cell performance

NASA Astrophysics Data System (ADS)

Komatsu, Y.; Brus, G.; Kimijima, S.; Szmyd, J. S.

2012-11-01

The present paper reports the experimental study on the dynamic behavior of a solid oxide fuel cell (SOFC). The cell stack consists of planar type cells with standard power output 300W. A Major subject of the present study is characterization of the transient response to the electric current change, assuming load-following operation. The present studies particularly focus on fuel provision control to the load change. Optimized fuel provision improves power generation efficiency. However, the capability of SOFC must be restricted by a few operative parameters. Fuel utilization factor, which is defined as the ratio of the consumed fuel to the supplied fuel is adopted for a reference in the control scheme. The fuel flow rate was regulated to keep the fuel utilization at 50%, 60% and 70% during the current ramping. Lower voltage was observed with the higher fuel utilization, but achieved efficiency was higher. The appropriate mass flow control is required not to violate the voltage transient behavior. Appropriate fuel flow manipulation can contribute to moderate the overshoot on the voltage that may appear to the current change. The overshoot on the voltage response resulted from the gradual temperature behavior in the SOFC stack module.

Interfacial Passivation of the p-Doped Hole-Transporting Layer Using General Insulating Polymers for High-Performance Inverted Perovskite Solar Cells.

PubMed

Zhang, Fan; Song, Jun; Hu, Rui; Xiang, Yuren; He, Junjie; Hao, Yuying; Lian, Jiarong; Zhang, Bin; Zeng, Pengju; Qu, Junle

2018-05-01

Organic-inorganic lead halide perovskite solar cells (PVSCs), as a competing technology with traditional inorganic solar cells, have now realized a high power conversion efficiency (PCE) of 22.1%. In PVSCs, interfacial carrier recombination is one of the dominant energy-loss mechanisms, which also results in the simultaneous loss of potential efficiency. In this work, for planar inverted PVSCs, the carrier recombination is dominated by the dopant concentration in the p-doped hole transport layers (HTLs), since the F4-TCNQ dopant induces more charge traps and electronic transmission channels, thus leading to a decrease in open-circuit voltages (V OC ). This issue is efficiently overcome by inserting a thin insulating polymer layer (poly(methyl methacrylate) or polystyrene) as a passivation layer with an appropriate thickness, which allows for increases in the V OC without significantly sacrificing the fill factor. It is believed that the passivation layer attributes to the passivation of interfacial recombination and the suppression of current leakage at the perovskite/HTL interface. By manipulating this interfacial passivation technique, a high PCE of 20.3% is achieved without hysteresis. Consequently, this versatile interfacial passivation methodology is highly useful for further improving the performance of planar inverted PVSCs. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Design and simulation of multifunctional optical devices using metasurfaces

NASA Astrophysics Data System (ADS)

Alyammahi, Saleimah

In classical optics, optical components such as lenses and microscopes are unable to focus the light into deep subwavelength or nanometer scales due to the diffraction limit. However, recent developments in nanophotonics, have enabled researchers to control the light at subwavelength scales and overcome the diffraction limit. Using subwavelength structures, we can create a new class of optical materials with unusual optical responses or with new properties that are not attainable in nature. Such artificial materials can be created by structuring conventional materials on the subwavelength scale, giving rise to the unusual optical properties due to the electric and magnetic responses of each meta-atom. These materials are called metamaterials or engineered materials that exhibit exciting phenomena such as non-linear optical responses and negative refraction. Metasurfaces are two dimensional meta-atoms arranged as an array with subwavelength distances. Therefore, metasurfaces are planar, ultrathin version of metamaterials that offer fascinating possibilities of manipulating the wavefront of the optical fields. Recently, the control of light properties such as phase, amplitude, and polarization has been demonstrated by introducing abrupt phase change across a subwavelength scale. Phase discontinuities at the interface can be attained by engineered metasurfaces with new applications and functionalities that have not been realized with bulk or multilayer materials. In this work, high efficient, planar metasurfaces based on geometric phase are designed to realize various functionalities. The designs include metalenses, axicon lenses, vortex beam generators, and Bessel vortex beam generators. The capability of planar metasurfaces in focusing the incident beams and shaping the optical wavefront is numerically demonstrated. COMSOL simulations are used to prove the capability of these metasurfaces to transform the incident beams into complex beams that carry orbital angular momentum (OAM). New designs of ultrathin, planar metasurfaces may result in development of a new type of photonic devices with reduced loss and broad bandwidth. The advances in metasurface designs will lead to ultrathin devices with surprising functionalities and low cost. These novel designs may offer more possibilities for applications in quantum optic devices, pulse shaping, spatial light modulators, nano-scale sensing or imaging, and so on.

Dispersion engineering in metamaterials and metasurfaces

NASA Astrophysics Data System (ADS)

Li, Xiong; Pu, Mingbo; Ma, Xiaoliang; Guo, Yinghui; Gao, Ping; Luo, Xiangang

2018-02-01

Dispersion engineering is essential for spectral utilization in electromagnetic systems. However, it is difficult to manage the dispersions in both natural materials and traditional electromagnetic waveguides since they are tightly related to fine structures of atoms, molecules and causality. The emergence of metamaterials and metasurfaces, which are made of subwavelength inclusions offers tremendous freedom to manipulate the electromagnetic parameters of materials and modes. Here, we review the basic principles, practical applications and recent advancements of the dispersion engineering in metadevices. The contributions of dispersion management in metadevice-based super-resolution imaging/nanolithography systems, planar functional devices, as well as the broadband perfect absorbers/polarization converters are discussed in depth. The challenges faced by this field as well as future developing trends are also presented in the conclusions.

Hybrid unidirectional meta-coupler for vertical incidence to a high-refractive-index waveguide in telecom wavelength.

PubMed

Gong, Chensheng; Zhang, Jianhao; He, Sailing

2017-12-15

Unidirectional optical manipulation, especially the coupling from a vertical light beam to a waveguide unidirectionally, is desirable in photonic integration. We first propose a hybrid unidirectional meta-coupler for vertical incidence to a high-refractive-index waveguide in telecom wavelength, a periodic plasmonic metasurface composed of metal-insulator-metal unit cells is used for phase matching. Three designs are given for devices working around wavelengths 0.85, 1.31, and 1.55 μm. The simulated coupling efficiencies are all around 70%, and the 1 dB coupling bandwidths are 29, 82, and 105 nm, respectively. Our approach paves the way for the applications of optical metasurfaces to planar lightwave circuits.

One-way invisibility in isotropic dielectric optical media

NASA Astrophysics Data System (ADS)

Horsley, S. A. R.; Longhi, S.

2017-06-01

Optical materials with a distribution of loss and gain can be used to manipulate waves in fascinating ways, seemingly impossible with ordinary lossless materials. Some recent results have shown that (for planar media) if the spatial distributions of the real and imaginary parts of the permittivity are related to one another by the Kramers-Kronig relations, then reflection can be eliminated. Moreover, if an additional "cancellation condition" is satisfied, then a material can be made invisible for incidence from one side. Here, we give a simple demonstration of these results that should be accessible to undergraduates. In addition, we show how this simple method can be used to prove results about the reflection from permittivity profiles, without ever requiring an exact solution of the Helmholtz equation.

Planar millimeter wave radar frontend for automotive applications

NASA Astrophysics Data System (ADS)

Grubert, J.; Heyen, J.; Metz, C.; Stange, L. C.; Jacob, A. F.

2003-05-01

A fully integrated planar sensor for 77 GHz automotive applications is presented. The frontend consists of a transceiver multichip module and an electronically steerable microstrip patch array. The antenna feed network is based on a modified Rotman-lens and connected to the array in a multilayer approach offering higher integration. Furthermore, the frontend comprises a phase lock loop to allow proper frequency-modulated continuous wave (FMCW) radar operation. The latest experimental results verify the functionality of this advanced frontend design featuring automatic cruise control, precrash sensing and cut-in detection. These promising radar measurements give reason to a detailed theoretical investigation of system performance. Employing commercially available MMIC various circuit topologies are compared based on signal-tonoise considerations. Different scenarios for both sequential and parallel lobing hint to more advanced sensor designs and better performance. These improvements strongly depend on the availability of suitable MMIC and reliable packaging technologies. Within our present approach possible future MMIC developments are already considered and, thus, can be easily adapted by the flexible frontend design. Es wird ein integrierter planarer Sensor für 77 GHz Radaranwendungen vorgestellt. Das Frontend besteht aus einem Sende- und Empfangs-Multi-Chip-Modul und einer elektronisch schwenkbaren Antenne. Das Speisenetzwerk der Antenne basiert auf einer modifizierten Rotman- Linse. Für eine kompakte Bauweise sind Antenne und Speisenetzwerk mehrlagig integriert. Weiterhin umfasst das Frontend eine Phasenregelschleife für eine präzise Steuerung des frequenzmodulierten Dauerstrichradars. Die aktuellen Messergebnisse bestätigen die Funktionalit¨at dieses neuartigen Frontend-Designs, das automatische Geschwindigkeitsregelung, Kollisionswarnung sowie Nahbereichsüberwachung ermöglicht. Die Qualität der Messergebnisse hat weiterführende theoretische Untersuchungen über die potenzielle Systemleistungsfähigkeit motiviert. Unter Berücksichtigung von kommerziell erhältlichenMMICs werden verschiedene Schaltungstopologien auf der Grundlage des Signal-Rausch-Verhältnisses verglichen. Sowohl für sequenzielle als auch für parallele Ansteuerung der Antennenkeulen wird eine deutliche Leistungssteigerung ermittelt. Diese Verbesserungen hängen maßgeblich von der Verfügbarkeit geeigneter MMICs und einer zuverlässigen Aufbau- und Verbindungstechnik ab. Das vorliegende Frontend-Konzept kann auf Grund seiner Flexibilität leicht an derlei zukünftige Entwicklungen angepasst werden.

Recent developments in microfluidics for cell studies.

PubMed

Xiong, Bin; Ren, Kangning; Shu, Yiwei; Chen, Yin; Shen, Bo; Wu, Hongkai

2014-08-20

As a technique for precisely manipulating fluid at the micrometer scale, the field of microfluidics has experienced an explosive growth over the past two decades, particularly owing to the advances in device design and fabrication. With the inherent advantages associated with its scale of operation, and its flexibility in being incorporated with other microscale techniques for manipulation and detection, microfluidics has become a major enabling technology, which has introduced new paradigms in various fields involving biological cells. A microfluidic device is able to realize functions that are not easily imaginable in conventional biological analysis, such as highly parallel, sophisticated high-throughput analysis, single-cell analysis in a well-defined manner, and tissue engineering with the capability of manipulation at the single-cell level. Major advancements in microfluidic device fabrication and the growing trend of implementing microfluidics in cell studies are presented, with a focus on biological research and clinical diagnostics. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Beam rider for an Articulated Robot Manipulator (ARM) accurate positioning of long flexible manipulators

NASA Technical Reports Server (NTRS)

Malachowski, M. J.

1990-01-01

Laser beam positioning and beam rider modules were incorporated into the long hollow flexible segment of an articulated robot manipulator (ARM). Using a single laser beam, the system determined the position of the distal ARM endtip, with millimetric precision, in six degrees of freedom, at distances of up to 10 meters. Preliminary designs, using space rated technology for the critical systems, of a two segmented physical ARM, with a single and a dual degree of freedom articulation, were developed, prototyped, and tested. To control the positioning of the physical ARM, an indirect adaptive controller, which used the mismatch between the position of the laser beam under static and dynamic conditions, was devised. To predict the behavior of the system and test the concept, a computer simulation model was constructed. A hierarchical artificially intelligent real time ADA operating system program structure was created. The software was designed for implementation on a dedicated VME bus based Intel 80386 administered parallel processing multi-tasking computer system.

Adaptive independent joint control of manipulators - Theory and experiment

NASA Technical Reports Server (NTRS)

Seraji, H.

1988-01-01

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Techniques for the rapid display and manipulation of 3-D biomedical data.

PubMed

Goldwasser, S M; Reynolds, R A; Talton, D A; Walsh, E S

1988-01-01

The use of fully interactive 3-D workstations with true real-time performance will become increasingly common as technology matures and economical commercial systems become available. This paper provides a comprehensive introduction to high speed approaches to the display and manipulation of 3-D medical objects obtained from tomographic data acquisition systems such as CT, MR, and PET. A variety of techniques are outlined including the use of software on conventional minicomputers, hardware assist devices such as array processors and programmable frame buffers, and special purpose computer architecture for dedicated high performance systems. While both algorithms and architectures are addressed, the major theme centers around the utilization of hardware-based approaches including parallel processors for the implementation of true real-time systems.

Robotic Vehicle

NASA Technical Reports Server (NTRS)

1994-01-01

A commercially available ANDROS Mark V-A robot was used by Jet Propulsion Laboratory (JPL) as the departure point in the development of the HAZBOT III, a prototype teleoperated mobile robot designed for response to emergencies. Teleoperated robots contribute significantly to reducing human injury levels by performing tasks too hazardous for humans. ANDROS' manufacturer, REMOTEC, Inc., in turn, adopted some of the JPL concepts, particularly the control panel. HAZBOT III has exceptional mobility, employs solid state electronics and brushless DC motors for safer operation, and is designed so combustible gases cannot penetrate areas containing electronics and motors. Other features include the six-degree-of-freedom manipulator, the 30-pound squeeze force parallel jaw gripper and two video cameras, one for general viewing and navigation and the other for manipulation/grasping.

Analysis of Parallelogram Mechanism used to Preserve Remote Center of Motion for Surgical Telemanipulator

NASA Astrophysics Data System (ADS)

Trochimczuk, R.

2017-02-01

This paper presents an analysis of a parallelogram mechanism commonly used to provide a kinematic remote center of motion in surgical telemanipulators. Selected types of parallel manipulator designs, encountered in commercial and laboratory-made designs described in the medical robotics literature, will serve as the research material. Among other things, computer simulations in the ANSYS 13.0 CAD/CAE software environment, employing the finite element method, will be used. The kinematics of the solution of manipulator with the parallelogram mechanism will be determined in order to provide a more complete description. These results will form the basis for the decision regarding the possibility of applying a parallelogram mechanism in an original prototype of a telemanipulator arm.

Electrokinetic high pressure hydraulic system

DOEpatents

Paul, Phillip H.; Rakestraw, David J.; Arnold, Don W.; Hencken, Kenneth R.; Schoeniger, Joseph S.; Neyer, David W.

2001-01-01

An electrokinetic high pressure hydraulic pump for manipulating fluids in capillary-based systems. The pump uses electro-osmotic flow to provide a high pressure hydraulic system, having no moving mechanical parts, for pumping and/or compressing fluids, for providing valve means and means for opening and closing valves, for controlling fluid flow rate, and manipulating fluid flow generally and in capillary-based systems (Microsystems), in particular. The compact nature of the inventive high pressure hydraulic pump provides the ability to construct a micro-scale or capillary-based HPLC system that fulfills the desire for small sample quantity, low solvent consumption, improved efficiency, the ability to run samples in parallel, and field portability. Control of pressure and solvent flow rate is achieved by controlling the voltage applied to an electrokinetic pump.

Electrokinetic high pressure hydraulic system

DOEpatents

Paul, Phillip H.; Rakestraw, David J.; Arnold, Don W.; Hencken, Kenneth R.; Schoeniger, Joseph S.; Neyer, David W.

2003-06-03

An electrokinetic high pressure hydraulic pump for manipulating fluids in capillary-based system. The pump uses electro-osmotic flow to provide a high pressure hydraulic system, having no moving mechanical parts, for pumping and/or compressing fluids, for providing valve means and means for opening and closing valves, for controlling fluid flow rate, and manipulating fluid flow generally and in capillary-based systems (microsystems), in particular. The compact nature of the inventive high pressure hydraulic pump provides the ability to construct a micro-scale or capillary-based HPLC system that fulfills the desire for small sample quantity, low solvent consumption, improved efficiency, the ability to run samples in parallel, and field portability. Control of pressure and solvent flow rate is achieved by controlling the voltage applied to an electrokinetic pump.

Integrated Task and Data Parallel Programming

NASA Technical Reports Server (NTRS)

Grimshaw, A. S.

1998-01-01

This research investigates the combination of task and data parallel language constructs within a single programming language. There are an number of applications that exhibit properties which would be well served by such an integrated language. Examples include global climate models, aircraft design problems, and multidisciplinary design optimization problems. Our approach incorporates data parallel language constructs into an existing, object oriented, task parallel language. The language will support creation and manipulation of parallel classes and objects of both types (task parallel and data parallel). Ultimately, the language will allow data parallel and task parallel classes to be used either as building blocks or managers of parallel objects of either type, thus allowing the development of single and multi-paradigm parallel applications. 1995 Research Accomplishments In February I presented a paper at Frontiers 1995 describing the design of the data parallel language subset. During the spring I wrote and defended my dissertation proposal. Since that time I have developed a runtime model for the language subset. I have begun implementing the model and hand-coding simple examples which demonstrate the language subset. I have identified an astrophysical fluid flow application which will validate the data parallel language subset. 1996 Research Agenda Milestones for the coming year include implementing a significant portion of the data parallel language subset over the Legion system. Using simple hand-coded methods, I plan to demonstrate (1) concurrent task and data parallel objects and (2) task parallel objects managing both task and data parallel objects. My next steps will focus on constructing a compiler and implementing the fluid flow application with the language. Concurrently, I will conduct a search for a real-world application exhibiting both task and data parallelism within the same program. Additional 1995 Activities During the fall I collaborated with Andrew Grimshaw and Adam Ferrari to write a book chapter which will be included in Parallel Processing in C++ edited by Gregory Wilson. I also finished two courses, Compilers and Advanced Compilers, in 1995. These courses complete my class requirements at the University of Virginia. I have only my dissertation research and defense to complete.

Integrated Task And Data Parallel Programming: Language Design

NASA Technical Reports Server (NTRS)

Grimshaw, Andrew S.; West, Emily A.

1998-01-01

his research investigates the combination of task and data parallel language constructs within a single programming language. There are an number of applications that exhibit properties which would be well served by such an integrated language. Examples include global climate models, aircraft design problems, and multidisciplinary design optimization problems. Our approach incorporates data parallel language constructs into an existing, object oriented, task parallel language. The language will support creation and manipulation of parallel classes and objects of both types (task parallel and data parallel). Ultimately, the language will allow data parallel and task parallel classes to be used either as building blocks or managers of parallel objects of either type, thus allowing the development of single and multi-paradigm parallel applications. 1995 Research Accomplishments In February I presented a paper at Frontiers '95 describing the design of the data parallel language subset. During the spring I wrote and defended my dissertation proposal. Since that time I have developed a runtime model for the language subset. I have begun implementing the model and hand-coding simple examples which demonstrate the language subset. I have identified an astrophysical fluid flow application which will validate the data parallel language subset. 1996 Research Agenda Milestones for the coming year include implementing a significant portion of the data parallel language subset over the Legion system. Using simple hand-coded methods, I plan to demonstrate (1) concurrent task and data parallel objects and (2) task parallel objects managing both task and data parallel objects. My next steps will focus on constructing a compiler and implementing the fluid flow application with the language. Concurrently, I will conduct a search for a real-world application exhibiting both task and data parallelism within the same program m. Additional 1995 Activities During the fall I collaborated with Andrew Grimshaw and Adam Ferrari to write a book chapter which will be included in Parallel Processing in C++ edited by Gregory Wilson. I also finished two courses, Compilers and Advanced Compilers, in 1995. These courses complete my class requirements at the University of Virginia. I have only my dissertation research and defense to complete.

Aluminum reduction cell electrode

DOEpatents

Payne, J.R.

1983-09-20

The invention is directed to an anode-cathode structure for an electrolytic cell for the reduction of alumina wherein the structure is comprised of a carbon anode assembly which straddles a wedge-shaped refractory hard metal cathode assembly having steeply sloped cathodic surfaces, each cathodic surface being paired in essentially parallel planar relationship with an anode surface. The anode-cathode structure not only takes into account the structural weakness of refractory hard metal materials but also permits the changing of the RHM assembly during operation of the cell. Further, the anode-cathode structure enhances the removal of anode gas from the interpolar gap between the anode and cathode surfaces. 10 figs.

Method for joining metal by solid-state bonding

DOEpatents

Burkhart, L. Elkin; Fultz, Chester R.; Maulden, Kerry A.

1979-01-01

The present development is directed to a method for joining metal at relatively low temperatures by solid-state bonding. Planar surfaces of the metal workpieces are placed in a parallel abutting relationship with one another. A load is applied to at least one of the workpieces for forcing the workpieces together while one of the workpieces is relatively slowly oscillated in a rotary motion over a distance of about 1.degree.. After a preselected number of oscillations, the rotary motion is terminated and the bond between the abutting surfaces is effected. An additional load may be applied to facilitate the bond after terminating the rotary motion.

3-{[(E)-(2-Hydroxynaphthalen-1-yl)methylidene]amino}pyridinium per­chlorate

PubMed Central

Damous, Maamar; Dénès, George; Bouacida, Sofiane; Hamlaoui, Meriem; Merazig, Hocine; Daran, Jean-Claude

2013-01-01

In the title Schiff base salt, C16H13N2O+·ClO4 −, the pyridine ring and the naphthalene ring system are approximately co-planar [making a dihedral angle of 6.05 (12)°] and an intra­molecular O—H⋯N hydrogen bond occurs between the hydroxyl and imino groups. In the crystal, the cations and anions are linked by N—H⋯O and weak C—H⋯O hydrogen bonds, forming the supra­molecular layers parallel to (100). The crystal studied was an inversion twin refined with minor component = 0.43 (13). PMID:24427084

Aluminum reduction cell electrode

DOEpatents

Payne, John R.

1983-09-20

The invention is directed to an anode-cathode structure for an electrolytic cell for the reduction of alumina wherein the structure is comprised of a carbon anode assembly which straddles a wedge-shaped refractory hard metal cathode assembly having steeply sloped cathodic surfaces, each cathodic surface being paired in essentially parallel planar relationship with an anode surface. The anode-cathode structure not only takes into account the structural weakness of refractory hard metal materials but also permits the changing of the RHM assembly during operation of the cell. Further, the anode-cathode structure enhances the removal of anode gas from the interpolar gap between the anode and cathode surfaces.

A theoretical examination of the performances of wavelength multiplexers utilizing planar optical waveguides

NASA Astrophysics Data System (ADS)

Gomaa, M. L.; Chartier, G.

1985-04-01

The performances of distributed coupling wavelength multiplexer-demultiplexer devices for optical telecommunications applications, i.e., data transfer, are assessed theoretically. The values used for the refraction indices and waveguide dimensions are based on the ionic exchange between the glass layer and a base salt bath. Gradients in the indices are also considered. A shift of indices is assumed to be present between parallel waveguides of different thicknesses separated by a liquid bath. The behavior of the two waveguides is then the variations of the coupling and energy exchanged as functions of the wavelength transmitted. Attention is also given to the case of identical coupled waveguides.

N,N′-Di-tert-butyl-N′′-(2,6-difluoro­benzo­yl)phospho­ric triamide

PubMed Central

Pourayoubi, Mehrdad; Tarahhomi, Atekeh; Rheingold, Arnold L.; Golen, James A.

2010-01-01

In the title compound, C15H24F2N3O2P, the phosphoryl and carbonyl groups adopt anti positions relative to each other. The P atom is in a tetra­hedral coordination environment and the environment of each N atom is essentially planar. In the crystal, adjacent mol­ecules are linked via N—H⋯O=P and N—H⋯O=C hydrogen bonds into an extended chain parallel to the a axis. The crystal studied was a non-merohedral twin with a minor twin component of 36.4 (1)%. PMID:21589456

Algorithms and programming tools for image processing on the MPP, part 2

NASA Technical Reports Server (NTRS)

Reeves, Anthony P.

1986-01-01

A number of algorithms were developed for image warping and pyramid image filtering. Techniques were investigated for the parallel processing of a large number of independent irregular shaped regions on the MPP. In addition some utilities for dealing with very long vectors and for sorting were developed. Documentation pages for the algorithms which are available for distribution are given. The performance of the MPP for a number of basic data manipulations was determined. From these results it is possible to predict the efficiency of the MPP for a number of algorithms and applications. The Parallel Pascal development system, which is a portable programming environment for the MPP, was improved and better documentation including a tutorial was written. This environment allows programs for the MPP to be developed on any conventional computer system; it consists of a set of system programs and a library of general purpose Parallel Pascal functions. The algorithms were tested on the MPP and a presentation on the development system was made to the MPP users group. The UNIX version of the Parallel Pascal System was distributed to a number of new sites.

Development of a bench-top device for parallel climate-controlled recordings of neuronal cultures activity with microelectrode arrays.

PubMed

Regalia, Giulia; Biffi, Emilia; Achilli, Silvia; Ferrigno, Giancarlo; Menegon, Andrea; Pedrocchi, Alessandra

2016-02-01

Two binding requirements for in vitro studies on long-term neuronal networks dynamics are (i) finely controlled environmental conditions to keep neuronal cultures viable and provide reliable data for more than a few hours and (ii) parallel operation on multiple neuronal cultures to shorten experimental time scales and enhance data reproducibility. In order to fulfill these needs with a Microelectrode Arrays (MEA)-based system, we designed a stand-alone device that permits to uninterruptedly monitor neuronal cultures activity over long periods, overcoming drawbacks of existing MEA platforms. We integrated in a single device: (i) a closed chamber housing four MEAs equipped with access for chemical manipulations, (ii) environmental control systems and embedded sensors to reproduce and remotely monitor the standard in vitro culture environment on the lab bench (i.e. in terms of temperature, air CO2 and relative humidity), and (iii) a modular MEA interface analog front-end for reliable and parallel recordings. The system has been proven to assure environmental conditions stable, physiological and homogeneos across different cultures. Prolonged recordings (up to 10 days) of spontaneous and pharmacologically stimulated neuronal culture activity have not shown signs of rundown thanks to the environmental stability and have not required to withdraw the cells from the chamber for culture medium manipulations. This system represents an effective MEA-based solution to elucidate neuronal network phenomena with slow dynamics, such as long-term plasticity, effects of chronic pharmacological stimulations or late-onset pathological mechanisms. © 2015 Wiley Periodicals, Inc.

Image Understanding and Intelligent Parallel Systems

DTIC Science & Technology

1991-05-09

a common user interface for the interactive , graphical manipulation of those histories, and...Circuits and Systems, August 1987. Yap, S.-K. and M.L. Scott, "PenGuin: A language for reactive graphical user interface programming," to appear, INTERACT 󈨞, Cambridge, United Kingdom, 1990. 74 ...of up to a factor of 100 over single-workstation implementations. User interfaces to large multiprocessor computers are a difficult issue addressed

The crystal structures of two isomers of 5-(phenyl-iso-thia-zol-yl)-1,3,4-oxa-thia-zol-2-one.

PubMed

Zhu, Shuguang; Schriver, Melbourne J; Hendsbee, Arthur D; Masuda, Jason D

2017-11-01

The syntheses and crystal structures of two isomers of phenyl iso-thia-zolyl oxa-thia-zolone, C 11 H 6 N 2 O 2 S 2 , are described [systematic names: 5-(3-phenyl-iso-thia-zol-5-yl)-1,3,4-oxa-thia-zol-2-one, (I), and 5-(3-phenyl-iso-thia-zol-4-yl)-1,3,4-oxa-thia-zol-2-one, (II)]. There are two almost planar (r.m.s. deviations = 0.032 and 0.063 Å) mol-ecules of isomer (I) in the asymmetric unit, which form centrosymmetric tetra-mers linked by strong S⋯N [3.072 (2) Å] and S⋯O contacts [3.089 (1) Å]. The tetra-mers are π-stacked parallel to the a -axis direction. The single mol-ecule in the asymmetric unit of isomer (II) is twisted into a non-planar conformation by steric repulsion [dihedral angles between the central iso-thia-zolyl ring and the pendant oxa-thia-zolone and phenyl rings are 13.27 (6) and 61.18 (7)°, respectively], which disrupts the π-conjugation between the heteroaromatic iso-thia-zoloyl ring and the non-aromatic oxa-thia-zolone heterocycle. In the crystal of isomer (II), the strong S⋯O [3.020 (1) Å] and S⋯C contacts [3.299 (2) Å] and the non-planar structure of the mol-ecule lead to a form of π-stacking not observed in isomer (I) or other oxa-thia-zolone derivatives.

Multiscale Embedded Gene Co-expression Network Analysis

PubMed Central

Song, Won-Min; Zhang, Bin

2015-01-01

Gene co-expression network analysis has been shown effective in identifying functional co-expressed gene modules associated with complex human diseases. However, existing techniques to construct co-expression networks require some critical prior information such as predefined number of clusters, numerical thresholds for defining co-expression/interaction, or do not naturally reproduce the hallmarks of complex systems such as the scale-free degree distribution of small-worldness. Previously, a graph filtering technique called Planar Maximally Filtered Graph (PMFG) has been applied to many real-world data sets such as financial stock prices and gene expression to extract meaningful and relevant interactions. However, PMFG is not suitable for large-scale genomic data due to several drawbacks, such as the high computation complexity O(|V|3), the presence of false-positives due to the maximal planarity constraint, and the inadequacy of the clustering framework. Here, we developed a new co-expression network analysis framework called Multiscale Embedded Gene Co-expression Network Analysis (MEGENA) by: i) introducing quality control of co-expression similarities, ii) parallelizing embedded network construction, and iii) developing a novel clustering technique to identify multi-scale clustering structures in Planar Filtered Networks (PFNs). We applied MEGENA to a series of simulated data and the gene expression data in breast carcinoma and lung adenocarcinoma from The Cancer Genome Atlas (TCGA). MEGENA showed improved performance over well-established clustering methods and co-expression network construction approaches. MEGENA revealed not only meaningful multi-scale organizations of co-expressed gene clusters but also novel targets in breast carcinoma and lung adenocarcinoma. PMID:26618778

Multiscale Embedded Gene Co-expression Network Analysis.

PubMed

Song, Won-Min; Zhang, Bin

2015-11-01

Gene co-expression network analysis has been shown effective in identifying functional co-expressed gene modules associated with complex human diseases. However, existing techniques to construct co-expression networks require some critical prior information such as predefined number of clusters, numerical thresholds for defining co-expression/interaction, or do not naturally reproduce the hallmarks of complex systems such as the scale-free degree distribution of small-worldness. Previously, a graph filtering technique called Planar Maximally Filtered Graph (PMFG) has been applied to many real-world data sets such as financial stock prices and gene expression to extract meaningful and relevant interactions. However, PMFG is not suitable for large-scale genomic data due to several drawbacks, such as the high computation complexity O(|V|3), the presence of false-positives due to the maximal planarity constraint, and the inadequacy of the clustering framework. Here, we developed a new co-expression network analysis framework called Multiscale Embedded Gene Co-expression Network Analysis (MEGENA) by: i) introducing quality control of co-expression similarities, ii) parallelizing embedded network construction, and iii) developing a novel clustering technique to identify multi-scale clustering structures in Planar Filtered Networks (PFNs). We applied MEGENA to a series of simulated data and the gene expression data in breast carcinoma and lung adenocarcinoma from The Cancer Genome Atlas (TCGA). MEGENA showed improved performance over well-established clustering methods and co-expression network construction approaches. MEGENA revealed not only meaningful multi-scale organizations of co-expressed gene clusters but also novel targets in breast carcinoma and lung adenocarcinoma.

Regulation of axonal development by the nuclear protein hindsight (pebbled) in the Drosophila visual system.

PubMed

Oliva, Carlos; Sierralta, Jimena

2010-08-15

The molecules and networks involved in the process of acquisition and maintenance of the form of a mature neuron are not completely known. Using a misexpression screen we identified the gene hindsight as a gene involved in the process of acquisition of the neuronal morphogenesis in the Drosophila adult nervous system. hindsight encodes a transcription factor known for its role in early developmental processes such as embryonic germ band retraction and dorsal closure, as well as in the establishment of cell morphology, planar cell polarity, and epithelial integrity during retinal development. We describe here a novel function for HNT by showing that both loss and gain of function of HNT affects the pathfinding of the photoreceptors axons. By manipulating the timing and level of HNT expression, together with the number of cells manipulated we show here that the function of HNT in axonal guidance is independent of the HNT functions previously reported in retinal cells. Based on genetic interaction experiments we show that part of HNT function in axonal development is exerted through the regulation of genes involved in the dynamics of the actin cytoskeleton. Copyright 2010 Elsevier Inc. All rights reserved.

Subwavelength diffractive acoustics and wavefront manipulation with a reflective acoustic metasurface

NASA Astrophysics Data System (ADS)

Wang, Wenqi; Xie, Yangbo; Popa, Bogdan-Ioan; Cummer, Steven A.

2016-11-01

Acoustic metasurfaces provide useful wavefront shaping capabilities, such as beam steering, acoustic focusing, and asymmetric transmission, in a compact structure. Most acoustic metasurfaces described in the literature are transmissive devices and focus their performance on steering sound beam of the fundamental diffractive order. In addition, the range of incident angles studied is usually below the critical incidence predicted by generalized Snell's law of reflection. In this work, we comprehensively analyze the wave interaction with a generic periodic phase-modulating structure in order to predict the behavior of all diffractive orders, especially for cases beyond critical incidence. Under the guidance of the presented analysis, a broadband reflective metasurface is designed based on an expanded library of labyrinthine acoustic metamaterials. Various local and nonlocal wavefront shaping properties are experimentally demonstrated, and enhanced absorption of higher order diffractive waves is experimentally shown for the first time. The proposed methodology provides an accurate approach for predicting practical diffracted wave behaviors and opens a new perspective for the study of acoustic periodic structures. The designed metasurface extends the functionalities of acoustic metasurfaces and paves the way for the design of thin planar reflective structures for broadband acoustic wave manipulation and extraordinary absorption.

Near-field interaction of colloid near wavy walls

NASA Astrophysics Data System (ADS)

Luo, Yimin; Serra, Francesca; Wong, Denise; Steager, Edward; Stebe, Kathleen

Anisotropic media can be used to manipulate colloids, in tandem with carefully designed boundary conditions. For example, in bulk nematic liquid crystal, a wall with homeotropic anchoring repels a colloid with the same anchoring; yet by changing the surface topography from planar to concave, one can turn repulsion into attraction. We explore the behaviors of micro-particles with associated topological defects (hedgehogs or Saturn rings) near wavy walls. The walls locally excite disturbance, which decays into bulk. The range of influence is related to the curvature. The distortion can be used to position particles, either directly on the structure or at a distance away, based on the ``splay-matching'' rules. When distortion becomes stronger through the deepening of the well, the splay field created by the wall can prompt transformation from a Saturn ring to a hedgehog. We combine wells of different wavelength and depth to direct colloid movement. We apply a magnetic field to reset the initial position of ferromagnetic colloids and subsequently release them to probe the elastic energy landscape. Our platform enables manipulation, particle selection, and a detailed study of defect structure under the influence of curvature. Army Research Office.

Contact bubble bilayers with flush drainage.

PubMed

Iwamoto, Masayuki; Oiki, Shigetoshi

2015-03-16

Planar lipid bilayers have been used to form stable bilayers into which membrane proteins are reconstituted for measurements of their function under an applied membrane potential. Recently, a lipid bilayer membrane is formed by the apposition of two monolayers that line an oil-electrolyte interface. Here, a bilayer membrane system is developed with picoliter bubbles under mechanically and chemically manipulable conditions. A water bubble lined with a phospholipid monolayer is blown from a glass pipette into an oil phase. Two blowing pipettes are manipulated, and bubbles (each with a diameter of ~ 50 μm) are held side by side to form a bilayer, which is termed a contact bubble bilayer. With the electrode implemented in the blowing pipette, currents through the bilayer are readily measured. The intra-bubble pressure is varied with the pressure-controller, leading to various sizes of the bubble and the membrane area. A rapid solution exchange system is developed by introducing additional pressure-driven injection pipettes, and the blowing pipette works as a drain. The solution is exchanged within 20 ms. Also, an asymmetric membrane with different lipid composition of each leaflet is readily formed. Example applications of this versatile method are presented to characterize the function of ion channels.

Contact Bubble Bilayers with Flush Drainage

PubMed Central

Iwamoto, Masayuki; Oiki, Shigetoshi

2015-01-01

Planar lipid bilayers have been used to form stable bilayers into which membrane proteins are reconstituted for measurements of their function under an applied membrane potential. Recently, a lipid bilayer membrane is formed by the apposition of two monolayers that line an oil-electrolyte interface. Here, a bilayer membrane system is developed with picoliter bubbles under mechanically and chemically manipulable conditions. A water bubble lined with a phospholipid monolayer is blown from a glass pipette into an oil phase. Two blowing pipettes are manipulated, and bubbles (each with a diameter of ~ 50 μm) are held side by side to form a bilayer, which is termed a contact bubble bilayer. With the electrode implemented in the blowing pipette, currents through the bilayer are readily measured. The intra-bubble pressure is varied with the pressure-controller, leading to various sizes of the bubble and the membrane area. A rapid solution exchange system is developed by introducing additional pressure-driven injection pipettes, and the blowing pipette works as a drain. The solution is exchanged within 20 ms. Also, an asymmetric membrane with different lipid composition of each leaflet is readily formed. Example applications of this versatile method are presented to characterize the function of ion channels. PMID:25772819

Free-breathing diffusion-weighted single-shot echo-planar MR imaging using parallel imaging (GRAPPA 2) and high b value for the detection of primary rectal adenocarcinoma.

PubMed

Soyer, Philippe; Lagadec, Matthieu; Sirol, Marc; Dray, Xavier; Duchat, Florent; Vignaud, Alexandre; Fargeaudou, Yann; Placé, Vinciane; Gault, Valérie; Hamzi, Lounis; Pocard, Marc; Boudiaf, Mourad

2010-02-11

Our objective was to determine the diagnostic accuracy of a free-breathing diffusion-weighted single-shot echo-planar magnetic resonance imaging (FBDW-SSEPI) technique with parallel imaging and high diffusion factor value (b = 1000 s/mm2) in the detection of primary rectal adenocarcinomas. Thirty-one patients (14M and 17F; mean age 67 years) with histopathologically proven primary rectal adenocarcinomas and 31 patients without rectal malignancies (14M and 17F; mean age 63.6 years) were examined with FBDW-SSEPI (repetition time (TR/echo time (TE) 3900/91 ms, gradient strength 45 mT/m, acquisition time 2 min) at 1.5 T using generalized autocalibrating partially parallel acquisitions (GRAPPA, acceleration factor 2) and a b value of 1000 s/mm2. Apparent diffusion coefficients (ADCs) of rectal adenocarcinomas and normal rectal wall were measured. FBDW-SSEPI images were evaluated for tumour detection by 2 readers. Sensitivity, specificity, accuracy and Youden score for rectal adenocarcinoma detection were calculated with their 95% confidence intervals (CI) for ADC value measurement and visual image analysis. Rectal adenocarcinomas had significantly lower ADCs (mean 1.036 x 10(-3)+/- 0.107 x 10(-3) mm2/s; median 1.015 x 10(-3) mm2/s; range (0.827-1.239) x 10(-3) mm2/s) compared with the rectal wall of control subjects (mean 1.387 x 10(-3)+/- 0.106 x 10(-3) mm2/s; median 1.385 x 10(-3) mm2/s; range (1.176-1.612) x 10(-3) mm2/s) (p < 0.0001). Using a threshold value < or = 1.240 x 10(-3) mm2/s, all rectal adenocarcinomas were correctly categorized and 100% sensitivity (31/31; 95% CI 95-100%), 94% specificity (31/33; 95% CI 88-100%), 97% accuracy (60/62; 95% CI 92-100%) and Youden index 0.94 were obtained for the diagnosis of rectal adenocarcinoma. FBDW-SSEPI image analysis allowed depiction of all rectal adenocarcinomas but resulted in 2 false-positive findings, yielding 100% sensitivity (31/31; 95% CI 95-100%), 94% specificity (31/33; 95% CI 88-100%), 97% accuracy (60/62; 95% CI 92-100%) and Youden index 0.94 for the diagnosis of primary rectal adenocarcinoma. We can conclude that FBDW-SSEPI using parallel imaging and high b value may be helpful in the detection of primary rectal adenocarcinomas.

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

NASA Astrophysics Data System (ADS)

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

2014-07-01

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

Optimization of beam orientation in radiotherapy using planar geometry

NASA Astrophysics Data System (ADS)

Haas, O. C. L.; Burnham, K. J.; Mills, J. A.

1998-08-01

This paper proposes a new geometrical formulation of the coplanar beam orientation problem combined with a hybrid multiobjective genetic algorithm. The approach is demonstrated by optimizing the beam orientation in two dimensions, with the objectives being formulated using planar geometry. The traditional formulation of the objectives associated with the organs at risk has been modified to account for the use of complex dose delivery techniques such as beam intensity modulation. The new algorithm attempts to replicate the approach of a treatment planner whilst reducing the amount of computation required. Hybrid genetic search operators have been developed to improve the performance of the genetic algorithm by exploiting problem-specific features. The multiobjective genetic algorithm is formulated around the concept of Pareto optimality which enables the algorithm to search in parallel for different objectives. When the approach is applied without constraining the number of beams, the solution produces an indication of the minimum number of beams required. It is also possible to obtain non-dominated solutions for various numbers of beams, thereby giving the clinicians a choice in terms of the number of beams as well as in the orientation of these beams.

Synchrotron based planar imaging and digital tomosynthesis of breast and biopsy phantoms using a CMOS active pixel sensor.

PubMed

Szafraniec, Magdalena B; Konstantinidis, Anastasios C; Tromba, Giuliana; Dreossi, Diego; Vecchio, Sara; Rigon, Luigi; Sodini, Nicola; Naday, Steve; Gunn, Spencer; McArthur, Alan; Olivo, Alessandro

2015-03-01

The SYRMEP (SYnchrotron Radiation for MEdical Physics) beamline at Elettra is performing the first mammography study on human patients using free-space propagation phase contrast imaging. The stricter spatial resolution requirements of this method currently force the use of conventional films or specialized computed radiography (CR) systems. This also prevents the implementation of three-dimensional (3D) approaches. This paper explores the use of an X-ray detector based on complementary metal-oxide-semiconductor (CMOS) active pixel sensor (APS) technology as a possible alternative, for acquisitions both in planar and tomosynthesis geometry. Results indicate higher quality of the images acquired with the synchrotron set-up in both geometries. This improvement can be partly ascribed to the use of parallel, collimated and monochromatic synchrotron radiation (resulting in scatter rejection, no penumbra-induced blurring and optimized X-ray energy), and partly to phase contrast effects. Even though the pixel size of the used detector is still too large - and thus suboptimal - for free-space propagation phase contrast imaging, a degree of phase-induced edge enhancement can clearly be observed in the images. Copyright © 2014 Associazione Italiana di Fisica Medica. Published by Elsevier Ltd. All rights reserved.

Demonstration and properties of a planar heterojunction bipolar transistor with lateral current flow

NASA Astrophysics Data System (ADS)

Thornton, Robert L.; Mosby, William J.; Chung, Harlan F.

1989-10-01

The authors present fabrication techniques and device performance for a novel transistor structure, the lateral heterojunction bipolar transistor. The lateral heterojunctions are formed by impurity-induced disordering of a GaAs base layer sandwiched between two AlGaAs layers. These transistor structures exhibit current gains of 14 for base widths of 0.74 micron. Transistor action in this device occurs parallel to the surface of the device structure. The active base region of the structure is completely submerged, resulting in a reduction of surface recombination as a mechanism for gain reduction in the device. Impurity-induced disordering is used to widen the bandgap of the alloy in the emitter and collector, resulting in an improvement of the emitter injection efficiency. Since the device is based entirely on a surface diffusion process, the device is completely planar and has no steps involving etching of the III-V alloy material. These advantages lead this device to be considered as a candidate for optoelectronic integration applications. The transistor device functions as a buried heterostructure laser, with a threshold current as low as 6 mA for a 1.4-micron stripe.

Evaluation of slice accelerations using multiband echo planar imaging at 3 Tesla

PubMed Central

Xu, Junqian; Moeller, Steen; Auerbach, Edward J.; Strupp, John; Smith, Stephen M.; Feinberg, David A.; Yacoub, Essa; Uğurbil, Kâmil

2013-01-01

We evaluate residual aliasing among simultaneously excited and acquired slices in slice accelerated multiband (MB) echo planar imaging (EPI). No in-plane accelerations were used in order to maximize and evaluate achievable slice acceleration factors at 3 Tesla. We propose a novel leakage (L-) factor to quantify the effects of signal leakage between simultaneously acquired slices. With a standard 32-channel receiver coil at 3 Tesla, we demonstrate that slice acceleration factors of up to eight (MB = 8) with blipped controlled aliasing in parallel imaging (CAIPI), in the absence of in-plane accelerations, can be used routinely with acceptable image quality and integrity for whole brain imaging. Spectral analyses of single-shot fMRI time series demonstrate that temporal fluctuations due to both neuronal and physiological sources were distinguishable and comparable up to slice-acceleration factors of nine (MB = 9). The increased temporal efficiency could be employed to achieve, within a given acquisition period, higher spatial resolution, increased fMRI statistical power, multiple TEs, faster sampling of temporal events in a resting state fMRI time series, increased sampling of q-space in diffusion imaging, or more quiet time during a scan. PMID:23899722

TEM characterization of planar defects in massively transformed TiAl alloy

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

Zhang, X.D.; Wiezorek, J.M.K.; Fraser, H.L.

1997-12-31

The microstructure of a massively transformed Ti-49at.%Al alloy has been studied by conventional transmission electron microscopy (CTEM) and high resolution TEM (HREM). A high density of planar defects, namely complex anti-phase domain boundaries (CAPDB) and thermal micro-twins (TMT) have been observed. CTEM images and diffraction patterns showed that two anti-phase related {gamma}-matrix domains were generally separated by a thin layer of a 90{degree}-domain, for which the c-axis is rotated 90{degree} over a common cube axis with respect to those of the {gamma}-matrix domains. HREM confirmed the presence of two crystallographically different types of 90{degree}-domains being associated with the CAPDB. Furthermore,more » interactions between the CAPDB and TMT have been observed. Local faceting of the generally wavy, non-crystallographic CAPDB parallel to the {l_brace}111{r_brace}-twinning planes occurred due to interaction with the TMT. The relaxation of the CAPDB onto {l_brace}111{r_brace} required diffusion which is proposed to be enhanced locally in the presence of the dislocations associated with the formation of TMT during the massive transformation.« less

Wavy membranes and the growth rate of a planar chemical garden: Enhanced diffusion and bioenergetics.

PubMed

Ding, Yang; Batista, Bruno; Steinbock, Oliver; Cartwright, Julyan H E; Cardoso, Silvana S S

2016-08-16

To model ion transport across protocell membranes in Hadean hydrothermal vents, we consider both theoretically and experimentally the planar growth of a precipitate membrane formed at the interface between two parallel fluid streams in a 2D microfluidic reactor. The growth rate of the precipitate is found to be proportional to the square root of time, which is characteristic of diffusive transport. However, the dependence of the growth rate on the concentrations of hydroxide and metal ions is approximately linear and quadratic, respectively. We show that such a difference in ionic transport dynamics arises from the enhanced transport of metal ions across a thin gel layer present at the surface of the precipitate. The fluctuations in transverse velocity in this wavy porous gel layer allow an enhanced transport of the cation, so that the effective diffusivity is about one order of magnitude higher than that expected from molecular diffusion alone. Our theoretical predictions are in excellent agreement with our laboratory measurements of the growth of a manganese hydroxide membrane in a microfluidic channel, and this enhanced transport is thought to have been needed to account for the bioenergetics of the first single-celled organisms.

Molecular dynamics studies of the 3D structure and planar ligand binding of a quadruplex dimer.

PubMed

Li, Ming-Hui; Luo, Quan; Xue, Xiang-Gui; Li, Ze-Sheng

2011-03-01

G-rich sequences can fold into a four-stranded structure called a G-quadruplex, and sequences with short loops are able to aggregate to form stable quadruplex multimers. Few studies have characterized the properties of this variety of quadruplex multimers. Using molecular modeling and molecular dynamics simulations, the present study investigated a dimeric G-quadruplex structure formed from a simple sequence of d(GGGTGGGTGGGTGGGT) (G1), and its interactions with a planar ligand of a perylene derivative (Tel03). A series of analytical methods, including free energy calculations and principal components analysis (PCA), was used. The results show that a dimer structure with stacked parallel monomer structures is maintained well during the entire simulation. Tel03 can bind to the dimer efficiently through end stacking, and the binding mode of the ligand stacked with the 3'-terminal thymine base is most favorable. PCA showed that the dominant motions in the free dimer occur on the loop regions, and the presence of the ligand reduces the flexibility of the loops. Our investigation will assist in understanding the geometric structure of stacked G-quadruplex multimers and may be helpful as a platform for rational drug design.

Vlasov Treatment of Coherent Synchrotron Radiation from Arbitrary Planar Orbits

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

Warnock, R

2004-09-22

We study the influence of coherent synchrotron radiation (CSR) on particle bunches traveling on arbitrary planar orbits between parallel conducting plates. The plates represent shielding due to the vacuum chamber. The vertical distribution of charge is an arbitrary fixed function. Our goal is to follow the time evolution of the phase space distribution by solving the Vlasov-Maxwell equations in the time domain. This provides simulations with lower numerical noise than the macroparticle method, and allows one to study such issues as emittance degradation and microbunching due to CSR in bunch compressors. The fields excited by the bunch are computed inmore » the laboratory frame from a new formula that leads to much simpler computations than the usual retarded potentials or Lienard-Wiechert potentials. The nonlinear Vlasov equation, formulated in the interaction picture, is integrated in the beam frame by approximating the Perron-Frobenius operator. The distribution function is represented by B-splines, in a scheme preserving positivity and normalization of the distribution. For application to a chicane bunch compressor we take steps to deal with energy chirp, an initial near-perfect correlation of energy with position in the bunch.« less

Apparatus for reading two-dimensional electrophoretograms containing. beta. -ray-emitting labeled compounds

DOEpatents

Anderson, H.L.; Kinnison, W.W.; Lillberg, J.W.

1985-04-30

An apparatus and method for electronically reading planar two-dimensional ..beta..-ray emitter-labeled gel electrophoretograms. A single, flat rectangular multiwire proportional chamber is placed in close proximity to the gel and the assembly placed in an intense uniform magnetic field disposed in a perpendicular manner to the rectangular face of the proportional chamber. Beta rays emitted in the direction of the proportional chamber are caused to execute helical motions which substantially preserve knowledge the coordinates of their origin in the gel. Perpendicularly oriented, parallel wire, parallel plane cathodes electronically sense the location of the ..beta..-rays from ionization generated thereby in a detection gas coupled with an electron avalanche effect resulting from the action of a parallel wire anode located therebetween. A scintillator permits the present apparatus to be rendered insensitive when signals are generated from cosmic rays incident on the proportional chamber. Resolution for concentrations of radioactive compounds in the gel exceeds 700-..mu..m. The apparatus and method of the present invention represent a significant improvement over conventional autoradiographic techniques in dynamic range, linearity and sensitivity of data collection. A concentration and position map for gel electrophoretograms having significant concentrations of labeled compounds and/or highly radioactive labeling nuclides can generally be obtained in less than one hour.

Apparatus and method for reading two-dimensional electrophoretograms containing .beta.-ray-emitting labeled compounds

DOEpatents

Anderson, Herbert L.; Kinnison, W. Wayne; Lillberg, John W.

1987-01-01

Apparatus and method for electronically reading planar two dimensional .beta.-ray emitter-labeled gel electrophoretograms. A single, flat rectangular multiwire proportional chamber is placed in close proximity to the gel and the assembly placed in an intense uniform magnetic field disposed in a perpendicular manner to the rectangular face of the proportional chamber. Beta rays emitted in the direction of the proportional chamber are caused to execute helical motions which substantially preserve knowledge of the coordinates of their origin in the gel. Perpendicularly oriented, parallel wire, parallel plane cathodes electronically sense the location of the .beta.-rays from ionization generated thereby in a detection gas coupled with an electron avalanche effect resulting from the action of a parallel wire anode located therebetween. A scintillator permits the present apparatus to be rendered insensitive when signals are generated from cosmic rays incident on the proportional chamber. Resolution for concentrations of radioactive compounds in the gel exceeds 700 .mu.m. The apparatus and method of the present invention represent a significant improvement over conventional autoradiographic techniques in dynamic range, linearity and sensitivity of data collection. A concentration and position map for gel electrophoretograms having significant concentrations of labeled compounds and/or highly radioactive labeling nuclides can generally be obtained in less than one hour.

Design approaches to experimental mediation☆

PubMed Central

Pirlott, Angela G.; MacKinnon, David P.

2016-01-01

Identifying causal mechanisms has become a cornerstone of experimental social psychology, and editors in top social psychology journals champion the use of mediation methods, particularly innovative ones when possible (e.g. Halberstadt, 2010, Smith, 2012). Commonly, studies in experimental social psychology randomly assign participants to levels of the independent variable and measure the mediating and dependent variables, and the mediator is assumed to causally affect the dependent variable. However, participants are not randomly assigned to levels of the mediating variable(s), i.e., the relationship between the mediating and dependent variables is correlational. Although researchers likely know that correlational studies pose a risk of confounding, this problem seems forgotten when thinking about experimental designs randomly assigning participants to levels of the independent variable and measuring the mediator (i.e., “measurement-of-mediation” designs). Experimentally manipulating the mediator provides an approach to solving these problems, yet these methods contain their own set of challenges (e.g., Bullock, Green, & Ha, 2010). We describe types of experimental manipulations targeting the mediator (manipulations demonstrating a causal effect of the mediator on the dependent variable and manipulations targeting the strength of the causal effect of the mediator) and types of experimental designs (double randomization, concurrent double randomization, and parallel), provide published examples of the designs, and discuss the strengths and challenges of each design. Therefore, the goals of this paper include providing a practical guide to manipulation-of-mediator designs in light of their challenges and encouraging researchers to use more rigorous approaches to mediation because manipulation-of-mediator designs strengthen the ability to infer causality of the mediating variable on the dependent variable. PMID:27570259

Design approaches to experimental mediation.

PubMed

Pirlott, Angela G; MacKinnon, David P

2016-09-01

Identifying causal mechanisms has become a cornerstone of experimental social psychology, and editors in top social psychology journals champion the use of mediation methods, particularly innovative ones when possible (e.g. Halberstadt, 2010, Smith, 2012). Commonly, studies in experimental social psychology randomly assign participants to levels of the independent variable and measure the mediating and dependent variables, and the mediator is assumed to causally affect the dependent variable. However, participants are not randomly assigned to levels of the mediating variable(s), i.e., the relationship between the mediating and dependent variables is correlational. Although researchers likely know that correlational studies pose a risk of confounding, this problem seems forgotten when thinking about experimental designs randomly assigning participants to levels of the independent variable and measuring the mediator (i.e., "measurement-of-mediation" designs). Experimentally manipulating the mediator provides an approach to solving these problems, yet these methods contain their own set of challenges (e.g., Bullock, Green, & Ha, 2010). We describe types of experimental manipulations targeting the mediator (manipulations demonstrating a causal effect of the mediator on the dependent variable and manipulations targeting the strength of the causal effect of the mediator) and types of experimental designs (double randomization, concurrent double randomization, and parallel), provide published examples of the designs, and discuss the strengths and challenges of each design. Therefore, the goals of this paper include providing a practical guide to manipulation-of-mediator designs in light of their challenges and encouraging researchers to use more rigorous approaches to mediation because manipulation-of-mediator designs strengthen the ability to infer causality of the mediating variable on the dependent variable.

A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy.

PubMed

Miyashita, Kiyoteru; Oude Vrielink, Timo; Mylonas, George

2018-05-01

Endomicroscopy (EM) provides high resolution, non-invasive histological tissue information and can be used for scanning of large areas of tissue to assess cancerous and pre-cancerous lesions and their margins. However, current robotic solutions do not provide the accuracy and force sensitivity required to perform safe and accurate tissue scanning. A new surgical instrument has been developed that uses a cable-driven parallel mechanism (CPDM) to manipulate an EM probe. End-effector forces are determined by measuring the tensions in each cable. As a result, the instrument allows to accurately apply a contact force on a tissue, while at the same time offering high resolution and highly repeatable probe movement. 0.2 and 0.6 N force sensitivities were found for 1 and 2 DoF image acquisition methods, respectively. A back-stepping technique can be used when a higher force sensitivity is required for the acquisition of high quality tissue images. This method was successful in acquiring images on ex vivo liver tissue. The proposed approach offers high force sensitivity and precise control, which is essential for robotic EM. The technical benefits of the current system can also be used for other surgical robotic applications, including safe autonomous control, haptic feedback and palpation.

Smooth adaptive sliding mode vibration control of a flexible parallel manipulator with multiple smart linkages in modal space

NASA Astrophysics Data System (ADS)

Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Jianhui

2017-12-01

This paper addresses the dynamic model and active vibration control of a rigid-flexible parallel manipulator with three smart links actuated by three linear ultrasonic motors. To suppress the vibration of three flexible intermediate links under high speed and acceleration, multiple Lead Zirconium Titanate (PZT) sensors and actuators are collocated mounted on each link, forming a smart structure which can achieve self-sensing and self-actuating. The dynamic characteristics and equations of the flexible link incorporated with the PZT sensors and actuator are analyzed and formulated. The smooth adaptive sliding mode based active vibration control is proposed to suppress the vibration of the smart links, and the first and second modes of the three links are targeted to be suppressed in modal space to avoid the spillover phenomenon. Simulations and experiments are implemented to validate the effectiveness of the smart structures and the proposed control laws. Experimental results show that the vibration of the first mode around 92 Hz and the second mode around 240 Hz of the three smart links are reduced respectively by 64.98%, 59.47%, 62.28%, and 45.80%, 36.79%, 33.33%, which further verify the multi-mode vibration control ability of the smooth adaptive sliding mode control law.

Filtering versus parallel processing in RSVP tasks.

PubMed

Botella, J; Eriksen, C W

1992-04-01

An experiment of McLean, D. E. Broadbent, and M. H. P. Broadbent (1983) using rapid serial visual presentation (RSVP) was replicated. A series of letters in one of 5 colors was presented, and the subject was asked to identify the letter that appeared in a designated color. There were several innovations in our procedure, the most important of which was the use of a response menu. After each trial, the subject was presented with 7 candidate letters from which to choose his/her response. In three experimental conditions, the target, the letter following the target, and all letters other than the target were, respectively, eliminated from the menu. In other conditions, the stimulus list was manipulated by repeating items in the series, repeating the color of successive items, or even eliminating the target color. By means of these manipulations, we were able to determine more precisely the information that subjects had obtained from the presentation of the stimulus series. Although we replicated the results of McLean et al. (1983), the more extensive information that our procedure produced was incompatible with the serial filter model that McLean et al. had used to describe their data. Overall, our results were more compatible with a parallel-processing account. Furthermore, intrusion errors are apparently not only a perceptual phenomenon but a memory problem as well.

Realization of the manipulation of ultracold atoms with a reconfigurable nanomagnetic system of domain walls.

PubMed

West, Adam D; Weatherill, Kevin J; Hayward, Thomas J; Fry, Paul W; Schrefl, Thomas; Gibbs, Mike R J; Adams, Charles S; Allwood, Dan A; Hughes, Ifan G

2012-08-08

Planar magnetic nanowires have been vital to the development of spintronic technology. They provide an unparalleled combination of magnetic reconfigurability, controllability, and scalability, which has helped to realize such applications as racetrack memory and novel logic gates. Microfabricated atom optics benefit from all of these properties, and we present the first demonstration of the amalgamation of spintronic technology with ultracold atoms. A magnetic interaction is exhibited through the reflection of a cloud of (87)Rb atoms at a temperature of 10 μK, from a 2 mm × 2 mm array of nanomagnetic domain walls. In turn, the incident atoms approach the array at heights of the order of 100 nm and are thus used to probe magnetic fields at this distance.

Topology, Geometry, and Mechanics of Z -Plasty

NASA Astrophysics Data System (ADS)

Matsumoto, Elisabetta A.; Liang, Haiyi; Mahadevan, L.

2018-02-01

Reconstructive surgeries often use topological manipulation of tissue to minimize postoperative scarring. The most common version of this, Z -plasty, involves modifying a straight line cut into a Z shape, followed by a rotational transposition of the resulting triangular pedicle flaps, and a final restitching of the wound. This locally reorients the anisotropic stress field and reduces the potential for scarring. We analyze the planar geometry and mechanics of the Z -plasty to quantify the rotation of the overall stress field and the local forces on the restitched cut using theory, simulations, and simple physical Z -plasty experiments with foam sheets that corroborate each other. Our study rationalizes the most typical surgical choice of this angle, and opens the way for a range of surgical decisions by characterizing the stresses along the cut.

Conjugated Polymers: Catalysts for Photocatalytic Hydrogen Evolution.

PubMed

Zhang, Guigang; Lan, Zhi-An; Wang, Xinchen

2016-12-19

Conjugated polymers, comprising fully π-conjugated systems, present a new generation of heterogeneous photocatalysts for solar-energy utilization. They have three key features, namely robustness, nontoxicity, and visible-light activity, for photocatalytic processes, thus making them appealing candidates for scale-up. Presented in this Minireview, is a brief summary on the recent development of various promising polymer photocatalysts for hydrogen evolution from aqueous solutions, including linear polymers, planarized polymers, triazine/heptazine polymers, and other related organic conjugated semiconductors, with a particular focus on the rational manipulation in the composition, architectures, and optical and electronic properties that are relevant to photophysical and photochemical properties. Some future trends and prospects for organic conjugated photocatalysts in artificial photosynthesis, by water splitting, are also envisaged. © 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Operational space trajectory tracking control of robot manipulators endowed with a primary controller of synthetic joint velocity.

PubMed

Moreno-Valenzuela, Javier; González-Hernández, Luis

2011-01-01

In this paper, a new control algorithm for operational space trajectory tracking control of robot arms is introduced. The new algorithm does not require velocity measurement and is based on (1) a primary controller which incorporates an algorithm to obtain synthesized velocity from joint position measurements and (2) a secondary controller which computes the desired joint acceleration and velocity required to achieve operational space motion control. The theory of singularly perturbed systems is crucial for the analysis of the closed-loop system trajectories. In addition, the practical viability of the proposed algorithm is explored through real-time experiments in a two degrees-of-freedom horizontal planar direct-drive arm. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Center of mass perception and inertial frames of reference.

PubMed

Bingham, G P; Muchisky, M M

1993-11-01

Center of mass perception was investigated by varying the shape, size, and orientation of planar objects. Shape was manipulated to investigate symmetries as information. The number of reflective symmetry axes, the amount of rotational symmetry, and the presence of radial symmetry were varied. Orientation affected systematic errors. Judgments tended to undershoot the center of mass. Random errors increased with size and decreased with symmetry. Size had no effect on random errors for maximally symmetric objects, although orientation did. The spatial distributions of judgments were elliptical. Distribution axes were found to align with the principle moments of inertia. Major axes tended to align with gravity in maximally symmetric objects. A functional and physical account was given in terms of the repercussions of error. Overall, judgments were very accurate.

Circular, confined distribution for charged particle beams

DOEpatents

Garnett, Robert W.; Dobelbower, M. Christian

1995-01-01

A charged particle beam line is formed with magnetic optics that manipulate the charged particle beam to form the beam having a generally rectangular configuration to a circular beam cross-section having a uniform particle distribution at a predetermined location. First magnetic optics form a charged particle beam to a generally uniform particle distribution over a square planar area at a known first location. Second magnetic optics receive the charged particle beam with the generally square configuration and affect the charged particle beam to output the charged particle beam with a phase-space distribution effective to fold corner portions of the beam toward the core region of the beam. The beam forms a circular configuration having a generally uniform spatial particle distribution over a target area at a predetermined second location.

Circular, confined distribution for charged particle beams

DOEpatents

Garnett, R.W.; Dobelbower, M.C.

1995-11-21

A charged particle beam line is formed with magnetic optics that manipulate the charged particle beam to form the beam having a generally rectangular configuration to a circular beam cross-section having a uniform particle distribution at a predetermined location. First magnetic optics form a charged particle beam to a generally uniform particle distribution over a square planar area at a known first location. Second magnetic optics receive the charged particle beam with the generally square configuration and affect the charged particle beam to output the charged particle beam with a phase-space distribution effective to fold corner portions of the beam toward the core region of the beam. The beam forms a circular configuration having a generally uniform spatial particle distribution over a target area at a predetermined second location. 26 figs.

Siting, design and operational controls for snow disposal sites.

PubMed

Wheaton, S R; Rice, W J

2003-01-01

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

Automatic Parallelization of Numerical Python Applications using the Global Arrays Toolkit

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

Daily, Jeffrey A.; Lewis, Robert R.

2011-11-30

Global Arrays is a software system from Pacific Northwest National Laboratory that enables an efficient, portable, and parallel shared-memory programming interface to manipulate distributed dense arrays. The NumPy module is the de facto standard for numerical calculation in the Python programming language, a language whose use is growing rapidly in the scientific and engineering communities. NumPy provides a powerful N-dimensional array class as well as other scientific computing capabilities. However, like the majority of the core Python modules, NumPy is inherently serial. Using a combination of Global Arrays and NumPy, we have reimplemented NumPy as a distributed drop-in replacement calledmore » Global Arrays in NumPy (GAiN). Serial NumPy applications can become parallel, scalable GAiN applications with only minor source code changes. Scalability studies of several different GAiN applications will be presented showing the utility of developing serial NumPy codes which can later run on more capable clusters or supercomputers.« less

What is adaptive about adaptive decision making? A parallel constraint satisfaction account.

PubMed

Glöckner, Andreas; Hilbig, Benjamin E; Jekel, Marc

2014-12-01

There is broad consensus that human cognition is adaptive. However, the vital question of how exactly this adaptivity is achieved has remained largely open. Herein, we contrast two frameworks which account for adaptive decision making, namely broad and general single-mechanism accounts vs. multi-strategy accounts. We propose and fully specify a single-mechanism model for decision making based on parallel constraint satisfaction processes (PCS-DM) and contrast it theoretically and empirically against a multi-strategy account. To achieve sufficiently sensitive tests, we rely on a multiple-measure methodology including choice, reaction time, and confidence data as well as eye-tracking. Results show that manipulating the environmental structure produces clear adaptive shifts in choice patterns - as both frameworks would predict. However, results on the process level (reaction time, confidence), in information acquisition (eye-tracking), and from cross-predicting choice consistently corroborate single-mechanisms accounts in general, and the proposed parallel constraint satisfaction model for decision making in particular. Copyright © 2014 Elsevier B.V. All rights reserved.

Modeling and controller design of a 6-DOF precision positioning system

NASA Astrophysics Data System (ADS)

Cai, Kunhai; Tian, Yanling; Liu, Xianping; Fatikow, Sergej; Wang, Fujun; Cui, Liangyu; Zhang, Dawei; Shirinzadeh, Bijan

2018-05-01

A key hurdle to meet the needs of micro/nano manipulation in some complex cases is the inadequate workspace and flexibility of the operation ends. This paper presents a 6-degree of freedom (DOF) serial-parallel precision positioning system, which consists of two compact type 3-DOF parallel mechanisms. Each parallel mechanism is driven by three piezoelectric actuators (PEAs), guided by three symmetric T-shape hinges and three elliptical flexible hinges, respectively. It can extend workspace and improve flexibility of the operation ends. The proposed system can be assembled easily, which will greatly reduce the assembly errors and improve the positioning accuracy. In addition, the kinematic and dynamic model of the 6-DOF system are established, respectively. Furthermore, in order to reduce the tracking error and improve the positioning accuracy, the Discrete-time Model Predictive Controller (DMPC) is applied as an effective control method. Meanwhile, the effectiveness of the DMCP control method is verified. Finally, the tracking experiment is performed to verify the tracking performances of the 6-DOF stage.

Fundamental physics issues of multilevel logic in developing a parallel processor.

NASA Astrophysics Data System (ADS)

Bandyopadhyay, Anirban; Miki, Kazushi

2007-06-01

In the last century, On and Off physical switches, were equated with two decisions 0 and 1 to express every information in terms of binary digits and physically realize it in terms of switches connected in a circuit. Apart from memory-density increase significantly, more possible choices in particular space enables pattern-logic a reality, and manipulation of pattern would allow controlling logic, generating a new kind of processor. Neumann's computer is based on sequential logic, processing bits one by one. But as pattern-logic is generated on a surface, viewing whole pattern at a time is a truly parallel processing. Following Neumann's and Shannons fundamental thermodynamical approaches we have built compatible model based on series of single molecule based multibit logic systems of 4-12 bits in an UHV-STM. On their monolayer multilevel communication and pattern formation is experimentally verified. Furthermore, the developed intelligent monolayer is trained by Artificial Neural Network. Therefore fundamental weak interactions for the building of truly parallel processor are explored here physically and theoretically.