Crisis in Haiti: Two Hundred Years after Slaves Rose up against France, Armed Rebels Oust Haiti's Elected Leader

ERIC Educational Resources Information Center

Social Education, 2004

2004-01-01

Haitians had expected 2004 to be a year of celebrations marking the 200th anniversary of independence from France following the only successful slave revolt of its time. Instead political violence exploded early in the year and armed gunmen took over cities demanding President Jean-Bertrand Aristide resign. Just as the rebels prepared to move in…

Multi-axis planar slide system

DOEpatents

Bieg, Lothar F.

2002-01-01

An apparatus for positioning an item that provides two-dimensional, independent orthogonal motion of a platform in a X-Y plane. A pair of master and slave disks engages opposite sides of the platform. Rotational drivers are connected to master disks so the disks rotate eccentrically about axes of rotation. Opposing slave disks are connected to master disks on opposite sides of the platform by a timing belt, or are electronically synchronized together using stepper motors, to effect coordinated motion. The coordinated eccentric motion of the pairs of master/slave disks compels smooth linear motion of the platform in the X-Y plane without backlash. The apparatus can be a planar mechanism implemented in a MEMS device.

Bi-directional planar slide mechanism

DOEpatents

Bieg, Lothar F.

2003-11-04

A bi-directional slide mechanism. A pair of master and slave disks engages opposite sides of the platform. Rotational drivers are connected to master disks so the disks rotate eccentrically about their respective axes of rotation. Opposing slave disks are connected to master disks on opposite sides of the platform by a circuitous mechanical linkage, or are electronically synchronized together using stepper motors, to effect coordinated motion. The synchronized eccentric motion of the pairs of master/slave disks compels smooth linear motion of the platform forwards and backwards without backlash. The apparatus can be incorporated in a MEMS device.

Impedance hand controllers for increasing efficiency in teleoperations

NASA Technical Reports Server (NTRS)

Carignan, C.; Tarrant, J.

1989-01-01

An impedance hand controller with direct force feedback is examined as an alternative to bilateral force reflection in teleoperations involving force contact. Experimentation revealed an operator preference for direct force feedback which provided a better feel of contact with the environment. The advantages of variable arm impedance were also made clear in tracking tests where subjects preferred the larger hand controller inertias made possible by the acceleration feedback loop in the master arm. The ability to decouple the hand controller impedance from the slave arm dynamics is expected to be even more significant when the inertial properties of various payloads in the slave arm are considered.

Design of a haptic device with grasp and push-pull force feedback for a master-slave surgical robot.

PubMed

Hu, Zhenkai; Yoon, Chae-Hyun; Park, Samuel Byeongjun; Jo, Yung-Ho

2016-07-01

We propose a portable haptic device providing grasp (kinesthetic) and push-pull (cutaneous) sensations for optical-motion-capture master interfaces. Although optical-motion-capture master interfaces for surgical robot systems can overcome the stiffness, friction, and coupling problems of mechanical master interfaces, it is difficult to add haptic feedback to an optical-motion-capture master interface without constraining the free motion of the operator's hands. Therefore, we utilized a Bowden cable-driven mechanism to provide the grasp and push-pull sensation while retaining the free hand motion of the optical-motion capture master interface. To evaluate the haptic device, we construct a 2-DOF force sensing/force feedback system. We compare the sensed force and the reproduced force of the haptic device. Finally, a needle insertion test was done to evaluate the performance of the haptic interface in the master-slave system. The results demonstrate that both the grasp force feedback and the push-pull force feedback provided by the haptic interface closely matched with the sensed forces of the slave robot. We successfully apply our haptic interface in the optical-motion-capture master-slave system. The results of the needle insertion test showed that our haptic feedback can provide more safety than merely visual observation. We develop a suitable haptic device to produce both kinesthetic grasp force feedback and cutaneous push-pull force feedback. Our future research will include further objective performance evaluations of the optical-motion-capture master-slave robot system with our haptic interface in surgical scenarios.

Research of the master-slave robot surgical system with the function of force feedback.

PubMed

Shi, Yunyong; Zhou, Chaozheng; Xie, Le; Chen, Yongjun; Jiang, Jun; Zhang, Zhenfeng; Deng, Ze

2017-12-01

Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master-slave surgical robot, which was designed with an integrated force sensor. The new structure designed for the master-slave robot employs a force feedback mechanism. A six-dimensional force sensor was mounted on the tip of the slave robot's actuator. Sliding model control was adopted to control the slave robot. According to the movement of the master system manipulated by the surgeon, the slave's movement and the force feedback function were validated. The motion was completed, the standard deviation was calculated, and the force data were detected. Hence, force feedback was realized in the experiment. The surgical robot can help surgeons to complete trajectory motions with haptic sensation. Copyright © 2017 John Wiley & Sons, Ltd.

Intelligent control of neurosurgical robot MM-3 using dynamic motion scaling.

PubMed

Ko, Sunho; Nakazawa, Atsushi; Kurose, Yusuke; Harada, Kanako; Mitsuishi, Mamoru; Sora, Shigeo; Shono, Naoyuki; Nakatomi, Hirofumi; Saito, Nobuhito; Morita, Akio

2017-05-01

OBJECTIVE Advanced and intelligent robotic control is necessary for neurosurgical robots, which require great accuracy and precision. In this article, the authors propose methods for dynamically and automatically controlling the motion-scaling ratio of a master-slave neurosurgical robotic system to reduce the task completion time. METHODS Three dynamic motion-scaling modes were proposed and compared with the conventional fixed motion-scaling mode. These 3 modes were defined as follows: 1) the distance between a target point and the tip of the slave manipulator, 2) the distance between the tips of the slave manipulators, and 3) the velocity of the master manipulator. Five test subjects, 2 of whom were neurosurgeons, sutured 0.3-mm artificial blood vessels using the MM-3 neurosurgical robot in each mode. RESULTS The task time, total path length, and helpfulness score were evaluated. Although no statistically significant differences were observed, the mode using the distance between the tips of the slave manipulators improves the suturing performance. CONCLUSIONS Dynamic motion scaling has great potential for the intelligent and accurate control of neurosurgical robots.

A novel optimal coordinated control strategy for the updated robot system for single port surgery.

PubMed

Bai, Weibang; Cao, Qixin; Leng, Chuntao; Cao, Yang; Fujie, Masakatsu G; Pan, Tiewen

2017-09-01

Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real-time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed. The hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested. The new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self-interference and singularity free while teleoperating. Copyright © 2017 John Wiley & Sons, Ltd.

A flying hot wire study of the turbulent near wake of a circular cylinder at Reynolds number of 140,000. Ph.D. Thesis. Progress Report

NASA Technical Reports Server (NTRS)

Cantwell, B. J.

1975-01-01

The phenomenology was studied of the processes of vortex formation and transport in the near wake, at a Reynolds number sufficiently high to insure a fully turbulent wake, but low enough to insure a laminar separation. The apparatus developed for measuring this flow consisted of X-array hot wire probes mounted on the ends of a pair of whirling arms. A computer controlled data acquisition system was slaved to the position of the rotating arm and managed, monitored, edited, and recorded the vast profusion of data which is continuously poured out by the device. Results are presented which show the instantaneous velocity, intermittency, vorticity, and stress fields as a function of phase for the first six diameters of the near wake. The stresses in the near wake emerge as a concatenation of peaks and valleys, some the result of strong induced motions in the outer flow which cause free stream fluid to move rapidly inward toward the center of the wake, others the result of the random motions of the background turbulence.

Master/slave manipulator system

NASA Technical Reports Server (NTRS)

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

1973-01-01

System capabilities are equivalent to mobility, dexterity, and strength of human arm. Arrangement of torque motor, harmonic drive, and potentiometer combination allows all power and control leads to pass through center of slave with position-transducer arrangement of master, and "stovepipe joint" is incorporated for manipulator applications.

Developments of new force reflecting control schemes and an application to a teleoperation training simulator

NASA Technical Reports Server (NTRS)

Kim, Won S.

1992-01-01

Two schemes of force reflecting control, position-error based force reflection and low-pass-filtered force reflection, both combined with shared compliance control, were developed for dissimilar master-slave arms. These schemes enabled high force reflection gains, which were not possible with a conventional scheme when the slave arm was much stiffer than the master arm. The experimental results with a peg-in-hole task indicated that the newly force reflecting control schemes combined with compliance control resulted in best task performances. As a related application, a simulated force reflection/shared compliance control teleoperation trainer was developed that provided the operator with the feel of kinesthetic force virtual reality.

Dual arm master controller for a bilateral servo-manipulator

DOEpatents

Kuban, Daniel P.; Perkins, Gerald S.

1989-01-01

A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

Transmission and Reproduction of Force Sensation by Bilateral Control

NASA Astrophysics Data System (ADS)

Katsura, Seiichiro; Ohnishi, Kouhei

Minimally invasive surgery (MIS) which thinks a great deal of patient’s quality of life (QOL) has attracted attention during about ten years. In this paper, it aims at development of the technology for transmitting force sensation required in medical treatment especially through surgical instruments, such as forceps. In bilateral control, it is a problem how master and slave robots realize the law of action and reaction to the environment. Mechanism of contact with environment and bilateral controller based on stiffness are shown. Master arm in contact with human and slave arm in contact with environment are given compliance, and stable contact with environment can be realized. The proposed method is applied to 3-link master-slave manipulators. As a result, transmission and reproduction of force sensation can be realized. The experimental results show viability of the proposed method.

The WCSAR telerobotics test bed

NASA Technical Reports Server (NTRS)

Duffie, N.; Zik, J.; Teeter, R.; Crabb, T.

1988-01-01

Component technologies for use in telerobotic systems for space are being developed. As part of this effort, a test bed was established in which these technologies can be verified and integrated into telerobotic systems. The facility consists of two slave industrial robots, an articulated master arm controller, a cartesian coordinate master arm controller, and a variety of sensors, displays and stimulators for feedback to human operators. The controller of one of the slave robots remains in its commercial state, while the controller of the other robot has been replaced with a new controller that achieves high-performance in telerobotic operating modes. A dexterous slave hand which consists of two fingers and a thumb is being developed, along with a number of force-reflecting and non-force reflecting master hands, wrists and arms. A tactile sensing finger tip based on piezo-film technology has been developed, along with tactile stimulators and CAD-based displays for sensory feedback and sensory substitution. The telerobotics test bed and its component technologies are described, as well as the integration of these component technologies into telerobotic systems, and their performance in conjunction with human operators.

Tele-Manipulation with Two Asymmetric Slaves: Two Operators Perform Better Than One.

PubMed

van Oosterhout, Jeroen; Heemskerk, Cock J M; de Baar, Marco R; van der Helm, Frans C T; Abbink, David A

2018-01-01

Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example, a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bi-manual control over the two subtasks, and a uni-manual control approach. In a human factors experiment, participants performed a heavy load maneuvering and mounting task using a vertical crane and a robotic arm. We hypothesize that bi-manual control yields worse task performance and control activity compared to co-operation, because of conflicting spatial and temporal constraints. Literature suggests that uni-manual operators should perform better than co-operation, as co-operators critically depend on each other's actions. However, other literature provides evidence that individual operators have limited capabilities in controlling asymmetric axes of two dynamic systems. The results show that the two co-operators perform the maneuvering and mounting task faster than either bi- or uni-manual operators. Compared to co-operators, uni-manual operators required more control activity for the vertical crane and less for the robotic arm. In conclusion, this study suggests that when controlling two asymmetric slaves, a co-operating pair of operators performs better than a single operator.

Dexterity-Enhanced Telerobotic Microsurgery

NASA Technical Reports Server (NTRS)

Charles, Steve; Das, Hari; Ohm, Timothy; Boswell, Curtis; Rodriguez, Guillermo; Steele, Robert; Istrate, Dan

1997-01-01

The work reported in this paper is the result, of a collaboration between researchers at the Jet Propulsion Laboratory and Steve Charles, MD, a vitreo-retinal surgeon. The Robot Assisted MicroSurgery (RAMS) telerobotic workstation developed at JPL is a prototype of a system that will be completely under the manual control of a surgeon. The system has a slave robot that will hold surgical instruments. The slave robot motions replicate in six degrees of freedom those of tile. surgeon's hand measured using a master input device with a surgical instrument, shaped handle. The surgeon commands motions for the instrument by moving the handle in the desired trajectories. The trajectories are measured, filtered, and scaled down then used to drive the slave robot.

Development of Pneumatic Robot Hand and Construction of Master-Slave System

NASA Astrophysics Data System (ADS)

Tsujiuchi, Nobutaka; Koizumi, Takayuki; Nishino, Shinya; Komatsubara, Hiroyuki; Kudawara, Tatsuwo; Hirano, Masanori

Recently, research and development has focused on robots that work in place of people. It is necessary for robots to perform the same flexible motions as people. Additionally, such robots need to incorporate high-level safety features in order not to injure people. For creation of such robots, we need to develop a robot hand that functions like a human hand. At the same time, this type of robot hand can be used as an artificial hand. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. Some development of robot hands using pneumatic actuators has already taken place. But, until now, when a pneumatic actuator is used, a big compressor is needed. So, the driving system also needs to be big; enlargement of the driving system is a major problem. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We develop a five-fingered robot hand with pneumatic actuators. And, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a 1-link arm that has one degree of freedom using a pneumatic actuator, and construct a control system for the 1-link arm and verify its control performance.

Telerobotic research at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Sliwa, Nancy E.

1987-01-01

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

AN IMPROVED SOCKING TECHNIQUE FOR MASTER SLAVES

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

Parsons, T.C.; Deckard, L.E.; Howe, P.W.

1962-10-29

A technique for socking a pair of standard Model 8 master-slave manipulators is described. The technique is primarily concerned with the fabrication of the bellows section, which provides for Z motion as well as wris movement and rotation. (N.W.R.)

A novel control architecture for physiological tremor compensation in teleoperated systems.

PubMed

Ghorbanian, A; Zareinejad, M; Rezaei, S M; Sheikhzadeh, H; Baghestan, K

2013-09-01

Telesurgery delivers surgical care to a 'remote' patient by means of robotic manipulators. When accurate positioning of the surgeon's tool is required, as in microsurgery, physiological tremor causes unwanted imprecision during a surgical operation. Accurate estimation/compensation of physiological tremor in teleoperation systems has been shown to improve performance during telesurgery. A new control architecture is proposed for estimation and compensation of physiological tremor in the presence of communication time delays. This control architecture guarantees stability with satisfactory transparency. In addition, the proposed method can be used for applications that require modifications in transmitted signals through communication channels. Stability of the bilateral tremor-compensated teleoperation is preserved by extending the bilateral teleoperation to the equivalent trilateral Dual-master/Single-slave teleoperation. The bandlimited multiple Fourier linear combiner (BMFLC) algorithm is employed for real-time estimation of the operator's physiological tremor. Two kinds of stability analysis are employed. In the model-base controller, Llewellyn's Criterion is used to analyze the teleoperation absolute stability. In the second method, a nonmodel-based controller is proposed and the stability of the time-delayed teleoperated system is proved by employing a Lyapunov function. Experimental results are presented to validate the effectiveness of the new control architecture. The tremorous motion is measured by accelerometer to be compensated in real time. In addition, a Needle-Insertion setup is proposed as a slave robot for the application of brachytherapy, in which the needle penetrates in the desired position. The slave performs the desired task in two classes of environments (free motion of the slave and in the soft tissue). Experiments show that the proposed control architecture effectively compensates the user's tremorous motion and the slave follows only the master's voluntary motion in a stable manner. Copyright © 2012 John Wiley & Sons, Ltd.

Design of a 7-DOF slave robot integrated with a magneto-rheological haptic master

NASA Astrophysics Data System (ADS)

Hwang, Yong-Hoon; Cha, Seung-Woo; Kang, Seok-Rae; Choi, Seung-Bok

2017-04-01

In this study, a 7-DOF slave robot integrated with the haptic master is designed and its dynamic motion is controlled. The haptic master is made using a controllable magneto-rheological (MR) clutch and brake and it provides the surgeon with a sense of touch by using both kinetic and kinesthetic information. Due to the size constraint of the slave robot, a wire actuating is adopted to make the desired motion of the end-effector which has 3-DOF instead of a conventional direct-driven motor. Another motions of the link parts that have 4-DOF use direct-driven motor. In total system, for working as a haptic device, the haptic master need to receive the information of repulsive forces applied on the slave robot. Therefore, repulsive forces on the end-effector are sensed by using three uniaxial torque transducer inserted in the wire actuating system and another repulsive forces applied on link part are sensed by using 6-axis transducer that is able to sense forces and torques. Using another 6-axis transducer, verify the reliability of force information on final end of slave robot. Lastly, integrated with a MR haptic master, psycho-physical test is conducted by different operators who can feel the different repulsive force or torque generated from the haptic master which is equivalent to the force or torque occurred on the end-effector to demonstrate the effectiveness of the proposed system.

Development of virtual reality exercise of hand motion assist robot for rehabilitation therapy by patient self-motion control.

PubMed

Ueki, Satoshi; Nishimoto, Yutaka; Abe, Motoyuki; Kawasaki, Haruhisa; Ito, Satoshi; Ishigure, Yasuhiko; Mizumoto, Jun; Ojika, Takeo

2008-01-01

This paper presents a virtual reality-enhanced hand rehabilitation support system with a symmetric master-slave motion assistant for independent rehabilitation therapies. Our aim is to provide fine motion exercise for a hand and fingers, which allows the impaired hand of a patient to be driven by his or her healthy hand on the opposite side. Since most disabilities caused by cerebral vascular accidents or bone fractures are hemiplegic, we adopted a symmetric master-slave motion assistant system in which the impaired hand is driven by the healthy hand on the opposite side. A VR environment displaying an effective exercise was created in consideration of system's characteristic. To verify the effectiveness of this system, a clinical test was executed by applying to six patients.

Control Software for a High-Performance Telerobot

NASA Technical Reports Server (NTRS)

Kline-Schoder, Robert J.; Finger, William

2005-01-01

A computer program for controlling a high-performance, force-reflecting telerobot has been developed. The goal in designing a telerobot-control system is to make the velocity of the slave match the master velocity, and the environmental force on the master match the force on the slave. Instability can arise from even small delays in propagation of signals between master and slave units. The present software, based on an impedance-shaping algorithm, ensures stability even in the presence of long delays. It implements a real-time algorithm that processes position and force measurements from the master and slave and represents the master/slave communication link as a transmission line. The algorithm also uses the history of the control force and the slave motion to estimate the impedance of the environment. The estimate of the impedance of the environment is used to shape the controlled slave impedance to match the transmission-line impedance. The estimate of the environmental impedance is used to match the master and transmission-line impedances and to estimate the slave/environment force in order to present that force immediately to the operator via the master unit.

Six axis force feedback input device

NASA Technical Reports Server (NTRS)

Ohm, Timothy (Inventor)

1998-01-01

The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.

Superelement model based parallel algorithm for vehicle dynamics

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

Agrawal, O.P.; Danhof, K.J.; Kumar, R.

1994-05-01

This paper presents a superelement model based parallel algorithm for a planar vehicle dynamics. The vehicle model is made up of a chassis and two suspension systems each of which consists of an axle-wheel assembly and two trailing arms. In this model, the chassis is treated as a Cartesian element and each suspension system is treated as a superelement. The parameters associated with the superelements are computed using an inverse dynamics technique. Suspension shock absorbers and the tires are modeled by nonlinear springs and dampers. The Euler-Lagrange approach is used to develop the system equations of motion. This leads tomore » a system of differential and algebraic equations in which the constraints internal to superelements appear only explicitly. The above formulation is implemented on a multiprocessor machine. The numerical flow chart is divided into modules and the computation of several modules is performed in parallel to gain computational efficiency. In this implementation, the master (parent processor) creates a pool of slaves (child processors) at the beginning of the program. The slaves remain in the pool until they are needed to perform certain tasks. Upon completion of a particular task, a slave returns to the pool. This improves the overall response time of the algorithm. The formulation presented is general which makes it attractive for a general purpose code development. Speedups obtained in the different modules of the dynamic analysis computation are also presented. Results show that the superelement model based parallel algorithm can significantly reduce the vehicle dynamics simulation time. 52 refs.« less

A laboratory breadboard system for dual-arm teleoperation

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Szakaly, Z.; Kim, W. S.

1990-01-01

The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques.

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.

PubMed

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju

2017-01-01

Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

Multi-level manual and autonomous control superposition for intelligent telerobot

NASA Technical Reports Server (NTRS)

Hirai, Shigeoki; Sato, T.

1989-01-01

Space telerobots are recognized to require cooperation with human operators in various ways. Multi-level manual and autonomous control superposition in telerobot task execution is described. The object model, the structured master-slave manipulation system, and the motion understanding system are proposed to realize the concept. The object model offers interfaces for task level and object level human intervention. The structured master-slave manipulation system offers interfaces for motion level human intervention. The motion understanding system maintains the consistency of the knowledge through all the levels which supports the robot autonomy while accepting the human intervention. The superposing execution of the teleoperational task at multi-levels realizes intuitive and robust task execution for wide variety of objects and in changeful environment. The performance of several examples of operating chemical apparatuses is shown.

Force reflecting hand controller

NASA Technical Reports Server (NTRS)

Mcaffee, Douglas A. (Inventor); Snow, Edward R. (Inventor); Townsend, William T. (Inventor)

1993-01-01

A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the handgrip and control the position thereof relative to the base through the mechanical links. A plurality of rotary joints is arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base. A cable and pulley assembly for each joint is connected to a corresponding motor for transmitting forces from the slave machine to the handgrip to provide kinesthetic feedback to the operator and for producing control signals that may be transmitted from the handgrip to the slave machine. The device gives excellent kinesthetic feedback, high-fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all six degrees of freedom, and zero backlash. The device also has a much larger work envelope, greater stiffness and responsiveness, smaller stowage volume, and better overlap of the human operator's range of motion than previous designs.

Analytical and numerical construction of vertical periodic orbits about triangular libration points based on polynomial expansion relations among directions

NASA Astrophysics Data System (ADS)

Qian, Ying-Jing; Yang, Xiao-Dong; Zhai, Guan-Qiao; Zhang, Wei

2017-08-01

Innovated by the nonlinear modes concept in the vibrational dynamics, the vertical periodic orbits around the triangular libration points are revisited for the Circular Restricted Three-body Problem. The ζ -component motion is treated as the dominant motion and the ξ and η -component motions are treated as the slave motions. The slave motions are in nature related to the dominant motion through the approximate nonlinear polynomial expansions with respect to the ζ -position and ζ -velocity during the one of the periodic orbital motions. By employing the relations among the three directions, the three-dimensional system can be transferred into one-dimensional problem. Then the approximate three-dimensional vertical periodic solution can be analytically obtained by solving the dominant motion only on ζ -direction. To demonstrate the effectiveness of the proposed method, an accuracy study was carried out to validate the polynomial expansion (PE) method. As one of the applications, the invariant nonlinear relations in polynomial expansion form are used as constraints to obtain numerical solutions by differential correction. The nonlinear relations among the directions provide an alternative point of view to explore the overall dynamics of periodic orbits around libration points with general rules.

The effect of bandwidth on telerobot system performance

NASA Technical Reports Server (NTRS)

Uebel, Mark; Ali, Michael S.; Minis, Ioannis

1991-01-01

The purpose of the experiment was to determine the effect that various slave-joint bandwidths have on telerobot system performance. The telerobot system consisted of a slave arm controlled by a master. The slave incorporated an impedance loop to provide local compliance in addition to the compliance provided by the operator via force feedback. Three joint bandwidths, 0.5, 1.0, and 2.0 Hz, were used. The performance measures were the task completion time and the sums of the squared forces and moments exerted on the environment. The task consisted of peg-in-hole insertion and removal. The results of the experiment indicate a significant performance decrease at 0.5-Hz bandwidth relative to the 1- and 2-Hz bandwidths. There was no significant change in performance between the 1- and 2-Hz bandwidths.

Development of haptic system for surgical robot

NASA Astrophysics Data System (ADS)

Gang, Han Gyeol; Park, Jiong Min; Choi, Seung-Bok; Sohn, Jung Woo

2017-04-01

In this paper, a new type of haptic system for surgical robot application is proposed and its performances are evaluated experimentally. The proposed haptic system consists of an effective master device and a precision slave robot. The master device has 3-DOF rotational motion as same as human wrist motion. It has lightweight structure with a gyro sensor and three small-sized MR brakes for position measurement and repulsive torque generation, respectively. The slave robot has 3-DOF rotational motion using servomotors, five bar linkage and a torque sensor is used to measure resistive torque. It has been experimentally demonstrated that the proposed haptic system has good performances on tracking control of desired position and repulsive torque. It can be concluded that the proposed haptic system can be effectively applied to the surgical robot system in real field.

An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device.

PubMed

Su, Hao; Shang, Weijian; Li, Gang; Patel, Niravkumar; Fischer, Gregory S

2017-08-01

This paper presents a surgical master-slave teleoperation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. The slave robot consists of a piezoelectrically actuated 6-degree-of-freedom (DOF) robot for needle placement with an integrated fiber optic force sensor (1-DOF axial force measurement) using the Fabry-Perot interferometry (FPI) sensing principle; it is configured to operate inside the bore of the MRI scanner during imaging. By leveraging the advantages of pneumatic and piezoelectric actuation in force and position control respectively, we have designed a pneumatically actuated master robot (haptic device) with strain gauge based force sensing that is configured to operate the slave from within the scanner room during imaging. The slave robot follows the insertion motion of the haptic device while the haptic device displays the needle insertion force as measured by the FPI sensor. Image interference evaluation demonstrates that the telesurgery system presents a signal to noise ratio reduction of less than 17% and less than 1% geometric distortion during simultaneous robot motion and imaging. Teleoperated needle insertion and rotation experiments were performed to reach 10 targets in a soft tissue-mimicking phantom with 0.70 ± 0.35 mm Cartesian space error.

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

PubMed Central

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae

2017-01-01

Purpose Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site. PMID:27873506

Anthropomorphic Telemanipulation System in Terminus Control Mode

NASA Technical Reports Server (NTRS)

Jau, Bruno M.; Lewis, M. Anthony; Bejczy, Antal K.

1994-01-01

This paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JPL. It utilizes dexterous terminus devices in the form of an exoskeleton force-sensing master glove worn by the operator and a replica four finger anthropomorphic slave hand. The newly developed master glove is integrated with our previously developed non-anthropomorphic six degree of freedom (DOF) universal force-reflecting hand controller (FRHC). The mechanical hand and forearm are mounted to an industrial robot (PUMA 560), replacing its standard forearm. The notion of 'terminus control mode' refers to the fact that only the terminus devices (glove and robot hand) are of anthropomorphic nature, and the master and slave arms are non-anthropomorphic. The system is currently being evaluated, focusing on tool handling and astronaut equivalent task executions. The evaluation revealed the system's potential for tool handling but it also became evident that hand tool manipulations and space operations require a dual arm robot. This paper describes the system's principal components, its control and computing architecture, discusses findings of the tool handling evaluation, and explains why common tool handling and EVA space tasks require dual arm robots.

A new scheme of force reflecting control

NASA Technical Reports Server (NTRS)

Kim, Won S.

1992-01-01

A new scheme of force reflecting control has been developed that incorporates position-error-based force reflection and robot compliance control. The operator is provided with a kinesthetic force feedback which is proportional to the position error between the operator-commanded and the actual position of the robot arm. Robot compliance control, which increases the effective compliance of the robot, is implemented by low pass filtering the outputs of the force/torque sensor mounted on the base of robot hand and using these signals to alter the operator's position command. This position-error-based force reflection scheme combined with shared compliance control has been implemented successfully to the Advanced Teleoperation system consisting of dissimilar master-slave arms. Stability measurements have demonstrated unprecedentedly high force reflection gains of up to 2 or 3, even though the slave arm is much stiffer than operator's hand holding the force reflecting hand controller. Peg-in-hole experiments were performed with eight different operating modes to evaluate the new force-reflecting control scheme. Best task performance resulted with this new control scheme.

A magnetic-resonance-imaging-compatible remote catheter navigation system.

PubMed

Tavallaei, Mohammad Ali; Thakur, Yogesh; Haider, Syed; Drangova, Maria

2013-04-01

A remote catheter navigation system compatible with magnetic resonance imaging (MRI) has been developed to facilitate MRI-guided catheterization procedures. The interventionalist's conventional motions (axial motion and rotation) on an input catheter - acting as the master - are measured by a pair of optical encoders, and a custom embedded system relays the motions to a pair of ultrasonic motors. The ultrasonic motors drive the patient catheter (slave) within the MRI scanner, replicating the motion of the input catheter. The performance of the remote catheter navigation system was evaluated in terms of accuracy and delay of motion replication outside and within the bore of the magnet. While inside the scanner bore, motion accuracy was characterized during the acquisition of frequently used imaging sequences, including real-time gradient echo. The effect of the catheter navigation system on image signal-to-noise ratio (SNR) was also evaluated. The results show that the master-slave system has a maximum time delay of 41 ± 21 ms in replicating motion; an absolute value error of 2 ± 2° was measured for radial catheter motion replication over 360° and 1.0 ± 0.8 mm in axial catheter motion replication over 100 mm of travel. The worst-case SNR drop was observed to be 2.5%.

Finger Interdependence: Linking the Kinetic and Kinematic Variables

PubMed Central

Kim, Sun Wook; Shim, Jae Kun; Zatsiorsky, Vladimir M.; Latash, Mark L.

2008-01-01

We studied the dependence between voluntary motion of a finger and pressing forces produced by the tips of other fingers of the hand. Subjects moved one of the fingers (task finger) of the right hand trying to follow a cyclic, ramp-like flexion-extension template at different frequencies. The other fingers (slave fingers) were restricted from moving; their flexion forces were recorded and analyzed. Index finger motion caused the smallest force production by the slave fingers. Larger forces were produced by the neighbors of the task finger; these forces showed strong modulation over the range of motion of the task finger. The enslaved forces were higher during the flexion phase of the movement cycle as compared to the extension phase. The index of enslaving expressed in N/rad was higher when the task finger moved through the more flexed postures. The dependence of enslaving on both range and direction of task finger motion poses problems for methods of analysis of finger coordination based on an assumption of universal matrices of finger inter-dependence. PMID:18255182

A comparison of control modes for time-delayed remote manipulation

NASA Technical Reports Server (NTRS)

Starr, G. P.

1982-01-01

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

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

Krempasky, J.; Flechsig, U.; Korhonen, T.

Synchronous monochromator and insertion device energy scans were implemented at the Surfaces/Interfaces:Microscopy (SIM) beamline in order to provide the users fast X-ray magnetic dichroism studies (XMCD). A simple software control scheme is proposed based on a fast monochromator run-time energy readback which quickly updates the insertion device requested energy during an on-the-fly X-ray absorption scan (XAS). In this scheme the Plain Grating Monochromator (PGM) motion control, being much slower compared with the insertion device (APPLE-II type undulator), acts as a 'master' controlling the undulator 'slave' energy position. This master-slave software implementation exploits EPICS distributed device control over computer network andmore » allows for a quasi-synchronous motion control combined with data acquisition needed for the XAS or XMCD experiment.« less

Improved head-controlled TV system produces high-quality remote image

NASA Technical Reports Server (NTRS)

Goertz, R.; Lindberg, J.; Mingesz, D.; Potts, C.

1967-01-01

Manipulator operator uses an improved resolution tv camera/monitor positioning system to view the remote handling and processing of reactive, flammable, explosive, or contaminated materials. The pan and tilt motions of the camera and monitor are slaved to follow the corresponding motions of the operators head.

Telepresence control of a dual-arm dexterous robot

NASA Technical Reports Server (NTRS)

Li, Larry; Cox, Brian; Shelton, Susan; Diftler, Myron

1994-01-01

Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory-motor skills of an on-orbit crew and effectively transfers them to a slave robot. A dual-arm dexterous robot operating under telepresence control has been developed and is being evaluated. Preliminary evaluation revealed several important observations that suggest the directions of future enhancement.

Electromechanical actuator for the tongs of a servomanipulator

DOEpatents

Martin, H. Lee; Killough, Stephen M.

1986-01-01

Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.

Dual arm master controller development

NASA Technical Reports Server (NTRS)

Kuban, D. P.; Perkins, G. S.

1985-01-01

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape driven manipulators. Studies were performed which addressed to human factor design and performance tradeoffs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented.

The servicing aid tool: A teleoperated robotics system for space applications

NASA Technical Reports Server (NTRS)

Dorman, Keith W.; Pullen, John L.; Keksz, William O.; Eismann, Paul H.; Kowalski, Keith A.; Karlen, James P.

1994-01-01

The Servicing Aid Tool (SAT) is a teleoperated, force-reflecting manipulation system designed for use on the Space Shuttle. The system will assist Extravehicular Activity (EVA) servicing of spacecraft such as the Hubble Space Telescope. The SAT stands out from other robotics development programs in that special attention was given to provide a low-cost, space-qualified design which can easily and inexpensively be reconfigured and/or enhanced through the addition of existing NASA funded technology as that technology matures. SAT components are spaceflight adaptations of existing ground-based designs from Robotics Research Corporation (RRC), the leading supplier of robotics systems to the NASA and university research community in the United States. Fairchild Space is the prime contractor and provides the control electronics, safety system, system integration, and qualification testing. The manipulator consists of a 6-DOF Slave Arm mounted on a 1-DOF Positioning Link in the shuttle payload bay. The Slave Arm is controlled via a highly similar, 6-DOF, force-reflecting Master Arm from Schilling Development, Inc. This work is being performed under contract to the Goddard Space Flight Center Code, Code 442, Hubble Space Telescope Flight Systems and Servicing Project.

Bilateral control of master-slave manipulators with constant time delay.

PubMed

Forouzantabar, A; Talebi, H A; Sedigh, A K

2012-01-01

This paper presents a novel teleoperation controller for a nonlinear master-slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the passivity based architecture upon the earlier work of Lee and Spong (2006) [14] to improve position tracking and consequently transparency in the face of disturbances and environmental contacts. The proposed controller employs a PID controller in each side to overcome some limitations of a PD controller and guarantee an improved performance. Moreover, by using Fourier transform and Parseval's identity in the frequency domain, we demonstrate that this new PID controller preserves the passivity of the system. Simulation and semi-experimental results show that the PID controller tracking performance is superior to that of the PD controller tracking performance in slave/environmental contacts. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Sensor-less force-reflecting macro-micro telemanipulation systems by piezoelectric actuators.

PubMed

Amini, H; Farzaneh, B; Azimifar, F; Sarhan, A A D

2016-09-01

This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro-micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

PubMed Central

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations. PMID:28421179

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

PubMed

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations.

Development of a StandAlone Surgical Haptic Arm.

PubMed

Jones, Daniel; Lewis, Andrew; Fischer, Gregory S

2011-01-01

When performing telesurgery with current commercially available Minimally Invasive Robotic Surgery (MIRS) systems, a surgeon cannot feel the tool interactions that are inherent in traditional laparoscopy. It is proposed that haptic feedback in the control of MIRS systems could improve the speed, safety and learning curve of robotic surgery. To test this hypothesis, a standalone surgical haptic arm (SASHA) capable of manipulating da Vinci tools has been designed and fabricated with the additional ability of providing information for haptic feedback. This arm was developed as a research platform for developing and evaluating approaches to telesurgery, including various haptic mappings between master and slave and evaluating the effects of latency.

Master-slave control with trajectory planning and Bouc-Wen model for tracking control of piezo-driven stage

NASA Astrophysics Data System (ADS)

Lu, Xiaojun; Liu, Changli; Chen, Lei

2018-04-01

In this paper, a redundant Piezo-driven stage having 3RRR compliant mechanism is introduced, we propose the master-slave control with trajectory planning (MSCTP) strategy and Bouc-Wen model to improve its micro-motion tracking performance. The advantage of the proposed controller lies in that its implementation only requires a simple control strategy without the complexity of modeling to avoid the master PEA's tracking error. The dynamic model of slave PEA system with Bouc-Wen hysteresis is established and identified via particle swarm optimization (PSO) approach. The Piezo-driven stage with operating period T=1s and 2s is implemented to track a prescribed circle. The simulation results show that MSCTP with Bouc-Wen model reduces the trajectory tracking errors to the range of the accuracy of our available measurement.

A novel control framework for nonlinear time-delayed dual-master/single-slave teleoperation.

PubMed

Ghorbanian, A; Rezaei, S M; Khoogar, A R; Zareinejad, M; Baghestan, K

2013-03-01

A novel trilateral control architecture for the Dual-master/Single-slave teleoperation is proposed in this paper. This framework has been used in surgical training and rehabilitation applications. In this structure, the slave motion has been controlled by weighted summation of signals transmitted by the operator referring to task control authority through the dominance factors. The nonlinear dynamics for telemanipulators are considered which were considered as disregarded issues in previous studies of this field. Bounded variable time-delay has been considered which affects the transmitted signals in the communication channels. Two types of controllers have been offered and an appropriate stability analysis for each controller has been demonstrated. The first controller includes Proportional with dissipative gains (P+d). The second one contains Proportional and Derivative with dissipative gains (PD+d). In both cases, the stability of the trilateral control framework is preserved by choosing appropriate controller's gains. It is shown that these controllers attempt to coordinate the positions of telemanipulators in the free motion condition. The stability of the Dual-master/Single-slave teleoperation has been proved by an appropriate Lyapunov like function and the stability conditions have been studied. In addition the proposed PD+d control architecture is modified for trilateral teleoperation with internet communication between telemanipulators that caused such communication complications as packet loss, data duplication and swapping. A number of experiments have been conducted with various levels of dominance factor to validate the effectiveness of the new control architecture. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Direct manipulation of tool-like masters for controlling a master-slave surgical robotic system.

PubMed

Zhang, Linan; Zhou, Ningxin; Wang, Shuxin

2014-12-01

Robotic-assisted minimally invasive surgery (MIS) can benefit both patients and surgeons. However, the learning curve for robotically assisted procedures can be long and the total system costs are high. Therefore, there is considerable interest in new methods and lower cost controllers for a surgical robotic system. In this study, a knife-master and a forceps-master, shaped similarly to a surgical knife and forceps, were developed as input devices for control of a master-slave surgical robotic system. In addition, a safety strategy was developed to eliminate the master-slave orientation difference and stabilize the surgical system. Master-slave tracking experiments and a ring-and-bar experiment showed that the safety tracking strategy could ensure that the robot system moved stably without any tremor in the tracking motion. Subjects could manipulate the surgical tool to achieve the master-slave operation with less training compared to a mechanical master. Direct manipulation of the small, light and low-cost surgical tools to control a robotic system is a possible operating mode. Surgeons can operate the robotic system in their own familiar way, without long training. The main potential safety issues can be solved by the proposed safety control strategy. Copyright © 2013 John Wiley & Sons, Ltd.

A novel method for quantifying arm motion similarity.

PubMed

Zhi Li; Hauser, Kris; Roldan, Jay Ryan; Milutinovic, Dejan; Rosen, Jacob

2015-08-01

This paper proposes a novel task-independent method for quantifying arm motion similarity that can be applied to any kinematic/dynamic variable of interest. Given two arm motions for the same task, not necessarily with the same completion time, it plots the time-normalized curves against one another and generates four real-valued features. To validate these features we apply them to quantify the relationship between healthy and paretic arm motions of chronic stroke patients. Studying both unimanual and bimanual arm motions of eight chronic stroke patients, we find that inter-arm coupling that tends to synchronize the motions of both arms in bimanual motions, has a stronger effect at task-relevant joints than at task-irrelevant joints. It also revealed that the paretic arm suppresses the shoulder flexion of the non-paretic arm, while the latter encourages the shoulder rotation of the former.

Instances of Use of United States Armed Forces Abroad, 1798-2010

DTIC Science & Technology

2011-03-10

marines and sailors) to discourage piracy and the slave trade along the Ivory coast, and to punish attacks by the natives on American seamen and...Naval forces sought to stop seal poaching . 1891 Chile. August 28 to 30. U.S. forces protected the American consulate and the women and children who

Instances of Use of United States Armed Forces Abroad, 1798-2001

DTIC Science & Technology

2002-02-05

various parties (one of 200 marines and sailors) to discourage piracy and the slave trade along the Ivory coast, and to punish attacks by the natives...sought to protect American lives and property on Navassa Island. 1891— Bering Strait. July 2 to October 5. Naval forces sought to stop seal poaching

Instances of Use of United States Armed Forces Abroad, 1798-2007

DTIC Science & Technology

2008-01-14

parties (one of 200 marines and sailors) to discourage piracy and the slave trade along the Ivory coast, and to punish attacks by the natives on...seal poaching . 1891 Chile. August 28 to 30. U.S. forces protected the American consulate and the women and children who had taken refuge in it

Vision and dual IMU integrated attitude measurement system

NASA Astrophysics Data System (ADS)

Guo, Xiaoting; Sun, Changku; Wang, Peng; Lu, Huang

2018-01-01

To determination relative attitude between two space objects on a rocking base, an integrated system based on vision and dual IMU (inertial determination unit) is built up. The determination system fuses the attitude information of vision with the angular determinations of dual IMU by extended Kalman filter (EKF) to obtain the relative attitude. One IMU (master) is attached to the measured motion object and the other (slave) to the rocking base. As the determination output of inertial sensor is relative to inertial frame, thus angular rate of the master IMU includes not only motion of the measured object relative to inertial frame but also the rocking base relative to inertial frame, where the latter can be seen as redundant harmful movement information for relative attitude determination between the measured object and the rocking base. The slave IMU here assists to remove the motion information of rocking base relative to inertial frame from the master IMU. The proposed integrated attitude determination system is tested on practical experimental platform. And experiment results with superior precision and reliability show the feasibility and effectiveness of the proposed attitude determination system.

Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric models.

PubMed

Morita, Akio; Sora, Shigeo; Mitsuishi, Mamoru; Warisawa, Shinichi; Suruman, Katopo; Asai, Daisuke; Arata, Junpei; Baba, Shoichi; Takahashi, Hidechika; Mochizuki, Ryo; Kirino, Takaaki

2005-08-01

To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master-slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.

Instances of Use of United States Armed Forces Abroad, 1798-2007

DTIC Science & Technology

2007-09-12

one of 200 marines and sailors) to discourage piracy and the slave trade along the Ivory coast, and to punish attacks by the natives on American... poaching . 1891 Chile. August 28 to 30. U.S. forces protected the American consulate and the women and children who had taken refuge in it during a

[Surgery using master-slave manipulators and telementoring].

PubMed

Furukawa, T; Wakabayashi, G; Ozawa, S; Watanabe, M; Ohgami, M; Kitagawa, Y; Ishii, S; Arisawa, Y; Ohmori, T; Nohga, K; Kitajima, M

2000-03-01

Master-slave manipulators enhance surgeons' dexterity and improve the precision of surgical techniques by filtering out surgeons' tremors and scaling the movements of surgical instruments. Among clinically available master-slave manipulators, the epoch-making system called "da Vinci" developed by Intuitive Surgical Inc. (Mountain View, CA, USA), equipped with 2 articulated joints at the tip of the surgical instruments allowing 7 degrees of freedom, mimics the movements of surgeons' wrists and fingers in the abdominal or thoracic cavity. Today advanced telecommunications technology provides us excellent motion images using only 3-ISDN telephone lines. Experienced surgeons at primary surgical sites have been able to perform complex procedures successfully by consulting specialists at remote sites. Because telecommunications costs have become lower each year, telementoring will be come a routine surgical practice in the near future. The usefulness of surgical telementoring has been greatly enhanced by the development of a technique to illustrate on video images from two directions. Moreover, remote advisory surgeons will be able to provide the optimal operative field to operating surgeons using robotic camera holders with voice-recognition systems. In the near future, when master-slave manipulators will also be coupled with telementoring systems, remote experts could actually perform complex surgical procedures.

Control strategies for a telerobot

NASA Technical Reports Server (NTRS)

Ohara, John; Stasi, Bill

1989-01-01

One of the major issues impacting the utility of telerobotic systems for space is the development of effective control strategies. For near-term applications, telerobot control is likely to utilize teleoperation methodologies with integrated supervisory control capabilities to assist the operator. Two different approaches to telerobotic control are evaluated: bilateral force reflecting master controllers and proportional rate six degrees-of-freedom hand controllers. The controllers' performance of single manipulator arm tasks is compared. Simultaneous operation of both manipulator arms and complex multiaxis slave arm movements is investigated. Task times are significantly longer and fewer errors are committed with the hand controllers. The hand controllers are also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers are rated significantly higher in physical workload. The implications of these findings for space teleoperations and higher levels of control are discussed.

Telerobotic control of a dextrous manipulator using master and six-DOF hand-controllers for space assembly and servicing tasks

NASA Technical Reports Server (NTRS)

O'Hara, John M.

1987-01-01

Two studies were conducted evaluating methods of controlling a telerobot; bilateral force reflecting master controllers and proportional rate six degrees of freedom (DOF) hand controllers. The first study compared the controllers on performance of single manipulator arm tasks, a peg-in-the-hole task, and simulated satellite orbital replacement unit changeout. The second study, a Space Station truss assembly task, required simultaneous operation of both manipulator arms (all 12 DOFs) and complex multiaxis slave arm movements. Task times were significantly longer and fewer errors were committed with the hand controllers. The hand controllers were also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers were rated significantly higher in physical workload. There were no significant differences in ratings of manipulator control quality.

A Truly Northern Experience

ERIC Educational Resources Information Center

Norwood, Christy

2007-01-01

In this article, the author reflects on her trip to Lutsel K'e, a small isolated community of under 300 people tucked in a gorgeous bay on the east arm of Great Slave Lake. This place has given her a whole new perspective on what it is to be Canadian. To begin, the wildlife and the scenery are absolutely breathtaking in a really raw and barren way…

EXOS research on force-reflecting controllers

NASA Astrophysics Data System (ADS)

Eberman, Brian S.; An, Bin

1993-03-01

EXOS has developed two state of the art prototype master controllers for controlling robot hands and manipulators under the Small Business Innovation Research (SBIR) program with NASA. One such device is a two degree-of-freedom Sensing and Force Reflecting Exoskeleton (SAFiRE) worn on the operator's hand. The device measures the movement of the index finger and reflects the interaction forces between the slave robot and the environment to the human finger. The second device is a position sensing Exoskeleton ArmMaster (EAM) worn by a human operator. The device simultaneously tracks the motions of the operator's three DOF shoulder and two DOF elbow. Both of these devices are currently used to control robots at NASA. We are currently developing a full fingered SAFiRE and a position sensing and force reflecting EAM under two second phase SBIR grants with NASA. This paper will include discussions of: (1) the design of the current prototypes, (2) kinematics of the EAM and force control of the SAFiRE, (3) design issues that must be addressed in developing more advanced versions, and (4) our progress to date in addressing these issues.

Interlocking Molecular Gear Chains Built on Surfaces.

PubMed

Zhao, Rundong; Qi, Fei; Zhao, Yan-Ling; Hermann, Klaus E; Zhang, Rui-Qin; Van Hove, Michel A

2018-05-17

Periodic chains of molecular gears in which molecules couple with each other and rotate on surfaces have been previously explored by us theoretically using ab initio simulation tools. On the basis of the knowledge and experience gained about the interactions between neighboring molecular gears, we here explore the transmission of rotational motion and energy over larger distances, namely, through a longer chain of gear-like passive "slave" molecules. Such microscopic gears exhibit quite different behaviors compared to rigid cogwheels in the macroscopic world due to their structural flexibility affecting intermolecular interaction. Here, we investigate the capabilities of such gear chains and reveal the mechanisms of the transmission process in terms of both quantum-level density functional theory (DFT) and simple classical mechanics. We find that the transmission of rotation along gear chains depends strongly on the gear-gear distance: short distances can cause tilting of gears and even irregular "creep-then-jump" (or "stick-slip") motion or expulsion of gears; long gear-gear distances cause weak coupling between gears, slipping and skipping. More importantly, for transmission of rotation at intermediate gear-gear distances, our modeling clearly exhibits the relative roles of several important factors: flexibility of gear arms, axles, and supports, as well as resulting rotational delays, slippages, and thermal and other effects. These studies therefore allow better informed design of future molecular machine components involving motors, gears, axles, etc.

An assembly-type master-slave catheter and guidewire driving system for vascular intervention.

PubMed

Cha, Hyo-Jeong; Yi, Byung-Ju; Won, Jong Yun

2017-01-01

Current vascular intervention inevitably exposes a large amount of X-ray to both an operator and a patient during the procedure. The purpose of this study is to propose a new catheter driving system which assists the operator in aspects of less X-ray exposure and convenient user interface. For this, an assembly-type 4-degree-of-freedom master-slave system was designed and tested to verify the efficiency. First, current vascular intervention procedures are analyzed to develop a new robotic procedure that enables us to use conventional vascular intervention devices such as catheter and guidewire which are commercially available in the market. Some parts of the slave robot which contact the devices were designed to be easily assembled and dissembled from the main body of the slave robot for sterilization. A master robot is compactly designed to conduct insertion and rotational motion and is able to switch from the guidewire driving mode to the catheter driving mode or vice versa. A phantom resembling the human arteries was developed, and the master-slave robotic system is tested using the phantom. The contact force of the guidewire tip according to the shape of the arteries is measured and reflected to the user through the master robot during the phantom experiment. This system can drastically reduce radiation exposure by replacing human effort by a robotic system for high radiation exposure procedures. Also, benefits of the proposed robot system are low cost by employing currently available devices and easy human interface.

Design and evaluation of a slave manipulator with roll-pitch-roll wrist and automatic tool loading mechanism in telerobotic surgery.

PubMed

Kim, Ki-Young; Lee, Jung-Ju

2012-12-01

As there is a shortage of scrub nurses in many hospitals, automatic surgical tool exchanging mechanism without human labour has been studied. Minimally invasive robotic surgeries (MIRS) also require scrub nurses. A surgical tool loading mechanism without a scrub nurse's assistance for MIRS is proposed. Many researchers have developed minimally invasive surgical instruments with a wrist joint that can be movable inside the abdomen. However, implementation of a distal rolling joint on a gripper is rare. To implement surgical tool exchanging without a scrub nurse's assistance, a slave manipulator and a tool loader were developed to load and unload a surgical tool unit. A surgical tool unit with a roll-pitch-roll wrist was developed. Several experiments were performed to validate the effectiveness of the slave manipulator and the surgical tool unit. The slave manipulator and the tool loader were able to successfully unload and load the surgical tool unit without human assistance. The total duration of unloading and loading the surgical tool unit was 97 s. Motion tracking experiments of the distal rolling joint were performed. The maximum positioning error of the step input response was 2°. The advantage of the proposed slave manipulator and tool loader is that other robotic systems or human labour are not needed for surgical tool loading. The feasibility of the distal rolling joint in MIS is verified. Copyright © 2012 John Wiley & Sons, Ltd.

An implementation of sensor-based force feedback in a compact laparoscopic surgery robot.

PubMed

Lee, Duk-Hee; Choi, Jaesoon; Park, Jun-Woo; Bach, Du-Jin; Song, Seung-Jun; Kim, Yoon-Ho; Jo, Yungho; Sun, Kyung

2009-01-01

Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.

Dual-user nonlinear teleoperation subjected to varying time delay and bounded inputs.

PubMed

Zakerimanesh, Amir; Hashemzadeh, Farzad; Ghiasi, Amir Rikhtehgar

2017-05-01

A novel trilateral control architecture for Dual-master/Single-slave teleoperation system with taking account of saturation in actuators, nonlinear dynamics for telemanipulators and bounded varying time delay which affects the transmitted signals in the communication channels, is proposed in this paper. In this research, we will address the stability and desired position coordination problem of trilateral teleoperation system by extension of (nP+D) controller that is used for Single-master/Single-slave teleoperation system. Our proposed controller is weighted summation of nonlinear Proportional plus Damping (nP+D) controller that incorporate gravity compensation and the weights are specified by the dominance factor, which determines the supremacy of each user over the slave robot and over the other user. The asymptotic stability of closed loop dynamics is studied using Lyapunov-Krasovskii functional under conditions on the controller parameters, the actuator saturation characteristics and the maximum values of varying time delays. It is shown that these controllers satisfy the desired position coordination problem in free motion condition. To show the effectiveness of the proposed method, a number of simulations have been conducted on a varying time delay Dual-master/Single-slave teleoperation system using 3-DOF planar robots for each telemanipulator subjected to actuator saturation. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Neural-adaptive control of single-master-multiple-slaves teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties.

PubMed

Li, Zhijun; Su, Chun-Yi

2013-09-01

In this paper, adaptive neural network control is investigated for single-master-multiple-slaves teleoperation in consideration of time delays and input dead-zone uncertainties for multiple mobile manipulators carrying a common object in a cooperative manner. Firstly, concise dynamics of teleoperation systems consisting of a single master robot, multiple coordinated slave robots, and the object are developed in the task space. To handle asymmetric time-varying delays in communication channels and unknown asymmetric input dead zones, the nonlinear dynamics of the teleoperation system are transformed into two subsystems through feedback linearization: local master or slave dynamics including the unknown input dead zones and delayed dynamics for the purpose of synchronization. Then, a model reference neural network control strategy based on linear matrix inequalities (LMI) and adaptive techniques is proposed. The developed control approach ensures that the defined tracking errors converge to zero whereas the coordination internal force errors remain bounded and can be made arbitrarily small. Throughout this paper, stability analysis is performed via explicit Lyapunov techniques under specific LMI conditions. The proposed adaptive neural network control scheme is robust against motion disturbances, parametric uncertainties, time-varying delays, and input dead zones, which is validated by simulation studies.

Modal-Power-Based Haptic Motion Recognition

NASA Astrophysics Data System (ADS)

Kasahara, Yusuke; Shimono, Tomoyuki; Kuwahara, Hiroaki; Sato, Masataka; Ohnishi, Kouhei

Motion recognition based on sensory information is important for providing assistance to human using robots. Several studies have been carried out on motion recognition based on image information. However, in the motion of humans contact with an object can not be evaluated precisely by image-based recognition. This is because the considering force information is very important for describing contact motion. In this paper, a modal-power-based haptic motion recognition is proposed; modal power is considered to reveal information on both position and force. Modal power is considered to be one of the defining features of human motion. A motion recognition algorithm based on linear discriminant analysis is proposed to distinguish between similar motions. Haptic information is extracted using a bilateral master-slave system. Then, the observed motion is decomposed in terms of primitive functions in a modal space. The experimental results show the effectiveness of the proposed method.

Role of arm motion in feet-in-place balance recovery.

PubMed

Cheng, Kuangyou B; Wang, Kuan-Mao; Kuo, Shih-Yu

2015-09-18

Although considerable arm movements have been observed at loss of balance, research on standing balance focused primarily on the ankle and hip strategies. This study aimed to investigate the effect of arm motion on feet-in-place balance recovery. Participants stood on a single force plate and leaned forward with a straight body posture. They were then released from three forward-lean angles and regained balance without moving their forefeet under arm-swing (AS) and arm-constrained (AC) conditions. Higher success rates and shorter recovery times were found with arm motion under moderate balance perturbations. Recovery time was significantly correlated with peak linear momentum of the arms. Circumduction arm motion caused initial shoulder extension (backward arm movement) to generate reaction forces to pull the body forward, but later forward linear momentum of the arms helped move the whole body backward to avoid forward falling. However, greater lean angles increased difficulty in balance recovery, making the influences of the arms less significant. Since arm motions were observed in all participants with significantly enhanced performance under moderate balance perturbation, it was concluded that moving the arms should also be considered (together with the ankles and hips) as an effective strategy for balance recovery. Copyright © 2015 Elsevier Ltd. All rights reserved.

A Role of Base Plate Jerk Feedback Scheme for Suppression of the Self Vibration in a Pneumatic Positioning Stage

NASA Astrophysics Data System (ADS)

Wali, Mohebullah; Nakamura, Yukinori; Wakui, Shinji

In this study, a positioning stage is considered, which is actuated by four pneumatic cylinders and vertically supported by four coil-type spring isolators. Previously, we realized the base plate jerk feedback (BPJFB) to be analogues to a Master-Slave system which can synchronize the motion of the stage as a Slave to the motion of the base plate as a Master. However, in the case of real positioning, the stage had slightly self oscillation with higher frequency due to the higher gains set to the outer feedback loop controller besides its oscillation due to the natural vibration of the base plate. The self oscillation of stage was misunderstood to be the natural vibration of base plate due to the reaction force. However, according to the experimental results, the BPJFB scheme was able to control both of the mentioned vibrations. Suppression of the self vibration of stage is an interesting phenomenon, which should be experimentally investigated. Therefore, the current study focuses on the suppression of the self vibration of stage by using the BPJFB scheme. The experimental results show that besides operating as a Master-Slave synchronizing system, the PBJFB scheme is able to increase the damping ratio and stiffness of stage against its self vibration. This newly recognized phenomenon contributes to further increase the proportional gain of the outer feedback loop controller. As a result, the positioning speed and stability can be improved.

Coevolution in host-parasite systems: behavioural strategies of slave-making ants and their hosts.

PubMed

Foitzik, S; DeHeer, C J; Hunjan, D N; Herbers, J M

2001-06-07

Recently, avian brood parasites and their hosts have emerged as model systems for the study of host-parasite coevolution. However, empirical studies of the highly analogous social parasites, which use the workers of another eusocial species to raise their own young, have never explicitly examined the dynamics of these systems from a coevolutionary perspective. Here, we demonstrate interpopulational variation in behavioural interactions between a socially parasitic slave-maker ant and its host that is consistent with the expectations of host-parasite coevolution. Parasite pressure, as inferred by the size, abundance and raiding frequency of Protomognathus americanus colonies, was highest in a New York population of the host Leptothorax longispinosus and lowest in a West Virginia population. As host-parasite coevolutionary theory would predict, we found that the slave-makers and the hosts from New York were more effective at raiding and defending against raiders, respectively, than were conspecifics from the West Virginia population. Some of these variations in efficacy were brought about by apparently simple shifts in behaviour. These results demonstrate that defence mechanisms against social parasites can evolve, and they give the first indications of the existence of a coevolutionary arms race between a social parasite and its host.

Dual-Arm Generalized Compliant Motion With Shared Control

NASA Technical Reports Server (NTRS)

Backes, Paul G.

1994-01-01

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

Motion Sickness When Driving With a Head-Slaved Camera System

DTIC Science & Technology

2003-02-01

YPR-765 under armour (Report TM-97-A026). Soesterberg, The Netherlands: TNO Human Factors Research Institute. Van Erp, J.B.F., Padmos, P. & Tenkink, E...Institute. Van Erp, J.B.F., Van den Dobbelsteen, J.J. & Padmos, P. (1998). Improved camera-monitor system for driving YPR-765 under armour (Report TM-98

Experimental validation of flexible robot arm modeling and control

NASA Technical Reports Server (NTRS)

Ulsoy, A. Galip

1989-01-01

Flexibility is important for high speed, high precision operation of lightweight manipulators. Accurate dynamic modeling of flexible robot arms is needed. Previous work has mostly been based on linear elasticity with prescribed rigid body motions (i.e., no effect of flexible motion on rigid body motion). Little or no experimental validation of dynamic models for flexible arms is available. Experimental results are also limited for flexible arm control. Researchers include the effects of prismatic as well as revolute joints. They investigate the effect of full coupling between the rigid and flexible motions, and of axial shortening, and consider the control of flexible arms using only additional sensors.

Offline motion planning and simulation of two-robot welding coordination

NASA Astrophysics Data System (ADS)

Zhang, Tie; Ouyang, Fan

2012-03-01

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots' relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-Sim Mechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

Efficient feature extraction from wide-area motion imagery by MapReduce in Hadoop

NASA Astrophysics Data System (ADS)

Cheng, Erkang; Ma, Liya; Blaisse, Adam; Blasch, Erik; Sheaff, Carolyn; Chen, Genshe; Wu, Jie; Ling, Haibin

2014-06-01

Wide-Area Motion Imagery (WAMI) feature extraction is important for applications such as target tracking, traffic management and accident discovery. With the increasing amount of WAMI collections and feature extraction from the data, a scalable framework is needed to handle the large amount of information. Cloud computing is one of the approaches recently applied in large scale or big data. In this paper, MapReduce in Hadoop is investigated for large scale feature extraction tasks for WAMI. Specifically, a large dataset of WAMI images is divided into several splits. Each split has a small subset of WAMI images. The feature extractions of WAMI images in each split are distributed to slave nodes in the Hadoop system. Feature extraction of each image is performed individually in the assigned slave node. Finally, the feature extraction results are sent to the Hadoop File System (HDFS) to aggregate the feature information over the collected imagery. Experiments of feature extraction with and without MapReduce are conducted to illustrate the effectiveness of our proposed Cloud-Enabled WAMI Exploitation (CAWE) approach.

Content and structure of knowledge base used for virtual control of android arm motion in specified environment

NASA Astrophysics Data System (ADS)

Pritykin, F. N.; Nebritov, V. I.

2018-01-01

The paper presents the configuration of knowledge base necessary for intelligent control of android arm mechanism motion with different positions of certain forbidden regions taken into account. The present structure of the knowledge base characterizes the past experience of arm motion synthesis in the vector of velocities with due regard for the known obstacles. This structure also specifies its intrinsic properties. Knowledge base generation is based on the study of the arm mechanism instantaneous states implementations. Computational experiments connected with the virtual control of android arm motion with known forbidden regions using the developed knowledge base are introduced. Using the developed knowledge base to control virtually the arm motion reduces the time of test assignments calculation. The results of the research can be used in developing control systems of autonomous android robots in the known in advance environment.

Evolution of robotic arms.

PubMed

Moran, Michael E

2007-01-01

The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

Particle Swarm Optimization with Double Learning Patterns.

PubMed

Shen, Yuanxia; Wei, Linna; Zeng, Chuanhua; Chen, Jian

2016-01-01

Particle Swarm Optimization (PSO) is an effective tool in solving optimization problems. However, PSO usually suffers from the premature convergence due to the quick losing of the swarm diversity. In this paper, we first analyze the motion behavior of the swarm based on the probability characteristic of learning parameters. Then a PSO with double learning patterns (PSO-DLP) is developed, which employs the master swarm and the slave swarm with different learning patterns to achieve a trade-off between the convergence speed and the swarm diversity. The particles in the master swarm and the slave swarm are encouraged to explore search for keeping the swarm diversity and to learn from the global best particle for refining a promising solution, respectively. When the evolutionary states of two swarms interact, an interaction mechanism is enabled. This mechanism can help the slave swarm in jumping out of the local optima and improve the convergence precision of the master swarm. The proposed PSO-DLP is evaluated on 20 benchmark functions, including rotated multimodal and complex shifted problems. The simulation results and statistical analysis show that PSO-DLP obtains a promising performance and outperforms eight PSO variants.

Design of a force reflecting hand controller for space telemanipulation studies

NASA Technical Reports Server (NTRS)

Paines, J. D. B.

1987-01-01

The potential importance of space telemanipulator systems is reviewed, along with past studies of master-slave manipulation using a generalized force reflecting master arm. Problems concerning their dynamic interaction with the human operator have been revealed in the use of these systems, with marked differences between 1-g and simulated weightless conditions. A study is outlined to investigate the optimization of the man machine dynamics of master-slave manipulation, and a set of specifications is determined for the apparatus necessary to perform this investigation. This apparatus is a one degree of freedom force reflecting hand controller with closed loop servo control which enables it to simulate arbitrary dynamic properties to high bandwidth. Design of the complete system and its performance is discussed. Finally, the experimental adjustment of the hand controller dynamics for smooth manual control performance with good operator force perception is described, resulting in low inertia, viscously damped hand controller dynamics.

Coordinated control of a dual-arm dexterous robot using full immersion telepresence and virtual reality

NASA Technical Reports Server (NTRS)

Li, Larry; Cox, Brian; Shelton, Susan; Diftler, Myron

1994-01-01

Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory motor skills of an on-board crew and effectively transfers them to a slave robot. A dual alarm dexterous robot operating under telepresence control has been developed and initial evaluations of the system performing candidate EVA, IVA and planetary geological tasks were conducted. The results of our evaluation showed that telepresence control is very effective in transferring the operator's skills to the slave robot. However, the results also showed that, due to the kinematic and dynamics inconsistencies between the operator and the robot, a limited amount of intelligent automation is also required to carry out some to the tasks. Therefore, several enhancements have been made to the original system to increase the automated capabilities of the control system without losing the benefits of telepresence.

Comparison of sequence of trunk and arm motions between short and long official distance groups in javelin throwing.

PubMed

Liu, Hui; Leigh, Steve; Yu, Bing

2014-03-01

The purpose of this study was to determine the effects of sequences of the trunk and arm angular motions on the performance of javelin throwing. In this study, 32 male and 30 female elite javelin throwers participated and were separated into a short official distance group or a long official distance group in each gender. Three-dimensional coordinates of 21 body landmarks and 3 marks on the javelin in the best trial were collected for each subject. Joint center linear velocities and selected trunk and arm segment and joint angles and angular velocities were calculated. The times of the initiations of the selected segment and joint angular motions and maximum angular velocities were determined. The sequences of the initiations of the selected segment and joint angular motions and maximum angular velocities were compared between short and long official distance groups and between genders. The results demonstrated that short and long official distance groups employed similar sequences of the trunk and arm motions. Male and female javelin throwers employed different sequences of the trunk and arm motions. The sequences of the trunk and arm motions were different from those of the maximal joint center linear velocities.

Afro-Latinos in Latin America and Considerations for U.S. Policy

DTIC Science & Technology

2007-07-13

Torres Parodi , “Working to Achieve Health Equity with an Ethnic Perspective,” Pan American Health Organization (PAHO), October 2004; Cristina Torres...armed groups have increasingly CRS-13 43 (...continued) 22, 2006. 44 “Descendants of Slaves Still Suffer in Brazil,” Reuters, July 3, 2007. 45 Cristina ... Parodi , “Ethnicity and Health: Another Perspective Towards Equity,” PAHO, June 2001. 46 These statistics were drawn from country statistics cited in

Coevolution in host-parasite systems: behavioural strategies of slave-making ants and their hosts.

PubMed Central

Foitzik, S.; DeHeer, C. J.; Hunjan, D. N.; Herbers, J. M.

2001-01-01

Recently, avian brood parasites and their hosts have emerged as model systems for the study of host-parasite coevolution. However, empirical studies of the highly analogous social parasites, which use the workers of another eusocial species to raise their own young, have never explicitly examined the dynamics of these systems from a coevolutionary perspective. Here, we demonstrate interpopulational variation in behavioural interactions between a socially parasitic slave-maker ant and its host that is consistent with the expectations of host-parasite coevolution. Parasite pressure, as inferred by the size, abundance and raiding frequency of Protomognathus americanus colonies, was highest in a New York population of the host Leptothorax longispinosus and lowest in a West Virginia population. As host-parasite coevolutionary theory would predict, we found that the slave-makers and the hosts from New York were more effective at raiding and defending against raiders, respectively, than were conspecifics from the West Virginia population. Some of these variations in efficacy were brought about by apparently simple shifts in behaviour. These results demonstrate that defence mechanisms against social parasites can evolve, and they give the first indications of the existence of a coevolutionary arms race between a social parasite and its host. PMID:11375101

Targeted Muscle Reinnervation for Real-Time Myoelectric Control of Multifunction Artificial Arms

PubMed Central

Kuiken, Todd A.; Li, Guanglin; Lock, Blair A.; Lipschutz, Robert D.; Miller, Laura A.; Stubblefield, Kathy A.; Englehart, Kevin

2011-01-01

Context Improving the function of prosthetic arms remains a challenge, as access to the neural control information for the arm is lost during amputation. We have developed a surgical technique called targeted muscle reinnervation (TMR) which transfers residual arm nerves to alternative muscle sites. After reinnervation, these target muscles produce an electromyogram (EMG) on the surface of the skin that can be measured and used to control prosthetic arms. Objective Assess the performance of TMR upper-limb amputee patients using a pattern-recognition algorithm to decode EMG signals and control prosthetic arm motions. Design Surface EMG signals were recorded on participants and decoded using a pattern-recognition algorithm. The decoding program controlled the movement of a virtual prosthetic arm. Participants were instructed to perform various arm movements, and their abilities to control the virtual prosthetic arm were measured. In addition, TMR patients used the same control system to operate advanced arm prosthesis prototypes. Setting This study was conducted between January 2007 and January 2008 at the Rehabilitation Institute of Chicago. Participants This study included five patients with shoulder disarticulation or transhumeral amputations who received TMR surgery between February 2002 and October 2006. It also included five non-amputee (control) participants. Main Outcome Measure Performance metrics measured during virtual arm movements included motion-selection time, motion-completion time, and motion-completion (or `success') rate. Three of the TMR patients were also able to test advanced arm prostheses. Results TMR patients were able to repeatedly perform 10 different elbow, wrist and hand motions with the virtual prosthetic arm. For TMR patients, the average (standard deviation (SD)) motion-selection and motion-completion times for elbow and wrist movements were 0.22 s (0.06) and 1.29 s (0.15), respectively. These times were 0.06 s and 0.21 s longer than the average times of control participants. For TMR patients, the average (SD) motion-selection and motion-completion times for hand-grasp patterns were 0.38 s (0.12) and 1.54 s (0.27), respectively. TMR patients successfully completed an average (SD) of 96.3% (3.8) of elbow and wrist movements and 86.9% (13.9) of hand movements within 5 s, compared to 100% (0) and 96.7% (4.7) completed by controls. Three of the patients were able to demonstrate the use of this control system in advanced prostheses including motorized shoulders, elbows, wrists and hands. Conclusion These results suggest that reinnervated muscles can produce sufficient EMG information to control advanced artificial arms. PMID:19211469

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

Prostate implant reconstruction from C-arm images with motion-compensated tomosynthesis

PubMed Central

Dehghan, Ehsan; Moradi, Mehdi; Wen, Xu; French, Danny; Lobo, Julio; Morris, W. James; Salcudean, Septimiu E.; Fichtinger, Gabor

2011-01-01

Purpose: Accurate localization of prostate implants from several C-arm images is necessary for ultrasound-fluoroscopy fusion and intraoperative dosimetry. The authors propose a computational motion compensation method for tomosynthesis-based reconstruction that enables 3D localization of prostate implants from C-arm images despite C-arm oscillation and sagging. Methods: Five C-arm images are captured by rotating the C-arm around its primary axis, while measuring its rotation angle using a protractor or the C-arm joint encoder. The C-arm images are processed to obtain binary seed-only images from which a volume of interest is reconstructed. The motion compensation algorithm, iteratively, compensates for 2D translational motion of the C-arm by maximizing the number of voxels that project on a seed projection in all of the images. This obviates the need for C-arm full pose tracking traditionally implemented using radio-opaque fiducials or external trackers. The proposed reconstruction method is tested in simulations, in a phantom study and on ten patient data sets. Results: In a phantom implanted with 136 dummy seeds, the seed detection rate was 100% with a localization error of 0.86 ± 0.44 mm (Mean ± STD) compared to CT. For patient data sets, a detection rate of 99.5% was achieved in approximately 1 min per patient. The reconstruction results for patient data sets were compared against an available matching-based reconstruction method and showed relative localization difference of 0.5 ± 0.4 mm. Conclusions: The motion compensation method can successfully compensate for large C-arm motion without using radio-opaque fiducial or external trackers. Considering the efficacy of the algorithm, its successful reconstruction rate and low computational burden, the algorithm is feasible for clinical use. PMID:21992346

Multilateral Telecoordinated Control of Multiple Robots With Uncertain Kinematics.

PubMed

Zhai, Di-Hua; Xia, Yuanqing

2017-06-06

This paper addresses the telecoordinated control of multiple robots in the simultaneous presence of asymmetric time-varying delays, nonpassive external forces, and uncertain kinematics/dynamics. To achieve the control objective, a neuroadaptive controller with utilizing prescribed performance control and switching control technique is developed, where the basic idea is to employ the concept of motion synchronization in each pair of master-slave robots and among all slave robots. By using the multiple Lyapunov-Krasovskii functionals method, the state-independent input-to-output practical stability of the closed-loop system is established. Compared with the previous approaches, the new design is straightforward and easier to implement and is applicable to a wider area. Simulation results on three pairs of three degrees-of-freedom robots confirm the theoretical findings.

A manipulator arm for zero-g simulations

NASA Technical Reports Server (NTRS)

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

1975-01-01

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

Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme.

PubMed

Ibeas, Asier; de la Sen, Manuel

2006-10-01

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of this paper is twofold: 1) to design a robust control law capable of ensuring closed-loop stability for robots with uncertainties and 2) to use the so-obtained control law to improve the tracking of each robot to its corresponding reference model in comparison with previously existing controllers when the slave is interacting with the obstacle. In this way, a multiestimation-based adaptive controller is proposed. Thus, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single-estimation-based controller is used, improving the transparency property of the teleoperation scheme. The closed-loop stability is guaranteed if a minimum residence time, which might be updated online when unknown, between different controller parameterizations is respected. Furthermore, the analysis of the teleoperation and stability capabilities of the overall scheme is carried out. Finally, some simulation examples showing the working of the multiestimation scheme complete this paper.

Particle Swarm Optimization with Double Learning Patterns

PubMed Central

Shen, Yuanxia; Wei, Linna; Zeng, Chuanhua; Chen, Jian

2016-01-01

Particle Swarm Optimization (PSO) is an effective tool in solving optimization problems. However, PSO usually suffers from the premature convergence due to the quick losing of the swarm diversity. In this paper, we first analyze the motion behavior of the swarm based on the probability characteristic of learning parameters. Then a PSO with double learning patterns (PSO-DLP) is developed, which employs the master swarm and the slave swarm with different learning patterns to achieve a trade-off between the convergence speed and the swarm diversity. The particles in the master swarm and the slave swarm are encouraged to explore search for keeping the swarm diversity and to learn from the global best particle for refining a promising solution, respectively. When the evolutionary states of two swarms interact, an interaction mechanism is enabled. This mechanism can help the slave swarm in jumping out of the local optima and improve the convergence precision of the master swarm. The proposed PSO-DLP is evaluated on 20 benchmark functions, including rotated multimodal and complex shifted problems. The simulation results and statistical analysis show that PSO-DLP obtains a promising performance and outperforms eight PSO variants. PMID:26858747

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

PubMed

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

1999-11-01

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

Neural-Dynamic-Method-Based Dual-Arm CMG Scheme With Time-Varying Constraints Applied to Humanoid Robots.

PubMed

Zhang, Zhijun; Li, Zhijun; Zhang, Yunong; Luo, Yamei; Li, Yuanqing

2015-12-01

We propose a dual-arm cyclic-motion-generation (DACMG) scheme by a neural-dynamic method, which can remedy the joint-angle-drift phenomenon of a humanoid robot. In particular, according to a neural-dynamic design method, first, a cyclic-motion performance index is exploited and applied. This cyclic-motion performance index is then integrated into a quadratic programming (QP)-type scheme with time-varying constraints, called the time-varying-constrained DACMG (TVC-DACMG) scheme. The scheme includes the kinematic motion equations of two arms and the time-varying joint limits. The scheme can not only generate the cyclic motion of two arms for a humanoid robot but also control the arms to move to the desired position. In addition, the scheme considers the physical limit avoidance. To solve the QP problem, a recurrent neural network is presented and used to obtain the optimal solutions. Computer simulations and physical experiments demonstrate the effectiveness and the accuracy of such a TVC-DACMG scheme and the neural network solver.

Influence of basal ganglia on upper limb locomotor synergies. Evidence from deep brain stimulation and L-DOPA treatment in Parkinson's disease.

PubMed

Crenna, P; Carpinella, I; Lopiano, L; Marzegan, A; Rabuffetti, M; Rizzone, M; Lanotte, M; Ferrarin, M

2008-12-01

Clinical evidence of impaired arm swing while walking in patients with Parkinson's disease suggests that basal ganglia and related systems play an important part in the control of upper limb locomotor automatism. To gain more information on this supraspinal influence, we measured arm and thigh kinematics during walking in 10 Parkinson's disease patients, under four conditions: (i) baseline (no treatment), (ii) therapeutic stimulation of the subthalamic nucleus (STN), (iii)L-DOPA medication and (iv) combined STN stimulation and L-DOPA. Ten age-matched controls provided reference data. Under baseline conditions the range of patients' arm motion was severely restricted, with no correlation with the excursion of the thigh. In addition, the arm swing was abnormally coupled in time with oscillation of the ipsilateral thigh. STN stimulation significantly increased the gait speed and improved the spatio-temporal parameters of arm and thigh motion. The kinematic changes as a function of gait speed changes, however, were significantly smaller for the upper than the lower limb, in contrast to healthy controls. Arm motion was also less responsive after L-DOPA. Simultaneous deep brain stimulation and L-DOPA had additive effects on thigh motion, but not on arm motion and arm-thigh coupling. The evidence that locomotor automatisms of the upper and lower limbs display uncorrelated impairment upon dysfunction of the basal ganglia, as well as different susceptibility to electrophysiological and pharmacological interventions, points to the presence of heterogeneously distributed, possibly partially independent, supraspinal control channels, whereby STN and dopaminergic systems have relatively weaker influence on the executive structures involved in the arm swing and preferential action on those for lower limb movements. These findings might be considered in the light of phylogenetic changes in supraspinal control of limb motion related to primate bipedalism.

Three-Dimensional Scapular Kinematics in Patients with Reverse Total Shoulder Arthroplasty during Arm Motion.

PubMed

Lee, Kwang Won; Kim, Yong In; Kim, Ha Yong; Yang, Dae Suk; Lee, Gyu Sang; Choy, Won Sik

2016-09-01

There have been few reports on altered kinematics of the shoulder after reverse total shoulder arthroplasty (RTSA). We investigated differences in 3-dimensional (3D) scapular motions assessed using an optical tracking system between RTSA treated shoulders and asymptomatic contralateral shoulders during arm motion. Thirteen patients who underwent RTSA were assessed for active arm elevation in 2 distinct elevation planes (sagittal plane flexion and scapular plane abduction). Their mean age was 72 years (range, 69 to 79 years) and the mean follow-up was 24.4 months (range, 13 to 48 months). The dominant side was the right side in all the 13 patients, and it was also the side treated with RTSA. Scapular kinematics was recorded with an optical tracking system. The scapular kinematics and the scapulohumeral rhythm (SHR) of the RTSA shoulders and asymptomatic contralateral shoulders were recorded and analyzed during arm elevation. There were no significant differences in internal/external rotation and anterior/posterior tilting of the scapula between shoulders during arm motion (p > 0.05). However, upward rotation of the scapula differed significantly during arm motion (p = 0.035 for sagittal plane flexion; p = 0.046 for scapular plane abduction). There were significant differences in the SHR between the two shoulders (p = 0.016 for sagittal plane flexion; p = 0.021 for scapular plane abduction). The shoulder kinematics after RTSA showed significant differences from the contralateral asymptomatic shoulders. Increased upward rotation and decreased SHR after RTSA indicate that RTSA shoulders use more scapulothoracic motion and less glenohumeral motion to elevate the arm.

Three-Dimensional Scapular Kinematics in Patients with Reverse Total Shoulder Arthroplasty during Arm Motion

PubMed Central

Lee, Kwang Won; Kim, Ha Yong; Yang, Dae Suk; Lee, Gyu Sang; Choy, Won Sik

2016-01-01

Background There have been few reports on altered kinematics of the shoulder after reverse total shoulder arthroplasty (RTSA). We investigated differences in 3-dimensional (3D) scapular motions assessed using an optical tracking system between RTSA treated shoulders and asymptomatic contralateral shoulders during arm motion. Methods Thirteen patients who underwent RTSA were assessed for active arm elevation in 2 distinct elevation planes (sagittal plane flexion and scapular plane abduction). Their mean age was 72 years (range, 69 to 79 years) and the mean follow-up was 24.4 months (range, 13 to 48 months). The dominant side was the right side in all the 13 patients, and it was also the side treated with RTSA. Scapular kinematics was recorded with an optical tracking system. The scapular kinematics and the scapulohumeral rhythm (SHR) of the RTSA shoulders and asymptomatic contralateral shoulders were recorded and analyzed during arm elevation. Results There were no significant differences in internal/external rotation and anterior/posterior tilting of the scapula between shoulders during arm motion (p > 0.05). However, upward rotation of the scapula differed significantly during arm motion (p = 0.035 for sagittal plane flexion; p = 0.046 for scapular plane abduction). There were significant differences in the SHR between the two shoulders (p = 0.016 for sagittal plane flexion; p = 0.021 for scapular plane abduction). Conclusions The shoulder kinematics after RTSA showed significant differences from the contralateral asymptomatic shoulders. Increased upward rotation and decreased SHR after RTSA indicate that RTSA shoulders use more scapulothoracic motion and less glenohumeral motion to elevate the arm. PMID:27583116

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

PubMed

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

2018-05-15

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

Predicting and testing continental vertical motion histories since the Paleozoic

NASA Astrophysics Data System (ADS)

Zhang, Nan; Zhong, Shijie; Flowers, Rebecca M.

2012-02-01

Dynamic topography at the Earth's surface caused by mantle convection can affect a range of geophysical and geological observations including bathymetry, sea-level change, continental flooding, sedimentation and erosion. These observations provide important constraints on and test of mantle dynamic models. Based on global mantle convection models coupled with the surface plate motion history, we compute dynamic topography and its history for the last 400 Ma associated with Pangea assembly and breakup, with particular focus on cratonic regions. We propose that burial-unroofing histories of cratons inferred from thermochronology data can be used as a new diagnostic to test dynamic topography and mantle dynamic models. Our models show that there are currently two broad dynamic topography highs in the Pacific and Africa for the present-day Earth that are associated with the broad, warm structures (i.e., superplumes) in the deep mantle, consistent with previous proposals of dynamical support for the Pacific and African superswells. Our models reveal that Pangea assembly and breakup, by affecting subduction and mantle upwelling processes, have significant effects on continental vertical motions. Our models predict that the Slave craton in North America subsides before Pangea assembly at 330 Ma but uplifts significantly from 330 Ma to 240 Ma in response to pre-Pangea subduction and post-assembly mantle warming. The Kaapvaal craton of Africa is predicted to undergo uplift from ~180 Ma to 90 Ma after Pangea breakup, but its dynamic topography remains stable for the last 90 Ma. The predicted histories of elevation change for the Slave and Kaapvaal cratons compare well with the burial-unroofing histories inferred from thermochronology studies, thus supporting our dynamic models including the development of the African superplume mantle structure. The vertical motion histories for other cratons can provide further tests of and constraints on our mantle dynamic models.

Predicting and testing continental vertical motion histories since the Paleozoic

NASA Astrophysics Data System (ADS)

Zhang, N.; Zhong, S.; Flowers, R. M.

2011-12-01

Dynamic topography at the Earth's surface caused by mantle convection can affect a range of geophysical and geological observations including bathymetry, sea-level change, continental flooding, sedimentation and erosion. These observations provide important constraints on and test of mantle dynamic models. Based on global mantle convection models coupled with the surface plate motion history, we compute dynamic topography and its history for the last 400 Ma associated with Pangea assembly and breakup, with particular focus on continental cratonic regions. We propose that burial-unroofing histories of continental cratons inferred from thermochronology data can be used as a new diagnostic to test dynamic topography and mantle dynamic models. Our models show that there are currently two broad dynamic topography highs in the Pacific and Africa for the present-day Earth that are associated with the broad, warm structures (i.e., superplumes) in the deep mantle, consistent with previous proposals of dynamical support for the Pacific and African superswells. Our models reveal that Pangea assembly and breakup, by affecting subduction and mantle upwelling processes, have significant effects on continental vertical motions. Our models predict that the Slave craton in North America subsides before Pangea assembly at 330 Ma but uplifts significantly from 330 Ma to 240 Ma in response to pre-Pangea subduction and post-assembly mantle warming. The Kaapvaal craton of Africa is predicted to undergo uplift from ~180 Ma to 90 Ma after Pangea breakup, but its dynamic topography remains stable for the last 90 Ma. The predicted histories of elevation change for the Slave and Kaapvaal cratons compare well with the burial-unroofing histories inferred from thermochronology studies, thus supporting our dynamic models including the development of the African superplume mantle structure. The vertical motion histories for other cratons can provide further tests and constraints on our mantle dynamic models.

Motion control of 7-DOF arms - The configuration control approach

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Long, Mark K.; Lee, Thomas S.

1993-01-01

Graphics simulation and real-time implementation of configuration control schemes for a redundant 7-DOF Robotics Research arm are described. The arm kinematics and motion control schemes are described briefly. This is followed by a description of a graphics simulation environment for 7-DOF arm control on the Silicon Graphics IRIS Workstation. Computer simulation results are presented to demonstrate elbow control, collision avoidance, and optimal joint movement as redundancy resolution goals. The laboratory setup for experimental validation of motion control of the 7-DOF Robotics Research arm is then described. The configuration control approach is implemented on a Motorola-68020/VME-bus-based real-time controller, with elbow positioning for redundancy resolution. Experimental results demonstrate the efficacy of configuration control for real-time control.

Feedback control of vibrations in a moving flexible robot arm with rotary and prismatic joints

NASA Technical Reports Server (NTRS)

Wang, P. K. C.; Wei, Jin-Duo

1987-01-01

A robot with a long extendible flexible arm which can also undergo both vertical translation and rotary motion is considered. First, A distributed-parameter model for the robot arm dynamics is developed. It is found that the extending motion could enhance the arm vibrations. Then, a Galerkin-type approximation based on an appropriate time-dependent basis for the solution space is used to obtain an approximate finite-dimensional model for simulation studies. A feedback control for damping the motion-induced vibrations is derived by considering the time rate-of-change of the total vibrational energy of the flexible arm. The authors conclude with some simulation results for a special case with the proposed control law.

Graphical programming: A systems approach for telerobotic servicing of space assets

NASA Technical Reports Server (NTRS)

Pinkerton, James T.; Mcdonald, Michael J.; Palmquist, Robert D.; Patten, Richard

1994-01-01

Satellite servicing is in many ways analogous to subsea robotic servicing in the late 1970's. A cost effective, reliable, telerobotic capability had to be demonstrated before the oil companies invested money in deep water robot serviceable production facilities. In the same sense, aeronautic engineers will not design satellites for telerobotic servicing until such a quantifiable capability has been demonstrated. New space servicing systems will be markedly different than existing space robot systems. Past space manipulator systems, including the Space Shuttle's robot arm, have used master/slave technologies with poor fidelity, slow operating speeds and most importantly, in-orbit human operators. In contrast, new systems will be capable of precision operations, conducted at higher rates of speed, and be commanded via ground-control communication links. Challenge presented by this environment include achieving a mandated level of robustness and dependability, radiation hardening, minimum weight and power consumption, and a system which accommodates the inherent communication delay between the ground station and the satellite. There is also a need for a user interface which is easy to use, ensures collision free motions, and is capable of adjusting to an unknown workcell (for repair operations the condition of the satellite may not be known in advance). This paper describes the novel technologies required to deliver such a capability.

Effects of Vibrotactile Feedback on Human Learning of Arm Motions

PubMed Central

Bark, Karlin; Hyman, Emily; Tan, Frank; Cha, Elizabeth; Jax, Steven A.; Buxbaum, Laurel J.; Kuchenbecker, Katherine J.

2015-01-01

Tactile cues generated from lightweight, wearable actuators can help users learn new motions by providing immediate feedback on when and how to correct their movements. We present a vibrotactile motion guidance system that measures arm motions and provides vibration feedback when the user deviates from a desired trajectory. A study was conducted to test the effects of vibrotactile guidance on a subject’s ability to learn arm motions. Twenty-six subjects learned motions of varying difficulty with both visual (V), and visual and vibrotactile (VVT) feedback over the course of four days of training. After four days of rest, subjects returned to perform the motions from memory with no feedback. We found that augmenting visual feedback with vibrotactile feedback helped subjects reduce the root mean square (rms) angle error of their limb significantly while they were learning the motions, particularly for 1DOF motions. Analysis of the retention data showed no significant difference in rms angle errors between feedback conditions. PMID:25486644

MIT research in telerobotics

NASA Technical Reports Server (NTRS)

Sheridan, T. B.

1987-01-01

Ongoing MIT research in telerobotics (vehicles capable of some autonomous sensing and manipulating, having some remote supervisory control by people) and teleoperation (vehicles for sensing and manipulating which are fully controlled remotely by people) is discussed. The current efforts mix human and artificial intelligence/control. The idea of adjustable impedance at either end of pure master-slave teleoperation, and simultaneous coordinated control of teleoperator/telerobotic systems which have more than six degrees of freedom (e.g., a combined vehicle and arm, each with five or six DOF) are discussed. A new cable-controlled parallel link arm which offers many advantages over conventional arms for space is briefly described. Predictor displays to compensate for time delay in teleoperator loops, the use of state estimation to help human control decisions in space, and ongoing research in supervisory command language are covered. Finally, efforts to build a human flyable real-time dynamic computer-graphic telerobot simulator are described. These projects represent most, but not all, of the telerobotics research in our laboratory, supported by JPL, NASA Ames and NOAA.

Visual field information in Nap-of-the-Earth flight by teleoperated Helmet-Mounted displays

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Kohn, S.; Merhav, S. J.

1991-01-01

The human ability to derive Control-Oriented Visual Field Information from teleoperated Helmet-Mounted displays in Nap-of-the-Earth flight, is investigated. The visual field with these types of displays originates from a Forward Looking Infrared Radiation Camera, gimbal-mounted at the front of the aircraft and slaved to the pilot's line-of-sight, to obtain wide-angle visual coverage. Although these displays are proved to be effective in Apache and Cobra helicopter night operations, they demand very high pilot proficiency and work load. Experimental work presented in the paper has shown that part of the difficulties encountered in vehicular control by means of these displays can be attributed to the narrow viewing aperture and head/camera slaving system phase lags. Both these shortcomings will impair visuo-vestibular coordination, when voluntary head rotation is present. This might result in errors in estimating the Control-Oriented Visual Field Information vital in vehicular control, such as the vehicle yaw rate or the anticipated flight path, or might even lead to visuo-vestibular conflicts (motion sickness). Since, under these conditions, the pilot will tend to minimize head rotation, the full wide-angle coverage of the Helmet-Mounted Display, provided by the line-of-sight slaving system, is not always fully utilized.

Development of a piezo-actuated micro-teleoperation system for cell manipulation.

PubMed

Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

2009-03-01

Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

From reaching to reach-to-grasp: the arm posture difference and its implications on human motion control strategy.

PubMed

Li, Zhi; Milutinović, Dejan; Rosen, Jacob

2017-05-01

Reach-to-grasp arm postures differ from those in pure reaching because they are affected by grasp position/orientation, rather than simple transport to a position during a reaching motion. This paper investigates this difference via an analysis of experimental  data collected on reaching and reach-to-grasp motions. A seven-degree-of-freedom (DOFs) kinematic arm model with the swivel angle is used for the motion analysis. Compared to a widely used anatomical arm model, this model distinguishes clearly the four grasping-relevant DOFs (GR-DOFs) that are affected by positions and orientations of the objects to be grasped. These four GR-DOFs include the swivel angle that measures the elbow rotation about the shoulder-wrist axis, and three wrist joint angles. For each GR-DOF, we quantify position vs orientation task-relevance bias that measures how much the DOF is affected by the grasping position vs orientation. The swivel angle and forearm supination have similar bias, and the analysis of their motion suggests two hypotheses regarding the synergistic coordination of the macro- and micro-structures of the human arm (1) DOFs with similar task-relevance are synergistically coordinated; and (2) such synergy breaks when a task-relevant DOF is close to its joint limit without necessarily reaching the limit. This study provides a motion analysis method to reduce the control complexity for reach-to-grasp tasks, and suggests using dynamic coupling to coordinate the hand and arm of upper-limb exoskeletons.

A Double-Blind Placebo-Controlled Randomized Clinical Trial With Magnesium Oxide to Reduce Intrafraction Prostate Motion for Prostate Cancer Radiotherapy

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

Lips, Irene M., E-mail: i.m.lips@umcutrecht.nl; Gils, Carla H. van; Kotte, Alexis N.T.J.

2012-06-01

Purpose: To investigate whether magnesium oxide during external-beam radiotherapy for prostate cancer reduces intrafraction prostate motion in a double-blind, placebo-controlled randomized trial. Methods and Materials: At the Department of Radiotherapy, prostate cancer patients scheduled for intensity-modulated radiotherapy (77 Gy in 35 fractions) using fiducial marker-based position verification were randomly assigned to receive magnesium oxide (500 mg twice a day) or placebo during radiotherapy. The primary outcome was the proportion of patients with clinically relevant intrafraction prostate motion, defined as the proportion of patients who demonstrated in {>=}50% of the fractions an intrafraction motion outside a range of 2 mm. Secondarymore » outcome measures included quality of life and acute toxicity. Results: In total, 46 patients per treatment arm were enrolled. The primary endpoint did not show a statistically significant difference between the treatment arms with a percentage of patients with clinically relevant intrafraction motion of 83% in the magnesium oxide arm as compared with 80% in the placebo arm (p = 1.00). Concerning the secondary endpoints, exploratory analyses demonstrated a trend towards worsened quality of life and slightly more toxicity in the magnesium oxide arm than in the placebo arm; however, these differences were not statistically significant. Conclusions: Magnesium oxide is not effective in reducing the intrafraction prostate motion during external-beam radiotherapy, and therefore there is no indication to use it in clinical practice for this purpose.« less

A compensation method of lever arm effect for tri-axis hybrid inertial navigation system based on fiber optic gyro

NASA Astrophysics Data System (ADS)

Liu, Zengjun; Wang, Lei; Li, Kui; Gao, Jiaxin

2017-05-01

Hybrid inertial navigation system (HINS) is a new kind of inertial navigation system (INS), which combines advantages of platform INS, strap-down INS and rotational INS. HINS has a physical platform to isolate the angular motion as platform INS does, HINS also uses strap-down attitude algorithms and applies rotation modulation technique. Tri-axis HINS has three gimbals to isolate the angular motion in the dynamic base, in which way the system can reduce the effects of angular motion and improve the positioning precision. However, the angular motion will affect the compensation of some error parameters, especially for the lever arm effect. The lever arm effect caused by position errors between the accelerometers and rotation center cannot be ignored due to the rapid rotation of inertial measurement unit (IMU) and it will cause fluctuation and stage in velocity in HINS. The influences of angular motion on the lever arm effect compensation are analyzed firstly in this paper, and then the compensation method of lever arm effect based on the photoelectric encoders in dynamic base is proposed. Results of experiments on turntable show that after compensation, the fluctuations and stages in velocity curve disappear.

Dependence of muscle moment arms on in-vivo three-dimensional kinematics of the knee

PubMed Central

Navacchia, Alessandro; Kefala, Vasiliki; Shelburne, Kevin B.

2016-01-01

Quantification of muscle moment arms is important for clinical evaluation of muscle pathology and treatment, and for estimating muscle and joint forces in musculoskeletal models. Moment arms estimated with musculoskeletal models often assume a default motion of the knee derived from measurements of passive cadaveric flexion. However, knee kinematics are unique to each person and activity. The objective of this study was to estimate moment arms of the knee muscles with in vivo subject- and activity-specific kinematics from seven healthy subjects performing seated knee extension and single-leg lunge to show changes between subjects and activities. 3D knee motion was measured with a high-speed stereo-radiography system. Moment arms of ten muscles were estimated in OpenSim by replacing the default knee motion with in vivo measurements. Estimated inter-subject moment arm variability was similar to previously reported in vitro measurements. RMS deviations up to 9.0 mm (35.2% of peak value) were observed between moment arms estimated with subject-specific knee extension and passive cadaveric motion. The degrees of freedom that most impacted inter-activity differences were superior/inferior and anterior/posterior translations. Musculoskeletal simulations used to estimate in vivo muscle forces and joint loads may provide significantly different results when subject- and activity-specific kinematics are implemented. PMID:27620064

Dependence of Muscle Moment Arms on In Vivo Three-Dimensional Kinematics of the Knee.

PubMed

Navacchia, Alessandro; Kefala, Vasiliki; Shelburne, Kevin B

2017-03-01

Quantification of muscle moment arms is important for clinical evaluation of muscle pathology and treatment, and for estimating muscle and joint forces in musculoskeletal models. Moment arms estimated with musculoskeletal models often assume a default motion of the knee derived from measurements of passive cadaveric flexion. However, knee kinematics are unique to each person and activity. The objective of this study was to estimate moment arms of the knee muscles with in vivo subject- and activity-specific kinematics from seven healthy subjects performing seated knee extension and single-leg lunge to show changes between subjects and activities. 3D knee motion was measured with a high-speed stereo-radiography system. Moment arms of ten muscles were estimated in OpenSim by replacing the default knee motion with in vivo measurements. Estimated inter-subject moment arm variability was similar to previously reported in vitro measurements. RMS deviations up to 9.0 mm (35.2% of peak value) were observed between moment arms estimated with subject-specific knee extension and passive cadaveric motion. The degrees of freedom that most impacted inter-activity differences were superior/inferior and anterior/posterior translations. Musculoskeletal simulations used to estimate in vivo muscle forces and joint loads may provide significantly different results when subject- and activity-specific kinematics are implemented.

3-D scapular kinematics during arm elevation: effect of motion velocity.

PubMed

Fayad, F; Hoffmann, G; Hanneton, S; Yazbeck, C; Lefevre-Colau, M M; Poiraudeau, S; Revel, M; Roby-Brami, A

2006-11-01

No three-dimensional (3-D) data exist on the influence of motion velocity on scapular kinematics. The effect of arm elevation velocity has been studied only in a two-dimensional setting. Thirty healthy subjects performed dominant (right) arm elevation in two planes, sagittal and frontal, and at slow and fast self-selected arm speed. Scapular orientation and humeral elevation were measured at 30 Hz recording frequency with use of a 6-degree-of-freedom electromagnetic system (Polhemus Fastraka). Motion was computed according to the International Society of Biomechanics standards. Scapular orientation was also determined with the arm held in different static positions. We obtained a full 3-D kinematic description of scapula achieving a reliable, complex 3-D motion during humeral elevation and lowering. The maximal sagittal arm elevation showed a characteristic "M"-shape pattern of protraction/retraction curve. Scapular rotations did not differ significantly between slow and fast movements. Moreover, protraction/retraction and tilt angular values did not differ significantly between static and dynamic tasks. However, scapular lateral rotation values differed between static and dynamic measurements during sagittal and frontal arm elevation. Lateral scapular rotation appears to be less in static than in dynamic measurement, particularly in the sagittal plane. Interpolation of statically recorded positions of the bones cannot reflect the kinematics of the scapula.

Enslaved ants: not as helpless as they were thought to be.

PubMed

Czechowski, W; Godzińska, E J

Slavery in ants involves robbing of brood of host ant species and rearing captured individuals in the enslaver's nest. Whereas slaves of facultative slave-makers increase the workforce of the colony, in obligate slave-makers presence of slaves is vital for colony survival. Until recently, it was generally believed that enslaved workers act solely for the benefit of their social parasite and are wholly lost for their own colony and population. However, evidence that slaves may act also in favour of their own maternal population by engaging in various forms of the so-called slave rebellions is already quite extensive and may be found in both old and recent myrmecological literature, although, unfortunately, these data are often neglected or overlooked. They may be classified into four categories: (1) acts of physical aggression directed by slaves to slave-makers, (2) attempts of slaves to reproduce within a slave-maker colony, (3) 'sabotage', i.e. activities of slaves leading to weakening of the slave-maker colony and population, and (4) slave emancipation, i.e. partial or complete self-liberation of slaves from slave-maker colonies. In this review, we present and discuss all these diverse (often interrelated) expressions of slave opposition to their enslavers, focussing our discussion on both proximate and evolutionary causation of the discussed phenomena. We also indicate some open questions which remain to be answered by future research.

Galactic Evolution

NASA Astrophysics Data System (ADS)

Brekke, Stewart

2013-04-01

All galaxies began as spiral galaxies. The early universe began with sets of two or more pre-galactic arms orbiting each other. As gravitational attraction between the arms took effect, the fore-sections of the arms tangentially collided forming spiral galaxies when they attached with the orbital motion of the arms being converted to the rotational motion of the newly formed spiral galaxies or (Iφ)arm1+ (Iφ)arm2+ ...+ (Iφ)armn= (Iφ)galaxy. If the centripetal force on the arms is more than the gravitational force on the arms, the spiral galaxy remains a spiral galaxy i.e. mv^2/r>=Gmarmmgalaxy/r^2. If the galaxy is slowly rotating, the spiral arms collapse into the body of the galaxy because the gravitational force is greater than the centripetal force on the arms and an elliptical galaxy is formed i.e. mv^2/r < Gmarmsmgalaxy/r^2.

Performance evaluation of a robot-assisted catheter operating system with haptic feedback.

PubMed

Song, Yu; Guo, Shuxiang; Yin, Xuanchun; Zhang, Linshuai; Hirata, Hideyuki; Ishihara, Hidenori; Tamiya, Takashi

2018-06-20

In this paper, a novel robot-assisted catheter operating system (RCOS) has been proposed as a method to reduce physical stress and X-ray exposure time to physicians during endovascular procedures. The unique design of this system allows the physician to apply conventional bedside catheterization skills (advance, retreat and rotate) to an input catheter, which is placed at the master side to control another patient catheter placed at the slave side. For this purpose, a magnetorheological (MR) fluids-based master haptic interface has been developed to measure the axial and radial motions of an input catheter, as well as to provide the haptic feedback to the physician during the operation. In order to achieve a quick response of the haptic force in the master haptic interface, a hall sensor-based closed-loop control strategy is employed. In slave side, a catheter manipulator is presented to deliver the patient catheter, according to position commands received from the master haptic interface. The contact forces between the patient catheter and blood vessel system can be measured by designed force sensor unit of catheter manipulator. Four levels of haptic force are provided to make the operator aware of the resistance encountered by the patient catheter during the insertion procedure. The catheter manipulator was evaluated for precision positioning. The time lag from the sensed motion to replicated motion is tested. To verify the efficacy of the proposed haptic feedback method, the evaluation experiments in vitro are carried out. The results demonstrate that the proposed system has the ability to enable decreasing the contact forces between the catheter and vasculature.

Toward attenuating the impact of arm positions on electromyography pattern-recognition based motion classification in transradial amputees

PubMed Central

2012-01-01

Background Electromyography (EMG) pattern-recognition based control strategies for multifunctional myoelectric prosthesis systems have been studied commonly in a controlled laboratory setting. Before these myoelectric prosthesis systems are clinically viable, it will be necessary to assess the effect of some disparities between the ideal laboratory setting and practical use on the control performance. One important obstacle is the impact of arm position variation that causes the changes of EMG pattern when performing identical motions in different arm positions. This study aimed to investigate the impacts of arm position variation on EMG pattern-recognition based motion classification in upper-limb amputees and the solutions for reducing these impacts. Methods With five unilateral transradial (TR) amputees, the EMG signals and tri-axial accelerometer mechanomyography (ACC-MMG) signals were simultaneously collected from both amputated and intact arms when performing six classes of arm and hand movements in each of five arm positions that were considered in the study. The effect of the arm position changes was estimated in terms of motion classification error and compared between amputated and intact arms. Then the performance of three proposed methods in attenuating the impact of arm positions was evaluated. Results With EMG signals, the average intra-position and inter-position classification errors across all five arm positions and five subjects were around 7.3% and 29.9% from amputated arms, respectively, about 1.0% and 10% low in comparison with those from intact arms. While ACC-MMG signals could yield a similar intra-position classification error (9.9%) as EMG, they had much higher inter-position classification error with an average value of 81.1% over the arm positions and the subjects. When the EMG data from all five arm positions were involved in the training set, the average classification error reached a value of around 10.8% for amputated arms. Using a two-stage cascade classifier, the average classification error was around 9.0% over all five arm positions. Reducing ACC-MMG channels from 8 to 2 only increased the average position classification error across all five arm positions from 0.7% to 1.0% in amputated arms. Conclusions The performance of EMG pattern-recognition based method in classifying movements strongly depends on arm positions. This dependency is a little stronger in intact arm than in amputated arm, which suggests that the investigations associated with practical use of a myoelectric prosthesis should use the limb amputees as subjects instead of using able-body subjects. The two-stage cascade classifier mode with ACC-MMG for limb position identification and EMG for limb motion classification may be a promising way to reduce the effect of limb position variation on classification performance. PMID:23036049

Analyzing octopus movements using three-dimensional reconstruction.

PubMed

Yekutieli, Yoram; Mitelman, Rea; Hochner, Binyamin; Flash, Tamar

2007-09-01

Octopus arms, as well as other muscular hydrostats, are characterized by a very large number of degrees of freedom and a rich motion repertoire. Over the years, several attempts have been made to elucidate the interplay between the biomechanics of these organs and their control systems. Recent developments in electrophysiological recordings from both the arms and brains of behaving octopuses mark significant progress in this direction. The next stage is relating these recordings to the octopus arm movements, which requires an accurate and reliable method of movement description and analysis. Here we describe a semiautomatic computerized system for 3D reconstruction of an octopus arm during motion. It consists of two digital video cameras and a PC computer running custom-made software. The system overcomes the difficulty of extracting the motion of smooth, nonrigid objects in poor viewing conditions. Some of the trouble is explained by the problem of light refraction in recording underwater motion. Here we use both experiments and simulations to analyze the refraction problem and show that accurate reconstruction is possible. We have used this system successfully to reconstruct different types of octopus arm movements, such as reaching and bend initiation movements. Our system is noninvasive and does not require attaching any artificial markers to the octopus arm. It may therefore be of more general use in reconstructing other nonrigid, elongated objects in motion.

Gesture Recognition Based on the Probability Distribution of Arm Trajectories

NASA Astrophysics Data System (ADS)

Wan, Khairunizam; Sawada, Hideyuki

The use of human motions for the interaction between humans and computers is becoming an attractive alternative to verbal media, especially through the visual interpretation of the human body motion. In particular, hand gestures are used as non-verbal media for the humans to communicate with machines that pertain to the use of the human gestures to interact with them. This paper introduces a 3D motion measurement of the human upper body for the purpose of the gesture recognition, which is based on the probability distribution of arm trajectories. In this study, by examining the characteristics of the arm trajectories given by a signer, motion features are selected and classified by using a fuzzy technique. Experimental results show that the use of the features extracted from arm trajectories effectively works on the recognition of dynamic gestures of a human, and gives a good performance to classify various gesture patterns.

A control method for bilateral teleoperating systems

NASA Astrophysics Data System (ADS)

Strassberg, Yesayahu

1992-01-01

The thesis focuses on control of bilateral master-slave teleoperators. The bilateral control issue of teleoperators is studied and a new scheme that overcomes basic unsolved problems is proposed. A performance measure, based on the multiport modeling method, is introduced in order to evaluate and understand the limitations of earlier published bilateral control laws. Based on the study evaluating the different methods, the objective of the thesis is stated. The proposed control law is then introduced, its ideal performance is demonstrated, and conditions for stability and robustness are derived. It is shown that stability, desired performance, and robustness can be obtained under the assumption that the deviation of the model from the actual system satisfies certain norm inequalities and the measurement uncertainties are bounded. The proposed scheme is validated by numerical simulation. The simulated system is based on the configuration of the RAL (Robotics and Automation Laboratory) telerobot. From the simulation results it is shown that good tracking performance can be obtained. In order to verify the performance of the proposed scheme when applied to a real hardware system, an experimental setup of a three degree of freedom master-slave teleoperator (i.e. three degree of freedom master and three degree of freedom slave robot) was built. Three basic experiments were conducted to verify the performance of the proposed control scheme. The first experiment verified the master control law and its contribution to the robustness and performance of the entire system. The second experiment demonstrated the actual performance of the system while performing a free motion teleoperating task. From the experimental results, it is shown that the control law has good performance and is robust to uncertainties in the models of the master and slave.

Bilateral coupling facilitates recovery of rhythmical movements from perturbation in healthy and post-stroke subjects.

PubMed

Ustinova, Ksenia I; Feldman, Anatol G; Levin, Mindy F

2013-06-01

The paretic arm of subjects with stroke has a decreased ability to quickly adapt to and recover from perturbations during rhythmical arm swinging. We investigated whether bilateral coupling in the synchronous motion of two arms may facilitate the restoration of rhythmical movement of the paretic arm in subjects with chronic hemiparesis due to stroke. While standing, stroke and age-matched healthy (control) subjects swung one or both arms synchronously at ~0.8 Hz from the shoulder joints. In randomly selected cycles, one arm was transiently arrested by an electromagnetic device when moving forward or backward. In the control group, bilateral swinging resumed faster than unilateral swinging regardless of which arm was perturbed. In the stroke group, this effect was observed only when the perturbation was applied to the paretic arm, suggesting that the motion of the non-paretic arm accelerated the recovery from perturbation of the paretic arm. In addition, bilateral swinging resumed after reduced anterior-posterior excursions of both arms in stroke subjects. Results confirm previous findings that bilateral swinging is normally guided by central changes in the referent configuration of the two arms that function as a single unit. As a consequence, both arms cooperate in recovery from perturbation of motion applied to one arm. Results also suggest that stroke-related brain damage alters the symmetry of bilateral interaction, resulting in deficits of inter-manual cooperative action. The involvement of the non-paretic arm could be beneficial for the recovery of swinging of both arms and may also facilitate movements of the paretic arm in certain tasks.

Design and pilot validation of A-gear: a novel wearable dynamic arm support.

PubMed

Kooren, Peter N; Dunning, Alje G; Janssen, Mariska M H P; Lobo-Prat, Joan; Koopman, Bart F J M; Paalman, Micha I; de Groot, Imelda J M; Herder, Just L

2015-09-18

Persons suffering from progressive muscular weakness, like those with Duchenne muscular dystrophy (DMD), gradually lose the ability to stand, walk and to use their arms. This hinders them from performing daily activities, social participation and being independent. Wheelchairs are used to overcome the loss of walking. However, there are currently few efficient functional substitutes to support the arms. Arm supports or robotic arms can be mounted to wheelchairs to aid in arm motion, but they are quite visible (stigmatizing), and limited in their possibilities due to their fixation to the wheelchair. The users prefer inconspicuous arm supports that are comfortable to wear and easy to control. In this paper the design, characterization, and pilot validation of a passive arm support prototype, which is worn on the body, is presented. The A-gear runs along the body from the contact surface between seat and upper legs via torso and upper arm to the forearm. Freedom of motion is accomplished by mechanical joints, which are nearly aligned with the human joints. The system compensates for the arm weight, using elastic bands for static balance, in every position of the arm. As opposed to existing devices, the proposed kinematic structure allows trunk motion and requires fewer links and less joint space without compromising balancing precision. The functional prototype has been validated in three DMD patients, using 3D motion analysis. Measurements have shown increased arm performance when the subjects were wearing the prototype. Upward and forward movements were easier to perform. The arm support is easy to put on and remove. Moreover, the device felt comfortable for the subjects. However, downward movements were more difficult, and the patients would prefer the device to be even more inconspicuous. The A-gear prototype is a step towards inconspicuousness and therefore well-received dynamic arm supports for people with muscular weakness.

3D Measurement of Forearm and Upper Arm during Throwing Motion using Body Mounted Sensor

NASA Astrophysics Data System (ADS)

Koda, Hideharu; Sagawa, Koichi; Kuroshima, Kouta; Tsukamoto, Toshiaki; Urita, Kazutaka; Ishibashi, Yasuyuki

The aim of this study is to propose the measurement method of three-dimensional (3D) movement of forearm and upper arm during pitching motion of baseball using inertial sensors without serious consideration of sensor installation. Although high accuracy measurement of sports motion is achieved by using optical motion capture system at present, it has some disadvantages such as the calibration of cameras and limitation of measurement place. Whereas the proposed method for 3D measurement of pitching motion using body mounted sensors provides trajectory and orientation of upper arm by the integration of acceleration and angular velocity measured on upper limb. The trajectory of forearm is derived so that the elbow joint axis of forearm corresponds to that of upper arm. Spatial relation between upper limb and sensor system is obtained by performing predetermined movements of upper limb and utilizing angular velocity and gravitational acceleration. The integration error is modified so that the estimated final position, velocity and posture of upper limb agree with the actual ones. The experimental results of the measurement of pitching motion show that trajectories of shoulder, elbow and wrist estimated by the proposed method are highly correlated to those from the motion capture system within the estimation error of about 10 [%].

Streaming motions and kinematic distances to molecular clouds

NASA Astrophysics Data System (ADS)

Ramón-Fox, F. G.; Bonnell, Ian A.

2018-02-01

We present high-resolution smoothed particle hydrodynamics simulations of a region of gas flowing in a spiral arm and identify dense gas clouds to investigate their kinematics with respect to a Milky Way model. We find that, on average, the gas in the arms can have a net radial streaming motion of vR ≈ -9 km s-1 and rotate ≈ 6 km s-1 slower than the circular velocity. This translates to average peculiar motions towards the Galaxy centre and opposite to Galactic rotation. These results may be sensitive to the assumed spiral arm perturbation, which is ≈ 3 per cent of the disc potential in our model. We compare the actual distance and the kinematic estimate and we find that streaming motions introduce systematic offsets of ≈1 kpc. We find that the distance error can be as large as ±2 kpc, and the recovered cloud positions have distributions that can extend significantly into the inter-arm regions. We conclude that this poses a difficulty in tracing spiral arm structure in molecular cloud surveys.

Breathing motion compensated reconstruction for C-arm cone beam CT imaging: initial experience based on animal data

NASA Astrophysics Data System (ADS)

Schäfer, D.; Lin, M.; Rao, P. P.; Loffroy, R.; Liapi, E.; Noordhoek, N.; Eshuis, P.; Radaelli, A.; Grass, M.; Geschwind, J.-F. H.

2012-03-01

C-arm based tomographic 3D imaging is applied in an increasing number of minimal invasive procedures. Due to the limited acquisition speed for a complete projection data set required for tomographic reconstruction, breathing motion is a potential source of artifacts. This is the case for patients who cannot comply breathing commands (e.g. due to anesthesia). Intra-scan motion estimation and compensation is required. Here, a scheme for projection based local breathing motion estimation is combined with an anatomy adapted interpolation strategy and subsequent motion compensated filtered back projection. The breathing motion vector is measured as a displacement vector on the projections of a tomographic short scan acquisition using the diaphragm as a landmark. Scaling of the displacement to the acquisition iso-center and anatomy adapted volumetric motion vector field interpolation delivers a 3D motion vector per voxel. Motion compensated filtered back projection incorporates this motion vector field in the image reconstruction process. This approach is applied in animal experiments on a flat panel C-arm system delivering improved image quality (lower artifact levels, improved tumor delineation) in 3D liver tumor imaging.

The Transatlantic Slave Trade and Colonial Chesapeake Slavery.

ERIC Educational Resources Information Center

Walsh, Lorena S.

2003-01-01

Explores the slave trade system that brought slaves to the Chesapeake Bay area during the eighteenth century colonial United States. Uses information from the "Trans-Atlantic Slave Trade: A Database on CD-ROM" to examine slave routes. Provides information on the origins and distribution of slaves in the Chesapeake Bay region and the…

Composite synchronization of three eccentric rotors driven by induction motors in a vibrating system

NASA Astrophysics Data System (ADS)

Kong, Xiangxi; Chen, Changzheng; Wen, Bangchun

2018-03-01

This paper addresses the problem of composite synchronization of three eccentric rotors (ERs) driven by induction motors in a vibrating system. The composite synchronous motion of three ERs is composed of the controlled synchronous motion of two ERs and the self-synchronous motion of the third ER. Combining an adaptive sliding mode control (ASMC) algorithm with a modified master-slave control structure, the controllers are designed to implement controlled synchronous motion of two ERs with zero phase difference. Based on Lyapunov stability theorem and Barbalat's lemma, the stability of the designed controllers is verified. On basis of controlled synchronization of two ERs, self-synchronization of the third ER is introduced to implement composite synchronous motion of three ERs. The feasibility of the proposed composite synchronization method is analyzed by numerical method. The effects of motor and structure parameters on composite synchronous motion are discussed. Experiments on a vibrating test bench driven by three ERs are operated to validate the effectiveness of the proposed composite synchronization method, including a comparison with self-synchronization method.

Spatial Map of Synthesized Criteria for the Redundancy Resolution of Human Arm Movements.

PubMed

Li, Zhi; Milutinovic, Dejan; Rosen, Jacob

2015-11-01

The kinematic redundancy of the human arm enables the elbow position to rotate about the axis going through the shoulder and wrist, which results in infinite possible arm postures when the arm reaches to a target in a 3-D workspace. To infer the control strategy the human motor system uses to resolve redundancy in reaching movements, this paper compares five redundancy resolution criteria and evaluates their arm posture prediction performance using data on healthy human motion. Two synthesized criteria are developed to provide better real-time arm posture prediction than the five individual criteria. Of these two, the criterion synthesized using an exponential method predicts the arm posture more accurately than that using a least squares approach, and therefore is preferable for inferring the contributions of the individual criteria to motor control during reaching movements. As a methodology contribution, this paper proposes a framework to compare and evaluate redundancy resolution criteria for arm motion control. A cluster analysis which associates criterion contributions with regions of the workspace provides a guideline for designing a real-time motion control system applicable to upper-limb exoskeletons for stroke rehabilitation.

Nearly automatic motion capture system for tracking octopus arm movements in 3D space.

PubMed

Zelman, Ido; Galun, Meirav; Akselrod-Ballin, Ayelet; Yekutieli, Yoram; Hochner, Binyamin; Flash, Tamar

2009-08-30

Tracking animal movements in 3D space is an essential part of many biomechanical studies. The most popular technique for human motion capture uses markers placed on the skin which are tracked by a dedicated system. However, this technique may be inadequate for tracking animal movements, especially when it is impossible to attach markers to the animal's body either because of its size or shape or because of the environment in which the animal performs its movements. Attaching markers to an animal's body may also alter its behavior. Here we present a nearly automatic markerless motion capture system that overcomes these problems and successfully tracks octopus arm movements in 3D space. The system is based on three successive tracking and processing stages. The first stage uses a recently presented segmentation algorithm to detect the movement in a pair of video sequences recorded by two calibrated cameras. In the second stage, the results of the first stage are processed to produce 2D skeletal representations of the moving arm. Finally, the 2D skeletons are used to reconstruct the octopus arm movement as a sequence of 3D curves varying in time. Motion tracking, segmentation and reconstruction are especially difficult problems in the case of octopus arm movements because of the deformable, non-rigid structure of the octopus arm and the underwater environment in which it moves. Our successful results suggest that the motion-tracking system presented here may be used for tracking other elongated objects.

MANIPULATOR FOR SLAVE ROBOT

DOEpatents

Goertz, R.C.; Grimson, J.H.; Kohut, F.A.

1961-04-01

A remote-control manipulator comprising two stationary master units, two slave units on a movable vehicle, and electrical connections between the master and slave units is reported. The slave units are side by side with a minimum over-all width, which is made feasible by an arrangement of transducers producing most movements of each slave unit to one side of the support of said slave unit.

The neurochemical and neuropharmacological basis of motion sickness

NASA Technical Reports Server (NTRS)

Walker, C. A.

1990-01-01

An apparatus suitable for producing motion sickness in laboratory animals and constructed at the university is herein described. The apparatus is a modified version of that previously described by Fox and Daunton. It consists of a 66-inch steel arm anchored at the center to a wooden platform and attached to a motor that makes the arm move in a see-saw fashion. At each end of the steel arm is mounted an aluminum disc that can be rotated by a motorized device. Detachable cages are mounted on each disc for animal holding. The animal can then be exposed to rotational motion by rotation of the aluminum disc, or to see-saw motion simultaneously (Cross-coupled). The apparatus is presently being used in our laboratory to study the neuropharmacological basis of motion sickness in the rat. The device can be adapted for use with other animal species by modifying the cage mounted on the aluminum discs.

Composite body movements modulate numerical cognition: evidence from the motion-numerical compatibility effect

PubMed Central

Cheng, Xiaorong; Ge, Hui; Andoni, Deljfina; Ding, Xianfeng; Fan, Zhao

2015-01-01

A recent hierarchical model of numerical processing, initiated by Fischer and Brugger (2011) and Fischer (2012), suggested that situated factors, such as different body postures and body movements, can influence the magnitude representation and bias numerical processing. Indeed, Loetscher et al. (2008) found that participants’ behavior in a random number generation task was biased by head rotations. More small numbers were reported after leftward than rightward head turns, i.e., a motion-numerical compatibility effect. Here, by carrying out two experiments, we explored whether similar motion-numerical compatibility effects exist for movements of other important body components, e.g., arms, and for composite body movements as well, which are basis for complex human activities in many ecologically meaningful situations. In Experiment 1, a motion-numerical compatibility effect was observed for lateral rotations of two body components, i.e., the head and arms. Relatively large numbers were reported after making rightward compared to leftward movements for both lateral head and arm turns. The motion-numerical compatibility effect was observed again in Experiment 2 when participants were asked to perform composite body movements of congruent movement directions, e.g., simultaneous head left turns and arm left turns. However, it disappeared when the movement directions were incongruent, e.g., simultaneous head left turns and arm right turns. Taken together, our results extended Loetscher et al.’s (2008) finding by demonstrating that their effect is effector-general and exists for arm movements. Moreover, our study reveals for the first time that the impact of spatial information on numerical processing induced by each of the two sensorimotor-based situated factors, e.g., a lateral head turn and a lateral arm turn, can cancel each other out. PMID:26594188

System for simultaneously loading program to master computer memory devices and corresponding slave computer memory devices

NASA Technical Reports Server (NTRS)

Hall, William A. (Inventor)

1993-01-01

A bus programmable slave module card for use in a computer control system is disclosed which comprises a master computer and one or more slave computer modules interfacing by means of a bus. Each slave module includes its own microprocessor, memory, and control program for acting as a single loop controller. The slave card includes a plurality of memory means (S1, S2...) corresponding to a like plurality of memory devices (C1, C2...) in the master computer, for each slave memory means its own communication lines connectable through the bus with memory communication lines of an associated memory device in the master computer, and a one-way electronic door which is switchable to either a closed condition or a one-way open condition. With the door closed, communication lines between master computer memory (C1, C2...) and slave memory (S1, S2...) are blocked. In the one-way open condition invention, the memory communication lines or each slave memory means (S1, S2...) connect with the memory communication lines of its associated memory device (C1, C2...) in the master computer, and the memory devices (C1, C2...) of the master computer and slave card are electrically parallel such that information seen by the master's memory is also seen by the slave's memory. The slave card is also connectable to a switch for electronically removing the slave microprocessor from the system. With the master computer and the slave card in programming mode relationship, and the slave microprocessor electronically removed from the system, loading a program in the memory devices (C1, C2...) of the master accomplishes a parallel loading into the memory devices (S1, S2...) of the slave.

Study to design and develop remote manipulator system

NASA Technical Reports Server (NTRS)

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

1973-01-01

Human performance measurement techniques for remote manipulation tasks and remote sensing techniques for manipulators are described for common manipulation tasks, performance is monitored by means of an on-line computer capable of measuring the joint angles of both master and slave arms as a function of time. The computer programs allow measurements of the operator's strategy and physical quantities such as task time and power consumed. The results are printed out after a test run to compare different experimental conditions. For tracking tasks, we describe a method of displaying errors in three dimensions and measuring the end-effector position in three dimensions.

The Influences of Arm Resist Motion on a CAR Crash Test Using Hybrid III Dummy with Human-Like Arm

NASA Astrophysics Data System (ADS)

Kim, Yongchul; Youm, Youngil; Bae, Hanil; Choi, Hyeonki

Safety of the occupant during the crash is very essential design element. Many researches have been investigated in reducing the fatal injury of occupant. They are focusing on the development of a dummy in order to obtain the real human-like motion. However, they have not considered the arm resist motion during the car accident. In this study, we would like to suggest the importance of the reactive force of the arm in a car crash. The influences of reactive force acting on the human upper extremity were investigated using the impedance experimental method with lumped mass model of hand system and a Hybrid III dummy with human-like arm. Impedance parameters (e.g. inertia, spring constant and damping coefficient) of the elbow joint in maximum activation level were measured by free oscillation test using single axis robot. The results showed that without seat belt, the reactive force of human arm reduced the head, chest, and femur injury, and the flexion moment of the neck is higher than that of the conventional dummy.

Spiral structure of M51: Streaming motions across the spiral arms

NASA Technical Reports Server (NTRS)

Tilanus, R. P. J.; Allen, R. J.

1990-01-01

The atomic hydrogen (HI) and the H alpha emission line in the grand-design spiral galaxy M51 have been observed with the Westerbork Synthesis Radio Telescope and the Taurus Fabry-Perot imaging spectrometer, respectively. Across the inner spiral arms significant tangential and radial velocity gradients are detected in the H alpha emission after subtraction of the axi-symmetric component of the velocity field. The shift is positive on the inside and negative on the outside of the northern arm. Across the southern arm this situation is reversed. The direction of the shifts is such that the material is moving inward and faster compared to circular rotation in both arms, consistent with the velocity perturbations predicted by spiral density wave models for gas downstream of a spiral shock. The observed shifts amount to 20 to 30 km (s-1), corresponding to streaming motions of 60 to 90 km (s-1) in the plane of the disk (inclination angle 20 degrees). Comparable velocity gradients have also been observed by Vogel et al. in the CO emission from the inner northern arm of M51. The streaming motions in M51 are about 2 to 3 times as large as the ones found in HI by Rots in M81, and successfully modelled by Visser with a self-consistent density wave model. Researchers have not been able to detect conclusively streaming motions in the HI emission from the arms, perhaps due to the relatively poor angular resolution (approx. 15 seconds) of the HI observations.

Shoulder Dynamic Control Ratio and Rotation Range of Motion in Female Junior Elite Handball Players and Controls.

PubMed

van Cingel, Robert; Habets, Bas; Willemsen, Linn; Staal, Bart

2018-03-01

To compare glenohumeral range of motion and shoulder rotator muscle strength in healthy female junior elite handball players and controls. Cross-sectional case-control study. Sports medical center. Forty elite female handball players and 30 controls active in nonoverhead sports participated in this study. Passive external rotator (ER), internal rotator (IR), and total range of motion (TROM) of the dominant and nondominant arm were examined with a goniometer. An isokinetic dynamometer was used to evaluate concentric and eccentric rotator muscle strength at 60 and 120 degrees/s with dynamic control ratio (DCR = ERecc:IRcon) as the main outcome parameter. Except for the ER range of motion in the nondominant arm, no significant differences were found between groups for IR, ER of the dominant arm, and the TROM. Within the handball group, the side-to-side difference for IR of the dominant arm was -1.4 degrees. The ER and the TROM of the dominant arm were significantly larger, 6.3 and 4.9 degrees, respectively. For both groups, the DCR values were above 1 and no significant differences were found between the dominant and nondominant arm. The DCR values in the handball group were significantly lower than in the control group. Based on the adopted definitions for muscle imbalance, glenohumeral internal range of motion deficit and TROM deficit our elite female handball players seem not at risk for shoulder injuries. Prospective studies are needed to support the belief that a DCR below 1 places the shoulder at risk for injury.

Motion and force control of multiple robotic manipulators

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz-Delgado, Kenneth

1992-01-01

This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

High speed precision motion strategies for lightweight structures

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1987-01-01

Work during the recording period proceeded along the lines of the proposal, i.e., three aspects of high speed motion planning and control of flexible structures were explored: fine motion control, gross motion planning and control, and automation using light weight arms. In addition, modeling the large manipulator arm to be used in experiments and theory has lead to some contributions in that area. These aspects are reported below. Conference, workshop and journal submissions, and presentations related to this work were seven in number, and are listed. Copies of written papers and abstracts are included.

Quantitative analysis of arm movement smoothness

NASA Astrophysics Data System (ADS)

Szczesna, Agnieszka; Błaszczyszyn, Monika

2017-07-01

The paper deals with the problem of motion data quantitative smoothness analysis. We investigated values of movement unit, fluidity and jerk for healthy and paralyzed arm of patients with hemiparesis after stroke. Patients were performing drinking task. To validate the approach, movement of 24 patients were captured using optical motion capture system.

Improving the Robustness of Real-Time Myoelectric Pattern Recognition against Arm Position Changes in Transradial Amputees

PubMed Central

Geng, Yanjuan; Wei, Yue

2017-01-01

Previous studies have showed that arm position variations would significantly degrade the classification performance of myoelectric pattern-recognition-based prosthetic control, and the cascade classifier (CC) and multiposition classifier (MPC) have been proposed to minimize such degradation in offline scenarios. However, it remains unknown whether these proposed approaches could also perform well in the clinical use of a multifunctional prosthesis control. In this study, the online effect of arm position variation on motion identification was evaluated by using a motion-test environment (MTE) developed to mimic the real-time control of myoelectric prostheses. The performance of different classifier configurations in reducing the impact of arm position variation was investigated using four real-time metrics based on dataset obtained from transradial amputees. The results of this study showed that, compared to the commonly used motion classification method, the CC and MPC configurations improved the real-time performance across seven classes of movements in five different arm positions (8.7% and 12.7% increments of motion completion rate, resp.). The results also indicated that high offline classification accuracy might not ensure good real-time performance under variable arm positions, which necessitated the investigation of the real-time control performance to gain proper insight on the clinical implementation of EMG-pattern-recognition-based controllers for limb amputees. PMID:28523276

Discriminatory abilities of facultative slave-making ants and their slaves.

PubMed

Włodarczyk, T

2016-01-01

Intra-colony odor variability can disturb ants' ability to discriminate against intruders. The evolutionary relevance of this phenomenon can be revealed by studies on colonies of slave-making ants in which the parasite, and not the host, is subject to selection pressures associated with living in a mixed colony. We examined how the European facultative slave-making species Formica sanguinea and its F. fusca slaves perform in discriminating ants from alien colonies. Results of behavioral assays showed that slave-maker ants respond with hostility to conspecific individuals from alien colonies but are relatively tolerant to alien slaves. Furthermore, the behavior of slaves indicated a limited ability to discriminate ants from alien parasitic colonies. The subdivision of colony fragments into mixed and species-separated groups demonstrated that contact with the parasite is necessary for F. fusca slaves to be re-accepted by former nestmates after a period of separation from the stock colony. The results presented in this paper are consistent with the following hypotheses: (1) F. sanguinea ants, as opposed to their slaves, are adapted to discriminate alien individuals in the conditions of odor variability found in a mixed-species colony, (2) the recognition of slaves by F. sanguinea ants involves a dedicated adaptive mechanism that prevents aggression toward them, (3) the odor of slaves is strongly influenced by the parasite with beneficial effect on the colony integrity.

The Slave Narrative: An Image of Excellence.

ERIC Educational Resources Information Center

Malden, Cynthia L.

Through the narratives of North American slaves a vivid picture of their lives, struggles, hopes, and aspirations emerges. The slave narrative arose as a response to, and a refutation of, claims that blacks could not write. Slave writings were often direct extensions of speech. Through a process of imitation and repetition, the black slave's…

49 CFR 234.223 - Gate arm.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 4 2011-10-01 2011-10-01 false Gate arm. 234.223 Section 234.223 Transportation... Maintenance Standards § 234.223 Gate arm. Each gate arm, when in the downward position, shall extend across... clearly viewed by approaching highway users. Each gate arm shall start its downward motion not less than...

49 CFR 234.223 - Gate arm.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Gate arm. 234.223 Section 234.223 Transportation... Maintenance Standards § 234.223 Gate arm. Each gate arm, when in the downward position, shall extend across... clearly viewed by approaching highway users. Each gate arm shall start its downward motion not less than...

Compensatory Versus Noncompensatory Shoulder Movements Used for Reaching in Stroke.

PubMed

Levin, Mindy F; Liebermann, Dario G; Parmet, Yisrael; Berman, Sigal

2016-08-01

Background The extent to which the upper-limb flexor synergy constrains or compensates for arm motor impairment during reaching is controversial. This synergy can be quantified with a minimal marker set describing movements of the arm-plane. Objectives To determine whether and how (a) upper-limb flexor synergy in patients with chronic stroke contributes to reaching movements to different arm workspace locations and (b) reaching deficits can be characterized by arm-plane motion. Methods Sixteen post-stroke and 8 healthy control subjects made unrestrained reaching movements to targets located in ipsilateral, central, and contralateral arm workspaces. Arm-plane, arm, and trunk motion, and their temporal and spatial linkages were analyzed. Results Individuals with moderate/severe stroke used greater arm-plane movement and compensatory trunk movement compared to those with mild stroke and control subjects. Arm-plane and trunk movements were more temporally coupled in stroke compared with controls. Reaching accuracy was related to different segment and joint combinations for each target and group: arm-plane movement in controls and mild stroke subjects, and trunk and elbow movements in moderate/severe stroke subjects. Arm-plane movement increased with time since stroke and when combined with trunk rotation, discriminated between different subject groups for reaching the central and contralateral targets. Trunk movement and arm-plane angle during target reaches predicted the subject group. Conclusions The upper-limb flexor synergy was used adaptively for reaching accuracy by patients with mild, but not moderate/severe stroke. The flexor synergy, as parameterized by the amount of arm-plane motion, can be used by clinicians to identify levels of motor recovery in patients with stroke. © The Author(s) 2015.

Incorporating haptic effects into three-dimensional virtual environments to train the hemiparetic upper extremity

PubMed Central

Adamovich, Sergei; Fluet, Gerard G.; Merians, Alma S.; Mathai, Abraham; Qiu, Qinyin

2010-01-01

Current neuroscience has identified several constructs to increase the effectiveness of upper extremity rehabilitation. One is the use of progressive, skill acquisition-oriented training. Another approach emphasizes the use of bilateral activities. Building on these principles, this paper describes the design and feasibility testing of a robotic / virtual environment system designed to train the arm of persons who have had strokes. The system provides a variety of assistance modes, scalable workspaces and hand-robot interfaces allowing persons with strokes to train multiple joints in three dimensions. The simulations utilize assistance algorithms that adjust task difficulty both online and offline in relation to subject performance. Several distinctive haptic effects have been incorporated into the simulations. An adaptive master-slave relationship between the unimpaired and impaired arm encourages active movement of the subject's hemiparetic arm during a bimanual task. Adaptive anti-gravity support and damping stabilize the arm during virtual reaching and placement tasks. An adaptive virtual spring provides assistance to complete the movement if the subject is unable to complete the task in time. Finally, haptically rendered virtual objects help to shape the movement trajectory during a virtual placement task. A proof of concept study demonstrated this system to be safe, feasible and worthy of further study. PMID:19666345

The effect of unilateral arm swing motion on lower extremity running mechanics associated with injury risk.

PubMed

Agresta, Cristine; Ward, Christian R; Wright, W Geoffrey; Tucker, Carole A

2018-06-01

Many field sports involve equipment that restricts one or both arms from moving while running. Arm swing during running has been examined from a biomechanical and physiologic perspective but not from an injury perspective. Moreover, only bilateral arm swing suppression has been studied with respect to running. The purpose of this study was to determine the influence of running with one arm restrained on lower extremity mechanics associated with running or sport-related injury. Fifteen healthy participants ran at a self-selected speed with typical arm swing, with one arm restrained and with both arms restrained. Lower extremity kinematics and spatiotemporal measures were analysed for all arm swing conditions. Running with one arm restrained resulted in increased frontal plane knee and hip angles, decreased foot strike angle, and decreased centre of mass vertical displacement compared to typical arm swing or bilateral arm swing restriction. Stride length was decreased and step frequency increased when running with one or both arms restrained. Unilateral arm swing restriction induces changes in lower extremity kinematics that are not similar to running with bilateral arm swing restriction or typical arm swing motion. Running with one arm restrained increases frontal plane mechanics associated with risk of knee injury.

Arm position influences the activation patterns of trunk muscles during trunk range-of-motion movements.

PubMed

Siu, Aaron; Schinkel-Ivy, Alison; Drake, Janessa Dm

2016-10-01

To understand the activation patterns of the trunk musculature, it is also important to consider the implications of adjacent structures such as the upper limbs, and the muscles that act to move the arms. This study investigated the effects of arm positions on the activation patterns and co-activation of the trunk musculature and muscles that move the arm during trunk range-of-motion movements (maximum trunk axial twist, flexion, and lateral bend). Fifteen males and fifteen females, asymptomatic for low back pain, performed maximum trunk range-of-motion movements, with three arm positions for axial twist (loose, crossed, abducted) and two positions for flexion and lateral bend (loose, crossed). Electromyographical data were collected for eight muscles bilaterally, and activation signals were cross-correlated between trunk muscles and the muscles that move the arms (upper trapezius, latissimus dorsi). Results revealed consistently greater muscle co-activation (higher cross-correlation coefficients) between the trunk muscles and upper trapezius for the abducted arm position during maximum trunk axial twist, while results for the latissimus dorsi-trunk pairings were more dependent on the specific trunk muscles (either abdominal or back) and latissimus dorsi muscle (either right or left side), as well as the range-of-motion movement. The findings of this study contribute to the understanding of interactions between the upper limbs and trunk, and highlight the influence of arm positions on the trunk musculature. In addition, the comparison of the present results to those of individuals with back or shoulder conditions may ultimately aid in elucidating underlying mechanisms or contributing factors to those conditions. Copyright © 2016 Elsevier B.V. All rights reserved.

A numerical investigation of flow around octopus-like arms: near-wake vortex patterns and force development.

PubMed

Kazakidi, A; Vavourakis, V; Tsakiris, D P; Ekaterinaris, J A

2015-01-01

The fluid dynamics of cephalopods has so far received little attention in the literature, due to their complexity in structure and locomotion. The flow around octopuses, in particular, can be complicated due to their agile and dexterous arms, which frequently display some of the most diverse mechanisms of motion. The study of this flow amounts to a specific instance of the hydrodynamics problem for rough tapered cylinder geometries. The outstanding manipulative and locomotor skills of octopuses could inspire the development of advanced robotic arms, able to operate in fluid environments. Our primary aim was to study the hydrodynamic characteristics of such bio-inspired robotic models and to derive the hydrodynamic force coefficients as a concise description of the vortical flow effects. Utilizing computational fluid dynamic methods, the coefficients were computed on realistic morphologies of octopus-like arm models undergoing prescribed solid-body movements; such motions occur in nature for short durations in time, e.g. during reaching movements and exploratory behaviors. Numerical simulations were performed on translating, impulsively rotating, and maneuvering arms, around which the flow field structures were investigated. The results reveal in detail the generation of complex vortical flow structures around the moving arms. Hydrodynamic forces acting on a translating arm depend on the angle of incidence; forces generated during impulsive rotations of the arms are independent of their exact morphology and the angle of rotation; periodic motions based on a slow recovery and a fast power stroke are able to produce considerable propulsive thrust while harmonic motions are not. Parts of these results have been employed in bio-inspired models of underwater robotic mechanisms. This investigation may further assist elucidating the hydrodynamics underlying aspects of octopus locomotion and exploratory behaviors.

Bus-Programmable Slave Card

NASA Technical Reports Server (NTRS)

Hall, William A.

1990-01-01

Slave microprocessors in multimicroprocessor computing system contains modified circuit cards programmed via bus connecting master processor with slave microprocessors. Enables interactive, microprocessor-based, single-loop control. Confers ability to load and run program from master/slave bus, without need for microprocessor development station. Tristate buffers latch all data and information on status. Slave central processing unit never connected directly to bus.

An "Epeleptick" bondswoman: fits, slavery, and power in the antebellum South.

PubMed

Boster, Dea H

2009-01-01

Epilepsy, as nineteenth-century observers understood the disease construct, was a feared diagnosis associated with insanity and uncontrollability. Cases of epileptic fits in slaves-whether they were considered genuine or feigned- highlighted deep struggles among white masters, physicians, and slaves themselves over the control of African American bodies. Some slaves who experienced fits were subjected to prolonged experimental treatments at the hands of physicians and white masters. Although Southern medical sources largely ignored the connection between epilepsy and trauma in slaves, abolitionists and ex-slave narratives published in the North used epilepsy as a representation of the institution's cruelty. Some white observers thought that slaves with epilepsy were prone to malingering; epileptic fits were also a tool of slave resistance and had a significant role in slave sale negotiations. I use the case study of a fifteen-year-old bondswoman in Virginia, diagnosed with epilepsy in 1843, to illustrate the significance of the disease in the lives of African American slaves.

Marionette

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

Sullivan, M.; Anderson, D.P.

1988-01-01

Marionette is a system for distributed parallel programming in an environment of networked heterogeneous computer systems. It is based on a master/slave model. The master process can invoke worker operations (asynchronous remote procedure calls to single slaves) and context operations (updates to the state of all slaves). The master and slaves also interact through shared data structures that can be modified only by the master. The master and slave processes are programmed in a sequential language. The Marionette runtime system manages slave process creation, propagates shared data structures to slaves as needed, queues and dispatches worker and context operations, andmore » manages recovery from slave processor failures. The Marionette system also includes tools for automated compilation of program binaries for multiple architectures, and for distributing binaries to remote fuel systems. A UNIX-based implementation of Marionette is described.« less

Facultative slave-making ants Formica sanguinea label their slaves with own recognition cues instead of employing the strategy of chemical mimicry.

PubMed

Włodarczyk, Tomasz; Szczepaniak, Lech

2017-01-01

Slave-making ant species use the host workforce to ensure normal colony functioning. Slaves are robbed as pupae from their natal nest and after eclosion, assume the parasite colony as their own. A possible factor promoting the successful integration of slaves into a foreign colony is congruence with the slave-makers in terms of cuticular hydrocarbons, which are known to play the role of recognition cues in social insects. Such an adaptation is observed in the obligate slave-making ant species, which are chemically adjusted to their slaves. To date, however, no reports have been available on facultative slave-making species, which represent an earlier stage of the evolution of slavery. Such an example is Formica sanguinea, which exploit F. fusca colonies as their main source of a slave workforce. Our results show that F. sanguinea ants have a distinct cuticular hydrocarbon profile, which contains compounds not present in free-living F. fusca ants from potential target nests. Moreover, enslaved F. fusca ants acquire hydrocarbons from their slave-making nestmates to such an extent that they become chemically differentiated from free-living, conspecific ants. Our study shows that F. sanguinea ants promote their own recognition cues in their slaves, rather than employing the strategy of chemical mimicry. Possible reasons why F. sanguinea is not chemically well adjusted to its main host species are discussed in this paper. Copyright © 2016 Elsevier Ltd. All rights reserved.

Training of goal directed arm movements with motion interactive video games in children with cerebral palsy - a kinematic evaluation.

PubMed

Sandlund, Marlene; Domellöf, Erik; Grip, Helena; Rönnqvist, Louise; Häger, Charlotte K

2014-10-01

The main aim of this study was to evaluate the quality of goal-directed arm movements in 15 children with cerebral palsy (CP) following four weeks of home-based training with motion interactive video games. A further aim was to investigate the applicability and characteristics of kinematic parameters in a virtual context in comparison to a physical context. Kinematics and kinetics were captured while the children performed arm movements directed towards both virtual and physical targets. The children's movement precision improved, their centre of pressure paths decreased, as did the variability in maximal shoulder angles when reaching for virtual objects. Transfer to a situation with physical targets was mainly indicated by increased movement smoothness. Training with motion interactive games seems to improve arm motor control in children with CP. The results highlight the importance of considering both the context and the task itself when investigating kinematic parameters.

Jerk-level synchronous repetitive motion scheme with gradient-type and zeroing-type dynamics algorithms applied to dual-arm redundant robot system control

NASA Astrophysics Data System (ADS)

Chen, Dechao; Zhang, Yunong

2017-10-01

Dual-arm redundant robot systems are usually required to handle primary tasks, repetitively and synchronously in practical applications. In this paper, a jerk-level synchronous repetitive motion scheme is proposed to remedy the joint-angle drift phenomenon and achieve the synchronous control of a dual-arm redundant robot system. The proposed scheme is novelly resolved at jerk level, which makes the joint variables, i.e. joint angles, joint velocities and joint accelerations, smooth and bounded. In addition, two types of dynamics algorithms, i.e. gradient-type (G-type) and zeroing-type (Z-type) dynamics algorithms, for the design of repetitive motion variable vectors, are presented in detail with the corresponding circuit schematics. Subsequently, the proposed scheme is reformulated as two dynamical quadratic programs (DQPs) and further integrated into a unified DQP (UDQP) for the synchronous control of a dual-arm robot system. The optimal solution of the UDQP is found by the piecewise-linear projection equation neural network. Moreover, simulations and comparisons based on a six-degrees-of-freedom planar dual-arm redundant robot system substantiate the operation effectiveness and tracking accuracy of the robot system with the proposed scheme for repetitive motion and synchronous control.

Coordinated control of a space manipulator tested by means of an air bearing free floating platform

NASA Astrophysics Data System (ADS)

Sabatini, Marco; Gasbarri, Paolo; Palmerini, Giovanni B.

2017-10-01

A typical approach studied for the guidance of next generation space manipulators (satellites with robotic arms aimed at autonomously performing on-orbit operations) is to decouple the platform and the arm maneuvers, which are supposed to happen sequentially, mainly because of safety concerns. This control is implemented in this work as a two-stage Sequential control, where a first stage calls for the motion of the platform and the second stage calls for the motion of the manipulator. A second novel strategy is proposed, considering the platform and the manipulator as a single multibody system subject to a Coordinated control, with the goal of approaching and grasping a target spacecraft. At the scope, a region that the end effector can reach by means of the arm motion with limited reactions on the platform is identified (the so called Reaction Null workspace). The Coordinated control algorithm performs a gain modulation (finalized to a balanced contribution of the platform and arm motion) as a function of the target position within this Reaction Null map. The result is a coordinated maneuver in which the end effector moves thanks to the platform motion, predominant in a first phase, and to the arm motion, predominant when the Reaction-Null workspace is reached. In this way the collision avoidance and attitude over-control issues are automatically considered, without the need of splitting the mission in independent (and overall sub-optimal) segments. The guidance and control algorithms are first simulated by means of a multibody code, and successively tested in the lab by means of a free floating platform equipped with a robotic arm, moving frictionless on a flat granite table thanks to air bearings and on-off thrusters; the results will be discussed in terms of optimality of the fuel consumption and final accuracy.

Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

NASA Technical Reports Server (NTRS)

Montgomery, Raymond C.; Kenny, Sean P.; Ghosh, Dave; Shenhar, Joram

1993-01-01

Inertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.

Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

NASA Astrophysics Data System (ADS)

Montgomery, Raymond C.; Kenny, Sean P.; Ghosh, Dave; Shenhar, Joram

1993-02-01

Inertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.

Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand

PubMed Central

Oscari, Fabio; Oboe, Roberto; Daud Albasini, Omar Andres; Masiero, Stefano; Rosati, Giulio

2016-01-01

The use of haptic devices in the rehabilitation of impaired limbs has become rather popular, given the proven effectiveness in promoting recovery. In a standard framework, such devices are used in rehabilitation centers, where patients interact with virtual tasks, presented on a screen. To track their sessions, kinematic/dynamic parameters or performance scores are recorded. However, as Internet access is now available at almost every home and in order to reduce the hospitalization time of the patient, the idea of doing rehabilitation at home is gaining wide consent. Medical care programs can be synchronized with the home rehabilitation device; patient data can be sent to the central server that could redirect to the therapist laptop (tele-healthcare). The controversial issue is that the recorded data do not actually represent the clinical conditions of the patients according to the medical assessment scales, forcing them to frequently undergo clinical tests at the hospital. To respond to this demand, we propose the use of a bilateral master/slave haptic system that could allow the clinician, who interacts with the master, to assess remotely and in real time the clinical conditions of the patient that uses the home rehabilitation device as the slave. In this paper, we describe a proof of concept to highlight the main issues of such an application, limited to one degree of freedom, and to the measure of the stiffness and range of motion of the hand. PMID:27706085

Wrist joint assembly

NASA Technical Reports Server (NTRS)

Kersten, L.; Johnson, J. D. (Inventor)

1978-01-01

A wrist joint assembly is provided for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm. The wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis is to produce a pitch motion, and a third axis to produce a roll motion. The wrist joint assembly includes a disk segment affixed to the terminal end of the manipulator arm and a first housing member, a second housing member, and a third housing member. The third housing member and the mechanical end-effector are moved in the yaw, pitch, and roll motion. Drive means are provided for rotating each of the housings about their respective axis which includes a cluster of miniature motors having spur gears carried on the output drive shaft which mesh with a center drive gear affixed on the housing to be rotated.

Motion and force control for multiple cooperative manipulators

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth

1989-01-01

The motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Coordinating Upper and Lower Body During FES-Assisted Transfers in Persons With Spinal Cord Injury in Order to Reduce Arm Support.

PubMed

Jovic, Jovana; Azevedo Coste, Christine; Fraisse, Philippe; Henkous, Sonia; Fattal, Charles

2015-12-01

The goal of this study is to minimize arm forces applied during sit-to-stand (STS) transfers in persons with spinal cord injury (SCI) by using functional electrical stimulation (FES) applied to lower limbs muscles. A new FES system has been used to automatically trigger muscle stimulation of the lower limbs, at the desired moment in regards to trunk motion. The objective was to decrease arm participation during STS motion of a person with complete paraplegia and low-level tetraplegia. Six participants with chronic SCI participated in the study. Participants with SCI were recruited to complete STS movement using a new system for FES-assisted STS transfer. All participants attended one muscle mapping session to test their muscles condition, two training sessions to become familiarized with the experimental setup, and two measurement sessions using the proposed system for FES-assisted STS movement. The applied arm forces during STS movement were recorded and analyzed for different stimulation onset values with respect to the maximal trunk acceleration signal using one-way ANOVA statistical test. Post-hoc analysis was performed using Tukey's method. The results of this study showed that the moment of the stimulation onset has an influence on the arm forces applied during the STS motion. The lowest values of arm forces were obtained for STS movements where the electrical stimulation was triggered before and around the time corresponding to the maximal value of the trunk acceleration signal. Lowest arm forces values were obtained for STS motions that were similar to those of healthy persons in terms of trunk movements and beginning of lower limb movements in regards to maximal trunk acceleration signal. The FES system was able to mimic the rising motion of a healthy individual by triggering the FES at the appropriate moment. This method could prove useful for pivot transfer, therapeutic or functional verticalization. © 2015 International Neuromodulation Society.

Child slaves and freemen at the Spiritan Mission in Soyo, 1880-1885.

PubMed

Vos, Jelmer

2010-01-01

Catholic missionaries in late nineteenth- and early twentieth-century Africa more commonly than Protestants purchased slaves to build their mission stations. This article provides a micro-historical analysis of the redemption of child slaves by the Holy Ghost Fathers in Soyo, West Central Africa, in the years immediately preceding the colonial partition of Africa. It argues that the Spiritan missionaries liberated slaves for instrumental rather than humanitarian reasons. As local freemen were difficult to control, the mission depended for its growth on the import of slave children. Furthermore, since the missionaries operated on the same markets and paid the same prices for slaves as regular buyers, their purchasing practices showed a strong resemblance with ordinary slave trading.

Issues in the design of high dexterity, force reflective teleoperators

NASA Technical Reports Server (NTRS)

Jacobsen, Stephen C.; Iversen, E. K.; Davis, C. C.; Biggers, K. B.; Backman, D. K.

1991-01-01

The Center for Engineering and Design at the University of Utah is developing an anthropomorphic, hydraulically actuated, teleoperated arm. The system includes a sixteen degree-of-freedom slave manipulator controlled by a kinematically identical, sixteen degree-of-freedom force-reflective, exoskeletal master. The project has focused on four areas: (1) formulating a realistic set of design objectives which balance, against technical realities, the desire for performance, reliability and economy; (2) understanding control issues; (3) designing and fabricating new subsystems necessary for the construction of a successful machine; and (4) integrating subsystems, through a series of prototype stages, into an operational teleoperation system.

Coupling of Lever Arm Swing and Biased Brownian Motion in Actomyosin

PubMed Central

Nie, Qing-Miao; Togashi, Akio; Sasaki, Takeshi N.; Takano, Mitsunori; Sasai, Masaki; Terada, Tomoki P.

2014-01-01

An important unresolved problem associated with actomyosin motors is the role of Brownian motion in the process of force generation. On the basis of structural observations of myosins and actins, the widely held lever-arm hypothesis has been proposed, in which proteins are assumed to show sequential structural changes among observed and hypothesized structures to exert mechanical force. An alternative hypothesis, the Brownian motion hypothesis, has been supported by single-molecule experiments and emphasizes more on the roles of fluctuating protein movement. In this study, we address the long-standing controversy between the lever-arm hypothesis and the Brownian motion hypothesis through in silico observations of an actomyosin system. We study a system composed of myosin II and actin filament by calculating free-energy landscapes of actin-myosin interactions using the molecular dynamics method and by simulating transitions among dynamically changing free-energy landscapes using the Monte Carlo method. The results obtained by this combined multi-scale calculation show that myosin with inorganic phosphate (Pi) and ADP weakly binds to actin and that after releasing Pi and ADP, myosin moves along the actin filament toward the strong-binding site by exhibiting the biased Brownian motion, a behavior consistent with the observed single-molecular behavior of myosin. Conformational flexibility of loops at the actin-interface of myosin and the N-terminus of actin subunit is necessary for the distinct bias in the Brownian motion. Both the 5.5–11 nm displacement due to the biased Brownian motion and the 3–5 nm displacement due to lever-arm swing contribute to the net displacement of myosin. The calculated results further suggest that the recovery stroke of the lever arm plays an important role in enhancing the displacement of myosin through multiple cycles of ATP hydrolysis, suggesting a unified movement mechanism for various members of the myosin family. PMID:24762409

Coupling of lever arm swing and biased Brownian motion in actomyosin.

PubMed

Nie, Qing-Miao; Togashi, Akio; Sasaki, Takeshi N; Takano, Mitsunori; Sasai, Masaki; Terada, Tomoki P

2014-04-01

An important unresolved problem associated with actomyosin motors is the role of Brownian motion in the process of force generation. On the basis of structural observations of myosins and actins, the widely held lever-arm hypothesis has been proposed, in which proteins are assumed to show sequential structural changes among observed and hypothesized structures to exert mechanical force. An alternative hypothesis, the Brownian motion hypothesis, has been supported by single-molecule experiments and emphasizes more on the roles of fluctuating protein movement. In this study, we address the long-standing controversy between the lever-arm hypothesis and the Brownian motion hypothesis through in silico observations of an actomyosin system. We study a system composed of myosin II and actin filament by calculating free-energy landscapes of actin-myosin interactions using the molecular dynamics method and by simulating transitions among dynamically changing free-energy landscapes using the Monte Carlo method. The results obtained by this combined multi-scale calculation show that myosin with inorganic phosphate (Pi) and ADP weakly binds to actin and that after releasing Pi and ADP, myosin moves along the actin filament toward the strong-binding site by exhibiting the biased Brownian motion, a behavior consistent with the observed single-molecular behavior of myosin. Conformational flexibility of loops at the actin-interface of myosin and the N-terminus of actin subunit is necessary for the distinct bias in the Brownian motion. Both the 5.5-11 nm displacement due to the biased Brownian motion and the 3-5 nm displacement due to lever-arm swing contribute to the net displacement of myosin. The calculated results further suggest that the recovery stroke of the lever arm plays an important role in enhancing the displacement of myosin through multiple cycles of ATP hydrolysis, suggesting a unified movement mechanism for various members of the myosin family.

1. GENERAL VIEW OF SLAVE QUARTERS No. 2 (right). Located ...

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

1. GENERAL VIEW OF SLAVE QUARTERS No. 2 (right). Located north of main house. The building at left is Slave Quarters No. 1 (HABS No. VA-1233 C) - Westend, Slave Quarters No. 2, Route 638 vicinity, Trevilians, Louisa County, VA

Quantitative evaluation of toothbrush and arm-joint motion during tooth brushing.

PubMed

Inada, Emi; Saitoh, Issei; Yu, Yong; Tomiyama, Daisuke; Murakami, Daisuke; Takemoto, Yoshihiko; Morizono, Ken; Iwasaki, Tomonori; Iwase, Yoko; Yamasaki, Youichi

2015-07-01

It is very difficult for dental professionals to objectively assess tooth brushing skill of patients, because an obvious index to assess the brushing motion of patients has not been established. The purpose of this study was to quantitatively evaluate toothbrush and arm-joint motion during tooth brushing. Tooth brushing motion, performed by dental hygienists for 15 s, was captured using a motion-capture system that continuously calculates the three-dimensional coordinates of object's motion relative to the floor. The dental hygienists performed the tooth brushing on the buccal and palatal sides of their right and left upper molars. The frequencies and power spectra of toothbrush motion and joint angles of the shoulder, elbow, and wrist were calculated and analyzed statistically. The frequency of toothbrush motion was higher on the left side (both buccal and palatal areas) than on the right side. There were no significant differences among joint angle frequencies within each brushing area. The inter- and intra-individual variations of the power spectrum of the elbow flexion angle when brushing were smaller than for any of the other angles. This study quantitatively confirmed that dental hygienists have individual distinctive rhythms during tooth brushing. All arm joints moved synchronously during brushing, and tooth brushing motion was controlled by coordinated movement of the joints. The elbow generated an individual's frequency through a stabilizing movement. The shoulder and wrist control the hand motion, and the elbow generates the cyclic rhythm during tooth brushing.

Constant lift rotor for a heavier than air craft

NASA Technical Reports Server (NTRS)

Stroub, R. H. (Inventor)

1979-01-01

A rotor blade extended radially from a hub, characterized by an elongated spar and a plurality of axially aligned shells pivotally mounted on the spar is presented. Each has an aerodynamic center located in trailing relation with the spar and supported thereby for simultaneous axial and angular displacement as centrifugal forces are applied, a pitch controller plus a plurality of pivotal pitch limiting arms transversely related to the spar. A push-pull link interconnecting the arms is used for imparting simultaneous pivotal motion, whereby the angular relationship of the arms to the spar is varied for varying the motion of the trucks along the arms for thus limiting the pitch of the segments about the spar.

Arm lymphoedema and upper limb impairments in sentinel node-negative breast cancer patients: A one year follow-up study.

PubMed

De Groef, An; Van Kampen, Marijke; Tieto, Elena; Schönweger, Petra; Christiaens, Marie-Rose; Neven, Patrick; Geraerts, Inge; Gebruers, Nick; Devoogdt, Nele

2016-10-01

The aim of this study is (1) to investigate the prevalence rate of arm lymphedema, pain, impaired shoulder range of motion, strength and shoulder function one year after a sentinel lymph node biopsy (SLNB) for breast cancer and (2) to determine predictive factors for these complications. A longitudinal study was performed. One hundred patients with a sentinel-lymph node negative breast cancer were included. All patients were measured before surgery and one year after. Arm lymphedema was measured with the perimeter, pain with the Visual Analogue Scale, shoulder range of motion with an inclinometer, strength with a handheld dynamometer and shoulder function with the Disability of Arm, Shoulder and Hand questionnaire. Patient-, breast cancer- and treatment-related variables were recorded. One year after surgery 8% of sentinel node-negative breast cancer patients had developed arm lymphedema. Fifty percent of patients had pain, 30% had an impaired shoulder range of motion, 8% had a decreased handgrip strength and 49% had an impaired shoulder function. Pain, shoulder range of motion, strength and shoulder dysfunctions changed significantly over one year (p < 0.001). Higher Body Mass Index is a predictive variable for shoulder dysfunctions one year post-SLNB. Prevalence rate of lymphedema and other upper limb impairments may not be underestimated after SLNB. Pain, shoulder range of motion, handgrip strength and shoulder function change significantly up to one year compared to preoperative values in sentinel node-negative breast cancer patients. Copyright © 2016 Elsevier Ltd. All rights reserved.

Saturn Apollo Program

NASA Image and Video Library

1963-05-10

The Marshall Space Flight Center (MSFC) played a crucial role in the development of the huge Saturn rockets that delivered humans to the moon in the 1960s. Many unique facilities existed at MSFC for the development and testing of the Saturn rockets. Affectionately nicknamed “The Arm Farm”, the Random Motion/ Lift-Off Simulator was one of those unique facilities. This facility was developed to test the swingarm mechanisms that were used to hold the rocket in position until lift-off. The Arm Farm provided the capability of testing the detachment and reconnection of various arms under brutally realistic conditions. The 18-acre facility consisted of more than a half dozen arm test positions and one position for testing access arms used by the Apollo astronauts. Each test position had two elements: a vehicle simulator for duplicating motions during countdown and launch; and a section duplicating the launch tower. The vehicle simulator duplicated the portion of the vehicle skin that contained the umbilical connections and personnel access hatches. Driven by a hydraulic servo system, the vehicle simulator produced relative motion between the vehicle and tower. On the Arm Farm, extreme environmental conditions (such as a launch scrub during an approaching Florida thunderstorm) could be simulated. The dramatic scenes that the Marshall engineers and technicians created at the Arm Farm permitted the gathering of crucial technical and engineering data to ensure a successful real time launch from the Kennedy Space Center.

Saturn Apollo Program

NASA Image and Video Library

1967-07-28

The Marshall Space Flight Center (MSFC) played a crucial role in the development of the huge Saturn rockets that delivered humans to the moon in the 1960s. Many unique facilities existed at MSFC for the development and testing of the Saturn rockets. Affectionately nicknamed “The Arm Farm”, the Random Motion/ Lift-Off Simulator was one of those unique facilities. This facility was developed to test the swingarm mechanisms that were used to hold the rocket in position until lift-off. The Arm Farm provided the capability of testing the detachment and reconnection of various arms under brutally realistic conditions. The 18-acre facility consisted of more than a half dozen arm test positions and one position for testing access arms used by the Apollo astronauts. Each test position had two elements: a vehicle simulator for duplicating motions during countdown and launch; and a section duplicating the launch tower. The vehicle simulator duplicated the portion of the vehicle skin that contained the umbilical connections and personnel access hatches. Driven by a hydraulic servo system, the vehicle simulator produced relative motion between the vehicle and tower. On the Arm Farm, extreme environmental conditions (such as a launch scrub during an approaching Florida thunderstorm) could be simulated. The dramatic scenes that the Marshall engineers and technicians created at the Arm Farm permitted the gathering of crucial technical and engineering data to ensure a successful real time launch from the Kennedy Space Center.

Trunk-arm coordination in reaching for moving targets in people with Parkinson's disease: comparison between virtual and physical reality.

PubMed

Ma, Hui-Ing; Hwang, Wen-Juh; Wang, Ching-Yi; Fang, Jing-Jing; Leong, Iat-Fai; Wang, Tsui-Ying

2012-10-01

We used a trunk-assisted prehension task to examine the effect of task (reaching for stationary vs. moving targets) and environmental constraints (virtual reality [VR] vs. physical reality) on the temporal control of trunk and arm motions in people with Parkinson's disease (PD). Twenty-four participants with PD and 24 age-matched controls reached for and grasped a ball that was either stationary or moving along a ramp 120% of arm length away. In a similar VR task, participants reached for a virtual ball that was either stationary or moving. Movement speed was measured as trunk and arm movement times (MTs); trunk-arm coordination was measured as onset interval and offset interval between trunk and arm motions, as well as a summarized index-desynchrony score. In both VR and physical reality, the PD group had longer trunk and arm MTs than the control group when reaching for stationary balls (p<.001). When reaching for moving balls in VR and physical reality, however, the PD group had lower trunk and arm MTs, onset intervals, and desynchrony scores (p<.001). For the PD group, VR induced shorter trunk MTs, shorter offset intervals, and lower desynchrony scores than did physical reality when reaching for moving balls (p<.001). These findings suggest that using real moving targets in trunk-assisted prehension tasks improves the speed and synchronization of trunk and arm motions in people with PD, and that using virtual moving targets may induce a movement termination strategy different from that used in physical reality. Copyright © 2012 Elsevier B.V. All rights reserved.

Thermal Nondestructive Evaluation Report: Inspection of the Refurbished Manipulator Arm System in the Manipulator Development Facility at Johnson Space Center 10-12 January 2001

NASA Technical Reports Server (NTRS)

Cramer, K. Elliott

2002-01-01

On 4 December 2002, a failure of the Refurbished Manipulator Arm System (RMAS) occurred in the Manipulator Development Facility (MDF) at Johnson Space Center. When the Test Director commanded a should pitch maneuver to lift the arm from its payload bay pedestal, the yaw controls failed. This, coupled with a gravitational forces (due to the angle of the shoulder joint with respect to vertical), resulted in uncontrolled arm motion. The shoulder yaw joint moved approximately 20 degrees, causing the extended arm to strike and severely damage the port side MDF catwalk handrails. The arm motion stopped after impact with the handrails. On 10-12 January 2001, inspections were performed on the port face of the lower and upper arms of the RMAS using a infrared thermography developed at Langley Research Center. This paper presents the results of those nondestructive inspections and provides a complete description of the anomalies found and their locations.

Design of a Lightweight Soft Robotic Arm Using Pneumatic Artificial Muscles and Inflatable Sleeves.

PubMed

Ohta, Preston; Valle, Luis; King, Jonathan; Low, Kevin; Yi, Jaehyun; Atkeson, Christopher G; Park, Yong-Lae

2018-04-01

As robots begin to interact with humans and operate in human environments, safety becomes a major concern. Conventional robots, although reliable and consistent, can cause injury to anyone within its range of motion. Soft robotics, wherein systems are made to be soft and mechanically compliant, are thus a promising alternative due to their lightweight nature and ability to cushion impacts, but current designs often sacrifice accuracy and usefulness for safety. We, therefore, have developed a bioinspired robotic arm combining elements of rigid and soft robotics such that it exhibits the positive qualities of both, namely compliance and accuracy, while maintaining a low weight. This article describes the design of a robotic arm-wrist-hand system with seven degrees of freedom (DOFs). The shoulder and elbow each has two DOFs for two perpendicular rotational motions on each joint, and the hand has two DOFs for wrist rotations and one DOF for a grasp motion. The arm is pneumatically powered using custom-built McKibben type pneumatic artificial muscles, which are inflated and deflated using binary and proportional valves. The wrist and hand motions are actuated through servomotors. In addition to the actuators, the arm is equipped with a potentiometer in each joint for detecting joint angle changes. Simulation and experimental results for closed-loop position control are also presented in the article.

Vibrations in a moving flexible robot arm

NASA Technical Reports Server (NTRS)

Wang, P. K. C.; Wei, Jin-Duo

1987-01-01

The vibration in a flexible robot arm modeled by a moving slender prismatic beam is considered. It is found that the extending and contracting motions have destabilizing and stabilizing effects on the vibratory motions, respectively. The vibration analysis is based on a Galerkin approximation with time-dependent basis functions. Typical numerical results are presented to illustrate the qualitative features of vibrations.

The effects of additional arm weights on arm-swing magnitude and gait patterns in Parkinson's disease.

PubMed

Yoon, Jiyeon; Park, Jinse; Park, Kunbo; Jo, Geunyeol; Kim, Haeyu; Jang, Wooyoung; Kim, Ji Sun; Youn, Jinyoung; Oh, Eung Seok; Kim, Hee-Tae; Youm, Chang Hong

2016-01-01

Recently, arm facilitation has been interested in gait rehabilitation. However, there have been few studies concerning arm facilitation in patients with Parkinson's disease (PD). The aim of our study was to investigate the effect of increasing arm weights on gait pattern in patients with PD. Twenty-seven patients with PD were enrolled, and they underwent gait analysis using a three-dimensional motion capture system. Sandbags were applied to the distal forearms in all participants. We compared gait parameters including arm swing, pelvic motion, spatiotemporal data, and relative rotational angle between the weighted and unweighted gaits. The total arm-swing amplitude and pelvic rotation were significantly higher when walking with additional arm weights than without arm weights. Cadence, walking speed, stride length, and swing phase were significantly higher, whereas stride time, double-support time, and stance phase were significantly lower, when walking with additional arm weights than without arm weights. We conclude that adding weights to the arm during walking may facilitate arm and pelvic movements, which results in changes to gait patterns. The therapeutic use of additional arm weights could be considered for gait rehabilitation in PD to improve gait impairment. Arm-swing facilitation using weight load improved gait in Parkinson's disease. Copyright © 2015 International Federation of Clinical Neurophysiology. Published by Elsevier Ireland Ltd. All rights reserved.

Symmetry breaking in occupation number based slave-particle methods

NASA Astrophysics Data System (ADS)

Georgescu, Alexandru B.; Ismail-Beigi, Sohrab

2017-10-01

We describe a theoretical approach to finding spontaneously symmetry-broken electronic phases due to strong electronic interactions when using recently developed slave-particle (slave-boson) approaches based on occupation numbers. We describe why, to date, spontaneous symmetry breaking has proven difficult to achieve in such approaches. We then provide a total energy based approach for introducing auxiliary symmetry-breaking fields into the solution of the slave-particle problem that leads to lowered total energies for symmetry-broken phases. We point out that not all slave-particle approaches yield energy lowering: the slave-particle model being used must explicitly describe the degrees of freedom that break symmetry. Finally, our total energy approach permits us to greatly simplify the formalism used to achieve a self-consistent solution between spinon and slave modes while increasing the numerical stability and greatly speeding up the calculations.

Curiosity Mars Rover Flexes its Robotic Arm

NASA Image and Video Library

2010-09-16

Test operators in a clean room at NASA Jet Propulsion Laboratory monitor some of the first motions by the robotic arm on the Mars rover Curiosity after installation in August 2010. The arm is shown in a partially extended position.

Overcoming Robot-Arm Joint Singularities

NASA Technical Reports Server (NTRS)

Barker, L. K.; Houck, J. A.

1986-01-01

Kinematic equations allow arm to pass smoothly through singular region. Report discusses mathematical singularities in equations of robotarm control. Operator commands robot arm to move in direction relative to its own axis system by specifying velocity in that direction. Velocity command then resolved into individual-joint rotational velocities in robot arm to effect motion. However, usual resolved-rate equations become singular when robot arm is straightened.

Africans Away from Home.

ERIC Educational Resources Information Center

Clarke, John Henrik

Africans who were brought across the Atlantic as slaves never fully adjusted to slavery or accepted its inevitability. Resistance began on board the slave ships, where many jumped overboard or committed suicide. African slaves in South America led the first revolts against tyranny in the New World. The first slave revolt in the Caribbean occurred…

Runaway Slave Advertisements: Teaching from Primary Documents

ERIC Educational Resources Information Center

Costa, Tom; Doyle, Brooke

2004-01-01

In this article, the authors discuss how children can learn from runaway slave advertisements. The advertisements for runaway slaves that masters placed in eighteenth- and nineteenth-century newspapers are among the documentary sources available to teachers for studying the lives of African-American slaves. Such advertisements often describe a…

Scientific impacts on nuclear strategic policy: Dangers and opportunities

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

Keeny S.M. Jr.

1988-12-15

Nuclear weapons have revolutionized warfare, making a mutual capability for assured destruction a fact of life and mutual assured deterrence the underlying nuclear strategy of the superpowers. The program to find a technical solution to the threat of nuclear weapons by creating an impervious defense is fatally flawed by failure to consider responses available to a sophisticated adversary at much lower cost. Responses could involve: exploiting vulnerabilities; increased firepower; technical innovation; and circumvention. Efforts to achieve strategic defense would in fact increase risk of nuclear war by stimulating the nuclear arms race since history demonstrates neither side will allow itsmore » deterrent force to be seriously degraded. Defenses would increase instability in times of a crisis. Science has also reduced the risk of nuclear war by making possible improved control and safety of nuclear forces and predictability of US/Soviet relations, verifiability of arms control agreements, and survivable strategic systems. Science can be a tool for good or evil; mankind must be its masters not its slaves.« less

Scientific impacts on nuclear strategic policy: Dangers and opportunities

NASA Astrophysics Data System (ADS)

Keeny, Spurgeon M.

1988-12-01

Nuclear weapons have revolutionized warfare, making a mutual capability for assured destruction a fact of life and mutual assured deterrence the underlying nuclear strategy of the superpowers. The program to find a technical solution to the threat of nuclear weapons by creating an impervious defense is fatally flawed by failure to consider responses available to a sophisticated adversary at much lower cost. Responses could involve: exploiting vulnerabilities; increased firepower; technical innovation; and circumvention. Efforts to achieve strategic defense would in fact increase risk of nuclear war by stimulating the nuclear arms race since history demonstrates neither side will allow its deterrent force to be seriously degraded. Defenses would increase instability in times of a crisis. Science has also reduced the risk of nuclear war by making possible improved control and safety of nuclear forces and predictability of US/Soviet relations, verifiability of arms control agreements, and survivable strategic systems. Science can be a tool for good or evil; mankind must be its masters not its slaves.

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

PubMed

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

2018-07-01

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

Master/Programmable-Slave Computer

NASA Technical Reports Server (NTRS)

Smaistrla, David; Hall, William A.

1990-01-01

Unique modular computer features compactness, low power, mass storage of data, multiprocessing, and choice of various input/output modes. Master processor communicates with user via usual keyboard and video display terminal. Coordinates operations of as many as 24 slave processors, each dedicated to different experiment. Each slave circuit card includes slave microprocessor and assortment of input/output circuits for communication with external equipment, with master processor, and with other slave processors. Adaptable to industrial process control with selectable degrees of automatic control, automatic and/or manual monitoring, and manual intervention.

High Torque-to-Inertia Servo System for Stabilizing Sensor Systems. Candidate Systems Include Missile Guidance, Surveillance, and Tracking

DTIC Science & Technology

1980-04-01

specifications ... 3-10 25. Typical isolation curve ... 3-12 26. Servo amp/motor/load frequency response (inner gimbal) ... 4-3 27. Slave loop ( open loop...slave loop ( open loop) frequency response (inner gimbal) . . . 4-4 30. Slave loop (closed loop) frequency response (inner gimbal) ... 4-5 3 . Slave...loop inner gimbal time response ... 4-5 32. Servo amp/motor/load frequency response (outer gimbal) ... 4-6 33. Slave loop ( open loop) uncompensated

Master-slave robotic system for needle indentation and insertion.

PubMed

Shin, Jaehyun; Zhong, Yongmin; Gu, Chengfan

2017-12-01

Bilateral control of a master-slave robotic system is a challenging issue in robotic-assisted minimally invasive surgery. It requires the knowledge on contact interaction between a surgical (slave) robot and soft tissues. This paper presents a master-slave robotic system for needle indentation and insertion. This master-slave robotic system is able to characterize the contact interaction between the robotic needle and soft tissues. A bilateral controller is implemented using a linear motor for robotic needle indentation and insertion. A new nonlinear state observer is developed to online monitor the contact interaction with soft tissues. Experimental results demonstrate the efficacy of the proposed master-slave robotic system for robotic needle indentation and needle insertion.

Synchronization Analysis of Master-Slave Probabilistic Boolean Networks.

PubMed

Lu, Jianquan; Zhong, Jie; Li, Lulu; Ho, Daniel W C; Cao, Jinde

2015-08-28

In this paper, we analyze the synchronization problem of master-slave probabilistic Boolean networks (PBNs). The master Boolean network (BN) is a deterministic BN, while the slave BN is determined by a series of possible logical functions with certain probability at each discrete time point. In this paper, we firstly define the synchronization of master-slave PBNs with probability one, and then we investigate synchronization with probability one. By resorting to new approach called semi-tensor product (STP), the master-slave PBNs are expressed in equivalent algebraic forms. Based on the algebraic form, some necessary and sufficient criteria are derived to guarantee synchronization with probability one. Further, we study the synchronization of master-slave PBNs in probability. Synchronization in probability implies that for any initial states, the master BN can be synchronized by the slave BN with certain probability, while synchronization with probability one implies that master BN can be synchronized by the slave BN with probability one. Based on the equivalent algebraic form, some efficient conditions are derived to guarantee synchronization in probability. Finally, several numerical examples are presented to show the effectiveness of the main results.

Synchronization Analysis of Master-Slave Probabilistic Boolean Networks

PubMed Central

Lu, Jianquan; Zhong, Jie; Li, Lulu; Ho, Daniel W. C.; Cao, Jinde

2015-01-01

In this paper, we analyze the synchronization problem of master-slave probabilistic Boolean networks (PBNs). The master Boolean network (BN) is a deterministic BN, while the slave BN is determined by a series of possible logical functions with certain probability at each discrete time point. In this paper, we firstly define the synchronization of master-slave PBNs with probability one, and then we investigate synchronization with probability one. By resorting to new approach called semi-tensor product (STP), the master-slave PBNs are expressed in equivalent algebraic forms. Based on the algebraic form, some necessary and sufficient criteria are derived to guarantee synchronization with probability one. Further, we study the synchronization of master-slave PBNs in probability. Synchronization in probability implies that for any initial states, the master BN can be synchronized by the slave BN with certain probability, while synchronization with probability one implies that master BN can be synchronized by the slave BN with probability one. Based on the equivalent algebraic form, some efficient conditions are derived to guarantee synchronization in probability. Finally, several numerical examples are presented to show the effectiveness of the main results. PMID:26315380

Robust coordinated control of a dual-arm space robot

NASA Astrophysics Data System (ADS)

Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

2017-09-01

Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

Computer interface for mechanical arm

NASA Technical Reports Server (NTRS)

Derocher, W. L.; Zermuehlen, R. O.

1978-01-01

Man/machine interface commands computer-controlled mechanical arm. Remotely-controlled arm has six degrees of freedom and is controlled through "supervisory-control" mode, in which all motions of arm follow set of preprogramed sequences. For simplicity, few prescribed commands are required to accomplish entire operation. Applications include operating computer-controlled arm to handle radioactive of explosive materials or commanding arm to perform functions in hostile environments. Modified version using displays may be applied in medicine.

RMS massless arm dynamics capability in the SVDS. [equations of motion

NASA Technical Reports Server (NTRS)

Flanders, H. A.

1977-01-01

The equations of motion for the remote manipulator system, assuming that the masses and inertias of the arm can be neglected, are developed for implementation into the space vehicle dynamics simulation (SVDS) program for the Orbiter payload system. The arm flexibility is incorporated into the equations by the computation of flexibility terms for use in the joint servo model. The approach developed in this report is based on using the Jacobian transformation matrix to transform force and velocity terms between the configuration space and the task space to simplify the form of the equations.

VEHICLE FOR SLAVE ROBOT

DOEpatents

Goertz, R.C.; Lindberg, J.F.

1962-01-30

A reeling device is designed for an electrical cable supplying power to the slave slde of a remote control manipulator mounted on a movable vehicle. As the vehicle carries the slave side about in a closed room, the device reels the cable in and out to maintain a variable length of the cable between the vehicle and a cable inlet in the wall of the room. The device also handles a fixed length of cable between the slave side and the vehicle, in spite of angular movement of the slave side with respect to the vehicle. (AEC)

Design framework of a teleoperating system for a magnetically levitated robot with force feedback

NASA Astrophysics Data System (ADS)

Tsuda, Naoaki; Kato, Norihiko; Nomura, Yoshihiko; Matsui, Hirokazu

2002-02-01

Precise works and manipulating micro objects are tough jobs for operators both mentally and physically. To execute these jobs smoothly without feeling wrongness, use of master-slave system is preferable because position and force are able to be scaled up and down as well under the system. In this study we develop a master-slave system where the size of a slave robot is very small and the slave robot is levitated by magnetic forces. In distinction from ordinary master- slave systems, the levitated robot does not get any other contact forces from outside. Thus we introduce a method using an impedance model for constructing the master-slave system. We confirmed the effectiveness of the positioning control algorithm through experiments.

The Effect of Restricted Arm Swing on Energy Expenditure in Healthy Men

ERIC Educational Resources Information Center

Yizhar, Ziva; Boulos, Spiro; Inbar, Omri; Carmeli, Eli

2009-01-01

Arm swing in human walking is an active natural motion involving the upper extremities. Earlier studies have described the interrelationship between arms and legs during walking, but the effect of arm swing on energy expenditure and dynamic parameters during normal gait, is inconclusive. The aim of this study was to investigate the effect of…

Technology and task parameters relating to the effectiveness of the bracing strategy

NASA Technical Reports Server (NTRS)

Book, Wayne J.; Wang, J. J.

1989-01-01

The bracing strategy has been proposed in various forms as a way to improve robot performance. One version of the strategy employs independent stages of motion. The first stage, referred to as the large or bracing arm, carries the second stage of motion. After the first stage has completed its motion it is braced to provide a more rigid base of motion with a more accurate relationship to the parts to be manipulated. The hypothesis is that more rapid completion of certain tasks is possible with lighter arms using the bracing strategy. While it is easy to make conceptual arguments why this should be so, it is less easy to specify even approximately when this will be true for some reasonably generic situation. There is no relevant experience base with bracing arms to be compared to non-bracing arms. Furthermore, if one were interested in obtaining such practical experience, there would be no methodical guidance on the selection of an interesting case, one in which the unproven approach, bracing, can show its superiority. If one such case exists, only the extent of applicability of the new approach is in question. One set of interesting cases is likely to be applications in which a large workspace must be covered, but where a series of small accurate moves will remain within a smaller region of the total workspace. A prototype application with these characteristics is set up and a skeleton design of arms using the competing strategies are compared.

The effect of arm weight support on upper limb muscle synergies during reaching movements

PubMed Central

2014-01-01

Background Compensating for the effect of gravity by providing arm-weight support (WS) is a technique often utilized in the rehabilitation of patients with neurological conditions such as stroke to facilitate the performance of arm movements during therapy. Although it has been shown that, in healthy subjects as well as in stroke survivors, the use of arm WS during the performance of reaching movements leads to a general reduction, as expected, in the level of activation of upper limb muscles, the effects of different levels of WS on the characteristics of the kinematics of motion and of the activity of upper limb muscles have not been thoroughly investigated before. Methods In this study, we systematically assessed the characteristics of the kinematics of motion and of the activity of 14 upper limb muscles in a group of 9 healthy subjects who performed 3-D arm reaching movements while provided with different levels of arm WS. We studied the hand trajectory and the trunk, shoulder, and elbow joint angular displacement trajectories for different levels of arm WS. Besides, we analyzed the amplitude of the surface electromyographic (EMG) data collected from upper limb muscles and investigated patterns of coordination via the analysis of muscle synergies. Results The characteristics of the kinematics of motion varied across WS conditions but did not show distinct trends with the level of arm WS. The level of activation of upper limb muscles generally decreased, as expected, with the increase in arm WS. The same eight muscle synergies were identified in all WS conditions. Their level of activation depended on the provided level of arm WS. Conclusions The analysis of muscle synergies allowed us to identify a modular organization underlying the generation of arm reaching movements that appears to be invariant to the level of arm WS. The results of this study provide a normative dataset for the assessment of the effects of the level of arm WS on muscle synergies in stroke survivors and other patients who could benefit from upper limb rehabilitation with arm WS. PMID:24594139

Middle Passage in the Triangular Slave Trade: The West Indies

ERIC Educational Resources Information Center

Sawh, Ruth; Scales, Alice M.

2006-01-01

Our narrative focuses on the middle passage of the slave trade in the West Indies. Herein we describe why more men, women, and children were imported in the West Indies than other islands. Specifically, our aim was to address how slaves in the middle passage of the triangular slave trade were treated, how they sustained themselves, and how they…

[The healthcare system for slaves in nineteenth-century Brazil: disease, institutions, and treatment practices].

PubMed

Pôrto, Angela

2006-01-01

Although the nineteenth century saw numerous attempts to deter the slave trade, it was also the period when Brazil imported the greatest number of slaves in its history. The conditions under which slaves were transported, worked, and lived were largely responsible for their state of health. Yet this topic barely makes an appearance in the field of history, and many disputed points remain to be settled. My research cross-references sources and topics in order to gather data on the hygienic lives of nineteenth-century slaves. By analyzing archival documents from hospitals, notary public offices, and church bodies, iconographic sources, and the medical literature, I have retrieved information that can be used towards writing a history of the healthcare system available to slaves.

[Neonatal tetanus--an explanation why the slaves in the Danish West Indian Islands not were self-sustaining].

PubMed

Lenz, Kristina

2011-01-01

The sugar plantation complex in West India was based on forced labour, mostly slaves from Africa. The problem was that this population had to be sustained by a constant stream of new slaves just to maintain their numbers. This demographic imbalance has during generations puzzled scholars and doctors. Modern research, however, shows that the fertility rates were normal. The problem was the infant mortality. The slaves' cultural tradition concerning childbirth had fatal consequences by being transferred to West India, where many newborn slave children died of neonatal tetanus.

[The physical and health status of runaway slaves announced in Jornal do Commercio (RJ) in 1850].

PubMed

Amantino, Márcia

2007-01-01

The article examines the state of health of a population of runaway slaves, based on announcements published in Rio de Janeiro's Jornal do Commercio in 1850. Two strategies were used. The first entailed analysis of the slaves' physical characteristics, as described by their masters. Taking into account the slave's health, the second step was to describe his or her physical problems as viewed by the era's medical or folk knowledge. This evidence can be traced to procedures found in the slave system, which sought to maximize use of captives.

A satellite orbital testbed for SATCOM using mobile robots

NASA Astrophysics Data System (ADS)

Shen, Dan; Lu, Wenjie; Wang, Zhonghai; Jia, Bin; Wang, Gang; Wang, Tao; Chen, Genshe; Blasch, Erik; Pham, Khanh

2016-05-01

This paper develops and evaluates a satellite orbital testbed (SOT) for satellite communications (SATCOM). SOT can emulate the 3D satellite orbit using the omni-wheeled robots and a robotic arm. The 3D motion of satellite is partitioned into the movements in the equatorial plane and the up-down motions in the vertical plane. The former actions are emulated by omni-wheeled robots while the up-down motions are performed by a stepped-motor-controlled-ball along a rod (robotic arm), which is attached to the robot. The emulated satellite positions will go to the measure model, whose results will be used to perform multiple space object tracking. Then the tracking results will go to the maneuver detection and collision alert. The satellite maneuver commands will be translated to robots commands and robotic arm commands. In SATCOM, the effects of jamming depend on the range and angles of the positions of satellite transponder relative to the jamming satellite. We extend the SOT to include USRP transceivers. In the extended SOT, the relative ranges and angles are implemented using omni-wheeled robots and robotic arms.

Simulation of cooperating robot manipulators on a mobile platform

NASA Technical Reports Server (NTRS)

Murphy, Steve H.; Wen, John T.; Saridis, George N.

1990-01-01

The dynamic equations of motion for two manipulators holding a common object on a freely moving mobile platform are developed. The full dynamic interactions from arms to platform and arm-tip to arm-tip are included in the formulation. The development of the closed chain dynamics allows for the use of any solution for the open topological tree of base and manipulator links. In particular, because the system has 18 degrees of freedom, recursive solutions for the dynamic simulation become more promising for efficient calculations of the motion. Simulation of the system is accomplished through a MATLAB program, and the response is visualized graphically using the SILMA Cimstation.

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

PubMed

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

2012-09-01

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

1. CARRIAGE HOUSE (left) AND SLAVE QUARTERS, SOUTH FRONT. A ...

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

1. CARRIAGE HOUSE (left) AND SLAVE QUARTERS, SOUTH FRONT. A kitchen was included in the quarters. - Charles Fraser House, Carriage House & Slave Quarters, 55 King Street, Charleston, Charleston County, SC

2. EAST SIDE OF SLAVE QUARTERS (Jack E. Boucher, photgrapher, ...

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

2. EAST SIDE OF SLAVE QUARTERS (Jack E. Boucher, photgrapher, April/May, 1986) - Felix & Odile Pratt Valle Slave Quarters, Southeast corner of Merchant & Second Streets, Sainte Genevieve, Ste. Genevieve County, MO

FASTBUS Slaves: a designers view

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

Downing, R.W.

1981-10-01

Although FASTBUS has features built into it which allow complex interconnections and multiple Masters, the rules for implementing Slaves are very simple. The first time designer of Slave Modules should not be intimidated by the 200 pages of the FASTBUS document. About 90% of the specification is associated with system implications that do not impact Slave design. This paper will review the basic logic and timing requirements for FASTBUS Slave design. Also, some examples of implementation will be shown. The discussion which follows assumes that mastership of the bus has been gained. Bus arbitration, system interconnection, message routing, etc. aremore » separate topics and will not be discussed here. These topics affect only the design of devices which operate at the system level since FASTBUS Slave modules have been specified to be completely transparent to these system considerations.« less

Master-slave exponential synchronization of delayed complex-valued memristor-based neural networks via impulsive control.

PubMed

Li, Xiaofan; Fang, Jian-An; Li, Huiyuan

2017-09-01

This paper investigates master-slave exponential synchronization for a class of complex-valued memristor-based neural networks with time-varying delays via discontinuous impulsive control. Firstly, the master and slave complex-valued memristor-based neural networks with time-varying delays are translated to two real-valued memristor-based neural networks. Secondly, an impulsive control law is constructed and utilized to guarantee master-slave exponential synchronization of the neural networks. Thirdly, the master-slave synchronization problems are transformed into the stability problems of the master-slave error system. By employing linear matrix inequality (LMI) technique and constructing an appropriate Lyapunov-Krasovskii functional, some sufficient synchronization criteria are derived. Finally, a numerical simulation is provided to illustrate the effectiveness of the obtained theoretical results. Copyright © 2017 Elsevier Ltd. All rights reserved.

Rotary fast tool servo system and methods

DOEpatents

Montesanti, Richard C.; Trumper, David L.

2007-10-02

A high bandwidth rotary fast tool servo provides tool motion in a direction nominally parallel to the surface-normal of a workpiece at the point of contact between the cutting tool and workpiece. Three or more flexure blades having all ends fixed are used to form an axis of rotation for a swing arm that carries a cutting tool at a set radius from the axis of rotation. An actuator rotates a swing arm assembly such that a cutting tool is moved in and away from the lathe-mounted, rotating workpiece in a rapid and controlled manner in order to machine the workpiece. A pair of position sensors provides rotation and position information for a swing arm to a control system. A control system commands and coordinates motion of the fast tool servo with the motion of a spindle, rotating table, cross-feed slide, and in-feed slide of a precision lathe.

Rotary fast tool servo system and methods

DOEpatents

Montesanti, Richard C [Cambridge, MA; Trumper, David L [Plaistow, NH; Kirtley, Jr., James L.

2009-08-18

A high bandwidth rotary fast tool servo provides tool motion in a direction nominally parallel to the surface-normal of a workpiece at the point of contact between the cutting tool and workpiece. Three or more flexure blades having all ends fixed are used to form an axis of rotation for a swing arm that carries a cutting tool at a set radius from the axis of rotation. An actuator rotates a swing arm assembly such that a cutting tool is moved in and away from the lathe-mounted, rotating workpiece in a rapid and controlled manner in order to machine the workpiece. One or more position sensors provides rotation and position information for a swing arm to a control system. A control system commands and coordinates motion of the fast tool servo with the motion of a spindle, rotating table, cross-feed slide, and in-feed slide of a precision lathe.

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

NASA Technical Reports Server (NTRS)

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

1974-01-01

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

Balance Maintenance in High-Speed Motion of Humanoid Robot Arm-Based on the 6D Constraints of Momentum Change Rate

PubMed Central

Zhang, Da-song; Chu, Jian

2014-01-01

Based on the 6D constraints of momentum change rate (CMCR), this paper puts forward a real-time and full balance maintenance method for the humanoid robot during high-speed movement of its 7-DOF arm. First, the total momentum formula for the robot's two arms is given and the momentum change rate is defined by the time derivative of the total momentum. The author also illustrates the idea of full balance maintenance and analyzes the physical meaning of 6D CMCR and its fundamental relation to full balance maintenance. Moreover, discretization and optimization solution of CMCR has been provided with the motion constraint of the auxiliary arm's joint, and the solving algorithm is optimized. The simulation results have shown the validity and generality of the proposed method on the full balance maintenance in the 6 DOFs of the robot body under 6D CMCR. This method ensures 6D dynamics balance performance and increases abundant ZMP stability margin. The resulting motion of the auxiliary arm has large abundance in joint space, and the angular velocity and the angular acceleration of these joints lie within the predefined limits. The proposed algorithm also has good real-time performance. PMID:24883404

Supercontinents, True Polar Wander, and Paleogeography of the Slave Craton

NASA Astrophysics Data System (ADS)

Mitchell, Ross Nelson

The supercontinent cycle, which may have been operational throughout most of Earth history, describes not only the kinematics associated with the suturing and rifting of continents via plate tectonics but also the wholesale organization of mantle convection patterns, which has consequences for long-term geodynamics and true polar wander (TPW). Based on both newly acquired paleomagnetic data and regional or global syntheses, this thesis generates paleogeographic maps spanning 2 billion years and evaluates how such empirical constraints inform plate kinematics and TPW. Prior to Pangea, the latest supercontinent, paleomagnetism is the only quantitative method for reconstructing continents. Comparing high-quality data from continents considered central to Nuna, possibly Earth's first supercontinent, reconstructs the core of the hypothesized Paleo-Mesoproterozoic supercontinent for the first time. A global paleomagnetic synthesis spanning the past three supercontinents yields evidence for periods of oscillatory TPW following each supercontinent that can be used to infer a geometric pattern to supercontinent cycles and constrain absolute paleolongitude. Relative to post-Pangea oscillations, large-amplitude TPW is implied for older events if evidence for early TPW is to be believed. Possibly the last large (˜60°) TPW event occurred during the Cambrian explosion of animal life. A new detailed Early Cambrian magnetostratigraphy from the Amadeus Basin of Australia indicates a rapid Early Cambrian rotation of Gondwana, still permitting the possibility that at least one large-amplitude TPW event occurred in Phanerozoic time. Investigating earlier and even larger possible TPW episodes, several cases are identified where interpreting large paleomagnetic oscillations as TPW permits regional geologic interpretations to be honored. Allowing for only minor tectonic motion of Laurentia and large-scale TPW, large amounts of paleomagnetic motion observed can be reconciled with evidence in support of a long-lived, Ediacaran-aged hotspot. The consistency of paleocurrent directions derived from the Great Slave Supergroup argues against significant regional vertical-axis rotations and for large and rapid TPW to explain discordant paleomagnetic directions observed within section. The last frontier for paleomagnetic constraints on supercontinents, TPW, and the antiquity of plate tectonics is earliest Proterozoic time. Laurentia, one of Earth's oldest continents that formed at the core supercontinent Nuna, contains several cratons that have adequate paleomagnetic and geochronologic data with which to test for evidence of early TPW and relative plate motion, the hallmark of tectonics. Although past comparisons have been made between the Slave and Superior cratons at each "bookend" of Laurentia, new paleomagnetic data supported by baked contact tests allow for conclusive early Proterozoic reconstructions. Similar to periods following Proterozoic supercontinents Nuna and Rodinia, early Proterozoic time is characterized by large TPW oscillations and large-scale plate reorganizations prior to amalgamation, possibly indicating the presence of `Kenorland', an Archean supercontinent.

Visual and somatic sensory feedback of brain activity for intuitive surgical robot manipulation.

PubMed

Miura, Satoshi; Matsumoto, Yuya; Kobayashi, Yo; Kawamura, Kazuya; Nakashima, Yasutaka; Fujie, Masakatsu G

2015-01-01

This paper presents a method to evaluate the hand-eye coordination of the master-slave surgical robot by measuring the activation of the intraparietal sulcus in users brain activity during controlling virtual manipulation. The objective is to examine the changes in activity of the intraparietal sulcus when the user's visual or somatic feedback is passed through or intercepted. The hypothesis is that the intraparietal sulcus activates significantly when both the visual and somatic sense pass feedback, but deactivates when either visual or somatic is intercepted. The brain activity of three subjects was measured by the functional near-infrared spectroscopic-topography brain imaging while they used a hand controller to move a virtual arm of a surgical simulator. The experiment was performed several times with three conditions: (i) the user controlled the virtual arm naturally under both visual and somatic feedback passed, (ii) the user moved with closed eyes under only somatic feedback passed, (iii) the user only gazed at the screen under only visual feedback passed. Brain activity showed significantly better control of the virtual arm naturally (p<;0.05) when compared with moving with closed eyes or only gazing among all participants. In conclusion, the brain can activate according to visual and somatic sensory feedback agreement.

The health of the American slave examined by means of Union Army medical statistics.

PubMed

Freemon, F R

1985-01-01

The health status of the American slave in the 19th century remains unclear despite extensive historical research. Better knowledge of slave health would provide a clearer picture of the life of the slave, a better understanding of the 19th-century medicine, and possibly even clues to the health problems of modern blacks. This article hopes to contribute to the literature by examining another source of data. Slaves entering the Union Army joined an organization with standardized medical care that generated extensive statistical information. Review of these statistics answers questions about the health of young male blacks at the time American slavery ended.

Interband optical pulse injection locking of quantum dot mode-locked semiconductor laser.

PubMed

Kim, Jimyung; Delfyett, Peter J

2008-07-21

We experimentally demonstrate optical clock recovery from quantum dot mode-locked semiconductor lasers by interband optical pulse injection locking. The passively mode-locked slave laser oscillating on the ground state or the first excited state transition is locked through the injection of optical pulses generated via the opposite transition bands, i.e. the first excited state or the ground state transition from the hybridly mode-locked master laser, respectively. When an optical pulse train generated via the first excited state from the master laser is injected to the slave laser oscillating via ground state, the slave laser shows an asymmetric locking bandwidth around the nominal repetition rate of the slave laser. In the reverse injection case of, i.e. the ground state (master laser) to the first excited state (slave laser), the slave laser does not lock even though both lasers oscillate at the same cavity frequency. In this case, the slave laser only locks to higher injection rates as compared to its own nominal repetition rate, and also shows a large locking bandwidth of 6.7 MHz.

Study on a novel panel support concept for radio telescopes with active surface

NASA Astrophysics Data System (ADS)

Yang, Dehua; Zhou, Guohua; Okoh, Daniel; Li, Guoping; Cheng, Jingquan

2010-07-01

Generally, panels of radio telescopes are mainly shaped in trapezoid and each is supported/positioned by four adjustors beneath its vertexes. Such configuration of panel supporting system is essentially hyper-static, and the panel is overconstrained from a kinematic point of view. When the panel is to be adjusted and/or actuated, it will suffer stress from its adjusters and hence its shape is to be distorted. This situation is not desirable for high precision panels, such as glass based panels especially used for sub-millimeter and shorter wavelength telescopes with active optics/active panel technology. This paper began with a general overview of panel patterns and panel supports of existing radio telescopes. Thereby, we proposed a preferable master-slave active surface concept for triangular and/or hexagonal panel pattern. In addition, we carry out panel error sensitivity analysis for all the 6 degrees of freedom (DOF) of a panel to identify what DOFs are most sensitive for an active surface. And afterwards, based on the error sensitivity analysis, we suggested an innovative parallel-series concept hexapod well fitted for an active panel to correct for all of its 6 rigid errors. A demonstration active surface using the master-slave concept and the hexapod manifested a great save in cost, where only 486 precision actuators are needed for 438 panels, which is 37% of those actuators needed by classic segmented mirror active optics. Further, we put forward a swaying-arm based design concept for the related connecting joints between panels, which ensures that all the panels attached on to it free from over-constraints when they are positioned and/or actuated. Principle and performance of the swaying-arm connecting mechanism are elaborated before a practical cablemesh based prototype active surface is presented with comprehensive finite element analysis and simulation.

Modeling, design, and control of flexible manipulator arms: Status and trends

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1989-01-01

The desire for higher performance manipulators has lead to dynamic behavior in which the flexibility is an essential aspect. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are examined first. Then design considerations directly arising from the flexible nature of the arm are discussed. Finally, controls of joints for general and tip motion are discussed.

Multi-body dynamic coupling mechanism for generating throwing arm velocity during baseball pitching.

PubMed

Naito, Kozo; Takagi, Tokio; Kubota, Hideaki; Maruyama, Takeo

2017-08-01

The purpose of this study was to identify the detailed mechanism how the maximum throwing arm endpoint velocity is determined by the muscular torques and non-muscular interactive torques from the perspective of the dynamic coupling among the trunk, thorax and throwing and non-throwing arm segments. The pitching movements of ten male collegiate baseball pitchers were measured by a three-dimensional motion capture system. Using the induced-segmental velocity analysis (IVA) developed in this study, the maximum fingertip velocity of the throwing arm (MFV) was decomposed into each contribution of the muscular torques, passive motion-dependent torques due to gyroscopic moment, Coriolis force and centrifugal force, and other interactive torque components. The results showed that MFV (31.6±1.7m/s) was mainly attributed to two different mechanisms. The first is the passive motion-dependent effect on increasing the angular velocities of three joints (thorax rotation, elbow extension and wrist flexion). The second is the muscular torque effect of the shoulder internal rotation (IR) torque on generating IR angular velocity. In particular, the centrifugal force-induced elbow extension motion, which was the greatest contributor among individual joint contributions, was caused primarily by the angular velocity-dependent forces associated with the humerus, thorax, and trunk rotations. Our study also found that a compensatory mechanism was achieved by the negative and positive contributions of the muscular torque components. The current IVA is helpful to understand how the rapid throwing arm movement is determined by the dynamic coupling mechanism. Copyright © 2017 Elsevier B.V. All rights reserved.

Automatic 3D motion estimation of left ventricle from C-arm rotational angiocardiography using a prior motion model and learning based boundary detector.

PubMed

Chen, Mingqing; Zheng, Yefeng; Wang, Yang; Mueller, Kerstin; Lauritsch, Guenter

2013-01-01

Compared to pre-operative imaging modalities, it is more convenient to estimate the current cardiac physiological status from C-arm angiocardiography since C-arm is a widely used intra-operative imaging modality to guide many cardiac interventions. The 3D shape and motion of the left ventricle (LV) estimated from rotational angiocardiography provide important cardiac function measurements, e.g., ejection fraction and myocardium motion dyssynchrony. However, automatic estimation of the 3D LV motion is difficult since all anatomical structures overlap on the 2D X-ray projections and the nearby confounding strong image boundaries (e.g., pericardium) often cause ambiguities to LV endocardium boundary detection. In this paper, a new framework is proposed to overcome the aforementioned difficulties: (1) A new learning-based boundary detector is developed by training a boosting boundary classifier combined with the principal component analysis of a local image patch; (2) The prior LV motion model is learned from a set of dynamic cardiac computed tomography (CT) sequences to provide a good initial estimate of the 3D LV shape of different cardiac phases; (3) The 3D motion trajectory is learned for each mesh point; (4) All these components are integrated into a multi-surface graph optimization method to extract the globally coherent motion. The method is tested on seven patient scans, showing significant improvement on the ambiguous boundary cases with a detection accuracy of 2.87 +/- 1.00 mm on LV endocardium boundary delineation in the 2D projections.

Regulation of cuticular and postpharyngeal hydrocarbons in the slave-making ant Polyergus rufescens: effect of Formica rufibarbis slaves.

PubMed

Bonavita-Cougourdan, Annie; Provost, Erick; Riviere, Germaine; Bagneres, Anne-Genevieve; Dusticier, Georges

2004-04-01

The purpose of this study was to compare cuticular hydrocarbon profiles of slave-making Polyergus rufescens ants reared alone or with their Formica rufibarbis slaves. Chemical analyses showed that due to the close contacts occurring when the Formica were tending the Polyergus, the synthesis of the cuticular hydrocarbons carried by the slaves was enhanced in the slave-makers. The postpharyngeal hydrocarbon levels increased during the first 15 days of life, whether or not the Polyergus were exposed to Formica. Our findings suggest that Polyergus is able to secrete all components of their cuticular hydrocarbon blend and that none are acquired through contact with Formica. In addition to presenting our experimental evidence, several hypotheses are proposed to explain the synthesis and regulation of hydrocarbon blends borne when these two species cohabitate within a single colony.

Double Arm Linkage precision Linear motion (DALL) Carriage, a simplified, rugged, high performance linear motion stage for the moving mirror of an Fourier Transform Spectrometer or other system requiring precision linear motion

NASA Astrophysics Data System (ADS)

Johnson, Kendall B.; Hopkins, Greg

2017-08-01

The Double Arm Linkage precision Linear motion (DALL) carriage has been developed as a simplified, rugged, high performance linear motion stage. Initially conceived as a moving mirror stage for the moving mirror of a Fourier Transform Spectrometer (FTS), it is applicable to any system requiring high performance linear motion. It is based on rigid double arm linkages connecting a base to a moving carriage through flexures. It is a monolithic design. The system is fabricated from one piece of material including the flexural elements, using high precision machining. The monolithic design has many advantages. There are no joints to slip or creep and there are no CTE (coefficient of thermal expansion) issues. This provides a stable, robust design, both mechanically and thermally and is expected to provide a wide operating temperature range, including cryogenic temperatures, and high tolerance to vibration and shock. Furthermore, it provides simplicity and ease of implementation, as there is no assembly or alignment of the mechanism. It comes out of the machining operation aligned and there are no adjustments. A prototype has been fabricated and tested, showing superb shear performance and very promising tilt performance. This makes it applicable to both corner cube and flat mirror FTS systems respectively.

Observation and imitation of actions performed by humans, androids, and robots: an EMG study

PubMed Central

Hofree, Galit; Urgen, Burcu A.; Winkielman, Piotr; Saygin, Ayse P.

2015-01-01

Understanding others’ actions is essential for functioning in the physical and social world. In the past two decades research has shown that action perception involves the motor system, supporting theories that we understand others’ behavior via embodied motor simulation. Recently, empirical approach to action perception has been facilitated by using well-controlled artificial stimuli, such as robots. One broad question this approach can address is what aspects of similarity between the observer and the observed agent facilitate motor simulation. Since humans have evolved among other humans and animals, using artificial stimuli such as robots allows us to probe whether our social perceptual systems are specifically tuned to process other biological entities. In this study, we used humanoid robots with different degrees of human-likeness in appearance and motion along with electromyography (EMG) to measure muscle activity in participants’ arms while they either observed or imitated videos of three agents produce actions with their right arm. The agents were a Human (biological appearance and motion), a Robot (mechanical appearance and motion), and an Android (biological appearance and mechanical motion). Right arm muscle activity increased when participants imitated all agents. Increased muscle activation was found also in the stationary arm both during imitation and observation. Furthermore, muscle activity was sensitive to motion dynamics: activity was significantly stronger for imitation of the human than both mechanical agents. There was also a relationship between the dynamics of the muscle activity and motion dynamics in stimuli. Overall our data indicate that motor simulation is not limited to observation and imitation of agents with a biological appearance, but is also found for robots. However we also found sensitivity to human motion in the EMG responses. Combining data from multiple methods allows us to obtain a more complete picture of action understanding and the underlying neural computations. PMID:26150782

A Randomized Controlled Trial of Lorazepam to Reduce Liver Motion in Patients Receiving Upper Abdominal Radiation Therapy

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

Tsang, Derek S.; Voncken, Francine E.M.; Tse, Regina V.

2013-12-01

Purpose: Reduction of respiratory motion is desirable to reduce the volume of normal tissues irradiated, to improve concordance of planned and delivered doses, and to improve image guided radiation therapy (IGRT). We hypothesized that pretreatment lorazepam would lead to a measurable reduction of liver motion. Methods and Materials: Thirty-three patients receiving upper abdominal IGRT were recruited to a double-blinded randomized controlled crossover trial. Patients were randomized to 1 of 2 study arms: arm 1 received lorazepam 2 mg by mouth on day 1, followed by placebo 4 to 8 days later; arm 2 received placebo on day 1, followed bymore » lorazepam 4 to 8 days later. After tablet ingestion and daily radiation therapy, amplitude of liver motion was measured on both study days. The primary outcomes were reduction in craniocaudal (CC) liver motion using 4-dimensional kV cone beam computed tomography (CBCT) and the proportion of patients with liver motion ≤5 mm. Secondary endpoints included motion measured with cine magnetic resonance imaging and kV fluoroscopy. Results: Mean relative and absolute reduction in CC amplitude with lorazepam was 21% and 2.5 mm respectively (95% confidence interval [CI] 1.1-3.9, P=.001), as assessed with CBCT. Reduction in CC amplitude to ≤5 mm residual liver motion was seen in 13% (95% CI 1%-25%) of patients receiving lorazepam (vs 10% receiving placebo, P=NS); 65% (95% CI 48%-81%) had reduction in residual CC liver motion to ≤10 mm (vs 52% with placebo, P=NS). Patients with large respiratory movement and patients who took lorazepam ≥60 minutes before imaging had greater reductions in liver CC motion. Mean reductions in liver CC amplitude on magnetic resonance imaging and fluoroscopy were nonsignificant. Conclusions: Lorazepam reduces liver motion in the CC direction; however, average magnitude of reduction is small, and most patients have residual motion >5 mm.« less

Simulation of cooperating robot manipulators on a mobile platform

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

[Slaves and citizens on Ilha Grande: the dawning of the Republic came slowly].

PubMed

Schnoor, Eduardo Cavalcanti

2012-12-01

The article introduces Ilha Grande, a district in the municipality of Angra dos Reis, and describes its role within the subsistence market economy and the memory of slavery as found in the Angra dos Reis Civil Records. According to the Almanaque Laemmert, this district had the largest number of slaves in the municipality as of the 1870s. Most owners had few slaves, and the majority of landholdings were small. The Angra dos Reis Civil Records did not forget slavery after May 1888. A number of birth and death notifications describe the persons in question as former slaves. Even in the twentieth century, clerks continued to describe various republican citizens as ex-slaves.

The Health of the American Slave Examined by Means of Union Army Medical Statistics

PubMed Central

Freemon, Frank R.

1985-01-01

The health status of the American slave in the 19th century remains unclear despite extensive historical research. Better knowledge of slave health would provide a clearer picture of the life of the slave, a better understanding of the 19th-century medicine, and possibly even clues to the health problems of modern blacks. This article hopes to contribute to the literature by examining another source of data. Slaves entering the Union Army joined an organization with standardized medical care that generated extensive statistical information. Review of these statistics answers questions about the health of young male blacks at the time American slavery ended. PMID:3881595

Initial Experiments with the Leap Motion as a User Interface in Robotic Endonasal Surgery.

PubMed

Travaglini, T A; Swaney, P J; Weaver, Kyle D; Webster, R J

The Leap Motion controller is a low-cost, optically-based hand tracking system that has recently been introduced on the consumer market. Prior studies have investigated its precision and accuracy, toward evaluating its usefulness as a surgical robot master interface. Yet due to the diversity of potential slave robots and surgical procedures, as well as the dynamic nature of surgery, it is challenging to make general conclusions from published accuracy and precision data. Thus, our goal in this paper is to explore the use of the Leap in the specific scenario of endonasal pituitary surgery. We use it to control a concentric tube continuum robot in a phantom study, and compare user performance using the Leap to previously published results using the Phantom Omni. We find that the users were able to achieve nearly identical average resection percentage and overall surgical duration with the Leap.

Initial Experiments with the Leap Motion as a User Interface in Robotic Endonasal Surgery

PubMed Central

Travaglini, T. A.; Swaney, P. J.; Weaver, Kyle D.; Webster, R. J.

2016-01-01

The Leap Motion controller is a low-cost, optically-based hand tracking system that has recently been introduced on the consumer market. Prior studies have investigated its precision and accuracy, toward evaluating its usefulness as a surgical robot master interface. Yet due to the diversity of potential slave robots and surgical procedures, as well as the dynamic nature of surgery, it is challenging to make general conclusions from published accuracy and precision data. Thus, our goal in this paper is to explore the use of the Leap in the specific scenario of endonasal pituitary surgery. We use it to control a concentric tube continuum robot in a phantom study, and compare user performance using the Leap to previously published results using the Phantom Omni. We find that the users were able to achieve nearly identical average resection percentage and overall surgical duration with the Leap. PMID:26752501

A flow visualization study of single-arm sculling movement emulating cephalopod thrust generation

NASA Astrophysics Data System (ADS)

Kazakidi, Asimina; Gnanamanickam, Ebenezer P.; Tsakiris, Dimitris P.; Ekaterinaris, John A.

2014-11-01

In addition to jet propulsion, octopuses use arm-swimming motion as an effective means of generating bursts of thrust, for hunting, defense, or escape. The individual role of their arms, acting as thrust generators during this motion, is still under investigation, in view of an increasing robotic interest for alternative modes of propulsion, inspired by the octopus. Computational studies have revealed that thrust generation is associated with complex vortical flow patterns in the wake of the moving arm, however further experimental validation is required. Using the hydrogen bubble technique, we studied the flow disturbance around a single octopus-like robotic arm, undergoing two-stroke sculling movements in quiescent fluid. Although simplified, sculling profiles have been found to adequately capture the fundamental kinematics of the octopus arm-swimming behavior. In fact, variation of the sculling parameters alters considerably the generation of forward thrust. Flow visualization revealed the generation of complex vortical structures around both rigid and compliant arms. Increased disturbance was evident near the tip, particularly at the transitional phase between recovery and power strokes. These results are in good qualitative agreement with computational and robotic studies. Work funded by the ESF-GSRT HYDRO-ROB Project PE7(281).

THE STRUCTURE OF SPIRAL SHOCKS EXCITED BY PLANETARY-MASS COMPANIONS

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

Zhu, Zhaohuan; Stone, James M.; Rafikov, Roman R.

2015-11-10

Direct imaging observations have revealed spiral structures in protoplanetary disks. Previous studies have suggested that planet-induced spiral arms cannot explain some of these spiral patterns, due to the large pitch angle and high contrast of the spiral arms in observations. We have carried out three-dimensional (3D) hydrodynamical simulations to study spiral wakes/shocks excited by young planets. We find that, in contrast with linear theory, the pitch angle of spiral arms does depend on the planet mass, which can be explained by the nonlinear density wave theory. A secondary (or even a tertiary) spiral arm, especially for inner arms, is alsomore » excited by a massive planet. With a more massive planet in the disk, the excited spiral arms have larger pitch angle and the separation between the primary and secondary arms in the azimuthal direction is also larger. We also find that although the arms in the outer disk do not exhibit much vertical motion, the inner arms have significant vertical motion, which boosts the density perturbation at the disk atmosphere. Combining hydrodynamical models with Monte-Carlo radiative transfer calculations, we find that the inner spiral arms are considerably more prominent in synthetic near-IR images using full 3D hydrodynamical models than images based on two-dimensional models assuming vertical hydrostatic equilibrium, indicating the need to model observations with full 3D hydrodynamics. Overall, companion-induced spiral arms not only pinpoint the companion’s position but also provide three independent ways (pitch angle, separation between two arms, and contrast of arms) to constrain the companion’s mass.« less

Structural behavior of the space shuttle SRM Tang-Clevis joint

NASA Technical Reports Server (NTRS)

Greene, W. H.; Knight, N. F., Jr.; Stockwell, A. E.

1986-01-01

The space shuttle Challenger accident investigation focused on the failure of a tang-clevis joint on the right solid rocket motor. The existence of relative motion between the inner arm of the clevis and the O-ring sealing surface on the tang has been identified as a potential contributor to this failure. This motion can cause the O-rings to become unseated and therefore lose their sealing capability. Finite element structural analyses have been performed to predict both deflections and stresses in the joint under the primary, pressure loading condition. These analyses have demonstrated the difficulty of accurately predicting the structural behavior of the tang-clevis joint. Stresses in the vicinity of the connecting pins, obtained from elastic analyses, considerably exceed the material yield allowables indicating that inelastic analyses are probably necessary. Two modifications have been proposed to control the relative motion between the inner clevis arm and the tang at the O-ring sealing surface. One modification, referred to as the capture feature, uses additional material on the inside of the tang to restrict motion of the inner clevis arm. The other modification uses external stiffening rings above and below the joint to control the local bending in the shell near the joint. Both of these modifications are shown to be effective in controlling the relative motion in the joint.

Structural behavior of the space shuttle SRM tang-clevis joint

NASA Technical Reports Server (NTRS)

Greene, William H.; Knight, Norman F., Jr.; Stockwell, Alan E.

1988-01-01

The space shuttle Challenger accident investigation focused on the failure of a tang-clevis joint on the right solid rocket motor. The existence of relative motion between the inner arm of the clevis and the O-ring sealing surface on the tang has been identified as a potential contributor to this failure. This motion can cause the O-rings to become unseated and therefore lose their sealing capability. Finite element structural analyses have been performed to predict both deflections and stresses in the joint under the primary, pressure loading condition. These analyses have demonstrated the difficulty of accurately predicting the structural behavior of the tang-clevis joint. Stresses in the vicinity of the connecting pins, obtained from elastic analyses, considerably exceed the material yield allowables indicating that inelastic analyses are probably necessary. Two modifications have been proposed to control the relative motion between the inner clevis arm and the tang at the O-ring sealing surface. One modification, referred to as the capture feature, uses additional material on the inside of the tang to restrict motion of the inner clevis arm. The other modification uses external stiffening rings above and below the joint to control the local bending in the shell near the joint. Both of these modifications are shown to be effective in controlling the relative motion in the joint.

Quantum phases and phase transitions in disordered low-dimensional systems: thin film superconductors, bilayer two-dimensional electron systems, and one-dimensional optical lattices

NASA Astrophysics Data System (ADS)

Zhang, Nan

Understanding the Earth's evolution is a fundamental goal of geophysics. The mantle plays the key role in understanding the Earth's evolution. The convective planform of the mantle influences the energy exchange of the core on the core-mantle boundary (CMB) and hence the geodynamo process, determines the heat release and hence the thermal evolution of the Earth, and shapes the long wavelength topography on the surface of the Earth. Given the observationally constrained mantle viscosity structure, and realistic convective vigor and internal heating rate, the numerical modeling of mantle convection shows that the mobile-lid mantle convection is characterized by either a spherical harmonic degree-1 planform with a major upwelling in one hemisphere and a major downwelling in the other hemisphere when continents are absent, or a degree-2 planform with two antipodal major upwellings when a supercontinent is present. The Earth's mantle evolves from one to the other of these two modes due to modulation of continents, causing the cyclic processes of assembly and breakup of supercontinents. However, to constrain the realistically temporal evolution of mantle convection, other observations such as the time-dependent plate motion and geological records are needed. I reconstruct a proxy model for global plate motion for the last 450 Myr. Using the proxy plate motion model as time dependent boundary conditions, I reproduce well the basic features of the present-day mantle structure including the African and Pacific superplumes and chemical piles, and a predominantly degree 2 structure throughout the lower mantle. I further demonstrate that the mantle in the African hemisphere around the Pangea time is predominated by cold downwellings resulting from the convergence between Gondwana and Laurussia, consistent with the 1-2-1 cyclic model from the numerical modeling of mantle convection. Based on the evolution of the three-dimensional mantle structures, I reconstruct tempo-spatial evolutions of the surface and CMB heat fluxes, and the dynamic topography since the Paleozoic. My result shows that the surface heat flux increases by ~16% from 200 to 120 Ma ago as a result of Pangea breakup and the equatorial CMB heat flux has two minima that coincide with the Kiaman (316-262 Ma) and Cretaceous (118-83 Ma) Superchrons, respectively, and may be responsible for the Superchrons. My results of the dynamic topography show that the Slave Craton subsided when the major downwelling occupied the mantle beneath North America, while Sao Francisco Craton, Kaapvaal Craton, and Yilgarn Craton were supported by the large scale upwellings in the mantle beneath the very south of Pangea around 330 Ma during Pangea formation. After Pangea formed, Slave Craton started to uplift as the major downwelling heated up with time and were controlled by the subductions close to it. Sao Francisco Craton and Kaapvaal Craton kept uplifting due to the returning African Superplume. My reconstructed dynamic topography history compares well with the vertical motion history of Slave Craton indicated by the thermochronometry study.

Electrical servo actuator bracket. [fuel control valves on jet engines

NASA Technical Reports Server (NTRS)

Sawyer, R. V. (Inventor)

1981-01-01

An electrical servo actuator is mounted on a support arm which is allowed to pivot on a bolt through a fixed mounting bracket. The actuator is pivotally connected to the end of the support arm by a bolt which has an extension allowed to pass through a slot in the fixed mounting bracket. An actuator rod extends from the servo actuator to a crank arm which turns a control shaft. A short linear thrust of the rod pivots the crank arm through about 90 for full-on control with the rod contracted into the servo actuator, and full-off control when the rod is extended from the actuator. A spring moves the servo actuator and actuator rod toward the control crank arm once the actuator rod is fully extended in the full-off position. This assures the turning of the control shaft to a full-off position. A stop bolt and slot are provided to limit pivot motion. Once fully extended, the spring pivots the motion.

Control method and system for hydraulic machines employing a dynamic joint motion model

DOEpatents

Danko, George [Reno, NV

2011-11-22

A control method and system for controlling a hydraulically actuated mechanical arm to perform a task, the mechanical arm optionally being a hydraulically actuated excavator arm. The method can include determining a dynamic model of the motion of the hydraulic arm for each hydraulic arm link by relating the input signal vector for each respective link to the output signal vector for the same link. Also the method can include determining an error signal for each link as the weighted sum of the differences between a measured position and a reference position and between the time derivatives of the measured position and the time derivatives of the reference position for each respective link. The weights used in the determination of the error signal can be determined from the constant coefficients of the dynamic model. The error signal can be applied in a closed negative feedback control loop to diminish or eliminate the error signal for each respective link.

Data fusion of multiple kinect sensors for a rehabilitation system.

PubMed

Huibin Du; Yiwen Zhao; Jianda Han; Zheng Wang; Guoli Song

2016-08-01

Kinect-like depth sensors have been widely used in rehabilitation systems. However, single depth sensor processes limb-blocking, data loss or data error poorly, making it less reliable. This paper focus on using two Kinect sensors and data fusion method to solve these problems. First, two Kinect sensors capture the motion data of the healthy arm of the hemiplegic patient; Second, merge the data using the method of Set-Membership-Filter (SMF); Then, mirror this motion data by the Middle-Plane; In the end, control the wearable robotic arm driving the patient's paralytic arm so that the patient can interactively and initiatively complete a variety of recovery actions prompted by computer with 3D animation games.

Autonomous manipulation on a robot: Summary of manipulator software functions

NASA Technical Reports Server (NTRS)

Lewis, R. A.

1974-01-01

A six degree-of-freedom computer-controlled manipulator is examined, and the relationships between the arm's joint variables and 3-space are derived. Arm trajectories using sequences of third-degree polynomials to describe the time history of each joint variable are presented and two approaches to the avoidance of obstacles are given. The equations of motion for the arm are derived and then decomposed into time-dependent factors and time-independent coefficients. Several new and simplifying relationships among the coefficients are proven. Two sample trajectories are analyzed in detail for purposes of determining the most important contributions to total force in order that relatively simple approximations to the equations of motion can be used.

Load emphasizes muscle effort minimization during selection of arm movement direction

PubMed Central

2012-01-01

Background Directional preferences during center-out horizontal shoulder-elbow movements were previously established for both the dominant and non-dominant arm with the use of a free-stroke drawing task that required random selection of movement directions. While the preferred directions were mirror-symmetrical in both arms, they were attributed to a tendency specific for the dominant arm to simplify control of interaction torque by actively accelerating one joint and producing largely passive motion at the other joint. No conclusive evidence has been obtained in support of muscle effort minimization as a contributing factor to the directional preferences. Here, we tested whether distal load changes directional preferences, making the influence of muscle effort minimization on the selection of movement direction more apparent. Methods The free-stroke drawing task was performed by the dominant and non-dominant arm with no load and with 0.454 kg load at the wrist. Motion of each arm was limited to rotation of the shoulder and elbow in the horizontal plane. Directional histograms of strokes produced by the fingertip were calculated to assess directional preferences in each arm and load condition. Possible causes for directional preferences were further investigated by studying optimization across directions of a number of cost functions. Results Preferences in both arms to move in the diagonal directions were revealed. The previously suggested tendency to actively accelerate one joint and produce passive motion at the other joint was supported in both arms and load conditions. However, the load increased the tendency to produce strokes in the transverse diagonal directions (perpendicular to the forearm orientation) in both arms. Increases in required muscle effort caused by the load suggested that the higher frequency of movements in the transverse directions represented increased influence of muscle effort minimization on the selection of movement direction. This interpretation was supported by cost function optimization results. Conclusions While without load, the contribution of muscle effort minimization was minor, and therefore, not apparent, the load revealed this contribution by enhancing it. Unlike control of interaction torque, the revealed tendency to minimize muscle effort was independent of arm dominance. PMID:23035925

Kinesthetic coupling between operator and remote manipulator

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Salisbury, J. K., Jr.

1980-01-01

A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

Development master arm of 2-DOF planar parallel manipulator for In-Vitro Fertilization

NASA Astrophysics Data System (ADS)

Thamrongaphichartkul, Kitti; Vongbunyong, Supachai; Nuntakarn, Lalana

2018-01-01

Micromanipulator is a mechanical device used for manipulating miniature objects in the order of micron. It is widely used in In-Vitro Fertilization (IVF) in which sperms will be held in a micro-needle and penetrate to an oocyte for fertilization. IVF needs to be performed by high skill embryologists to control the movement of the needle accurately due to the lack of tactile perception of the user. Haptic device is a device that can transmit and simulate position, velocity and force in order to enhance interaction between the user and system. However, commercially available haptic devices have unnecessary degrees of freedom and limited workspace which are inappropriate for IVF process. This paper focuses on development of a haptic device for using in IVF process. It will be used as a master arm for the master-slave system for IVF process in order to enhance the ability of users to control the micromanipulator. As a result, the embryologist is able to carry out the IVF process more effectively with having tactile perception.

Master-slave system with force feedback based on dynamics of virtual model

NASA Technical Reports Server (NTRS)

Nojima, Shuji; Hashimoto, Hideki

1994-01-01

A master-slave system can extend manipulating and sensing capabilities of a human operator to a remote environment. But the master-slave system has two serious problems: one is the mechanically large impedance of the system; the other is the mechanical complexity of the slave for complex remote tasks. These two problems reduce the efficiency of the system. If the slave has local intelligence, it can help the human operator by using its good points like fast calculation and large memory. The authors suggest that the slave is a dextrous hand with many degrees of freedom able to manipulate an object of known shape. It is further suggested that the dimensions of the remote work space be shared by the human operator and the slave. The effect of the large impedance of the system can be reduced in a virtual model, a physical model constructed in a computer with physical parameters as if it were in the real world. A method to determine the damping parameter dynamically for the virtual model is proposed. Experimental results show that this virtual model is better than the virtual model with fixed damping.

SLAVE QUARTERS (RESTORED). This is the north building, one of ...

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

SLAVE QUARTERS (RESTORED). This is the north building, one of the two identical buildings in the plantation. Each building has a 2-room plan. - Hopsewee Plantation, Slave Quarters, U.S. Routes 17 & 701, Santee River, North, Georgetown, Georgetown County, SC

Moving target feature phenomenology data collection at China Lake

NASA Astrophysics Data System (ADS)

Gross, David C.; Hill, Jeff; Schmitz, James L.

2002-08-01

This paper describes the DARPA Moving Target Feature Phenomenology (MTFP) data collection conducted at the China Lake Naval Weapons Center's Junction Ranch in July 2001. The collection featured both X-band and Ku-band radars positioned on top of Junction Ranch's Parrot Peak. The test included seven targets used in eleven configurations with vehicle motion consisting of circular, straight-line, and 90-degree turning motion. Data was collected at 10-degree and 17-degree depression angles. Key parameters in the collection were polarization, vehicle speed, and road roughness. The collection also included a canonical target positioned at Junction Ranch's tilt-deck turntable. The canonical target included rotating wheels (military truck tire and civilian pick-up truck tire) and a flat plate with variable positioned corner reflectors. The canonical target was also used to simulate a rotating antenna and a vibrating plate. The target vehicles were instrumented with ARDS pods for differential GPS and roll, pitch and yaw measurements. Target motion was also documented using a video camera slaved to the X-band radar antenna and by a video camera operated near the target site.

Monitoring and Controlling an Underwater Robotic Arm

NASA Technical Reports Server (NTRS)

Haas, John; Todd, Brian Keith; Woodcock, Larry; Robinson, Fred M.

2009-01-01

The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

Effect of Long-Duration Spaceflight on Postural Control During Self-Generated Perturbations

NASA Technical Reports Server (NTRS)

Layne, Charles S.; Mulavera, Ajitkumar P.; McDonald, P. Vernon; Pruett, Casey J.; Kozlovskaya, Innessa B.; Bloomberg, Jacob J.

2001-01-01

This report is the first systematic evaluation of the effects of prolonged weightlessness on the bipedal postural control processes during self-generated perturbations produced by voluntary upper limb movements. Spaceflight impacts humans in a variety of ways, one of which is compromised postflight postural control. We examined the neuromuscular activation characteristics and center of pressure motion (COP) associated with arm movement of eight subjects who experienced long duration spaceflight (3-6 months) aboard the Mir space station. Surface electromyography (EMG), arm acceleration, and COP motion were collected while astronauts performed rapid unilateral shoulder flexions prior to and after spaceflight. Subjects displayed compromised postural control after flight as evidenced by modified peak-to-peak COP anterior-posterior and medio-lateral motion and COP pathlength relative to preflight values. These changes were associated with disrupted neuromuscular activation characteristics, particularly after the completion of arm acceleration (i.e. when subjects were attempting to maintain their upright posture). These findings suggest that although the subjects were able to assemble coordination modes that enabled them to generate rapid arm movements, the subtle control necessary to maintain bipedal equilibrium evident in their preflight performance is compromised after long duration spaceflight.

Learning robotic eye-arm-hand coordination from human demonstration: a coupled dynamical systems approach.

PubMed

Lukic, Luka; Santos-Victor, José; Billard, Aude

2014-04-01

We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied across trials. These experiments suggest that reaching with obstacle avoidance is organized in a sequential manner, where the obstacle acts as an intermediary target. Furthermore, we demonstrate that the notion of workspace travelled by the hand is embedded explicitly in a forward planning scheme, which is actively involved in detecting obstacles on the way when performing reaching. We find that the gaze proactively coordinates the pattern of eye-arm motion during obstacle avoidance. This study provides also a quantitative assessment of the coupling between the eye-arm-hand motion. We show that the coupling follows regular phase dependencies and is unaltered during obstacle avoidance. These observations provide a basis for the design of a computational model. Our controller extends the coupled dynamical systems framework and provides fast and synchronous control of the eyes, the arm and the hand within a single and compact framework, mimicking similar control system found in humans. We validate our model for visuomotor control of a humanoid robot.

Damage Proxy Map from Interferometric Synthetic Aperture Radar Coherence

NASA Technical Reports Server (NTRS)

Webb, Frank H. (Inventor); Yun, Sang-Ho (Inventor); Fielding, Eric Jameson (Inventor); Simons, Mark (Inventor)

2015-01-01

A method, apparatus, and article of manufacture provide the ability to generate a damage proxy map. A master coherence map and a slave coherence map, for an area prior and subsequent to (including) a damage event are obtained. The slave coherence map is registered to the master coherence map. Pixel values of the slave coherence map are modified using histogram matching to provide a first histogram of the master coherence map that exactly matches a second histogram of the slave coherence map. A coherence difference between the slave coherence map and the master coherence map is computed to produce a damage proxy map. The damage proxy map is displayed with the coherence difference displayed in a visually distinguishable manner.

Mortality in the slave and white populations of Natchitoches Parish, Louisiana, 1850.

PubMed Central

René, A. A.; Daniels, D. E.; Jones, W.; Moore, F. I.

1992-01-01

A review of mortality from the 1850 census mortality schedules of Natchitoches Parish, Louisiana has provided a snapshot of the health conditions of African-American slaves. The cause of death was abstracted from the mortality schedule and categorized according to the ninth revision of the Manual of the International Classification of Diseases. Children under the age of 9 accounted for 44% of the total mortality. Sixty-four percent of all deaths recorded occurred in the slave population. Sixty-two percent of the slave deaths occurred in the male population. Leading causes of death were helminthiasis, whooping cough, fever, cholera, and pneumonia. Reports of mortality due to Cachexia Africana (dirt eating) among slaves are discussed. PMID:1404481

FORCE MULTIPLIER FOR USE WITH MASTER SLAVES

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

Miles, L.E.; Parsons, T.C.; Howe, P.W.

1961-06-01

A force multiplier was designed. This piece of equipment was made to increase the gripping force presently available in the Model 8 master slave. The force multiplier described incorporates a clamp which can be quickly attached to and detached from the master slave hand. (auth)

Enhanced arm swing alters interlimb coordination during overground walking in individuals with traumatic brain injury.

PubMed

Ustinova, Ksenia I; Langenderfer, Joseph E; Balendra, Nilanthy

2017-04-01

The current study investigated interlimb coordination in individuals with traumatic brain injury (TBI) during overground walking. The study involved 10 participants with coordination, balance, and gait abnormalities post-TBI, as well as 10 sex- and age-matched healthy control individuals. Participants walked 12m under two experimental conditions: 1) at self-selected comfortable walking speeds; and 2) with instructions to increase the amplitude and out-of-phase coordination of arm swinging. The gait was assessed with a set of spatiotemporal and kinematic parameters including the gait velocity, step length and width, double support time, lateral displacement of the center of mass, the amplitude of horizontal trunk rotation, and angular motions at shoulder and hip joints in sagittal plane. Interlimb coordination (coupling) was analyzed as the relative phase angles between the left and right shoulders, hips, and contralateral shoulders and hips, with an ideal out-of-phase coupling of 180° and ideal in-phase coupling of 0°. The TBI group showed much less interlimb coupling of the above pairs of joint motions than the control group. When participants were required to increase and synchronize arm swinging, coupling between shoulder and hip motions was significantly improved in both groups. Enhanced arm swinging was associated with greater hip and shoulder motion amplitudes, and greater step length. No other significant changes in spatiotemporal or kinematic gait characteristics were found in either group. The results suggest that arm swinging may be a gait parameter that, if controlled properly, can improve interlimb coordination during overground walking in patients with TBI. Copyright © 2017 Elsevier B.V. All rights reserved.

Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures.

PubMed

Cruces, R A Castillo; Wahrburg, J

2007-12-01

This paper presents the ongoing results of an effort to achieve the integration of a navigated cooperative robotic arm into computer-assisted orthopaedic surgery. A seamless integration requires the system acting in direct cooperation with the surgeon instead of replacing him. Two technical issues are discussed to improve the haptic operating modes for interactive robot guidance. The concept of virtual fixtures is used to restrict the range of motion of the robot according to pre-operatively defined constraints, and methodologies to assure a robust and accurate motion through singular arm configurations are investigated. A new method for handling singularities is proposed, which is superior to the commonly used damped-least-squares method. It produces no deviations of the end-effector in relation to the virtually constrained path. A solution to assure a good performance of a hands-on robotic arm at singularity configurations is proposed. (c) 2007 John Wiley & Sons, Ltd.

A double pendulum swing experiment: In search of a better bat

NASA Astrophysics Data System (ADS)

Cross, Rod

2005-04-01

Experimental results on the large-amplitude motion of a double pendulum are presented, with emphasis on the first half cycle. The initial part of the swing is reproducible and is of interest in modeling various human movement activities such as running, throwing, kicking, and the swing of a bat or racquet. Beyond this time, the motion is chaotic. The forces and torques acting on each pendulum segment are analyzed to explain its motion. The results show how a "perfect" bat could be designed where all the kinetic energy from the player's arms is transferred to the ball and none is retained in the arms or the bat after the impact.

Robot arm system for automatic satellite capture and berthing

NASA Technical Reports Server (NTRS)

Nishida, Shinichiro; Toriu, Hidetoshi; Hayashi, Masato; Kubo, Tomoaki; Miyata, Makoto

1994-01-01

Load control is one of the most important technologies for capturing and berthing free flying satellites by a space robot arm because free flying satellites have different motion rates. The performance of active compliance control techniques depend on the location of the force sensor and the arm's structural compliance. A compliance control technique for the robot arm's structural elasticity and a consideration for an end-effector appropriate for it are presented in this paper.

Electromagnetic variable degrees of freedom actuator systems and methods

DOEpatents

Montesanti, Richard C [Pleasanton, CA; Trumper, David L [Plaistow, NH; Kirtley, Jr., James L.

2009-02-17

The present invention provides a variable reluctance actuator system and method that can be adapted for simultaneous rotation and translation of a moving element by applying a normal-direction magnetic flux on the moving element. In a beneficial example arrangement, the moving element includes a swing arm that carries a cutting tool at a set radius from an axis of rotation so as to produce a rotary fast tool servo that provides a tool motion in a direction substantially parallel to the surface-normal of a workpiece at the point of contact between the cutting tool and workpiece. An actuator rotates a swing arm such that a cutting tool moves toward and away from a mounted rotating workpiece in a controlled manner in order to machine the workpiece. Position sensors provide rotation and displacement information for a swing arm to a control system. A control system commands and coordinates motion of the fast tool servo with the motion of a spindle, rotating table, cross-feed slide, and in feed slide of a precision lathe.

Validation of cardiac accelerometer sensor measurements.

PubMed

Remme, Espen W; Hoff, Lars; Halvorsen, Per Steinar; Naerum, Edvard; Skulstad, Helge; Fleischer, Lars A; Elle, Ole Jakob; Fosse, Erik

2009-12-01

In this study we have investigated the accuracy of an accelerometer sensor designed for the measurement of cardiac motion and automatic detection of motion abnormalities caused by myocardial ischaemia. The accelerometer, attached to the left ventricular wall, changed its orientation relative to the direction of gravity during the cardiac cycle. This caused a varying gravity component in the measured acceleration signal that introduced an error in the calculation of myocardial motion. Circumferential displacement, velocity and rotation of the left ventricular apical region were calculated from the measured acceleration signal. We developed a mathematical method to separate translational and gravitational acceleration components based on a priori assumptions of myocardial motion. The accuracy of the measured motion was investigated by comparison with known motion of a robot arm programmed to move like the heart wall. The accuracy was also investigated in an animal study. The sensor measurements were compared with simultaneously recorded motion from a robot arm attached next to the sensor on the heart and with measured motion by echocardiography and a video camera. The developed compensation method for the varying gravity component improved the accuracy of the calculated velocity and displacement traces, giving very good agreement with the reference methods.

[Effects of massage on delayed-onset muscle soreness].

PubMed

Bakowski, Paweł; Musielak, Bartosz; Sip, Paweł; Biegański, Grzegorz

2008-01-01

Delayed onset muscle soreness (DOMS) is the pain or discomfort often felt 12 to 24 hours after exercising and subsides generally within 4 to 6 days. Once thought to be caused by lactic acid buildup, a more recent theory is that it is caused by inflammatory process or tiny tears in the muscle fibers caused by eccentric contraction, or unaccustomed training levels. Exercises that involve many eccentric contractions will result in the most severe DOMS. Fourteen healthy men with no history of upper arm injury and no experience in resistance training were recruited. The mean age, height, and mass of the subjects were 22.8 +/- 1.2 years, 178.3 +/- 10.3 cm, and 75.0 +/- 14.2 kg, respectively. Subjects performed 8 sets of concentric and eccentric actions of the elbow flexors with each arm according to Stay protocol. One arm received 10 minutes of massage 30 minutes after exercise, the contralateral arm received no treatment. Measurements were taken at 9 assessment times: pre-exercise and postexercise at 10 min, 6, 12, 24, 36, 48, 72 and 96 hours. Dependent variables were range of motion, perceived soreness and upper arm circumference. There was noticed difference in perceived soreness across time between groups. The analysis indicated that massage resulted in a 10% to 20% decrease in the severity of soreness, but the differences were not significant. Difference in range of motion and arm circumference was not observed. Massage administered 30 minutes after exercises could have a beneficial influence on DOMS but without influence on muscle swelling and range of motion.

Human motion characteristics in relation to feeling familiar or frightened during an announced short interaction with a proactive humanoid.

PubMed

Baddoura, Ritta; Venture, Gentiane

2014-01-01

During an unannounced encounter between two humans and a proactive humanoid (NAO, Aldebaran Robotics), we study the dependencies between the human partners' affective experience (measured via the answers to a questionnaire) particularly regarding feeling familiar and feeling frightened, and their arm and head motion [frequency and smoothness using Inertial Measurement Units (IMU)]. NAO starts and ends its interaction with its partners by non-verbally greeting them hello (bowing) and goodbye (moving its arm). The robot is invested with a real and useful task to perform: handing each participant an envelope containing a questionnaire they need to answer. NAO's behavior varies from one partner to the other (Smooth with X vs. Resisting with Y). The results show high positive correlations between feeling familiar while interacting with the robot and: the frequency and smoothness of the human arm movement when waving back goodbye, as well as the smoothness of the head during the whole encounter. Results also show a negative dependency between feeling frightened and the frequency of the human arm movement when waving back goodbye. The principal component analysis (PCA) suggests that, in regards to the various motion measures examined in this paper, the head smoothness and the goodbye gesture frequency are the most reliable measures when it comes to considering the familiar experienced by the participants. The PCA also points out the irrelevance of the goodbye motion frequency when investigating the participants' experience of fear in its relation to their motion characteristics. The results are discussed in light of the major findings of studies on body movements and postures accompanying specific emotions.

Human motion characteristics in relation to feeling familiar or frightened during an announced short interaction with a proactive humanoid

PubMed Central

Baddoura, Ritta; Venture, Gentiane

2014-01-01

During an unannounced encounter between two humans and a proactive humanoid (NAO, Aldebaran Robotics), we study the dependencies between the human partners' affective experience (measured via the answers to a questionnaire) particularly regarding feeling familiar and feeling frightened, and their arm and head motion [frequency and smoothness using Inertial Measurement Units (IMU)]. NAO starts and ends its interaction with its partners by non-verbally greeting them hello (bowing) and goodbye (moving its arm). The robot is invested with a real and useful task to perform: handing each participant an envelope containing a questionnaire they need to answer. NAO's behavior varies from one partner to the other (Smooth with X vs. Resisting with Y). The results show high positive correlations between feeling familiar while interacting with the robot and: the frequency and smoothness of the human arm movement when waving back goodbye, as well as the smoothness of the head during the whole encounter. Results also show a negative dependency between feeling frightened and the frequency of the human arm movement when waving back goodbye. The principal component analysis (PCA) suggests that, in regards to the various motion measures examined in this paper, the head smoothness and the goodbye gesture frequency are the most reliable measures when it comes to considering the familiar experienced by the participants. The PCA also points out the irrelevance of the goodbye motion frequency when investigating the participants' experience of fear in its relation to their motion characteristics. The results are discussed in light of the major findings of studies on body movements and postures accompanying specific emotions. PMID:24688466

Coordination of multiple robot arms

NASA Technical Reports Server (NTRS)

Barker, L. K.; Soloway, D.

1987-01-01

Kinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself.

Agonistic Struggle: Master-Slave Dialogues in Humanities Supervision

ERIC Educational Resources Information Center

Grant, Barbara M.

2008-01-01

Hegel's master and slave is a significant archetype for graduate research supervision. The master-slave relation vividly exemplifies the hierarchical bond that ties supervisor and student together. Such a confronting view of supervision provides a counterbalance to contemporary emphases on equality between supervisor and student. In what follows,…

The American Slave Narrative: Dramatic Resource Material for the Classroom.

ERIC Educational Resources Information Center

Polsky, Milton E.

Examples from American slave narratives offer demonstrative evidence that slave biographies and autobiographies deal with the worthwhile theme of the denial of and struggle for freedom and contain exciting adventure plots consisting of mystery, romance, risk-taking and disguises. Characters striving for freedom exhibit positive traits such as…

Method and apparatus for connecting finite element meshes and performing simulations therewith

DOEpatents

Dohrmann, Clark R.; Key, Samuel W.; Heinstein, Martin W.

2003-05-06

The present invention provides a method of connecting dissimilar finite element meshes. A first mesh, designated the master mesh, and a second mesh, designated the slave mesh, each have interface surfaces proximal the other. Each interface surface has a corresponding interface mesh comprising a plurality of interface nodes. Each slave interface node is assigned new coordinates locating the interface node on the interface surface of the master mesh. The slave interface surface is further redefined to be the projection of the slave interface mesh onto the master interface surface.

Detecting unstable periodic orbits in chaotic time series using synchronization

NASA Astrophysics Data System (ADS)

Olyaei, Ali Azimi; Wu, Christine; Kinsner, Witold

2017-07-01

An alternative approach of detecting unstable periodic orbits in chaotic time series is proposed using synchronization techniques. A master-slave synchronization scheme is developed, in which the chaotic system drives a system of harmonic oscillators through a proper coupling condition. The proposed scheme is designed so that the power of the coupling signal exhibits notches that drop to zero once the system approaches an unstable orbit yielding an explicit indication of the presence of a periodic motion. The results shows that the proposed approach is particularly suitable in practical situations, where the time series is short and noisy, or it is obtained from high-dimensional chaotic systems.

Three-dimensional moment arms and architecture of chimpanzee (Pan troglodytes) leg musculature

PubMed Central

Holowka, Nicholas B; O'Neill, Matthew C

2013-01-01

The muscular and skeletal morphology of the chimpanzee ankle and foot differs from that of humans in many important respects. However, little information is available on the moment arms and architecture of the muscles that function around chimpanzee ankle and foot joints. The main goals of this study were to determine the influence of changes in leg and foot position on the moment arms of these muscle–tendon units (MTUs), and provide new measurements of their architecture. Three-dimensional moment arm data were collected from two adult, cadaveric Pan troglodytes specimens for 11 MTUs that cross the ankle and foot joints. Tendon-excursion measurements were made throughout the full range of plantarflexion–dorsiflexion (PF–DF) and eversion–inversion (EV–IN), including repeated measurements for mm. gastrocnemius at 0 °, 45 °, 90 ° and 135 ° of knee flexion. The total range of motion was calculated from three-dimensional joint motion data while ensuring that foot movement was restricted to a single plane. Measurements of muscle mass, fascicle length, pennation angle and physiological cross-sectional area were then collected for each MTU. Our results demonstrate that joint position has a significant effect on moment arm lengths, and that in some cases this effect is counterintuitive. These new data contribute to filling a significant gap in previously published chimpanzee moment arm data, providing a comprehensive characterization of the MTUs that move the chimpanzee ankle and foot joints. They also provide empirical support to the notion that chimpanzees have larger ranges of motion at these joints than humans. Comparison of osteometric estimates of moment arm lengths to direct tendon-excursion measures provides some guidance for the use of skeletal features in estimations of PF–DF moment arms. Finally, muscle architecture data are consistent with the findings of previous studies, and increase the sample size of the chimpanzee data that are currently available. PMID:24117363

A brittle star-like robot capable of immediately adapting to unexpected physical damage.

PubMed

Kano, Takeshi; Sato, Eiki; Ono, Tatsuya; Aonuma, Hitoshi; Matsuzaka, Yoshiya; Ishiguro, Akio

2017-12-01

A major challenge in robotic design is enabling robots to immediately adapt to unexpected physical damage. However, conventional robots require considerable time (more than several tens of seconds) for adaptation because the process entails high computational costs. To overcome this problem, we focus on a brittle star-a primitive creature with expendable body parts. Brittle stars, most of which have five flexible arms, occasionally lose some of them and promptly coordinate the remaining arms to escape from predators. We adopted a synthetic approach to elucidate the essential mechanism underlying this resilient locomotion. Specifically, based on behavioural experiments involving brittle stars whose arms were amputated in various ways, we inferred the decentralized control mechanism that self-coordinates the arm motions by constructing a simple mathematical model. We implemented this mechanism in a brittle star-like robot and demonstrated that it adapts to unexpected physical damage within a few seconds by automatically coordinating its undamaged arms similar to brittle stars. Through the above-mentioned process, we found that physical interaction between arms plays an essential role for the resilient inter-arm coordination of brittle stars. This finding will help develop resilient robots that can work in inhospitable environments. Further, it provides insights into the essential mechanism of resilient coordinated motions characteristic of animal locomotion.

Evaluation of a dynamic arm support for seated and standing tasks: a laboratory study of electromyography and subjective feedback.

PubMed

Odell, Dan; Barr, Alan; Goldberg, Robert; Chung, Jeffrey; Rempel, David

2007-04-01

The goal of this study was to determine whether a new dynamic arm support system reduced shoulder and arm muscle load for seated and standing hand/ arm tasks. The new system provides support for both horizontal and vertical arm motion. A total of 11 participants performed ten tasks (five seated and five standing) both with and without the arm support. Outcomes were assessed with electromyography and subjective feedback. Muscle activity was measured over the dominant side supraspinatus, triceps and forearm extensor muscles. Significant (p < 0.01) reductions in static muscle activity were observed in one of ten tasks performed with the support device for the supraspinatus muscle, in five tasks for the triceps and in one task for forearm extensor muscles. Likewise, a significant improvement in subjective measures was reported with the support device for 'ease of task' for two of ten tasks, for 'forearm comfort' for three of ten tasks and for 'shoulder effort' for six of ten tasks. The results suggest that a dynamic forearm support may improve subjective comfort and reduce static muscle loads in the upper extremity for tasks that involve horizontal movement of the arms. For rapid motions, the value of the support is limited due to internal inertia and friction.

A brittle star-like robot capable of immediately adapting to unexpected physical damage

PubMed Central

Sato, Eiki; Ono, Tatsuya; Aonuma, Hitoshi; Matsuzaka, Yoshiya; Ishiguro, Akio

2017-01-01

A major challenge in robotic design is enabling robots to immediately adapt to unexpected physical damage. However, conventional robots require considerable time (more than several tens of seconds) for adaptation because the process entails high computational costs. To overcome this problem, we focus on a brittle star—a primitive creature with expendable body parts. Brittle stars, most of which have five flexible arms, occasionally lose some of them and promptly coordinate the remaining arms to escape from predators. We adopted a synthetic approach to elucidate the essential mechanism underlying this resilient locomotion. Specifically, based on behavioural experiments involving brittle stars whose arms were amputated in various ways, we inferred the decentralized control mechanism that self-coordinates the arm motions by constructing a simple mathematical model. We implemented this mechanism in a brittle star-like robot and demonstrated that it adapts to unexpected physical damage within a few seconds by automatically coordinating its undamaged arms similar to brittle stars. Through the above-mentioned process, we found that physical interaction between arms plays an essential role for the resilient inter-arm coordination of brittle stars. This finding will help develop resilient robots that can work in inhospitable environments. Further, it provides insights into the essential mechanism of resilient coordinated motions characteristic of animal locomotion. PMID:29308250

Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks.

PubMed

Bertomeu-Motos, Arturo; Lledó, Luis D; Díez, Jorge A; Catalan, Jose M; Ezquerro, Santiago; Badesa, Francisco J; Garcia-Aracil, Nicolas

2015-12-04

This paper presents a novel kinematic reconstruction of the human arm chain with five degrees of freedom and the estimation of the shoulder location during rehabilitation therapy assisted by end-effector robotic devices. This algorithm is based on the pseudoinverse of the Jacobian through the acceleration of the upper arm, measured using an accelerometer, and the orientation of the shoulder, estimated with a magnetic angular rate and gravity (MARG) device. The results show a high accuracy in terms of arm joints and shoulder movement with respect to the real arm measured through an optoelectronic system. Furthermore, the range of motion (ROM) of 50 healthy subjects is studied from two different trials, one trying to avoid shoulder movements and the second one forcing them. Moreover, the shoulder movement in the second trial is also estimated accurately. Besides the fact that the posture of the patient can be corrected during the exercise, the therapist could use the presented algorithm as an objective assessment tool. In conclusion, the joints' estimation enables a better adjustment of the therapy, taking into account the needs of the patient, and consequently, the arm motion improves faster.

Proto-Flight Manipulator Arm (P-FMA)

NASA Technical Reports Server (NTRS)

Britton, W. R.

1977-01-01

The technical development of the Proto-Flight Manipulator Arm (P-FMA) which is a seven-degree-of-freedom general-purpose arm capable of being remotely operated in an earth orbital environment is discussed. The P-FMA is a unique manipulator, combining the capabilities of significant dexterity, high tip forces, precise motion control, gear backdriveability, high end effector grip forces and torques, and the quality of flightworthiness. The 2.4-meter (8-foot) arm weighs 52.2 kilograms (115 pounds).

Dynamics of the Pin Pallet Runaway Escapement

DTIC Science & Technology

1978-06-01

for Continued Work 29 References 32 I Appendixes A Kinematics of Coupled Motion 34 B Differential Equation of Coupled Motion 38 f C Moment Arms 42 D...Expressions for these quantities are derived in appendix D. The differential equations for the free motion of the pallet and the escape-wheel are...Coupled Motion (location 100) To solve the differential equation of coupled motion (see equation .B (-10) of appendix B)- the main program calls on

High-fidelity bilateral teleoperation systems and the effect of multimodal haptics.

PubMed

Tavakoli, Mahdi; Aziminejad, Arash; Patel, Rajni V; Moallem, Mehrdad

2007-12-01

In master-slave teleoperation applications that deal with a delicate and sensitive environment, it is important to provide haptic feedback of slave/environment interactions to the user's hand as it improves task performance and teleoperation transparency (fidelity), which is the extent of telepresence of the remote environment available to the user through the master-slave system. For haptic teleoperation, in addition to a haptics-capable master interface, often one or more force sensors are also used, which warrant new bilateral control architectures while increasing the cost and the complexity of the teleoperation system. In this paper, we investigate the added benefits of using force sensors that measure hand/master and slave/environment interactions and of utilizing local feedback loops on the teleoperation transparency. We compare the two-channel and the four-channel bilateral control systems in terms of stability and transparency, and study the stability and performance robustness of the four-channel method against nonidealities that arise during bilateral control implementation, which include master-slave communication latency and changes in the environment dynamics. The next issue addressed in the paper deals with the case where the master interface is not haptics capable, but the slave is equipped with a force sensor. In the context of robotics-assisted soft-tissue surgical applications, we explore through human factors experiments whether slave/environment force measurements can be of any help with regard to improving task performance. The last problem we study is whether slave/environment force information, with and without haptic capability in the master interface, can help improve outcomes under degraded visual conditions.

The American Slave Narrative. Dramatic Resource Material for the Classroom

ERIC Educational Resources Information Center

Polsky, Milton

1976-01-01

Notes that the story of the black runaway who escapes the slave status under great risk to live as a free man or woman comprises one of the most meaningful chapters in United States history. The slave narrative genre offers resource material which all children should find compelling and inspiring. (Author/AM)

A Review of the Conflicting Theories on the Slave Family.

ERIC Educational Resources Information Center

Davis, David Brion

1997-01-01

Historians' changing perceptions of the quality of slave family life are reviewed as they developed from World War I to the present day, noting the paternalism that marked historians' thinking in post-War period, and the romanticism that characterizes some later writings. Controversy over slave family structures continues in present-day studies.…

WE-AB-BRA-08: Correction of Patient Motion in C-Arm Cone-Beam CT Using 3D-2D Registration

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

Ouadah, S; Jacobson, M; Stayman, JW

2016-06-15

Purpose: Intraoperative C-arm cone-beam CT (CBCT) is subject to artifacts arising from patient motion during the fairly long (∼5–20 s) scan times. We present a fiducial free method to mitigate motion artifacts using 3D-2D image registration that simultaneously corrects residual errors in geometric calibration. Methods: A 3D-2D registration process was used to register each projection to DRRs computed from the 3D image by maximizing gradient orientation (GO) using the CMA-ES optimizer. The resulting rigid 6 DOF transforms were applied to the system projection matrices, and a 3D image was reconstructed via model-based image reconstruction (MBIR, which accommodates the resulting noncircularmore » orbit). Experiments were conducted using a Zeego robotic C-arm (20 s, 200°, 496 projections) to image a head phantom undergoing various types of motion: 1) 5° lateral motion; 2) 15° lateral motion; and 3) 5° lateral motion with 10 mm periodic inferior-superior motion. Images were reconstructed using a penalized likelihood (PL) objective function, and structural similarity (SSIM) was measured for axial slices of the reconstructed images. A motion-free image was acquired using the same protocol for comparison. Results: There was significant improvement (p < 0.001) in the SSIM of the motion-corrected (MC) images compared to uncorrected images. The SSIM in MC-PL images was >0.99, indicating near identity to the motion-free reference. The point spread function (PSF) measured from a wire in the phantom was restored to that of the reference in each case. Conclusion: The 3D-2D registration method provides a robust framework for mitigation of motion artifacts and is expected to hold for applications in the head, pelvis, and extremities with reasonably constrained operative setup. Further improvement can be achieved by incorporating multiple rigid components and non-rigid deformation within the framework. The method is highly parallelizable and could in principle be run with every acquisition. Research supported by National Institutes of Health Grant No. R01-EB-017226 and academic-industry partnership with Siemens Healthcare (AX Division, Forcheim, Germany).« less

Angular Motion of Projectiles with a Moving Internal Part.

DTIC Science & Technology

1977-02-01

Ball Rotor T317 hellIntermal Projectile RingsM505 Fuze Quasi-linear Angular Motion N\\ ANSTRACT (-jCanhs si rveree side ff naeweemv end identify by...LIST OF FIGURES Figure Page 1. 20mm Shell T282E1 with Arming Ball Rotor .... .......... 20 2. Fast Mode Damping Rate for the 20mm T282E1...fuze has a spherical arming rotor in a cylindrical cavity with small but non-zero clearanc’es (Figure 1). The fourth sa.ell - the 8-inch T317 - showed

Collision-free motion of two robot arms in a common workspace

NASA Technical Reports Server (NTRS)

Basta, Robert A.; Mehrotra, Rajiv; Varanasi, Murali R.

1987-01-01

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed.

Synchronisation control for neutral-type multi-slave stochastic hybrid systems

NASA Astrophysics Data System (ADS)

Zhou, Jun; Pan, Feng; Cai, Tingting; Sun, Yuqing; Zhou, Wuneng; Liu, Huashan

2017-10-01

In this paper, an exponential synchronisation problem for neutral-type multi-slave hybrid systems with stochastic perturbation is discussed, where the adaptive synchronisation model involves a master system and multiple slave systems. By the use of generalised It?'s formula and M-matrix method, a sufficient condition is obtained to guarantee the stability of the error system, and the update law of the feedback controller is determined to deduce the synchronisation between the master system and the sum system of all slave systems. Finally, a numerical example is given to illustrate the effectiveness of the results obtained in this paper.

Synchronization of unidirectionally delay-coupled chaotic oscillators with memory

NASA Astrophysics Data System (ADS)

Jaimes-Reátegui, Rider; Vera-Ávila, Victor P.; Sevilla-Escoboza, Ricardo; Huerta-Cuéllar, Guillermo; Castañeda-Hernández, Carlos E.; Chiu-Zarate, Roger; Pisarchik, Alexander N.

2016-11-01

We study synchronization of two chaotic oscillators coupled with time delay in a master-slave configuration and with delayed positive feedback in the slave oscillator which acts as memory. The dynamics of the slave oscillator is analyzed with bifurcation diagrams of the peak value of the system variable with respect to the coupling and feedback strengths and two delay times. For small coupling, when the oscillators' phases synchronize, memory can induce bistability and stabilize periodic orbits, whereas for stronger coupling it is not possible. The delayed feedback signal impairs synchronization, simultaneously enhancing coherence of the slave oscillator.

JacksonBot - Design, Simulation and Optimal Control of an Action Painting Robot

NASA Astrophysics Data System (ADS)

Raschke, Michael; Mombaur, Katja; Schubert, Alexander

We present the robotics platform JacksonBot which is capable to produce paintings inspired by the Action Painting style of Jackson Pollock. A dynamically moving robot arm splashes color from a container at the end effector on the canvas. The paintings produced by this platform rely on a combination of the algorithmic generation of robot arm motions with random effects of the splashing color. The robot can be considered as a complex and powerful tool to generate art works programmed by a user. Desired end effector motions can be prescribed either by mathematical functions, by point sequences or by data glove motions. We have evaluated the effect of different shapes of input motions on the resulting painting. In order to compute the robot joint trajectories necessary to move along a desired end effector path, we use an optimal control based approach to solve the inverse kinematics problem.

Corrective jitter motion shows similar individual frequencies for the arm and the finger.

PubMed

Noy, Lior; Alon, Uri; Friedman, Jason

2015-04-01

A characteristic of visuomotor tracking of non-regular oscillating stimuli are high-frequency jittery corrective motions, oscillating around the tracked stimuli. However, the properties of these corrective jitter responses are not well understood. For example, does the jitter response show an idiosyncratic signature? What is the relationship between stimuli properties and jitter properties? Is the jitter response similar across effectors with different inertial properties? To answer these questions, we measured participants' jitter frequencies in two tracking tasks in the arm and the finger. Thirty participants tracked the same set of eleven non-regular oscillating stimuli, vertically moving on a screen, once with forward-backward arm movements (holding a tablet stylus) and once with upward-downward index finger movements (with a motion tracker attached). Participants' jitter frequencies and tracking errors varied systematically as a function of stimuli frequency and amplitude. Additionally, there were clear individual differences in average jitter frequencies between participants, ranging from 0.7 to 1.15 Hz, similar to values reported previously. A comparison of individual jitter frequencies in the two tasks showed a strong correlation between participants' jitter frequencies in the finger and the arm, despite the very different inertial properties of the two effectors. This result suggests that the corrective jitter response stems from common neural processes.

A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training.

PubMed

Chen, Weihai; Cui, Xiang; Zhang, Jianbin; Wang, Jianhua

2015-06-01

Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a cable-driven wrist robotic rehabilitator (CDWRR) for motion training or assistance to subjects with motor disabilities. The CDWRR utilizes the wrist skeletal joints and arm segments as the supporting structure and takes advantage of cable-driven parallel design to build the system, which brings the properties of flexibility, low-cost, and low-weight. The controller of the CDWRR is designed typically based on a virtual torque-field, which is to plan "assist-as-needed" torques for the spherical motion of wrist responding to the orientation deviation in wrist motion training. The torque-field controller can be customized to different levels of rehabilitation training requirements by tuning the field parameters. Additionally, a rapidly convergent parameter self-identification algorithm is developed to obtain the uncertain parameters automatically for the floating wearable structure of the CDWRR. Finally, experiments on a healthy subject are carried out to demonstrate the performance of the controller and the feasibility of the CDWRR on wrist motion training or assistance.

A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training

NASA Astrophysics Data System (ADS)

Chen, Weihai; Cui, Xiang; Zhang, Jianbin; Wang, Jianhua

2015-06-01

Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a cable-driven wrist robotic rehabilitator (CDWRR) for motion training or assistance to subjects with motor disabilities. The CDWRR utilizes the wrist skeletal joints and arm segments as the supporting structure and takes advantage of cable-driven parallel design to build the system, which brings the properties of flexibility, low-cost, and low-weight. The controller of the CDWRR is designed typically based on a virtual torque-field, which is to plan "assist-as-needed" torques for the spherical motion of wrist responding to the orientation deviation in wrist motion training. The torque-field controller can be customized to different levels of rehabilitation training requirements by tuning the field parameters. Additionally, a rapidly convergent parameter self-identification algorithm is developed to obtain the uncertain parameters automatically for the floating wearable structure of the CDWRR. Finally, experiments on a healthy subject are carried out to demonstrate the performance of the controller and the feasibility of the CDWRR on wrist motion training or assistance.

Fiducial marker-based correction for involuntary motion in weight-bearing C-arm CT scanning of knees. II. Experiment.

PubMed

Choi, Jang-Hwan; Maier, Andreas; Keil, Andreas; Pal, Saikat; McWalter, Emily J; Beaupré, Gary S; Gold, Garry E; Fahrig, Rebecca

2014-06-01

A C-arm CT system has been shown to be capable of scanning a single cadaver leg under loaded conditions by virtue of its highly flexible acquisition trajectories. In Part I of this study, using the 4D XCAT-based numerical simulation, the authors predicted that the involuntary motion in the lower body of subjects in weight-bearing positions would seriously degrade image quality and the authors suggested three motion compensation methods by which the reconstructions could be corrected to provide diagnostic image quality. Here, the authors demonstrate that a flat-panel angiography system is appropriate for scanning both legs of subjects in vivo under weight-bearing conditions and further evaluate the three motion-correction algorithms using in vivo data. The geometry of a C-arm CT system for a horizontal scan trajectory was calibrated using the PDS-2 phantom. The authors acquired images of two healthy volunteers while lying supine on a table, standing, and squatting at several knee flexion angles. In order to identify the involuntary motion of the lower body, nine 1-mm-diameter tantalum fiducial markers were attached around the knee. The static mean marker position in 3D, a reference for motion compensation, was estimated by back-projecting detected markers in multiple projections using calibrated projection matrices and identifying the intersection points in 3D of the back-projected rays. Motion was corrected using three different methods (described in detail previously): (1) 2D projection shifting, (2) 2D deformable projection warping, and (3) 3D rigid body warping. For quantitative image quality analysis, SSIM indices for the three methods were compared using the supine data as a ground truth. A 2D Euclidean distance-based metric of subjects' motion ranged from 0.85 mm (±0.49 mm) to 3.82 mm (±2.91 mm) (corresponding to 2.76 to 12.41 pixels) resulting in severe motion artifacts in 3D reconstructions. Shifting in 2D, 2D warping, and 3D warping improved the SSIM in the central slice by 20.22%, 16.83%, and 25.77% in the data with the largest motion among the five datasets (SCAN5); improvement in off-center slices was 18.94%, 29.14%, and 36.08%, respectively. The authors showed that C-arm CT control can be implemented for nonstandard horizontal trajectories which enabled us to scan and successfully reconstruct both legs of volunteers in weight-bearing positions. As predicted using theoretical models, the proposed motion correction methods improved image quality by reducing motion artifacts in reconstructions; 3D warping performed better than the 2D methods, especially in off-center slices.

Fiducial marker-based correction for involuntary motion in weight-bearing C-arm CT scanning of knees. II. Experiment

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

Choi, Jang-Hwan; Maier, Andreas; Keil, Andreas

2014-06-15

Purpose: A C-arm CT system has been shown to be capable of scanning a single cadaver leg under loaded conditions by virtue of its highly flexible acquisition trajectories. In Part I of this study, using the 4D XCAT-based numerical simulation, the authors predicted that the involuntary motion in the lower body of subjects in weight-bearing positions would seriously degrade image quality and the authors suggested three motion compensation methods by which the reconstructions could be corrected to provide diagnostic image quality. Here, the authors demonstrate that a flat-panel angiography system is appropriate for scanning both legs of subjectsin vivo undermore » weight-bearing conditions and further evaluate the three motion-correction algorithms using in vivo data. Methods: The geometry of a C-arm CT system for a horizontal scan trajectory was calibrated using the PDS-2 phantom. The authors acquired images of two healthy volunteers while lying supine on a table, standing, and squatting at several knee flexion angles. In order to identify the involuntary motion of the lower body, nine 1-mm-diameter tantalum fiducial markers were attached around the knee. The static mean marker position in 3D, a reference for motion compensation, was estimated by back-projecting detected markers in multiple projections using calibrated projection matrices and identifying the intersection points in 3D of the back-projected rays. Motion was corrected using three different methods (described in detail previously): (1) 2D projection shifting, (2) 2D deformable projection warping, and (3) 3D rigid body warping. For quantitative image quality analysis, SSIM indices for the three methods were compared using the supine data as a ground truth. Results: A 2D Euclidean distance-based metric of subjects’ motion ranged from 0.85 mm (±0.49 mm) to 3.82 mm (±2.91 mm) (corresponding to 2.76 to 12.41 pixels) resulting in severe motion artifacts in 3D reconstructions. Shifting in 2D, 2D warping, and 3D warping improved the SSIM in the central slice by 20.22%, 16.83%, and 25.77% in the data with the largest motion among the five datasets (SCAN5); improvement in off-center slices was 18.94%, 29.14%, and 36.08%, respectively. Conclusions: The authors showed that C-arm CT control can be implemented for nonstandard horizontal trajectories which enabled us to scan and successfully reconstruct both legs of volunteers in weight-bearing positions. As predicted using theoretical models, the proposed motion correction methods improved image quality by reducing motion artifacts in reconstructions; 3D warping performed better than the 2D methods, especially in off-center slices.« less

Tool Changer For Robot

NASA Technical Reports Server (NTRS)

Voellmer, George M.

1992-01-01

Mechanism enables robot to change tools on end of arm. Actuated by motion of robot: requires no additional electrical or pneumatic energy to make or break connection between tool and wrist at end of arm. Includes three basic subassemblies: wrist interface plate attached to robot arm at wrist, tool interface plate attached to tool, and holster. Separate tool interface plate and holster provided for each tool robot uses.

Definition of anatomical zero positions for assessing shoulder pose with 3D motion capture during bilateral abduction of the arms.

PubMed

Rettig, Oliver; Krautwurst, Britta; Maier, Michael W; Wolf, Sebastian I

2015-12-09

Surgical interventions at the shoulder may alter function of the shoulder complex. Clinically, the outcome can be assessed by universal goniometry. Marker-based motion capture may not resemble these results due to differing angle definitions. The clinical inspection of bilateral arm abduction for assessing shoulder dysfunction is performed with a marker based 3D optical measurement method. An anatomical zero position of shoulder pose is proposed to determine absolute angles according to the Neutral-0-Method as used in orthopedic context. Static shoulder positions are documented simultaneously by 3D marker tracking and universal goniometry in 8 young and healthy volunteers. Repetitive bilateral arm abduction movements of at least 150° range of motion are monitored. Similarly a subject with gleno-humeral osteoarthritis is monitored for demonstrating the feasibility of the method and to illustrate possible shoulder dysfunction effects. With mean differences of less than 2°, the proposed anatomical zero position results in good agreement between shoulder elevation/depression angles determined by 3D marker tracking and by universal goniometry in static positions. Lesser agreement is found for shoulder pro-/retraction with systematic deviations of up to 6°. In the bilateral arm abduction movements the volunteers perform a common and specific pattern in clavicula-thoracic and gleno-humeral motion with maximum shoulder angles of 32° elevation, 5° depression and 45° protraction, respectively, whereas retraction is hardly reached. Further, they all show relevant out of (frontal) plane motion with anteversion angles of 30° in overhead position (maximum abduction). With increasing arm anteversion the shoulder is increasingly retroverted, with a maximum of 20° retroversion. The subject with gleno-humeral osteoarthritis shows overall less shoulder abduction range of motion but with increased out-of-plane movement during abduction. The proposed anatomical zero definition for shoulder pose fills the missing link for determining absolute joint angles for shoulder elevation/depression and pro-/retraction. For elevation-/depression the accuracy suits clinical expectations very well with mean differences less than 2° and limits of agreement of 8.6° whereas for pro-/retraction the accuracy in individual cases may be inferior with limits of agreement of up to 24.6°. This has critically to be kept in mind when applying this concept to shoulder intervention studies.

The Use of Slave Narratives in a High School English Class.

ERIC Educational Resources Information Center

Jolley, Susan Arpajian

2002-01-01

Notes that the key to making nonfiction work in the classroom is to connect it to the basic curriculum set forth by the school. Describes how the author's use of nonfiction slave narratives grew out of her teaching of two works of fiction. Discusses how she teaches slave narratives as a separate unit. (SG)

Motion and positional error correction for cone beam 3D-reconstruction with mobile C-arms.

PubMed

Bodensteiner, C; Darolti, C; Schumacher, H; Matthäus, L; Schweikard, A

2007-01-01

CT-images acquired by mobile C-arm devices can contain artefacts caused by positioning errors. We propose a data driven method based on iterative 3D-reconstruction and 2D/3D-registration to correct projection data inconsistencies. With a 2D/3D-registration algorithm, transformations are computed to align the acquired projection images to a previously reconstructed volume. In an iterative procedure, the reconstruction algorithm uses the results of the registration step. This algorithm also reduces small motion artefacts within 3D-reconstructions. Experiments with simulated projections from real patient data show the feasibility of the proposed method. In addition, experiments with real projection data acquired with an experimental robotised C-arm device have been performed with promising results.

New Exoskeleton Arm Concept Design And Actuation For Haptic Interaction With Virtual Objects

NASA Astrophysics Data System (ADS)

Chakarov, D.; Veneva, I.; Tsveov, M.; Tiankov, T.

2014-12-01

In the work presented in this paper the conceptual design and actuation of one new exoskeleton of the upper limb is presented. The device is designed for application where both motion tracking and force feedback are required, such as human interaction with virtual environment or rehabilitation tasks. The choice is presented of mechanical structure kinematical equivalent to the structure of the human arm. An actuation system is selected based on braided pneumatic muscle actuators. Antagonistic drive system for each joint is shown, using pulley and cable transmissions. Force/displacement diagrams are presented of two antagonistic acting muscles. Kinematics and dynamic estimations are performed of the system exoskeleton and upper limb. Selected parameters ensure in the antagonistic scheme joint torque regulation and human arm range of motion.

Role of early experience in ant enslavement: a comparative analysis of a host and a non-host species

PubMed Central

Blatrix, Rumsaïs; Sermage, Claire

2005-01-01

Background Ants use the odour of the colony to discriminate nestmates. In some species, this odour is learned during the first days following emergence, and thus early experience has a strong influence on nestmate discrimination. Slave-making ants are social parasites that capture brood of other ant species to increase the worker force of their colony. After emerging in the slave-maker nest, slave workers work as if they were in their own colony. We tested the hypothesis that early experience allows the deception of commonly enslaved species, while non-host species use a different mechanism, which does not involve learning. Results Pupae of a host species, Temnothorax unifasciatus, and a non-host species, T. parvulus, were allowed to emerge in the presence of workers of one of two slave-maker species, Chalepoxenus muellerianus or Myrmoxenus ravouxi. When T. unifasciatus was exposed to slave-makers for 10 days following emergence, they were more aggressive towards their own sisters and groomed the slave-maker more. T. parvulus gave a less clear result: while workers behaved more aggressively towards their sisters when exposed early to C. muellerianus workers, this was not the case when exposed early to M. ravouxi workers. Moreover, T. parvulus workers allogroomed conspecific nestmates less than T. unifasciatus. Allogrooming activity might be very important for the slave-makers because they are tended by their slaves. Conclusion Our findings show that early experience influences nestmate discrimination in the ant T. unifasciatus and can account for the successful enslavement of this species. However, the non-host species T. parvulus is less influenced by the early environment. This might help to explain why this species is never used by social parasites. PMID:16076389

A CBLT and MCST capable VME slave interface

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

Wuerthwein, F.; Strohman, C.; Honscheid, K.

1996-12-31

We report on the development of a VME slave interface for the CLEO III detector implemented in an ALTERA EPM7256 CPLD. This includes the first implementation of the chained block transfer protocol (CBLT) and multi-cast cycles (MCST) as defined by the VME-P task group of VIPA. Within VME64 there is no operation that guarantees efficient readout of large blocks of data that are sparsely distributed among a series of slave modules in a VME crate. This has led the VME-P task group of VIPA to specify protocols that enable a master to address many slaves at a single address. Whichmore » slave is to drive the data bus is determined by a token passing mechanism that uses the *IACKOUT, *IACKIN daisy chain. This protocol requires no special features from the master besides conformance to VME64. Non-standard features are restricted to the VME slave interface. The CLEO III detector comprises {approximately}400,000 electronic channels that have to be digitized, sparsified, and stored within 20{mu}s in order to incur less than 2% dead time at an anticipated trigger rate of 1000Hz. 95% of these channels are accounted for by only two detector subsystems, the silicon microstrip detector (125,000 channels), and the ring imaging Cerenkov detector (RICH) (230,400 channels). After sparsification either of these two detector subsystems is expected to provide event fragments on the order of 10KBytes, spread over 4, and 8 VME crates, respectively. We developed a chip set that sparsifies, tags, and stores the incoming digital data on the data boards, and includes a VME slave interface that implements MCST and CUT protocols. In this poster, we briefly describe this chip set and then discuss the VME slave interface in detail.« less

Spatial distribution of eclogite in the Slave cratonic mantle: The role of subduction

NASA Astrophysics Data System (ADS)

Kopylova, Maya G.; Beausoleil, Yvette; Goncharov, Alexey; Burgess, Jennifer; Strand, Pamela

2016-03-01

We reconstructed the spatial distribution of eclogites in the cratonic mantle based on thermobarometry for 240 xenoliths in 4 kimberlite pipes from different parts of the Slave craton (Canada). The accuracy of depth estimates is ensured by the use of a recently calibrated thermometer, projection of temperatures onto well-constrained local peridotitic geotherms, petrological screening for unrealistic temperature estimates, and internal consistency of all data. The depth estimates are based on new data on mineral chemistry and petrography of 148 eclogite xenoliths from the Jericho and Muskox kimberlites of the northern Slave craton and previously reported analyses of 95 eclogites from Diavik and Ekati kimberlites (Central Slave). The majority of Northern Slave eclogites of the crustal, subduction origin occurs at 110-170 km, shallower than in the majority of the Central Slave crustal eclogites (120-210 km). The identical geochronological history of these eclogite populations and the absence of steep suture boundaries between the central and northern Slave craton suggest the lateral continuity of the mantle layer relatively rich in eclogites. We explain the distribution of eclogites by partial preservation of an imbricated and plastically dispersed oceanic slab formed by easterly dipping Proterozoic subduction. The depths of eclogite localization do not correlate with geophysically mapped discontinuities. The base of the depleted lithosphere of the Slave craton constrained by thermobarometry of peridotite xenoliths coincides with the base of the thickened lithospheric slab, which supports contribution of the recycled oceanic lithosphere to formation of the cratonic root. Its architecture may have been protected by circum-cratonic subduction and shielding of the shallow Archean lithosphere from the destructive asthenospheric metasomatism.

THORACOLUMBAR RANGE OF MOTION IN BASEBALL PITCHERS AND POSITION PLAYERS

PubMed Central

Lynall, Robert; Williams, Jeffrey G.; Wong, Regan; Onuki, Takashi; Meister, Keith

2013-01-01

Introduction/Background: Optimal baseball throwing mechanics require a significant contribution of thoracolumbar motion, particularly in the sagittal and transverse planes. This motion is key for proper transmission of forces from the lower to upper extremity, thereby minimizing a throwing athlete's risk of injury and maximizing athletic performance. Purpose: To define the active‐assisted thoracolumbar ROM of both baseball pitchers and position players and to compare these motions both within and between groups. Methods: Fifty‐six asymptomatic, collegiate and minor league baseball pitchers and 42 position players volunteered to participate. Active‐assisted thoracolumbar flexion, extension, and bilateral rotation ROM, were measured in a standing position, using two bubble inclinometers. Two‐tailed t tests were used to determine differences in ROM between and within the pitchers and position players. Results: The pitchers had significantly more rotation to the non‐throwing arm side as compared to the position players (p = .007, effect size = .61). The pitchers also had more rotation to the non‐throwing arm side as compared to their throwing side (p = .006, effect size = .47). There were no other significant differences between the pitchers and the position players (p > .53). Furthermore, the position players did not have a side‐to‐side rotation difference (p = .99). Conclusions: Pitchers have a greater amount of rotation ROM towards the non‐throwing arm side as compared to position players. Pitchers also have a greater amount of rotation ROM to the non‐throwing arm side as compared to their throwing side rotation. Because pitchers often present with posterior shoulder tightness and subsequent altered shoulder horizontal adduction and internal rotation ROM, the increase in non‐throwing side rotation ROM may occur in response to these adaptations. More specifically, this increase in non‐throwing side trunk rotation ROM may allow such athletes to bring the arm across the body during the follow‐through phase of the throwing motion despite posterior shoulder tightness. However, future research is necessary to investigate this relationship. Based on these results, clinicians should consider these thoracolumbar ROM adaptations in the prevention, evaluation, and treatment of baseball players. Level of Evidence: 2b PMID:24377063

Magnetization reversal in ferromagnetic spirals via domain wall motion

NASA Astrophysics Data System (ADS)

Schumm, Ryan D.; Kunz, Andrew

2016-11-01

Domain wall dynamics have been investigated in a variety of ferromagnetic nanostructures for potential applications in logic, sensing, and recording. We present a combination of analytic and simulated results describing the reliable field driven motion of a domain wall through the arms of a ferromagnetic spiral nanowire. The spiral geometry is capable of taking advantage of the benefits of both straight and circular wires. Measurements of the in-plane components of the spirals' magnetization can be used to determine the angular location of the domain wall, impacting the magnetoresistive applications dependent on the domain wall location. The spirals' magnetization components are found to depend on the spiral parameters: the initial radius and spacing between spiral arms, along with the domain wall location. The magnetization is independent of the parameters of the rotating field used to move the domain wall, and therefore the model is valid for current induced domain wall motion as well. The speed of the domain wall is found to depend on the frequency of the rotating driving field, and the domain wall speeds can be reliably varied over several orders of magnitude. We further demonstrate a technique capable of injecting multiple domain walls and show the reliable and unidirectional motion of domain walls through the arms of the spiral.

Radial migration in numerical simulations of Milky-Way sized galaxies

NASA Astrophysics Data System (ADS)

Grand, R. J. J.; Kawata, D.

2016-09-01

We show that in ßrm N-body simulations of isolated spiral discs, spiral arms appear to transient, recurring features that co-rotate with the stellar disc stars at all radii. As a consequence, stars around the spiral arm continually feel a tangential force from the spiral and gain/lose angular momentum at all radii where spiral structure exists, without gaining significant amounts of random energy. We demonstrate that the ubiquitous radial migration in these simulations can be seen as outward (inward) systematic streaming motions along the trailing (leading) side of the spiral arms. We characterise these spiral induced peculiar motions and compare with those of the Milky Way obtained from APOGEE red clump data. We find that transient, co-rotating spiral arms are consistent with the data, in contrast with density wave-like spirals which are qualitatively inconsistent. In addition, we show that, in our simulations, radial migration does not change the radial metallicity gradient significantly, and broadens the metallicity distribution function at all radii, similar to some previous studies.

Design and development of an upper extremity motion capture system for a rehabilitation robot.

PubMed

Nanda, Pooja; Smith, Alan; Gebregiorgis, Adey; Brown, Edward E

2009-01-01

Human robot interaction is a new and rapidly growing field and its application in the realm of rehabilitation and physical care is a major focus area of research worldwide. This paper discusses the development and implementation of a wireless motion capture system for the human arm which can be used for physical therapy or real-time control of a robotic arm, among many other potential applications. The system is comprised of a mechanical brace with rotary potentiometers inserted at the different joints to capture position data. It also contains surface electrodes which acquire electromyographic signals through the CleveMed BioRadio device. The brace interfaces with a software subsystem which displays real time data signals. The software includes a 3D arm model which imitates the actual movement of a subject's arm under testing. This project began as part of the Rochester Institute of Technology's Undergraduate Multidisciplinary Senior Design curriculum and has been integrated into the overall research objectives of the Biomechatronic Learning Laboratory.

Multi-arm multilateral haptics-based immersive tele-robotic system (HITS) for improvised explosive device disposal

NASA Astrophysics Data System (ADS)

Erickson, David; Lacheray, Hervé; Lai, Gilbert; Haddadi, Amir

2014-06-01

This paper presents the latest advancements of the Haptics-based Immersive Tele-robotic System (HITS) project, a next generation Improvised Explosive Device (IED) disposal (IEDD) robotic interface containing an immersive telepresence environment for a remotely-controlled three-articulated-robotic-arm system. While the haptic feedback enhances the operator's perception of the remote environment, a third teleoperated dexterous arm, equipped with multiple vision sensors and cameras, provides stereo vision with proper visual cues, and a 3D photo-realistic model of the potential IED. This decentralized system combines various capabilities including stable and scaled motion, singularity avoidance, cross-coupled hybrid control, active collision detection and avoidance, compliance control and constrained motion to provide a safe and intuitive control environment for the operators. Experimental results and validation of the current system are presented through various essential IEDD tasks. This project demonstrates that a two-armed anthropomorphic Explosive Ordnance Disposal (EOD) robot interface can achieve complex neutralization techniques against realistic IEDs without the operator approaching at any time.

Counter-Discursive and Erotic Agency: The Case of the Black Slaves in Miguel De Cervantes's "El Celoso Extremeño"

ERIC Educational Resources Information Center

Ruiz, Eduardo

2014-01-01

Cervantes's "novela" creates a complex protagonist due in part to the involvement of the slaves' destructive and creative energies: a linguistic and erotic paradox. Linguistically the female slave foregrounds the historical dichotomy between "ladinos" and "bozales" and the related problematic of conversion,…

Gender Issues and the Slave Narratives: "Incidents in the Life" and "Narrative of the Life" Compared.

ERIC Educational Resources Information Center

DeGout, Yasmin Y.

The differences between early African American narratives written by women and those written by men can be seen in a comparison of Harriet A. Jacobs's "Incidents in the Life of a Slave Girl, Written by Herself" and Frederick Douglass's "Narrative of the Life of Frederick Douglass, An American Slave." A comparison of these works…

Visual cueing considerations in Nap-of-the-Earth helicopter flight head-slaved helmet-mounted displays

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Kohn, Silvia

1993-01-01

The pilot's ability to derive Control-Oriented Visual Field Information from teleoperated Helmet-Mounted displays in Nap-of-the-Earth flight, is investigated. The visual field with these types of displays, commonly used in Apache and Cobra helicopter night operations, originates from a relatively narrow field-of-view Forward Looking Infrared Radiation Camera, gimbal-mounted at the nose of the aircraft and slaved to the pilot's line-of-sight, in order to obtain a wide-angle field-of-regard. Pilots have encountered considerable difficulties in controlling the aircraft by these devices. Experimental simulator results presented here indicate that part of these difficulties can be attributed to head/camera slaving system phase lags and errors. In the presence of voluntary head rotation, these slaving system imperfections are shown to impair the Control-Oriented Visual Field Information vital in vehicular control, such as the perception of the anticipated flight path or the vehicle yaw rate. Since, in the presence of slaving system imperfections, the pilot will tend to minimize head rotation, the full wide-angle field-of-regard of the line-of-sight slaved Helmet-Mounted Display, is not always fully utilized.

24/7 SM slavery.

PubMed

Dancer, Peter L; Kleinplatz, Peggy J; Moser, Charles

2006-01-01

This study describes the nature of 24/7 SM slavery as practiced within the SM (sadomasochistic) community. These SM participants, who attempt to live full-time in owner-slave roles, represent a small proportion of those with SM interests. SM slaves have not been studied systematically to determine if and how they differ from other SM practitioners. An online questionnaire was used to obtain responses from individuals who self-identified as slaves. A total of 146 respondents participated, 53% female and 47% male, ranging in age from 18 to 72. We explored the depth of their relationships, how well they approximated "slavery," and how their relationships were structured to maintain distinct roles. Data showed that in long-term SM slave relationships, a power differential exists which extends beyond time-limited SM or sexual interactions. Owners and slaves often use common, daily life experiences or situations, such as the completion of household chores, money management, and morning or evening routines, to distinguish and maintain their respective roles. In addition, contrary to the perception of total submission, results revealed that slaves exercise free will when it is in their best interests to do so. These relationships were long-lasting and satisfying to the respondents.

Yellow fever, Asia and the East African slave trade.

PubMed

Cathey, John T; Marr, John S

2014-05-01

Yellow fever is endemic in parts of sub-Saharan Africa and South America, yet its principal vectors--species of mosquito of the genus Aedes--are found throughout tropical and subtropical latitudes. Phylogenetic analyses indicate that yellow fever originated in Africa and that its spread to the New World coincided with the slave trade, but why yellow fever has never appeared in Asia remains a mystery. None of several previously proposed explanations for its absence there is considered satisfactory. We contrast the trans-Atlantic slave trade, and trade across the Sahara and to the Arabian Peninsula and Mesopotamia, with that to Far East and Southeast Asian ports before abolition of the African slave trade, and before the scientific community understood the transmission vector of yellow fever and the viral life cycle, and the need for shipboard mosquito control. We propose that these differences in slave trading had a primary role in the avoidance of yellow fever transmission into Asia in the centuries before the 20(th) century. The relatively small volume of the Black African slave trade between Africa and East and Southeast Asia has heretofore been largely ignored. Although focal epidemics may have occurred, the volume was insufficient to reach the threshold for endemicity.

An overview and categorization of dynamic arm supports for people with decreased arm function.

PubMed

Van der Heide, Loek A; van Ninhuijs, Bob; Bergsma, Arjen; Gelderblom, Gert Jan; van der Pijl, Dick J; de Witte, Luc P

2014-08-01

Assistive devices that augment arm function were already introduced during the polio era. Devices are still being developed, but a review has not been performed thus far. To create an overview and categorize assistive devices facilitating arm function in activities of daily living for people with decreased arm function. Literature review. A systematic review in three scientific literature databases. Conference proceedings, assistive technology databases, and references were searched and experts consulted. This resulted in a database of dynamic arm supports. Product information was added, and the devices were categorized. A total of 104 dynamic arm supports were found. These could be categorized as nonactuated devices (N = 39), passively actuated devices (N = 24), actively actuated devices (N = 34), or devices using the functional electrical stimulation principle (N = 7). Functionality analysis resulted in second-level categorization: tremor suppression, facilitation of anti-gravity movement, and assistance of specific joint motion. All devices could be ordered in a categorization of low complexity. Many have been developed; most have disappeared and have been succeeded by similar devices. Limitations of the devices found mainly concern interfacing and the range of motion facilitated. Future devices could make use of whatever residual strength is available in the users' arm for control. The provided overview of devices in this article and the classification developed is relevant for practitioners seeking assistive solutions for their clients as it makes the range of developed solutions both accessible and comprehensible. © The International Society for Prosthetics and Orthotics 2013.

Flexural Stiffness of Myosin Va Subdomains as Measured from Tethered Particle Motion

PubMed Central

Michalek, Arthur J.; Kennedy, Guy G.; Warshaw, David M.; Ali, M. Yusuf

2015-01-01

Myosin Va (MyoVa) is a processive molecular motor involved in intracellular cargo transport on the actin cytoskeleton. The motor's processivity and ability to navigate actin intersections are believed to be governed by the stiffness of various parts of the motor's structure. Specifically, changes in calcium may regulate motor processivity by altering the motor's lever arm stiffness and thus its interhead communication. In order to measure the flexural stiffness of MyoVa subdomains, we use tethered particle microscopy, which relates the Brownian motion of fluorescent quantum dots, which are attached to various single- and double-headed MyoVa constructs bound to actin in rigor, to the motor's flexural stiffness. Based on these measurements, the MyoVa lever arm and coiled-coil rod domain have comparable flexural stiffness (0.034 pN/nm). Upon addition of calcium, the lever arm stiffness is reduced 40% as a result of calmodulins potentially dissociating from the lever arm. In addition, the flexural stiffness of the full-length MyoVa construct is an order of magnitude less stiff than both a single lever arm and the coiled-coil rod. This suggests that the MyoVa lever arm-rod junction provides a flexible hinge that would allow the motor to maneuver cargo through the complex intracellular actin network. PMID:26770194

New Constraints on Upper Mantle Structure Underlying the Diamondiferous Central Slave Craton, Canada, from Teleseismic Body Wave Tomography

NASA Astrophysics Data System (ADS)

Esteve, C.; Schaeffer, A. J.; Audet, P.

2017-12-01

Over the past number of decades, the Slave Craton (Canada) has been extensively studied for its diamondiferous kimberlites. Not only are diamonds a valuable resource, but their kimberlitic host rocks provide an otherwise unique direct source of information on the deep upper mantle (and potentially transition zone). Many of the Canadian Diamond mines are located within the Slave Craton. As a result of the propensity for diamondiferous kimberlites, it is imperative to probe the deep mantle structure beneath the Slave Craton. This work is further motivated by the increase in high-quality broadband seismic data across the Northern Canadian Cordillera over the past decade. To this end we have generated a P and S body wave tomography model of the Slave Craton and its surroundings. Furthermore, tomographic inversion techniques are growing ever more capable of producing high resolution Earth models which capture detailed structure and dynamics across a range of scale lengths. Here, we present preliminary results on the structure of the upper mantle underlying the Slave Craton. These results are generated using data from eight different seismic networks such as the Canadian National Seismic Network (CNSN), Yukon Northwest Seismic Network (YNSN), older Portable Observatories for Lithospheric Analysis and Reseach Investigating Seismicity (POLARIS), Regional Alberta Observatory for Earthquake Studies Network (RV), USArray Transportable Array (TA), older Canadian Northwest Experiment (CANOE), Batholith Broadband (XY) and the Yukon Observatory (YO). This regional model brings new insights about the upper mantle structure beneath the Slave Craton, Canada.

Hydration and temperature interdependence of protein picosecond dynamics.

PubMed

Lipps, Ferdinand; Levy, Seth; Markelz, A G

2012-05-14

We investigate the nature of the solvent motions giving rise to the rapid temperature dependence of protein picoseconds motions at 220 K, often referred to as the protein dynamical transition. The interdependence of picoseconds dynamics on hydration and temperature is examined using terahertz time domain spectroscopy to measure the complex permittivity in the 0.2-2.0 THz range for myoglobin. Both the real and imaginary parts of the permittivity over the frequency range measured have a strong temperature dependence at >0.27 h (g water per g protein), however the permittivity change is strongest for frequencies <1 THz. The temperature dependence of the real part of the permittivity is not consistent with the relaxational response of the bound water, and may reflect the low frequency protein structural vibrations slaved to the solvent excitations. The hydration necessary to observe the dynamical transition is found to be frequency dependent, with a critical hydration of 0.19 h for frequencies >1 THz, and 0.27 h for frequencies <1 THz. The data are consistent with the dynamical transition solvent fluctuations requiring only clusters of ~5 water molecules, whereas the enhancement of lowest frequency motions requires a fully spanning water network. This journal is © the Owner Societies 2012

Acquisition and Visualization Techniques of Human Motion Using Master-Slave System and Haptograph

NASA Astrophysics Data System (ADS)

Katsura, Seiichiro; Ohishi, Kiyoshi

Artificial acquisition and reproduction of human sensations are basic technologies of communication engineering. For example, auditory information is obtained by a microphone, and a speaker reproduces it by artificial means. Furthermore, a video camera and a television make it possible to transmit visual sensation by broadcasting. On the contrary, since tactile or haptic information is subject to the Newton's “law of action and reaction” in the real world, a device which acquires, transmits, and reproduces the information has not been established. From the point of view, real-world haptics is the key technology for future haptic communication engineering. This paper proposes a novel acquisition method of haptic information named “haptograph”. The haptograph visualizes the haptic information like photograph. Since temporal and spatial analyses are conducted to represent haptic information as the haptograph, it is possible to be recognized and to be evaluated intuitively. In this paper, the proposed haptograph is applied to visualization of human motion. It is possible to represent the motion characteristics, the expert's skill and the personal habit, and so on. In other words, a personal encyclopedia is attained. Once such a personal encyclopedia is stored in ubiquitous environment, the future human support technology will be developed.

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

PubMed

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

2015-11-01

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

Exercise therapy for treatment of supraspinatus tears does not alter glenohumeral kinematics during internal/external rotation with the arm at the side.

PubMed

Ferrer, Gerald A; Miller, R Matthew; Zlotnicki, Jason P; Tashman, Scott; Irrgang, James J; Musahl, Volker; Debski, Richard E

2018-01-01

Rotator cuff tears are a significant clinical problem, with exercise therapy being a common treatment option for patients. Failure rates of exercise therapy may be due to the failure to improve glenohumeral kinematics. Tears involving the supraspinatus may result in altered glenohumeral kinematics and joint instability for internal/external rotation with the arm at the side because not all muscles used to stabilize the glenohumeral joint are functioning normally. The objective of the study is to assess in vivo glenohumeral kinematic changes for internal/external rotation motions with the arm at the side of patients with a symptomatic full-thickness supraspinatus tear before and after a 12-week exercise therapy programme. Five patients underwent dynamic stereoradiography analysis before and after a 12-week exercise therapy protocol to measure changes in glenohumeral kinematics during transverse plane internal/external rotation with the arm at the side. Patient-reported outcomes and shoulder strength were also evaluated. No patient sought surgery immediately following exercise therapy. Significant improvements in isometric shoulder strength and patient-reported outcomes were observed (p < 0.05). No significant changes in glenohumeral kinematics following physical therapy were found. Isolated supraspinatus tears resulted in increased joint translations compared to healthy controls from the previous literature for internal/external rotation with the arm at the side. Despite satisfactory clinical outcomes following exercise therapy, glenohumeral kinematics did not change. The lack of changes may be due to the motion studied or the focus of current exercise therapy protocols being increasing shoulder strength and restoring range of motion. Current exercise therapy protocols should be adapted to also focus on restoring glenohumeral kinematics to improve joint stability since exercise therapy may have different effects depending on the motions of daily living. Prognostic study, Level II.

A research on the postural stability of a person wearing the lower limb exoskeletal robot by the HAT model.

PubMed

Chang, Minsu; Kim, Yeongmin; Lee, Yoseph; Jeon, Doyoung

2017-07-01

This paper proposes a method of detecting the postural stability of a person wearing the lower limb exoskeletal robot with the HAT(Head-Arm-Trunk) model. Previous studies have shown that the human posture is stable when the CoM(Center of Mass) of the human body is placed on the BoS(Base of Support). In the case of the lower limb exoskeletal robot, the motion data, which are used for the CoM estimation, are acquired by sensors in the robot. The upper body, however, does not have sensors in each segment so that it may cause the error of the CoM estimation. In this paper, the HAT(Head-Arm-Trunk) model which combines head, arms, and torso into a single segment is considered because the motion of head and arms are unknown due to the lack of sensors. To verify the feasibility of HAT model, the reflecting markers are attached to each segment of the whole human body and the exact motion data are acquired by the VICON to compare the COM of the full body model and HAT model. The difference between the CoM with full body and that with HAT model is within 20mm for the various motions of head and arms. Based on the HAT model, the XCoM(Extrapolated Center of Mass) which includes the velocity of the CoM is used for prediction of the postural stability. The experiment of making unstable posture shows that the XCoM of the whole body based on the HAT model is feasible to detect the instance of postural instability earlier than the CoM by 20-250 msec. This result may be used for the lower limb exoskeletal robot to prepare for any action to prevent the falling down.

Bilateral control in teleoperation of a rehabilitation robot

NASA Astrophysics Data System (ADS)

Rahman, Tariq; Harwin, William S.

1993-03-01

One applications of teleoperation principles is of a manipulator that might be used to augment function in a disabled person. An individual with a paralyzing injury may have complete loss of motor and sensory function in his or her arms, which limits his or her ability to interact with the environment and perform simple tasks such as feeding or turning pages. One way of enhancing functionality is to employ a telemanipulator that might take the place of a care giver, thus providing the person with increased independence. This paper describes how a high level spinal cord injured individual would use head movement to control a robot. It is felt that the key to successful manipulation is in attaining a sense of force and position proprioception. This natural proprioception exists in cable operated prosthetic arms and simple tools such as mouthsticks or laser beam pointers where the user is physically linked to the device. This sense of proprioception is being emulated using a head controlled master-slave arrangement. The goal is for the disabled individual to operate a manipulator and utilize proprioceptive as well as visual feedback. This would lessen the mental burden on the user and ultimately make the device more acceptable.

Blacks in Crimson and Blue: The Educational Experiences of Ex-Slaves at the University of Kansas from the 1870s-1920s

ERIC Educational Resources Information Center

Davis, Donna M.

2013-01-01

At a time when most other institutions of higher education in the country excluded ex-slaves from admission, the University of Kansas conferred degrees upon sixty African Americans by 1910. However, while the university did allow ex-slaves to matriculate, these students still experienced a degree of exclusion and encountered barriers of racial…

Robotic experiment with a force reflecting handcontroller onboard MIR space station

NASA Technical Reports Server (NTRS)

Delpech, M.; Matzakis, Y.

1994-01-01

During the French CASSIOPEE mission that will fly onboard MIR space station in 1996, ergonomic evaluations of a force reflecting handcontroller will be performed on a simulated robotic task. This handcontroller is a part of the COGNILAB payload that will be used also for experiments in neurophysiology. The purpose of the robotic experiment is the validation of a new control and design concept that would enhance the task performances for telemanipulating space robots. Besides the handcontroller and its control unit, the experimental system includes a simulator of the slave robot dynamics for both free and constrained motions, a flat display screen and a seat with special fixtures for holding the astronaut.

High performance bilateral telerobot control.

PubMed

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

2002-01-01

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

Evaluation of interpolation methods for surface-based motion compensated tomographic reconstruction for cardiac angiographic C-arm data

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

Mueller, Kerstin; Schwemmer, Chris; Hornegger, Joachim

2013-03-15

Purpose: For interventional cardiac procedures, anatomical and functional information about the cardiac chambers is of major interest. With the technology of angiographic C-arm systems it is possible to reconstruct intraprocedural three-dimensional (3D) images from 2D rotational angiographic projection data (C-arm CT). However, 3D reconstruction of a dynamic object is a fundamental problem in C-arm CT reconstruction. The 2D projections are acquired over a scan time of several seconds, thus the projection data show different states of the heart. A standard FDK reconstruction algorithm would use all acquired data for a filtered backprojection and result in a motion-blurred image. In thismore » approach, a motion compensated reconstruction algorithm requiring knowledge of the 3D heart motion is used. The motion is estimated from a previously presented 3D dynamic surface model. This dynamic surface model results in a sparse motion vector field (MVF) defined at control points. In order to perform a motion compensated reconstruction, a dense motion vector field is required. The dense MVF is generated by interpolation of the sparse MVF. Therefore, the influence of different motion interpolation methods on the reconstructed image quality is evaluated. Methods: Four different interpolation methods, thin-plate splines (TPS), Shepard's method, a smoothed weighting function, and a simple averaging, were evaluated. The reconstruction quality was measured on phantom data, a porcine model as well as on in vivo clinical data sets. As a quality index, the 2D overlap of the forward projected motion compensated reconstructed ventricle and the segmented 2D ventricle blood pool was quantitatively measured with the Dice similarity coefficient and the mean deviation between extracted ventricle contours. For the phantom data set, the normalized root mean square error (nRMSE) and the universal quality index (UQI) were also evaluated in 3D image space. Results: The quantitative evaluation of all experiments showed that TPS interpolation provided the best results. The quantitative results in the phantom experiments showed comparable nRMSE of Almost-Equal-To 0.047 {+-} 0.004 for the TPS and Shepard's method. Only slightly inferior results for the smoothed weighting function and the linear approach were achieved. The UQI resulted in a value of Almost-Equal-To 99% for all four interpolation methods. On clinical human data sets, the best results were clearly obtained with the TPS interpolation. The mean contour deviation between the TPS reconstruction and the standard FDK reconstruction improved in the three human cases by 1.52, 1.34, and 1.55 mm. The Dice coefficient showed less sensitivity with respect to variations in the ventricle boundary. Conclusions: In this work, the influence of different motion interpolation methods on left ventricle motion compensated tomographic reconstructions was investigated. The best quantitative reconstruction results of a phantom, a porcine, and human clinical data sets were achieved with the TPS approach. In general, the framework of motion estimation using a surface model and motion interpolation to a dense MVF provides the ability for tomographic reconstruction using a motion compensation technique.« less

Cerebellar damage diminishes long-latency responses to multijoint perturbations

PubMed Central

Trautman, Paxson; Rasquinha, Russell J.; Bhanpuri, Nasir H.; Scott, Stephen H.; Bastian, Amy J.

2013-01-01

Damage to the cerebellum can cause significant problems in the coordination of voluntary arm movements. One prominent idea is that incoordination stems from an inability to predictively account for the complex mechanical interactions between the arm's several joints. Motivated by growing evidence that corrective feedback control shares important capabilities and neural substrates with feedforward control, we asked whether cerebellar damage impacts feedback stabilization of the multijoint arm appropriate for the arm's intersegmental dynamics. Specifically, we tested whether cerebellar dysfunction impacts the ability of posterior deltoid to incorporate elbow motion in its long-latency response (R2 = 45–75 ms and R3 = 75–100 ms after perturbation) to an unexpected torque perturbation. Healthy and cerebellar-damaged subjects were exposed to a selected pattern of shoulder-elbow displacements to probe the response pattern from this shoulder extensor muscle. The healthy elderly subjects expressed a long-latency response linked to both shoulder and elbow motion, including an increase/decrease in shoulder extensor activity with elbow flexion/extension. Critically, cerebellar-damaged subjects displayed the normal pattern of activity in the R3 period indicating an intact ability to rapidly integrate multijoint motion appropriate to the arm's intersegmental dynamics. However, cerebellar-damaged subjects had a lower magnitude of activity that was specific to the long-latency period (both R2 and R3) and a slightly delayed onset of multijoint sensitivity. Taken together, our results suggest that the basic motor pattern of the long-latency response is housed outside the cerebellum and is scaled by processes within the cerebellum. PMID:23390311

Coordinated X-Y stage apparatus

DOEpatents

Morimoto, Alan K.; Kozlowski, David M.; Charles, Steven T.; Spalding, James A.

2000-01-01

An apparatus based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion.

Gait Recognition Using Wearable Motion Recording Sensors

NASA Astrophysics Data System (ADS)

Gafurov, Davrondzhon; Snekkenes, Einar

2009-12-01

This paper presents an alternative approach, where gait is collected by the sensors attached to the person's body. Such wearable sensors record motion (e.g. acceleration) of the body parts during walking. The recorded motion signals are then investigated for person recognition purposes. We analyzed acceleration signals from the foot, hip, pocket and arm. Applying various methods, the best EER obtained for foot-, pocket-, arm- and hip- based user authentication were 5%, 7%, 10% and 13%, respectively. Furthermore, we present the results of our analysis on security assessment of gait. Studying gait-based user authentication (in case of hip motion) under three attack scenarios, we revealed that a minimal effort mimicking does not help to improve the acceptance chances of impostors. However, impostors who know their closest person in the database or the genders of the users can be a threat to gait-based authentication. We also provide some new insights toward the uniqueness of gait in case of foot motion. In particular, we revealed the following: a sideway motion of the foot provides the most discrimination, compared to an up-down or forward-backward directions; and different segments of the gait cycle provide different level of discrimination.

Human Classification Based on Gestural Motions by Using Components of PCA

NASA Astrophysics Data System (ADS)

Aziz, Azri A.; Wan, Khairunizam; Za'aba, S. K.; B, Shahriman A.; Adnan, Nazrul H.; H, Asyekin; R, Zuradzman M.

2013-12-01

Lately, a study of human capabilities with the aim to be integrated into machine is the famous topic to be discussed. Moreover, human are bless with special abilities that they can hear, see, sense, speak, think and understand each other. Giving such abilities to machine for improvement of human life is researcher's aim for better quality of life in the future. This research was concentrating on human gesture, specifically arm motions for differencing the individuality which lead to the development of the hand gesture database. We try to differentiate the human physical characteristic based on hand gesture represented by arm trajectories. Subjects are selected from different type of the body sizes, and then acquired data undergo resampling process. The results discuss the classification of human based on arm trajectories by using Principle Component Analysis (PCA).

Robotic Surgery

NASA Technical Reports Server (NTRS)

2000-01-01

The Automated Endoscopic System for Optimal Positioning, or AESOP, was developed by Computer Motion, Inc. under a SBIR contract from the Jet Propulsion Lab. AESOP is a robotic endoscopic positioning system used to control the motion of a camera during endoscopic surgery. The camera, which is mounted at the end of a robotic arm, previously had to be held in place by the surgical staff. With AESOP the robotic arm can make more precise and consistent movements. AESOP is also voice controlled by the surgeon. It is hoped that this technology can be used in space repair missions which require precision beyond human dexterity. A new generation of the same technology entitled the ZEUS Robotic Surgical System can make endoscopic procedures even more successful. ZEUS allows the surgeon control various instruments in its robotic arms, allowing for the precision the procedure requires.

Computer coordination of limb motion for a three-legged walking robot

NASA Technical Reports Server (NTRS)

Klein, C. A.; Patterson, M. R.

1980-01-01

Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.

The phantom robot - Predictive displays for teleoperation with time delay

NASA Technical Reports Server (NTRS)

Bejczy, Antal K.; Kim, Won S.; Venema, Steven C.

1990-01-01

An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.

A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)

PubMed Central

Dülger, L. Canan; Kapucu, Sadettin

2016-01-01

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles. PMID:27610129

A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242).

PubMed

Almusawi, Ahmed R J; Dülger, L Canan; Kapucu, Sadettin

2016-01-01

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles.

Analytical slave-spin mean-field approach to orbital selective Mott insulators

NASA Astrophysics Data System (ADS)

Komijani, Yashar; Kotliar, Gabriel

2017-09-01

We use the slave-spin mean-field approach to study particle-hole symmetric one- and two-band Hubbard models in the presence of Hund's coupling interaction. By analytical analysis of the Hamiltonian, we show that the locking of the two orbitals vs orbital selective Mott transition can be formulated within a Landau-Ginzburg framework. By applying the slave-spin mean field to impurity problems, we are able to make a correspondence between impurity and lattice. We also consider the stability of the orbital selective Mott phase to the hybridization between the orbitals and study the limitations of the slave-spin method for treating interorbital tunnelings in the case of multiorbital Bethe lattices with particle-hole symmetry.

Robust master-slave synchronization for general uncertain delayed dynamical model based on adaptive control scheme.

PubMed

Wang, Tianbo; Zhou, Wuneng; Zhao, Shouwei; Yu, Weiqin

2014-03-01

In this paper, the robust exponential synchronization problem for a class of uncertain delayed master-slave dynamical system is investigated by using the adaptive control method. Different from some existing master-slave models, the considered master-slave system includes bounded unmodeled dynamics. In order to compensate the effect of unmodeled dynamics and effectively achieve synchronization, a novel adaptive controller with simple updated laws is proposed. Moreover, the results are given in terms of LMIs, which can be easily solved by LMI Toolbox in Matlab. A numerical example is given to illustrate the effectiveness of the method. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Outer rotation curve of the Galaxy with VERA. III. Astrometry of IRAS 07427-2400 and test of the density-wave theory

NASA Astrophysics Data System (ADS)

Sakai, Nobuyuki; Nakanishi, Hiroyuki; Matsuo, Mitsuhiro; Koide, Nagito; Tezuka, Daisuke; Kurayama, Tomoharu; Shibata, Katsunori M.; Ueno, Yuji; Honma, Mareki

2015-08-01

We report the trigonometric parallax of IRAS 07427-2400 with VERA to be 0.185 ± 0.027 mas, corresponding to a distance of 5.41^{+0.92}_{-0.69}kpc. The result is consistent with the previous result of 5.32^{+0.49}_{-0.42}kpc obtained by Choi et al. (2014, ApJ, 790, 99) within error. To remove the effect of internal maser motions (e.g., random motions), we observed six maser features associated with IRAS 07427-2400 and determined systematic proper motions of the source by averaging proper motions of the six maser features. The obtained proper motions are (μαcos δ, μδ) = (-1.79 ± 0.32, 2.60 ± 0.17) mas yr-1 in equatorial coordinates, while Choi et al. (2014) showed (μαcos δ, μδ) = (-2.43 ± 0.02, 2.49 ± 0.09) mas yr-1 with one maser feature. Our astrometry results place the source in the Perseus arm, the nearest main arm in the Milky Way. Using our result with previous astrometry results obtained from observations of the Perseus arm, we conducted direct (quantitative) comparisons between 27 astrometry results and an analytic gas dynamics model based on the density-wave theory, obtaining two results. First is the pitch angle of the Perseus arm determined by VLBI astrometry, 11.1° ± 1.4°, differing from what is determined by the spiral potential model (probably traced by stars), ˜ 20°. The second is an offset between a dense gas region and the bottom of the spiral potential model. The dense gas region traced by VLBI astrometry is located downstream of the spiral potential model, which was previously confirmed in the nearby grand-design spiral galaxy M 51 in Egusa, Koda, and Scoville (2011, ApJ, 726, 85).

Evaluating Suit Fit Using Performance Degradation

NASA Technical Reports Server (NTRS)

Margerum, Sarah E.; Cowley, Matthew; Harvill, Lauren; Benson, Elizabeth; Rajulu, Sudhakar

2012-01-01

The Mark III planetary technology demonstrator space suit can be tailored to an individual by swapping the modular components of the suit, such as the arms, legs, and gloves, as well as adding or removing sizing inserts in key areas. A method was sought to identify the transition from an ideal suit fit to a bad fit and how to quantify this breakdown using a metric of mobility-based human performance data. To this end, the degradation of the range of motion of the elbow and wrist of the suit as a function of suit sizing modifications was investigated to attempt to improve suit fit. The sizing range tested spanned optimal and poor fit and was adjusted incrementally in order to compare each joint angle across five different sizing configurations. Suited range of motion data were collected using a motion capture system for nine isolated and functional tasks utilizing the elbow and wrist joints. A total of four subjects were tested with motions involving both arms simultaneously as well as the right arm by itself. Findings indicated that no single joint drives the performance of the arm as a function of suit size; instead it is based on the interaction of multiple joints along a limb. To determine a size adjustment range where an individual can operate the suit at an acceptable level, a performance detriment limit was set. This user-selected limit reveals the task-dependent tolerance of the suit fit around optimal size. For example, the isolated joint motion indicated that the suit can deviate from optimal by as little as -0.6 in to -2.6 in before experiencing a 10% performance drop in the wrist or elbow joint. The study identified a preliminary method to quantify the impact of size on performance and developed a new way to gauge tolerances around optimal size.

78 FR 44557 - Turnagain Arm Tidal Energy Corporation; Notice of Preliminary Permit Application Accepted for...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-07-24

... Tidal Energy Corporation; Notice of Preliminary Permit Application Accepted for Filing and Soliciting Comments, Motions To Intervene, and Competing Applications On February 1, 2013, the Turnagain Arm Tidal Energy Corporation, filed an application for a preliminary permit, pursuant to section 4(f) of the...

Functional differentiation of macaque visual temporal cortical neurons using a parametric action space.

PubMed

Vangeneugden, Joris; Pollick, Frank; Vogels, Rufin

2009-03-01

Neurons in the rostral superior temporal sulcus (STS) are responsive to displays of body movements. We employed a parametric action space to determine how similarities among actions are represented by visual temporal neurons and how form and motion information contributes to their responses. The stimulus space consisted of a stick-plus-point-light figure performing arm actions and their blends. Multidimensional scaling showed that the responses of temporal neurons represented the ordinal similarity between these actions. Further tests distinguished neurons responding equally strongly to static presentations and to actions ("snapshot" neurons), from those responding much less strongly to static presentations, but responding well when motion was present ("motion" neurons). The "motion" neurons were predominantly found in the upper bank/fundus of the STS, and "snapshot" neurons in the lower bank of the STS and inferior temporal convexity. Most "motion" neurons showed strong response modulation during the course of an action, thus responding to action kinematics. "Motion" neurons displayed a greater average selectivity for these simple arm actions than did "snapshot" neurons. We suggest that the "motion" neurons code for visual kinematics, whereas the "snapshot" neurons code for form/posture, and that both can contribute to action recognition, in agreement with computation models of action recognition.

Imagined Self-Motion Differs from Perceived Self-Motion: Evidence from a Novel Continuous Pointing Method

PubMed Central

Campos, Jennifer L.; Siegle, Joshua H.; Mohler, Betty J.; Bülthoff, Heinrich H.; Loomis, Jack M.

2009-01-01

Background The extent to which actual movements and imagined movements maintain a shared internal representation has been a matter of much scientific debate. Of the studies examining such questions, few have directly compared actual full-body movements to imagined movements through space. Here we used a novel continuous pointing method to a) provide a more detailed characterization of self-motion perception during actual walking and b) compare the pattern of responding during actual walking to that which occurs during imagined walking. Methodology/Principal Findings This continuous pointing method requires participants to view a target and continuously point towards it as they walk, or imagine walking past it along a straight, forward trajectory. By measuring changes in the pointing direction of the arm, we were able to determine participants' perceived/imagined location at each moment during the trajectory and, hence, perceived/imagined self-velocity during the entire movement. The specific pattern of pointing behaviour that was revealed during sighted walking was also observed during blind walking. Specifically, a peak in arm azimuth velocity was observed upon target passage and a strong correlation was observed between arm azimuth velocity and pointing elevation. Importantly, this characteristic pattern of pointing was not consistently observed during imagined self-motion. Conclusions/Significance Overall, the spatial updating processes that occur during actual self-motion were not evidenced during imagined movement. Because of the rich description of self-motion perception afforded by continuous pointing, this method is expected to have significant implications for several research areas, including those related to motor imagery and spatial cognition and to applied fields for which mental practice techniques are common (e.g. rehabilitation and athletics). PMID:19907655

Magnetic resonance imaging compatible remote catheter navigation system with 3 degrees of freedom.

PubMed

Tavallaei, M A; Lavdas, M K; Gelman, D; Drangova, M

2016-08-01

To facilitate MRI-guided catheterization procedures, we present an MRI-compatible remote catheter navigation system that allows remote navigation of steerable catheters with 3 degrees of freedom. The system consists of a user interface (master), a robot (slave), and an ultrasonic motor control servomechanism. The interventionalist applies conventional motions (axial, radial and plunger manipulations) on an input catheter in the master unit; this user input is measured and used by the servomechanism to control a compact catheter manipulating robot, such that it replicates the interventionalist's input motion on the patient catheter. The performance of the system was evaluated in terms of MRI compatibility (SNR and artifact), feasibility of remote navigation under real-time MRI guidance, and motion replication accuracy. Real-time MRI experiments demonstrated that catheter was successfully navigated remotely to desired target references in all 3 degrees of freedom. The system had an absolute value error of [Formula: see text]1 mm in axial catheter motion replication over 30 mm of travel and [Formula: see text] for radial catheter motion replication over [Formula: see text]. The worst case SNR drop was observed to be [Formula: see text]3 %; the robot did not introduce any artifacts in the MR images. An MRI-compatible compact remote catheter navigation system has been developed that allows remote navigation of steerable catheters with 3 degrees of freedom. The proposed system allows for safe and accurate remote catheter navigation, within conventional closed-bore scanners, without degrading MR image quality.

Effect of deltoid tension and humeral version in reverse total shoulder arthroplasty: a biomechanical study.

PubMed

Henninger, Heath B; Barg, Alexej; Anderson, Andrew E; Bachus, Kent N; Tashjian, Robert Z; Burks, Robert T

2012-04-01

No clear recommendations exist regarding optimal humeral component version and deltoid tension in reverse total shoulder arthroplasty (TSA). A biomechanical shoulder simulator tested humeral versions (0°, 10°, 20° retroversion) and implant thicknesses (-3, 0, +3 mm from baseline) after reverse TSA in human cadavers. Abduction and external rotation ranges of motion as well as abduction and dislocation forces were quantified for native arms and arms implanted with 9 combinations of humeral version and implant thickness. Resting abduction angles increased significantly (up to 30°) after reverse TSA compared with native shoulders. With constant posterior cuff loads, native arms externally rotated 20°, whereas no external rotation occurred in implanted arms (20° net internal rotation). Humeral version did not affect rotational range of motion but did alter resting abduction. Abduction forces decreased 30% vs native shoulders but did not change when version or implant thickness was altered. Humeral center of rotation was shifted 17 mm medially and 12 mm inferiorly after implantation. The force required for lateral dislocation was 60% less than anterior and was not affected by implant thickness or version. Reverse TSA reduced abduction forces compared with native shoulders and resulted in limited external rotation and abduction ranges of motion. Because abduction force was reduced for all implants, the choice of humeral version and implant thickness should focus on range of motion. Lateral dislocation forces were less than anterior forces; thus, levering and inferior/posterior impingement may be a more probable basis for dislocation (laterally) than anteriorly directed forces. Copyright © 2012 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Mosby, Inc. All rights reserved.

Angular position, range of motion and velocity of arm elevation: a study of consistency of performance.

PubMed

García-Alsina, Joan; García Almazan, Concepción; Moranta Mesquida, José; Pleguezuelos Cobo, Eulogio

2005-11-01

To define the normal range, velocity and consistency of the movement of active arm elevation with humerus in neutral or in external rotation using a simplified kinematic model. Nine normal volunteers and the non-involved side of twenty five patients with unilateral shoulder lesion participated. A 3D optoelectronic tracking system was used to register the movement of raising the arm from the normal upright position to maximal elevation in a repetitive way. Peak humeral position, range of movement, velocity of motion and consistency of cycles were analyzed. Descriptive statistics, correlation between variables and with sex, age and side are presented, including differences between performances of movement done in neutral or external rotation. Data of the six variables were: maximal abduction 142 degrees [137.4-147.0], range of motion 118.1 degrees [112-124], maximal velocity 238 degrees/s [209-265]; mean velocity 113 degrees/s [96-130]; coefficient of variation of maximal angular abduction was 2.2% [1.7-2.7]; coefficient of variation of maximal velocity 8.6% [7.3-9.9]. No significant differences were observed either on side, sex or between the shoulder of normal volunteers or that of the patients with opposite shoulder lesions. Participants older than 45 years old showed only a significant slightly lower average velocity. The study confirms the weak association between dependent (biomechanical) and independent variables. As it is described here, analysis of arm elevation has not been previously studied and shows that has a good consistency in angular position, velocity and repeatability of motion in normal conditions which permits a picture of the overall performance of the shoulder.

Choosing a Motion Detector.

ERIC Educational Resources Information Center

Ballard, David M.

1990-01-01

Examines the characteristics of three types of motion detectors: Doppler radar, infrared, and ultrasonic wave, and how they are used on school buses to prevent students from being killed by their own school bus. Other safety devices cited are bus crossing arms and a camera monitor system. (MLF)

Robotic arm

DOEpatents

Kwech, Horst

1989-04-18

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

Interlimb Differences in Coordination of Unsupported Reaching Movements

PubMed Central

Schaffer, Jacob E.; Sainburg, Robert L.

2017-01-01

Previous research suggests that interlimb differences in coordination associated with handedness might result from specialized control mechanisms that are subserved by different cerebral hemispheres. Based largely on the results of horizontal plane reaching studies, we have proposed that the hemisphere contralateral to the dominant arm is specialized for predictive control of limb dynamics, while the non-dominant hemisphere is specialized for controlling limb impedance. The current study explores interlimb differences in control of 3-D unsupported reaching movements. While the task was presented in the horizontal plane, participant’s arms were unsupported and free to move within a range of the vertical axis, which was redundant to the task plane. Results indicated significant dominant arm advantages for both initial direction accuracy and final position accuracy. The dominant arm showed greater excursion along a redundant axis that was perpendicular to the task, and parallel to gravitational forces. In contrast, the non-dominant arm better impeded motion out of the task-plane. Nevertheless, left arm task errors varied substantially more with shoulder rotation excursion than did dominant arm task errors. These findings suggest that the dominant arm controller was able to take advantage of the redundant degrees of freedom of the task, while non-dominant task errors appeared enslaved to motion along the redundant axis. These findings are consistent with a dominant controller that is specialized for intersegmental coordination, and a non-dominant controller that is specialized for impedance control. However, the findings are inconsistent with previously documented conclusions from planar tasks, in which non-dominant control leads to greater final position accuracy. PMID:28344068

Galactic Spiral Shocks with Thermal Instability in Vertically Stratified Galactic Disks

NASA Astrophysics Data System (ADS)

Kim, Chang-Goo; Kim, Woong-Tae; Ostriker, Eve C.

2010-09-01

Galactic spiral shocks are dominant morphological features and believed to be responsible for substructure formation within spiral arms in disk galaxies. They can also contribute a substantial amount of kinetic energy to the interstellar gas by tapping the (differential) rotational motion. We use numerical hydrodynamic simulations to investigate dynamics and structure of spiral shocks with thermal instability (TI) in vertically stratified galactic disks, focusing on environmental conditions (of heating and the galactic potential) similar to the Solar neighborhood. We initially consider an isothermal disk in vertical hydrostatic equilibrium and let it evolve subject to interstellar cooling and heating as well as a stellar spiral potential. Due to TI, a disk with surface density Σ0 >= 6.7 M sun pc-2 rapidly turns to a thin dense slab near the midplane sandwiched between layers of rarefied gas. The imposed spiral potential leads to a vertically curved shock that exhibits strong flapping motions in the plane perpendicular to the arm. The overall flow structure at saturation is comprised of the arm, postshock expansion zone, and interarm regions that occupy typically 10%, 20%, and 70% of the arm-to-arm distance, in which the gas resides for 15%, 30%, and 55% of the arm-to-arm crossing time, respectively. The flows are characterized by transitions from rarefied to dense phases at the shock and from dense to rarefied phases in the postshock expansion zone, although gas with too-large postshock-density does not undergo this return phase transition, instead forming dense condensations. If self-gravity is omitted, the shock flapping drives random motions in the gas, but only up to ~2-3 km s-1 in the in-plane direction and less than 2 km s-1 in the vertical direction. Time-averaged shock profiles show that the spiral arms in stratified disks are broader and less dense compared to those in unstratified models, and that the vertical density distribution is overall consistent with local effective hydrostatic equilibrium. Inclusion of self-gravity increases the dense gas fraction by a factor of ~2 and raises the in-plane velocity dispersion to ~5-7 km s-1. When the disks are massive enough, with Σ0 >= 5 M sun pc-2, self-gravity promotes formation of bound clouds that repeatedly collide with each other in the arm and break up in the postshock expansion zone.

[The appreciation of the handicap in the brothers of the coast (1664-1675), according to Alexandre-Olivier Exmelin, surgeon of the privateers].

PubMed

Hamonet, Claude

2007-01-01

The reparation of corporeal damages, consequences of intentional or no intentional violence is a part of measurement of stability and progress in the human societies interested by a dignity life for the victims. Initiated by Hammourabi Code and continued by the Jews in the Bible, the reference was (now and still its) the amputed or impaired part of body (hand, arm, leg, eye...). For every part a fare in money was indicated or a rate in percentage. The Coast brothers translate in ecus or in slaves. This code indicates the originality of a society founded on violence, the robbery and murder with introduction of cooperative if not democratic modalities of functioning. The role of Bertrand d'Ogeron, governor of the Turtle Island was very beneficent.

Ebony Patriots: Participation of Blacks in the Battles of the American Revolution in the New York City Area, 1776-1779.

ERIC Educational Resources Information Center

New York City Bicentennial Corp., NY.

Exploits of 20 black men, slave and free, who fought in battles of the American Revolution in New York state are recounted. At the beginning of the Revolutionary War, colonies did not allow slaves or free blacks to join the Continental Army. Only after the British Army offered freedom to slaves who joined the royal ranks did the Continental Army…

Clinical issues in caring for former chattel slaves.

PubMed

Blumhofer, Rebecca D; Shah, Neha; Grodin, Michael A; Crosby, Sondra S

2011-04-01

Over the centuries, slavery has become embedded into the social fabric of Mauritania with generations of abid and bizan (Mauritanian slaves and slave masters, respectively) born and raised knowing nothing but the institution of chattel slavery. Abid fleeing their station in Mauritania come to the USA with unique psychological needs that will affect all of their interactions with the medical community. This paper aims to assist health professionals and others concerned with the welfare of former chattel slaves in competently serving this vulnerable population. Discussion includes an overview of Mauritanian chattel slavery, deduced sequelae of chattel slavery, preliminary recommendations for mental health and medical treatment protocols, and suggestions for future research. A confidential Institutional Review Board (IRB)-approved case report will be used to illustrate these objectives.

Finite-time master-slave synchronization and parameter identification for uncertain Lurie systems.

PubMed

Wang, Tianbo; Zhao, Shouwei; Zhou, Wuneng; Yu, Weiqin

2014-07-01

This paper investigates the finite-time master-slave synchronization and parameter identification problem for uncertain Lurie systems based on the finite-time stability theory and the adaptive control method. The finite-time master-slave synchronization means that the state of a slave system follows with that of a master system in finite time, which is more reasonable than the asymptotical synchronization in applications. The uncertainties include the unknown parameters and noise disturbances. An adaptive controller and update laws which ensures the synchronization and parameter identification to be realized in finite time are constructed. Finally, two numerical examples are given to show the effectiveness of the proposed method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Numerical integration and optimization of motions for multibody dynamic systems

NASA Astrophysics Data System (ADS)

Aguilar Mayans, Joan

This thesis considers the optimization and simulation of motions involving rigid body systems. It does so in three distinct parts, with the following topics: optimization and analysis of human high-diving motions, efficient numerical integration of rigid body dynamics with contacts, and motion optimization of a two-link robot arm using Finite-Time Lyapunov Analysis. The first part introduces the concept of eigenpostures, which we use to simulate and analyze human high-diving motions. Eigenpostures are used in two different ways: first, to reduce the complexity of the optimal control problem that we solve to obtain such motions, and second, to generate an eigenposture space to which we map existing real world motions to better analyze them. The benefits of using eigenpostures are showcased through different examples. The second part reviews an extensive list of integration algorithms used for the integration of rigid body dynamics. We analyze the accuracy and stability of the different integrators in the three-dimensional space and the rotation space SO(3). Integrators with an accuracy higher than first order perform more efficiently than integrators with first order accuracy, even in the presence of contacts. The third part uses Finite-time Lyapunov Analysis to optimize motions for a two-link robot arm. Finite-Time Lyapunov Analysis diagnoses the presence of time-scale separation in the dynamics of the optimized motion and provides the information and methodology for obtaining an accurate approximation to the optimal solution, avoiding the complications that timescale separation causes for alternative solution methods.

Training in cortical control of neuroprosthetic devices improves signal extraction from small neuronal ensembles.

PubMed

Helms Tillery, S I; Taylor, D M; Schwartz, A B

2003-01-01

We have recently developed a closed-loop environment in which we can test the ability of primates to control the motion of a virtual device using ensembles of simultaneously recorded neurons /29/. Here we use a maximum likelihood method to assess the information about task performance contained in the neuronal ensemble. We trained two animals to control the motion of a computer cursor in three dimensions. Initially the animals controlled cursor motion using arm movements, but eventually they learned to drive the cursor directly from cortical activity. Using a population vector (PV) based upon the relation between cortical activity and arm motion, the animals were able to control the cursor directly from the brain in a closed-loop environment, but with difficulty. We added a supervised learning method that modified the parameters of the PV according to task performance (adaptive PV), and found that animals were able to exert much finer control over the cursor motion from brain signals. Here we describe a maximum likelihood method (ML) to assess the information about target contained in neuronal ensemble activity. Using this method, we compared the information about target contained in the ensemble during arm control, during brain control early in the adaptive PV, and during brain control after the adaptive PV had settled and the animal could drive the cursor reliably and with fine gradations. During the arm-control task, the ML was able to determine the target of the movement in as few as 10% of the trials, and as many as 75% of the trials, with an average of 65%. This average dropped when the animals used a population vector to control motion of the cursor. On average we could determine the target in around 35% of the trials. This low percentage was also reflected in poor control of the cursor, so that the animal was unable to reach the target in a large percentage of trials. Supervised adjustment of the population vector parameters produced new weighting coefficients and directional tuning parameters for many neurons. This produced a much better performance of the brain-controlled cursor motion. It was also reflected in the maximum likelihood measure of cell activity, producing the correct target based only on neuronal activity in over 80% of the trials on average. The changes in maximum likelihood estimates of target location based on ensemble firing show that an animal's ability to regulate the motion of a cortically controlled device is not crucially dependent on the experimenter's ability to estimate intention from neuronal activity.

Marine Corps Drill and Ceremonies Manual.

DTIC Science & Technology

1980-08-28

23 3-26 ii I I . . CHAPTER 4. MANUAL OF ARMS WITH HANDGUNS Para Page Pistol manual of arms ..................................... 4-1 4-1 Revolver...movement from orcier arms. (1) On the command of execution, AR3MS, grasp the barrel of the weapon with the right hand. Without loss of motion, raise and...forearm are straight. The right elbow is neld down without strain. The barrel is up and bisecting the angle formed by the neck and left shoulder. At the

A virtual reality system for arm and hand rehabilitation

NASA Astrophysics Data System (ADS)

Luo, Zhiqiang; Lim, Chee Kian; Chen, I.-Ming; Yeo, Song Huat

2011-03-01

This paper presents a virtual reality (VR) system for upper limb rehabilitation. The system incorporates two motion track components, the Arm Suit and the Smart Glove which are composed of a range of the optical linear encoders (OLE) and the inertial measurement units (IMU), and two interactive practice applications designed for driving users to perform the required functional and non-functional motor recovery tasks. We describe the technique details about the two motion track components and the rational to design two practice applications. The experiment results show that, compared with the marker-based tracking system, the Arm Suit can accurately track the elbow and wrist positions. The repeatability of the Smart Glove on measuring the five fingers' movement can be satisfied. Given the low cost, high accuracy and easy installation, the system thus promises to be a valuable complement to conventional therapeutic programs offered in rehabilitation clinics and at home.

Posture and Movement

NASA Technical Reports Server (NTRS)

1997-01-01

Session TP3 includes short reports on: (1) Modification of Goal-Directed Arm Movements During Inflight Adaptation to Microgravity; (2) Quantitative Analysis of Motion control in Long Term Microgravity; (3) Does the Centre of Gravity Remain the Stabilised Reference during Complex Human Postural Equilibrium Tasks in Weightlessness?; and (4) Arm End-Point Trajectories Under Normal and Microgravity Environments.

Force Control and Nonlinear Master-Slave Force Profile to Manage an Admittance Type Multi-Fingered Haptic User Interface

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

Anthony L. Crawford

2012-08-01

Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in remote and/or hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space to name a few. In order to achieve this end the research presented in this paper has developed an admittance type exoskeleton like multi-fingered haptic hand user interface that secures the user’s palm and provides 3-dimensional force feedback to the user’s fingertips. Atypical to conventional haptic hand user interfaces that limit themselves to integrating the human hand’s characteristics just into the system’smore » mechanical design this system also perpetuates that inspiration into the designed user interface’s controller. This is achieved by manifesting the property differences of manipulation and grasping activities as they pertain to the human hand into a nonlinear master-slave force relationship. The results presented in this paper show that the admittance-type system has sufficient bandwidth that it appears nearly transparent to the user when the user is in free motion and when the system is subjected to a manipulation task, increased performance is achieved using the nonlinear force relationship compared to the traditional linear scaling techniques implemented in the vast majority of systems.« less

Trajectories of Dop Points on a Machining Wheel During Grinding of High Quality Plane Surfaces

NASA Astrophysics Data System (ADS)

Petrikova, I.; Vrzala, R.; Kafka, J.

The basic requirement for plane grinding synthetic monocrystals is uniform wear of the grinding tool. This article deals with the case where the grinding process is carried out by relative motion between the front faces of rotating wheels with parallel axes. The dop is attached by the end of the pendulous arm, which movement is controlled by a cam. Kinematic relations have been drawn for the relative motion of the dop points in the reference to the abrasive wheel. The aim of the work is set the methodology for finding out of uniformity respectively nonuniformity of the motion of dop points on the abrasive wheel. The computational program was compiled in MATLAB. The sums of the number of passes were performed in the transmission range of 0.4-1. The number of passes of selected points on the dop passed over areas of the square mash was computed. The density of trajectory passes depends on four factors: the speed of both wheels, the number of arm operating cycles, the angle of the arm swings and the cam shape. All these dependencies were investigated. The uniformity the density of passes is one of the criteria for setting the grinding machine.

Impairment-oriented training or Bobath therapy for severe arm paresis after stroke: a single-blind, multicentre randomized controlled trial.

PubMed

Platz, T; Eickhof, C; van Kaick, S; Engel, U; Pinkowski, C; Kalok, S; Pause, M

2005-10-01

To study the effects of augmented exercise therapy time for arm rehabilitation as either Bobath therapy or the impairment-oriented training (Arm BASIS training) in stroke patients with arm severe paresis. Single blind, multicentre randomized control trial. Three inpatient neurorehabilitation centres. Sixty-two anterior circulation ischaemic stroke patients. Random assignment to three group: (A) no augmented exercise therapy time, (B) augmented exercise therapy time as Bobath therapy and (C) augmented exercise therapy time as Arm BASIS training. Fugl-Meyer arm motor score. Secondary measure: Action Research Arm Test (ARA). Ancillary measures: Fugl-Meyer arm sensation and joint motion/pain scores and the Ashworth Scale (elbow flexors). An overall effect of augmented exercise therapy time on Fugl-Meyer scores after four weeks was not corroborated (mean and 95% confidence interval (CI) of change scores: no augmented exercise therapy time (n=20) 8.8, 5.2-12.3; augmented exercise therapy time (n=40) 9.9, 6.8-13.9; p = 0.2657). The group who received the augmented exercise therapy time as Arm BASIS training (n=20) had, however, higher gains than the group receiving the augmented exercise therapy time as Bobath therapy (n=20) (mean and 95% CI of change scores: Bobath 7.2, 2.6-11.8; BASIS 12.6, 8.4-16.8; p = 0.0432). Passive joint motion/pain deteriorated less in the group who received BASIS training (mean and 95% CI of change scores: Bobath -3.2, -5.2 to -1.1; BASIS 0.1, -1.8-2.0; p = 0.0090). ARA, Fugl-Meyer arm sensation, and Ashworth Scale scores were not differentially affected. The augmented exercise therapy time as Arm BASIS training enhanced selective motor control. Type of training was more relevant for recovery of motor control than therapeutic time spent.

Wireless Data-Acquisition System for Testing Rocket Engines

NASA Technical Reports Server (NTRS)

Lin, Chujen; Lonske, Ben; Hou, Yalin; Xu, Yingjiu; Gang, Mei

2007-01-01

A prototype wireless data-acquisition system has been developed as a potential replacement for a wired data-acquisition system heretofore used in testing rocket engines. The traditional use of wires to connect sensors, signal-conditioning circuits, and data acquisition circuitry is time-consuming and prone to error, especially when, as is often the case, many sensors are used in a test. The system includes one master and multiple slave nodes. The master node communicates with a computer via an Ethernet connection. The slave nodes are powered by rechargeable batteries and are packaged in weatherproof enclosures. The master unit and each of the slave units are equipped with a time-modulated ultra-wide-band (TMUWB) radio transceiver, which spreads its RF energy over several gigahertz by transmitting extremely low-power and super-narrow pulses. In this prototype system, each slave node can be connected to as many as six sensors: two sensors can be connected directly to analog-to-digital converters (ADCs) in the slave node and four sensors can be connected indirectly to the ADCs via signal conditioners. The maximum sampling rate for streaming data from any given sensor is about 5 kHz. The bandwidth of one channel of the TM-UWB radio communication system is sufficient to accommodate streaming of data from five slave nodes when they are fully loaded with data collected through all possible sensor connections. TM-UWB radios have a much higher spatial capacity than traditional sinusoidal wave-based radios. Hence, this TM-UWB wireless data-acquisition can be scaled to cover denser sensor setups for rocket engine test stands. Another advantage of TM-UWB radios is that it will not interfere with existing wireless transmission. The maximum radio-communication range between the master node and a slave node for this prototype system is about 50 ft (15 m) when the master and slave transceivers are equipped with small dipole antennas. The range can be increased by changing to larger antennas and/or greater transmission power. The battery life of a slave node ranges from about six hours during operation at full capacity to as long as three days when the system is in a "sleep" mode used to conserve battery charge during times between setup and rocket-engine testing. Batteries can be added to prolong operational lifetimes. The radio transceiver dominates the power consumption.

Relations between Automatically Extracted Motion Features and the Quality of Mother-Infant Interactions at 4 and 13 Months

PubMed Central

Egmose, Ida; Varni, Giovanna; Cordes, Katharina; Smith-Nielsen, Johanne; Væver, Mette S.; Køppe, Simo; Cohen, David; Chetouani, Mohamed

2017-01-01

Bodily movements are an essential component of social interactions. However, the role of movement in early mother-infant interaction has received little attention in the research literature. The aim of the present study was to investigate the relationship between automatically extracted motion features and interaction quality in mother-infant interactions at 4 and 13 months. The sample consisted of 19 mother-infant dyads at 4 months and 33 mother-infant dyads at 13 months. The coding system Coding Interactive Behavior (CIB) was used for rating the quality of the interactions. Kinetic energy of upper-body, arms and head motion was calculated and used as segmentation in order to extract coarse- and fine-grained motion features. Spearman correlations were conducted between the composites derived from the CIB and the coarse- and fine-grained motion features. At both 4 and 13 months, longer durations of maternal arm motion and infant upper-body motion were associated with more aversive interactions, i.e., more parent-led interactions and more infant negativity. Further, at 4 months, the amount of motion silence was related to more adaptive interactions, i.e., more sensitive and child-led interactions. Analyses of the fine-grained motion features showed that if the mother coordinates her head movements with her infant's head movements, the interaction is rated as more adaptive in terms of less infant negativity and less dyadic negative states. We found more and stronger correlations between the motion features and the interaction qualities at 4 compared to 13 months. These results highlight that motion features are related to the quality of mother-infant interactions. Factors such as infant age and interaction set-up are likely to modify the meaning and importance of different motion features. PMID:29326626

Relations between Automatically Extracted Motion Features and the Quality of Mother-Infant Interactions at 4 and 13 Months.

PubMed

Egmose, Ida; Varni, Giovanna; Cordes, Katharina; Smith-Nielsen, Johanne; Væver, Mette S; Køppe, Simo; Cohen, David; Chetouani, Mohamed

2017-01-01

Bodily movements are an essential component of social interactions. However, the role of movement in early mother-infant interaction has received little attention in the research literature. The aim of the present study was to investigate the relationship between automatically extracted motion features and interaction quality in mother-infant interactions at 4 and 13 months. The sample consisted of 19 mother-infant dyads at 4 months and 33 mother-infant dyads at 13 months. The coding system Coding Interactive Behavior (CIB) was used for rating the quality of the interactions. Kinetic energy of upper-body, arms and head motion was calculated and used as segmentation in order to extract coarse- and fine-grained motion features. Spearman correlations were conducted between the composites derived from the CIB and the coarse- and fine-grained motion features. At both 4 and 13 months, longer durations of maternal arm motion and infant upper-body motion were associated with more aversive interactions, i.e., more parent-led interactions and more infant negativity. Further, at 4 months, the amount of motion silence was related to more adaptive interactions, i.e., more sensitive and child-led interactions. Analyses of the fine-grained motion features showed that if the mother coordinates her head movements with her infant's head movements, the interaction is rated as more adaptive in terms of less infant negativity and less dyadic negative states. We found more and stronger correlations between the motion features and the interaction qualities at 4 compared to 13 months. These results highlight that motion features are related to the quality of mother-infant interactions. Factors such as infant age and interaction set-up are likely to modify the meaning and importance of different motion features.

Teleoperated control system for underground room and pillar mining

DOEpatents

Mayercheck, William D.; Kwitowski, August J.; Brautigam, Albert L.; Mueller, Brian K.

1992-01-01

A teleoperated mining system is provided for remotely controlling the various machines involved with thin seam mining. A thin seam continuous miner located at a mining face includes a camera mounted thereon and a slave computer for controlling the miner and the camera. A plurality of sensors for relaying information about the miner and the face to the slave computer. A slave computer controlled ventilation sub-system which removes combustible material from the mining face. A haulage sub-system removes material mined by the continuous miner from the mining face to a collection site and is also controlled by the slave computer. A base station, which controls the supply of power and water to the continuous miner, haulage system, and ventilation systems, includes cable/hose handling module for winding or unwinding cables/hoses connected to the miner, an operator control module, and a hydraulic power and air compressor module for supplying air to the miner. An operator controlled host computer housed in the operator control module is connected to the slave computer via a two wire communications line.

Effects of head-slaved navigation and the use of teleports on spatial orientation in virtual environments.

PubMed

Bakker, Niels H; Passenier, Peter O; Werkhoven, Peter J

2003-01-01

The type of navigation interface in a virtual environment (VE)--head slaved or indirect--determines whether or not proprioceptive feedback stimuli are present during movement. In addition, teleports can be used, which do not provide continuous movement but, rather, discontinuously displace the viewpoint over large distances. A two-part experiment was performed. The first part investigated whether head-slaved navigation provides an advantage for spatial learning in a VE. The second part investigated the role of anticipation when using teleports. The results showed that head-slaved navigation has an advantage over indirect navigation for the acquisition of spatial knowledge in a VE. Anticipating the destination of the teleport prevented disorientation after the displacement to a great extent but not completely. The time that was needed for anticipation increased if the teleport involved a rotation of the viewing direction. This research shows the potential added value of using a head-slaved navigation interface--for example, when using VE for training purposes--and provides practical guidelines for the use of teleports in VE applications.

[Modern-day slavery as a public health issue].

PubMed

Leão, Luís Henrique da Costa

2016-12-01

Modern-day slave labor is one of the most pernicious and persistent social problems in Brazil. In the light of the need to implement a national occupational health policy, this paper discusses slave labor as a public health concern, highlighting possibilities for broadening strategies for vigilance and comprehensive care for this specific working population. Exploratory qualitative research was carried out based on the "social construction of reality" proposed by Lenoir, Berger and Luckmann. The investigation consisted of a theoretical review of modern-day slave labor on the national and international scene within the scope of the human, social and public health sciences and an analysis of social and political practices to tackle modern-day slave labor was conducted in the State of Rio de Janeiro. Semi-structured individual and group interviews with workers and representatives of social movements and public institutions were organized. The results reveal the theoretical and practical dimensions of slave labor and its relations with the health field and highlight the role and potential of public health in the enhancing of vigilance practices and health care of workers subjected to these chronic social conditions.

Relationships of a Circular Singer Arm Gesture to Acoustical and Perceptual Measures of Singing: A Motion Capture Study

ERIC Educational Resources Information Center

Brunkan, Melissa C.

2016-01-01

The purpose of this study was to validate previous research that suggests using movement in conjunction with singing tasks can affect intonation and perception of the task. Singers (N = 49) were video and audio recorded, using a motion capture system, while singing a phrase from a familiar song, first with no motion, and then while doing a low,…

A Unified Approach to Motion Control of Motion Robots

NASA Technical Reports Server (NTRS)

Seraji, H.

1994-01-01

This paper presents a simple on-line approach for motion control of mobile robots made up of a manipulator arm mounted on a mobile base. The proposed approach is equally applicable to nonholonomic mobile robots, such as rover-mounted manipulators and to holonomic mobile robots such as tracked robots or compound manipulators. The computational efficiency of the proposed control scheme makes it particularly suitable for real-time implementation.

Characteristics of dynamic processing in the visual field of patients with age-related maculopathy

PubMed Central

Eisenbarth, Werner; MacKeben, Manfred; Poggel, Dorothe A.

2007-01-01

Purpose To investigate the characteristics of dynamic processing in the visual field of patients with age-related maculopathy (ARM) by measuring motion sensitivity, double-pulse resolution (DPR), and critical flicker fusion. Methods Fourteen subjects with ARM (18 eyes), 14 age-matched controls (19 eyes), and 7 young controls (8 eyes) served as subjects. Motion contrast thresholds were determined by a four-alternative forced-choice (4 afc) staircase procedure with a modification by Kernbach for presenting a plaid (size = 3.8°) moving within a stationary spatial and temporal Gaussian envelope in one of four directions. Measurements were performed on the horizontal meridian at 10°, 20°, 30°, 40°, and 60° eccentricity. DPR was defined as the minimal temporal gap detectable by the subject using a 9-fold interleaved adaptive procedure, with stimuli positioned on concentric rings at 5°, 10°, and 20° eccentricity on the principal and oblique meridians. Critical flicker fusion thresholds (CFF) and the Lanthony D-15 color vision test were applied foveally, and the subjects were free to use their fovea or whatever retinal area they needed to use instead, due to their retinal lesions caused by ARM. All measurements were performed under photopic conditions. Results Motion contrast sensitivity in subjects with ARM was pronouncedly reduced (0.23–0.66 log units, p < 0.01), not only in the macula but in a region up to 20° eccentricity. In the two control groups, motion contrast sensitivity systematically declined with retinal eccentricity (0.009–0.032 log units/degree) and with age (0.01 log units/year). Double-pulse thresholds in healthy subjects were approximately constant in the central visual field and increased outside a radius of 10° (1.73 ms/degree). DPR thresholds were elevated in subjects with ARM (by 23–32 ms, p < 0.01) up to 20° eccentricity, and their foveal CFFs were increased by 5.5 Hz or 14% (p < 0.01) as compared with age-matched controls. Conclusions Dynamic processing properties in subjects with ARM are severely impaired in the central visual field up to 20° eccentricity, which is clearly beyond the borders of the macula. PMID:17882447

Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

NASA Technical Reports Server (NTRS)

Barker, L. K.; Houck, J. A.; Carzoo, S. W.

1984-01-01

An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

[Slaves in purgatory: the Tucunduba Leprosarium (Pará, nineteenth century)].

PubMed

Henrique, Márcio Couto

2012-12-01

The article analyzes the experience of the slaves interned at the Tucunduba Leprosarium in Belém, state of Pará during the nineteenth century. The slaves were freed once they showed the marks of their leprosy, and expectations were that they would submit to the segregation policy meant to keep them from contact with the rest of the population. The documentation produced by Santa Casa de Misericórdia hospital in Pará and by the province's political authorities reveals the strategies the slaves devised in response to this policy; they used their numerical predominance at the leprosarium to create a network of solidarity that allowed them to recreate their lives and stand in opposition to the type of nation that the era's hygienist theories envisioned.

[Ernst Hasenclever in Gongo-Soco: English exploitation of the gold mines in the state of Minas Gerais in the nineteenth century].

PubMed

Alves, Débora Bendocchi

2014-01-01

Based on the report of Ernst Hasenclever on his visit to the Gong-Soco gold mine in 1839, this article seeks to understand the labor and administrative organizational system implemented by the English gold mining companies in Minas Gerais, especially in the second half of the nineteenth century at a time when the slave-based system was in its final stages. Our objective is to show the continuity of the administrative system and the use of slave labor by the English companies from the 1830s until the end of the century, despite the pressure applied by England against the transatlantic slave trade and the prohibition of Her Majesty's subjects to own slaves anywhere in the world.

Time efficient Gabor fused master slave optical coherence tomography

NASA Astrophysics Data System (ADS)

Cernat, Ramona; Bradu, Adrian; Rivet, Sylvain; Podoleanu, Adrian

2018-02-01

In this paper the benefits in terms of operation time that Master/Slave (MS) implementation of optical coherence tomography can bring in comparison to Gabor fused (GF) employing conventional fast Fourier transform based OCT are presented. The Gabor Fusion/Master Slave Optical Coherence Tomography architecture proposed here does not need any data stitching. Instead, a subset of en-face images is produced for each focus position inside the sample to be imaged, using a reduced number of theoretically inferred Master masks. These en-face images are then assembled into a final volume. When the channelled spectra are digitized into 1024 sampling points, and more than 4 focus positions are required to produce the final volume, the Master Slave implementation of the instrument is faster than the conventional fast Fourier transform based procedure.

Manipulation strategies for massive space payloads

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1989-01-01

Control for the bracing strategy is being examined. It was concluded earlier that trajectory planning must be improved to best achieve the bracing motion. Very interesting results were achieved which enable the inverse dynamics of flexible arms to be calculated for linearized motion in a more efficient manner than previously published. The desired motion of the end point beginning at t=0 and ending at t=t sub f is used to calculate the required torque at the joint. The solution is separated into a causal function that is zero for t is less than 0 and an accusal function which is zero for t is greater than t sub f. A number of alternative end point trajectories were explored in terms of the peak torque required, the amount of anticipatory action, and other issues. The single link case is the immediate subject and an experimental verification of that case is being performed. Modeling with experimental verification of closed chain dynamics continues. Modeling effort has pointed out inaccuracies that result from the choice of numerical techniques used to incorporate the closed chain constraints when modeling our experimental prototype RALF (Robotic Arm Large and Flexible). Results were compared to TREETOPS, a multi body code. The experimental verification work is suggesting new ways to make comparisons with systems having structural linearity and joint and geometric nonlinearity. The generation of inertial forces was studied with a small arm that will damp the large arm's vibration.

Effect of stride length on overarm throwing delivery: A linear momentum response.

PubMed

Ramsey, Dan K; Crotin, Ryan L; White, Scott

2014-12-01

Changing stride length during overhand throwing delivery is thought to alter total body and throwing arm linear momentums, thereby altering the proportion of throwing arm momentum relative to the total body. Using a randomized cross-over design, nineteen pitchers (15 collegiate and 4 high school) were assigned to pitch two simulated 80-pitch games at ±25% of their desired stride length. An 8-camera motion capture system (240Hz) integrated with two force plates (960Hz) and radar gun tracked each throw. Segmental linear momentums in each plane of motion were summed yielding throwing arm and total body momentums, from which compensation ratio's (relative contribution between the two) were derived. Pairwise comparisons at hallmark events and phases identified significantly different linear momentum profiles, in particular, anteriorly directed total body, throwing arm, and momentum compensation ratios (P⩽.05) as a result of manipulating stride length. Pitchers with shorter strides generated lower forward (anterior) momentum before stride foot contact, whereas greater upward and lateral momentum (toward third base) were evident during the acceleration phase. The evidence suggests insufficient total body momentum in the intended throwing direction may potentially influence performance (velocity and accuracy) and perhaps precipitate throwing arm injuries. Copyright © 2014 Elsevier B.V. All rights reserved.

Bi-stable optical element actuator device

DOEpatents

Holdener, Fred R.; Boyd, Robert D.

2002-01-01

The present invention is a bistable optical element actuator device utilizing a powered means to move an actuation arm, to which an optical element is attached, between two stable positions. A non-powered means holds the actuation arm in either of the two stable positions. The optical element may be a electromagnetic (EM) radiation or particle source, an instrument, or EM radiation or particle transmissive reflective or absorptive elements. A bearing is used to transfer motion and smoothly transition the actuation arm between the two stable positions.

Design of mechanisms to lock/latch systems under rotational or translational motion

NASA Technical Reports Server (NTRS)

Billimoria, R. P.

1976-01-01

Bodies/systems need to be stopped and locked/latched at the end of their path. Some examples of these systems in the aerospace industry (including launch vehicle, spacecraft, and the ground support equipment) are the command module access arm, service arms, docking module of the ASTP and the orbiter access arm for the space shuttle. Two major aspects are covered: (1) various methods of latching and (2) selection of the optimum method for latching, depending on the application and the design requirement criteria.

1. Historic American Buildings Survey Lester Jones, Photographer February 28, ...

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

1. Historic American Buildings Survey Lester Jones, Photographer February 28, 1940 SLAVE HOSPITAL FROM THE SOUTHWEST - Melrose Plantation, Slave Hospital, State Highway 119, Melrose, Natchitoches Parish, LA

2. Historic American Buildings Survey, Louis I. Schwartz, Photographer July, ...

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

2. Historic American Buildings Survey, Louis I. Schwartz, Photographer July, 1962 SLAVE BUILDING AND KITCHENS. - Robinson-Aiken Slave Building & Kitchens, 48 Elizabeth Street, Charleston, Charleston County, SC

Visualization in mechanics: the dynamics of an unbalanced roller

NASA Astrophysics Data System (ADS)

Cumber, Peter S.

2017-04-01

It is well known that mechanical engineering students often find mechanics a difficult area to grasp. This article describes a system of equations describing the motion of a balanced and an unbalanced roller constrained by a pivot arm. A wide range of dynamics can be simulated with the model. The equations of motion are embedded in a graphical user interface for its numerical solution in MATLAB. This allows a student's focus to be on the influence of different parameters on the system dynamics. The simulation tool can be used as a dynamics demonstrator in a lecture or as an educational tool driven by the imagination of the student. By way of demonstration the simulation tool has been applied to a range of roller-pivot arm configurations. In addition, approximations to the equations of motion are explored and a second-order model is shown to be accurate for a limited range of parameters.

Towards Development of Robotic Aid for Rehabilitation of Locomotion-Impaired Subjects

NASA Technical Reports Server (NTRS)

Bejczy, Antal K.

2000-01-01

Manual assistance of therapists to help movement of legs of spinal cord injured (SCI) subjects during stepping on a treadmill for locomotion rehabilitation has severe economic and technical limitations. Scientists at the Department of Physiological Science at the University of California Los Angeles (UCLA) and roboticists at the Jet Propulsion Laboratory (JPL) initiated a joint effort to develop a robotic mechanism capable of performing controlled motions equivalent to the arm and hand motions of therapists assisting the stepping of locomotion impaired subjects on a treadmill, while the subjects' body weight is partially supported by an overhead harness. A first necessary technical step towards this development is to measure and understand the kinematics and dynamics of the therapists' arm and hand motions as they are reflected on the subjects' leg movement. This paper describes an initial measurement system developed for this purpose together with the related measurement results, and outlines the planned future technical work.

[Luís Gomes Ferreira reports on the health of slaves in his work entitled Erário mineral (1735)].

PubMed

Eugênio, Alisson

2015-01-01

The article analyzes the reports of Luís Gomes Ferreira published in his manual on practical medicine entitled Erário mineral, of 1735, on the most common illnesses in captivity. It is shown that such reports can be interpreted as a criticism of the social relations of the slave era by issuing some warnings to the landowners who failed to look after the health of their slaves.

Bilateral force reflection for teleoperators with masters and slaves with dissimilar and possibly redundant kinematics

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

Jansen, J.F.; Babcock, S.M.

1989-11-01

Several bilateral control techniques and methods for exploiting redundant slaves are investigated as a part of research to develop and analyze bilateral, force-reflecting control methodologies for teleoperator systems with kinematic dissimilar masters and slaves. The study indicates that, with force/torque sensing at the wrist, and an impedance type of controller with the appropriate joint compensation, a significant improvement in performance and controllability of a teleoperator system can be achieved. 32 refs., 6 figs., 2 tabs.

Bilateral Impedance Control For Telemanipulators

NASA Technical Reports Server (NTRS)

Moore, Christopher L.

1993-01-01

Telemanipulator system includes master robot manipulated by human operator, and slave robot performing tasks at remote location. Two robots electronically coupled so slave robot moves in response to commands from master robot. Teleoperation greatly enhanced if forces acting on slave robot fed back to operator, giving operator feeling he or she manipulates remote environment directly. Main advantage of bilateral impedance control: enables arbitrary specification of desired performance characteristics for telemanipulator system. Relationship between force and position modulated at both ends of system to suit requirements of task.

Visuomotor adaptation to a visual rotation is gravity dependent.

PubMed

Toma, Simone; Sciutti, Alessandra; Papaxanthis, Charalambos; Pozzo, Thierry

2015-03-15

Humans perform vertical and horizontal arm motions with different temporal patterns. The specific velocity profiles are chosen by the central nervous system by integrating the gravitational force field to minimize energy expenditure. However, what happens when a visuomotor rotation is applied, so that a motion performed in the horizontal plane is perceived as vertical? We investigated the dynamic of the adaptation of the spatial and temporal properties of a pointing motion during prolonged exposure to a 90° visuomotor rotation, where a horizontal movement was associated with a vertical visual feedback. We found that participants immediately adapted the spatial parameters of motion to the conflicting visual scene in order to keep their arm trajectory straight. In contrast, the initial symmetric velocity profiles specific for a horizontal motion were progressively modified during the conflict exposure, becoming more asymmetric and similar to those appropriate for a vertical motion. Importantly, this visual effect that increased with repetitions was not followed by a consistent aftereffect when the conflicting visual feedback was absent (catch and washout trials). In a control experiment we demonstrated that an intrinsic representation of the temporal structure of perceived vertical motions could provide the error signal allowing for this progressive adaptation of motion timing. These findings suggest that gravity strongly constrains motor learning and the reweighting process between visual and proprioceptive sensory inputs, leading to the selection of a motor plan that is suboptimal in terms of energy expenditure. Copyright © 2015 the American Physiological Society.

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

McKenzie, Kirk; Spero, Robert E.; Shaddock, Daniel A.

For the Laser Interferometer Space Antenna (LISA) to reach its design sensitivity, the coupling of the free-running laser frequency noise to the signal readout must be reduced by more than 14 orders of magnitude. One technique employed to reduce the laser frequency noise will be arm locking, where the laser frequency is locked to the LISA arm length. In this paper we detail an implementation of arm locking. We investigate orbital effects (changing arm lengths and Doppler frequencies), the impact of errors in the Doppler knowledge that can cause pulling of the laser frequency, and the noise limit of armmore » locking. Laser frequency pulling is examined in two regimes: at lock acquisition and in steady state. The noise performance of arm locking is calculated with the inclusion of the dominant expected noise sources: ultrastable oscillator (clock) noise, spacecraft motion, and shot noise. We find that clock noise and spacecraft motion limit the performance of dual arm locking in the LISA science band. Studying these issues reveals that although dual arm locking [A. Sutton and D. A. Shaddock, Phys. Rev. D 78, 082001 (2008)] has advantages over single (or common) arm locking in terms of allowing high gain, it has disadvantages in both laser frequency pulling and noise performance. We address this by proposing a modification to the dual arm-locking sensor, a hybrid of common and dual arm-locking sensors. This modified dual arm-locking sensor has the laser frequency pulling characteristics and low-frequency noise coupling of common arm locking, but retains the control system advantages of dual arm locking. We present a detailed design of an arm-locking controller and perform an analysis of the expected performance when used with and without laser prestabilization. We observe that the sensor phase changes beneficially near unity-gain frequencies of the arm-locking controller, allowing a factor of 10 more gain than previously believed, without degrading stability. With a time-delay error of 3 ns (equivalent of 1 m interspacecraft ranging error), time-delay interferometry (TDI) is capable of suppressing 300 Hz/{radical}(Hz) of laser frequency noise to the required level. We show that if no interspacecraft laser links fail, arm locking alone surpasses this noise performance for the entire mission. If one interspacecraft laser link fails, arm locking alone will achieve this performance for all but approximately 1 h per year, when the arm length mismatch of the two remaining arms passes through zero. Therefore, the LISA sensitivity can be realized with arm locking and time-delay interferometry only, without any form of prestabilization.« less

Accumulated state assessment of the Peace-Athabasca-Slave River system.

PubMed

Dubé, Monique G; Wilson, Julie E

2013-07-01

Effects-based analysis is a fundamental component of watershed cumulative effects assessment. This study conducted an effects-based analysis for the Peace-Athabasca-Slave River System, part of the massive Mackenzie River Basin, encompassing 20% of Canada's total land mass and influenced by cumulative contributions of the W.A.C. Bennett Dam (Peace River) and industrial activities including oil sands mining (Athabasca River). This study assessed seasonal changes in 1) Peace River water quality and quantity before and after dam development, 2) Athabasca River water quality and quantity before and after oil sands developments, 3) tributary inputs from the Peace and Athabasca Rivers to the Slave River, and 4) upstream to downstream differences in water quality in the Slave River. In addition, seasonal benchmarks were calculated for each river based on pre-perturbation post-perturbation data for future cumulative effects assessments. Winter discharge (January-March) from the Peace and Slave Rivers was significantly higher than before dam construction (pre-1967) (p < 0.05), whereas summer peak flows (May-July) were significantly lower than before the dam showing that regulation has significantly altered seasonal flow regimes. During spring freshet and summer high flows, the Peace River strongly influenced the quality of the Slave River, as there were no significant differences in loadings of dissolved N, total P (TP), total organic C (TOC), total As, total Mn, total V, and turbidity and specific conductance between these rivers. In the Athabasca River, TP and specific conductance concentrations increased significantly since before oil sands developments (1967-2010), whereas dissolved N and sulfate have increased after the oil sands developments (1977-2010). Recently, the Athabasca River had significantly higher concentrations of dissolved N, TP, TOC, dissolved sulfate, specific conductance, and total Mn than either the Slave or the Peace Rivers during the winter months. The transboundary nature of the Peace, Athabasca, and Slave River basins has resulted in fragmented monitoring and reporting of the state of these rivers, and a more consistent monitoring framework is recommended. Copyright © 2012 SETAC.

Physiological control of dual rotary pumps as a biventricular assist device using a master/slave approach.

PubMed

Stevens, Michael C; Wilson, Stephen; Bradley, Andrew; Fraser, John; Timms, Daniel

2014-09-01

Dual rotary left ventricular assist devices (LVADs) can provide biventricular mechanical support during heart failure. Coordination of left and right pump speeds is critical not only to avoid ventricular suction and to match cardiac output with demand, but also to ensure balanced systemic and pulmonary circulatory volumes. Physiological control systems for dual LVADs must meet these objectives across a variety of clinical scenarios by automatically adjusting left and right pump speeds to avoid catastrophic physiological consequences. In this study we evaluate a novel master/slave physiological control system for dual LVADs. The master controller is a Starling-like controller, which sets flow rate as a function of end-diastolic ventricular pressure (EDP). The slave controller then maintains a linear relationship between right and left EDPs. Both left/right and right/left master/slave combinations were evaluated by subjecting them to four clinical scenarios (rest, postural change, Valsalva maneuver, and exercise) simulated in a mock circulation loop. The controller's performance was compared to constant-rotational-speed control and two other dual LVAD control systems: dual constant inlet pressure and dual Frank-Starling control. The results showed that the master/slave physiological control system produced fewer suction events than constant-speed control (6 vs. 62 over a 7-min period). Left/right master/slave control had lower risk of pulmonary congestion than the other control systems, as indicated by lower maximum EDPs (15.1 vs. 25.2-28.4 mm Hg). During exercise, master/slave control increased total flow from 5.2 to 10.1 L/min, primarily due to an increase of left and right pump speed. Use of the left pump as the master resulted in fewer suction events and lower EDPs than when the right pump was master. Based on these results, master/slave control using the left pump as the master automatically adjusts pump speed to avoid suction and increases pump flow during exercise without causing pulmonary venous congestion. Copyright © 2014 International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.

Quantized Synchronization of Chaotic Neural Networks With Scheduled Output Feedback Control.

PubMed

Wan, Ying; Cao, Jinde; Wen, Guanghui

In this paper, the synchronization problem of master-slave chaotic neural networks with remote sensors, quantization process, and communication time delays is investigated. The information communication channel between the master chaotic neural network and slave chaotic neural network consists of several remote sensors, with each sensor able to access only partial knowledge of output information of the master neural network. At each sampling instants, each sensor updates its own measurement and only one sensor is scheduled to transmit its latest information to the controller's side in order to update the control inputs for the slave neural network. Thus, such communication process and control strategy are much more energy-saving comparing with the traditional point-to-point scheme. Sufficient conditions for output feedback control gain matrix, allowable length of sampling intervals, and upper bound of network-induced delays are derived to ensure the quantized synchronization of master-slave chaotic neural networks. Lastly, Chua's circuit system and 4-D Hopfield neural network are simulated to validate the effectiveness of the main results.In this paper, the synchronization problem of master-slave chaotic neural networks with remote sensors, quantization process, and communication time delays is investigated. The information communication channel between the master chaotic neural network and slave chaotic neural network consists of several remote sensors, with each sensor able to access only partial knowledge of output information of the master neural network. At each sampling instants, each sensor updates its own measurement and only one sensor is scheduled to transmit its latest information to the controller's side in order to update the control inputs for the slave neural network. Thus, such communication process and control strategy are much more energy-saving comparing with the traditional point-to-point scheme. Sufficient conditions for output feedback control gain matrix, allowable length of sampling intervals, and upper bound of network-induced delays are derived to ensure the quantized synchronization of master-slave chaotic neural networks. Lastly, Chua's circuit system and 4-D Hopfield neural network are simulated to validate the effectiveness of the main results.

Effectiveness of robot-assisted training added to conventional rehabilitation in patients with humeral fracture early after surgical treatment: protocol of a randomised, controlled, multicentre trial.

PubMed

Nerz, Corinna; Schwickert, Lars; Becker, Clemens; Studier-Fischer, Stefan; Müßig, Janina Anna; Augat, Peter

2017-12-06

The incidence of proximal humeral fractures increases with age. The functional recovery of the upper arm after such fractures is slow, and results are often disappointing. Treatment is associated with long immobilisation periods. Evidence-based exercise guidelines are missing. Loss of muscle mass as well as reduced range of motion and motor performance are common consequences. These losses could be partly counteracted by training interventions using robot-assisted arm support of the affected arm derived from neurorehabilitation. Thus, shorter immobilisation could be reached. Thus far, this approach has been tested in only a few small studies. The aim of the present study is to examine whether assistive robotic training augmenting conventional occupational and physical therapy can improve functional shoulder outcomes. Patients aged between 35 and 66 years with proximal humeral fracture and surgical treatment will be recruited at three different clinics in Germany and randomised into an intervention group and a control group. Participants will be assessed before randomisation and followed after completing an intervention period of 3 weeks and additionally after 3, 6 and 12 months. The baseline assessment will include cognition (Short Orientation-Memory-Concentration Test); level of pain in the affected arm; ability to work; gait speed (10-m walk); disability of the arm, shoulder and hand (Disabilities of the Arm, Shoulder and Hand Outcome Measure [DASH]); range of motion of the affected arm (goniometer measurement); visual acuity; and motor function of orthopaedic patients (Wolf Motor Function Test-Orthopaedic version [WMFT-O]). Clinical follow-up directly after the intervention will include assessment of disability of the arm, shoulder and hand (DASH) as well as range of motion and motor function (WMFT-O). The primary outcome parameter will be the DASH, and the secondary outcome parameter will be the WMFT-O. The long-term results will be assessed prospectively by postal follow-up. All patients will receive conventional occupational and physical therapy. The intervention group will receive additional robot-assisted training using the Armeo®Spring robot for 3 weeks. This study protocol describes a phase II, randomised, controlled, single-blind, multicentre intervention study. The results will guide and possibly improve methods of rehabilitation after proximal humeral fracture. Clinicaltrials.gov, NCT03100201 . Registered on 28 March 2017.

Age-dependent variations in the directional sensitivity of balance corrections and compensatory arm movements in man

PubMed Central

Allum, J H J; Carpenter, M G; Honegger, F; Adkin, A L; Bloem, B R

2002-01-01

We investigated the effects of ageing on balance corrections induced by sudden stance perturbations in different directions. Effects were examined in biomechanical and electromyographic (EMG) recordings from a total of 36 healthy subjects divided equally into three age groups (20–34, 35–55 and 60–75 years old). Perturbations consisted of six combinations of support-surface roll (laterally) and pitch (forward-backward) each with 7.5 deg amplitude (2 pure pitch, and 4 roll and pitch) delivered randomly. To reduce stimulus predictability further and to investigate scaling effects, perturbations were at either 30 or 60 deg s−1. In the legs, trunk and arms we observed age-related changes in balance corrections. The changes that appeared in the lower leg responses included smaller stretch reflexes in soleus and larger reflexes in tibialis anterior of the elderly compared with the young. For all perturbation directions, onsets of balance correcting responses in these ankle muscles were delayed by 20–30 ms and initially had smaller amplitudes (between 120–220 ms) in the elderly. This reduced early activity was compensated by increased lower leg activity after 240 ms. These EMG changes were paralleled by comparable differences in ankle torque responses, which were initially (after 160 ms) smaller in the elderly, but subsequently greater (after 280 ms). Findings in the middle-aged group were generally intermediate between the young and the elderly groups. Comparable results were obtained for the two different stimulus velocities. Stimulus-induced trunk roll, but not trunk pitch, changed dramatically with increasing age. Young subjects responded with early large roll movements of the trunk in the opposite direction to platform roll. A similarly directed but reduced amplitude of trunk roll was observed in the middle-aged. The elderly had very little initial roll modulation and also had smaller stretch reflexes in paraspinals. Balance-correcting responses (over 120–220 ms) in gluteus medius and paraspinals were equally well tuned to roll in the elderly, as in the young, but were reduced in amplitude. Onset latencies were delayed with age in gluteus medius muscles. Following the onset of trunk and hip balance corrections, trunk roll was in the same direction as support-surface motion for all age groups and resulted in overall trunk roll towards the fall side in the elderly, but not in the young. Protective arm movements also changed with age. Initial arm roll movements were largest in the young, smaller in the middle aged, and smallest in the elderly. Initial arm roll movements were in the same direction as initial trunk motion in the young and middle aged. Thus initial roll arm movements in the elderly were directed oppositely to those in the young. Initial pitch motion of the arms was similar across age groups. Subsequent arm movements were related to the amplitude of deltoid muscle responses which commenced at 100 ms in the young and 20–30 ms later in the elderly. These deltoid muscle responses preceded additional arm roll motion which left the arms directed ‘downhill’ (in the direction of the fall) in the elderly, but ‘uphill’ (to counterbalance motion of the pelvis) in the young. We conclude that increased trunk roll stiffness is a key biomechanical change with age. This interferes with early compensatory trunk movements and leads to trunk displacements in the direction of the impending fall. The reversal of protective arm movements in the elderly may reflect an adaptive strategy to cushion the fall. The uniform delay and amplitude reduction of balance-correcting responses across many segments (legs, hips and arms) suggests a neurally based alteration in processing times and response modulation with age. Interestingly, the elderly compensated for these ‘early abnormalities’ with enlarged later responses in the legs, but no similar adaptation was noted in the arms and trunk. These changes with age provide an insight into possible mechanisms underlying falls in the elderly. PMID:12122159

Evaluating Suit Fit Using Performance Degradation

NASA Technical Reports Server (NTRS)

Margerum, Sarah E.; Cowley, Matthew; Harvill, Lauren; Benson, Elizabeth; Rajulu, Sudhakar

2011-01-01

The Mark III suit has multiple sizes of suit components (arm, leg, and gloves) as well as sizing inserts to tailor the fit of the suit to an individual. This study sought to determine a way to identify the point an ideal suit fit transforms into a bad fit and how to quantify this breakdown using mobility-based physical performance data. This study examined the changes in human physical performance via degradation of the elbow and wrist range of motion of the planetary suit prototype (Mark III) with respect to changes in sizing and as well as how to apply that knowledge to suit sizing options and improvements in suit fit. The methods implemented in this study focused on changes in elbow and wrist mobility due to incremental suit sizing modifications. This incremental sizing was within a range that included both optimum and poor fit. Suited range of motion data was collected using a motion analysis system for nine isolated and functional tasks encompassing the elbow and wrist joints. A total of four subjects were tested with motions involving both arms simultaneously as well as the right arm only. The results were then compared across sizing configurations. The results of this study indicate that range of motion may be used as a viable parameter to quantify at what stage suit sizing causes a detriment in performance; however the human performance decrement appeared to be based on the interaction of multiple joints along a limb, not a single joint angle. The study was able to identify a preliminary method to quantify the impact of size on performance and to develop a means to gauge tolerances around optimal size. More work is needed to improve the assessment of optimal fit and to compensate for multiple joint interactions.

The Position and Mobility of the Shoulder, Spinal Column and Pelvis in Seated Subjects.

DTIC Science & Technology

1985-02-01

Wright-Patterson AFB acted as contract monitor; and Ints Kaleps, * Ph.D., Chief, Modeling and Analysis Branch, Biodynamics and Bioengineering Division...lumbar flexion and luibar extension motion series. Fewer motion segments are available for shoulder abduction motion analysis . These data are reported in...the measurements of this cadaver, samples of muscle and tendon were examined histologically to 12 attachments to trolley and arm cuff so that it

1. Historic American Buildings Survey L. D. Andrew, Photographer Enlarged ...

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

1. Historic American Buildings Survey L. D. Andrew, Photographer Enlarged Photographed by Harold Bush-Brown Nov. 14, 1936 GENERAL VIEW OF SLAVE CABINS - Bass Place (Slave Cabins), Columbus, Muscogee County, GA

6. Historic American Buildings Survey John O. Brostrup, Photographer September ...

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

6. Historic American Buildings Survey John O. Brostrup, Photographer September 4, 1936 10:50 A. M. VIEW OF SLAVE QUARTERS FROM SOUTHWEST (front.) - Rock Hall & Slave Quarters, Dickerson, Montgomery County, MD

2. Historic American Buildings Survey L. D. Andrew, Photographer, Enlarged ...

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

2. Historic American Buildings Survey L. D. Andrew, Photographer, Enlarged Photographed by Harold Bush-Brown Nov. 14, 1936 VIEW OF EASTERN SLAVE CABIN - Bass Place (Slave Cabins), Columbus, Muscogee County, GA

Investigation of trace elements in ancient pottery from Jenini, Brong Ahafo region, Ghana by INAA and Compton suppression spectrometry

NASA Astrophysics Data System (ADS)

Nyarko, B. J. B.; Bredwa-Mensah, Y.; Serfor-Armah, Y.; Dampare, S. B.; Akaho, E. H. K.; Osae, S.; Perbi, A.; Chatt, A.

2007-10-01

Concentrations of trace elements in ancient pottery excavated from Jenini in the Brong Ahafo region of Ghana were determined using instrumental neutron activation analysis (INAA) in conjunction with both conventional and Compton suppression counting. Jenini was a slave Camp of Samory Toure during the indigenous slavery and the Trans-Atlantic slave trade. Pottery fragments found during the excavation of the grave tombs of the slaves who died in the slave camps were analysed. In all, 26 trace elements were determined in 40 pottery fragments. These elemental concentrations were processed using multivariate statistical methods, cluster, factor and discriminant analyses in order to determine similarities and correlation between the various samples. The suitability of the two counting systems for determination of trace elements in pottery objects has been evaluated.

Coordination of dual robot arms using kinematic redundancy

NASA Technical Reports Server (NTRS)

Suh, Il Hong; Shin, Kang G.

1988-01-01

A method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of one more degree of freedom (dof), giving the follower more maneuvering capabilities. In particular, motion commands for the follower are generated by using kinematic redundancy. To show the utility and power of the method, an example system with two PUMA 560 robots carrying a beam is analyzed.

A neuro-collision avoidance strategy for robot manipulators

NASA Technical Reports Server (NTRS)

Onema, Joel P.; Maclaunchlan, Robert A.

1992-01-01

The area of collision avoidance and path planning in robotics has received much attention in the research community. Our study centers on a combination of an artificial neural network paradigm with a motion planning strategy that insures safe motion of the Articulated Two-Link Arm with Scissor Hand System relative to an object. Whenever an obstacle is encountered, the arm attempts to slide along the obstacle surface, thereby avoiding collision by means of the local tangent strategy and its artificial neural network implementation. This combination compensates the inverse kinematics of a robot manipulator. Simulation results indicate that a neuro-collision avoidance strategy can be achieved by means of a learning local tangent method.

Simultaneous NIRS and kinematics study of planning and execution of motor skill task: towards cerebral palsy rehabilitation

NASA Astrophysics Data System (ADS)

Chaudhary, Ujwal; Thompson, Bryant; Gonzalez, Jean; Jung, Young-Jin; Davis, Jennifer; Gonzalez, Patricia; Rice, Kyle; Bloyer, Martha; Elbaum, Leonard; Godavarty, Anuradha

2013-03-01

Cerebral palsy (CP) is a term that describes a group of motor impairment syndromes secondary to genetic and/or acquired disorders of the developing brain. In the current study, NIRS and motion capture were used simultaneously to correlate the brain's planning and execution activity during and with arm movement in healthy individual. The prefrontal region of the brain is non-invasively imaged using a custom built continuous-wave based near infrared spectroscopy (NIRS) system. The kinematics of the arm movement during the studies is recorded using an infrared based motion capture system, Qualisys. During the study, the subjects (over 18 years) performed 30 sec of arm movement followed by 30 sec rest for 5 times, both with their dominant and non-dominant arm. The optical signal acquired from NIRS system was processed to elucidate the activation and lateralization in the prefrontal region of participants. The preliminary results show difference, in terms of change in optical response, between task and rest in healthy adults. Currently simultaneous NIRS imaging and kinematics data are acquired in healthy individual and individual with CP in order to correlate brain activity to arm movement in real-time. The study has significant implication in elucidating the evolution in the functional activity of the brain as the physical movement of the arm evolves using NIRS. Hence the study has potential in augmenting the designing of training and hence rehabilitation regime for individuals with CP via kinematic monitoring and imaging brain activity.

The world's first obesity surgery performed by a surgeon at a distance.

PubMed

Cadiere, G B; Himpens, J; Vertruyen, M; Favretti, F

1999-04-01

In recent years, laparoscopic procedures have gained popularity. The laparoscopic technique is, however, more difficult than the conventional approach, especially in obese patients. The purpose of this article is to demonstrate a solution to these difficulties. On September 16, 1998, a laparoscopic gastric banding procedure was performed by a surgeon while he was actually sitting at a distance from his patient. The surgeon's assistant was scrubbed and gowned and stood at the patient's side. The surgeon manipulated handles that were connected to a computer in command of robotic arms mounted on the operating table near the patient. The robotic arms contained surgical tools with articulated tips, well inside the abdominal cavity. The system constituted a master-slave construction called Mona (Intuitive Surgical, Mountain View, CA). The entire procedure (adjustable silicone gastric banding) was performed solely by this system without any other intervention. The entire procedure lasted 90 minutes. The blood loss was 25 mL. The patient left the hospital on the second postoperative day. This procedure demonstrates that telesurgical procedures are feasible, can be performed safely even in obese patients, and improve the surgeon's comfort by restoring ergonomically acceptable conditions, by increasing the number of degrees of freedom, and by recreating the eye-hand connection lost in videoendoscopic procedures.

Remote Systems Experience at the Oak Ridge National Laboratory--A Summary of Lessons Learned

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

Noakes, Mark W; Burgess, Thomas W; Rowe, John C

2011-01-01

Oak Ridge National Laboratory (ORNL) has a long history in the development of remote systems to support the nuclear environment. ORNL, working in conjunction with Central Research Laboratories, created what is believed to be the first microcomputer-based implementation of dual-arm master-slave remote manipulation. As part of the Consolidated Fuel Reprocessing Program, ORNL developed the dual-arm advanced servomanipulator focusing on remote maintainability for systems exposed to high radiation fields. ORNL also participated in almost all of the various technical areas of the U.S. Department of Energy s Robotics Technology Development Program, while leading the Decontamination and Decommissioning and Tank Waste Retrievalmore » categories. Over the course of this involvement, ORNL has developed a substantial base of working knowledge as to what works when and under what circumstances for many types of remote systems tasks as well as operator interface modes, control bandwidth, and sensing requirements to name a few. By using a select list of manipulator systems that is not meant to be exhaustive, this paper will discuss history and outcome of development, field-testing, deployment, and operations from a lessons learned perspective. The final outcome is a summary paper outlining ORNL experiences and guidelines for transition of developmental remote systems to real-world hazardous environments.« less

Understanding Human Motion Skill with Peak Timing Synergy

NASA Astrophysics Data System (ADS)

Ueno, Ken; Furukawa, Koichi

The careful observation of motion phenomena is important in understanding the skillful human motion. However, this is a difficult task due to the complexities in timing when dealing with the skilful control of anatomical structures. To investigate the dexterity of human motion, we decided to concentrate on timing with respect to motion, and we have proposed a method to extract the peak timing synergy from multivariate motion data. The peak timing synergy is defined as a frequent ordered graph with time stamps, which has nodes consisting of turning points in motion waveforms. A proposed algorithm, PRESTO automatically extracts the peak timing synergy. PRESTO comprises the following 3 processes: (1) detecting peak sequences with polygonal approximation; (2) generating peak-event sequences; and (3) finding frequent peak-event sequences using a sequential pattern mining method, generalized sequential patterns (GSP). Here, we measured right arm motion during the task of cello bowing and prepared a data set of the right shoulder and arm motion. We successfully extracted the peak timing synergy on cello bowing data set using the PRESTO algorithm, which consisted of common skills among cellists and personal skill differences. To evaluate the sequential pattern mining algorithm GSP in PRESTO, we compared the peak timing synergy by using GSP algorithm and the one by using filtering by reciprocal voting (FRV) algorithm as a non time-series method. We found that the support is 95 - 100% in GSP, while 83 - 96% in FRV and that the results by GSP are better than the one by FRV in the reproducibility of human motion. Therefore we show that sequential pattern mining approach is more effective to extract the peak timing synergy than non-time series analysis approach.

New constraints on the upper mantle structure of the Slave craton from Rayleigh wave inversion

NASA Astrophysics Data System (ADS)

Chen, Chin-Wu; Rondenay, Stéphane; Weeraratne, Dayanthie S.; Snyder, David B.

2007-05-01

Rayleigh wave phase and amplitude data are analyzed to provide new insight into the velocity structure of the upper mantle beneath the Slave craton, in the northwestern Canadian Shield. We invert for phase velocities at periods between 20 s-142 s (with greatest sensitivity at depths of 28-200 km) using crossing ray paths from events recorded by the POLARIS broadband seismic network and the Yellowknife array. Phase velocities obtained for the Slave province are comparable to those from other cratons at shorter periods, but exceed the global average by ~2% at periods above 60 s, suggesting that the Slave craton may be an end member in terms of its high degree of mantle depletion. The one-dimensional inversion of phase velocities yields high upper-mantle S-wave velocities of 4.7 +/- 0.2 km/s that persist to 220 +/- 65 km depth and thus define the cratonic lithosphere. Azimuthal anisotropy is well resolved at all periods with a dominant fast direction of N59°E +/- 20°, suggesting that upper mantle anisotropy beneath the Slave craton is influenced by both lithospheric fabric and sub-lithospheric flow.

Weak-light Phase-locking for LISA

NASA Technical Reports Server (NTRS)

McNamara, Paul W.

2004-01-01

The long armlengths of the LISA interferometer, and the finite aperture of the telescope, leads to an optical power attenuation of approximately equal to 10(exp -10) of the transmitted to received light. Simple reflection at the end of the arm is therefore not an optimum interferometric design. Instead, a local laser is offset phase-locked to the weak incoming beam, transferring the phase information of the incoming to the outgoing light. This paper reports on an experiment to characterize a weak light phase-locking scheme suitable for LISA in which a diode-pumped, Nd:YAG, non-planar ring oscillator (NPRO) is offset phase-locked to a low power (13pW) frequency stabilised master NPRO. Preliminary results of the relative phase noise of the slave laser shows shot noise limited performance above 0.4 Hz. Excess noise is observed at lower frequencies, most probably due to thermal effects in the optical arrangement and phase sensing electronics.

1. GENERAL VIEW from SOUTHEAST. Located northeast of main house, ...

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

1. GENERAL VIEW from SOUTHEAST. Located northeast of main house, and west of Slave Quarters No. 2 - Prospect Hill, Slave Quarters No. 4, Near Routes 613 & 607 intersection, Trevilians, Louisa County, VA

1. GENERAL VIEW FROM NORTHEAST. Located southeast of main house, ...

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

1. GENERAL VIEW FROM NORTHEAST. Located southeast of main house, and west of Slave Quarters No. 1. - Prospect Hill, Slave Quarters No. 2, Near Routes 613 & 607 intersection, Trevilians, Louisa County, VA

1. GENERAL VIEW FROM NORTHEAST. Located southeast of main house, ...

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

1. GENERAL VIEW FROM NORTHEAST. Located southeast of main house, and west of Slave Quarters No. 2. - Prospect Hill, Slave Quarters No. 3, Near Routes 613 & 607 intersection, Trevilians, Louisa County, VA

1. Historic American Buildings Survey E. W. Russell, Photographer, March ...

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

1. Historic American Buildings Survey E. W. Russell, Photographer, March 14, 1936 REAR VIEW, NORTH OF SLAVE QUARTERS - Waring House, Slave Quarters, 351 Government Street (now South Claiborne Street), Mobile, Mobile County, AL

Kinetics of throwing arm joints and the trunk motion during an overarm distance throw by skilled Japanese elementary school boys.

PubMed

Kobayashi, Yasuto; Ae, Michiyoshi; Miyazaki, Akiyo; Fujii, Norihisa; Iiboshi, Akira; Nakatani, Hideki

2016-09-01

The purpose of this study was to investigate joint kinetics of the throwing arms and role of trunk motion in skilled elementary school boys during an overarm distance throw. Throwing motions of 42 boys from second, fourth, and sixth grade were videotaped with three high-speed cameras operating at 300 fps. Seven skilled boys from each grade were selected on the basis of throwing distance for three-dimensional kinetic analysis. Joint forces, torques, and torque powers of the throwing arm joints were calculated from reconstructed three-dimensional coordinate data smoothed at cut-off frequencies of 10.5-15 Hz and by the inverse dynamics method. Throwing distance and ball velocity significantly increased with school grade. The angular velocity of elbow extension before ball release increased with school grade, although no significant increase between the grades was observed in peak extension torque of elbow joint. The joint torque power of shoulder internal/external rotation tended to increase with school grade. When teaching the overarm throw, elementary school teachers should observe large backward twisting of trunk during the striding phase and should keep in mind that young children, such as second graders (age 8 years), will be unable to effectively utilise shoulder external/internal rotation during the throwing phase.

Effect of long-duration spaceflight on postural control during self-generated perturbations

NASA Technical Reports Server (NTRS)

Layne, C. S.; Mulavara, A. P.; McDonald, P. V.; Pruett, C. J.; Kozlovskaya, I. B.; Bloomberg, J. J.

2001-01-01

This report is the first systematic evaluation of the effects of prolonged weightlessness on the bipedal postural control processes during self-generated perturbations produced by voluntary upper limb movements. Spaceflight impacts humans in a variety of ways, one of which is compromised postflight postural control. We examined the neuromuscular activation characteristics and center of pressure (COP) motion associated with arm movement of eight subjects who experienced long-duration spaceflight (3--6 mo) aboard the Mir space station. Surface electromyography, arm acceleration, and COP motion were collected while astronauts performed rapid unilateral shoulder flexions before and after spaceflight. Subjects generally displayed compromised postural control after flight, as evidenced by modified COP peak-to-peak anterior-posterior and mediolateral excursion, and pathlength relative to preflight values. These changes were associated with disrupted neuromuscular activation characteristics, particularly after the completion of arm acceleration (i.e., when subjects were attempting to maintain upright posture in response to self-generated perturbations). These findings suggest that, although the subjects were able to assemble coordination modes that enabled them to generate rapid arm movements, the subtle control necessary to maintain bipedal equilibrium evident in their preflight performance is compromised after long-duration spaceflight.

Demonstration of a High-Fidelity Predictive/Preview Display Technique for Telerobotic Servicing in Space

NASA Technical Reports Server (NTRS)

Kim, Won S.; Bejczy, Antal K.

1993-01-01

A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale in May 1993, involving the Jet Propulsion Laboratory as the simulated ground control station and, 2500 miles away, the Goddard Space Flight Center as the simulated satellite servicing set-up. The technique is based on a high-fidelity calibration procedure that enables a high-fidelity overlay of 3-D graphics robot arm and object models over given 2-D TV camera images of robot arm and objects. To generate robot arm motions, the operator can confidently interact in real time with the graphics models of the robot arm and objects overlaid on an actual camera view of the remote work site. The technique also enables the operator to generate high-fidelity synthetic TV camera views showing motion events that are hidden in a given TV camera view or for which no TV camera views are available. The positioning accuracy achieved by this technique for a zoomed-in camera setting was about +/-5 mm, well within the allowable +/-12 mm error margin at the insertion of a 45 cm long tool in the servicing task.

Quantitative assessment of paretic limb dexterity and interlimb coordination during bilateral arm rehabilitation training.

PubMed

Xu, Chang; Li, Siyi; Wang, Kui; Hou, Zengguang; Yu, Ningbo

2017-07-01

In neuro-rehabilitation after stroke, the conventional constrained induced movement therapy (CIMT) has been well-accepted. Existing bilateral trainings are mostly on mirrored symmetrical motion. However, complementary bilateral movements are dominantly involved in activities of daily living (ADLs), and functional bilateral therapies may bring better skill transfer from trainings to daily life. Neurophysiological evidence is also growing. In this work, we firstly introduce our bilateral arm training system realized with a haptic interface and a motion sensor, as well as the tasks that have been designed to train both the manipulation function of the paretic arm and coordination of bilateral upper limbs. Then, we propose quantitative measures for functional assessment of complementary bilateral training performance, including kinematic behavior indices, smoothness, submovement and bimanual coordination. After that, we describe the experiments with healthy subjects and the results with respect to these quantitative measures. Feasibility and sensitivity of the proposed indices were evaluated through comparison of unilateral and bilateral training outcomes. The proposed bilateral training system and tasks, as well as the quantitative measures, have been demonstrated effective for training and assessment of unilateral and bilateral arm functions.

Modeling and Dynamic Analysis of Paralleled dc/dc Converters With Master-Slave Current Sharing Control

NASA Technical Reports Server (NTRS)

Rajagopalan, J.; Xing, K.; Guo, Y.; Lee, F. C.; Manners, Bruce

1996-01-01

A simple, application-oriented, transfer function model of paralleled converters employing Master-Slave Current-sharing (MSC) control is developed. Dynamically, the Master converter retains its original design characteristics; all the Slave converters are forced to depart significantly from their original design characteristics into current-controlled current sources. Five distinct loop gains to assess system stability and performance are identified and their physical significance is described. A design methodology for the current share compensator is presented. The effect of this current sharing scheme on 'system output impedance' is analyzed.

Multisynchronization of chaotic oscillators via nonlinear observer approach.

PubMed

Aguilar-López, Ricardo; Martínez-Guerra, Rafael; Mata-Machuca, Juan L

2014-01-01

The goal of this work is to synchronize a class of chaotic oscillators in a master-slave scheme, under different initial conditions, considering several slaves systems. The Chen oscillator is employed as a benchmark model and a nonlinear observer is proposed to reach synchronicity between the master and the slaves' oscillators. The proposed observer contains a proportional and integral form of a bounded function of the synchronization error in order to provide asymptotic synchronization with a satisfactory performance. Numerical experiments were carried out to show the operation of the considered methodology.

Multisynchronization of Chaotic Oscillators via Nonlinear Observer Approach

PubMed Central

Aguilar-López, Ricardo; Martínez-Guerra, Rafael; Mata-Machuca, Juan L.

2014-01-01

The goal of this work is to synchronize a class of chaotic oscillators in a master-slave scheme, under different initial conditions, considering several slaves systems. The Chen oscillator is employed as a benchmark model and a nonlinear observer is proposed to reach synchronicity between the master and the slaves' oscillators. The proposed observer contains a proportional and integral form of a bounded function of the synchronization error in order to provide asymptotic synchronization with a satisfactory performance. Numerical experiments were carried out to show the operation of the considered methodology. PMID:24578671

Eager protocol on a cache pipeline dataflow

DOEpatents

Ohmacht, Martin; Sugavanam, Krishnan

2012-11-13

A master device sends a request to communicate with a slave device to a switch. The master device waits for a period of cycles the switch takes to decide whether the master device can communicate with the slave device, and the master device sends data associated with the request to communicate at least after the period of cycles has passed since the master device sent the request to communicate to the switch without waiting to receive an acknowledgment from the switch that the master device can communicate with the slave device.

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.

Remote heterodyne millimeter-wave over fiber based OFDM-PON with master-to-slave injected dual-mode colorless FPLD pair.

PubMed

Chen, Hsiang-Yu; Chi, Yu-Chieh; Lin, Gong-Ru

2015-08-24

A remote heterodyne millimeter-wave (MMW) carrier at 47.7 GHz over fiber synthesized with the master-to-slave injected dual-mode colorless FPLD pair is proposed, which enables the future connection between the wired fiber-optic 64-QAM OFDM-PON at 24 Gb/s with the MMW 4-QAM OFDM wireless network at 2 Gb/s. Both the single- and dual-mode master-to-slave injection-locked colorless FPLD pairs are compared to optimize the proposed 64-QAM OFDM-PON. For the unamplified single-mode master, the slave colorless FPLD successfully performs the 64-QAM OFDM data at 24 Gb/s with EVM, SNR and BER of 8.5%, 21.5 dB and 2.9 × 10(-3), respectively. In contrast, the dual-mode master-to-slave injection-locked colorless FPLD pair with amplified and unfiltered master can transmit 64-QAM OFDM data at 18 Gb/s over 25-km SMF to provide EVM, SNR and BER of 8.2%, 21.8 dB and 2.2 × 10(-3), respectively. For the dual-mode master-to-slave injection-locked colorless FPLD pair, even though the modal dispersion occurred during 25-km SMF transmission makes it sacrifice the usable OFDM bandwidth by only 1 GHz, which guarantees the sufficient encoding bitrate for the optically generated MMW carrier to implement the fusion of MMW wireless LAN and DWDM-PON with cost-effective and compact architecture. As a result, the 47.7-GHz MMW carrier remotely beat from the dual-mode master-to-slave injection-locked colorless FPLD pair exhibits an extremely narrow bandwidth of only 0.48 MHz. After frequency down-conversion operation, the 47.7-GHz MMW carrier successfully delivers 4-QAM OFDM data up to 2 Gb/s with EVM, SNR and BER of 33.5%, 9.51 dB and 1.4 × 10(-3), respectively.

Chemical stratification of cratonic lithosphere: constraints from the Northern Slave craton, Canada

NASA Astrophysics Data System (ADS)

Kopylova, Maya G.; Russell, James K.

2000-08-01

We describe the mineralogical and chemical composition of the Northern Slave mantle as deduced from xenoliths of peridotite within the Jericho kimberlite, Northwest Territories. Our data set includes modal, major, trace and rare earth element compositions of bulk samples of spinel peridotite, low-T and high-T garnet peridotite and minor pyroxenite. Compared to primitive upper mantle, Jericho peridotite shows depletion in the major elements and enrichment in incompatible elements (except for HREE). The Slave mantle is also uniquely stratified. Older, depleted spinel peridotite extends to a depth of 80-100 km and is underlain by garnet peridotite which shows a gradual decrease in Mg# with depth to 200 km. The youngest layer of fertile garnet peridotite, enriched in clinopyroxene and garnet, is underlain by a pyroxenite-rich horizon at the base of the petrological lithosphere. The Northern Slave is further distinguished from the Kaapvaal and Siberian upper mantle by a marked vertical stratification in Mg#, lower abundances of orthopyroxene and higher abundances of clinopyroxene. In addition, a deeper layer of garnet peridotite below Jericho shows less depletion than low-T peridotite from other cratons. The Northern Slave peridotite results from a series of chemical events that include: (i) high-degree melting of pyrolite at P>3 Gpa for low-T peridotite and lower pressure melting for high-T peridotite, (ii) enrichment of low-T spinel peridotite in orthopyroxene, and (iii) pervasive metasomatic enrichment in alkali and LREE's by kimberlite-related fluids. The chemical stratification described for two of the three lithospheric domains of the Slave craton makes this craton an exception among cratons with commonly unstratified lithospheres. The gradual increase in fertility with depth below the Slave craton is related to age stratification and may have formed by incremental downward growth of mantle lithosphere with time, and/or later re-fertilization of deeper mantle horizons.

The American Slave Narrative: Exciting Resource Material for the Classroom

ERIC Educational Resources Information Center

Polsky, Milton

1975-01-01

An exploration of the educational value of the American slave narrative, offering suggestions as to how these materials can be integrated with a variety of classroom activities--music, art, writing, debate, dramatization and dance. (EH)

Galaxy destruction in the violent universe

NASA Astrophysics Data System (ADS)

Purcell, Christopher Wayne

My dissertation takes a novel interdisciplinary approach to Atlantic slavery in the nineteenth century. Unlike previous work on slave economies, it draws upon transnational studies and, especially, the history of science and technology. My research examines transnational networks of "industrial experts" such as chemists and machinists, paying particular attention to the new forms of knowledge they articulated while working in slave societies. While mostly ignored by scholars of both slavery and industrialization, chemists, engineers, statisticians, and machinists worked extensively in sugar refineries, railroad/telegraph systems, machine shops, automated flour-mills and other nodes of commodity production in slave societies of the Americas. Including these important new players in the sociology of the plantation both enriches our understanding of slave societies, and challenges scholars of the Industrial Revolution in the northern United States and Western Europe to revise some of their longest-held notions about the place of slavery in the development of modern capitalism.

Apparatus and Method to Enable Precision and Fast Laser Frequency Tuning

NASA Technical Reports Server (NTRS)

Chen, Jeffrey R. (Inventor); Numata, Kenji (Inventor); Wu, Stewart T. (Inventor); Yang, Guangning (Inventor)

2015-01-01

An apparatus and method is provided to enable precision and fast laser frequency tuning. For instance, a fast tunable slave laser may be dynamically offset-locked to a reference laser line using an optical phase-locked loop. The slave laser is heterodyned against a reference laser line to generate a beatnote that is subsequently frequency divided. The phase difference between the divided beatnote and a reference signal may be detected to generate an error signal proportional to the phase difference. The error signal is converted into appropriate feedback signals to phase lock the divided beatnote to the reference signal. The slave laser frequency target may be rapidly changed based on a combination of a dynamically changing frequency of the reference signal, the frequency dividing factor, and an effective polarity of the error signal. Feed-forward signals may be generated to accelerate the slave laser frequency switching through laser tuning ports.

A novel teaching system for industrial robots.

PubMed

Lin, Hsien-I; Lin, Yu-Hsiang

2014-03-27

The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles.

A Novel Teaching System for Industrial Robots

PubMed Central

Lin, Hsien-I; Lin, Yu-Hsiang

2014-01-01

The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles. PMID:24681669

Adaptive Strategies for Controls of Flexible Arms. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Yuan, Bau-San

1989-01-01

An adaptive controller for a modern manipulator has been designed based on asymptotical stability via the Lyapunov criterion with the output error between the system and a reference model used as the actuating control signal. Computer simulations were carried out to test the design. The combination of the adaptive controller and a system vibration and mode shape estimator show that the flexible arm should move along a pre-defined trajectory with high-speed motion and fast vibration setting time. An existing computer-controlled prototype two link manipulator, RALF (Robotic Arm, Large Flexible), with a parallel mechanism driven by hydraulic actuators was used to verify the mathematical analysis. The experimental results illustrate that assumed modes found from finite element techniques can be used to derive the equations of motion with acceptable accuracy. The robust adaptive (modal) control is implemented to compensate for unmodelled modes and nonlinearities and is compared with the joint feedback control in additional experiments. Preliminary results show promise for the experimental control algorithm.

NGC 4622:. A clear example of spiral density wave star formation unused in textbooks.

NASA Astrophysics Data System (ADS)

Byrd, Gene G.

2018-06-01

Refer to the poster HST images or to http://heritage.stsci.edu/2002/03/index.html. The top northeastern (NE) arm of NGC 4622 winds outward clockwise (CW) showing beautiful “ beads on a string” blue stellar associations on the CONCAVE SIDE of the arm. These are nicely offset CW in position from the density concentration of old yellow stars in the arms. The displacement would result from aggregation of gas clouds as they orbit CW into a more slowly turning stellar disk arm pattern. There is a time delay until the associations form and light up on the concave side. Farther inward along the top NE arm, the lit-up associations occur in the MIDDLE of the stellar arm. This is characteristic of the co-rotation (CR) radius where the CW orbital angular rate of the gas clouds and the arm CW pattern speeds match. Just within CR, the association displacement from the stellar arm is opposite (CCW) onto the CONVEX SIDE of the arm. A similar displacement sequence from concave (outside CR), middle (at CR) to convex (inside CR) is seen along the lower southwestern arm. Why isn’t NGC 4622 featured in textbooks? A rather puzzling single stellar arm winds outward CCW from the center, opposite to the outer pair. The eastern edge of the disk (marked by dust cloud silhouettes) is the nearer edge. The NE portion radial velocity is away relative to the nucleus so the disk orbital motion is CW. The outer pair of arms thus winds outward to LEAD in the same direction as the CW orbital motion, contrary to typical arm winding. Actually, the leading pair of arms and single inner arm would make NGC 4622 even better for use in introductory astronomy texts. Students can debate the origin of this galaxy's strange arm pattern which, ironically, matches density wave predictions so well. This is better than simply reading a textbook and thinking that all is explained. See G. G. Byrd; T. Freeman; S. Howard; R. J. Buta (2008). Astron. J., 135, p. 408–413 and references there for observations and hypotheses about NGC 4622’s arms. This work was supported by NSAS/STScI grant 8707 to the Univ. of Alabama and NSF grant AST 02-0177 to Bevill State College, Fayette, AL. Also see https://www.researchgate.net/profile/Gene_Byrd2

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.

Two position optical element actuator device

DOEpatents

Holdener, Fred R.; Boyd, Robert D.

2002-01-01

The present invention is a two position optical element actuator device utilizing a powered means to hold an actuation arm, to which an optical element is attached, in a first position. A non-powered means drives the actuation arm to a second position, when the powered means ceases to receive power. The optical element may be a electromagnetic (EM) radiation or particle source, an instrument, or EM radiation or particle transmissive, reflective or absorptive elements. A bearing is used to transfer motion and smoothly transition the actuation arm from the first to second position.

Arm motion coupling during locomotion-like actions: An experimental study and a dynamic model

PubMed Central

Shapkova, E.Yu; Terekhov, A.V.; Latash, M.L.

2010-01-01

We studied the coordination of arm movements in standing persons who performed an out-of-phase arm-swinging task while stepping in place or while standing. The subjects were instructed to stop one of the arms in response to an auditory signal while trying to keep the rest of the movement pattern unchanged. A significant increase was observed in the amplitude of the arm that continued swinging under both the stepping and standing conditions. This increase was similar between the right and left arms. A dynamic model was developed including two coupled non-linear van der Pol oscillators. We assumed that stopping an arm did not eliminate the coupling but introduced a new constraint. Within the model, superposition of two factors, a command to stop the ongoing movement of one arm and the coupling between the two oscillators, has been able to account for the observed effects. The model makes predictions for future experiments. PMID:21628725

Biomechanical differences of arm swing countermovement jumps on sand and rigid surface performed by elite beach volleyball players.

PubMed

Giatsis, George; Panoutsakopoulos, Vassilios; Kollias, Iraklis A

2018-05-01

The purpose of this study was to investigate the possible arm swing effect on the biomechanical parameters of vertical counter movement jump due to differences of the compliance of the take-off surface. Fifteen elite male beach-volleyball players (26.2 ± 5.9 years; 1.87 ± 0.05 m; 83.4 ± 6.0 kg; mean ± standard deviation, respectively) performed counter movement jumps on sand and on a rigid surface with and without an arm swing. Results showed significant (p < .05) surface effects on the jump height, the ankle joint angle at the lowest height of the body center of mass and the ankle angular velocity. Also, significant arm swing effects were found on jump height, maximum power output, temporal parameters, range of motion and angular velocity of the hip. These findings could be attributed to the instability of the sand, which resulted in reduced peak power output due to the differences of body configuration at the lowest body position and lower limb joints' range of motion. The combined effect of the backward arm swing and the recoil of the sand that resulted in decreased resistance at ankle plantar flexion should be controlled at the preparation of selected jumping tasks in beach-volleyball.

Hazardous materials emergency response mobile robot

NASA Technical Reports Server (NTRS)

Stone, Henry W. (Inventor); Lloyd, James (Inventor); Alahuzos, George (Inventor)

1992-01-01

A simple or unsophisticated robot incapable of effecting straight-line motion at the end of its arm inserts a key held in its end effector or hand into a door lock with nearly straight-line motion by gently thrusting its back heels downwardly so that it pivots forwardly on its front toes while holding its arm stationary. The relatively slight arc traveled by the robot's hand is compensated by a complaint tool with which the robot hand grips the door key. A visible beam is projected through the axis of the hand or gripper on the robot arm end at an angle to the general direction in which the robot thrusts the gripper forward. As the robot hand approaches a target surface, a video camera on the robot wrist watches the beam spot on the target surface fall from a height proportional to the distance between the robot hand and the target surface until the beam spot is nearly aligned with the top of the robot hand. Holes in the front face of the hand are connected through internal passages inside the arm to an on-board chemical sensor. Full rotation of the hand or gripper about the robot arm's wrist is made possible by slip rings in the wrist which permit passage of the gases taken in through the nose holes in the front of the hand through the wrist regardless of the rotational orientation of the wrist.

Visualization in Mechanics: The Dynamics of an Unbalanced Roller

ERIC Educational Resources Information Center

Cumber, Peter S.

2017-01-01

It is well known that mechanical engineering students often find mechanics a difficult area to grasp. This article describes a system of equations describing the motion of a balanced and an unbalanced roller constrained by a pivot arm. A wide range of dynamics can be simulated with the model. The equations of motion are embedded in a graphical…

Intraocular robotic interventional surgical system (IRISS): Mechanical design, evaluation, and master-slave manipulation.

PubMed

Wilson, Jason T; Gerber, Matthew J; Prince, Stephen W; Chen, Cheng-Wei; Schwartz, Steven D; Hubschman, Jean-Pierre; Tsao, Tsu-Chin

2018-02-01

Since the advent of robotic-assisted surgery, the value of using robotic systems to assist in surgical procedures has been repeatedly demonstrated. However, existing technologies are unable to perform complete, multi-step procedures from start to finish. Many intraocular surgical steps continue to be manually performed. An intraocular robotic interventional surgical system (IRISS) capable of performing various intraocular surgical procedures was designed, fabricated, and evaluated. Methods were developed to evaluate the performance of the remote centers of motion (RCMs) using a stereo-camera setup and to assess the accuracy and precision of positioning the tool tip using an optical coherence tomography (OCT) system. The IRISS can simultaneously manipulate multiple surgical instruments, change between mounted tools using an onboard tool-change mechanism, and visualize the otherwise invisible RCMs to facilitate alignment of the RCM to the surgical incision. The accuracy of positioning the tool tip was measured to be 0.205±0.003 mm. The IRISS was evaluated by trained surgeons in a remote surgical theatre using post-mortem pig eyes and shown to be effective in completing many key steps in a variety of intraocular surgical procedures as well as being capable of performing an entire cataract extraction from start to finish. The IRISS represents a necessary step towards fully automated intraocular surgery and demonstrated accurate and precise master-slave manipulation for cataract removal and-through visual feedback-retinal vein cannulation. Copyright © 2017 John Wiley & Sons, Ltd.

Slave finite elements for nonlinear analysis of engine structures, volume 1

NASA Technical Reports Server (NTRS)

Gellin, S.

1991-01-01

A 336 degrees of freedom slave finite element processing capability to analyze engine structures under severe thermomechanical loading is presented. Description of the theoretical development and demonstration of that element is presented in this volume.

Wit and Humor in the Slave Narratives

ERIC Educational Resources Information Center

Dance, Daryl

1977-01-01

Notes that although the slave narratives were usually intended to serve in the cause of abolition, not all of them were bitter, unrelieved tirades against the institution of slavery, but rather there were frequently moments of relieving laughter. (Author)

A Removable Long-arm Soft Cast to Treat Nondisplaced Pediatric Elbow Fractures: A Randomized, Controlled Trial.

PubMed

Silva, Mauricio; Sadlik, Gal; Avoian, Tigran; Ebramzadeh, Edward

2018-04-01

The ideal type of immobilization for nondisplaced pediatric elbow fractures has not been established. We hypothesized that the use of a long-arm cylinder made of soft cast material will result in similar outcomes to those obtained with a traditional long-arm hard cast. We randomly assigned 100 consecutive children who presented with a closed, nondisplaced, type I supracondylar humeral fracture or an occult, closed, acute elbow injury, to 1 of 2 groups: group A (n=50) received a long-arm, traditional fiberglass (hard) cast. Group B (n=50) received a long-arm, soft fiberglass cast. After 4 weeks, the cast was removed in group A by a member of our staff using a cast saw, and in group B by one of the patient's parents by rolling back the soft fiberglass material. We compared the amount of fracture displacement and/or angulation, recovery of range of motion, elbow pain, and patient satisfaction. There were no instances of unplanned removal of the cast by the patient or parent. No evidence of fracture displacement or angulation was seen in either group. The final carrying angle of the affected elbow was nearly identical of that of the normal, contralateral elbow in both groups (P=0.64). At the latest follow-up appointment, elbows in groups A and B had a similar mean arc of motion (156 vs. 154 degrees; P=0.45), and had achieved identical relative arc of motion of 99.6% and 99.5% of that of the normal, contralateral side, respectively (P=0.94). Main pain scores were low and comparable over the study period. All patients in both groups reported the highest rate of satisfaction at the eighth week of follow-up. The results indicate that children with nondisplaced supracondylar humeral fractures can be successfully managed with the use of a removable long-arm soft cast, maintaining fracture alignment and resulting in comparable rates of range of motion, pain, and patient satisfaction. The use of a removable immobilization that can reliably maintain fracture alignment and result in similar outcomes, while minimizing the risk of noncompliance, could be advantageous. Although we elected to remove the soft cast during a scheduled follow-up, it appears that such immobilization could be removed easily and safely at home, potentially resulting in a lower number of patient visits, decreased health care costs, and higher patient/parent satisfaction. Level I.

Task decomposition for a multilimbed robot to work in reachable but unorientable space

NASA Technical Reports Server (NTRS)

Su, Chau; Zheng, Yuan F.

1991-01-01

Robot manipulators installed on legged mobile platforms are suggested for enlarging robot workspace. To plan the motion of such a system, the arm-platform motion coordination problem is raised, and a task decomposition is proposed to solve the problem. A given task described by the destination position and orientation of the end effector is decomposed into subtasks for arm manipulation and for platform configuration, respectively. The former is defined as the end-effector position and orientation with respect to the platform, and the latter as the platform position and orientation in the base coordinates. Three approaches are proposed for the task decomposition. The approaches are also evaluated in terms of the displacements, from which an optimal approach can be selected.

Feedback attitude sliding mode regulation control of spacecraft using arm motion

NASA Astrophysics Data System (ADS)

Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

2013-09-01

The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

Robot-Arm Dynamic Control by Computer

NASA Technical Reports Server (NTRS)

Bejczy, Antal K.; Tarn, Tzyh J.; Chen, Yilong J.

1987-01-01

Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.

Anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay.

PubMed

Eberle, Henry; Nasuto, Slawomir J; Hayashi, Yoshikatsu

2018-03-01

We present a novel way of using a dynamical model for predictive tracking control that can adapt to a wide range of delays without parameter update. This is achieved by incorporating the paradigm of anticipating synchronization (AS), where a 'slave' system predicts a 'master' via delayed self-feedback. By treating the delayed output of the plant as one half of a 'sensory' AS coupling, the plant and an internal dynamical model can be synchronized such that the plant consistently leads the target's motion. We use two simulated robotic systems with differing arrangements of the plant and internal model ('parallel' and 'serial') to demonstrate that this form of control adapts to a wide range of delays without requiring the parameters of the controller to be changed.

Survey of Motion Tracking Methods Based on Inertial Sensors: A Focus on Upper Limb Human Motion

PubMed Central

Filippeschi, Alessandro; Schmitz, Norbert; Miezal, Markus; Bleser, Gabriele; Ruffaldi, Emanuele; Stricker, Didier

2017-01-01

Motion tracking based on commercial inertial measurements units (IMUs) has been widely studied in the latter years as it is a cost-effective enabling technology for those applications in which motion tracking based on optical technologies is unsuitable. This measurement method has a high impact in human performance assessment and human-robot interaction. IMU motion tracking systems are indeed self-contained and wearable, allowing for long-lasting tracking of the user motion in situated environments. After a survey on IMU-based human tracking, five techniques for motion reconstruction were selected and compared to reconstruct a human arm motion. IMU based estimation was matched against motion tracking based on the Vicon marker-based motion tracking system considered as ground truth. Results show that all but one of the selected models perform similarly (about 35 mm average position estimation error). PMID:28587178

An anthropomorphic master-slave manipulator system.

NASA Technical Reports Server (NTRS)

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

1973-01-01

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

Modeling and Dynamic Analysis of Paralleled of dc/dc Converters with Master-Slave Current Sharing Control

NASA Technical Reports Server (NTRS)

Rajagopalan, J.; Xing, K.; Guo, Y.; Lee, F. C.; Manners, Bruce

1996-01-01

A simple, application-oriented, transfer function model of paralleled converters employing Master-Slave Current-sharing (MSC) control is developed. Dynamically, the Master converter retains its original design characteristics; all the Slave converters are forced to depart significantly from their original design characteristics into current-controlled current sources. Five distinct loop gains to assess system stability and performance are identified and their physical significance is described. A design methodology for the current share compensator is presented. The effect of this current sharing scheme on 'system output impedance' is analyzed.

[Physicians and pharmacists in the Puerto Rican slave trade: Ponce, 1815-1830].

PubMed

PérezVega, Ivette

2010-01-01

Slavery was a commerce controlled by foreigners, like physician Robert Proust, pharmacist Gaspar Duprel, and Slave trader Juan. B. Saubot in Ponce. The trading of negroes is evidence since 1816 but intensified in 1824. By 1825, Ponce was full of slaves. It continued fiercely until 1830 supported by local revenue and investments, however, never developed its own. Slavery grew parallel to the development of the "hacienda", and as such, to the wealth of the foreign businessman. These are considered the first golden years of Ponce's and Puerto Rico's economic development, which stimulated overall progress, and social well-being.

First evidence for slave rebellion: enslaved ant workers systematically kill the brood of their social parasite protomognathus americanus.

PubMed

Achenbach, Alexandra; Foitzik, Susanne

2009-04-01

During the process of coevolution, social parasites have evolved sophisticated strategies to exploit the brood care behavior of their social hosts. Slave-making ant queens invade host colonies and kill or eject all adult host ants. Host workers, which eclose from the remaining brood, are tricked into caring for the parasite brood. Due to their high prevalence and frequent raids, following which stolen host broods are similarly enslaved, slave-making ants exert substantial selection upon their hosts, leading to the evolution of antiparasite adaptations. However, all host defenses shown to date are active before host workers are parasitized, whereas selection was thought to be unable to act on traits of already enslaved hosts. Yet, here we demonstrate the rebellion of enslaved Temnothorax workers, which kill two-thirds of the female pupae of the slave-making ant Protomognathus americanus. Thereby, slaves decrease the long-term parasite impact on surrounding related host colonies. This novel antiparasite strategy of enslaved workers constitutes a new level in the coevolutionary battle after host colony defense has failed. Our discovery is analogous to recent findings in hosts of avian brood parasites where perfect mimicry of parasite eggs leads to the evolution of chick recognition as a second line of defense.

Phylogenomics of palearctic Formica species suggests a single origin of temporary parasitism and gives insights to the evolutionary pathway toward slave-making behaviour.

PubMed

Romiguier, Jonathan; Rolland, Jonathan; Morandin, Claire; Keller, Laurent

2018-03-28

The ants of the Formica genus are classical model species in evolutionary biology. In particular, Darwin used Formica as model species to better understand the evolution of slave-making, a parasitic behaviour where workers of another species are stolen to exploit their workforce. In his book "On the Origin of Species" (1859), Darwin first hypothesized that slave-making behaviour in Formica evolved in incremental steps from a free-living ancestor. The absence of a well-resolved phylogenetic tree of the genus prevent an assessment of whether relationships among Formica subgenera are compatible with this scenario. In this study, we resolve the relationships among the 4 palearctic Formica subgenera (Formica str. s., Coptoformica, Raptiformica and Serviformica) using a phylogenomic dataset of 945 genes for 16 species. We provide a reference tree resolving the relationships among the main Formica subgenera with high bootstrap supports. The branching order of our tree suggests that the free-living lifestyle is ancestral in the Formica genus and that parasitic colony founding could have evolved a single time, probably acting as a pre-adaptation to slave-making behaviour. This phylogenetic tree provides a solid backbone for future evolutionary studies in the Formica genus and slave-making behaviour.

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

PubMed Central

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

2014-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N. PMID:25126446

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.

PubMed

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S

2013-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

NASA Technical Reports Server (NTRS)

Lew, Jae Young; Book, Wayne J.

1991-01-01

Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

Trajectory control of an articulated robot with a parallel drive arm based on splines under tension

NASA Astrophysics Data System (ADS)

Yi, Seung-Jong

Today's industrial robots controlled by mini/micro computers are basically simple positioning devices. The positioning accuracy depends on the mathematical description of the robot configuration to place the end-effector at the desired position and orientation within the workspace and on following the specified path which requires the trajectory planner. In addition, the consideration of joint velocity, acceleration, and jerk trajectories are essential for trajectory planning of industrial robots to obtain smooth operation. The newly designed 6 DOF articulated robot with a parallel drive arm mechanism which permits the joint actuators to be placed in the same horizontal line to reduce the arm inertia and to increase load capacity and stiffness is selected. First, the forward kinematic and inverse kinematic problems are examined. The forward kinematic equations are successfully derived based on Denavit-Hartenberg notation with independent joint angle constraints. The inverse kinematic problems are solved using the arm-wrist partitioned approach with independent joint angle constraints. Three types of curve fitting methods used in trajectory planning, i.e., certain degree polynomial functions, cubic spline functions, and cubic spline functions under tension, are compared to select the best possible method to satisfy both smooth joint trajectories and positioning accuracy for a robot trajectory planner. Cubic spline functions under tension is the method selected for the new trajectory planner. This method is implemented for a 6 DOF articulated robot with a parallel drive arm mechanism to improve the smoothness of the joint trajectories and the positioning accuracy of the manipulator. Also, this approach is compared with existing trajectory planners, 4-3-4 polynomials and cubic spline functions, via circular arc motion simulations. The new trajectory planner using cubic spline functions under tension is implemented into the microprocessor based robot controller and motors to produce combined arc and straight-line motion. The simulation and experiment show interesting results by demonstrating smooth motion in both acceleration and jerk and significant improvements of positioning accuracy in trajectory planning.

Kinematics of preferred and non-preferred handballing in Australian football.

PubMed

Parrington, Lucy; Ball, Kevin; MacMahon, Clare

2015-01-01

In Australian football (AF), handballing proficiently with both the preferred and non-preferred arm is important at elite levels; yet, little information is available for handballing on the non-preferred arm. This study compared preferred and non-preferred arm handballing techniques. Optotrak Certus (100 Hz) collected three-dimensional data for 19 elite AF players performing handballs with the preferred and non-preferred arms. Position data, range of motion (ROM), and linear and angular velocities were collected and compared between preferred and non-preferred arms using dependent t-tests. The preferred arm exhibited significantly greater forearm and humerus ROM and angular velocity and significantly greater shoulder angular velocity at ball contact compared to the non-preferred arm. In addition, the preferred arm produced a significantly greater range of lateral bend and maximum lower-trunk speed, maximum strike-side hip speed and hand speed at ball contact than the non-preferred arm. The non-preferred arm exhibited a significantly greater shoulder angle and lower- and upper-trunk orientation angle, but significantly lower support-elbow angle, trunk ROM, and trunk rotation velocity compared to the preferred arm. Reduced ROM and angular velocities found in non-preferred arm handballs indicates a reduction in the degrees of freedom and a less developed skill. Findings have implication for development of handballing on the non-preferred arm.

Morbidity after conventional dissection of axillary lymph nodes in breast cancer patients

PubMed Central

2014-01-01

Background Conventional axillary lymph node dissection (ALND) has recently become less radical. The treatment morbidity effects of reduced ALND aggressiveness are unknown. This article investigates the prevalence of the main complications of ALND: lymphedema, range-of-motion restriction, and arm paresthesia and pain. Methods This cross-sectional study included 200 women with invasive breast cancer who underwent breast-conserving surgery (82.5%, n = 165) or mastectomy (17.5%, n = 35) with ALND from 2007 to 2011. Arm perimetry was used to assess lymphedema, defined as a difference >2 cm in the upper arm circumference between the nonsurgical and surgical arms. Range-of-motion restriction was assessed by evaluating the degree of arm abduction. Paresthesia was measured in the inner and proximal arm regions. Arm pain was assessed by directly questioning the patients and defined as either present or absent. Results The average (±SD) time between ALND and morbidity evaluation was 35 ± 18 months (range, 7-60 months). The average dissected lymph node number per patient was 14 ± 4 (range, 6-30 lymph nodes). Only 3.5% (n = 7) of the patients presented with lymphedema. Single-incision approaches to breast tumor and ALND (P = 0.04) and the presence of a postoperative seroma (P = 0.02) were associated with lymphedema in univariate analysis. Paresthesia was the most frequent side effect observed (53% of patients, n = 106). This complication was associated with increased age (P < 0.0001) and a larger dissected lymph node number (P = 0.01) in univariate and multivariate analysis. Additionally, 24% (n = 48) of patients had noticeable limited arm abduction. Among the patients, 27.5% (n = 55) experienced sporadic arm pain corresponding to the surgically treated armpit. In multivariate analysis, the pain risk was 1.9-fold higher in patients who underwent ALND corresponding to their dominant arm (95% CI, 1.0-3.7, P = 0.04). Conclusion Conventional ALND in breast cancer patients can result in unwanted complications. However, the current lymphedema prevalence is lower than that of the other analyzed side effects. PMID:24670000

1. Historic American Buildings Survey E. H. Pickering, Photographer October ...

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

1. Historic American Buildings Survey E. H. Pickering, Photographer October 1936 HOME OF THOMAS RUSSELL ONE OF THE FOUNDERS OF THE PRINCIPIO COMPANY. SLAVE QUARTERS AND WOOD HOUSE. - Green Hill, Slave Quarters & Woodhouse, State Route 7, North East, Cecil County, MD

Exchange circuits for FASTBUS slaves

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

Bratskii, A.A.; Matseev, M.Y.; Rybakov, V.G.

1985-09-01

This paper describes general-purpose circuits for FASTBUS interfacing of the functional part of a slave device. The circuits contain buffered receivers and transmitters, addressrecognition and data-transfer logic, and the required control/status registers. The described circuits are implemented with series-K500 integrated circuits.

Interior view, Slave Quarter/Service Wing, first floor, east end, perspective ...

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

Interior view, Slave Quarter/Service Wing, first floor, east end, perspective view of the east chimney looking northwest (note ghost of mantel, nailing block - Decatur House, National Trust for Historic Preservation, 748 Jackson Place Northwest, Washington, District of Columbia, DC

Slave Labor Camps of the Third Reich.

ERIC Educational Resources Information Center

Stone, Adolf

1983-01-01

Describes the ground rules used by Nazi architects in choosing the sites for slave labor camps. While some, like Auschwitz, became extermination camps, others also produced armaments. One camp, Theresienstadt, became a "model" camp to show to reporters and Red Cross representatives. (CS)

Design and control considerations for industrial and space manipulators

NASA Technical Reports Server (NTRS)

Whitney, D. E.; Book, W. J.; Lynch, P. M.

1974-01-01

This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.

An orbital emulator for pursuit-evasion game theoretic sensor management

NASA Astrophysics Data System (ADS)

Shen, Dan; Wang, Tao; Wang, Gang; Jia, Bin; Wang, Zhonghai; Chen, Genshe; Blasch, Erik; Pham, Khanh

2017-05-01

This paper develops and evaluates an orbital emulator (OE) for space situational awareness (SSA). The OE can produce 3D satellite movements using capabilities generated from omni-wheeled robot and robotic arm motion methods. The 3D motion of a satellite is partitioned into the movements in the equatorial plane and the up-down motions in the vertical plane. The 3D actions are emulated by omni-wheeled robot models while the up-down motions are performed by a stepped-motor-controlled-ball along a rod (robotic arm), which is attached to the robot. For multiple satellites, a fast map-merging algorithm is integrated into the robot operating system (ROS) and simultaneous localization and mapping (SLAM) routines to locate the multiple robots in the scene. The OE is used to demonstrate a pursuit-evasion (PE) game theoretic sensor management algorithm, which models conflicts between a space-based-visible (SBV) satellite (as pursuer) and a geosynchronous (GEO) satellite (as evader). The cost function of the PE game is based on the informational entropy of the SBV-tracking-GEO scenario. GEO can maneuver using a continuous and low thruster. The hard-in-loop space emulator visually illustrates the SSA problem solution based PE game.

Stability analysis of multiple-robot control systems

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth

1989-01-01

In a space telerobotic service scenario, cooperative motion and force control of multiple robot arms are of fundamental importance. Three paradigms to study this problem are proposed. They are distinguished by the set of variables used for control design. They are joint torques, arm tip force vectors, and an accelerated generalized coordinate set. Control issues related to each case are discussed. The latter two choices require complete model information, which presents practical modeling, computational, and robustness problems. Therefore, focus is on the joint torque control case to develop relatively model independent motion and internal force control laws. The rigid body assumption allows the motion and force control problems to be independently addressed. By using an energy motivated Lyapunov function, a simple proportional derivative plus gravity compensation type of motion control law is always shown to be stabilizing. The asymptotic convergence of the tracing error to zero requires the use of a generalized coordinate with the contact constraints taken into account. If a non-generalized coordinate is used, only convergence to a steady state manifold can be concluded. For the force control, both feedforward and feedback schemes are analyzed. The feedback control, if proper care has been taken, exhibits better robustness and transient performance.

A robotic orbital emulator with lidar-based SLAM and AMCL for multiple entity pose estimation

NASA Astrophysics Data System (ADS)

Shen, Dan; Xiang, Xingyu; Jia, Bin; Wang, Zhonghai; Chen, Genshe; Blasch, Erik; Pham, Khanh

2018-05-01

This paper revises and evaluates an orbital emulator (OE) for space situational awareness (SSA). The OE can produce 3D satellite movements using capabilities generated from omni-wheeled robot and robotic arm motions. The 3D motion of satellite is partitioned into the movements in the equatorial plane and the up-down motions in the vertical plane. The 3D actions are emulated by omni-wheeled robot models while the up-down motions are performed by a stepped-motorcontrolled- ball along a rod (robotic arm), which is attached to the robot. Lidar only measurements are used to estimate the pose information of the multiple robots. SLAM (simultaneous localization and mapping) is running on one robot to generate the map and compute the pose for the robot. Based on the SLAM map maintained by the robot, the other robots run the adaptive Monte Carlo localization (AMCL) method to estimate their poses. The controller is designed to guide the robot to follow a given orbit. The controllability is analyzed by using a feedback linearization method. Experiments are conducted to show the convergence of AMCL and the orbit tracking performance.

Assessing physical function in adult acquired major upper-limb amputees by combining the Disabilities of the Arm, Shoulder and Hand (DASH) Outcome Questionnaire and clinical examination.

PubMed

Ostlie, Kristin; Franklin, Rosemary J; Skjeldal, Ola H; Skrondal, Anders; Magnus, Per

2011-10-01

To describe physical function in adult acquired major upper-limb amputees (ULAs) by combining self-assessed arm function and physical measures obtained by clinical examinations; to estimate associations between background factors and self-assessed arm function in ULAs; and to assess whether clinical examination findings may be used to detect reduced arm function in unilateral ULAs. postal questionnaires and clinical examinations. Norwegian ULA population. Clinical examinations performed at 3 clinics. Questionnaires: population-based sample (n=224; 57.4% response rate). Clinical examinations: combined referred sample and convenience sample of questionnaire responders (n=70; 83.3% of those invited). SURVEY inclusion criteria: adult acquired major upper-limb amputation, resident in Norway, mastering of spoken and written Norwegian. Not applicable. The Disabilities of the Arm, Shoulder and Hand (DASH) Outcome Questionnaire, and clinical examination of joint motion and muscle strength with and without prostheses. Mean DASH score was 22.7 (95% confidence interval [CI], 20.3-25.0); in bilateral amputees, 35.7 (95% CI, 23.0-48.4); and in unilateral amputees, 22.1 (95% CI, 19.8-24.5). A lower unilateral DASH score (better function) was associated with paid employment (vs not in paid employment: adjusted regression coefficient [aB]=-5.40, P=.033; vs students: aB=-13.88, P=.022), increasing postamputation time (aB=-.27, P=.001), and Norwegian ethnicity (aB=-14.45, P<.001). At clinical examination, we found a high frequency of impaired neck mobility and varying frequencies of impaired joint motion and strength at the shoulder, elbow, and forearm level. Prosthesis wear was associated with impaired joint motion in all upper-limb joints (P<.006) and with reduced shoulder abduction strength (P=.002). Impaired without-prosthesis joint motion in shoulder flexion (ipsilateral: aB=12.19, P=.001) and shoulder abduction (ipsilateral: aB=12.01, P=.005; contralateral: aB=28.82, P=.004) was associated with increased DASH scores. Upper-limb loss clearly affects physical function. DASH score limitation profiles may be useful in individual clinical assessments. Targeted clinical examination may indicate patients with extra rehabilitational needs. Such examinations may be of special importance in relation to prosthesis function. Copyright © 2011 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Slave Narratives as Polemic.

ERIC Educational Resources Information Center

Heglar, Charles J.

Although slave narratives have enjoyed critical attention as literature and autobiography, when presenting them to undergraduates, there is some confusion--usually centering on the dissimilarities between the narratives and traditional autobiography. The narratives are not as linear, not as focused on personal development; the narrators are not as…

Complicating Slavery: Teaching with Runaway Slave Advertisements.

ERIC Educational Resources Information Center

Mason, Matthew; Koman, Rita G.

2003-01-01

Presents a lesson plan that teaches students about slavery in the colonial United States. Focuses on the differences between slavery in the northern and southern parts of the country. Explains that the lesson includes and uses slave advertisements to teach about slavery. Offers additional resources. (CMK)

Interior view, Slave Quarter/Service, second floor, detail view of framing ...

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

Interior view, Slave Quarter/Service, second floor, detail view of framing to show joists (with ghosts of lathe) and header (trimmer) with keyed through tenon. - Decatur House, National Trust for Historic Preservation, 748 Jackson Place Northwest, Washington, District of Columbia, DC

Modified Streamflows 1990 Level of Irrigation : Missouri, Colorado, Peace and Slave River Basin, 1928-1989.

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

A.G. Crook Company; United States. Bonneville Power Administration

1993-07-01

This report presents data for monthly mean streamflows adjusted for storage change, evaporation, and irrigation, for the years 1928-1990, for the Colorado River Basin, the Missouri River Basin, the Peace River Basin, and the Slave River Basin.

Health, Human Capital, and African American Migration Before 1910

PubMed Central

Logan, Trevon D.

2009-01-01

Using both IPUMS and the Colored Troops Sample of the Civil War Union Army Data, I estimate the effects of literacy and health on the migration propensities of African Americans from 1870 to 1910. I find that literacy and health shocks were strong predictors of migration and the stock of health was not. There were differential selection propensities based on slave status—former slaves were less likely to migrate given a specific health shock than free blacks. Counterfactuals suggest that as much as 35 percent of the difference in the mobility patterns of former slaves and free blacks is explained by differences in their human capital, and more than 20 percent of that difference is due to health alone. Overall, the selection effect of literacy on migration is reduced by one-tenth to one-third once health is controlled for. The low levels of human capital accumulation and rates of mobility for African Americans after the Civil War are partly explained by the poor health status of slaves and their immediate descendants. PMID:20161107

Distributed support vector machine in master-slave mode.

PubMed

Chen, Qingguo; Cao, Feilong

2018-05-01

It is well known that the support vector machine (SVM) is an effective learning algorithm. The alternating direction method of multipliers (ADMM) algorithm has emerged as a powerful technique for solving distributed optimisation models. This paper proposes a distributed SVM algorithm in a master-slave mode (MS-DSVM), which integrates a distributed SVM and ADMM acting in a master-slave configuration where the master node and slave nodes are connected, meaning the results can be broadcasted. The distributed SVM is regarded as a regularised optimisation problem and modelled as a series of convex optimisation sub-problems that are solved by ADMM. Additionally, the over-relaxation technique is utilised to accelerate the convergence rate of the proposed MS-DSVM. Our theoretical analysis demonstrates that the proposed MS-DSVM has linear convergence, meaning it possesses the fastest convergence rate among existing standard distributed ADMM algorithms. Numerical examples demonstrate that the convergence and accuracy of the proposed MS-DSVM are superior to those of existing methods under the ADMM framework. Copyright © 2018 Elsevier Ltd. All rights reserved.

The slavery hypothesis for hypertension among African Americans: the historical evidence.

PubMed Central

Curtin, P D

1992-01-01

The slavery hypothesis for hypertension has stated that the high blood pressures sometimes measured in African Americans are caused by one or more of these conditions: first, salt deficiency in the parts of Africa that supplied slaves for the Americas; second, the trauma of the slave trade itself; third, conditions of slavery in the United States. A review of the historical evidence shows that there was no salt deficiency in those parts of Africa, nor do present-day West Africans have a high incidence of hypertension. Historical evidence does not support the hypothesis that deaths aboard slave ships were caused mainly by conditions that might be conductive to hypertension, such as salt-depleting diseases. Finally, the hypothesis has depended heavily on evidence from the West Indies, which is not relevant for the United States. There is no evidence that diet or the resulting patterns of disease and demography among slaves in the American South were significantly different from those of other poor southerners. Images p1682-a p1684-a PMID:1456349

A cascade feedback control approach for hypnosis.

PubMed

Puebla, Hector; Alvarez-Ramírez, José

2005-10-01

This article studies the problem of controlling the drug administration during an anesthesia process, where muscle relaxation, analgesia, and hypnosis are regulated by means of monitored administration of specific drugs. On the basis of a seventh-order nonlinear pharmacokinetic-pharmacodynamic representation of the hypnosis process dynamics, a cascade (master/slave) feedback control structure for controlling the bispectral index (BIS) is proposed. The master controller compares the measured BIS with its reference value to provide the expired isoflurane concentration reference to the slave controller. In turn, the slave controller manipulates the anesthetic isoflurane concentration entering the anesthetic system to achieve the reference from the master controller. The advantage of the proposed cascade control structure with respect to its noncascade counterpart is that the former provides operation protection against BIS measurement failures. In fact, under a BIS measurement fault, the master control feedback is broken and the slave controller operates under a safe reference value. Extensive numerical simulations are used to illustrate the functioning of the proposed cascade control structure.

Effect of the racket mass and the rate of strokes on kinematics and kinetics in the table tennis topspin backhand.

PubMed

Iino, Yoichi; Kojima, Takeji

2016-01-01

The purpose of this study was to investigate the effect of the racket mass and the rate of strokes on the kinematics and kinetics of the trunk and the racket arm in the table tennis topspin backhand. Eight male Division I collegiate table tennis players hit topspin backhands against topspin balls projected at 75 balls · min(-1) and 35 balls · min(-1) using three rackets varying in mass of 153.5, 176 and 201.5 g. A motion capture system was used to obtain trunk and racket arm motion data. The joint torques of the racket arm were determined using inverse dynamics. The racket mass did not significantly affect all the trunk and racket arm kinematics and kinetics examined except for the wrist dorsiflexion torque, which was significantly larger for the large mass racket than for the small mass racket. The racket speed at impact was significantly lower for the high ball frequency than for the low ball frequency. This was probably because pelvis and upper trunk axial rotations tended to be more restricted for the high ball frequency. The result highlights one of the advantages of playing close to the table and making the rally speed fast.

Contact control for advanced applications of light weight arms

NASA Technical Reports Server (NTRS)

Book, Wayne J.; Kwon, Dong-Soo

1991-01-01

Many applications of robotic and teleoperated manipulator arms require operation in contact and non-contact regimes. This paper deals with both regimes and the transition between them with special attention given to problems of flexibility in the links and drives. This is referred to as contact control. Inverse dynamics is used to plan the tip motion of the flexible link so that the free motion can stop very near the contact surface without collision due to overshoot. Contact must occur at a very low speed since the high frequency impact forces are too sudden to be affected by any feedback generated torques applied to a joint at the other end of the link. The effect of approach velocity and surface properties are discussed. Force tracking is implemented by commands to the deflection states of the link and the contact force. This enables a natural transition between tip position and tip force control that is not possible when the arm is treated as rigid. The effect of feedback gain, force trajectory, and desired final force are of particular interest and are studied. Experimental results are presented on a one link arm and the system performance in the overall contact task is analyzed. Extension to multi-link cases with potential applications are discussed.

Towards building a team of intelligent robots

NASA Technical Reports Server (NTRS)

Varanasi, Murali R.; Mehrotra, R.

1987-01-01

Topics addressed include: collision-free motion planning of multiple robot arms; two-dimensional object recognition; and pictorial databases (storage and sharing of the representations of three-dimensional objects).

Hazardous materials emergency response mobile robot

NASA Technical Reports Server (NTRS)

Stone, Henry W. (Inventor); Lloyd, James W. (Inventor); Alahuzos, George A. (Inventor)

1995-01-01

A simple or unsophisticated robot incapable of effecting straight-line motion at the end of its arm is presented. This robot inserts a key held in its end effector or hand into a door lock with nearly straight-line motion by gently thrusting its back heels downwardly so that it pivots forwardly on its front toes while holding its arm stationary. The relatively slight arc traveled by the robot's hand is compensated by a complaint tool with which the robot hand grips the door key. A visible beam is projected through the axis of the hand or gripper on the robot arm end at an angle to the general direction in which the robot thrusts the gripper forward. As the robot hand approaches a target surface, a video camera on the robot wrist watches the beam spot on the target surface fall from a height proportional to the distance between the robot hand and the target surface until the beam spot is nearly aligned with the top of the robot hand. Holes in the front face of the hand are connected through internal passages inside the arm to an on-board chemical sensor. Full rotation of the hand or gripper about the robot arm's wrist is made possible by slip rings in the wrist which permit passage of the gases taken in through the nose holes in the front of the hand through the wrist regardless of the rotational orientation of the wrist.

A new reduced-order observer for the synchronization of nonlinear chaotic systems: An application to secure communications

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

Castro-Ramírez, Joel, E-mail: ingcastro.7@gmail.com; Martínez-Guerra, Rafael, E-mail: rguerra@ctrl.cinvestav.mx; Cruz-Victoria, Juan Crescenciano, E-mail: juancrescenciano.cruz@uptlax.edu.mx

2015-10-15

This paper deals with the master-slave synchronization scheme for partially known nonlinear chaotic systems, where the unknown dynamics is considered as the master system and we propose the slave system structure which estimates the unknown states. It introduced a new reduced order observer, using the concept of Algebraic Observability; we applied the results to a Sundarapandian chaotic system, and by means of some numerical simulations we show the effectiveness of the suggested approach. Finally, the proposed observer is utilized for encryption, where encryption key is the master system and decryption key is the slave system.

Implementation of a Landscape Lighting System to Display Images

NASA Astrophysics Data System (ADS)

Sun, Gi-Ju; Cho, Sung-Jae; Kim, Chang-Beom; Moon, Cheol-Hong

The system implemented in this study consists of a PC, MASTER, SLAVEs and MODULEs. The PC sets the various landscape lighting displays, and the image files can be sent to the MASTER through a virtual serial port connected to the USB (Universal Serial Bus). The MASTER sends a sync signal to the SLAVE. The SLAVE uses the signal received from the MASTER and the landscape lighting display pattern. The video file is saved in the NAND Flash memory and the R, G, B signals are separated using the self-made display signal and sent to the MODULE so that it can display the image.

The Antislavery Movement in Early America: Religion, Social Environment and Slave Manumissions

ERIC Educational Resources Information Center

Budros, Art

2005-01-01

Although traditional explanations of the historic slave manumission movement during the early Republic have stressed religion, rival ones have emphasized broader environmental forces. However, the literature has offered non-systematic conceptualizations of religion and impressionistic empirical analyses of the facilitators of liberations. In…

France: Africans and the French Revolution.

ERIC Educational Resources Information Center

Fatunde, Tunde

1989-01-01

The French Revolution had profound and long-term effects for Africans, both in Africa and throughout the Western hemisphere. Revolutionary leaders not only opposed the emancipation of slaves in French territories but supported an intensified slave trade, sparking numerous rebellions. French exploitation of Africans extended well into the twentieth…

[Robot-aided training in rehabilitation].

PubMed

Hachisuka, Kenji

2010-02-01

Recently, new training techniques that involve the use of robots have been used in the rehabilitation of patients with hemiplegia and paraplegia. Robots used for training the arm include the MIT-MANUS, Arm Trainer, mirror-image motion enabler (MIME) robot, and the assisted rehabilitation and measurement (ARM) Guide. Robots that are used for lower-limb training are the Rehabot, Gait Trainer, Lokomat, LOPES Exoskeleton Robot, and Gait Assist Robot. Robot-aided therapy has enabled the functional training of the arm and the lower limbs in an effective, easy, and comfortable manner. Therefore, with this type of therapy, the patients can repeatedly undergo sufficient and accurate training for a prolonged period. However, evidence of the benefits of robot-aided training has not yet been established.

Whole arm manipulation planning based on feedback velocity fields and sampling-based techniques.

PubMed

Talaei, B; Abdollahi, F; Talebi, H A; Omidi Karkani, E

2013-09-01

Changing the configuration of a cooperative whole arm manipulator is not easy while enclosing an object. This difficulty is mainly because of risk of jamming caused by kinematic constraints. To reduce this risk, this paper proposes a feedback manipulation planning algorithm that takes grasp kinematics into account. The idea is based on a vector field that imposes perturbation in object motion inducing directions when the movement is considerably along manipulator redundant directions. Obstacle avoidance problem is then considered by combining the algorithm with sampling-based techniques. As experimental results confirm, the proposed algorithm is effective in avoiding jamming as well as obstacles for a 6-DOF dual arm whole arm manipulator. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

The da Vinci telerobotic surgical system: the virtual operative field and telepresence surgery.

PubMed

Ballantyne, Garth H; Moll, Fred

2003-12-01

The United States Department of Defense developed the telepresence surgery concept to meet battlefield demands. The da Vinci telerobotic surgery system evolved from these efforts. In this article, the authors describe the components of the da Vinci system and explain how the surgeon sits at a computer console, views a three-dimensional virtual operative field, and performs the operation by controlling robotic arms that hold the stereoscopic video telescope and surgical instruments that simulate hand motions with seven degrees of freedom. The three-dimensional imaging and handlike motions of the system facilitate advanced minimally invasive thoracic, cardiac, and abdominal procedures. da Vinci has recently released a second generation of telerobots with four arms and will continue to meet the evolving challenges of surgery.

Effect of arm swing strategy on local dynamic stability of human gait.

PubMed

Punt, Michiel; Bruijn, Sjoerd M; Wittink, Harriet; van Dieën, Jaap H

2015-02-01

Falling causes long term disability and can even lead to death. Most falls occur during gait. Therefore improving gait stability might be beneficial for people at risk of falling. Recently arm swing has been shown to influence gait stability. However at present it remains unknown which mode of arm swing creates the most stable gait. To examine how different modes of arm swing affect gait stability. Ten healthy young male subjects volunteered for this study. All subjects walked with four different arm swing instructions at seven different gait speeds. The Xsens motion capture suit was used to capture gait kinematics. Basic gait parameters, variability and stability measures were calculated. We found an increased stability in the medio-lateral direction with excessive arm swing in comparison to normal arm swing at all gait speeds. Moreover, excessive arm swing increased stability in the anterior-posterior and vertical direction at low gait speeds. Ipsilateral and inphase arm swing did not differ compared to a normal arm swing. Excessive arm swing is a promising gait manipulation to improve local dynamic stability. For excessive arm swing in the ML direction there appears to be converging evidence. The effect of excessive arm swing on more clinically relevant groups like the more fall prone elderly or stroke survivors is worth further investigating. Excessive arm swing significantly increases local dynamic stability of human gait. Copyright © 2014 Elsevier B.V. All rights reserved.

A synchronous serial bus for multidimensional array acoustic logging tool

NASA Astrophysics Data System (ADS)

Men, Baiyong; Ju, Xiaodong; Lu, Junqiang; Qiao, Wenxiao

2016-12-01

In high-temperature and spatial borehole applications, a distributed structure is employed in a multidimensional array acoustic logging tool (MDALT) based on a phased array technique for electronic systems. However, new challenges, such as synchronous multichannel data acquisition, multinode real-time control and bulk data transmission in a limited interval, have emerged. To address these challenges, we developed a synchronous serial bus (SSB) in this study. SSB works in a half-duplex mode via a master-slave architecture. It also consists of a single master, several slaves, a differential clock line and a differential data line. The clock line is simplex, whereas the data line is half-duplex and synchronous to the clock line. A reliable communication between the master and the slaves with real-time adjustment of synchronisation is achieved by rationally designing the frame format and protocol of communication and by introducing a scramble code and a Hamming error-correcting code. The control logic of the master and the slaves is realized in field programmable gate array (FPGA) or complex programmable logic device (CPLD). The clock speed of SSB is 10 MHz, the effective data rate of the bulk data transmission is over 99%, and the synchronous errors amongst the slaves are less than 10 ns. Room-temperature test, high-temperature test (175 °C) and field test demonstrate that the proposed SSB is qualified for MDALT.

Laboratory derived constraints on electrical conductivity beneath Slave craton

NASA Astrophysics Data System (ADS)

Bagdassarov, Nikolai S.; Kopylova, Maya G.; Eichert, Sandrine

2007-04-01

The depth profile of the electrical conductivity, σ(d), beneath the Central Slave craton (Canada) has been reconstructed with the help of laboratory measurements carried out on peridotite xenoliths. σ(T) of xenoliths was determined in the piston-cylinder apparatus at 1 and 2 GPa and from 600 to 1150 °C. σ(T) of xenoliths follows the Arrhenius dependence with the activation energy, E, varying from 2.10 to 1.44 eV depending on temperature range and the Mg-number. The calculated xenolith geotherm and the suggested lithology beneath the Central Slave have been used to constrain σ(d) as follows: σ(d) in the crust varies between 0.5×10-5 and 10-3 S/m; the lithospheric σ(d) sharply decreases below the Moho at 39.4 km to 0.5×10-8 S/m, which corresponds to 460 °C, and then gradually increases with the depth d to 0.5×10-2 S/m. The modeled MT-response of the constrained σ(d) profile has been compared with MT-observations [Jones, A.G., Lezaeta, P., Ferguson, I.J., Chave, A.D., Evans, R.L., Garcia, X., Spratt J., 2003. The electrical structure of the Slave craton. Lithos, 71, 505-527]. The general trend of the calculated MT-response based on the σ(d) model mimics the MT-inversion of the field data from the Central Slave.