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

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

The DANTE Boltzmann transport solver: An unstructured mesh, 3-D, spherical harmonics algorithm compatible with parallel computer architectures

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

McGhee, J.M.; Roberts, R.M.; Morel, J.E.

1997-06-01

A spherical harmonics research code (DANTE) has been developed which is compatible with parallel computer architectures. DANTE provides 3-D, multi-material, deterministic, transport capabilities using an arbitrary finite element mesh. The linearized Boltzmann transport equation is solved in a second order self-adjoint form utilizing a Galerkin finite element spatial differencing scheme. The core solver utilizes a preconditioned conjugate gradient algorithm. Other distinguishing features of the code include options for discrete-ordinates and simplified spherical harmonics angular differencing, an exact Marshak boundary treatment for arbitrarily oriented boundary faces, in-line matrix construction techniques to minimize memory consumption, and an effective diffusion based preconditioner formore » scattering dominated problems. Algorithm efficiency is demonstrated for a massively parallel SIMD architecture (CM-5), and compatibility with MPP multiprocessor platforms or workstation clusters is anticipated.« less

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

NASA Technical Reports Server (NTRS)

Lee, Jeh Won

1991-01-01

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

Inertial migrations of cylindrical particles in rectangular microchannels: Variations of equilibrium positions and equivalent diameters

NASA Astrophysics Data System (ADS)

Su, Jinghong; Chen, Xiaodong; Hu, Guoqing

2018-03-01

Inertial migration has emerged as an efficient tool for manipulating both biological and engineered particles that commonly exist with non-spherical shapes in microfluidic devices. There have been numerous studies on the inertial migration of spherical particles, whereas the non-spherical particles are still largely unexplored. Here, we conduct three-dimensional direct numerical simulations to study the inertial migration of rigid cylindrical particles in rectangular microchannels with different width/height ratios under the channel Reynolds numbers (Re) varying from 50 to 400. Cylindrical particles with different length/diameter ratios and blockage ratios are also concerned. Distributions of surface force with the change of rotation angle show that surface stresses acting on the particle end near the wall are the major contributors to the particle rotation. We obtain lift forces experienced by cylindrical particles at different lateral positions on cross sections of two types of microchannels at various Re. It is found that there are always four stable equilibrium positions on the cross section of a square channel, while the stable positions are two or four in a rectangular channel, depending on Re. By comparing the equilibrium positions of cylindrical particles and spherical particles, we demonstrate that the equivalent diameter of cylindrical particles monotonously increases with Re. Our work indicates the influence of a non-spherical shape on the inertial migration and can be useful for the precise manipulation of non-spherical particles.

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

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1989-01-01

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

Development of structural schemes of parallel structure manipulators using screw calculus

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

Angular trapping of anisometric nano-objects in a fluid.

PubMed

Celebrano, Michele; Rosman, Christina; Sönnichsen, Carsten; Krishnan, Madhavi

2012-11-14

We demonstrate the ability to trap, levitate, and orient single anisometric nanoscale objects with high angular precision in a fluid. An electrostatic fluidic trap confines a spherical object at a spatial location defined by the minimum of the electrostatic system free energy. For an anisometric object and a potential well lacking angular symmetry, the system free energy can further strongly depend on the object's orientation in the trap. Engineering the morphology of the trap thus enables precise spatial and angular confinement of a single levitating nano-object, and the process can be massively parallelized. Since the physics of the trap depends strongly on the surface charge of the object, the method is insensitive to the object's dielectric function. Furthermore, levitation of the assembled objects renders them amenable to individual manipulation using externally applied optical, electrical, or hydrodynamic fields, raising prospects for reconfigurable chip-based nano-object assemblies.

Implementation and control of a 3 degree-of-freedom, force-reflecting manual controller

NASA Astrophysics Data System (ADS)

Kim, Whee-Kuk; Bevill, Pat; Tesar, Delbert

1991-02-01

Most available manual controllers which are used in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size heavy weight high cost low magnitude of reflecting-force lack of smoothness insufficient transparency and simplified architectures. A compact smooth lightweight portable universal manual controller could provide a markedly improved level of transparency and be able to drive a broad spectrum of slave manipulators. This implies that a single stand-off position could be used for a diverse population of remote systems and that a standard environment for training of operators would result in reduced costs and higher reliability. In the implementation presented in this paper a parallel 3 degree-of-freedom (DOF) spherical structure (for compactness and reduced weight) is combined with high gear-ratio reducers using a force control algorithm to produce a " power steering" effect for enhanced smoothness and transparency. The force control algorithm has the further benefit of minimizing the effect of the system friction and non-linear inertia forces. The fundamental analytical description for the spherical force-reflecting manual controller such as forward position analysis reflecting-force transformation and applied force control algorithm are presented. Also a brief description of the system integration its actual implementation and preliminary test results are presented in the paper.

Line and point defects in nonlinear anisotropic solids

NASA Astrophysics Data System (ADS)

Golgoon, Ashkan; Yavari, Arash

2018-06-01

In this paper, we present some analytical solutions for the stress fields of nonlinear anisotropic solids with distributed line and point defects. In particular, we determine the stress fields of (i) a parallel cylindrically symmetric distribution of screw dislocations in infinite orthotropic and monoclinic media, (ii) a cylindrically symmetric distribution of parallel wedge disclinations in an infinite orthotropic medium, (iii) a distribution of edge dislocations in an orthotropic medium, and (iv) a spherically symmetric distribution of point defects in a transversely isotropic spherical ball.

Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method

NASA Astrophysics Data System (ADS)

Bayram, Atilla

2017-03-01

Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.

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

PubMed

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

2015-04-01

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

Acoustic manipulation: Bessel beams and active carriers

NASA Astrophysics Data System (ADS)

Rajabi, Majid; Mojahed, Alireza

2017-10-01

In this paper, we address the interaction of zero-order acoustic Bessel beams as an acoustic manipulation tool, with an active spherical shell, as a carrier in drug, agent, or material delivery systems, in order to investigate the controllability of exerted acoustic radiation force as the driver. The active body is comprised of a spherical elastic shell stimulated in its monopole mode of vibrations with the same frequency as the incident wave field via an internally bonded and spatially uniformly excited piezoelectric actuator. The main aim of this work is to examine the performance of a nondiffracting and self-reconstructing zero-order Bessel beam to obtain the full manipulability condition of active carriers in comparison with the case of a plane wave field. The results unveil some unique potentials of the Bessel beams in the company of active carriers, with emphasis on the consumed power of the actuation system. This paper will widen the path toward the single-beam robust acoustic manipulation techniques and may lead to the prospect of combined tweezers and fields, with applications in delivery systems, microswimmers, and trapper designs.

A modified Fermi-Walker derivative for inextensible flows of binormal spherical image

NASA Astrophysics Data System (ADS)

Suroğlu, Gülden Altay

2018-03-01

Fermi-Walker derivative and biharmonic particle play an important role in skillful applications. We obtain a new characterization on binormal spherical indicatrix by using the Fermi-Walker derivative and parallelism in space. We suggest that an inextensible flow is the necessary and sufficient condition for this particle. Finally, we give some characterizations for a non-rotating frame of this binormal spherical indicatrix.

Radiative transfer in spherical shell atmospheres. 2: Asymmetric phase functions

NASA Technical Reports Server (NTRS)

Kattawar, G. W.; Adams, C. N.

1977-01-01

The effects are investigated of sphericity on the radiation reflected from a planet with a homogeneous, conservative scattering atmosphere of optical thicknesses of 0.25 and 1.0. A Henyey-Greenstein phase function with asymmetry factors of 0.5 and 0.7 is considered. Significant differences were found when these results were compared with the plane-parallel calculations. Also large violations of the reciprocity theorem, which is only true for plane-parallel calculations, were noted. Results are presented for the radiance versus height distributions as a function of planetary phase angle.

A 3-RSR Haptic Wearable Device for Rendering Fingertip Contact Forces.

PubMed

Leonardis, Daniele; Solazzi, Massimiliano; Bortone, Ilaria; Frisoli, Antonio

2017-01-01

A novel wearable haptic device for modulating contact forces at the fingertip is presented. Rendering of forces by skin deformation in three degrees of freedom (DoF), with contact-no contact capabilities, was implemented through rigid parallel kinematics. The novel asymmetrical three revolute-spherical-revolute (3-RSR) configuration allowed compact dimensions with minimum encumbrance of the hand workspace. The device was designed to render constant to low frequency deformation of the fingerpad in three DoF, combining light weight with relatively high output forces. A differential method for solving the non-trivial inverse kinematics is proposed and implemented in real time for controlling the device. The first experimental activity evaluated discrimination of different fingerpad stretch directions in a group of five subjects. The second experiment, enrolling 19 subjects, evaluated cutaneous feedback provided in a virtual pick-and-place manipulation task. Stiffness of the fingerpad plus device was measured and used to calibrate the physics of the virtual environment. The third experiment with 10 subjects evaluated interaction forces in a virtual lift-and-hold task. Although with different performance in the two manipulation experiments, overall results show that participants better controlled interaction forces when the cutaneous feedback was active, with significant differences between the visual and visuo-haptic experimental conditions.

Local performance optimization for a class of redundant eight-degree-of-freedom manipulators

NASA Technical Reports Server (NTRS)

Williams, Robert L., II

1994-01-01

Local performance optimization for joint limit avoidance and manipulability maximization (singularity avoidance) is obtained by using the Jacobian matrix pseudoinverse and by projecting the gradient of an objective function into the Jacobian null space. Real-time redundancy optimization control is achieved for an eight-joint redundant manipulator having a three-axis spherical shoulder, a single elbow joint, and a four-axis spherical wrist. Symbolic solutions are used for both full-Jacobian and wrist-partitioned pseudoinverses, partitioned null-space projection matrices, and all objective function gradients. A kinematic limitation of this class of manipulators and the limitation's effect on redundancy resolution are discussed. Results obtained with graphical simulation are presented to demonstrate the effectiveness of local redundant manipulator performance optimization. Actual hardware experiments performed to verify the simulated results are also discussed. A major result is that the partitioned solution is desirable because of low computation requirements. The partitioned solution is suboptimal compared with the full solution because translational and rotational terms are optimized separately; however, the results show that the difference is not significant. Singularity analysis reveals that no algorithmic singularities exist for the partitioned solution. The partitioned and full solutions share the same physical manipulator singular conditions. When compared with the full solution, the partitioned solution is shown to be ill-conditioned in smaller neighborhoods of the shared singularities.

Spherical harmonic results for the 3D Kobayashi Benchmark suite

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

Brown, P N; Chang, B; Hanebutte, U R

1999-03-02

Spherical harmonic solutions are presented for the Kobayashi benchmark suite. The results were obtained with Ardra, a scalable, parallel neutron transport code developed at Lawrence Livermore National Laboratory (LLNL). The calculations were performed on the IBM ASCI Blue-Pacific computer at LLNL.

Experimental characterization of a binary actuated parallel manipulator

NASA Astrophysics Data System (ADS)

Giuseppe, Carbone

2016-05-01

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

Parallel algorithms for computation of the manipulator inertia matrix

NASA Technical Reports Server (NTRS)

Amin-Javaheri, Masoud; Orin, David E.

1989-01-01

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

A new spherical model for computing the radiation field available for photolysis and heating at twilight

NASA Technical Reports Server (NTRS)

Dahlback, Arne; Stamnes, Knut

1991-01-01

Accurate computation of atmospheric photodissociation and heating rates is needed in photochemical models. These quantities are proportional to the mean intensity of the solar radiation penetrating to various levels in the atmosphere. For large solar zenith angles a solution of the radiative transfer equation valid for a spherical atmosphere is required in order to obtain accurate values of the mean intensity. Such a solution based on a perturbation technique combined with the discrete ordinate method is presented. Mean intensity calculations are carried out for various solar zenith angles. These results are compared with calculations from a plane parallel radiative transfer model in order to assess the importance of using correct geometry around sunrise and sunset. This comparison shows, in agreement with previous investigations, that for solar zenith angles less than 90 deg adequate solutions are obtained for plane parallel geometry as long as spherical geometry is used to compute the direct beam attenuation; but for solar zenith angles greater than 90 deg this pseudospherical plane parallel approximation overstimates the mean intensity.

A complete set of two-dimensional harmonic vortices on a spherical surface

NASA Astrophysics Data System (ADS)

Esparza, Christian; Rendón, Pablo Luis; Ley Koo, Eugenio

2018-03-01

The solutions of the Euler equations on a spherical surface are constructed, starting from a vector velocity potential A in the radial direction and with a two-dimensional spherical harmonic variation of order m and well-defined parity under \\varphi \\mapsto -\\varphi . The solutions are well-behaved on the entire surface and continuous at the position of a parallel circle θ ={θ }0, where the vorticity is shown to be harmonically distributed. The velocity field is evaluated as the curl of the vector potential: it is shown that the velocity is divergenceless and distributed on the spherical surface. Its polar components at the parallel circle are shown to be continuous, confirming its divergenceless nature, while its azimuthal components are discontinuous at the circle, and their discontinuity is a measure of the vorticity in the radial direction. A closed form for the velocity field lines is also obtained in terms of fixed values of the scalar harmonic function associated with the vector potential. Additionally, the connections of the solutions on a spherical surface with their circular, elliptic and bipolar counterparts on the equatorial plane are implemented via stereographic projections.

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

NASA Astrophysics Data System (ADS)

Lee, J.; Kim, K.

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

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

NASA Technical Reports Server (NTRS)

Lee, J.; Kim, K.

1991-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

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

NASA Technical Reports Server (NTRS)

Tahmasebi, Farhad

2004-01-01

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

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

NASA Technical Reports Server (NTRS)

Tahmasebi, Farhad

2005-01-01

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

Conjugate-Gradient Algorithms For Dynamics Of Manipulators

NASA Technical Reports Server (NTRS)

Fijany, Amir; Scheid, Robert E.

1993-01-01

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

CUBE: Information-optimized parallel cosmological N-body simulation code

NASA Astrophysics Data System (ADS)

Yu, Hao-Ran; Pen, Ue-Li; Wang, Xin

2018-05-01

CUBE, written in Coarray Fortran, is a particle-mesh based parallel cosmological N-body simulation code. The memory usage of CUBE can approach as low as 6 bytes per particle. Particle pairwise (PP) force, cosmological neutrinos, spherical overdensity (SO) halofinder are included.

Tilt/Tip/Piston Manipulator with Base-Mounted Actuators

NASA Technical Reports Server (NTRS)

Tahmasebi, Farhad

2006-01-01

A proposed three-degree-of-freedom (tilt/tip/piston) manipulator, suitable for aligning an optical or mechanical component, would offer several advantages over prior such manipulators: Unlike in some other manipulators, no actuator would support the weight of another actuator: All of the actuators would be mounted on a base. Hence, there would be less manipulated weight. The basic geometry of the manipulator would afford mechanical advantage: that is, actuator motions would be larger than the motions they produce in the manipulated object. Mechanical advantage inherently increases the accuracy and resolution of manipulation. Unlike in some other manipulators, it would not be necessary to route power and/or data lines through manipulator joints. The proposed manipulator (see figure) would include three prismatic actuators (T1N1, T2N2, and T3N3) mounted on the base and operating in the same plane. Examples of suitable prismatic actuators include lead-screw mechanisms, linear hydraulic motors, piezoelectric linear drives, inchworm-movement linear stepping motors, and linear flexure drives. The actuators would control the lengths of links R1T1, R2T2, and R3T3. Three spherical joints (P1, P2, and P3) would be located at the corners of an equilateral triangle of side length q on the platform holding the object to be manipulated. Three inextensible limbs (R1P1, R2P2, and R3P3) having length r would connect the spherical joints on the platform to revolute joints (R1, R2, and R3) at the ends of the actuator-controlled links R1T1, R2T2, and R3T3. By varying the lengths of these links, one could control the tilt, tip, and piston coordinates of the platform. Closed-form equations for direct or forward kinematics of the manipulator (given the lengths of the variable links, find the tilt, tip, and piston coordinates) have been derived. The equations of inverse kinematics (find the variable link lengths needed to obtain the desired tilt, tip, and piston coordinates) have also been derived.

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

NASA Technical Reports Server (NTRS)

Lee, Jeh Won

1990-01-01

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

Radiative transfer in spherical shell atmospheres. II - Asymmetric phase functions

NASA Technical Reports Server (NTRS)

Kattawar, G. W.; Adams, C. N.

1978-01-01

This paper investigates the effects of sphericity on the radiation reflected from a planet with a homogeneous conservative-scattering atmosphere of optical thicknesses of 0.25 and 1.0. A Henyey-Greenstein phase function with asymmetry factors of 0.5 and 0.7 was considered. Significant differences were found when these results were compared with the plane-parallel calculations. Also, large violations of the reciprocity theorem, which is only true for plane-parallel calculations, were noted. Results are presented for the radiance versus height distributions as a function of planetary phase angle. These results will be useful to researchers in the field of remote sensing and planetary spectroscopy.

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

NASA Astrophysics Data System (ADS)

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

2011-01-01

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

Control of Morphology of Crystallizable Polymer Mixtures via Manipulation of the Heterogeneous Melt

DTIC Science & Technology

1990-11-09

Distribution of Matrix Homopolymer C.V. Berney in Block Copolymers of Spherical P. Cheng Morphology R.E. Cohen 2. Distribution of Chain Ends Inside P. Cheng...the Polybutadiene Microspheres of SB C.V. Berney Diblock Copolymers R.E. Cohen 3. Spatial Organization of Homopolymer P. Cheng Chains Inside Spherical...Polybutadiene C.V. Berney Domains of SB Diblock Copolymers R.E. Cohen 4. Blends of Crystallizable Polybutadienes M. Marx R.E. Cohen 5. Synthesis and

Parallelism in Manipulator Dynamics. Revision.

DTIC Science & Technology

1983-12-01

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

Parallel conjugate gradient algorithms for manipulator dynamic simulation

NASA Technical Reports Server (NTRS)

Fijany, Amir; Scheld, Robert E.

1989-01-01

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

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

PubMed Central

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

2015-01-01

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

Analysis of Relative Parallelism Between Hamular-Incisive-Papilla Plane and Campers Plane in Edentulous Subjects: A Comparative Study.

PubMed

Tambake, Deepti; Shetty, Shilpa; Satish Babu, C L; Fulari, Sangamesh G

2014-12-01

The study was undertaken to evaluate the parallelism between hamular-incisive-papilla plane (HIP) and the Campers plane. And to determine which part of the posterior reference of the tragus i.e., the superior, middle or the inferior of the Camper's plane is parallel to HIP using digital lateral cephalograms. Fifty edentulous subjects with well formed ridges were selected for the study. The master casts were obtained using the standard selective pressure impression procedure. On the deepest point of the hamular notches and the centre of the incisive papilla stainless steel spherical bearings were glued to the cast at the marked points. The study templates were fabricated with autopolymerizing acrylic resin. The subjects were prepared for the lateral cephalograms. Stainless steel spherical bearings were adhered to the superior, middle, inferior points of the tragus of the ear and inferior border of the ala of the nose using surgical adhesive tape. The subjects with study templates were subjected to lateral cephalograms. Cephalometric tracings were done using Autocad 2010 software. Lines were drawn connecting the incisive papilla and hamular notch and the stainless steel spherical bearings placed on the superior, middle and inferior points on the tragus and the ala of the nose i.e., the Campers line S, Campers line M, Campers line I. The angles between the three Camper's line and the HIP were measured and recorded. Higher mean angulation was recorded in Campers line S -HIP (8.03) followed by Campers line M-HIP (4.60). Campers line I-HIP recorded the least angulation (3.80). The HIP is parallel to the Camper's plane. The Camper's plane formed with the posterior reference point as inferior point of the tragus is relatively parallel to the HIP.

Structuring Light to Manipulate Multipolar Resonances for Metamaterial Applications

NASA Astrophysics Data System (ADS)

Das, Tanya

Multipolar electromagnetic phenomena in sub-wavelength resonators are at the heart of metamaterial science and technology. Typically, researchers engineer multipolar light-matter interactions by modifying the size, shape, and composition of the resonators. Here, we instead engineer multipolar interactions by modifying properties of the incident radiation. In this dissertation, we propose a new framework for determining the scattering response of resonators based on properties of the local excitation field. First, we derive an analytical theory to determine the scattering response of spherical nanoparticles under any type of illumination. Using this theory, we demonstrate the ability to drastically manipulate the scattering properties of a spherical nanoparticle by varying the illumination and demonstrate excitation of a longitudinal quadrupole mode that cannot be accessed with conventional illumination. Next, we investigate the response of dielectric dimer structures illuminated by cylindrical vector beams. Using finite-difference time-domain simulations, we demonstrate significant modification of the scattering spectra of dimer antennas and reveal how the illumination condition gives rise to these spectra through manipulation of electric and magnetic mode hybridization. Finally, we present a simple and efficient numerical simulation based on local field principles for extracting the multipolar response of any resonator under illumination by structured light. This dissertation enhances the understanding of fundamental light-matter interactions in metamaterials and lays the foundation for researchers to identify, quantify, and manipulate multipolar light-matter interactions through optical beam engineering.

A spherical parallel three degrees-of-freedom robot for ankle-foot neuro-rehabilitation.

PubMed

Malosio, Matteo; Negri, Simone Pio; Pedrocchi, Nicola; Vicentini, Federico; Caimmi, Marco; Molinari Tosatti, Lorenzo

2012-01-01

The ankle represents a fairly complex bone structure, resulting in kinematics that hinders a flawless robot-assisted recovery of foot motility in impaired subjects. The paper proposes a novel device for ankle-foot neuro-rehabilitation based on a mechatronic redesign of the remarkable Agile Eye spherical robot on the basis of clinical requisites. The kinematic design allows the positioning of the ankle articular center close to the machine rotation center with valuable benefits in term of therapy functions. The prototype, named PKAnkle, Parallel Kinematic machine for Ankle rehabilitation, provides a 6-axes load cell for the measure of subject interaction forces/torques, and it integrates a commercial EMG-acquisition system. Robot control provides active and passive therapeutic exercises.

Motorized manipulator for positioning a TEM specimen

DOEpatents

Schmid, Andreas Karl; Andresen, Nord

2010-12-14

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

Study on Parallel 2-DOF Rotation Machanism in Radar

NASA Astrophysics Data System (ADS)

Jiang, Ming; Hu, Xuelong; Liu, Lei; Yu, Yunfei

The spherical parallel machine has become the world's academic and industrial focus of the field in recent years due to its simple and economical manufacture as well as its structural compactness especially suitable for areas where space gesture changes. This paper dwells upon its present research and development home and abroad. The newer machine (RGRR-II) can rotate around the axis z within 360° and the axis y1 from -90° to +90°. It has the advantages such as less moving parts (only 3 parts), larger ratio of work space to machine size, zero mechanic coupling, no singularity. Constructing rotation machine with spherical parallel 2-DOF rotation join (RGRR-II) may realize semispherical movement with zero dead point and extent the range. Control card (PA8000NT Series CNC) is installed in the computer. The card can run the corresponding software which realizes radar movement control. The machine meets the need of radars in plane and satellite which require larger detection range, lighter weight and compacter structure.

Rigid-flexible coupling dynamic modeling and investigation of a redundantly actuated parallel manipulator with multiple actuation modes

NASA Astrophysics Data System (ADS)

Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying

2017-09-01

A systematic dynamic modeling methodology is presented to develop the rigid-flexible coupling dynamic model (RFDM) of an emerging flexible parallel manipulator with multiple actuation modes. By virtue of assumed mode method, the general dynamic model of an arbitrary flexible body with any number of lumped parameters is derived in an explicit closed form, which possesses the modular characteristic. Then the completely dynamic model of system is formulated based on the flexible multi-body dynamics (FMD) theory and the augmented Lagrangian multipliers method. An approach of combining the Udwadia-Kalaba formulation with the hybrid TR-BDF2 numerical algorithm is proposed to address the nonlinear RFDM. Two simulation cases are performed to investigate the dynamic performance of the manipulator with different actuation modes. The results indicate that the redundant actuation modes can effectively attenuate vibration and guarantee higher dynamic performance compared to the traditional non-redundant actuation modes. Finally, a virtual prototype model is developed to demonstrate the validity of the presented RFDM. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and controller design of other planar flexible parallel manipulators, especially the emerging ones with multiple actuation modes.

Using Parallel Processing for Problem Solving.

DTIC Science & Technology

1979-12-01

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

Chemical genetic screening identifies a novel inhibitor of parallel alignment of cortical microtubules and cellulose microfibrils.

PubMed

Yoneda, Arata; Higaki, Takumi; Kutsuna, Natsumaro; Kondo, Yoichi; Osada, Hiroyuki; Hasezawa, Seiichiro; Matsui, Minami

2007-10-01

It is a well-known hypothesis that cortical microtubules control the direction of cellulose microfibril deposition, and that the parallel cellulose microfibrils determine anisotropic cell expansion and plant cell morphogenesis. However, the molecular mechanism by which cortical microtubules regulate the orientation of cellulose microfibrils is still unclear. To investigate this mechanism, chemical genetic screening was performed. From this screening, 'SS compounds' were identified that induced a spherical swelling phenotype in tobacco BY-2 cells. The SS compounds could be categorized into three classes: those that disrupted the cortical microtubules; those that reduced cellulose microfibril content; and thirdly those that had neither of these effects. In the last class, a chemical designated 'cobtorin' was found to induce the spherical swelling phenotype at the lowest concentration, suggesting strong binding activity to the putative target. Examining cellulose microfibril regeneration using taxol-treated protoplasts revealed that the cobtorin compound perturbed the parallel alignment of pre-existing cortical microtubules and nascent cellulose microfibrils. Thus, cobtorin could be a novel inhibitor and an attractive tool for further investigation of the mechanism that enables cortical microtubules to guide the parallel deposition of cellulose microfibrils.

X-ray imaging crystal spectrometer for extended X-ray sources

DOEpatents

Bitter, Manfred L.; Fraenkel, Ben; Gorman, James L.; Hill, Kenneth W.; Roquemore, A. Lane; Stodiek, Wolfgang; von Goeler, Schweickhard E.

2001-01-01

Spherically or toroidally curved, double focusing crystals are used in a spectrometer for X-ray diagnostics of an extended X-ray source such as a hot plasma produced in a tokomak fusion experiment to provide spatially and temporally resolved data on plasma parameters using the imaging properties for Bragg angles near 45. For a Bragg angle of 45.degree., the spherical crystal focuses a bundle of near parallel X-rays (the cross section of which is determined by the cross section of the crystal) from the plasma to a point on a detector, with parallel rays inclined to the main plain of diffraction focused to different points on the detector. Thus, it is possible to radially image the plasma X-ray emission in different wavelengths simultaneously with a single crystal.

Modeling of the rough spherical nanoparticles manipulation on a substrate based on the AFM nanorobot

NASA Astrophysics Data System (ADS)

Zakeri, M.; Faraji, J.

2014-12-01

In this paper, dynamic behavior of the rough spherical micro/nanoparticles during pulling/pushing on the flat substrate has been investigated and analyzed. For this purpose, at first, two hexagonal roughness models (George and Cooper) were studied and then evaluations for adhesion force were determined for rough particle manipulation on flat substrate. These two models were then changed by using of the Rabinovich theory. Evaluations were determined for contact adhesion force between rough particle and flat substrate; depth of penetration evaluations were determined by the Johnson-Kendall-Roberts contact mechanic theory and the Schwartz method and according to Cooper and George roughness models. Then, the novel contact theory was used to determine a dynamic model for rough micro/nanoparticle manipulation on flat substrate. Finally, simulation of particle dynamic behavior was implemented during pushing of rough spherical gold particles with radii of 50, 150, 400, 600, and 1,000 nm. Results derived from simulations of particles with several rates of roughness on flat substrate indicated that compared to results for flat particles, inherent roughness on particles might reduce the rate of critical force needed for sliding and rolling given particles. Given a fixed radius for roughness value and increased roughness height, evaluations for sliding and rolling critical forces showed greater reduction. Alternately, the rate of critical force was shown to reduce relative to an increased roughness radius. With respect to both models, based on the George roughness model, the predicted rate of adhesion force was greater than that determined in the Cooper roughness model, and as a result, the predicted rate of critical force based on the George roughness model was closer to the critical force value of flat particle.

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

PubMed

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

2013-01-01

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

Coherent Backscattering in the Cross-Polarized Channel

NASA Technical Reports Server (NTRS)

Mischenko, Michael I.; Mackowski, Daniel W.

2011-01-01

We analyze the asymptotic behavior of the cross-polarized enhancement factor in the framework of the standard low-packing-density theory of coherent backscattering by discrete random media composed of spherically symmetric particles. It is shown that if the particles are strongly absorbing or if the smallest optical dimension of the particulate medium (i.e., the optical thickness of a plane-parallel slab or the optical diameter of a spherically symmetric volume) approaches zero, then the cross-polarized enhancement factor tends to its upper-limit value 2. This theoretical prediction is illustrated using direct computer solutions of the Maxwell equations for spherical volumes of discrete random medium.

pureS2HAT: S 2HAT-based Pure E/B Harmonic Transforms

NASA Astrophysics Data System (ADS)

Grain, J.; Stompor, R.; Tristram, M.

2011-10-01

The pS2HAT routines allow efficient, parallel calculation of the so-called 'pure' polarized multipoles. The computed multipole coefficients are equal to the standard pseudo-multipoles calculated for the apodized sky maps of the Stokes parameters Q and U subsequently corrected by so-called counterterms. If the applied apodizations fullfill certain boundary conditions, these multipoles correspond to the pure multipoles. Pure multipoles of one type, i.e., either E or B, are ensured not to contain contributions from the other one, at least to within numerical artifacts. They can be therefore further used in the estimation of the sky power spectra via the pseudo power spectrum technique, which has to however correctly account for the applied apodization on the one hand, and the presence of the counterterms, on the other. In addition, the package contains the routines permitting calculation of the spin-weighted apodizations, given an input scalar, i.e., spin-0 window. The former are needed to compute the counterterms. It also provides routines for maps and window manipulations. The routines are written in C and based on the S2HAT library, which is used to perform all required spherical harmonic transforms as well as all inter-processor communication. They are therefore parallelized using MPI and follow the distributed-memory computational model. The data distribution patterns, pixelization choices, conventions etc are all as those assumed/allowed by the S2HAT library.

Tomographic active optical trapping of arbitrarily shaped objects by exploiting 3D refractive index maps

NASA Astrophysics Data System (ADS)

Kim, Kyoohyun; Park, Yongkeun

2017-05-01

Optical trapping can manipulate the three-dimensional (3D) motion of spherical particles based on the simple prediction of optical forces and the responding motion of samples. However, controlling the 3D behaviour of non-spherical particles with arbitrary orientations is extremely challenging, due to experimental difficulties and extensive computations. Here, we achieve the real-time optical control of arbitrarily shaped particles by combining the wavefront shaping of a trapping beam and measurements of the 3D refractive index distribution of samples. Engineering the 3D light field distribution of a trapping beam based on the measured 3D refractive index map of samples generates a light mould, which can manipulate colloidal and biological samples with arbitrary orientations and/or shapes. The present method provides stable control of the orientation and assembly of arbitrarily shaped particles without knowing a priori information about the sample geometry. The proposed method can be directly applied in biophotonics and soft matter physics.

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

NASA Astrophysics Data System (ADS)

Poteyev, M. I.

1986-01-01

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

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

NASA Astrophysics Data System (ADS)

Peng, Zhengchun

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

Ion manipulation method and device

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

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

2017-11-07

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

Ion manipulation device

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

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

2018-05-08

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

Cylindrical and spherical Akhmediev breather and freak waves in ultracold neutral plasmas

NASA Astrophysics Data System (ADS)

El-Tantawy, S. A.; El-Awady, E. I.

2018-01-01

The properties of cylindrical and spherical ion-acoustic breathers Akhmediev breather and freak waves in strongly coupled ultracold neutral plasmas (UNPs), whose constituents are inertial strongly coupled ions and weakly coupled Maxwellian electrons, are investigated numerically. Using the derivative expansion method, the basic set of fluid equations is reduced to a nonplanar (cylindrical and spherical)/modified nonlinear Schrödinger equation (mNLSE). The analytical solutions of the mNLSE were not possible until now, so their numerical solutions are obtained using the finite difference scheme with the help of the Dirichlet boundary conditions. Moreover, the criteria for the existence and propagation of breathers are discussed in detail. The geometrical effects due to the cylindrical and spherical geometries on the breather profile are studied numerically. It is found that the propagation of the ion-acoustic breathers in one-dimensional planar and nonplanar geometries is very different. Finally, our results may help to manipulate matter breathers experimentally in UNPs.

Parallel machine architecture and compiler design facilities

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

Geometry induced phase transitions in magnetic spherical shell

NASA Astrophysics Data System (ADS)

Sloika, Mykola I.; Sheka, Denis D.; Kravchuk, Volodymyr P.; Pylypovskyi, Oleksandr V.; Gaididei, Yuri

2017-12-01

Equilibrium magnetization states in spherical shells of a magnetically soft ferromagnet form two out-of-surface vortices with codirectionally magnetized vortex cores at the sphere poles: (i) a whirligig state with the in-surface magnetization oriented along parallels is typical for thick shells; (ii) a three dimensional onion state with the in-surface meridional direction of the magnetization is realized in thin shells. The geometry of spherical shell prohibits an existence of spatially homogeneous magnetization distribution, even in the case of small sample radii. By varying geometrical parameters a continuous phase transition between the whirligig and onion states takes place. The detailed analytical description of the phase diagram is well confirmed by micromagnetic simulations.

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

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

A History of Manipulative Therapy

PubMed Central

Pettman, Erland

2007-01-01

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

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.

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

NASA Technical Reports Server (NTRS)

Fijany, Amir

1993-01-01

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

Vacuum chamber for ion manipulation device

DOEpatents

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

2014-12-09

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

Wave front engineering by means of diffractive optical elements for applications in microscopy

NASA Astrophysics Data System (ADS)

Cojoc, Dan; Ferrari, Enrico; Garbin, Valeria; Cabrini, Stefano; Carpentiero, Alessandro; Prasciolu, Mauro; Businaro, Luca; Kaulich, Burchard; Di Fabrizio, Enzo

2006-05-01

We present a unified view regarding the use of diffractive optical elements (DOEs) for microscopy applications a wide range of electromagnetic spectrum. The unified treatment is realized through the design and fabrication of DOE through which wave front beam shaping is obtained. In particular we show applications ranging from micromanipulation using optical tweezers to X-ray differential interference contrast (DIC) microscopy. We report some details on the design and physical implementation of diffractive elements that beside focusing perform also other optical functions: beam splitting, beam intensity and phase redistribution or mode conversion. Laser beam splitting is used for multiple trapping and independent manipulation of spherical micro beads and for direct trapping and manipulation of biological cells with non-spherical shapes. Another application is the Gauss to Laguerre-Gaussian mode conversion, which allows to trap and transfer orbital angular momentum of light to micro particles with high refractive index and to trap and manipulate low index particles. These experiments are performed in an inverted optical microscope coupled with an infrared laser beam and a spatial light modulator for DOEs implementation. High resolution optics, fabricated by means of e-beam lithography, are demonstrated to control the intensity and the phase of the sheared beams in X-ray DIC microscopy. DIC experiments with phase objects reveal a dramatic increase in image contrast compared to bright-field X-ray microscopy.

Kinematic Analysis and Performance Evaluation of Novel PRS Parallel Mechanism

NASA Astrophysics Data System (ADS)

Balaji, K.; Khan, B. Shahul Hamid

2018-02-01

In this paper, a 3 DoF (Degree of Freedom) novel PRS (Prismatic-Revolute- Spherical) type parallel mechanisms has been designed and presented. The combination of striaght and arc type linkages for 3 DOF parallel mechanism is introduced for the first time. The performances of the mechanisms are evaluated based on the indices such as Minimum Singular Value (MSV), Condition Number (CN), Local Conditioning Index (LCI), Kinematic Configuration Index (KCI) and Global Conditioning Index (GCI). The overall reachable workspace of all mechanisms are presented. The kinematic measure, dexterity measure and workspace analysis for all the mechanism have been evaluated and compared.

The bottom of the universe: Flat earth science in the Age of Encounter.

PubMed

Allegro, James J

2017-03-01

This essay challenges the dominance of the spherical earth model in fifteenth- and early-sixteenth-century Western European thought. It examines parallel strains of Latin and vernacular writing that cast doubt on the existence of the southern hemisphere. Three factors shaped the alternate accounts of the earth as a plane and disk put forward by these sources: (1) the unsettling effects of maritime expansion on scientific thought; (2) the revival of interest in early Christian criticism of the spherical earth; and (3) a rigid empirical stance toward entities too large to observe in their entirety, including the earth. Criticism of the spherical earth model faded in the decades after Magellan's crew returned from circuiting the earth in 1522.

Synthesis and Manipulation of Biofunctional Magnetic Particles

DTIC Science & Technology

2007-06-18

G. M., J Am. Chem. Soc., 2003, 125, 12704-12705. 6. "Asymmetric Dimers Can be Formed by Dewetting Half-Shells of Gold Deposited on the Surfaces of...Be Formed by Dewetting Half-Shells of Gold Deposited on the Surfaces of Spherical Silica Colloids", Lu, Y., Xiong, H. Jing, X., Xia, Y., Prentiss, M

Effect of spherical Au nanoparticles on nanofriction and wear reduction in dry and liquid environments

PubMed Central

Maharaj, Dave

2012-01-01

Summary Nano-object additives are used in tribological applications as well as in various applications in liquids requiring controlled manipulation and targeting. On the macroscale, nanoparticles in solids and liquids have been shown to reduce friction and wear. On the nanoscale, atomic force microscopy (AFM) studies have been performed in single- and multiple-nanoparticle contact, in dry environments, to characterize friction forces and wear. However, limited studies in submerged liquid environments have been performed and further studies are needed. In this paper, spherical Au nanoparticles were studied for their effect on friction and wear under dry conditions and submerged in water. In single-nanoparticle contact, individual nanoparticles, deposited on silicon, were manipulated with a sharp tip and the friction force was determined. Multiple-nanoparticle contact sliding experiments were performed on nanoparticle-coated silicon with a glass sphere. Wear tests were performed on the nanoscale with AFM as well as on the macroscale by using a ball-on-flat tribometer to relate friction and wear reduction on the nanoscale and macroscale. Results indicate that the addition of Au nanoparticles reduces friction and wear. PMID:23213639

Modeling of contact theories for the manipulation of biological micro/nanoparticles in the form of circular crowned rollers based on the atomic force microscope

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

Korayem, M. H.; Khaksar, H.; Taheri, M.

2013-11-14

This article has dealt with the development and modeling of various contact theories for biological nanoparticles shaped as cylinders and circular crowned rollers for application in the manipulation of different biological micro/nanoparticles based on Atomic Force Microscope. First, the effective contact forces were simulated, and their impact on contact mechanics simulation was investigated. In the next step, the Hertz contact model was simulated and compared for gold and DNA nanoparticles with the three types of spherical, cylindrical, and circular crowned roller type contact geometries. Then by reducing the length of the cylindrical section in the circular crowned roller geometry, themore » geometry of the body was made to approach that of a sphere, and the results were compared for DNA nanoparticles. To anticipatory validate the developed theories, the results of the cylindrical and the circular crowned roller contacts were compared with the results of the existing spherical contact simulations. Following the development of these contact models for the manipulation of various biological micro/nanoparticles, the cylindrical and the circular crowned roller type contact theories were modeled based on the theories of Lundberg, Dowson, Nikpur, Heoprich, and Hertz for the manipulation of biological micro/nanoparticles. Then, for a more accurate validation, the results obtained from the simulations were compared with those obtained by the finite element method and with the experimental results available in previous articles. The previous research works on the simulation of nanomanipulation have mainly investigated the contact theories used in the manipulation of spherical micro/nanoparticles. However since in real biomanipulation situations, biological micro/nanoparticles of more complex shapes need to be displaced in biological environments, this article therefore has modeled and compared, for the first time, different contact theories for use in the biomanipulation of cylindrical and circular crowned roller shaped micro/nanoparticles. The results of models indicate that the contact model of Hertz achieves the largest amount of deformation for the DNA nanoparticle in cylindrical form and the contact model of Heoprich achieves the largest deformation for the circular crowned roller shaped DNA. Of course, this finding is not always true for the other nanoparticles; and considering the mechanical and environmental characteristics, different results can be obtained. Also, by comparing the deformations of different types of nanoparticles, it was determined that the platelet type nanoparticles display the highest degree of deformation in all the considered models, due to their particular mechanical characteristics.« less

Parafoveal processing during reading is reduced across a morphological boundary

PubMed Central

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

2010-01-01

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

Axial acoustic radiation force on a sphere in Gaussian field

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

Wu, Rongrong; Liu, Xiaozhou, E-mail: xzliu@nju.edu.cn; Gong, Xiufen

2015-10-28

Based on the finite series method, the acoustical radiation force resulting from a Gaussian beam incident on a spherical object is investigated analytically. When the position of the particles deviating from the center of the beam, the Gaussian beam is expanded as a spherical function at the center of the particles and the expanded coefficients of the Gaussian beam is calculated. The analytical expression of the acoustic radiation force on spherical particles deviating from the Gaussian beam center is deduced. The acoustic radiation force affected by the acoustic frequency and the offset distance from the Gaussian beam center is investigated.more » Results have been presented for Gaussian beams with different wavelengths and it has been shown that the interaction of a Gaussian beam with a sphere can result in attractive axial force under specific operational conditions. Results indicate the capability of manipulating and separating spherical spheres based on their mechanical and acoustical properties, the results provided here may provide a theoretical basis for development of single-beam acoustical tweezers.« less

THz wavefront manipulation based on metal waveguides

NASA Astrophysics Data System (ADS)

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

2018-07-01

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

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

NASA Technical Reports Server (NTRS)

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

2017-01-01

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

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

PubMed

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

2015-01-01

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

Kinematic sensitivity of robot manipulators

NASA Technical Reports Server (NTRS)

Vuskovic, Marko I.

1989-01-01

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

D-brane solutions under market panic

NASA Astrophysics Data System (ADS)

Pincak, Richard

The relativistic quantum mechanic approach is used to develop stock market dynamics. The relativistic is conceptional here as the meaning of big external volatility or volatility shock on a financial market. We used a differential geometry approach with the parallel transport of prices to obtain a direct shift of the stock price movement. The prices are represented here as electrons with different spin orientation. Up and down orientations of the spin particle are likened here to an increase or a decrease of stock prices. The parallel transport of stock prices is enriched by Riemann curvature, which describes some arbitrage opportunities in the market. To solve the stock-price dynamics, we used the Dirac equation for bispinors on the spherical brane-world. We found out that when a spherical brane is abbreviated to the disk on the equator, we converge to the ideal behavior of financial market where Black-Scholes as well as semi-classical equations are sufficient. Full spherical brane-world scenarios can describe non-equilibrium market behavior where all arbitrage opportunities as well as transaction costs are taken into account. Real application of the model to the option pricing was done. The model developed in this paper brings quantitative different results of option pricing dynamics in the case of nonzero Riemann curvature.

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

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.

1989-01-01

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

An analytic study on bounds for the associated Legendre functions. [for truncation of geopotential series in spherical harmonics in orbital analyses

NASA Technical Reports Server (NTRS)

Payne, M. H.

1973-01-01

The bounds for the normalized associated Legendre functions P sub nm were studied to provide a rational basis for the truncation of the geopotential series in spherical harmonics in various orbital analyses. The conjecture is made that the largest maximum of the normalized associated Legendre function lies in the interval which indicates the greatest integer function. A procedure is developed for verifying this conjecture. An on-line algebraic manipulator, IAM, is used to implement the procedure and the verification is carried out for all n equal to or less than 2m, for m = 1 through 6. A rigorous proof of the conjecture is not available.

Inversion Of Jacobian Matrix For Robot Manipulators

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1989-01-01

Report discusses inversion of Jacobian matrix for class of six-degree-of-freedom arms with spherical wrist, i.e., with last three joints intersecting. Shows by taking advantage of simple geometry of such arms, closed-form solution of Q=J-1X, which represents linear transformation from task space to joint space, obtained efficiently. Presents solutions for PUMA arm, JPL/Stanford arm, and six-revolute-joint coplanar arm along with all singular points. Main contribution of paper shows simple geometry of this type of arms exploited in performing inverse transformation without any need to compute Jacobian or its inverse explicitly. Implication of this computational efficiency advanced task-space control schemes for spherical-wrist arms implemented more efficiently.

Impact of Primary Spherical Aberration, Spatial Frequency and Stiles Crawford Apodization on Wavefront determined Refractive Error: A Computational Study

PubMed Central

Xu, Renfeng; Bradley, Arthur; Thibos, Larry N.

2013-01-01

Purpose We tested the hypothesis that pupil apodization is the basis for central pupil bias of spherical refractions in eyes with spherical aberration. Methods We employed Fourier computational optics in which we vary spherical aberration levels, pupil size, and pupil apodization (Stiles Crawford Effect) within the pupil function, from which point spread functions and optical transfer functions were computed. Through-focus analysis determined the refractive correction that optimized retinal image quality. Results For a large pupil (7 mm), as spherical aberration levels increase, refractions that optimize the visual Strehl ratio mirror refractions that maximize high spatial frequency modulation in the image and both focus a near paraxial region of the pupil. These refractions are not affected by Stiles Crawford Effect apodization. Refractions that optimize low spatial frequency modulation come close to minimizing wavefront RMS, and vary with level of spherical aberration and Stiles Crawford Effect. In the presence of significant levels of spherical aberration (e.g. C40 = 0.4 µm, 7mm pupil), low spatial frequency refractions can induce −0.7D myopic shift compared to high SF refraction, and refractions that maximize image contrast of a 3 cycle per degree square-wave grating can cause −0.75D myopic drift relative to refractions that maximize image sharpness. Discussion Because of small depth of focus associated with high spatial frequency stimuli, the large change in dioptric power across the pupil caused by spherical aberration limits the effective aperture contributing to the image of high spatial frequencies. Thus, when imaging high spatial frequencies, spherical aberration effectively induces an annular aperture defining that portion of the pupil contributing to a well-focused image. As spherical focus is manipulated during the refraction procedure, the dimensions of the annular aperture change. Image quality is maximized when the inner radius of the induced annulus falls to zero, thus defining a circular near paraxial region of the pupil that determines refraction outcome. PMID:23683093

Ion manipulation device with electrical breakdown protection

DOEpatents

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

2014-12-02

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

Discontinuous Galerkin finite element methods for radiative transfer in spherical symmetry

NASA Astrophysics Data System (ADS)

Kitzmann, D.; Bolte, J.; Patzer, A. B. C.

2016-11-01

The discontinuous Galerkin finite element method (DG-FEM) is successfully applied to treat a broad variety of transport problems numerically. In this work, we use the full capacity of the DG-FEM to solve the radiative transfer equation in spherical symmetry. We present a discontinuous Galerkin method to directly solve the spherically symmetric radiative transfer equation as a two-dimensional problem. The transport equation in spherical atmospheres is more complicated than in the plane-parallel case owing to the appearance of an additional derivative with respect to the polar angle. The DG-FEM formalism allows for the exact integration of arbitrarily complex scattering phase functions, independent of the angular mesh resolution. We show that the discontinuous Galerkin method is able to describe accurately the radiative transfer in extended atmospheres and to capture discontinuities or complex scattering behaviour which might be present in the solution of certain radiative transfer tasks and can, therefore, cause severe numerical problems for other radiative transfer solution methods.

Use of Massive Parallel Computing Libraries in the Context of Global Gravity Field Determination from Satellite Data

NASA Astrophysics Data System (ADS)

Brockmann, J. M.; Schuh, W.-D.

2011-07-01

The estimation of the global Earth's gravity field parametrized as a finite spherical harmonic series is computationally demanding. The computational effort depends on the one hand on the maximal resolution of the spherical harmonic expansion (i.e. the number of parameters to be estimated) and on the other hand on the number of observations (which are several millions for e.g. observations from the GOCE satellite missions). To circumvent these restrictions, a massive parallel software based on high-performance computing (HPC) libraries as ScaLAPACK, PBLAS and BLACS was designed in the context of GOCE HPF WP6000 and the GOCO consortium. A prerequisite for the use of these libraries is that all matrices are block-cyclic distributed on a processor grid comprised by a large number of (distributed memory) computers. Using this set of standard HPC libraries has the benefit that once the matrices are distributed across the computer cluster, a huge set of efficient and highly scalable linear algebra operations can be used.

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

NASA Astrophysics Data System (ADS)

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

2015-07-01

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

A kinematic analysis of the modified flight telerobotic servicer manipulator system

NASA Technical Reports Server (NTRS)

Crane, Carl; Carnahan, Tim; Duffy, Joseph

1992-01-01

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

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

PubMed Central

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

2011-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1981-01-01

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

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

PubMed Central

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

2009-01-01

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

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

PubMed

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

2008-10-01

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

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

NASA Astrophysics Data System (ADS)

Jacobs, Shane Earl

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

The Correlation between Angle Kappa and Ocular Biometry in Koreans

PubMed Central

Choi, Se Rang

2013-01-01

Purpose To investigate normative angle kappa data and to examine whether correlations exist between angle kappa and ocular biometric measurements (e.g., refractive error, axial length) and demographic features in Koreans. Methods Data from 436 eyes (213 males and 223 females) were analyzed in this study. The angle kappa was measured using Orbscan II. We used ocular biometric measurements, including refractive spherical equivalent, interpupillary distance and axial length, to investigate the correlations between angle kappa and ocular biometry. The IOL Master ver. 5.02 was used to obtain axial length. Results The mean patient age was 57.5 ± 12.0 years in males and 59.4 ± 12.4 years in females (p = 0.11). Angle kappa averaged 4.70 ± 2.70 degrees in men and 4.89 ± 2.14 degrees in women (p = 0.48). Axial length and spherical equivalent were correlated with angle kappa (r = -0.342 and r = 0.197, respectively). The correlation between axial length and spherical equivalent had a negative correlation (r = -0.540, p < 0.001). Conclusions Angle kappa increased with spherical equivalent and age. Thus, careful manipulation should be considered in older and hyperopic patients when planning refractive or strabismus surgery. PMID:24311927

Microfluidic local perfusion chambers for the visualization and manipulation of synapses

PubMed Central

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

2010-01-01

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

Spherical Harmonic Solutions to the 3D Kobayashi Benchmark Suite

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

Brown, P.N.; Chang, B.; Hanebutte, U.R.

1999-12-29

Spherical harmonic solutions of order 5, 9 and 21 on spatial grids containing up to 3.3 million cells are presented for the Kobayashi benchmark suite. This suite of three problems with simple geometry of pure absorber with large void region was proposed by Professor Kobayashi at an OECD/NEA meeting in 1996. Each of the three problems contains a source, a void and a shield region. Problem 1 can best be described as a box in a box problem, where a source region is surrounded by a square void region which itself is embedded in a square shield region. Problems 2more » and 3 represent a shield with a void duct. Problem 2 having a straight and problem 3 a dog leg shaped duct. A pure absorber and a 50% scattering case are considered for each of the three problems. The solutions have been obtained with Ardra, a scalable, parallel neutron transport code developed at Lawrence Livermore National Laboratory (LLNL). The Ardra code takes advantage of a two-level parallelization strategy, which combines message passing between processing nodes and thread based parallelism amongst processors on each node. All calculations were performed on the IBM ASCI Blue-Pacific computer at LLNL.« less

High efficiency laser spectrum conditioner

DOEpatents

Greiner, Norman R.

1980-01-01

A high efficiency laser spectrum conditioner for generating a collinear parallel output beam containing a predetermined set of frequencies from a multifrequency laser. A diffraction grating and spherical mirror are used in combination, to disperse the various frequencies of the input laser beam and direct these frequencies along various parallel lines spatially separated from one another to an apertured mask. Selection of the desired frequencies is accomplished by placement of apertures at locations on the mask where the desired frequencies intersect the mask. A recollimated parallel output beam with the desired set of frequencies is subsequently generated utilizing a mirror and grating matched and geometrically aligned in the same manner as the input grating and mirror.

The Complexity of Parallel Algorithms,

DTIC Science & Technology

1985-11-01

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

A novel design for a hybrid space manipulator

NASA Technical Reports Server (NTRS)

Shahinpoor, MO

1991-01-01

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

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

NASA Astrophysics Data System (ADS)

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

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

A PC-Based Controller for Dextrous Arms

NASA Technical Reports Server (NTRS)

Fiorini, Paolo; Seraji, Homayoun; Long, Mark

1996-01-01

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

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

ERIC Educational Resources Information Center

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

2017-01-01

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

Radiative transfer in spherical shell atmospheres. I - Rayleigh scattering

NASA Technical Reports Server (NTRS)

Adams, C. N.; Kattawar, G. W.

1978-01-01

The plane-parallel approximation and the more realistic spherical shell approximation for the radiance reflected from a planetary atmosphere are compared and are applied to the study of a planet the size of the earth with a homogeneous conservative Rayleigh scattering atmosphere extending to a height of 100 km. Inadequacies of the approximations are considered. Radiance versus height distributions for both single and multiple scattering are presented, as are results for the fractional radiance from altitudes in the atmosphere which contribute to the total unidirectional reflected radiance at the top of the atmosphere. The data can be used for remote sensing applications and planetary spectroscopy.

Ion beam-induced shaping of Ni nanoparticles embedded in a silica matrix: from spherical to prolate shape

PubMed Central

2011-01-01

Present work reports the elongation of spherical Ni nanoparticles (NPs) parallel to each other, due to bombardment with 120 MeV Au+9 ions at a fluence of 5 × 1013 ions/cm2. The Ni NPs embedded in silica matrix have been prepared by atom beam sputtering technique and subsequent annealing. The elongation of Ni NPs due to interaction with Au+9 ions as investigated by cross-sectional transmission electron microscopy (TEM) shows a strong dependence on initial Ni particle size and is explained on the basis of thermal spike model. Irradiation induces a change from single crystalline nature of spherical particles to polycrystalline nature of elongated particles. Magnetization measurements indicate that changes in coercivity (Hc) and remanence ratio (Mr/Ms) are stronger in the ion beam direction due to the preferential easy axis of elongated particles in the beam direction. PMID:21711659

The influence of ozone and aerosols on the brightness and color of the twilight sky

NASA Technical Reports Server (NTRS)

Adams, C. N.; Plass, G. N.; Kattawar, G. W.

1974-01-01

The radiance and color of the twilight sky are calculated for single scattered radiation with the use of spherically symmetric models of the earth's atmosphere. Spherical geometry is used throughout the calculations with no plane-parallel approximations. Refraction effects are taken into account through fine subdivision of the atmosphere into spherical shells of fixed index of refraction. Snell's law of refraction is used to calculate a new direction of travel each time that a photon traverses the interface between layers. Five different models of the atmosphere were used: a pure molecular scattering atmosphere; molecular atmosphere plus ozone absorption; and three models with aerosol concentrations of one, three, and ten times normal together with molecular scattering and ozone absorption. The results of the calculations are shown for various observation positions and local viewing angles in the solar plane for wavelengths in the range from 0.40 to 0.75 micron.

The influence of ozone and aerosols on the brightness and color of the twilight zone

NASA Technical Reports Server (NTRS)

Adams, C. N.; Plass, G. N.; Kattawar, G. W.

1973-01-01

The radiance and color of the twilight sky are calculated for single scattered radiation with the use of spherically symmetric models of the earth's atmosphere. Spherical geometry is used throughout the calculations with no plane parallel approximations. Refraction effects are taken into account through fine subdivision of the atmosphere into spherical shells of fixed index of refraction. Shell's law of refraction is used to calculate a direction of travel each time that a photon traverses the interface between layers. Five different models of the atmosphere were used: a pure molecular scattering atmosphere; molecular atmosphere plus ozone absorption; and three models with aerosol concentrations of 1, 3, and 10 times normal together with molecular scattering and ozone absorption. The results of the calculations are shown for various observation positions and local viewing angles in the solar plane for wavelengths in the range of 0.40 microns to 0.75 microns.

Design Aspects of the Rayleigh Convection Code

NASA Astrophysics Data System (ADS)

Featherstone, N. A.

2017-12-01

Understanding the long-term generation of planetary or stellar magnetic field requires complementary knowledge of the large-scale fluid dynamics pervading large fractions of the object's interior. Such large-scale motions are sensitive to the system's geometry which, in planets and stars, is spherical to a good approximation. As a result, computational models designed to study such systems often solve the MHD equations in spherical geometry, frequently employing a spectral approach involving spherical harmonics. We present computational and user-interface design aspects of one such modeling tool, the Rayleigh convection code, which is suitable for deployment on desktop and petascale-hpc architectures alike. In this poster, we will present an overview of this code's parallel design and its built-in diagnostics-output package. Rayleigh has been developed with NSF support through the Computational Infrastructure for Geodynamics and is expected to be released as open-source software in winter 2017/2018.

Adjustable Powder Injector For Vacuum Plasma Sprayer

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Analysis of a closed-kinematic chain robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

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

Beyond the Renderer: Software Architecture for Parallel Graphics and Visualization

NASA Technical Reports Server (NTRS)

Crockett, Thomas W.

1996-01-01

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

Poisson Spot with Magnetic Levitation

ERIC Educational Resources Information Center

Hoover, Matthew; Everhart, Michael; D'Arruda, Jose

2010-01-01

In this paper we describe a unique method for obtaining the famous Poisson spot without adding obstacles to the light path, which could interfere with the effect. A Poisson spot is the interference effect from parallel rays of light diffracting around a solid spherical object, creating a bright spot in the center of the shadow.

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

PubMed

Luo, Cheng; Mrinal, Manjarik; Wang, Xiang

2017-09-20

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

Hypercluster parallel processing library user's manual

NASA Technical Reports Server (NTRS)

Quealy, Angela

1990-01-01

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

Demonstration of Numerical Equivalence of Ensemble and Spectral Averaging in Electromagnetic Scattering by Random Particulate Media

NASA Technical Reports Server (NTRS)

Mishchenko, Michael I.; Dlugach, Janna M.; Zakharova, Nadezhda T.

2016-01-01

The numerically exact superposition T-matrix method is used to model far-field electromagnetic scattering by two types of particulate object. Object 1 is a fixed configuration which consists of N identical spherical particles (with N 200 or 400) quasi-randomly populating a spherical volume V having a median size parameter of 50. Object 2 is a true discrete random medium (DRM) comprising the same number N of particles randomly moving throughout V. The median particle size parameter is fixed at 4. We show that if Object 1 is illuminated by a quasi-monochromatic parallel beam then it generates a typical speckle pattern having no resemblance to the scattering pattern generated by Object 2. However, if Object 1 is illuminated by a parallel polychromatic beam with a 10 bandwidth then it generates a scattering pattern that is largely devoid of speckles and closely reproduces the quasi-monochromatic pattern generated by Object 2. This result serves to illustrate the capacity of the concept of electromagnetic scattering by a DRM to encompass fixed quasi-random particulate samples provided that they are illuminated by polychromatic light.

Collective motion of squirmers in a quasi-2D geometry

NASA Astrophysics Data System (ADS)

Zöttl, Andreas; Stark, Holger

2013-03-01

Microorganisms like bacteria, algae or spermatozoa typically move in an aqueous environment where they interact via hydrodynamic flow fields. Recent experiments studied the collective motion of dense suspensions of bacteria where swarming and large-scale turbulence emerged. Moreover, spherical artificial microswimmers, so-called squirmers, have been constructed and studied in a quasi-2D geometry. Here we present a numerical study of the collective dynamics of squirmers confined in quasi-2D between two parallel walls. Because of their spherical shape the reorientation of squirmers is solely due to noise and hydrodynamic interactions via induced flow fields. This is in contrast to elongated swimmers like bacteria which locally align due to steric interactions. We study the collective motion of pushers, pullers and potential swimmers at different densities. At small densities the squirmers are oriented parallel to the walls and pairwise collisions determine the reorientation rate. In dense suspensions rotational diffusion is greatly enhanced and pushers, in particular, tend to orient perpendicular to the walls. This effects the dynamics of the emerging clusters. In very dense suspensions we observe active jamming and long-lived crystalline structures.

Radiation torque on an absorptive spherical drop centered on an acoustic helicoidal Bessel beam

NASA Astrophysics Data System (ADS)

Zhang, Likun; Marston, Philip L.

2009-11-01

Circularly polarized electromagnetic waves carry axial angular momentum and analysis shows that the axial radiation torque on an illuminated sphere is proportional to the power absorbed by the sphere [1]. Helicoidal acoustic beams also carry axial angular momentum and absorption of such a beam should also produce an axial radiation torque [2]. In the present work the acoustic radiation torque on solid spheres and spherical drops centered on acoustic helicoidal Bessel beams is examined. The torque is predicted to be proportional to the ratio of the absorbed power to the acoustic frequency. Depending on the beam helicity, the torque is parallel or anti-parallel to the beam axis. The analysis uses a relation between the scattering and the partial wave coefficients for a sphere in a helicoidal Bessel beam. Calculations suggest that beams with a low topological charge are more efficient for generating torques on solid spheres.[4pt] [1] P. L. Marston and J. H. Crichton, Phys. Rev. A. 30, 2508-2516 (1984).[0pt] [2] B. T. Hefner and P. L. Marston, J. Acoust. Soc. Am. 106, 3313-3316 (1999).

Object impedance control for cooperative manipulation - Theory and experimental results

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Automated Droplet Manipulation Using Closed-Loop Axisymmetric Drop Shape Analysis.

PubMed

Yu, Kyle; Yang, Jinlong; Zuo, Yi Y

2016-05-17

Droplet manipulation plays an important role in a wide range of scientific and industrial applications, such as synthesis of thin-film materials, control of interfacial reactions, and operation of digital microfluidics. Compared to micron-sized droplets, which are commonly considered as spherical beads, millimeter-sized droplets are generally deformable by gravity, thus introducing nonlinearity into control of droplet properties. Such a nonlinear drop shape effect is especially crucial for droplet manipulation, even for small droplets, at the presence of surfactants. In this paper, we have developed a novel closed-loop axisymmetric drop shape analysis (ADSA), integrated into a constrained drop surfactometer (CDS), for manipulating millimeter-sized droplets. The closed-loop ADSA generalizes applications of the traditional drop shape analysis from a surface tension measurement methodology to a sophisticated tool for manipulating droplets in real time. We have demonstrated the feasibility and advantages of the closed-loop ADSA in three applications, including control of drop volume by automatically compensating natural evaporation, precise control of surface area variations for high-fidelity biophysical simulations of natural pulmonary surfactant, and steady control of surface pressure for in situ Langmuir-Blodgett transfer from droplets. All these applications have demonstrated the accuracy, versatility, applicability, and automation of this new ADSA-based droplet manipulation technique. Combining with CDS, the closed-loop ADSA holds great promise for advancing droplet manipulation in a variety of material and surface science applications, such as thin-film fabrication, self-assembly, and biophysical study of pulmonary surfactant.

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

NASA Astrophysics Data System (ADS)

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

2017-06-01

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

Multifunctional single beam acoustic tweezer for non-invasive cell/organism manipulation and tissue imaging

NASA Astrophysics Data System (ADS)

Lam, Kwok Ho; Li, Ying; Li, Yang; Lim, Hae Gyun; Zhou, Qifa; Shung, Koping Kirk

2016-11-01

Non-contact precise manipulation of single microparticles, cells, and organisms has attracted considerable interest in biophysics and biomedical engineering. Similar to optical tweezers, acoustic tweezers have been proposed to be capable of manipulating microparticles and even cells. Although there have been concerted efforts to develop tools for non-contact manipulation, no alternative to complex, unifunctional tweezer has yet been found. Here we report a simple, low-cost, multifunctional single beam acoustic tweezer (SBAT) that is capable of manipulating an individual micrometer scale non-spherical cell at Rayleigh regime and even a single millimeter scale organism at Mie regime, and imaging tissue as well. We experimentally demonstrate that the SBAT with an ultralow f-number (f# = focal length/aperture size) could manipulate an individual red blood cell and a single 1.6 mm-diameter fertilized Zebrafish egg, respectively. Besides, in vitro rat aorta images were collected successfully at dynamic foci in which the lumen and the outer surface of the aorta could be clearly seen. With the ultralow f-number, the SBAT offers the combination of large acoustic radiation force and narrow beam width, leading to strong trapping and high-resolution imaging capabilities. These attributes enable the feasibility of using a single acoustic device to perform non-invasive multi-functions simultaneously for biomedical and biophysical applications.

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

PubMed

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

2015-12-01

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

Spherical Particle in Nematic Liquid Crystal Under an External Field: The Saturn Ring Regime

NASA Astrophysics Data System (ADS)

Alama, Stan; Bronsard, Lia; Lamy, Xavier

2018-03-01

We consider a nematic liquid crystal occupying the exterior region in R^3 outside of a spherical particle, with radial strong anchoring. Within the context of the Landau-de Gennes theory, we study minimizers subject to an external field, modeled by an additional term which favors nematic alignment parallel to the field. When the external field is high enough, we obtain a scaling law for the energy. The energy scale corresponds to minimizers concentrating their energy in a boundary layer around the particle, with quadrupolar symmetry. This suggests the presence of a Saturn ring defect around the particle, rather than a dipolar director field typical of a point defect.

Observation of instability-induced current redistribution in a spherical-torus plasma.

PubMed

Menard, J E; Bell, R E; Gates, D A; Kaye, S M; LeBlanc, B P; Levinton, F M; Medley, S S; Sabbagh, S A; Stutman, D; Tritz, K; Yuh, H

2006-09-01

A motional Stark effect diagnostic has been utilized to reconstruct the parallel current density profile in a spherical-torus plasma for the first time. The measured current profile compares favorably with neoclassical theory when no large-scale magnetohydrodynamic instabilities are present in the plasma. However, a current profile anomaly is observed during saturated interchange-type instability activity. This apparent anomaly can be explained by redistribution of neutral beam injection current drive and represents the first observation of interchange-type instabilities causing such redistribution. The associated current profile modifications contribute to sustaining the central safety factor above unity for over five resistive diffusion times, and similar processes may contribute to improved operational scenarios proposed for ITER.

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

PubMed

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

2018-06-01

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

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

PubMed

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

2010-01-01

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

An integrated open-cavity system for magnetic bead manipulation.

PubMed

Abu-Nimeh, F T; Salem, F M

2013-02-01

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

Optoelectronic tweezers for microparticle and cell manipulation

NASA Technical Reports Server (NTRS)

Wu, Ming Chiang (Inventor); Chiou, Pei Yu (Inventor); Ohta, Aaron T. (Inventor)

2009-01-01

An optical image-driven light induced dielectrophoresis (DEP) apparatus and method are described which provide for the manipulation of particles or cells with a diameter on the order of 100 .mu.m or less. The apparatus is referred to as optoelectric tweezers (OET) and provides a number of advantages over conventional optical tweezers, in particular the ability to perform operations in parallel and over a large area without damage to living cells. The OET device generally comprises a planar liquid-filled structure having one or more portions which are photoconductive to convert incoming light to a change in the electric field pattern. The light patterns are dynamically generated to provide a number of manipulation structures that can manipulate single particles and cells or groups of particles/cells. The OET preferably includes a microscopic imaging means to provide feedback for the optical manipulation, such as detecting position and characteristics wherein the light patterns are modulated accordingly.

Optoelectronic Tweezers for Microparticle and Cell Manipulation

NASA Technical Reports Server (NTRS)

Wu, Ming Chiang (Inventor); Chiou, Pei-Yu (Inventor); Ohta, Aaron T. (Inventor)

2014-01-01

An optical image-driven light induced dielectrophoresis (DEP) apparatus and method are described which provide for the manipulation of particles or cells with a diameter on the order of 100 micromillimeters or less. The apparatus is referred to as optoelectric tweezers (OET) and provides a number of advantages over conventional optical tweezers, in particular the ability to perform operations in parallel and over a large area without damage to living cells. The OET device generally comprises a planar liquid-filled structure having one or more portions which are photoconductive to convert incoming light to a change in the electric field pattern. The light patterns are dynamically generated to provide a number of manipulation structures that can manipulate single particles and cells or group of particles/cells. The OET preferably includes a microscopic imaging means to provide feedback for the optical manipulation, such as detecting position and characteristics wherein the light patterns are modulated accordingly.

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

NASA Technical Reports Server (NTRS)

Hannauer, George

1991-01-01

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

A psychoanalyst views inception.

PubMed

Clemens, Norman A

2013-05-01

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

Gravitational Anomalies Caused by Zonal Winds in Jupiter

NASA Astrophysics Data System (ADS)

Schubert, G.; Kong, D.; Zhang, K.

2012-12-01

We present an accurate three-dimensional non-spherical numerical calculation of the gravitational anomalies caused by zonal winds in Jupiter. The calculation is based on a three-dimensional finite element method and accounts for the full effect of significant departure from spherical geometry caused by rapid rotation. Since the speeds of Jupiter's zonal winds are much smaller than that of its rigid-body rotation, our numerical calculation is carried out in two stages. First, we compute the non-spherical distributions of density and pressure at the equilibrium within Jupiter via a hybrid inverse approach by determining an a priori unknown coefficient in the polytropic equation of state that results in a match to the observed shape of Jupiter. Second, by assuming that Jupiter's zonal winds extend throughout the interior along cylinders parallel to the rotation axis, we compute gravitational anomalies produced by the wind-related density anomalies, providing an upper bound to the gravitational anomalies caused by the Jovian zonal winds.

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

PubMed

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

2014-01-01

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

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

DOEpatents

Karasick, Michael S.; Strip, David R.

1996-01-01

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

Aqueous formation and manipulation of the iron-oxo Keggin ion

NASA Astrophysics Data System (ADS)

Sadeghi, Omid; Zakharov, Lev N.; Nyman, May

2015-03-01

There is emerging evidence that growth of synthetic and natural phases occurs by the aggregation of prenucleation clusters, rather than classical atom-by-atom growth. Ferrihydrite, an iron oxyhydroxide mineral, is the common form of Fe3+ in soils and is also in the ferritin protein. We isolated a 10 angstrom discrete iron-oxo cluster (known as the Keggin ion, Fe13) that has the same structural features as ferrihydrite. The stabilization and manipulation of this highly reactive polyanion in water is controlled exclusively by its counterions. Upon dissolution of Fe13 in water with precipitation of its protecting Bi3+-counterions, it rapidly aggregates to ~22 angstrom spherical ferrihydrite nanoparticles. Fe13 may therefore also be a prenucleation cluster for ferrihydrite formation in natural systems, including by microbial and cellular processes.

Kinematics and dynamics of robotic systems with multiple closed loops

NASA Astrophysics Data System (ADS)

Zhang, Chang-De

The kinematics and dynamics of robotic systems with multiple closed loops, such as Stewart platforms, walking machines, and hybrid manipulators, are studied. In the study of kinematics, focus is on the closed-form solutions of the forward position analysis of different parallel systems. A closed-form solution means that the solution is expressed as a polynomial in one variable. If the order of the polynomial is less than or equal to four, the solution has analytical closed-form. First, the conditions of obtaining analytical closed-form solutions are studied. For a Stewart platform, the condition is found to be that one rotational degree of freedom of the output link is decoupled from the other five. Based on this condition, a class of Stewart platforms which has analytical closed-form solution is formulated. Conditions of analytical closed-form solution for other parallel systems are also studied. Closed-form solutions of forward kinematics for walking machines and multi-fingered grippers are then studied. For a parallel system with three three-degree-of-freedom subchains, there are 84 possible ways to select six independent joints among nine joints. These 84 ways can be classified into three categories: Category 3:3:0, Category 3:2:1, and Category 2:2:2. It is shown that the first category has no solutions; the solutions of the second category have analytical closed-form; and the solutions of the last category are higher order polynomials. The study is then extended to a nearly general Stewart platform. The solution is a 20th order polynomial and the Stewart platform has a maximum of 40 possible configurations. Also, the study is extended to a new class of hybrid manipulators which consists of two serially connected parallel mechanisms. In the study of dynamics, a computationally efficient method for inverse dynamics of manipulators based on the virtual work principle is developed. Although this method is comparable with the recursive Newton-Euler method for serial manipulators, its advantage is more noteworthy when applied to parallel systems. An approach of inverse dynamics of a walking machine is also developed, which includes inverse dynamic modeling, foot force distribution, and joint force/torque allocation.

New machining method of high precision infrared window part

NASA Astrophysics Data System (ADS)

Yang, Haicheng; Su, Ying; Xu, Zengqi; Guo, Rui; Li, Wenting; Zhang, Feng; Liu, Xuanmin

2016-10-01

Most of the spherical shell of the photoelectric multifunctional instrument was designed as multi optical channel mode to adapt to the different band of the sensor, there were mainly TV, laser and infrared channels. Without affecting the optical diameter, wind resistance and pneumatic performance of the optical system, the overall layout of the spherical shell was optimized to save space and reduce weight. Most of the shape of the optical windows were special-shaped, each optical window directly participated in the high resolution imaging of the corresponding sensor system, and the optical axis parallelism of each sensor needed to meet the accuracy requirement of 0.05mrad.Therefore precision machining of optical window parts quality will directly affect the photoelectric system's pointing accuracy and interchangeability. Processing and testing of the TV and laser window had been very mature, while because of the special nature of the material, transparent and high refractive rate, infrared window parts had the problems of imaging quality and the control of the minimum focal length and second level parallel in the processing. Based on years of practical experience, this paper was focused on how to control the shape and parallel difference precision of infrared window parts in the processing. Single pass rate was increased from 40% to more than 95%, the processing efficiency was significantly enhanced, an effective solution to the bottleneck problem in the actual processing, which effectively solve the bottlenecks in research and production.

Changes in Monkey Crystalline Lens Spherical Aberration During Simulated Accommodation in a Lens Stretcher

PubMed Central

Maceo Heilman, Bianca; Manns, Fabrice; de Castro, Alberto; Durkee, Heather; Arrieta, Esdras; Marcos, Susana; Parel, Jean-Marie

2015-01-01

Purpose. The purpose of this study was to quantify accommodation-induced changes in the spherical aberration of cynomolgus monkey lenses. Methods. Twenty-four lenses from 20 cynomolgus monkeys (Macaca fascicularis; 4.4–16.0 years of age; postmortem time 13.5 ± 13.0 hours) were mounted in a lens stretcher. Lens spherical aberration was measured in the unstretched (accommodated) and stretched (relaxed) states with a laser ray tracing system that delivered 51 equally spaced parallel rays along 1 meridian of the lens over the central 6-mm optical zone. A camera mounted below the lens was used to measure the ray height at multiple positions along the optical axis. For each entrance ray, the change in ray height with axial position was fitted with a third-order polynomial. The effective paraxial focal length and Zernike spherical aberration coefficients corresponding to a 6-mm pupil diameter were extracted from the fitted values. Results. The unstretched lens power decreased with age from 59.3 ± 4.0 diopters (D) for young lenses to 45.7 ± 3.1 D for older lenses. The unstretched lens shifted toward less negative spherical aberration with age, from −6.3 ± 0.7 μm for young lenses to −5.0 ± 0.5 μm for older lenses. The power and spherical aberration of lenses in the stretched state were independent of age, with values of 33.5 ± 3.4 D and −2.6 ± 0.5 μm, respectively. Conclusions. Spherical aberration is negative in cynomolgus monkey lenses and becomes more negative with accommodation. These results are in good agreement with the predicted values using computational ray tracing in a lens model with a reconstructed gradient refractive index. The spherical aberration of the unstretched lens becomes less negative with age. PMID:25670492

Changes in monkey crystalline lens spherical aberration during simulated accommodation in a lens stretcher.

PubMed

Maceo Heilman, Bianca; Manns, Fabrice; de Castro, Alberto; Durkee, Heather; Arrieta, Esdras; Marcos, Susana; Parel, Jean-Marie

2015-02-10

The purpose of this study was to quantify accommodation-induced changes in the spherical aberration of cynomolgus monkey lenses. Twenty-four lenses from 20 cynomolgus monkeys (Macaca fascicularis; 4.4-16.0 years of age; postmortem time 13.5 ± 13.0 hours) were mounted in a lens stretcher. Lens spherical aberration was measured in the unstretched (accommodated) and stretched (relaxed) states with a laser ray tracing system that delivered 51 equally spaced parallel rays along 1 meridian of the lens over the central 6-mm optical zone. A camera mounted below the lens was used to measure the ray height at multiple positions along the optical axis. For each entrance ray, the change in ray height with axial position was fitted with a third-order polynomial. The effective paraxial focal length and Zernike spherical aberration coefficients corresponding to a 6-mm pupil diameter were extracted from the fitted values. The unstretched lens power decreased with age from 59.3 ± 4.0 diopters (D) for young lenses to 45.7 ± 3.1 D for older lenses. The unstretched lens shifted toward less negative spherical aberration with age, from -6.3 ± 0.7 μm for young lenses to -5.0 ± 0.5 μm for older lenses. The power and spherical aberration of lenses in the stretched state were independent of age, with values of 33.5 ± 3.4 D and -2.6 ± 0.5 μm, respectively. Spherical aberration is negative in cynomolgus monkey lenses and becomes more negative with accommodation. These results are in good agreement with the predicted values using computational ray tracing in a lens model with a reconstructed gradient refractive index. The spherical aberration of the unstretched lens becomes less negative with age. Copyright 2015 The Association for Research in Vision and Ophthalmology, Inc.

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

NASA Astrophysics Data System (ADS)

Ouyang, Bo; Shang, Weiwei

2016-03-01

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

Parallel fast multipole boundary element method applied to computational homogenization

NASA Astrophysics Data System (ADS)

Ptaszny, Jacek

2018-01-01

In the present work, a fast multipole boundary element method (FMBEM) and a parallel computer code for 3D elasticity problem is developed and applied to the computational homogenization of a solid containing spherical voids. The system of equation is solved by using the GMRES iterative solver. The boundary of the body is dicretized by using the quadrilateral serendipity elements with an adaptive numerical integration. Operations related to a single GMRES iteration, performed by traversing the corresponding tree structure upwards and downwards, are parallelized by using the OpenMP standard. The assignment of tasks to threads is based on the assumption that the tree nodes at which the moment transformations are initialized can be partitioned into disjoint sets of equal or approximately equal size and assigned to the threads. The achieved speedup as a function of number of threads is examined.

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

PubMed

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

2003-08-01

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

Entropy-based separation of yeast cells using a microfluidic system of conjoined spheres

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

Huang, Kai-Jian; Qin, S.-J., E-mail: shuijie.qin@gmail.com; Bai, Zhong-Chen

2013-11-21

A physical model is derived to create a biological cell separator that is based on controlling the entropy in a microfluidic system having conjoined spherical structures. A one-dimensional simplified model of this three-dimensional problem in terms of the corresponding effects of entropy on the Brownian motion of particles is presented. This dynamic mechanism is based on the Langevin equation from statistical thermodynamics and takes advantage of the characteristics of the Fokker-Planck equation. This mechanism can be applied to manipulate biological particles inside a microfluidic system with identical, conjoined, spherical compartments. This theoretical analysis is verified by performing a rapid andmore » a simple technique for separating yeast cells in these conjoined, spherical microfluidic structures. The experimental results basically match with our theoretical model and we further analyze the parameters which can be used to control this separation mechanism. Both numerical simulations and experimental results show that the motion of the particles depends on the geometrical boundary conditions of the microfluidic system and the initial concentration of the diffusing material. This theoretical model can be implemented in future biophysics devices for the optimized design of passive cell sorters.« less

Dynamic equations for an isotropic spherical shell using the power series method and surface differential operators

NASA Astrophysics Data System (ADS)

Okhovat, Reza; Boström, Anders

2017-04-01

Dynamic equations for an isotropic spherical shell are derived by using a series expansion technique. The displacement field is split into a scalar (radial) part and a vector (tangential) part. Surface differential operators are introduced to decrease the length of all equations. The starting point is a power series expansion of the displacement components in the thickness coordinate relative to the mid-surface of the shell. By using the expansions of the displacement components, the three-dimensional elastodynamic equations yield a set of recursion relations among the expansion functions that can be used to eliminate all but the four of lowest order and to express higher order expansion functions in terms of those of lowest orders. Applying the boundary conditions on the surfaces of the spherical shell and eliminating all but the four lowest order expansion functions give the shell equations as a power series in the shell thickness. After lengthy manipulations, the final four shell equations are obtained in a relatively compact form which are given to second order in shell thickness explicitly. The eigenfrequencies are compared to exact three-dimensional theory with excellent agreement and to membrane theory.

Tailoring shape and size of biogenic silver nanoparticles to enhance antimicrobial efficacy against MDR bacteria.

PubMed

Kumari, Madhuree; Pandey, Shipra; Giri, Ved Prakash; Bhattacharya, Arpita; Shukla, Richa; Mishra, Aradhana; Nautiyal, C S

2017-04-01

Spherical, rectangular, penta, and hexagonal silver nanoparticles of different dimensions were biosynthesized in an eco-friendly manner by biocontrol agent, Trichoderma viride by manipulating physical parameters, pH, temperature, and reaction time. The particles were characterized by UV-vis spectroscopy; Dynamic Light Scattering (DLS), Transmission Electron Microscopy (TEM) and Fourier Transform Infra-red Spectroscopy (FTIR). Shape and size dependent antimicrobial activity of nanoparticles against human pathogens was observed. Maximum inhibition was found with spherical nanoparticles (2-5 nm) showing 40, 51, 43, 53.9 and 55.8% against Shigella sonnei, Escherichia coli, Serratia marcescens, Staphylococcus. aureus and Pseudomonas aeruginosa respectively, where as pentagonal and hexagonal nanoparticles (50-100 nm) demonstrated 32, 41, 31, 42.84 and 42.80% of inhibition as compared to control. Nanoparticles of different geometry and dimension established enhanced antagonistic activity against pathogens with all the tested antibiotics. Excellent antimicrobial efficacy was obtained with spherical nanoparticles of 2-5 nm with ampicillin and penicillin. Shape and size played major role in enhancing antimicrobial potential of silver nanoparticles, both singly and synergistically with antibiotics which can be exploited to combat the spread of multidrug resistant pathogens. Copyright © 2016. Published by Elsevier Ltd.

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

PubMed

Ochiai, Yoichi; Hoshi, Takayuki; Rekimoto, Jun

2014-01-01

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

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

PubMed Central

Ochiai, Yoichi; Hoshi, Takayuki; Rekimoto, Jun

2014-01-01

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

Binocular adaptive optics visual simulator.

PubMed

Fernández, Enrique J; Prieto, Pedro M; Artal, Pablo

2009-09-01

A binocular adaptive optics visual simulator is presented. The instrument allows for measuring and manipulating ocular aberrations of the two eyes simultaneously, while the subject performs visual testing under binocular vision. An important feature of the apparatus consists on the use of a single correcting device and wavefront sensor. Aberrations are controlled by means of a liquid-crystal-on-silicon spatial light modulator, where the two pupils of the subject are projected. Aberrations from the two eyes are measured with a single Hartmann-Shack sensor. As an example of the potential of the apparatus for the study of the impact of the eye's aberrations on binocular vision, results of contrast sensitivity after addition of spherical aberration are presented for one subject. Different binocular combinations of spherical aberration were explored. Results suggest complex binocular interactions in the presence of monochromatic aberrations. The technique and the instrument might contribute to the better understanding of binocular vision and to the search for optimized ophthalmic corrections.

Microfluidic devices for the controlled manipulation of small volumes

DOEpatents

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

2003-02-25

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

Robust reconstruction of B1 (+) maps by projection into a spherical functions space.

PubMed

Sbrizzi, Alessandro; Hoogduin, Hans; Lagendijk, Jan J; Luijten, Peter; van den Berg, Cornelis A T

2014-01-01

Several parallel transmit MRI techniques require knowledge of the transmit radiofrequency field profiles (B1 (+) ). During the past years, various methods have been developed to acquire this information. Often, these methods suffer from long measurement times and produce maps exhibiting regions with poor signal-to-noise ratio and artifacts. In this article, a model-based reconstruction procedure is introduced that improves the robustness of B1 (+) mapping. The missing information from undersampled B1 (+) maps and the regions of poor signal to noise ratio are reconstructed through projection into the space of spherical functions that arise naturally from the solution of the Helmholtz equations in the spherical coordinate system. As a result, B1 (+) data over a limited range of the field of view/volume is sufficient to reconstruct the B1 (+) over the full spatial domain in a fast and robust way. The same model is exploited to filter the noise of the measured maps. Results from simulations and in vivo measurements confirm the validity of the proposed method. A spherical functions model can well approximate the magnetic fields inside the body with few basis terms. Exploiting this compression capability, B1 (+) maps are reconstructed in regions of unknown or corrupted values. Copyright © 2013 Wiley Periodicals, Inc.

Front-End Processing of Cell Lysates for Enhanced Chip-Based Detection

DTIC Science & Technology

2006-07-28

manipulation used in lab-on-a-chip devices. A small unknown sample is first mixed with the PNA surfactants (“PNAA”) to tag the DNA targets, and then the...unknown sample is first mixed with the PNA surfactants (hereafter referred to as “PNA amphiphiles” or “PNAA”) to tag the DNA targets, and then the...prolate ellipsoid, and mixed PNAA/SDS micelles form spherical micelles. On addition of complementary DNA, the PNAA/DNA duplexes do not participate in

Quasicrystalline structures and uses thereof

DOEpatents

Steinhardt, Paul J; Chaikin, Paul Michael; Man, Weining

2013-12-03

This invention relates generally to the field of quasicrystalline structures. In preferred embodiments, the stopgap structure is more spherically symmetric than periodic structures facilitating the formation of stopgaps in nearly all directions because of higher rotational symmetries. More particularly, the invention relates to the use of quasicrystalline structures for optical, mechanical, electrical and magnetic purposes. In some embodiments, the invention relates to manipulating, controlling, modulating and directing waves including electromagnetic, sound, spin, and surface waves, for pre-selected range of wavelengths propagating in multiple directions.

Quasicrystalline structures and uses thereof

DOEpatents

Steinhardt, Paul Joseph [Princeton, NJ; Chaikin, Paul Michael [New York, NY; Man, Weining [San Francisco, CA

2011-11-22

This invention relates generally to the field of quasicrystalline structures. In preferred embodiments, the stopgap structure is more spherically symmetric than periodic structures facilitating the formation of stopgaps in nearly all directions because of higher rotational symmetries. More particularly, the invention relates to the use of quasicrystalline structures for optical, mechanical, electrical and magnetic purposes. In some embodiments, the invention relates to manipulating, controlling, modulating and directing waves including electromagnetic, sound, spin, and surface waves, for a pre-selected range of wavelengths propagating in multiple directions.

Quasicrystalline structures and uses thereof

DOEpatents

Steinhardt, Paul Joseph; Chaikin, Paul Michael; Man, Weining

2017-02-14

This invention relates generally to the field of quasicrystalline structures. In preferred embodiments, the stopgap structure is more spherically symmetric than periodic structures facilitating the formation of stopgaps in nearly all directions because of higher rotational symmetries. More particularly, the invention relates to the use of quasicrystalline structures for optical, mechanical, electrical and magnetic purposes. In some embodiments, the invention relates to manipulating, controlling, modulating and directing waves including electromagnetic, sound, spin, and surface waves, for pre-selected range of wavelengths propagating in multiple directions.

Multimode Acoustic Research

NASA Technical Reports Server (NTRS)

Barmatz, M.

1985-01-01

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

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

NASA Technical Reports Server (NTRS)

Anderson, William J.; Shipitalo, William

1991-01-01

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

Computational structures for robotic computations

NASA Technical Reports Server (NTRS)

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

1987-01-01

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

Kinematics, controls, and path planning results for a redundant manipulator

NASA Technical Reports Server (NTRS)

Gretz, Bruce; Tilley, Scott W.

1989-01-01

The inverse kinematics solution, a modal position control algorithm, and path planning results for a 7 degree of freedom manipulator are presented. The redundant arm consists of two links with shoulder and elbow joints and a spherical wrist. The inverse kinematics problem for tip position is solved and the redundant joint is identified. It is also shown that a locus of tip positions exists in which there are kinematic limitations on self-motion. A computationally simple modal position control algorithm has been developed which guarantees a nearly constant closed-loop dynamic response throughout the workspace. If all closed-loop poles are assigned to the same location, the algorithm can be implemented with very little computation. To further reduce the required computation, the modal gains are updated only at discrete time intervals. Criteria are developed for the frequency of these updates. For commanding manipulator movements, a 5th-order spline which minimizes jerk provides a smooth tip-space path. Schemes for deriving a corresponding joint-space trajectory are discussed. Modifying the trajectory to avoid joint torque saturation when a tip payload is added is also considered. Simulation results are presented.

Recent advances in superhydrophobic surfaces and their relevance to biology and medicine.

PubMed

Ciasca, G; Papi, M; Businaro, L; Campi, G; Ortolani, M; Palmieri, V; Cedola, A; De Ninno, A; Gerardino, A; Maulucci, G; De Spirito, M

2016-02-04

By mimicking naturally occurring superhydrophobic surfaces, scientists can now realize artificial surfaces on which droplets of a few microliters of water are forced to assume an almost spherical shape and an extremely high contact angle. In recent decades, these surfaces have attracted much attention due to their technological applications for anti-wetting and self-cleaning materials. Very recently, researchers have shifted their interest to investigate whether superhydrophobic surfaces can be exploited to study biological systems. This research effort has stimulated the design and realization of new devices that allow us to actively organize, visualize and manipulate matter at both the microscale and nanoscale levels. Such precise control opens up wide applications in biomedicine, as it allows us to directly manipulate objects at the typical length scale of cells and macromolecules. This progress report focuses on recent biological and medical applications of superhydrophobicity. Particular regard is paid to those applications that involve the detection, manipulation and study of extremely small quantities of molecules, and to those that allow high throughput cell and biomaterial screening.

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

NASA Astrophysics Data System (ADS)

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

2012-02-01

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

One-degree-of-freedom spherical model for the passive motion of the human ankle joint.

PubMed

Sancisi, Nicola; Baldisserri, Benedetta; Parenti-Castelli, Vincenzo; Belvedere, Claudio; Leardini, Alberto

2014-04-01

Mathematical modelling of mobility at the human ankle joint is essential for prosthetics and orthotic design. The scope of this study is to show that the ankle joint passive motion can be represented by a one-degree-of-freedom spherical motion. Moreover, this motion is modelled by a one-degree-of-freedom spherical parallel mechanism model, and the optimal pivot-point position is determined. Passive motion and anatomical data were taken from in vitro experiments in nine lower limb specimens. For each of these, a spherical mechanism, including the tibiofibular and talocalcaneal segments connected by a spherical pair and by the calcaneofibular and tibiocalcaneal ligament links, was defined from the corresponding experimental kinematics and geometry. An iterative procedure was used to optimize the geometry of the model, able to predict original experimental motion. The results of the simulations showed a good replication of the original natural motion, despite the numerous model assumptions and simplifications, with mean differences between experiments and predictions smaller than 1.3 mm (average 0.33 mm) for the three joint position components and smaller than 0.7° (average 0.32°) for the two out-of-sagittal plane rotations, once plotted versus the full flexion arc. The relevant pivot-point position after model optimization was found within the tibial mortise, but not exactly in a central location. The present combined experimental and modelling analysis of passive motion at the human ankle joint shows that a one degree-of-freedom spherical mechanism predicts well what is observed in real joints, although its computational complexity is comparable to the standard hinge joint model.

The capture and recreation of 3D auditory scenes

NASA Astrophysics Data System (ADS)

Li, Zhiyun

The main goal of this research is to develop the theory and implement practical tools (in both software and hardware) for the capture and recreation of 3D auditory scenes. Our research is expected to have applications in virtual reality, telepresence, film, music, video games, auditory user interfaces, and sound-based surveillance. The first part of our research is concerned with sound capture via a spherical microphone array. The advantage of this array is that it can be steered into any 3D directions digitally with the same beampattern. We develop design methodologies to achieve flexible microphone layouts, optimal beampattern approximation and robustness constraint. We also design novel hemispherical and circular microphone array layouts for more spatially constrained auditory scenes. Using the captured audio, we then propose a unified and simple approach for recreating them by exploring the reciprocity principle that is satisfied between the two processes. Our approach makes the system easy to build, and practical. Using this approach, we can capture the 3D sound field by a spherical microphone array and recreate it using a spherical loudspeaker array, and ensure that the recreated sound field matches the recorded field up to a high order of spherical harmonics. For some regular or semi-regular microphone layouts, we design an efficient parallel implementation of the multi-directional spherical beamformer by using the rotational symmetries of the beampattern and of the spherical microphone array. This can be implemented in either software or hardware and easily adapted for other regular or semi-regular layouts of microphones. In addition, we extend this approach for headphone-based system. Design examples and simulation results are presented to verify our algorithms. Prototypes are built and tested in real-world auditory scenes.

Size- and shape-dependent clinical and mycological efficacy of silver nanoparticles on dandruff.

PubMed

Anwar, Mohammad F; Yadav, Deepak; Jain, Swati; Kapoor, Sumeet; Rastogi, Shweta; Arora, Indu; Samim, Mohammed

2016-01-01

Dandruff is a prominent scalp problem caused by the growth of fungus Malassezia furfur, potentially cascading into dermal inflammation, itching, and tissue damage. The present work outlines a detailed analysis of the treatment of scalp infection using silver nanomaterials (Ag NMs), and focuses on biocidal activity owing to manipulation of size, shape, and structure. Monodisperse silver spherical nanoparticles (NPs) and nanorods (NRs) were synthesized by chemical routes that were characterized using analytical and spectroscopic techniques. Ag NMs demonstrated enhanced biocidal tendencies compared to market available drugs, itracanozole and ketoconazole, showing greater zones of inhibition. The obtained 20 nm and 50 nm spherical-shaped NPs and 50 nm NRs showed concentration-, size-, and shape-dependent antifungal activity, with 20 nm spherical-shaped NPs exhibiting excellent potency. Minimum inhibitory concentration for 20 nm was lowest at 0.2 mg/mL in comparison to 0.3 mg/mL for NRs. Primary irritation index was 0.33 and 0.16 for 20 nm and 50 nm spherical-shaped NPs, respectively, while 50 nm rod-shaped NMs exhibited negligible redness. An in vivo model for M. furfur infection was generated by passing fungi subcutaneously in rats' skin. Again, 20 nm particles showed best normalization of skin after 10 days on regular dosing, in comparison with bigger and rod-shaped particles. The statistical clinical score was highest for Ag nanorods, followed by 50 nm Ag NPs-treated animals. It was observed that 20 nm spherical particles exhibited the lowest score (0) compared with others as well as with antifungal drugs. Biochemical analysis performed by checking antioxidant enzymatic activities indicated tissue repair and normalization of enzymes and protein concentration by Ag NPs.

Size- and shape-dependent clinical and mycological efficacy of silver nanoparticles on dandruff

PubMed Central

Anwar, Mohammad F; Yadav, Deepak; Jain, Swati; Kapoor, Sumeet; Rastogi, Shweta; Arora, Indu; Samim, Mohammed

2016-01-01

Dandruff is a prominent scalp problem caused by the growth of fungus Malassezia furfur, potentially cascading into dermal inflammation, itching, and tissue damage. The present work outlines a detailed analysis of the treatment of scalp infection using silver nanomaterials (Ag NMs), and focuses on biocidal activity owing to manipulation of size, shape, and structure. Monodisperse silver spherical nanoparticles (NPs) and nanorods (NRs) were synthesized by chemical routes that were characterized using analytical and spectroscopic techniques. Ag NMs demonstrated enhanced biocidal tendencies compared to market available drugs, itracanozole and ketoconazole, showing greater zones of inhibition. The obtained 20 nm and 50 nm spherical-shaped NPs and 50 nm NRs showed concentration-, size-, and shape-dependent antifungal activity, with 20 nm spherical-shaped NPs exhibiting excellent potency. Minimum inhibitory concentration for 20 nm was lowest at 0.2 mg/mL in comparison to 0.3 mg/mL for NRs. Primary irritation index was 0.33 and 0.16 for 20 nm and 50 nm spherical-shaped NPs, respectively, while 50 nm rod-shaped NMs exhibited negligible redness. An in vivo model for M. furfur infection was generated by passing fungi subcutaneously in rats’ skin. Again, 20 nm particles showed best normalization of skin after 10 days on regular dosing, in comparison with bigger and rod-shaped particles. The statistical clinical score was highest for Ag nanorods, followed by 50 nm Ag NPs-treated animals. It was observed that 20 nm spherical particles exhibited the lowest score (0) compared with others as well as with antifungal drugs. Biochemical analysis performed by checking antioxidant enzymatic activities indicated tissue repair and normalization of enzymes and protein concentration by Ag NPs. PMID:26792991

Expansion of Tabulated Scattering Matrices in Generalized Spherical Functions

NASA Technical Reports Server (NTRS)

Mishchenko, Michael I.; Geogdzhayev, Igor V.; Yang, Ping

2016-01-01

An efficient way to solve the vector radiative transfer equation for plane-parallel turbid media is to Fourier-decompose it in azimuth. This methodology is typically based on the analytical computation of the Fourier components of the phase matrix and is predicated on the knowledge of the coefficients appearing in the expansion of the normalized scattering matrix in generalized spherical functions. Quite often the expansion coefficients have to be determined from tabulated values of the scattering matrix obtained from measurements or calculated by solving the Maxwell equations. In such cases one needs an efficient and accurate computer procedure converting a tabulated scattering matrix into the corresponding set of expansion coefficients. This short communication summarizes the theoretical basis of this procedure and serves as the user guide to a simple public-domain FORTRAN program.

Hydrodynamics Defines the Stable Swimming Direction of Spherical Squirmers in a Nematic Liquid Crystal.

PubMed

Lintuvuori, J S; Würger, A; Stratford, K

2017-08-11

We present a study of the hydrodynamics of an active particle-a model squirmer-in an environment with a broken rotational symmetry: a nematic liquid crystal. By combining simulations with analytic calculations, we show that the hydrodynamic coupling between the squirmer flow field and liquid crystalline director can lead to reorientation of the swimmers. The preferred orientation depends on the exact details of the squirmer flow field. In a steady state, pushers are shown to swim parallel with the nematic director while pullers swim perpendicular to the nematic director. This behavior arises solely from hydrodynamic coupling between the squirmer flow field and anisotropic viscosities of the host fluid. Our results suggest that an anisotropic swimming medium can be used to characterize and guide spherical microswimmers in the bulk.

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

PubMed Central

Jerome, Jason; Heck, Detlef H.

2011-01-01

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

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

PubMed

Jerome, Jason; Heck, Detlef H

2011-01-01

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

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

DOEpatents

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

1996-01-30

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

A curved ultrasonic actuator optimized for spherical motors: design and experiments.

PubMed

Leroy, Edouard; Lozada, José; Hafez, Moustapha

2014-08-01

Multi-degree-of-freedom angular actuators are commonly used in numerous mechatronic areas such as omnidirectional robots, robot articulations or inertially stabilized platforms. The conventional method to design these devices consists in placing multiple actuators in parallel or series using gimbals which are bulky and difficult to miniaturize. Motors using a spherical rotor are interesting for miniature multidegree-of-freedom actuators. In this paper, a new actuator is proposed. It is based on a curved piezoelectric element which has its inner contact surface adapted to the diameter of the rotor. This adaptation allows to build spherical motors with a fully constrained rotor and without a need for additional guiding system. The work presents a design methodology based on modal finite element analysis. A methodology for mode selection is proposed and a sensitivity analysis of the final geometry to uncertainties and added masses is discussed. Finally, experimental results that validate the actuator concept on a single degree-of-freedom ultrasonic motor set-up are presented. Copyright © 2014 Elsevier B.V. All rights reserved.

Localized Electron Heating by Strong Guide-Field Magnetic Reconnection

NASA Astrophysics Data System (ADS)

Guo, Xuehan; Sugawara, Takumichi; Inomoto, Michiaki; Yamasaki, Kotaro; Ono, Yasushi; UTST Team

2015-11-01

Localized electron heating of magnetic reconnection was studied under strong guide-field (typically Bt 15Bp) using two merging spherical tokamak plasmas in Univ. Tokyo Spherical Tokamak (UTST) experiment. Our new slide-type two-dimensional Thomson scattering system documented for the first time the electron heating localized around the X-point. The region of high electron temperature, which is perpendicular to the magnetic field, was found to have a round shape with radius of 2 [cm]. Also, it was localized around the X-point and does not agree with that of energy dissipation term Et .jt . When we include a guide-field effect term Bt / (Bp + αBt) for Et .jt where α =√{ (vin2 +vout2) /v∥2 } , the energy dissipation area becomes localized around the X-point, suggesting that the electrons are accelerated by the reconnection electric field parallel to the magnetic field and thermalized around the X-point. This work was supported by JSPS A3 Foresight Program ``Innovative Tokamak Plasma Startup and Current Drive in Spherical Torus,'' a Grant-in-Aid from the Japan Society for the Promotion of Science (JSPS) Fellows 15J03758.

Development and evaluation of spherical molecularly imprinted polymer beads.

PubMed

Kempe, Henrik; Kempe, Maria

2006-06-01

The majority of studies on molecularly imprinted polymers has until now been carried out on irregularly shaped particles prepared by grinding of polymer monoliths. The preparation procedures are time- and labor-consuming and produce particles of wide size distributions. To answer the need for fast and straightforward routes to spherical molecularly imprinted polymer beads, we have developed a method comprising the formation of droplets of pre-polymerization solution directly in mineral oil by vigorous mixing followed by transformation of the droplets into solid spherical beads by photoinduced free-radical polymerization. No detergents or stabilizers were required for the droplet formation. Factors influencing the bead synthesis have been investigated and are detailed here. The beads were evaluated in parallel with corresponding irregularly shaped particles prepared from polymer monoliths. Conditions for the synthesis of propranolol-imprinted poly(methacrylic acid-co-trimethylolpropane trimethacrylate) beads in the size range of 1-100 microm in almost quantitative yield are described. The beads were applied as the recognition element in a 96-well plate format radioligand assay of propranolol in human serum.

Analysis of pinching in deterministic particle separation

NASA Astrophysics Data System (ADS)

Risbud, Sumedh; Luo, Mingxiang; Frechette, Joelle; Drazer, German

2011-11-01

We investigate the problem of spherical particles vertically settling parallel to Y-axis (under gravity), through a pinching gap created by an obstacle (spherical or cylindrical, center at the origin) and a wall (normal to X axis), to uncover the physics governing microfluidic separation techniques such as deterministic lateral displacement and pinched flow fractionation: (1) theoretically, by linearly superimposing the resistances offered by the wall and the obstacle separately, (2) computationally, using the lattice Boltzmann method for particulate systems and (3) experimentally, by conducting macroscopic experiments. Both, theory and simulations, show that for a given initial separation between the particle centre and the Y-axis, presence of a wall pushes the particles closer to the obstacle, than its absence. Experimentally, this is expected to result in an early onset of the short-range repulsive forces caused by solid-solid contact. We indeed observe such an early onset, which we quantify by measuring the asymmetry in the trajectories of the spherical particles around the obstacle. This work is partially supported by the National Science Foundation Grant Nos. CBET- 0731032, CMMI-0748094, and CBET-0954840.

Measurement of eddy-current distribution in the vacuum vessel of the Sino-UNIted Spherical Tokamak.

PubMed

Li, G; Tan, Y; Liu, Y Q

2015-08-01

Eddy currents have an important effect on tokamak plasma equilibrium and control of magneto hydrodynamic activity. The vacuum vessel of the Sino-UNIted Spherical Tokamak is separated into two hemispherical sections by a toroidal insulating barrier. Consequently, the characteristics of eddy currents are more complex than those found in a standard tokamak. Thus, it is necessary to measure and analyze the eddy-current distribution. In this study, we propose an experimental method for measuring the eddy-current distribution in a vacuum vessel. By placing a flexible printed circuit board with magnetic probes onto the external surface of the vacuum vessel to measure the magnetic field parallel to the surface and then subtracting the magnetic field generated by the vertical-field coils, the magnetic field due to the eddy current can be obtained, and its distribution can be determined. We successfully applied this method to the Sino-UNIted Spherical Tokamak, and thus, we obtained the eddy-current distribution despite the presence of the magnetic field generated by the external coils.

Pneumatic artificial muscle actuators for compliant robotic manipulators

NASA Astrophysics Data System (ADS)

Robinson, Ryan Michael

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

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

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

Cerebellarlike corrective model inference engine for manipulation tasks.

PubMed

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

2011-10-01

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

Propagation analysis of the helicity-drive Alfven wave in the HIST spherical torus plasmas

NASA Astrophysics Data System (ADS)

Hyobu, T.; Hanao, T.; Hirono, H.; Ito, K.; Matsumoto, K.; Nakayama, T.; Kikuchi, Y.; Fukumoto, N.; Nagata, M.

2012-10-01

Coaxial Helicity Injection is an efficient current-drive method used in spherical torus experiments. It is a key issue to investigate the dynamo mechanism required to maintain the plasmas. The behavior of a low frequency Alfven wave being possibly related to the dynamo current drive has been studied on HIST. The observed magnetic fluctuation with about 80 kHz propagates along the open flux column (OFC) region, spreading toward the core region. The parallel phase velocity is estimated at 321 km/s from the propagation velocity measured axially along the OFC. The parallel phase velocity agrees well to the Alfven velocity. The radial perpendicular propagation of the Alfven wave can be calculated by a theory based on cold or warm plasma approximation with the Hall term. The theoretical calculation indicates that there are two resonance points and is a cut-off point. These resonance and cut-off points agree well with the magnetic measurement. A part of fluctuation propagates slowly beyond the first resonance point. The wave polarization is left-handed near the resonance point and then converts to be nearly liner outside the resonance point. From these results, we speculate that the torsional Alfven wave evolves to the kinetic Alfven wave during the radial propagation.

Simulation of particle motion in a closed conduit validated against experimental data

NASA Astrophysics Data System (ADS)

Dolanský, Jindřich

2015-05-01

Motion of a number of spherical particles in a closed conduit is examined by means of both simulation and experiment. The bed of the conduit is covered by stationary spherical particles of the size of the moving particles. The flow is driven by experimentally measured velocity profiles which are inputs of the simulation. Altering input velocity profiles generates various trajectory patterns. The lattice Boltzmann method (LBM) based simulation is developed to study mutual interactions of the flow and the particles. The simulation enables to model both the particle motion and the fluid flow. The entropic LBM is employed to deal with the flow characterized by the high Reynolds number. The entropic modification of the LBM along with the enhanced refinement of the lattice grid yield an increase in demands on computational resources. Due to the inherently parallel nature of the LBM it can be handled by employing the Parallel Computing Toolbox (MATLAB) and other transformations enabling usage of the CUDA GPU computing technology. The trajectories of the particles determined within the LBM simulation are validated against data gained from the experiments. The compatibility of the simulation results with the outputs of experimental measurements is evaluated. The accuracy of the applied approach is assessed and stability and efficiency of the simulation is also considered.

Uncertainty quantification of seabed parameters for large data volumes along survey tracks with a tempered particle filter

NASA Astrophysics Data System (ADS)

Dettmer, J.; Quijano, J. E.; Dosso, S. E.; Holland, C. W.; Mandolesi, E.

2016-12-01

Geophysical seabed properties are important for the detection and classification of unexploded ordnance. However, current surveying methods such as vertical seismic profiling, coring, or inversion are of limited use when surveying large areas with high spatial sampling density. We consider surveys based on a source and receiver array towed by an autonomous vehicle which produce large volumes of seabed reflectivity data that contain unprecedented and detailed seabed information. The data are analyzed with a particle filter, which requires efficient reflection-coefficient computation, efficient inversion algorithms and efficient use of computer resources. The filter quantifies information content of multiple sequential data sets by considering results from previous data along the survey track to inform the importance sampling at the current point. Challenges arise from environmental changes along the track where the number of sediment layers and their properties change. This is addressed by a trans-dimensional model in the filter which allows layering complexity to change along a track. Efficiency is improved by likelihood tempering of various particle subsets and including exchange moves (parallel tempering). The filter is implemented on a hybrid computer that combines central processing units (CPUs) and graphics processing units (GPUs) to exploit three levels of parallelism: (1) fine-grained parallel computation of spherical reflection coefficients with a GPU implementation of Levin integration; (2) updating particles by concurrent CPU processes which exchange information using automatic load balancing (coarse grained parallelism); (3) overlapping CPU-GPU communication (a major bottleneck) with GPU computation by staggering CPU access to the multiple GPUs. The algorithm is applied to spherical reflection coefficients for data sets along a 14-km track on the Malta Plateau, Mediterranean Sea. We demonstrate substantial efficiency gains over previous methods. [This research was supported in part by the U.S. Dept of Defense, thought the Strategic Environmental Research and Development Program (SERDP).

Parallel constraint satisfaction in memory-based decisions.

PubMed

Glöckner, Andreas; Hodges, Sara D

2011-01-01

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

Calibration of the ARID robot

NASA Technical Reports Server (NTRS)

Doty, Keith L

1992-01-01

The author has formulated a new, general model for specifying the kinematic properties of serial manipulators. The new model kinematic parameters do not suffer discontinuities when nominally parallel adjacent axes deviate from exact parallelism. From this new theory the author develops a first-order, lumped-parameter, calibration-model for the ARID manipulator. Next, the author develops a calibration methodology for the ARID based on visual and acoustic sensing. A sensor platform, consisting of a camera and four sonars attached to the ARID end frame, performs calibration measurements. A calibration measurement consists of processing one visual frame of an accurately placed calibration image and recording four acoustic range measurements. A minimum of two measurement protocols determine the kinematics calibration-model of the ARID for a particular region: assuming the joint displacements are accurately measured, the calibration surface is planar, and the kinematic parameters do not vary rapidly in the region. No theoretical or practical limitations appear to contra-indicate the feasibility of the calibration method developed here.

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

PubMed

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

2015-02-01

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

Waveform inversion for 3-D earth structure using the Direct Solution Method implemented on vector-parallel supercomputer

NASA Astrophysics Data System (ADS)

Hara, Tatsuhiko

2004-08-01

We implement the Direct Solution Method (DSM) on a vector-parallel supercomputer and show that it is possible to significantly improve its computational efficiency through parallel computing. We apply the parallel DSM calculation to waveform inversion of long period (250-500 s) surface wave data for three-dimensional (3-D) S-wave velocity structure in the upper and uppermost lower mantle. We use a spherical harmonic expansion to represent lateral variation with the maximum angular degree 16. We find significant low velocities under south Pacific hot spots in the transition zone. This is consistent with other seismological studies conducted in the Superplume project, which suggests deep roots of these hot spots. We also perform simultaneous waveform inversion for 3-D S-wave velocity and Q structure. Since resolution for Q is not good, we develop a new technique in which power spectra are used as data for inversion. We find good correlation between long wavelength patterns of Vs and Q in the transition zone such as high Vs and high Q under the western Pacific.

Acoustic Resonator Optimisation for Airborne Particle Manipulation

NASA Astrophysics Data System (ADS)

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

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

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

NASA Technical Reports Server (NTRS)

Pol, Sanjay; Mcallister, David; Davis, Edward

1987-01-01

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

A discrete decentralized variable structure robotic controller

NASA Technical Reports Server (NTRS)

Tumeh, Zuheir S.

1989-01-01

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

Plasmonic Spherical Heterodimers: Reversal of Optical Binding Force Based on the Forced Breaking of Symmetry.

PubMed

Mahdy, M R C; Danesh, Md; Zhang, Tianhang; Ding, Weiqiang; Rivy, Hamim Mahmud; Chowdhury, Ariful Bari; Mehmood, M Q

2018-02-16

The stimulating connection between the reversal of near-field plasmonic binding force and the role of symmetry-breaking has not been investigated comprehensively in the literature. In this work, the symmetry of spherical plasmonic heterodimer-setup is broken forcefully by shining the light from a specific side of the set-up instead of impinging it from the top. We demonstrate that for the forced symmetry-broken spherical heterodimer-configurations: reversal of lateral and longitudinal near-field binding force follow completely distinct mechanisms. Interestingly, the reversal of longitudinal binding force can be easily controlled either by changing the direction of light propagation or by varying their relative orientation. This simple process of controlling binding force may open a novel generic way of optical manipulation even with the heterodimers of other shapes. Though it is commonly believed that the reversal of near-field plasmonic binding force should naturally occur for the presence of bonding and anti-bonding modes or at least for the Fano resonance (and plasmonic forces mostly arise from the surface force), our study based on Lorentz-force dynamics suggests notably opposite proposals for the aforementioned cases. Observations in this article can be very useful for improved sensors, particle clustering and aggregation.

Controllable Planar Optical Focusing System

NASA Technical Reports Server (NTRS)

Arbabi, Amir (Inventor); Faraon, Andrei (Inventor)

2016-01-01

An optical device has a first metasurface disposed over a substrate. A high-contrast pattern of the first metasurface is operable for modifying, over a first phase profile, a phase front of an incident light beam. A second metasurface, is disposed over a plane parallel to the first metasurface with a second high-contrast pattern and operable for shaping, over a second phase profile, the modified phase front of the incident light beam into a converging spherical phase front. A spacer layer, in which the modified phase front of the incident light beam diffracts, is disposed in a controllably changeable separation between the first and second metasurfaces. Controllably changing the separation between the first and the second metasurfaces by a first distance correspondingly changes the position of the focus point of the converging spherical phase front by a second distance significantly greater than the first distance.

A temperature correction method for expanding atmospheres

NASA Astrophysics Data System (ADS)

Hamann, W.-R.; Gräfener, G.

2003-11-01

Model atmospheres form the basis for the interpretation of stellar spectra. A major problem in those model calculations is to establish the temperature stratification from the condition of radiative equilibrium. Dealing with non-LTE models for spherically expanding atmospheres of Wolf-Rayet stars, we developed a new temperature correction method. Its basic idea dates back to 1955 when it was proposed by Unsöld for grey, static and plane-parallel atmospheres in LTE. The equations were later generalized to the non-grey case by Lucy. In the present paper we furthermore drop the Eddington approximation, proceed to spherical geometry and allow for expansion of the atmosphere. Finally the concept of an ``approximate lambda operator'' is employed to speed up the convergence. Tests for Wolf-Rayet type models demonstrate that the method works fine even in situations of strong non-LTE.

Semantic Support and Parallel Parsing in Chinese

ERIC Educational Resources Information Center

Hsieh, Yufen; Boland, Julie E.

2015-01-01

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

Parallel Critical Field in Thin Niobium Films: Comparison to Theory

NASA Astrophysics Data System (ADS)

Broussard, P. R.

2017-10-01

For the first time, a comparison to the predicted behavior for parallel critical field is carried out for the model of Kogan and the model of Hara and Nagai. In this study, thin niobium films in the moderately dirty regime were considered. Experimental values of the -C2 term are seen to be lower than those from the model of Hara and Nagai. A possible reason for this could be not including the non-spherical Fermi surface of niobium into the model. There is clearly disagreement with the model of Kogan as the films get cleaner and thinner, and two films which should be below his critical thickness still show positive values of -C2, in disagreement with his theory.

Prospects of photonic nanojets for precise exposure on microobjects

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

Geints, Yu. E., E-mail: ygeints@iao.ru; Zuev Institute of Atmospheric Optics, SB Russian Academy of Sciences, Acad. Zuev Square 1, Tomsk, 634021; Panina, E. K., E-mail: pek@iao.ru

We report on the new optical tool for precise manipulation of various microobjects. This tool is referred to as a “photonic nanojet” (PJ) and corresponds to specific spatially localized and high-intensity area formed near micron-sized transparent spherical dielectric particles illuminated by a visible laser radiation The descriptive analysis of the morphological shapes of photonic nanojets is presented. The PJ shape characterization is based on the numerical calculations of the near-field distribution according to the Mie theory and accounts for jet dimensions and shape complexity.

Particle Line Assembly/Patterning by Microfluidic AC Electroosmosis

NASA Astrophysics Data System (ADS)

Lian, Meng; Islam, Nazmul; Wu, Jie

2006-04-01

Recently AC electroosmosis has attracted research interests worldwide. This paper is the first to investigate particle line assembly/patterning by AC electroosmosis. Since AC electroosmotic force has no dependence on particle sizes, this technique is particularly useful for manipulating nanoscale substance, and hopefully constructs functional nanoscale devices. Two types of ACEO devices, in the configurations of planar interdigitated electrodes and parallel plate electrodes, and a biased ACEO technique are studied, which provides added flexibility in particle manipulation and line assembly. The paper also investigates the effects of electrical field distributions on generating microflows for particle assembly. The results are corroborated experimentally.

Expressions for the Total Yaw Angle

DTIC Science & Technology

2016-09-01

1. Introduction 1 2. Mathematical Notation 1 3. Total Yaw Expression Derivations 2 3.1 First Derivation 2 3.2 Second Derivation 4 3.3 Other...4 iv Approved for public release; distribution is unlimited. 1. Introduction The total yaw angle, γt , of a ballistic projectile is... elevation angles from spherical coordinates.∗ We again place point A at the end point of V. Now imagine a plane parallel to the y-z plane that includes

Accuracy improvement of interferometric Rayleigh scattering diagnostic

NASA Astrophysics Data System (ADS)

Yan, Bo; Chen, Li; Yin, Kewei; Chen, Shuang; Yang, Furong; Tu, Xiaobo

2017-10-01

Cavity structure is used to increase the Interferometric Rayleigh scattering signal intensity. By using ZEMAX method, we simulate a special cavity mode comprising two spherical reflectors with different size, including the focal length and the diameter. The simulations suggest that the parallel beam can reflect repeatedly in the resonant cavity and concentrate on the focus. Besides, the reflection times and the ray width can reach about 50 and 2.1 cm after some feasible solutions.

Light Scattering by Marine Particles: Modeling with Non-spherical Shapes

DTIC Science & Technology

2006-01-01

3896. Gordon, H.R. and Tao Du., 2001, Light scattering by nonspherical particles: application to coccoliths detached from Emiliania huxleyi ... huxleyi using disk-like shapes. Gordon and Du [2001] and Gordon [2004] found that the shape of the backscattering spectrum of detached coccoliths...from E. huxleyi could be well reproduced using a shape consisting of two parallel disks (diameter ~ 2.75 μm and thickness 0.05 μm) separated by 0.3

Detection and manipulation of phosphoinositides.

PubMed

Idevall-Hagren, Olof; De Camilli, Pietro

2015-06-01

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

Detection and manipulation of phosphoinositides☆

PubMed Central

Idevall-Hagren, Olof; Camilli, Pietro De

2016-01-01

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

Force reflecting hand controller for manipulator teleoperation

NASA Technical Reports Server (NTRS)

Bryfogle, Mark D.

1991-01-01

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

A review of magnetic resonance imaging compatible manipulators in surgery.

PubMed

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

2006-04-01

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

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

ERIC Educational Resources Information Center

Bagley, Donna M.; Chaille, Christine

1996-01-01

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

Processing MPI Datatypes Outside MPI

NASA Astrophysics Data System (ADS)

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

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

BCYCLIC: A parallel block tridiagonal matrix cyclic solver

NASA Astrophysics Data System (ADS)

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

2010-09-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-05-01

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

Dynactin-dependent cortical dynein and spherical spindle shape correlate temporally with meiotic spindle rotation in Caenorhabditis elegans

PubMed Central

Crowder, Marina E.; Flynn, Jonathan R.; McNally, Karen P.; Cortes, Daniel B.; Price, Kari L.; Kuehnert, Paul A.; Panzica, Michelle T.; Andaya, Armann; Leary, Julie A.; McNally, Francis J.

2015-01-01

Oocyte meiotic spindles orient with one pole juxtaposed to the cortex to facilitate extrusion of chromosomes into polar bodies. In Caenorhabditis elegans, these acentriolar spindles initially orient parallel to the cortex and then rotate to the perpendicular orientation. To understand the mechanism of spindle rotation, we characterized events that correlated temporally with rotation, including shortening of the spindle in the pole-to pole axis, which resulted in a nearly spherical spindle at rotation. By analyzing large spindles of polyploid C. elegans and a related nematode species, we found that spindle rotation initiated at a defined spherical shape rather than at a defined spindle length. In addition, dynein accumulated on the cortex just before rotation, and microtubules grew from the spindle with plus ends outward during rotation. Dynactin depletion prevented accumulation of dynein on the cortex and prevented spindle rotation independently of effects on spindle shape. These results support a cortical pulling model in which spindle shape might facilitate rotation because a sphere can rotate without deforming the adjacent elastic cytoplasm. We also present evidence that activation of spindle rotation is promoted by dephosphorylation of the basic domain of p150 dynactin. PMID:26133383

Exploration of high harmonic fast wave heating on the National Spherical Torus Experiment

NASA Astrophysics Data System (ADS)

Wilson, J. R.; Bell, R. E.; Bernabei, S.; Bitter, M.; Bonoli, P.; Gates, D.; Hosea, J.; LeBlanc, B.; Mau, T. K.; Medley, S.; Menard, J.; Mueller, D.; Ono, M.; Phillips, C. K.; Pinsker, R. I.; Raman, R.; Rosenberg, A.; Ryan, P.; Sabbagh, S.; Stutman, D.; Swain, D.; Takase, Y.; Wilgen, J.

2003-05-01

High harmonic fast wave (HHFW) heating has been proposed as a particularly attractive means for plasma heating and current drive in the high beta plasmas that are achievable in spherical torus (ST) devices. The National Spherical Torus Experiment (NSTX) [M. Ono, S. M. Kaye, S. Neumeyer et al., in Proceedings of the 18th IEEE/NPSS Symposium on Fusion Engineering, Albuquerque, 1999 (IEEE, Piscataway, NJ, 1999), p. 53] is such a device. An rf heating system has been installed on the NSTX to explore the physics of HHFW heating, current drive via rf waves and for use as a tool to demonstrate the attractiveness of the ST concept as a fusion device. To date, experiments have demonstrated many of the theoretical predictions for HHFW. In particular, strong wave absorption on electrons over a wide range of plasma parameters and wave parallel phase velocities, wave acceleration of energetic ions, and indications of current drive for directed wave spectra have been observed. In addition HHFW heating has been used to explore the energy transport properties of NSTX plasmas, to create H-mode discharges with a large fraction of bootstrap current and to control the plasma current profile during the early stages of the discharge.

Fully non-inductive plasma start-up with lower-hybrid waves using the outboard-launch and top-launch antennas on the TST-2 spherical tokamak

NASA Astrophysics Data System (ADS)

Tsujii, Naoto; Takase, Yuichi; Ejiri, Akira; Shinya, Takahiro; Yajima, Satoru; Yamazaki, Hibiki; Togashi, Hiro; Moeller, Charles P.; Roidl, Benedikt; Takahashi, Wataru; Toida, Kazuya; Yoshida, Yusuke

2017-10-01

Removal of the central solenoid is essential to realize an economical spherical tokamak fusion reactor, but non-inductive plasma start-up is a challenge. On the TST-2 spherical tokamak, non-inductive plasma start-up using lower-hybrid (LH) waves has been investigated. Using the capacitively-coupled combline (CCC) antenna installed at the outboard midplane, fully non-inductive plasma current ramp-up up to a quarter of that of the typical Ohmic discharges has been achieved. Although it was desirable to keep the density low during the plasma current ramp-up to avoid the LH density limit, it was recognized that there was a maximum current density that could be carried by a given electron density. Since the density needed to increase as the plasma current was ramped-up, the achievable plasma current was limited by the maximum operational toroidal field of TST-2. The top-launch CCC antenna was installed to access higher density with up-shift of the parallel index of refraction. Numerical analysis of LH current drive with the outboard-launch and top-launch antennas was performed and the results were qualitatively consistent with the experimental observations.

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

PubMed

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

2013-07-01

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

Robust manipulation of light using topologically protected plasmonic modes.

PubMed

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

2018-02-05

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

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

PubMed Central

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

2016-01-01

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

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

PubMed

Evans, David W

2010-06-01

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

Vortex Shedding from a Vibrating Cable with Attached Spherical Bodies in a Linear Shear Flow.

DTIC Science & Technology

1982-10-27

correlation and strengthened parallel vo:tex shedding. The test model used in the present study was a flexible cable. The vortex street wake behind a vibrating...pattern, different tha. the characteristic patterns associated with either the stationary or vibrating locked-on vortex street wakes was observed... vortex shedding to the vibration of a rigid or flexible cylinder has been explored by Griffin [17]. He presents a model for a universal wake Strouhal

Light Scattering by Marine Particles: Modeling with Non-Spherical Shapes

DTIC Science & Technology

2007-09-30

huxleyi using disk-like shapes. Gordon and Du [2001] and Gordon [2004] found that the shape of the backscattering spectrum of detached coccoliths...from E. huxleyi could be well reproduced using a shape consisting of two parallel disks (diameter ~ 2.75 μm and thickness 0.05 μm) separated by 0.3...3886−3896. Gordon, H.R. and Tao Du., 2001, Light scattering by nonspherical particles: application to coccoliths detached from Emiliania

Reduced model simulations of the scrape-off-layer heat-flux width and comparison with experiment

DOE PAGES

Myra, J. R.; Russell, D. A.; D’Ippolito, D. A.; ...

2011-01-01

Reduced model simulations of turbulence in the edge and scrape-off-layer (SOL) region of a spherical torus or tokamak plasma are employed to address the physics of the scrape-off-layer heat flux width. The simulation model is an electrostatic two-dimensional fluid turbulence model, applied in the plane perpendicular to the magnetic field at the outboard midplane of the torus. The model contains curvature-driven-interchange modes, sheath losses, and both perpendicular turbulent diffusive and convective (blob) transport. These transport processes compete with classical parallel transport to set the SOL width. Midplane SOL profiles of density, temperature and parallel heat flux are obtained from themore » simulation and compared with experimental results from the National Spherical Torus Experiment (NSTX) to study the scaling of the heat flux width with power and plasma current. It is concluded that midplane turbulence is the main contributor to the SOL heat flux width for the low power H-mode discharges studied, while additional physics is required to explain the plasma current scaling of the SOL heat flux width observed experimentally in higher power discharges. Intermittent separatrix spanning convective cells are found to be the main mechanism that sets the near-SOL width in the simulations. The roles of sheared flows and blob trapping vs. emission are discussed.« less

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

PubMed

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

2014-06-28

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

There was movement that was stationary, for the four-velocity had passed around

NASA Astrophysics Data System (ADS)

Roukema, Boudewijn F.

2010-05-01

Is the Doppler interpretation of galaxy redshifts in a Friedmann-Lemaître-Robertson-Walker (FLRW) model valid in the context of the approach to comoving spatial sections pioneered by de Sitter, Friedmann, Lemaître and Robertson, i.e. according to which the three-manifold of comoving space is characterized by both its curvature and topology? Holonomy transformations for flat, spherical and hyperbolic FLRW spatial sections are proposed. By quotienting a simply connected FLRW spatial section by an appropriate group of holonomy transformations, the Doppler interpretation in a non-expanding Minkowski space-time, obtained via four-velocity parallel transport along a photon path, is found to imply that an inertial observer is receding from herself at a speed greater than zero, implying contradictory world lines. The contradiction in the multiply connected case occurs for arbitrary redshifts in the flat and spherical cases, and for certain large redshifts in the hyperbolic case. The link between the Doppler interpretation of redshifts and cosmic topology can be understood physically as the link between parallel transport along a photon path and the fact that the comoving spatial geodesic corresponding to a photon's path can be a closed loop in an FLRW model of any curvature. Closed comoving spatial loops are fundamental to cosmic topology. With apologies to Andrew Barton `Banjo' Paterson. E-mail: boud@astro.uni.torun.pl

Self-assembled fibre optoelectronics with discrete translational symmetry

PubMed Central

Rein, Michael; Levy, Etgar; Gumennik, Alexander; Abouraddy, Ayman F.; Joannopoulos, John; Fink, Yoel

2016-01-01

Fibres with electronic and photonic properties are essential building blocks for functional fabrics with system level attributes. The scalability of thermal fibre drawing approach offers access to large device quantities, while constraining the devices to be translational symmetric. Lifting this symmetry to create discrete devices in fibres will increase their utility. Here, we draw, from a macroscopic preform, fibres that have three parallel internal non-contacting continuous domains; a semiconducting glass between two conductors. We then heat the fibre and generate a capillary fluid instability, resulting in the selective transformation of the cylindrical semiconducting domain into discrete spheres while keeping the conductive domains unchanged. The cylindrical-to-spherical expansion bridges the continuous conducting domains to create ∼104 self-assembled, electrically contacted and entirely packaged discrete spherical devices per metre of fibre. The photodetection and Mie resonance dependent response are measured by illuminating the fibre while connecting its ends to an electrical readout. PMID:27698454

Self-assembled fibre optoelectronics with discrete translational symmetry.

PubMed

Rein, Michael; Levy, Etgar; Gumennik, Alexander; Abouraddy, Ayman F; Joannopoulos, John; Fink, Yoel

2016-10-04

Fibres with electronic and photonic properties are essential building blocks for functional fabrics with system level attributes. The scalability of thermal fibre drawing approach offers access to large device quantities, while constraining the devices to be translational symmetric. Lifting this symmetry to create discrete devices in fibres will increase their utility. Here, we draw, from a macroscopic preform, fibres that have three parallel internal non-contacting continuous domains; a semiconducting glass between two conductors. We then heat the fibre and generate a capillary fluid instability, resulting in the selective transformation of the cylindrical semiconducting domain into discrete spheres while keeping the conductive domains unchanged. The cylindrical-to-spherical expansion bridges the continuous conducting domains to create ∼10 4 self-assembled, electrically contacted and entirely packaged discrete spherical devices per metre of fibre. The photodetection and Mie resonance dependent response are measured by illuminating the fibre while connecting its ends to an electrical readout.

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

PubMed

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

2013-06-21

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

Control of parallel manipulators using force feedback

NASA Technical Reports Server (NTRS)

Nanua, Prabjot

1994-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-06-01

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

Bioinformatics goes back to the future.

PubMed

Miller, Crispin J; Attwood, Teresa K

2003-02-01

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

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

ERIC Educational Resources Information Center

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

2016-01-01

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

Parallel Consolidation of Simple Features into Visual Short-Term Memory

ERIC Educational Resources Information Center

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

2012-01-01

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

Interface colloidal robotic manipulator

DOEpatents

Aronson, Igor; Snezhko, Oleksiy

2015-08-04

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

Social interaction shapes babbling: Testing parallels between birdsong and speech

NASA Astrophysics Data System (ADS)

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

2003-06-01

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

Tree-manipulating systems and Church-Rosser theorems.

NASA Technical Reports Server (NTRS)

Rosen, B. K.

1973-01-01

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

An efficient method for computation of the manipulator inertia matrix

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1989-01-01

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

Apparatus for continuous, fast, and precise measurements of position and velocity of a small spherical particle

NASA Technical Reports Server (NTRS)

Venkataraman, T. S.; Eidson, W. W.; Cohen, L. D.; Farina, J. D.; Acquista, C.

1983-01-01

The position and velocity of optically levitated glass spheres (radii 10-20 microns) movng in a gas are measured accurately, rapidly, and continuously using a high-speed rotating polygon mirror. The experimental technique developed here has repeatable position accuracies better than 20 microns. Each measurement takes less than 1 microsec and can be repeated every 100 microsec. The position of the levitated glass spheres can be manipulated accurately by modulating the laser power with an acoustic optic modulator. The technique provides a fast and accurate method to study general particle dynamics in a fluid.

Towards circuit optogenetics.

PubMed

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

2018-06-01

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

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

PubMed

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

2016-12-01

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

Optical Symbolic Computing

NASA Astrophysics Data System (ADS)

Neff, John A.

1989-12-01

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

National Laboratory for Advanced Scientific Visualization at UNAM - Mexico

NASA Astrophysics Data System (ADS)

Manea, Marina; Constantin Manea, Vlad; Varela, Alfredo

2016-04-01

In 2015, the National Autonomous University of Mexico (UNAM) joined the family of Universities and Research Centers where advanced visualization and computing plays a key role to promote and advance missions in research, education, community outreach, as well as business-oriented consulting. This initiative provides access to a great variety of advanced hardware and software resources and offers a range of consulting services that spans a variety of areas related to scientific visualization, among which are: neuroanatomy, embryonic development, genome related studies, geosciences, geography, physics and mathematics related disciplines. The National Laboratory for Advanced Scientific Visualization delivers services through three main infrastructure environments: the 3D fully immersive display system Cave, the high resolution parallel visualization system Powerwall, the high resolution spherical displays Earth Simulator. The entire visualization infrastructure is interconnected to a high-performance-computing-cluster (HPCC) called ADA in honor to Ada Lovelace, considered to be the first computer programmer. The Cave is an extra large 3.6m wide room with projected images on the front, left and right, as well as floor walls. Specialized crystal eyes LCD-shutter glasses provide a strong stereo depth perception, and a variety of tracking devices allow software to track the position of a user's hand, head and wand. The Powerwall is designed to bring large amounts of complex data together through parallel computing for team interaction and collaboration. This system is composed by 24 (6x4) high-resolution ultra-thin (2 mm) bezel monitors connected to a high-performance GPU cluster. The Earth Simulator is a large (60") high-resolution spherical display used for global-scale data visualization like geophysical, meteorological, climate and ecology data. The HPCC-ADA, is a 1000+ computing core system, which offers parallel computing resources to applications that requires large quantity of memory as well as large and fast parallel storage systems. The entire system temperature is controlled by an energy and space efficient cooling solution, based on large rear door liquid cooled heat exchangers. This state-of-the-art infrastructure will boost research activities in the region, offer a powerful scientific tool for teaching at undergraduate and graduate levels, and enhance association and cooperation with business-oriented organizations.

TMAP: Tübingen NLTE Model-Atmosphere Package

NASA Astrophysics Data System (ADS)

Werner, Klaus; Dreizler, Stefan; Rauch, Thomas

2012-12-01

The Tübingen NLTE Model-Atmosphere Package (TMAP) is a tool to calculate stellar atmospheres in spherical or plane-parallel geometry in hydrostatic and radiative equilibrium allowing departures from local thermodynamic equilibrium (LTE) for the population of atomic levels. It is based on the Accelerated Lambda Iteration (ALI) method and is able to account for line blanketing by metals. All elements from hydrogen to nickel may be included in the calculation with model atoms which are tailored for the aims of the user.

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

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

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

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

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

PubMed

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

2017-03-06

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

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

PubMed

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

2015-08-01

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

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

NASA Technical Reports Server (NTRS)

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

1982-01-01

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

Parallel Grid Manipulations in Earth Science Calculations

NASA Technical Reports Server (NTRS)

Sawyer, W.; Lucchesi, R.; daSilva, A.; Takacs, L. L.

1999-01-01

The National Aeronautics and Space Administration (NASA) Data Assimilation Office (DAO) at the Goddard Space Flight Center is moving its data assimilation system to massively parallel computing platforms. This parallel implementation of GEOS DAS will be used in the DAO's normal activities, which include reanalysis of data, and operational support for flight missions. Key components of GEOS DAS, including the gridpoint-based general circulation model and a data analysis system, are currently being parallelized. The parallelization of GEOS DAS is also one of the HPCC Grand Challenge Projects. The GEOS-DAS software employs several distinct grids. Some examples are: an observation grid- an unstructured grid of points at which observed or measured physical quantities from instruments or satellites are associated- a highly-structured latitude-longitude grid of points spanning the earth at given latitude-longitude coordinates at which prognostic quantities are determined, and a computational lat-lon grid in which the pole has been moved to a different location to avoid computational instabilities. Each of these grids has a different structure and number of constituent points. In spite of that, there are numerous interactions between the grids, e.g., values on one grid must be interpolated to another, or, in other cases, grids need to be redistributed on the underlying parallel platform. The DAO has designed a parallel integrated library for grid manipulations (PILGRIM) to support the needed grid interactions with maximum efficiency. It offers a flexible interface to generate new grids, define transformations between grids and apply them. Basic communication is currently MPI, however the interfaces defined here could conceivably be implemented with other message-passing libraries, e.g., Cray SHMEM, or with shared-memory constructs. The library is written in Fortran 90. First performance results indicate that even difficult problems, such as above-mentioned pole rotation- a sparse interpolation with little data locality between the physical lat-lon grid and a pole rotated computational grid- can be solved efficiently and at the GFlop/s rates needed to solve tomorrow's high resolution earth science models. In the subsequent presentation we will discuss the design and implementation of PILGRIM as well as a number of the problems it is required to solve. Some conclusions will be drawn about the potential performance of the overall earth science models on the supercomputer platforms foreseen for these problems.

Microwell arrays with nanoholes

NASA Technical Reports Server (NTRS)

Kosar, Turgut Fettah (Inventor); Folch, Albert (Inventor)

2009-01-01

A device for conducting parallel analysis or manipulation of multiple cells or biomolecules is disclosed. In one embodiment, the device comprises a silicon chip with a microwell, and at least one membrane suspended at the bottom opening of the microwell. The suspended portion of the membrane defines a nanohole that provides access to the material on the other side of the membrane.

Relating the Stored Magnetic Energy of a Parallel-Plate Inductor to the Work of External Forces

ERIC Educational Resources Information Center

Gauthier, N.

2007-01-01

Idealized models are often used in introductory physics courses. For one, such models involve simple mathematics, which is a definite plus since complex mathematical manipulations quickly become an obstacle rather than a tool for a beginner. Idealized models facilitate a student's understanding and grasp of a given physical phenomenon, yet they…

Wire-Guide Manipulator For Automated Welding

NASA Technical Reports Server (NTRS)

Morris, Tim; White, Kevin; Gordon, Steve; Emerich, Dave; Richardson, Dave; Faulkner, Mike; Stafford, Dave; Mccutcheon, Kim; Neal, Ken; Milly, Pete

1994-01-01

Compact motor drive positions guide for welding filler wire. Drive part of automated wire feeder in partly or fully automated welding system. Drive unit contains three parallel subunits. Rotations of lead screws in three subunits coordinated to obtain desired motions in three degrees of freedom. Suitable for both variable-polarity plasma arc welding and gas/tungsten arc welding.

Overcoming rule-based rigidity and connectionist limitations through massively-parallel case-based reasoning

NASA Technical Reports Server (NTRS)

Barnden, John; Srinivas, Kankanahalli

1990-01-01

Symbol manipulation as used in traditional Artificial Intelligence has been criticized by neural net researchers for being excessively inflexible and sequential. On the other hand, the application of neural net techniques to the types of high-level cognitive processing studied in traditional artificial intelligence presents major problems as well. A promising way out of this impasse is to build neural net models that accomplish massively parallel case-based reasoning. Case-based reasoning, which has received much attention recently, is essentially the same as analogy-based reasoning, and avoids many of the problems leveled at traditional artificial intelligence. Further problems are avoided by doing many strands of case-based reasoning in parallel, and by implementing the whole system as a neural net. In addition, such a system provides an approach to some aspects of the problems of noise, uncertainty and novelty in reasoning systems. The current neural net system (Conposit), which performs standard rule-based reasoning, is being modified into a massively parallel case-based reasoning version.

The cost of conservative synchronization in parallel discrete event simulations

NASA Technical Reports Server (NTRS)

Nicol, David M.

1990-01-01

The performance of a synchronous conservative parallel discrete-event simulation protocol is analyzed. The class of simulation models considered is oriented around a physical domain and possesses a limited ability to predict future behavior. A stochastic model is used to show that as the volume of simulation activity in the model increases relative to a fixed architecture, the complexity of the average per-event overhead due to synchronization, event list manipulation, lookahead calculations, and processor idle time approach the complexity of the average per-event overhead of a serial simulation. The method is therefore within a constant factor of optimal. The analysis demonstrates that on large problems--those for which parallel processing is ideally suited--there is often enough parallel workload so that processors are not usually idle. The viability of the method is also demonstrated empirically, showing how good performance is achieved on large problems using a thirty-two node Intel iPSC/2 distributed memory multiprocessor.

A modular assembling platform for manufacturing of microsystems by optical tweezers

NASA Astrophysics Data System (ADS)

Ksouri, Sarah Isabelle; Aumann, Andreas; Ghadiri, Reza; Prüfer, Michael; Baer, Sebastian; Ostendorf, Andreas

2013-09-01

Due to the increased complexity in terms of materials and geometries for microsystems new assembling techniques are required. Assembling techniques from the semiconductor industry are often very specific and cannot fulfill all specifications in more complex microsystems. Therefore, holographic optical tweezers are applied to manipulate structures in micrometer range with highest flexibility and precision. As is well known non-spherical assemblies can be trapped and controlled by laser light and assembled with an additional light modulator application, where the incident laser beam is rearranged into flexible light patterns in order to generate multiple spots. The complementary building blocks are generated by a two-photon-polymerization process. The possibilities of manufacturing arbitrary microstructures and the potential of optical tweezers lead to the idea of combining manufacturing techniques with manipulation processes to "microrobotic" processes. This work presents the manipulation of generated complex microstructures with optical tools as well as a storage solution for 2PP assemblies. A sample holder has been developed for the manual feeding of 2PP building blocks. Furthermore, a modular assembling platform has been constructed for an `all-in-one' 2PP manufacturing process as a dedicated storage system. The long-term objective is the automation process of feeding and storage of several different 2PP micro-assemblies to realize an automated assembly process.

Acoustic radiation force of a Bessel beam on a porous sphere.

PubMed

Azarpeyvand, Mahdi

2012-06-01

The possibility of using acoustic Bessel beams to produce an axial pulling force on porous particles is examined in an exact manner. The mathematical model utilizes the appropriate partial-wave expansion method in spherical coordinates, while Biot's model is used to describe the wave motion within the poroelastic medium. Of particular interest here is to examine the feasibility of using Bessel beams for (a) acoustic manipulation of fine porous particles and (b) suppression of particle resonances. To verify the viability of the technique, the radiation force and scattering form-function are calculated for aluminum and silica foams at various porosities. Inspection of the results has shown that acoustic manipulation of low porosity (<0.3) spheres is similar to that of solid elastic spheres, but this behavior significantly changes at higher porosities. Results have also shown a strong correlation between the backscattered form-function and the regions of negative radiation force. It has also been observed that the high-order resonances of the particle can be effectively suppressed by choosing the beam conical angle such that the acoustic contribution from that particular mode vanishes. This investigation may be helpful in the development of acoustic tweezers for manipulation of micro-porous drug delivery carrier and contrast agents.

Divertor heat flux mitigation in the National Spherical Torus Experimenta)

NASA Astrophysics Data System (ADS)

Soukhanovskii, V. A.; Maingi, R.; Gates, D. A.; Menard, J. E.; Paul, S. F.; Raman, R.; Roquemore, A. L.; Bell, M. G.; Bell, R. E.; Boedo, J. A.; Bush, C. E.; Kaita, R.; Kugel, H. W.; Leblanc, B. P.; Mueller, D.; NSTX Team

2009-02-01

Steady-state handling of divertor heat flux is a critical issue for both ITER and spherical torus-based devices with compact high power density divertors. Significant reduction of heat flux to the divertor plate has been achieved simultaneously with favorable core and pedestal confinement and stability properties in a highly shaped lower single null configuration in the National Spherical Torus Experiment (NSTX) [M. Ono et al., Nucl. Fusion 40, 557 2000] using high magnetic flux expansion at the divertor strike point and the radiative divertor technique. A partial detachment of the outer strike point was achieved with divertor deuterium injection leading to peak flux reduction from 4-6MWm-2to0.5-2MWm-2 in small-ELM 0.8-1.0MA, 4-6MW neutral beam injection-heated H-mode discharges. A self-consistent picture of the outer strike point partial detachment was evident from divertor heat flux profiles and recombination, particle flux and neutral pressure measurements. Analytic scrape-off layer parallel transport models were used for interpretation of NSTX detachment experiments. The modeling showed that the observed peak heat flux reduction and detachment are possible with high radiated power and momentum loss fractions, achievable with divertor gas injection, and nearly impossible to achieve with main electron density, divertor neutral density or recombination increases alone.

Exploration of High Harmonic Fast Wave Heating on the National Spherical Torus Experiment

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

J.R. Wilson; R.E. Bell; S. Bernabei

2003-02-11

High Harmonic Fast Wave (HHFW) heating has been proposed as a particularly attractive means for plasma heating and current drive in the high-beta plasmas that are achievable in spherical torus (ST) devices. The National Spherical Torus Experiment (NSTX) [Ono, M., Kaye, S.M., Neumeyer, S., et al., Proceedings, 18th IEEE/NPSS Symposium on Fusion Engineering, Albuquerque, 1999, (IEEE, Piscataway, NJ (1999), p. 53.)] is such a device. An radio-frequency (rf) heating system has been installed on NSTX to explore the physics of HHFW heating, current drive via rf waves and for use as a tool to demonstrate the attractiveness of the STmore » concept as a fusion device. To date, experiments have demonstrated many of the theoretical predictions for HHFW. In particular, strong wave absorption on electrons over a wide range of plasma parameters and wave parallel phase velocities, wave acceleration of energetic ions, and indications of current drive for directed wave spectra have been observed. In addition HHFW heating has been used to explore the energy transport properties of NSTX plasmas, to create H-mode (high-confinement mode) discharges with a large fraction of bootstrap current and to control the plasma current profile during the early stages of the discharge.« less

Facing competition: Neural mechanisms underlying parallel programming of antisaccades and prosaccades.

PubMed

Talanow, Tobias; Kasparbauer, Anna-Maria; Steffens, Maria; Meyhöfer, Inga; Weber, Bernd; Smyrnis, Nikolaos; Ettinger, Ulrich

2016-08-01

The antisaccade task is a prominent tool to investigate the response inhibition component of cognitive control. Recent theoretical accounts explain performance in terms of parallel programming of exogenous and endogenous saccades, linked to the horse race metaphor. Previous studies have tested the hypothesis of competing saccade signals at the behavioral level by selectively slowing the programming of endogenous or exogenous processes e.g. by manipulating the probability of antisaccades in an experimental block. To gain a better understanding of inhibitory control processes in parallel saccade programming, we analyzed task-related eye movements and blood oxygenation level dependent (BOLD) responses obtained using functional magnetic resonance imaging (fMRI) at 3T from 16 healthy participants in a mixed antisaccade and prosaccade task. The frequency of antisaccade trials was manipulated across blocks of high (75%) and low (25%) antisaccade frequency. In blocks with high antisaccade frequency, antisaccade latencies were shorter and error rates lower whilst prosaccade latencies were longer and error rates were higher. At the level of BOLD, activations in the task-related saccade network (left inferior parietal lobe, right inferior parietal sulcus, left precentral gyrus reaching into left middle frontal gyrus and inferior frontal junction) and deactivations in components of the default mode network (bilateral temporal cortex, ventromedial prefrontal cortex) compensated increased cognitive control demands. These findings illustrate context dependent mechanisms underlying the coordination of competing decision signals in volitional gaze control. Copyright © 2016 Elsevier Inc. All rights reserved.

Multiphoton imaging microscopy at deeper layers with adaptive optics control of spherical aberration.

PubMed

Bueno, Juan M; Skorsetz, Martin; Palacios, Raquel; Gualda, Emilio J; Artal, Pablo

2014-01-01

Despite the inherent confocality and optical sectioning capabilities of multiphoton microscopy, three-dimensional (3-D) imaging of thick samples is limited by the specimen-induced aberrations. The combination of immersion objectives and sensorless adaptive optics (AO) techniques has been suggested to overcome this difficulty. However, a complex plane-by-plane correction of aberrations is required, and its performance depends on a set of image-based merit functions. We propose here an alternative approach to increase penetration depth in 3-D multiphoton microscopy imaging. It is based on the manipulation of the spherical aberration (SA) of the incident beam with an AO device while performing fast tomographic multiphoton imaging. When inducing SA, the image quality at best focus is reduced; however, better quality images are obtained from deeper planes within the sample. This is a compromise that enables registration of improved 3-D multiphoton images using nonimmersion objectives. Examples on ocular tissues and nonbiological samples providing different types of nonlinear signal are presented. The implementation of this technique in a future clinical instrument might provide a better visualization of corneal structures in living eyes.

Smisc - A collection of miscellaneous functions

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

Landon Sego, PNNL

2015-08-31

A collection of functions for statistical computing and data manipulation. These include routines for rapidly aggregating heterogeneous matrices, manipulating file names, loading R objects, sourcing multiple R files, formatting datetimes, multi-core parallel computing, stream editing, specialized plotting, etc. Smisc-package A collection of miscellaneous functions allMissing Identifies missing rows or columns in a data frame or matrix as.numericSilent Silent wrapper for coercing a vector to numeric comboList Produces all possible combinations of a set of linear model predictors cumMax Computes the maximum of the vector up to the current index cumsumNA Computes the cummulative sum of a vector without propogating NAsmore » d2binom Probability functions for the sum of two independent binomials dataIn A flexible way to import data into R. dbb The Beta-Binomial Distribution df2list Row-wise conversion of a data frame to a list dfplapply Parallelized single row processing of a data frame dframeEquiv Examines the equivalence of two dataframes or matrices dkbinom Probability functions for the sum of k independent binomials factor2character Converts all factor variables in a dataframe to character variables findDepMat Identify linearly dependent rows or columns in a matrix formatDT Converts date or datetime strings into alternate formats getExtension Filename manipulations: remove the extension or path, extract the extension or path getPath Filename manipulations: remove the extension or path, extract the extension or path grabLast Filename manipulations: remove the extension or path, extract the extension or path ifelse1 Non-vectorized version of ifelse integ Simple numerical integration routine interactionPlot Two-way Interaction Plot with Error Bar linearMap Linear mapping of a numerical vector or scalar list2df Convert a list to a data frame loadObject Loads and returns the object(s) in an ".Rdata" file more Display the contents of a file to the R terminal movAvg2 Calculate the moving average using a 2-sided window openDevice Opens a graphics device based on the filename extension p2binom Probability functions for the sum of two independent binomials padZero Pad a vector of numbers with zeros parseJob Parses a collection of elements into (almost) equal sized groups pbb The Beta-Binomial Distribution pcbinom A continuous version of the binomial cdf pkbinom Probability functions for the sum of k independent binomials plapply Simple parallelization of lapply plotFun Plot one or more functions on a single plot PowerData An example of power data pvar Prints the name and value of one or more objects qbb The Beta-Binomial Distribution rbb And numerous others (space limits reporting).« less

Closed-form dynamics of a hexarot parallel manipulator by means of the principle of virtual work

NASA Astrophysics Data System (ADS)

Pedrammehr, Siamak; Nahavandi, Saeid; Abdi, Hamid

2018-04-01

In this research, a systematic approach to solving the inverse dynamics of hexarot manipulators is addressed using the methodology of virtual work. For the first time, a closed form of the mathematical formulation of the standard dynamic model is presented for this class of mechanisms. An efficient algorithm for solving this closed-form dynamic model of the mechanism is developed and it is used to simulate the dynamics of the system for different trajectories. Validation of the proposed model is performed using SimMechanics and it is shown that the results of the proposed mathematical model match with the results obtained by the SimMechanics model.

Simulation Exploration through Immersive Parallel Planes

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

Brunhart-Lupo, Nicholas J; Bush, Brian W; Gruchalla, Kenny M

We present a visualization-driven simulation system that tightly couples systems dynamics simulations with an immersive virtual environment to allow analysts to rapidly develop and test hypotheses in a high-dimensional parameter space. To accomplish this, we generalize the two-dimensional parallel-coordinates statistical graphic as an immersive 'parallel-planes' visualization for multivariate time series emitted by simulations running in parallel with the visualization. In contrast to traditional parallel coordinate's mapping the multivariate dimensions onto coordinate axes represented by a series of parallel lines, we map pairs of the multivariate dimensions onto a series of parallel rectangles. As in the case of parallel coordinates, eachmore » individual observation in the dataset is mapped to a polyline whose vertices coincide with its coordinate values. Regions of the rectangles can be 'brushed' to highlight and select observations of interest: a 'slider' control allows the user to filter the observations by their time coordinate. In an immersive virtual environment, users interact with the parallel planes using a joystick that can select regions on the planes, manipulate selection, and filter time. The brushing and selection actions are used to both explore existing data as well as to launch additional simulations corresponding to the visually selected portions of the input parameter space. As soon as the new simulations complete, their resulting observations are displayed in the virtual environment. This tight feedback loop between simulation and immersive analytics accelerates users' realization of insights about the simulation and its output.« less

Simulation Exploration through Immersive Parallel Planes: Preprint

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

Brunhart-Lupo, Nicholas; Bush, Brian W.; Gruchalla, Kenny

We present a visualization-driven simulation system that tightly couples systems dynamics simulations with an immersive virtual environment to allow analysts to rapidly develop and test hypotheses in a high-dimensional parameter space. To accomplish this, we generalize the two-dimensional parallel-coordinates statistical graphic as an immersive 'parallel-planes' visualization for multivariate time series emitted by simulations running in parallel with the visualization. In contrast to traditional parallel coordinate's mapping the multivariate dimensions onto coordinate axes represented by a series of parallel lines, we map pairs of the multivariate dimensions onto a series of parallel rectangles. As in the case of parallel coordinates, eachmore » individual observation in the dataset is mapped to a polyline whose vertices coincide with its coordinate values. Regions of the rectangles can be 'brushed' to highlight and select observations of interest: a 'slider' control allows the user to filter the observations by their time coordinate. In an immersive virtual environment, users interact with the parallel planes using a joystick that can select regions on the planes, manipulate selection, and filter time. The brushing and selection actions are used to both explore existing data as well as to launch additional simulations corresponding to the visually selected portions of the input parameter space. As soon as the new simulations complete, their resulting observations are displayed in the virtual environment. This tight feedback loop between simulation and immersive analytics accelerates users' realization of insights about the simulation and its output.« less

Toward automated formation of microsphere arrangements using multiplexed optical tweezers

NASA Astrophysics Data System (ADS)

Rajasekaran, Keshav; Bollavaram, Manasa; Banerjee, Ashis G.

2016-09-01

Optical tweezers offer certain advantages such as multiplexing using a programmable spatial light modulator, flexibility in the choice of the manipulated object and the manipulation medium, precise control, easy object release, and minimal object damage. However, automated manipulation of multiple objects in parallel, which is essential for efficient and reliable formation of micro-scale assembly structures, poses a difficult challenge. There are two primary research issues in addressing this challenge. First, the presence of stochastic Langevin force giving rise to Brownian motion requires motion control for all the manipulated objects at fast rates of several Hz. Second, the object dynamics is non-linear and even difficult to represent analytically due to the interaction of multiple optical traps that are manipulating neighboring objects. As a result, automated controllers have not been realized for tens of objects, particularly with three dimensional motions with guaranteed collision avoidances. In this paper, we model the effect of interacting optical traps on microspheres with significant Brownian motions in stationary fluid media, and develop simplified state-space representations. These representations are used to design a model predictive controller to coordinate the motions of several spheres in real time. Preliminary experiments demonstrate the utility of the controller in automatically forming desired arrangements of varying configurations starting with randomly dispersed microspheres.

Three dimensional adaptive mesh refinement on a spherical shell for atmospheric models with lagrangian coordinates

NASA Astrophysics Data System (ADS)

Penner, Joyce E.; Andronova, Natalia; Oehmke, Robert C.; Brown, Jonathan; Stout, Quentin F.; Jablonowski, Christiane; van Leer, Bram; Powell, Kenneth G.; Herzog, Michael

2007-07-01

One of the most important advances needed in global climate models is the development of atmospheric General Circulation Models (GCMs) that can reliably treat convection. Such GCMs require high resolution in local convectively active regions, both in the horizontal and vertical directions. During previous research we have developed an Adaptive Mesh Refinement (AMR) dynamical core that can adapt its grid resolution horizontally. Our approach utilizes a finite volume numerical representation of the partial differential equations with floating Lagrangian vertical coordinates and requires resolving dynamical processes on small spatial scales. For the latter it uses a newly developed general-purpose library, which facilitates 3D block-structured AMR on spherical grids. The library manages neighbor information as the blocks adapt, and handles the parallel communication and load balancing, freeing the user to concentrate on the scientific modeling aspects of their code. In particular, this library defines and manages adaptive blocks on the sphere, provides user interfaces for interpolation routines and supports the communication and load-balancing aspects for parallel applications. We have successfully tested the library in a 2-D (longitude-latitude) implementation. During the past year, we have extended the library to treat adaptive mesh refinement in the vertical direction. Preliminary results are discussed. This research project is characterized by an interdisciplinary approach involving atmospheric science, computer science and mathematical/numerical aspects. The work is done in close collaboration between the Atmospheric Science, Computer Science and Aerospace Engineering Departments at the University of Michigan and NOAA GFDL.

Dielectric properties of biological tissues in which cells are connected by communicating junctions

NASA Astrophysics Data System (ADS)

Asami, Koji

2007-06-01

The frequency dependence of the complex permittivity of biological tissues has been simulated using a simple model that is a cubic array of spherical cells in a parallel plate capacitor. The cells are connected by two types of communicating junctions: one is a membrane-lined channel for plasmodesmata in plant tissues, and the other is a conducting patch of adjoining plasma membranes for gap junctions in animal tissues. Both junctions provided similar effects on the dielectric properties of the tissue model. The model without junction showed a dielectric relaxation (called β-dispersion) that was expected from an interfacial polarization theory for a concentrated suspension of spherical cells. The dielectric relaxation was the same as that of the model in which neighbouring cells were connected by junctions perpendicular to the applied electric field. When neighbouring cells were connected by junctions parallel to the applied electric field or in all directions, a dielectric relaxation appeared at a lower frequency side in addition to the β-dispersion, corresponding to the so called α-dispersion. When junctions were randomly introduced at varied probabilities Pj, the low-frequency (LF) relaxation curve became broader, especially at Pj of 0.2-0.5, and its intensity was proportional to Pj up to 0.7. The intensity and the characteristic frequency of the LF relaxation both decreased with decreasing junction conductance. The simulations indicate that communicating junctions are important for understanding the LF dielectric relaxation in tissues.

Coherent backscattering of light by complex random media of spherical scatterers: numerical solution

NASA Astrophysics Data System (ADS)

Muinonen, Karri

2004-07-01

Novel Monte Carlo techniques are described for the computation of reflection coefficient matrices for multiple scattering of light in plane-parallel random media of spherical scatterers. The present multiple scattering theory is composed of coherent backscattering and radiative transfer. In the radiative transfer part, the Stokes parameters of light escaping from the medium are updated at each scattering process in predefined angles of emergence. The scattering directions at each process are randomized using probability densities for the polar and azimuthal scattering angles: the former angle is generated using the single-scattering phase function, whereafter the latter follows from Kepler's equation. For spherical scatterers in the Rayleigh regime, randomization proceeds semi-analytically whereas, beyond that regime, cubic spline presentation of the scattering matrix is used for numerical computations. In the coherent backscattering part, the reciprocity of electromagnetic waves in the backscattering direction allows the renormalization of the reversely propagating waves, whereafter the scattering characteristics are computed in other directions. High orders of scattering (~10 000) can be treated because of the peculiar polarization characteristics of the reverse wave: after a number of scatterings, the polarization state of the reverse wave becomes independent of that of the incident wave, that is, it becomes fully dictated by the scatterings at the end of the reverse path. The coherent backscattering part depends on the single-scattering albedo in a non-monotonous way, the most pronounced signatures showing up for absorbing scatterers. The numerical results compare favourably to the literature results for nonabsorbing spherical scatterers both in and beyond the Rayleigh regime.

3D brain tumor localization and parameter estimation using thermographic approach on GPU.

PubMed

Bousselham, Abdelmajid; Bouattane, Omar; Youssfi, Mohamed; Raihani, Abdelhadi

2018-01-01

The aim of this paper is to present a GPU parallel algorithm for brain tumor detection to estimate its size and location from surface temperature distribution obtained by thermography. The normal brain tissue is modeled as a rectangular cube including spherical tumor. The temperature distribution is calculated using forward three dimensional Pennes bioheat transfer equation, it's solved using massively parallel Finite Difference Method (FDM) and implemented on Graphics Processing Unit (GPU). Genetic Algorithm (GA) was used to solve the inverse problem and estimate the tumor size and location by minimizing an objective function involving measured temperature on the surface to those obtained by numerical simulation. The parallel implementation of Finite Difference Method reduces significantly the time of bioheat transfer and greatly accelerates the inverse identification of brain tumor thermophysical and geometrical properties. Experimental results show significant gains in the computational speed on GPU and achieve a speedup of around 41 compared to the CPU. The analysis performance of the estimation based on tumor size inside brain tissue also presented. Copyright © 2017 Elsevier Ltd. All rights reserved.

Mars Orbiter Sample Return Power Design

NASA Technical Reports Server (NTRS)

Mardesich, N.; Dawson, S.

1999-01-01

The NASA/JPL 2003/2005 Mars Sample Return (MSR) Missions will each have a sample return canister that will be filled with samples cored from the surface of MARS. These spherical canisters will be 14.8 cm in diameter and must be powered only by solar cells on the surface and must communicate using RF transmission with the recovery vehicle that will be coming in 2006 or 2009 to retrieve the canister. This paper considers the aspect and conclusion that went into the design of the power system that achieves the maximum power with the minimum risk. The power output for the spherical orbiting canister was modeled and plotted in various views of the orbit by the SOAP program developed by JPL. The requirements and geometry for a solar array on a sphere are unique and place special constraints on the design. These requirements include 1) accommodating a lid for sample loading into the canister, surface area was restricted from use on the Northern pole of the spherical canister. 2) minimal cell surface coverage (maximum cell efficiency), less than 40%, for recovery vehicle to locate the canister by optical techniques. 3) a RF transmission during 50% of MARS orbit time on any spin axis, which requires optimum circuit placement of the solar cell onto the spherical canister. The best configuration would have been a 4.5 volt round cell, but in the real world we compromised with six triangular silicon cells connected in series to form a hexagon. These hexagon circuits would be mounted onto a flat facet cut into the spherical canister. The surface flats are required in order to maximize power, the surface of the cells connected in series must be at the same angle relative to the sun. The flat facets intersect each other to allow twelve circuits evenly spaced just North and twelve circuits South of the equator of the spherical canister. Connecting these circuits in parallel allows sufficient power to operate the transmitter at minimum solar exposure, Northern pole of the canister facing the sun. Additional power, as much as 20%, is also generated by the circuits facing MARS due to albedo of MARS.

Efficient Synthesis of γ-Lactams by a Tandem Reductive Amination/Lactamization Sequence

PubMed Central

Nöth, Julica; Frankowski, Kevin J.; Neuenswander, Benjamin; Aubé, Jeffrey; Reiser, Oliver

2009-01-01

A three-component method for synthesizing highly-substituted γ-lactams from readily available maleimides, aldehydes and amines is described. A new reductive amination/intramolecular lactamization sequence provides a straightforward route to the lactam products in a single manipulation. The general utility of this method is demonstrated by the parallel synthesis of a γ-lactam library. PMID:18338857

Efficient synthesis of gamma-lactams by a tandem reductive amination/lactamization sequence.

PubMed

Nöth, Julica; Frankowski, Kevin J; Neuenswander, Benjamin; Aubé, Jeffrey; Reiser, Oliver

2008-01-01

A three-component method for the synthesis of highly substituted gamma-lactams from readily available maleimides, aldehydes, and amines is described. A new reductive amination/intramolecular lactamization sequence provides a straightforward route to the lactam products in a single manipulation. The general utility of this method is demonstrated by the parallel synthesis of a gamma-lactam library.

Information engineering

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

Hunt, D.N.

1997-02-01

The Information Engineering thrust area develops information technology to support the programmatic needs of Lawrence Livermore National Laboratory`s Engineering Directorate. Progress in five programmatic areas are described in separate reports contained herein. These are entitled Three-dimensional Object Creation, Manipulation, and Transport, Zephyr:A Secure Internet-Based Process to Streamline Engineering Procurements, Subcarrier Multiplexing: Optical Network Demonstrations, Parallel Optical Interconnect Technology Demonstration, and Intelligent Automation Architecture.

Characterization of Planctomyces limnophilus and development of genetic tools for its manipulation establish it as a model species for the phylum Planctomycetes.

PubMed

Jogler, Christian; Glöckner, Frank Oliver; Kolter, Roberto

2011-08-15

Planctomycetes represent a remarkable clade in the domain Bacteria because they play crucial roles in global carbon and nitrogen cycles and display cellular structures that closely parallel those of eukaryotic cells. Studies on Planctomycetes have been hampered by the lack of genetic tools, which we developed for Planctomyces limnophilus.

Web 2.0, Pedagogical Support for Reflexive and Emotional Social Interaction among Swedish Students

ERIC Educational Resources Information Center

Augustsson, Gunnar

2010-01-01

Collaborative social interaction when using Web 2.0 in terms of VoiceThread is investigated in a case study of a Swedish university course in social psychology. The case study method was chosen because of the desire not to manipulate the students' behaviour, and data was collected in parallel with course implementation. Two particular…

Modified Petri net model sensitivity to workload manipulations

NASA Technical Reports Server (NTRS)

White, S. A.; Mackinnon, D. P.; Lyman, J.

1986-01-01

Modified Petri Nets (MPNs) are investigated as a workload modeling tool. The results of an exploratory study of the sensitivity of MPNs to work load manipulations in a dual task are described. Petri nets have been used to represent systems with asynchronous, concurrent and parallel activities (Peterson, 1981). These characteristics led some researchers to suggest the use of Petri nets in workload modeling where concurrent and parallel activities are common. Petri nets are represented by places and transitions. In the workload application, places represent operator activities and transitions represent events. MPNs have been used to formally represent task events and activities of a human operator in a man-machine system. Some descriptive applications demonstrate the usefulness of MPNs in the formal representation of systems. It is the general hypothesis herein that in addition to descriptive applications, MPNs may be useful for workload estimation and prediction. The results are reported of the first of a series of experiments designed to develop and test a MPN system of workload estimation and prediction. This first experiment is a screening test of MPN model general sensitivity to changes in workload. Positive results from this experiment will justify the more complicated analyses and techniques necessary for developing a workload prediction system.

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

NASA Astrophysics Data System (ADS)

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

2005-09-01

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

Communication: Orientational structure manipulation in nematic liquid crystal droplets induced by light excitation of azodendrimer dopant

NASA Astrophysics Data System (ADS)

Shvetsov, Sergey A.; Emelyanenko, Alexander V.; Boiko, Natalia I.; Liu, Jui-Hsiang; Khokhlov, Alexei R.

2017-06-01

Reversible orientational transitions in the droplets of a nematic liquid crystal (NLC) caused by the change of boundary conditions under the low intensity diode illumination are investigated. Photosensitivity of NLC is achieved by the addition of the dendrimer compound with azobenzene terminal groups. Two types of NLC droplets in glycerol are considered: the spherical droplets in the bulk of glycerol and the droplets laid-down onto the solid substrate. In the second case, the first order phase transition is revealed. The effects described can be useful for the development of highly sensitive chemical detectors and microsized photo-tunable optical devices.

High-speed observation of ZnO microspherical crystals produced by laser ablation (Conference Presentation)

NASA Astrophysics Data System (ADS)

Nakamura, Daisuke; Tasaki, Ryohei; Fujiwara, Yuki; Nagasaki, Fumiaki; Higashihata, Mitsuhiro; Ikenoue, Hiroshi; Okada, Tatsuo

2017-03-01

ZnO nano/microstructures have attracted much attention as building blocks for optoelectronic devices because of their high crystalline quality and unique structures. We have succeeded in synthesizing ZnO microspherical crystals by a simple atmospheric laser ablation method, and demonstrated ultraviolet whispering-gallery-mode lasing from the spheres. In the microsphere synthesis process, molten droplets formed into spherical shapes by surface tension, and crystalized during ejection from the ablation spot. In this study, we observed the generation of ZnO microspheres by high-speed camera. Now we are trying to control and manipulate the microspheres using a vortex beam.

3D tracking of laparoscopic instruments using statistical and geometric modeling.

PubMed

Wolf, Rémi; Duchateau, Josselin; Cinquin, Philippe; Voros, Sandrine

2011-01-01

During a laparoscopic surgery, the endoscope can be manipulated by an assistant or a robot. Several teams have worked on the tracking of surgical instruments, based on methods ranging from the development of specific devices to image processing methods. We propose to exploit the instruments' insertion points, which are fixed on the patients abdominal cavity, as a geometric constraint for the localization of the instruments. A simple geometric model of a laparoscopic instrument is described, as well as a parametrization that exploits a spherical geometric grid, which offers attracting homogeneity and isotropy properties. The general architecture of our proposed approach is based on the probabilistic Condensation algorithm.

Electromagnetic fields and torque for a rotating gyroscope with a superconducting shield

NASA Technical Reports Server (NTRS)

Ebner, C.; Sung, C. C.

1975-01-01

In a proposed experiment, a measurement is to be made of the angular precession of a rotating superconducting gyroscope for the purpose of testing different general-relativity theories. For various reasons having to do with the design of the experiment, the superconducting shield surrounding the gyroscope is not spherically symmetric and produces a torque. There are two distinct features of the shield which lead to a torque on the gyroscope. First, its shape is a sphere intersected by a plane. If the angular momentum of the gyroscope is not parallel to the rotational symmetry axis of the shield, there is a torque which is calculated. Second, there are small holes in the spherical portion of the shield. The earth's field can penetrate through these holes and give an additional torque which is also calculated. In the actual experiment, these torques must be accurately known or made very small in order to obtain meaningful results. The present calculation is sufficiently general for application over a wide range of experimental design parameters.

Magnetophoretic circuits for digital control of single particles and cells

NASA Astrophysics Data System (ADS)

Lim, Byeonghwa; Reddy, Venu; Hu, Xinghao; Kim, Kunwoo; Jadhav, Mital; Abedini-Nassab, Roozbeh; Noh, Young-Woock; Lim, Yong Taik; Yellen, Benjamin B.; Kim, Cheolgi

2014-05-01

The ability to manipulate small fluid droplets, colloidal particles and single cells with the precision and parallelization of modern-day computer hardware has profound applications for biochemical detection, gene sequencing, chemical synthesis and highly parallel analysis of single cells. Drawing inspiration from general circuit theory and magnetic bubble technology, here we demonstrate a class of integrated circuits for executing sequential and parallel, timed operations on an ensemble of single particles and cells. The integrated circuits are constructed from lithographically defined, overlaid patterns of magnetic film and current lines. The magnetic patterns passively control particles similar to electrical conductors, diodes and capacitors. The current lines actively switch particles between different tracks similar to gated electrical transistors. When combined into arrays and driven by a rotating magnetic field clock, these integrated circuits have general multiplexing properties and enable the precise control of magnetizable objects.

Parallel MR Imaging with Accelerations Beyond the Number of Receiver Channels Using Real Image Reconstruction.

PubMed

Ji, Jim; Wright, Steven

2005-01-01

Parallel imaging using multiple phased-array coils and receiver channels has become an effective approach to high-speed magnetic resonance imaging (MRI). To obtain high spatiotemporal resolution, the k-space is subsampled and later interpolated using multiple channel data. Higher subsampling factors result in faster image acquisition. However, the subsampling factors are upper-bounded by the number of parallel channels. Phase constraints have been previously proposed to overcome this limitation with some success. In this paper, we demonstrate that in certain applications it is possible to obtain acceleration factors potentially up to twice the channel numbers by using a real image constraint. Data acquisition and processing methods to manipulate and estimate of the image phase information are presented for improving image reconstruction. In-vivo brain MRI experimental results show that accelerations up to 6 are feasible with 4-channel data.

A robot arm simulation with a shared memory multiprocessor machine

NASA Technical Reports Server (NTRS)

Kim, Sung-Soo; Chuang, Li-Ping

1989-01-01

A parallel processing scheme for a single chain robot arm is presented for high speed computation on a shared memory multiprocessor. A recursive formulation that is derived from a virtual work form of the d'Alembert equations of motion is utilized for robot arm dynamics. A joint drive system that consists of a motor rotor and gears is included in the arm dynamics model, in order to take into account gyroscopic effects due to the spinning of the rotor. The fine grain parallelism of mechanical and control subsystem models is exploited, based on independent computation associated with bodies, joint drive systems, and controllers. Efficiency and effectiveness of the parallel scheme are demonstrated through simulations of a telerobotic manipulator arm. Two different mechanical subsystem models, i.e., with and without gyroscopic effects, are compared, to show the trade-off between efficiency and accuracy.

Six degree-of-freedom scanning supports and manipulators based on parallel robots

NASA Astrophysics Data System (ADS)

Comin, Fabio

1995-02-01

The exploitation of third generation SR sources heavily relies on accurate and stable positioning and scanning of samples and optical elements. In some cases, active feedback is also necessary. Normally, these tasks are carried out by serial addition of individual components, each of them providing a well-defined excursion path. On the contrary, the exploitation of the concept of parallel robots, structures in close cinematic chain, permits us to follow any given trajectory in the six-dimensional space with a large increase in accuracy and stiffness. At ESRF, the parallel robot architecture conceived some tens of years ago for flight simulators has been adapted to both actively align and operate optical elements of considerable weight and position small samples in ultrahigh vacuum. The performance of these devices gives results far superior to the initial specification and a variety of drive mechanisms are being developed to fit the different needs of the ESRF beamlines.

Dynamic properties of micro-particles in ultrasonic transportation using phase-controllable standing waves

NASA Astrophysics Data System (ADS)

Jia, Kun; Mei, Deqing; Meng, Jianxin; Yang, Keji

2014-10-01

Ultrasonic manipulation has become an attractive method for surface-sensitive objects in micro-technology. Related phenomena, such as radiation force, multiple scattering, and acoustic streaming, have been widely studied. However, in current studies, the behavior of micro-particles in potential force fields is always analyzed in a quasi-static manner. We developed a dynamic model of a dilute micro-particle in the commonly used two-dimensional ultrasonic manipulation system to provide a systemic and quantitative analysis of the transient properties of particle movement. In this model, the acoustic streaming and hydrodynamic forces, omitted in previous work, were both considered. The trajectory of a spherical silica particle with different initial conditions was derived by numerically solving the established nonlinear differential integral equation system, which was then validated experimentally. The envelope of the experimental data on the x-axis showed good agreement with the theoretical calculation, and the greater influence on the y-axis of the deviation between the actual sound field and the ideal distribution employed in our dynamic model could account for the differences in displacement in that direction. Finally, the influence of particle size on its movement and the effect of acoustic streaming on calculating the hydrodynamic forces for an isolated particle with motion relative to the fluid were analyzed theoretically. It was found that the ultrasonic manipulation system will translate from an under-damped system to an over-damped system with a decrease in particle size and the micro-scale acoustic streaming velocity was negligible when calculating the hydrodynamic forces on the particle in the ultrasonic manipulation system.

Characterization of robotics parallel algorithms and mapping onto a reconfigurable SIMD machine

NASA Technical Reports Server (NTRS)

Lee, C. S. G.; Lin, C. T.

1989-01-01

The kinematics, dynamics, Jacobian, and their corresponding inverse computations are six essential problems in the control of robot manipulators. Efficient parallel algorithms for these computations are discussed and analyzed. Their characteristics are identified and a scheme on the mapping of these algorithms to a reconfigurable parallel architecture is presented. Based on the characteristics including type of parallelism, degree of parallelism, uniformity of the operations, fundamental operations, data dependencies, and communication requirement, it is shown that most of the algorithms for robotic computations possess highly regular properties and some common structures, especially the linear recursive structure. Moreover, they are well-suited to be implemented on a single-instruction-stream multiple-data-stream (SIMD) computer with reconfigurable interconnection network. The model of a reconfigurable dual network SIMD machine with internal direct feedback is introduced. A systematic procedure internal direct feedback is introduced. A systematic procedure to map these computations to the proposed machine is presented. A new scheduling problem for SIMD machines is investigated and a heuristic algorithm, called neighborhood scheduling, that reorders the processing sequence of subtasks to reduce the communication time is described. Mapping results of a benchmark algorithm are illustrated and discussed.

On the determination of the long period tidal perturbations in the elements of artificial earth satellites

NASA Technical Reports Server (NTRS)

Musen, P.; Felsentreger, T.

1972-01-01

The magnitude of the tidal effects depends upon the elastic properties of the earth as described by Love numbers. The Love numbers appear as the coefficients in the expansion of the exterior tidal potential in terms of spherical harmonics (in Maxwellian form). A single averaging process was performed only along the parallels of latitude. This process preserves additional long period tidal effects (with periods of a few days or more). It also eliminates the short period effects with periods of one day or less.

Height parallelism of implants in the treatment of the edentulous mandible with ball-retained overdentures: a technical note.

PubMed

Iglesia-Puig, Miguel A

2008-01-01

The objective of this report is to present a device to achieve equal platform height in the vertical axis to allow the spherical abutments to work correctly in mandibular overdentures retained with 2 implants. The device is fabricated over plastic castable abutments, with a plate perpendicular to the implant platforms and located at the top of the platform height. Once implants are inserted, the device is screwed to an implant and allows evaluation of the height of the platforms.

N-MODY: A Code for Collisionless N-body Simulations in Modified Newtonian Dynamics

NASA Astrophysics Data System (ADS)

Londrillo, Pasquale; Nipoti, Carlo

2011-02-01

N-MODY is a parallel particle-mesh code for collisionless N-body simulations in modified Newtonian dynamics (MOND). N-MODY is based on a numerical potential solver in spherical coordinates that solves the non-linear MOND field equation, and is ideally suited to simulate isolated stellar systems. N-MODY can be used also to compute the MOND potential of arbitrary static density distributions. A few applications of N-MODY indicate that some astrophysically relevant dynamical processes are profoundly different in MOND and in Newtonian gravity with dark matter.

Polarization-dependent thin-film wire-grid reflectarray for terahertz waves

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

Niu, Tiaoming; School of Information Science and Engineering, Lanzhou University, Lanzhou 730000; Upadhyay, Aditi

2015-07-20

A thin-film polarization-dependent reflectarray based on patterned metallic wire grids is realized at 1 THz. Unlike conventional reflectarrays with resonant elements and a solid metal ground, parallel narrow metal strips with uniform spacing are employed in this design to construct both the radiation elements and the ground plane. For each radiation element, a certain number of thin strips with an identical length are grouped to effectively form a patch resonator with equivalent performance. The ground plane is made of continuous metallic strips, similar to conventional wire-grid polarizers. The structure can deflect incident waves with the polarization parallel to the stripsmore » into a designed direction and transmit the orthogonal polarization component. Measured radiation patterns show reasonable deflection efficiency and high polarization discrimination. Utilizing this flexible device approach, similar reflectarray designs can be realized for conformal mounting onto surfaces of cylindrical or spherical devices for terahertz imaging and communications.« less

A purely Lagrangian method for simulating the shallow water equations on a sphere using smooth particle hydrodynamics

NASA Astrophysics Data System (ADS)

Capecelatro, Jesse

2018-03-01

It has long been suggested that a purely Lagrangian solution to global-scale atmospheric/oceanic flows can potentially outperform tradition Eulerian schemes. Meanwhile, a demonstration of a scalable and practical framework remains elusive. Motivated by recent progress in particle-based methods when applied to convection dominated flows, this work presents a fully Lagrangian method for solving the inviscid shallow water equations on a rotating sphere in a smooth particle hydrodynamics framework. To avoid singularities at the poles, the governing equations are solved in Cartesian coordinates, augmented with a Lagrange multiplier to ensure that fluid particles are constrained to the surface of the sphere. An underlying grid in spherical coordinates is used to facilitate efficient neighbor detection and parallelization. The method is applied to a suite of canonical test cases, and conservation, accuracy, and parallel performance are assessed.

Radiation pressure on a biconcave human Red Blood Cell and the resulting deformation in a pair of parallel optical traps.

PubMed

Liao, Guan-Bo; Chen, Yin-Quan; Bareil, Paul B; Sheng, Yunlong; Chiou, Arthur; Chang, Ming-Shien

2014-10-01

We calculated the three-dimensional optical stress distribution and the resulting deformation on a biconcave human red blood cell (RBC) in a pair of parallel optical trap. We assumed a Gaussian intensity distribution with a spherical wavefront for each trapping beam and calculated the optical stress from the momentum transfer associated with the reflection and refraction of the incident photons at each interface. The RBC was modelled as a biconcave thin elastic membrane with uniform elasticity and a uniform thickness of 0.25 μm. The resulting cell deformation was determined from the optical stress distribution by finite element software, Comsol Structure Mechanics Module, with Young's modulus (E) as a fitting parameter in order to fit the theoretical results for cell elongation to our experimental data. Copyright © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Recent developments in microfluidics for cell studies.

PubMed

Xiong, Bin; Ren, Kangning; Shu, Yiwei; Chen, Yin; Shen, Bo; Wu, Hongkai

2014-08-20

As a technique for precisely manipulating fluid at the micrometer scale, the field of microfluidics has experienced an explosive growth over the past two decades, particularly owing to the advances in device design and fabrication. With the inherent advantages associated with its scale of operation, and its flexibility in being incorporated with other microscale techniques for manipulation and detection, microfluidics has become a major enabling technology, which has introduced new paradigms in various fields involving biological cells. A microfluidic device is able to realize functions that are not easily imaginable in conventional biological analysis, such as highly parallel, sophisticated high-throughput analysis, single-cell analysis in a well-defined manner, and tissue engineering with the capability of manipulation at the single-cell level. Major advancements in microfluidic device fabrication and the growing trend of implementing microfluidics in cell studies are presented, with a focus on biological research and clinical diagnostics. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Beam rider for an Articulated Robot Manipulator (ARM) accurate positioning of long flexible manipulators

NASA Technical Reports Server (NTRS)

Malachowski, M. J.

1990-01-01

Laser beam positioning and beam rider modules were incorporated into the long hollow flexible segment of an articulated robot manipulator (ARM). Using a single laser beam, the system determined the position of the distal ARM endtip, with millimetric precision, in six degrees of freedom, at distances of up to 10 meters. Preliminary designs, using space rated technology for the critical systems, of a two segmented physical ARM, with a single and a dual degree of freedom articulation, were developed, prototyped, and tested. To control the positioning of the physical ARM, an indirect adaptive controller, which used the mismatch between the position of the laser beam under static and dynamic conditions, was devised. To predict the behavior of the system and test the concept, a computer simulation model was constructed. A hierarchical artificially intelligent real time ADA operating system program structure was created. The software was designed for implementation on a dedicated VME bus based Intel 80386 administered parallel processing multi-tasking computer system.

Adaptive independent joint control of manipulators - Theory and experiment

NASA Technical Reports Server (NTRS)

Seraji, H.

1988-01-01

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Nanoassembled dynamic optical waveguides and sensors based on zeolite L nanocontainers

NASA Astrophysics Data System (ADS)

Barroso, Álvaro; Dieckmann, Katrin; Alpmann, Christina; Buscher, Tim; Studer, Armido; Denz, Cornelia

2015-03-01

Although optical functional devices as waveguides and sensors are of utmost importance for metrology on the nano scale, the micro-and nano-assembly by optical means of functional materials to create such optical elements has yet not been considered. In the last years, an elegant strategy based on holographic optical tweezers (HOT) has been developed to design and fabricate permanent and dynamic three-dimensional micro- and nanostructures based on functional nanocontainers as building blocks. Nanocontainers that exhibit stable and ordered voids to hierarchically organize guest materials are especially attractive. Zeolite L are a type of porous micro-sized crystals which features a high number of strictly one-dimensional, parallel aligned nanochannels. They are highly interesting as building blocks of functional nano-and microsystems due to their potential as nanocontainers to accommodate various different guest molecules and to assemble them in specific configurations. For instance, based on zeolite L crystals, microscopic polarization sensors and chains of several microcrystals for hierarchical supramolecular organization have been realized. Here, we demonstrate the ability of nanocontainers in general, and zeolite L crystals in particular to represent the basic constituent of optical functional microsystems. We show that the capability of HOT to manipulate multitude of non-spherical microparticles in three dimensions can be exploited for the investigation of zeolite L nanocontainers as dynamic optical waveguides. Moreover, we implement as additional elements dye-loaded zeolite L to sense the guiding features of these novel waveguides with high spatial precision and microspheres to enhance the light coupling into the zeolite L waveguides. With this elaborated approach of using nanocontainers as tailored building blocks for functional optical systems a new era of bricking optical components in a lego-like style becomes feasible.

ZENO: N-body and SPH Simulation Codes

NASA Astrophysics Data System (ADS)

Barnes, Joshua E.

2011-02-01

The ZENO software package integrates N-body and SPH simulation codes with a large array of programs to generate initial conditions and analyze numerical simulations. Written in C, the ZENO system is portable between Mac, Linux, and Unix platforms. It is in active use at the Institute for Astronomy (IfA), at NRAO, and possibly elsewhere. Zeno programs can perform a wide range of simulation and analysis tasks. While many of these programs were first created for specific projects, they embody algorithms of general applicability and embrace a modular design strategy, so existing code is easily applied to new tasks. Major elements of the system include: Structured data file utilities facilitate basic operations on binary data, including import/export of ZENO data to other systems.Snapshot generation routines create particle distributions with various properties. Systems with user-specified density profiles can be realized in collisionless or gaseous form; multiple spherical and disk components may be set up in mutual equilibrium.Snapshot manipulation routines permit the user to sift, sort, and combine particle arrays, translate and rotate particle configurations, and assign new values to data fields associated with each particle.Simulation codes include both pure N-body and combined N-body/SPH programs: Pure N-body codes are available in both uniprocessor and parallel versions.SPH codes offer a wide range of options for gas physics, including isothermal, adiabatic, and radiating models. Snapshot analysis programs calculate temporal averages, evaluate particle statistics, measure shapes and density profiles, compute kinematic properties, and identify and track objects in particle distributions.Visualization programs generate interactive displays and produce still images and videos of particle distributions; the user may specify arbitrary color schemes and viewing transformations.

Techniques for the rapid display and manipulation of 3-D biomedical data.

PubMed

Goldwasser, S M; Reynolds, R A; Talton, D A; Walsh, E S

1988-01-01

The use of fully interactive 3-D workstations with true real-time performance will become increasingly common as technology matures and economical commercial systems become available. This paper provides a comprehensive introduction to high speed approaches to the display and manipulation of 3-D medical objects obtained from tomographic data acquisition systems such as CT, MR, and PET. A variety of techniques are outlined including the use of software on conventional minicomputers, hardware assist devices such as array processors and programmable frame buffers, and special purpose computer architecture for dedicated high performance systems. While both algorithms and architectures are addressed, the major theme centers around the utilization of hardware-based approaches including parallel processors for the implementation of true real-time systems.

Robotic Vehicle

NASA Technical Reports Server (NTRS)

1994-01-01

A commercially available ANDROS Mark V-A robot was used by Jet Propulsion Laboratory (JPL) as the departure point in the development of the HAZBOT III, a prototype teleoperated mobile robot designed for response to emergencies. Teleoperated robots contribute significantly to reducing human injury levels by performing tasks too hazardous for humans. ANDROS' manufacturer, REMOTEC, Inc., in turn, adopted some of the JPL concepts, particularly the control panel. HAZBOT III has exceptional mobility, employs solid state electronics and brushless DC motors for safer operation, and is designed so combustible gases cannot penetrate areas containing electronics and motors. Other features include the six-degree-of-freedom manipulator, the 30-pound squeeze force parallel jaw gripper and two video cameras, one for general viewing and navigation and the other for manipulation/grasping.

Analysis of Parallelogram Mechanism used to Preserve Remote Center of Motion for Surgical Telemanipulator

NASA Astrophysics Data System (ADS)

Trochimczuk, R.

2017-02-01

This paper presents an analysis of a parallelogram mechanism commonly used to provide a kinematic remote center of motion in surgical telemanipulators. Selected types of parallel manipulator designs, encountered in commercial and laboratory-made designs described in the medical robotics literature, will serve as the research material. Among other things, computer simulations in the ANSYS 13.0 CAD/CAE software environment, employing the finite element method, will be used. The kinematics of the solution of manipulator with the parallelogram mechanism will be determined in order to provide a more complete description. These results will form the basis for the decision regarding the possibility of applying a parallelogram mechanism in an original prototype of a telemanipulator arm.

Electrokinetic high pressure hydraulic system

DOEpatents

Paul, Phillip H.; Rakestraw, David J.; Arnold, Don W.; Hencken, Kenneth R.; Schoeniger, Joseph S.; Neyer, David W.

2001-01-01

An electrokinetic high pressure hydraulic pump for manipulating fluids in capillary-based systems. The pump uses electro-osmotic flow to provide a high pressure hydraulic system, having no moving mechanical parts, for pumping and/or compressing fluids, for providing valve means and means for opening and closing valves, for controlling fluid flow rate, and manipulating fluid flow generally and in capillary-based systems (Microsystems), in particular. The compact nature of the inventive high pressure hydraulic pump provides the ability to construct a micro-scale or capillary-based HPLC system that fulfills the desire for small sample quantity, low solvent consumption, improved efficiency, the ability to run samples in parallel, and field portability. Control of pressure and solvent flow rate is achieved by controlling the voltage applied to an electrokinetic pump.

Electrokinetic high pressure hydraulic system

DOEpatents

Paul, Phillip H.; Rakestraw, David J.; Arnold, Don W.; Hencken, Kenneth R.; Schoeniger, Joseph S.; Neyer, David W.

2003-06-03

An electrokinetic high pressure hydraulic pump for manipulating fluids in capillary-based system. The pump uses electro-osmotic flow to provide a high pressure hydraulic system, having no moving mechanical parts, for pumping and/or compressing fluids, for providing valve means and means for opening and closing valves, for controlling fluid flow rate, and manipulating fluid flow generally and in capillary-based systems (microsystems), in particular. The compact nature of the inventive high pressure hydraulic pump provides the ability to construct a micro-scale or capillary-based HPLC system that fulfills the desire for small sample quantity, low solvent consumption, improved efficiency, the ability to run samples in parallel, and field portability. Control of pressure and solvent flow rate is achieved by controlling the voltage applied to an electrokinetic pump.

Integrated Task and Data Parallel Programming

NASA Technical Reports Server (NTRS)

Grimshaw, A. S.

1998-01-01

This research investigates the combination of task and data parallel language constructs within a single programming language. There are an number of applications that exhibit properties which would be well served by such an integrated language. Examples include global climate models, aircraft design problems, and multidisciplinary design optimization problems. Our approach incorporates data parallel language constructs into an existing, object oriented, task parallel language. The language will support creation and manipulation of parallel classes and objects of both types (task parallel and data parallel). Ultimately, the language will allow data parallel and task parallel classes to be used either as building blocks or managers of parallel objects of either type, thus allowing the development of single and multi-paradigm parallel applications. 1995 Research Accomplishments In February I presented a paper at Frontiers 1995 describing the design of the data parallel language subset. During the spring I wrote and defended my dissertation proposal. Since that time I have developed a runtime model for the language subset. I have begun implementing the model and hand-coding simple examples which demonstrate the language subset. I have identified an astrophysical fluid flow application which will validate the data parallel language subset. 1996 Research Agenda Milestones for the coming year include implementing a significant portion of the data parallel language subset over the Legion system. Using simple hand-coded methods, I plan to demonstrate (1) concurrent task and data parallel objects and (2) task parallel objects managing both task and data parallel objects. My next steps will focus on constructing a compiler and implementing the fluid flow application with the language. Concurrently, I will conduct a search for a real-world application exhibiting both task and data parallelism within the same program. Additional 1995 Activities During the fall I collaborated with Andrew Grimshaw and Adam Ferrari to write a book chapter which will be included in Parallel Processing in C++ edited by Gregory Wilson. I also finished two courses, Compilers and Advanced Compilers, in 1995. These courses complete my class requirements at the University of Virginia. I have only my dissertation research and defense to complete.

Integrated Task And Data Parallel Programming: Language Design

NASA Technical Reports Server (NTRS)

Grimshaw, Andrew S.; West, Emily A.

1998-01-01

his research investigates the combination of task and data parallel language constructs within a single programming language. There are an number of applications that exhibit properties which would be well served by such an integrated language. Examples include global climate models, aircraft design problems, and multidisciplinary design optimization problems. Our approach incorporates data parallel language constructs into an existing, object oriented, task parallel language. The language will support creation and manipulation of parallel classes and objects of both types (task parallel and data parallel). Ultimately, the language will allow data parallel and task parallel classes to be used either as building blocks or managers of parallel objects of either type, thus allowing the development of single and multi-paradigm parallel applications. 1995 Research Accomplishments In February I presented a paper at Frontiers '95 describing the design of the data parallel language subset. During the spring I wrote and defended my dissertation proposal. Since that time I have developed a runtime model for the language subset. I have begun implementing the model and hand-coding simple examples which demonstrate the language subset. I have identified an astrophysical fluid flow application which will validate the data parallel language subset. 1996 Research Agenda Milestones for the coming year include implementing a significant portion of the data parallel language subset over the Legion system. Using simple hand-coded methods, I plan to demonstrate (1) concurrent task and data parallel objects and (2) task parallel objects managing both task and data parallel objects. My next steps will focus on constructing a compiler and implementing the fluid flow application with the language. Concurrently, I will conduct a search for a real-world application exhibiting both task and data parallelism within the same program m. Additional 1995 Activities During the fall I collaborated with Andrew Grimshaw and Adam Ferrari to write a book chapter which will be included in Parallel Processing in C++ edited by Gregory Wilson. I also finished two courses, Compilers and Advanced Compilers, in 1995. These courses complete my class requirements at the University of Virginia. I have only my dissertation research and defense to complete.

Algorithms and programming tools for image processing on the MPP, part 2

NASA Technical Reports Server (NTRS)

Reeves, Anthony P.

1986-01-01

A number of algorithms were developed for image warping and pyramid image filtering. Techniques were investigated for the parallel processing of a large number of independent irregular shaped regions on the MPP. In addition some utilities for dealing with very long vectors and for sorting were developed. Documentation pages for the algorithms which are available for distribution are given. The performance of the MPP for a number of basic data manipulations was determined. From these results it is possible to predict the efficiency of the MPP for a number of algorithms and applications. The Parallel Pascal development system, which is a portable programming environment for the MPP, was improved and better documentation including a tutorial was written. This environment allows programs for the MPP to be developed on any conventional computer system; it consists of a set of system programs and a library of general purpose Parallel Pascal functions. The algorithms were tested on the MPP and a presentation on the development system was made to the MPP users group. The UNIX version of the Parallel Pascal System was distributed to a number of new sites.

Development of a bench-top device for parallel climate-controlled recordings of neuronal cultures activity with microelectrode arrays.

PubMed

Regalia, Giulia; Biffi, Emilia; Achilli, Silvia; Ferrigno, Giancarlo; Menegon, Andrea; Pedrocchi, Alessandra

2016-02-01

Two binding requirements for in vitro studies on long-term neuronal networks dynamics are (i) finely controlled environmental conditions to keep neuronal cultures viable and provide reliable data for more than a few hours and (ii) parallel operation on multiple neuronal cultures to shorten experimental time scales and enhance data reproducibility. In order to fulfill these needs with a Microelectrode Arrays (MEA)-based system, we designed a stand-alone device that permits to uninterruptedly monitor neuronal cultures activity over long periods, overcoming drawbacks of existing MEA platforms. We integrated in a single device: (i) a closed chamber housing four MEAs equipped with access for chemical manipulations, (ii) environmental control systems and embedded sensors to reproduce and remotely monitor the standard in vitro culture environment on the lab bench (i.e. in terms of temperature, air CO2 and relative humidity), and (iii) a modular MEA interface analog front-end for reliable and parallel recordings. The system has been proven to assure environmental conditions stable, physiological and homogeneos across different cultures. Prolonged recordings (up to 10 days) of spontaneous and pharmacologically stimulated neuronal culture activity have not shown signs of rundown thanks to the environmental stability and have not required to withdraw the cells from the chamber for culture medium manipulations. This system represents an effective MEA-based solution to elucidate neuronal network phenomena with slow dynamics, such as long-term plasticity, effects of chronic pharmacological stimulations or late-onset pathological mechanisms. © 2015 Wiley Periodicals, Inc.

Image Understanding and Intelligent Parallel Systems

DTIC Science & Technology

1991-05-09

a common user interface for the interactive , graphical manipulation of those histories, and...Circuits and Systems, August 1987. Yap, S.-K. and M.L. Scott, "PenGuin: A language for reactive graphical user interface programming," to appear, INTERACT 󈨞, Cambridge, United Kingdom, 1990. 74 ...of up to a factor of 100 over single-workstation implementations. User interfaces to large multiprocessor computers are a difficult issue addressed

Generators of the brainstem auditory evoked potential in cat. III: Identified cell populations.

PubMed

Melcher, J R; Kiang, N Y

1996-04-01

This paper examines the relationship between different brainstem cell populations and the brainstem auditory evoked potential (BAEP). First, we present a mathematical model relating the BAEP to underlying cellular activity. Then, we identify specific cellular generators of the click-evoked BAEP in cats by combining model-derived insights with key experimental data. These data include (a) a correspondence between particular brainstem regions and specific extrema in the BAEP waveform, determined from lesion experiments, and (b) values for model parameters derived from published physiological and anatomical information. Ultimately, we conclude (with varying degrees of confidence) that: (1) the earliest extrema in the BAEP are generated by spiral ganglion cells, (2) P2 is mainly generated by cochlear nucleus (CN) globular cells, (3) P3 is partly generated by CN spherical cells and partly by cells receiving inputs from globular cells, (4) P4 is predominantly generated by medial superior olive (MSO) principal cells, which are driven by spherical cells, (5) the generators of P5 are driven by MSO principal cells, and (6) the BAEP, as a whole, is generated mainly by cells with characteristic frequencies above 2 kHz. Thus, the BAEP in cats mainly reflects cellular activity in two parallel pathways, one originating with globular cells and the other with spherical cells. Since the globular cell pathway is poorly represented in humans, we suggest that the human BAEP is largely generated by brainstem cells in the spherical cell pathway. Given our conclusions, it should now be possible to relate activity in specific cell populations to psychophysical performance since the BAEP can be recorded in behaving humans and animals.

Ultrasound acoustic energy for microbubble manipulation

NASA Astrophysics Data System (ADS)

Bakhtiari-Nejad, Marjan; Elnahhas, Ahmed; Jung, Sunghwan; Shahab, Shima

2017-04-01

Many bio-medical applications entail the problems of spatially manipulating of bubbles by means of acoustic radiation. The examples are ultrasonic noninvasive-targeted drug delivery and therapeutic applications. This paper investigates the nonlinear coupling between radial pulsations, axisymmetric modes of shape oscillations and translational motion of a single spherical gas bubble in a host liquid, when it is subjected to an acoustic pressure wave field. A mathematical model is developed to account for both small and large amplitudes of bubble oscillations. The coupled system dynamics under various conditions is studied. Specifically, oscillating behaviors of a bubble (e.g. the amplitudes and instability of oscillations) undergoing resonance and off-resonance excitation in low- and high- intensity acoustic fields are studied. Instability of the shape modes of a bubble, which is contributing to form the translational instability, known as dancing motion, is analyzed. Dynamic responses of the bubble exposed to low- and high-intensity acoustic excitation are compared in terms of translational motion and surface shape of the bubble. Acoustic streaming effects caused by radial pulsations of the bubble in the surrounding liquid domain are also reported.

Recent Developments in the Code RITRACKS (Relativistic Ion Tracks)

NASA Technical Reports Server (NTRS)

Plante, Ianik; Ponomarev, Artem L.; Blattnig, Steve R.

2018-01-01

The code RITRACKS (Relativistic Ion Tracks) was developed to simulate detailed stochastic radiation track structures of ions of different types and energies. Many new capabilities were added to the code during the recent years. Several options were added to specify the times at which the tracks appear in the irradiated volume, allowing the simulation of dose-rate effects. The code has been used to simulate energy deposition in several targets: spherical, ellipsoidal and cylindrical. More recently, density changes as well as a spherical shell were implemented for spherical targets, in order to simulate energy deposition in walled tissue equivalent proportional counters. RITRACKS is used as a part of the new program BDSTracks (Biological Damage by Stochastic Tracks) to simulate several types of chromosome aberrations in various irradiation conditions. The simulation of damage to various DNA structures (linear and chromatin fiber) by direct and indirect effects has been improved and is ongoing. Many improvements were also made to the graphic user interface (GUI), including the addition of several labels allowing changes of units. A new GUI has been added to display the electron ejection vectors. The parallel calculation capabilities, notably the pre- and post-simulation processing on Windows and Linux machines have been reviewed to make them more portable between different systems. The calculation part is currently maintained in an Atlassian Stash® repository for code tracking and possibly future collaboration.

Applicability of the single equivalent point dipole model to represent a spatially distributed bio-electrical source

NASA Technical Reports Server (NTRS)

Armoundas, A. A.; Feldman, A. B.; Sherman, D. A.; Cohen, R. J.

2001-01-01

Although the single equivalent point dipole model has been used to represent well-localised bio-electrical sources, in realistic situations the source is distributed. Consequently, position estimates of point dipoles determined by inverse algorithms suffer from systematic error due to the non-exact applicability of the inverse model. In realistic situations, this systematic error cannot be avoided, a limitation that is independent of the complexity of the torso model used. This study quantitatively investigates the intrinsic limitations in the assignment of a location to the equivalent dipole due to distributed electrical source. To simulate arrhythmic activity in the heart, a model of a wave of depolarisation spreading from a focal source over the surface of a spherical shell is used. The activity is represented by a sequence of concentric belt sources (obtained by slicing the shell with a sequence of parallel plane pairs), with constant dipole moment per unit length (circumferentially) directed parallel to the propagation direction. The distributed source is represented by N dipoles at equal arc lengths along the belt. The sum of the dipole potentials is calculated at predefined electrode locations. The inverse problem involves finding a single equivalent point dipole that best reproduces the electrode potentials due to the distributed source. The inverse problem is implemented by minimising the chi2 per degree of freedom. It is found that the trajectory traced by the equivalent dipole is sensitive to the location of the spherical shell relative to the fixed electrodes. It is shown that this trajectory does not coincide with the sequence of geometrical centres of the consecutive belt sources. For distributed sources within a bounded spherical medium, displaced from the sphere's centre by 40% of the sphere's radius, it is found that the error in the equivalent dipole location varies from 3 to 20% for sources with size between 5 and 50% of the sphere's radius. Finally, a method is devised to obtain the size of the distributed source during the cardiac cycle.

Analysis on the Load Carrying Mechanism Integrated as Heterogeneous Co-operative Manipulator in a Walking Wheelchair

NASA Astrophysics Data System (ADS)

Rajay Vedaraj, I. S.; Jain, Ritika; Rao, B. V. A.

2014-07-01

After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator used for climbing stairs with three leg design and anlaysis were also done on the mechanism integrated to the system. Kinematics of the legs are analysed separately and the legs are designed to carry a maximum of 175kgs, which is sustained by the center leg and shared by the dual wing legs equally during the walking phase. In the proposed design, screwjack mechanism is used as the central leg to share the load and thus the analysis on the load sharing capability of the whole system is analysed and concluded in terms of failure modes.

Biomimetic assembly of polypeptide-stabilized CaCO(3) nanoparticles.

PubMed

Zhang, Zhongping; Gao, Daming; Zhao, Hui; Xie, Chenggen; Guan, Guijian; Wang, Dapeng; Yu, Shu-Hong

2006-05-04

In this paper, we report a simple polypeptide-directed strategy for fabricating large spherical assembly of CaCO(3) nanoparticles. Stepwise growth and assembly of a large number of nanoparticles have been observed, from the formation of an amorphous liquidlike CaCO(3)-polypeptide precursor, to the crystallization and stabilization of polypeptide-capped nanoparticles, and eventually, the spherical assembly of nanoparticles. The "soft" poly(aspartate)-capping layer binding on a nanoparticle surface resulted in the unusual soft nature of nanoparticle assembly, providing a reservoir of primary nanoparticles with a moderate mobility, which is the basis of a new strategy for reconstructing nanoparticle assembly into complex nanoparticle architectures. Moreover, the findings of the secondary assembly of nanoparticle microspheres and the morphology transformation of nanoparticle assembly demonstrate a flexible and controllable pathway for manipulating the shapes and structures of nanoparticle assembly. In addition, the combination of the polypeptide with a double hydrophilic block copolymer (DHBC) allows it to possibly further control the shape and complexity of the nanoparticle assembly. A clear perspective is shown here that more complex nanoparticle materials could be created by using "soft" biological proteins or peptides as a mediating template at the organic-inorganic interface.

Design approaches to experimental mediation☆

PubMed Central

Pirlott, Angela G.; MacKinnon, David P.

2016-01-01

Identifying causal mechanisms has become a cornerstone of experimental social psychology, and editors in top social psychology journals champion the use of mediation methods, particularly innovative ones when possible (e.g. Halberstadt, 2010, Smith, 2012). Commonly, studies in experimental social psychology randomly assign participants to levels of the independent variable and measure the mediating and dependent variables, and the mediator is assumed to causally affect the dependent variable. However, participants are not randomly assigned to levels of the mediating variable(s), i.e., the relationship between the mediating and dependent variables is correlational. Although researchers likely know that correlational studies pose a risk of confounding, this problem seems forgotten when thinking about experimental designs randomly assigning participants to levels of the independent variable and measuring the mediator (i.e., “measurement-of-mediation” designs). Experimentally manipulating the mediator provides an approach to solving these problems, yet these methods contain their own set of challenges (e.g., Bullock, Green, & Ha, 2010). We describe types of experimental manipulations targeting the mediator (manipulations demonstrating a causal effect of the mediator on the dependent variable and manipulations targeting the strength of the causal effect of the mediator) and types of experimental designs (double randomization, concurrent double randomization, and parallel), provide published examples of the designs, and discuss the strengths and challenges of each design. Therefore, the goals of this paper include providing a practical guide to manipulation-of-mediator designs in light of their challenges and encouraging researchers to use more rigorous approaches to mediation because manipulation-of-mediator designs strengthen the ability to infer causality of the mediating variable on the dependent variable. PMID:27570259

Design approaches to experimental mediation.

PubMed

Pirlott, Angela G; MacKinnon, David P

2016-09-01

Identifying causal mechanisms has become a cornerstone of experimental social psychology, and editors in top social psychology journals champion the use of mediation methods, particularly innovative ones when possible (e.g. Halberstadt, 2010, Smith, 2012). Commonly, studies in experimental social psychology randomly assign participants to levels of the independent variable and measure the mediating and dependent variables, and the mediator is assumed to causally affect the dependent variable. However, participants are not randomly assigned to levels of the mediating variable(s), i.e., the relationship between the mediating and dependent variables is correlational. Although researchers likely know that correlational studies pose a risk of confounding, this problem seems forgotten when thinking about experimental designs randomly assigning participants to levels of the independent variable and measuring the mediator (i.e., "measurement-of-mediation" designs). Experimentally manipulating the mediator provides an approach to solving these problems, yet these methods contain their own set of challenges (e.g., Bullock, Green, & Ha, 2010). We describe types of experimental manipulations targeting the mediator (manipulations demonstrating a causal effect of the mediator on the dependent variable and manipulations targeting the strength of the causal effect of the mediator) and types of experimental designs (double randomization, concurrent double randomization, and parallel), provide published examples of the designs, and discuss the strengths and challenges of each design. Therefore, the goals of this paper include providing a practical guide to manipulation-of-mediator designs in light of their challenges and encouraging researchers to use more rigorous approaches to mediation because manipulation-of-mediator designs strengthen the ability to infer causality of the mediating variable on the dependent variable.

Soft lubrication: The elastohydrodynamics of nonconforming and conforming contacts

NASA Astrophysics Data System (ADS)

Skotheim, J. M.; Mahadevan, L.

2005-09-01

We study the lubrication of fluid-immersed soft interfaces and show that elastic deformation couples tangential and normal forces and thus generates lift. We consider materials that deform easily, due to either geometry (e.g., a shell) or constitutive properties (e.g., a gel or a rubber), so that the effects of pressure and temperature on the fluid properties may be neglected. Four different system geometries are considered: a rigid cylinder moving parallel to a soft layer coating a rigid substrate; a soft cylinder moving parallel to a rigid substrate; a cylindrical shell moving parallel to a rigid substrate; and finally a cylindrical conforming journal bearing coated with a thin soft layer. In addition, for the particular case of a soft layer coating a rigid substrate, we consider both elastic and poroelastic material responses. For all these cases, we find the same generic behavior: there is an optimal combination of geometric and material parameters that maximizes the dimensionless normal force as a function of the softness parameter η =hydrodynamicpressure/elasticstiffness=surfacedeflection/gapthickness, which characterizes the fluid-induced deformation of the interface. The corresponding cases for a spherical slider are treated using scaling concepts.

Graded-index optical dimer formed by optical force

DOE PAGES

Akbarzadeh, Alireza; Koschny, Thomas; Kafesaki, Maria; ...

2016-05-30

We propose an optical dimer formed from two spherical lenses bound by the pressure that light exerts on matter. With the help of the method of force tracing, we find the required graded-index profiles of the lenses for the existence of the dimer. We study the dynamics of the opto-mechanical interaction of lenses under the illumination of collimated light beams and quantitatively validate the performance of the proposed dimer. We also examine the stability of the dimer due to the lateral misalignments and we show how restoring forces bring the dimer into lateral equilibrium. The dimer can be employed inmore » various practical applications such as optical manipulation, sensing and imaging.« less

Graded-index optical dimer formed by optical force

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

Akbarzadeh, Alireza; Koschny, Thomas; Kafesaki, Maria

We propose an optical dimer formed from two spherical lenses bound by the pressure that light exerts on matter. With the help of the method of force tracing, we find the required graded-index profiles of the lenses for the existence of the dimer. We study the dynamics of the opto-mechanical interaction of lenses under the illumination of collimated light beams and quantitatively validate the performance of the proposed dimer. We also examine the stability of the dimer due to the lateral misalignments and we show how restoring forces bring the dimer into lateral equilibrium. The dimer can be employed inmore » various practical applications such as optical manipulation, sensing and imaging.« less

The scale of the Fourier transform: a point of view of the fractional Fourier transform

NASA Astrophysics Data System (ADS)

Jimenez, C. J.; Vilardy, J. M.; Salinas, S.; Mattos, L.; Torres, C. O.

2017-01-01

In this paper using the Fourier transform of order fractional, the ray transfer matrix for the symmetrical optical systems type ABCD and the formulae by Collins for the diffraction, we obtain explicitly the expression for scaled Fourier transform conventional; this result is the great importance in optical signal processing because it offers the possibility of scaling the size of output the Fourier distribution of the system, only by manipulating the distance of the diffraction object toward the thin lens, this research also emphasizes on practical limits when a finite spherical converging lens aperture is used. Digital simulation was carried out using the numerical platform of Matlab 7.1.

Integrated Parallel Reception, Excitation, and Shimming (iPRES)

PubMed Central

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

2013-01-01

Purpose To develop a new concept for a hardware platform that enables integrated parallel reception, excitation, and shimming (iPRES). Theory This concept uses a single coil array rather than separate arrays for parallel excitation/reception and B0 shimming. It relies on a novel design that allows a radiofrequency current (for excitation/reception) and a direct current (for B0 shimming) to coexist independently in the same coil. Methods Proof-of-concept B0 shimming experiments were performed with a two-coil array in a phantom, whereas B0 shimming simulations were performed with a 48-coil array in the human brain. Results Our experiments show that individually optimized direct currents applied in each coil can reduce the B0 root-mean-square error by 62–81% and minimize distortions in echo-planar images. The simulations show that dynamic shimming with the 48-coil iPRES array can reduce the B0 root-mean-square error in the prefrontal and temporal regions by 66–79% as compared to static 2nd-order spherical harmonic shimming and by 12–23% as compared to dynamic shimming with a 48-coil conventional shim array. Conclusion Our results demonstrate the feasibility of the iPRES concept to perform parallel excitation/reception and B0 shimming with a unified coil system as well as its promise for in vivo applications. PMID:23629974

A cable-driven parallel manipulator with force sensing capabilities for high-accuracy tissue endomicroscopy.

PubMed

Miyashita, Kiyoteru; Oude Vrielink, Timo; Mylonas, George

2018-05-01

Endomicroscopy (EM) provides high resolution, non-invasive histological tissue information and can be used for scanning of large areas of tissue to assess cancerous and pre-cancerous lesions and their margins. However, current robotic solutions do not provide the accuracy and force sensitivity required to perform safe and accurate tissue scanning. A new surgical instrument has been developed that uses a cable-driven parallel mechanism (CPDM) to manipulate an EM probe. End-effector forces are determined by measuring the tensions in each cable. As a result, the instrument allows to accurately apply a contact force on a tissue, while at the same time offering high resolution and highly repeatable probe movement. 0.2 and 0.6 N force sensitivities were found for 1 and 2 DoF image acquisition methods, respectively. A back-stepping technique can be used when a higher force sensitivity is required for the acquisition of high quality tissue images. This method was successful in acquiring images on ex vivo liver tissue. The proposed approach offers high force sensitivity and precise control, which is essential for robotic EM. The technical benefits of the current system can also be used for other surgical robotic applications, including safe autonomous control, haptic feedback and palpation.

Smooth adaptive sliding mode vibration control of a flexible parallel manipulator with multiple smart linkages in modal space

NASA Astrophysics Data System (ADS)

Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Jianhui

2017-12-01

This paper addresses the dynamic model and active vibration control of a rigid-flexible parallel manipulator with three smart links actuated by three linear ultrasonic motors. To suppress the vibration of three flexible intermediate links under high speed and acceleration, multiple Lead Zirconium Titanate (PZT) sensors and actuators are collocated mounted on each link, forming a smart structure which can achieve self-sensing and self-actuating. The dynamic characteristics and equations of the flexible link incorporated with the PZT sensors and actuator are analyzed and formulated. The smooth adaptive sliding mode based active vibration control is proposed to suppress the vibration of the smart links, and the first and second modes of the three links are targeted to be suppressed in modal space to avoid the spillover phenomenon. Simulations and experiments are implemented to validate the effectiveness of the smart structures and the proposed control laws. Experimental results show that the vibration of the first mode around 92 Hz and the second mode around 240 Hz of the three smart links are reduced respectively by 64.98%, 59.47%, 62.28%, and 45.80%, 36.79%, 33.33%, which further verify the multi-mode vibration control ability of the smooth adaptive sliding mode control law.

Filtering versus parallel processing in RSVP tasks.

PubMed

Botella, J; Eriksen, C W

1992-04-01

An experiment of McLean, D. E. Broadbent, and M. H. P. Broadbent (1983) using rapid serial visual presentation (RSVP) was replicated. A series of letters in one of 5 colors was presented, and the subject was asked to identify the letter that appeared in a designated color. There were several innovations in our procedure, the most important of which was the use of a response menu. After each trial, the subject was presented with 7 candidate letters from which to choose his/her response. In three experimental conditions, the target, the letter following the target, and all letters other than the target were, respectively, eliminated from the menu. In other conditions, the stimulus list was manipulated by repeating items in the series, repeating the color of successive items, or even eliminating the target color. By means of these manipulations, we were able to determine more precisely the information that subjects had obtained from the presentation of the stimulus series. Although we replicated the results of McLean et al. (1983), the more extensive information that our procedure produced was incompatible with the serial filter model that McLean et al. had used to describe their data. Overall, our results were more compatible with a parallel-processing account. Furthermore, intrusion errors are apparently not only a perceptual phenomenon but a memory problem as well.

Skylab M518 multipurpose furnace convection analysis

NASA Technical Reports Server (NTRS)

Bourgeois, S. V.; Spradley, L. W.

1975-01-01

An analysis was performed of the convection which existed on ground tests and during skylab processing of two experiments: vapor growth of IV-VI compounds growth of spherical crystals. A parallel analysis was also performed on Skylab experiment indium antimonide crystals because indium antimonide (InSb) was used and a free surface existed in the tellurium-doped Skylab III sample. In addition, brief analyses were also performed of the microsegregation in germanium experiment because the Skylab crystals indicated turbulent convection effects. Simple dimensional analysis calculations and a more accurate, but complex, convection computer model, were used in the analysis.

N-MODY: a code for collisionless N-body simulations in modified Newtonian dynamics.

NASA Astrophysics Data System (ADS)

Londrillo, P.; Nipoti, C.

We describe the numerical code N-MODY, a parallel particle-mesh code for collisionless N-body simulations in modified Newtonian dynamics (MOND). N-MODY is based on a numerical potential solver in spherical coordinates that solves the non-linear MOND field equation, and is ideally suited to simulate isolated stellar systems. N-MODY can be used also to compute the MOND potential of arbitrary static density distributions. A few applications of N-MODY indicate that some astrophysically relevant dynamical processes are profoundly different in MOND and in Newtonian gravity with dark matter.

Vehicle Charging And Potential (VCAP)

NASA Astrophysics Data System (ADS)

Roberts, B.

1986-01-01

The vehicle charging and potential (VCAP) payload includes a small electron accelerator capable of operating in a pulsed mode with firing pulses ranging from 600 nanoseconds to 107 seconds (100 milliamps at 1000 volts), a spherical retarding potential analyzer - Langmuir probe, and charge current probes. This instrumentation will support studies of beam plasma interactions and the electrical charging of the spacecraft. Active experiments may also be performed to investigate the fundamental processes of artificial aurora and ionospheric perturbations. In addition, by firing the beam up the geomagnetic field lines of force (away from the Earth) investigations of parallel electric field may be performed.

Vehicle Charging And Potential (VCAP)

NASA Astrophysics Data System (ADS)

Roberts, W. T.

The vehicle charging and potential (VCAP) payload includes a small electron accelerator capable of operating in a pulsed mode with firing pulses ranging from 600 nanoseconds to 107 seconds (100 milliamps at 1000 volts), a spherical retarding potential analyzer - Langmuir probe, and charge current probes. This instrumentation will support studies of beam plasma interactions and the electrical charging of the spacecraft. Active experiments may also be performed to investigate the fundamental processes of artificial aurora and ionospheric perturbations. In addition, by firing the beam up the geomagnetic field lines of force (away from the Earth) investigations of parallel electric field may be performed.

Ab initio method for calculating total cross sections

NASA Technical Reports Server (NTRS)

Bhatia, A. K.; Schneider, B. I.; Temkin, A.

1993-01-01

A method for calculating total cross sections without formally including nonelastic channels is presented. The idea is to use a one channel T-matrix variational principle with a complex correlation function. The derived T matrix is therefore not unitary. Elastic scattering is calculated from T-parallel-squared, but total scattering is derived from the imaginary part of T using the optical theorem. The method is applied to the spherically symmetric model of electron-hydrogen scattering. No spurious structure arises; results for sigma(el) and sigma(total) are in excellent agreement with calculations of Callaway and Oza (1984). The method has wide potential applicability.

Cell and Particle Interactions and Aggregation During Electrophoretic Motion

NASA Technical Reports Server (NTRS)

Wang, Hua; Zeng, Shulin; Loewenberg, Michael; Todd, Paul; Davis, Robert H.

1996-01-01

The stability and pairwise aggregation rates of small spherical particles under the collective effects of buoyancy-driven motion and electrophoretic migration are analyzed. The particles are assumed to be non-Brownian, with thin double-layers and different zeta potentials. The particle aggregation rates may be enhanced or reduced, respectively, by parallel and antiparallel alignments of the buoyancy-driven and electrophoretic velocities. For antiparallel alignments, with the buoyancy-driven relative velocity exceeding the electrophoretic relative velocity between two widely-separated particles, there is a 'collision-forbidden region' in parameter space due to hydrodynamic interactions; thus, the suspension becomes stable against aggregation.

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

Challabotla, Niranjan Reddy; Zhao, Lihao; Andersson, Helge I.

The rotational motion of inertia-free spheroids has been studied in a numerically simulated turbulent channel flow. Although inertia-free spheroids were translated as tracers with the flow, neither the disk-like nor the rod-like particles adapted to the fluid rotation. The flattest disks preferentially aligned their symmetry axes normal to the wall, whereas the longest rods were parallel with the wall. The shape-dependence of the particle orientations carried over to the particle rotation such that the mean spin was reduced with increasing departure from sphericity. The streamwise spin fluctuations were enhanced due to asphericity, but substantially more for prolate than for oblatemore » spheroids.« less

Automatic Parallelization of Numerical Python Applications using the Global Arrays Toolkit

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

Daily, Jeffrey A.; Lewis, Robert R.

2011-11-30

Global Arrays is a software system from Pacific Northwest National Laboratory that enables an efficient, portable, and parallel shared-memory programming interface to manipulate distributed dense arrays. The NumPy module is the de facto standard for numerical calculation in the Python programming language, a language whose use is growing rapidly in the scientific and engineering communities. NumPy provides a powerful N-dimensional array class as well as other scientific computing capabilities. However, like the majority of the core Python modules, NumPy is inherently serial. Using a combination of Global Arrays and NumPy, we have reimplemented NumPy as a distributed drop-in replacement calledmore » Global Arrays in NumPy (GAiN). Serial NumPy applications can become parallel, scalable GAiN applications with only minor source code changes. Scalability studies of several different GAiN applications will be presented showing the utility of developing serial NumPy codes which can later run on more capable clusters or supercomputers.« less

What is adaptive about adaptive decision making? A parallel constraint satisfaction account.

PubMed

Glöckner, Andreas; Hilbig, Benjamin E; Jekel, Marc

2014-12-01

There is broad consensus that human cognition is adaptive. However, the vital question of how exactly this adaptivity is achieved has remained largely open. Herein, we contrast two frameworks which account for adaptive decision making, namely broad and general single-mechanism accounts vs. multi-strategy accounts. We propose and fully specify a single-mechanism model for decision making based on parallel constraint satisfaction processes (PCS-DM) and contrast it theoretically and empirically against a multi-strategy account. To achieve sufficiently sensitive tests, we rely on a multiple-measure methodology including choice, reaction time, and confidence data as well as eye-tracking. Results show that manipulating the environmental structure produces clear adaptive shifts in choice patterns - as both frameworks would predict. However, results on the process level (reaction time, confidence), in information acquisition (eye-tracking), and from cross-predicting choice consistently corroborate single-mechanisms accounts in general, and the proposed parallel constraint satisfaction model for decision making in particular. Copyright © 2014 Elsevier B.V. All rights reserved.

Modeling and controller design of a 6-DOF precision positioning system

NASA Astrophysics Data System (ADS)

Cai, Kunhai; Tian, Yanling; Liu, Xianping; Fatikow, Sergej; Wang, Fujun; Cui, Liangyu; Zhang, Dawei; Shirinzadeh, Bijan

2018-05-01

A key hurdle to meet the needs of micro/nano manipulation in some complex cases is the inadequate workspace and flexibility of the operation ends. This paper presents a 6-degree of freedom (DOF) serial-parallel precision positioning system, which consists of two compact type 3-DOF parallel mechanisms. Each parallel mechanism is driven by three piezoelectric actuators (PEAs), guided by three symmetric T-shape hinges and three elliptical flexible hinges, respectively. It can extend workspace and improve flexibility of the operation ends. The proposed system can be assembled easily, which will greatly reduce the assembly errors and improve the positioning accuracy. In addition, the kinematic and dynamic model of the 6-DOF system are established, respectively. Furthermore, in order to reduce the tracking error and improve the positioning accuracy, the Discrete-time Model Predictive Controller (DMPC) is applied as an effective control method. Meanwhile, the effectiveness of the DMCP control method is verified. Finally, the tracking experiment is performed to verify the tracking performances of the 6-DOF stage.

Fundamental physics issues of multilevel logic in developing a parallel processor.

NASA Astrophysics Data System (ADS)

Bandyopadhyay, Anirban; Miki, Kazushi

2007-06-01

In the last century, On and Off physical switches, were equated with two decisions 0 and 1 to express every information in terms of binary digits and physically realize it in terms of switches connected in a circuit. Apart from memory-density increase significantly, more possible choices in particular space enables pattern-logic a reality, and manipulation of pattern would allow controlling logic, generating a new kind of processor. Neumann's computer is based on sequential logic, processing bits one by one. But as pattern-logic is generated on a surface, viewing whole pattern at a time is a truly parallel processing. Following Neumann's and Shannons fundamental thermodynamical approaches we have built compatible model based on series of single molecule based multibit logic systems of 4-12 bits in an UHV-STM. On their monolayer multilevel communication and pattern formation is experimentally verified. Furthermore, the developed intelligent monolayer is trained by Artificial Neural Network. Therefore fundamental weak interactions for the building of truly parallel processor are explored here physically and theoretically.

Condenser for illuminating a ringfield camera with synchrotron emission light

DOEpatents

Sweatt, W.C.

1996-04-30

The present invention relates generally to the field of condensers for collecting light from a synchrotron radiation source and directing the light into a ringfield of a lithography camera. The present invention discloses a condenser comprising collecting, processing, and imaging optics. The collecting optics are comprised of concave and convex spherical mirrors that collect the light beams. The processing optics, which receive the light beams, are comprised of flat mirrors that converge and direct the light beams into a real entrance pupil of the camera in a symmetrical pattern. In the real entrance pupil are located flat mirrors, common to the beams emitted from the preceding mirrors, for generating substantially parallel light beams and for directing the beams toward the ringfield of a camera. Finally, the imaging optics are comprised of a spherical mirror, also common to the beams emitted from the preceding mirrors, images the real entrance pupil through the resistive mask and into the virtual entrance pupil of the camera. Thus, the condenser is comprised of a plurality of beams with four mirrors corresponding to a single beam plus two common mirrors. 9 figs.

Condenser for illuminating a ringfield camera with synchrotron emission light

DOEpatents

Sweatt, William C.

1996-01-01

The present invention relates generally to the field of condensers for collecting light from a synchrotron radiation source and directing the light into a ringfield of a lithography camera. The present invention discloses a condenser comprising collecting, processing, and imaging optics. The collecting optics are comprised of concave and convex spherical mirrors that collect the light beams. The processing optics, which receive the light beams, are comprised of flat mirrors that converge and direct the light beams into a real entrance pupil of the camera in a symmetrical pattern. In the real entrance pupil are located flat mirrors, common to the beams emitted from the preceding mirrors, for generating substantially parallel light beams and for directing the beams toward the ringfield of a camera. Finally, the imaging optics are comprised of a spherical mirror, also common to the beams emitted from the preceding mirrors, images the real entrance pupil through the resistive mask and into the virtual entrance pupil of the camera. Thus, the condenser is comprised of a plurality of beams with four mirrors corresponding to a single beam plus two common mirrors.

MTF Driven by Plasma Liner Dynamically Formed by the Merging of Plasma Jets: An Overview

NASA Technical Reports Server (NTRS)

Thio, Y. C. Francis; Eskridge, Richard; Martin, Adam; Smith, James; Lee, Michael; Rodgers, Stephen L. (Technical Monitor)

2001-01-01

One approach for standoff delivery of the momentum flux for compressing the target in MTF consists of using a spherical array of plasma jets to form a spherical plasma shell imploding towards the center of a magnetized plasma, a compact toroid (Figure 1). A 3-year experiment (PLX-1) to explore the physics of forming a 2-D plasma liner (shell) by merging plasma jets is described. An overview showing how this 3-year project (PLX-1) fits into the program plan at the national and international level for realizing MTF for energy and propulsion is discussed. Assuming that there will be a parallel program in demonstrating and establishing the underlying physics principles of MTF using whatever liner is appropriate (e.g. a solid liner) with a goal of demonstrating breakeven by 2010, the current research effort at NASA MSFC attempts to complement such a program by addressing the issues of practical embodiment of MTF for propulsion. Successful conclusion of PLX-1 will be followed by a Physics Feasibility Experiment (PLX-2) for the Plasma Liner Driven MTF.

Progress on 3-D ICF simulations and Ray-Traced Power Deposition Method

NASA Astrophysics Data System (ADS)

Schmitt, Andrew J.; Fyfe, David E.

2016-10-01

We have performed 3D simulations of Omega-scale and NIF-scale spherical direct-drive targets with the massively parallel fastrad3d code. Of particular interest is the robustness of the targets to the low mode perturbations impressed on the target by the laser system and how it compares to the influence of the perturbations produced by laser imprinting. As part of this simulation capability, we have upgraded our smoothed 3D raytrace package to run in spherical geometry. This package, which connects rays to form bundles and performs power deposition calculations on the bundles, can decrease laser absorption noise while using fewer rays and less message passing. This model produces both the imprint and the low-mode asymmetry drive that we are interested in here. We show recent simulation results of directly-driven targets using conventional ignition drive, and report on the influences of the two sources - low mode asymmetry and laser imprint - as the pellet conditions (e.g. adiabat) are varied. Work supported by DoE/NNSA.

The Spherical Tokamak MEDUSA for Mexico

NASA Astrophysics Data System (ADS)

Ribeiro, C.; Salvador, M.; Gonzalez, J.; Munoz, O.; Tapia, A.; Arredondo, V.; Chavez, R.; Nieto, A.; Gonzalez, J.; Garza, A.; Estrada, I.; Jasso, E.; Acosta, C.; Briones, C.; Cavazos, G.; Martinez, J.; Morones, J.; Almaguer, J.; Fonck, R.

2011-10-01

The former spherical tokamak MEDUSA (Madison EDUcation Small Aspect.ratio tokamak, R < 0.14m, a < 0.10m, BT < 0.5T, Ip < 40kA, 3ms pulse) is currently being recomissioned at the Universidad Autónoma de Nuevo León, Mexico, as part of an agreement between the Faculties of Mech.-Elect. Eng. and Phy. Sci.-Maths. The main objective for having MEDUSA is to train students in plasma physics & technical related issues, aiming a full design of a medium size device (e.g. Tokamak-T). Details of technical modifications and a preliminary scientific programme will be presented. MEDUSA-MX will also benefit any developments in the existing Mexican Fusion Network. Strong liaison within national and international plasma physics communities is expected. New activities on plasma & engineering modeling are expected to be developed in parallel by using the existing facilities such as a multi-platform computer (Silicon Graphics Altix XE250, 128G RAM, 3.7TB HD, 2.7GHz, quad-core processor), ancillary graph system (NVIDIA Quadro FE 2000/1GB GDDR-5 PCI X16 128, 3.2GHz), and COMSOL Multiphysics-Solid Works programs.

Optical levitation of a non-spherical particle in a loosely focused Gaussian beam.

PubMed

Chang, Cheong Bong; Huang, Wei-Xi; Lee, Kyung Heon; Sung, Hyung Jin

2012-10-08

The optical force on a non-spherical particle subjected to a loosely focused laser beam was calculated using the dynamic ray tracing method. Ellipsoidal particles with different aspect ratios, inclination angles, and positions were modeled, and the effects of these parameters on the optical force were examined. The vertical component of the optical force parallel to the laser beam axis decreased as the aspect ratio decreased, whereas the ellipsoid with a small aspect ratio and a large inclination angle experienced a large vertical optical force. The ellipsoids were pulled toward or repelled away from the laser beam axis, depending on the inclination angle, and they experienced a torque near the focal point. The behavior of the ellipsoids in a viscous fluid was examined by analyzing a dynamic simulation based on the penalty immersed boundary method. As the ellipsoids levitated along the direction of the laser beam propagation, they moved horizontally with rotation. Except for the ellipsoid with a small aspect ratio and a zero inclination angle near the focal point, the ellipsoids rotated until the major axis aligned with the laser beam axis.

De novo modeling of the F420-reducing [NiFe]-hydrogenase from a methanogenic archaeon by cryo-electron microscopy

PubMed Central

Mills, Deryck J; Vitt, Stella; Strauss, Mike; Shima, Seigo; Vonck, Janet

2013-01-01

Methanogenic archaea use a [NiFe]-hydrogenase, Frh, for oxidation/reduction of F420, an important hydride carrier in the methanogenesis pathway from H2 and CO2. Frh accounts for about 1% of the cytoplasmic protein and forms a huge complex consisting of FrhABG heterotrimers with each a [NiFe] center, four Fe-S clusters and an FAD. Here, we report the structure determined by near-atomic resolution cryo-EM of Frh with and without bound substrate F420. The polypeptide chains of FrhB, for which there was no homolog, was traced de novo from the EM map. The 1.2-MDa complex contains 12 copies of the heterotrimer, which unexpectedly form a spherical protein shell with a hollow core. The cryo-EM map reveals strong electron density of the chains of metal clusters running parallel to the protein shell, and the F420-binding site is located at the end of the chain near the outside of the spherical structure. DOI: http://dx.doi.org/10.7554/eLife.00218.001 PMID:23483797

Geometrical characterization of perlite-metal syntactic foam

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

Borovinšek, Matej, E-mail: matej.borovinsek@um.si

This paper introduces an improved method for the detailed geometrical characterization of perlite-metal syntactic foam. This novel metallic foam is created by infiltrating a packed bed of expanded perlite particles with liquid aluminium alloy. The geometry of the solidified metal is thus defined by the perlite particle shape, size and morphology. The method is based on a segmented micro-computed tomography data and allows for automated determination of the distributions of pore size, sphericity, orientation and location. The pore (i.e. particle) size distribution and pore orientation is determined by a multi-criteria k-nearest neighbour algorithm for pore identification. The results indicate amore » weak density gradient parallel to the casting direction and a slight preference of particle orientation perpendicular to the casting direction. - Highlights: •A new method for identification of pores in porous materials was developed. •It was applied on perlite-metal syntactic foam samples. •A porosity decrease in the axial direction of the samples was determined. •Pore shape analysis showed a high percentage of spherical pores. •Orientation analysis showed that more pores are oriented in the radial direction.« less

Imaging crystal spectrometer for high-resolution x-ray measurements on electron beam ion traps and tokamaks

DOE PAGES

Beiersdorfer, P.; Magee, E. W.; Hell, N.; ...

2016-09-09

Here, we describe a crystal spectrometer implemented on the Livermore electron beam ion traps that employ two spherically bent quartz crystals and a cryogenically cooled back-illuminated charge-coupled device detector to measure x rays with a nominal resolving power of λ/Δλ ≥ 10 000. Its focusing properties allow us to record x rays either with the plane of dispersion perpendicular or parallel to the electron beam and, thus, to preferentially select one of the two linear x-ray polarization components. Moreover, by choice of dispersion plane and focussing conditions, we use the instrument either to image the distribution of the ions withinmore » the 2 cm long trap region, or to concentrate x rays of a given energy to a point on the detector, which optimizes the signal-to-noise ratio. We demonstrate the operation and utility of the new instrument by presenting spectra of Mo 34+, which prepares the instrument for use as a core impurity diagnostic on the NSTX-U spherical torus and other magnetic fusion devices that employ molybdenum as plasma facing components.« less

Manipulating the self-assembling process to obtain control over the morphologies of copper oxide in hydrothermal synthesis and creating pores in the oxide architecture.

PubMed

Zhong, Ziyi; Ng, Vivien; Luo, Jizhong; Teh, Siew-Pheng; Teo, Jaclyn; Gedanken, Aharon

2007-05-22

Copper oxide with various morphologies was synthesized by the hydrolysis of Cu(ac)2 with urea under mild hydrothermal conditions. In the synthesis, a series of organic amines with one or two amine groups (monoamine and diamine), including isobutylamine, octylamine (OLA), dodecylamine, octadecylamine (monoamines), ethylenediamine dihydrochloride, and hexamethylenediamine (diamines), was used as the "structure-directing agent". The monoamines led to the formation of one-dimensional (1D) aggregates of the copper oxide precursor particles (Pre-CuO), while the diamines led to the formation of two-dimensional (2D) aggregates. In both cases, the shorter carbon-chain amine molecules showed a stronger structure-directing function than that of the longer carbon-chain amine molecules. Next, in a series of syntheses, OLA was selected for further study, and the experimental parameters were systematically manipulated. When the hydrolysis was adjusted to a very slow rate by coupling the hydrolysis reaction with an esterification reaction, 1D aggregates of Pre-CuO were formed; when the hydrolysis rate was in the middle range, spherical Pre-CuO architectures composed of smaller linear aggregates were formed. However, under the high hydrolysis rates achieved by increasing the precipitation agent (urea) or by conducting the reaction at high temperatures (>/=120 degrees C), only Pre-CuO nanoparticles with a featureless morphology were formed. The formed spherical Pre-CuO architectures can be converted to a porous structure (CuOx) after removing the OLA molecules via calcination. Compared to the 1D and 2D aggregates, this porous architecture is highly thermally stable and did not collapse even after calcination at 500 degrees C. Preliminary results showed that the porous structure can be used both as a catalyst support and as a catalyst for the oxidation of CO at low temperatures.

Spherical Nucleic Acids as Intracellular Agents for Nucleic Acid Based Therapeutics

NASA Astrophysics Data System (ADS)

Hao, Liangliang

Recent functional discoveries on the noncoding sequences of human genome and transcriptome could lead to revolutionary treatment modalities because the noncoding RNAs (ncRNAs) can be applied as therapeutic agents to manipulate disease-causing genes. To date few nucleic acid-based therapeutics have been translated into the clinic due to challenges in the delivery of the oligonucleotide agents in an effective, cell specific, and non-toxic fashion. Unmodified oligonucleotide agents are destroyed rapidly in biological fluids by enzymatic degradation and have difficulty crossing the plasma membrane without the aid of transfection reagents, which often cause inflammatory, cytotoxic, or immunogenic side effects. Spherical nucleic acids (SNAs), nanoparticles consisting of densely organized and highly oriented oligonucleotides, pose one possible solution to circumventing these problems in both the antisense and RNA interference (RNAi) pathways. The unique three dimensional architecture of SNAs protects the bioactive oligonucleotides from unspecific degradation during delivery and supports their targeting of class A scavenger receptors and endocytosis via a lipid-raft-dependent, caveolae-mediated pathway. Owing to their unique structure, SNAs are able to cross cell membranes and regulate target genes expression as a single entity, without triggering the cellular innate immune response. Herein, my thesis has focused on understanding the interactions between SNAs and cellular components and developing SNA-based nanostructures to improve therapeutic capabilities. Specifically, I developed a novel SNA-based, nanoscale agent for delivery of therapeutic oligonucleotides to manipulate microRNAs (miRNAs), the endogenous post-transcriptional gene regulators. I investigated the role of SNAs involving miRNAs in anti-cancer or anti-inflammation responses in cells and in in vivo murine disease models via systemic injection. Furthermore, I explored using different strategies to construct novel SNA-based nanomaterials with desired properties and applying targeting moieties to the SNA platform to achieve cell type specific gene regulation effects. Due to the flexibility of the SNA approach, the SNA platform can potentially be applied to many genetic disorders through tailored target specificities.

Acoustic manipulation of bacteria cells suspensions

NASA Astrophysics Data System (ADS)

GutiéRrez-Ramos, Salomé; Hoyos, Mauricio; Aider, Jean Luc; Ruiz, Carlos; Acoustofluidics Team Team; Soft; Bio Group Collaboration

An acoustic contacless manipulation gives advantages in the exploration of the complex dynamics enviroment that active matter exhibits. Our works reports the control confinement and dispersion of Escherichia coliRP437-pZA3R-YFP suspensions (M9Glu-Ca) via acoustic levitation.The manipulation of the bacteria bath in a parallel plate resonator is achieved using the acoustic radiation force and the secondary radiation force. The primary radiation force generates levitation of the bacteria cells at the nodal plane of the ultrasonic standing wave generated inside the resonator. On the other side, secondary forces leads to the consolidation of stable aggregates. All the experiments were performed in the acoustic trap described, where we excite the emission plate with a continuous sinusoidal signal at a frequency in the order of MHz and a quartz slide as the reflector plate. In a typical experiment we observed that, before the input of the signal, the bacteria cells exhibit their typical run and tumble behavior and after the sound is turned on all of them displace towards the nodal plane, and instantaneously the aggregation begins in this region. CNRS French National Space Studies, CONACYT Mexico.

Sensing qualitative events to control manipulation

NASA Astrophysics Data System (ADS)

Pook, Polly K.; Ballard, Dana H.

1992-11-01

Dexterous robotic hands have numerous sensors distributed over a flexible high-degree-of- freedom framework. Control of these hands often relies on a detailed task description that is either specified a priori or computed on-line from sensory feedback. Such controllers are complex and may use unnecessary precision. In contrast, one can incorporate plan cues that provide a contextual backdrop in order to simplify the control task. To demonstrate, a Utah/MIT dexterous hand mounted on a Puma 760 arm flips a plastic egg, using the finger tendon tensions as the sole control signal. The completion of each subtask, such as picking up the spatula, finding the pan, and sliding the spatula under the egg, is detected by sensing tension states. The strategy depends on the task context but does not require precise positioning knowledge. We term this qualitative manipulation to draw a parallel with qualitative vision strategies. The approach is to design closed-loop programs that detect significant events to control manipulation but ignore inessential details. The strategy is generalized by analyzing the robot state dynamics during teleoperated hand actions to reveal the essential features that control each action.

Characterization of applied fields for ion mobility in traveling wave based structures for lossless ion manipulations (SLIM)

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

Hamid, Ahmed M.; Prabhakaran Nair Syamala Amma, Aneesh; Garimella, Venkata BS

2018-03-21

Ion mobility (IM) is rapidly gaining attention for the analysis of biomolecules due to the ability to distinguish the shapes of ions. However, conventional constant electric field drift tube IM has limited resolving power, constrained by practical limitations on the path length and maximum applied voltage. The implementation of traveling waves (TW) in IM removes the latter limitation, allowing higher resolution to be achieved using extended path lengths. These can be readily obtainable in structures for lossless ion manipulations (SLIM), which are fabricated from electric fields that are generated by appropriate potentials applied to arrays of electrodes patterned on twomore » parallel surfaces. In this work we have investigated the relationship between the various SLIM variables, such as electrode dimensions, inter-surface gap, and the TW applied voltages, that directly impact the fields experienced by ions. Ion simulation and theoretical calculations have been utilized to understand the dependence of SLIM geometry and effective electric field. The variables explored impact both ion confinement and the observed IM resolution in Structures for Lossless Ion Manipulations (SLIM) modules.« less

Characterization of applied fields for ion mobility separations in traveling wave based structures for lossless ion manipulations (SLIM)

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

Hamid, Ahmed M.; Prabhakaran, Aneesh; Garimella, Sandilya V. B.

Ion mobility (IM) is rapidly gaining attention for the analysis of biomolecules due to the ability to distinguish the shapes of ions. However, conventional constant electric field drift tube IM has limited resolving power, constrained by practical limitations on the path length and maximum applied voltage. The implementation of traveling waves (TW) in IM removes the latter limitation, allowing higher resolution to be achieved using extended path lengths. These can be readily obtainable in structures for lossless ion manipulations (SLIM), which are fabricated from electric fields that are generated by appropriate potentials applied to arrays of electrodes patterned on twomore » parallel surfaces. In this work we have investigated the relationship between the various SLIM variables, such as electrode dimensions, inter-surface gap, and the TW applied voltages, that directly impact the fields experienced by ions. Ion simulation and theoretical calculations have been utilized to understand the dependence of SLIM geometry and effective electric field. The variables explored impact both ion confinement and the observed IM resolution in Structures for Lossless Ion Manipulations (SLIM) modules.« less

An Intrinsic Algorithm for Parallel Poisson Disk Sampling on Arbitrary Surfaces.

PubMed

Ying, Xiang; Xin, Shi-Qing; Sun, Qian; He, Ying

2013-03-08

Poisson disk sampling plays an important role in a variety of visual computing, due to its useful statistical property in distribution and the absence of aliasing artifacts. While many effective techniques have been proposed to generate Poisson disk distribution in Euclidean space, relatively few work has been reported to the surface counterpart. This paper presents an intrinsic algorithm for parallel Poisson disk sampling on arbitrary surfaces. We propose a new technique for parallelizing the dart throwing. Rather than the conventional approaches that explicitly partition the spatial domain to generate the samples in parallel, our approach assigns each sample candidate a random and unique priority that is unbiased with regard to the distribution. Hence, multiple threads can process the candidates simultaneously and resolve conflicts by checking the given priority values. It is worth noting that our algorithm is accurate as the generated Poisson disks are uniformly and randomly distributed without bias. Our method is intrinsic in that all the computations are based on the intrinsic metric and are independent of the embedding space. This intrinsic feature allows us to generate Poisson disk distributions on arbitrary surfaces. Furthermore, by manipulating the spatially varying density function, we can obtain adaptive sampling easily.

Parallel traveling-wave MRI: a feasibility study.

PubMed

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

2012-04-01

Traveling-wave magnetic resonance imaging utilizes far fields of a single-piece patch antenna in the magnet bore to generate radio frequency fields for imaging large-size samples, such as the human body. In this work, the feasibility of applying the "traveling-wave" technique to parallel imaging is studied using microstrip patch antenna arrays with both the numerical analysis and experimental tests. A specific patch array model is built and each array element is a microstrip patch antenna. Bench tests show that decoupling between two adjacent elements is better than -26-dB while matching of each element reaches -36-dB, demonstrating excellent isolation performance and impedance match capability. The sensitivity patterns are simulated and g-factors are calculated for both unloaded and loaded cases. The results on B 1- sensitivity patterns and g-factors demonstrate the feasibility of the traveling-wave parallel imaging. Simulations also suggest that different array configuration such as patch shape, position and orientation leads to different sensitivity patterns and g-factor maps, which provides a way to manipulate B(1) fields and improve the parallel imaging performance. The proposed method is also validated by using 7T MR imaging experiments. Copyright © 2011 Wiley-Liss, Inc.

An Evaluation of Different Statistical Targets for Assembling Parallel Forms in Item Response Theory

PubMed Central

Ali, Usama S.; van Rijn, Peter W.

2015-01-01

Assembly of parallel forms is an important step in the test development process. Therefore, choosing a suitable theoretical framework to generate well-defined test specifications is critical. The performance of different statistical targets of test specifications using the test characteristic curve (TCC) and the test information function (TIF) was investigated. Test length, the number of test forms, and content specifications are considered as well. The TCC target results in forms that are parallel in difficulty, but not necessarily in terms of precision. Vice versa, test forms created using a TIF target are parallel in terms of precision, but not necessarily in terms of difficulty. As sometimes the focus is either on TIF or TCC, differences in either difficulty or precision can arise. Differences in difficulty can be mitigated by equating, but differences in precision cannot. In a series of simulations using a real item bank, the two-parameter logistic model, and mixed integer linear programming for automated test assembly, these differences were found to be quite substantial. When both TIF and TCC are combined into one target with manipulation to relative importance, these differences can be made to disappear.

Mathematical Abstraction: Constructing Concept of Parallel Coordinates

NASA Astrophysics Data System (ADS)

Nurhasanah, F.; Kusumah, Y. S.; Sabandar, J.; Suryadi, D.

2017-09-01

Mathematical abstraction is an important process in teaching and learning mathematics so pre-service mathematics teachers need to understand and experience this process. One of the theoretical-methodological frameworks for studying this process is Abstraction in Context (AiC). Based on this framework, abstraction process comprises of observable epistemic actions, Recognition, Building-With, Construction, and Consolidation called as RBC + C model. This study investigates and analyzes how pre-service mathematics teachers constructed and consolidated concept of Parallel Coordinates in a group discussion. It uses AiC framework for analyzing mathematical abstraction of a group of pre-service teachers consisted of four students in learning Parallel Coordinates concepts. The data were collected through video recording, students’ worksheet, test, and field notes. The result shows that the students’ prior knowledge related to concept of the Cartesian coordinate has significant role in the process of constructing Parallel Coordinates concept as a new knowledge. The consolidation process is influenced by the social interaction between group members. The abstraction process taken place in this group were dominated by empirical abstraction that emphasizes on the aspect of identifying characteristic of manipulated or imagined object during the process of recognizing and building-with.

Forward modeling of the Earth's lithospheric field using spherical prisms

NASA Astrophysics Data System (ADS)

Baykiev, Eldar; Ebbing, Jörg; Brönner, Marco; Fabian, Karl

2014-05-01

The ESA satellite mission Swarm consists of three satellites that measure the magnetic field of the Earth at average flight heights of about 450 km and 530 km above surface. Realistic forward modeling of the expected data is an indispensible first step for both, evaluation and inversion of the real data set. This forward modeling requires a precise definition of the spherical geometry of the magnetic sources. At satellite height only long wavelengths of the magnetic anomalies are reliably measured. Because these are very sensitive to the modeling error in case of a local flat Earth approximation, conventional magnetic modeling tools cannot be reliably used. For an improved modeling approach, we start from the existing gravity modeling code "tesseroids" (http://leouieda.github.io/tesseroids/), which calculates gravity gradient tensor components for any collection of spherical prisms (tesseroids). By Poisson's relation the magnetic field is mathematically equivalent to the gradient of a gravity field. It is therefore directly possible to apply "tesseroids" for magnetic field modeling. To this end, the Earth crust is covered by spherical prisms, each with its own prescribed magnetic susceptibility and remanent magnetization. Induced magnetizations are then derived from the products of the local geomagnetic fields for the chosen main field model (such as the International Geomagnetic Reference Field), and the corresponding tesseroid susceptibilities. Remanent magnetization vectors are directly set. This method inherits the functionality of the original "tesseroids" code and performs parallel computation of the magnetic field vector components on any given grid. Initial global calculations for a simplified geometry and piecewise constant magnetization for each tesseroid show that the method is self-consistent and reproduces theoretically expected results. Synthetic induced crustal magnetic fields and total field anomalies of the CRUST1.0 model converted to magnetic tesseroids reproduce the results of previous forward modelling methods (e.g. using point dipoles as magnetic sources), while reducing error terms. Moreover the spherical-prism method can easily be linked to other geophysical forward or inverse modelling tools. Sensitivity analysis over Fennoscandia will be used to estimate if and how induced and remanent magnetization can be distinguished in data from the Swarm satellite mission.

Design of Arithmetic Circuits for Complex Binary Number System

NASA Astrophysics Data System (ADS)

Jamil, Tariq

2011-08-01

Complex numbers play important role in various engineering applications. To represent these numbers efficiently for storage and manipulation, a (-1+j)-base complex binary number system (CBNS) has been proposed in the literature. In this paper, designs of nibble-size arithmetic circuits (adder, subtractor, multiplier, divider) have been presented. These circuits can be incorporated within von Neumann and associative dataflow processors to achieve higher performance in both sequential and parallel computing paradigms.

Training Capabilities Test of Electronics Equipment Maintenance Trainer (EEMT): Findings and Conclusions.

DTIC Science & Technology

1984-07-01

primarily a stand-alone, equipment-specific trainer which uses both structured and free - play lessonware. Structured lessons provide instruction on various...topics in a typical interactive tutorial format. Free - play lessons present troubleshooting problems and students are allowed to observe and manipulate...the simulated equipment until a solution is reached. Free - play lessons closely parallel laboratory training problems. S3 4. O. .4 o• , e o . . o - o o

Reconstruction of mreB Expression in Staphylococcus aureus via a Collection of New Integrative Plasmids

PubMed Central

Yepes, Ana; Koch, Gudrun; Waldvogel, Andrea; Garcia-Betancur, Juan-Carlos

2014-01-01

Protein localization has been traditionally explored in unicellular organisms, whose ease of genetic manipulation facilitates molecular characterization. The two rod-shaped bacterial models Escherichia coli and Bacillus subtilis have been prominently used for this purpose and have displaced other bacteria whose challenges for genetic manipulation have complicated any study of cell biology. Among these bacteria is the spherical pathogenic bacterium Staphylococcus aureus. In this report, we present a new molecular toolbox that facilitates gene deletion in staphylococci in a 1-step recombination process and additional vectors that facilitate the insertion of diverse reporter fusions into newly identified neutral loci of the S. aureus chromosome. Insertion of the reporters does not add any antibiotic resistance genes to the chromosomes of the resultant strains, thereby making them amenable for further genetic manipulations. We used this toolbox to reconstitute the expression of mreB in S. aureus, a gene that encodes an actin-like cytoskeletal protein which is absent in coccal cells and is presumably lost during the course of speciation. We observed that in S. aureus, MreB is organized in discrete structures in association with the membrane, leading to an unusual redistribution of the cell wall material. The production of MreB also caused cell enlargement, but it did not revert staphylococcal shape. We present interactions of MreB with key staphylococcal cell wall-related proteins. This work facilitates the use S. aureus as a model system in exploring diverse aspects of cellular microbiology. PMID:24747904

Solving radiative transfer with line overlaps using Gauss-Seidel algorithms

NASA Astrophysics Data System (ADS)

Daniel, F.; Cernicharo, J.

2008-09-01

Context: The improvement in observational facilities requires refining the modelling of the geometrical structures of astrophysical objects. Nevertheless, for complex problems such as line overlap in molecules showing hyperfine structure, a detailed analysis still requires a large amount of computing time and thus, misinterpretation cannot be dismissed due to an undersampling of the whole space of parameters. Aims: We extend the discussion of the implementation of the Gauss-Seidel algorithm in spherical geometry and include the case of hyperfine line overlap. Methods: We first review the basics of the short characteristics method that is used to solve the radiative transfer equations. Details are given on the determination of the Lambda operator in spherical geometry. The Gauss-Seidel algorithm is then described and, by analogy to the plan-parallel case, we see how to introduce it in spherical geometry. Doing so requires some approximations in order to keep the algorithm competitive. Finally, line overlap effects are included. Results: The convergence speed of the algorithm is compared to the usual Jacobi iterative schemes. The gain in the number of iterations is typically factors of 2 and 4 for the two implementations made of the Gauss-Seidel algorithm. This is obtained despite the introduction of approximations in the algorithm. A comparison of results obtained with and without line overlaps for N2H^+, HCN, and HNC shows that the J=3-2 line intensities are significantly underestimated in models where line overlap is neglected.

Dirac-Kähler particle in Riemann spherical space: boson interpretation

NASA Astrophysics Data System (ADS)

Ishkhanyan, A. M.; Florea, O.; Ovsiyuk, E. M.; Red'kov, V. M.

2015-11-01

In the context of the composite boson interpretation, we construct the exact general solution of the Dirac--K\\"ahler equation for the case of the spherical Riemann space of constant positive curvature, for which due to the geometry itself one may expect to have a discrete energy spectrum. In the case of the minimal value of the total angular momentum, $j=0$, the radial equations are reduced to second-order ordinary differential equations, which are straightforwardly solved in terms of the hypergeometric functions. For non-zero values of the total angular momentum, however, the radial equations are reduced to a pair of complicated fourth-order differential equations. Employing the factorization approach, we derive the general solution of these equations involving four independent fundamental solutions written in terms of combinations of the hypergeometric functions. The corresponding discrete energy spectrum is then determined via termination of the involved hypergeometric series, resulting in quasi-polynomial wave-functions. The constructed solutions lead to notable observations when compared with those for the ordinary Dirac particle. The energy spectrum for the Dirac-K\\"ahler particle in spherical space is much more complicated. Its structure substantially differs from that for the Dirac particle since it consists of two paralleled energy level series each of which is twofold degenerate. Besides, none of the two separate series coincides with the series for the Dirac particle. Thus, the Dirac--K\\"ahler field cannot be interpreted as a system of four Dirac fermions. Additional arguments supporting this conclusion are discussed.

Manipulating femtosecond laser interactions in bulk glass and thin-film with spatial light modulation (Conference Presentation)

NASA Astrophysics Data System (ADS)

Alimohammadian, Ehsan; Ho, Stephen; Ertorer, Erden; Gherghe, Sebastian; Li, Jianzhao; Herman, Peter R.

2017-03-01

Spatial Light Modulators (SLM) are emerging as a power tool for laser beam shaping whereby digitally addressed phase shifts can impose computer-generated hologram patterns on incoming laser light. SLM provide several additional advantages with ultrashort-pulsed lasers in controlling the shape of both surface and internal interactions with materials. Inside transparent materials, nonlinear optical effects can confine strong absorption only to the focal volume, extend dissipation over long filament tracks, or reach below diffraction-limited spot sizes. Hence, SLM beam shaping has been widely adopted for laser material processing applications that include parallel structuring, filamentation, fiber Bragg grating formation and optical aberration correction. This paper reports on a range of SLM applications we have studied in femtosecond processing of transparent glasses and thin films. Laser phase-fronts were tailored by the SLM to compensate for spherical surface aberration, and to further address the nonlinear interactions that interplay between Kerr-lens self-focusing and plasma defocusing effects over shallow and deep focusing inside the glass. Limits of strong and weak focusing were examined around the respective formation of low-loss optical waveguides and long uniform filament tracks. Further, we have employed the SLM for beam patterning inside thin film, exploring the limits of phase noise, resolution and fringe contrast during interferometric intra-film structuring. Femtosecond laser pulses of 200 fs pulse duration and 515 nm wavelength were shaped by a phase-only LCOS-SLM (Hamamatsu X10468-04). By imposing radial phase profiles, axicon, grating and beam splitting gratings, volume shape control of filament diameter, length, and uniformity as well as simultaneous formation of multiple filaments has been demonstrated. Similarly, competing effects of spherical surface aberration, self-focusing, and plasma de-focusing were studied and delineated to enable formation of low-loss optical waveguides over shallow and deep focusing conditions. Lastly, SLM beam shaping has been successfully extended to interferometric processing inside thin transparent film, enabling the arbitrary formation of uniform or non-uniform, symmetric or asymmetric patterns of flexible shape on nano-scale dimensions without phase-noise degradation by the SLM patterning. We present quantized structuring of thin films by a single laser pulse, demonstrating λ/2nfilm layer ejection control, blister formation, nano-cavities, and film colouring. Closed intra-film nanochannels with high aspect ratio (20:1) have been formed inside 3.5 um thick silica, opening new prospects for sub-cellular studies and lab-in-film concepts that integrate on CMOS silicon technologies.

3D unstructured-mesh radiation transport codes

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

Morel, J.

1997-12-31

Three unstructured-mesh radiation transport codes are currently being developed at Los Alamos National Laboratory. The first code is ATTILA, which uses an unstructured tetrahedral mesh in conjunction with standard Sn (discrete-ordinates) angular discretization, standard multigroup energy discretization, and linear-discontinuous spatial differencing. ATTILA solves the standard first-order form of the transport equation using source iteration in conjunction with diffusion-synthetic acceleration of the within-group source iterations. DANTE is designed to run primarily on workstations. The second code is DANTE, which uses a hybrid finite-element mesh consisting of arbitrary combinations of hexahedra, wedges, pyramids, and tetrahedra. DANTE solves several second-order self-adjoint forms of the transport equation including the even-parity equation, the odd-parity equation, and a new equation called the self-adjoint angular flux equation. DANTE also offers three angular discretization options:more » $$S{_}n$$ (discrete-ordinates), $$P{_}n$$ (spherical harmonics), and $$SP{_}n$$ (simplified spherical harmonics). DANTE is designed to run primarily on massively parallel message-passing machines, such as the ASCI-Blue machines at LANL and LLNL. The third code is PERICLES, which uses the same hybrid finite-element mesh as DANTE, but solves the standard first-order form of the transport equation rather than a second-order self-adjoint form. DANTE uses a standard $$S{_}n$$ discretization in angle in conjunction with trilinear-discontinuous spatial differencing, and diffusion-synthetic acceleration of the within-group source iterations. PERICLES was initially designed to run on workstations, but a version for massively parallel message-passing machines will be built. The three codes will be described in detail and computational results will be presented.« less

Direct numerical simulation of instabilities in parallel flow with spherical roughness elements

NASA Technical Reports Server (NTRS)

Deanna, R. G.

1992-01-01

Results from a direct numerical simulation of laminar flow over a flat surface with spherical roughness elements using a spectral-element method are given. The numerical simulation approximates roughness as a cellular pattern of identical spheres protruding from a smooth wall. Periodic boundary conditions on the domain's horizontal faces simulate an infinite array of roughness elements extending in the streamwise and spanwise directions, which implies the parallel-flow assumption, and results in a closed domain. A body force, designed to yield the horizontal Blasius velocity in the absence of roughness, sustains the flow. Instabilities above a critical Reynolds number reveal negligible oscillations in the recirculation regions behind each sphere and in the free stream, high-amplitude oscillations in the layer directly above the spheres, and a mean profile with an inflection point near the sphere's crest. The inflection point yields an unstable layer above the roughness (where U''(y) is less than 0) and a stable region within the roughness (where U''(y) is greater than 0). Evidently, the instability begins when the low-momentum or wake region behind an element, being the region most affected by disturbances (purely numerical in this case), goes unstable and moves. In compressible flow with periodic boundaries, this motion sends disturbances to all regions of the domain. In the unstable layer just above the inflection point, the disturbances grow while being carried downstream with a propagation speed equal to the local mean velocity; they do not grow amid the low energy region near the roughness patch. The most amplified disturbance eventually arrives at the next roughness element downstream, perturbing its wake and inducing a global response at a frequency governed by the streamwise spacing between spheres and the mean velocity of the most amplified layer.

Limb and gravity-darkening coefficients for the TESS satellite at several metallicities, surface gravities, and microturbulent velocities

NASA Astrophysics Data System (ADS)

Claret, A.

2017-04-01

Aims: We present new gravity and limb-darkening coefficients for a wide range of effective temperatures, gravities, metallicities, and microturbulent velocities. These coefficients can be used in many different fields of stellar physics as synthetic light curves of eclipsing binaries and planetary transits, stellar diameters, line profiles in rotating stars, and others. Methods: The limb-darkening coefficients were computed specifically for the photometric system of the space mission tess and were performed by adopting the least-square method. In addition, the linear and bi-parametric coefficients, by adopting the flux conservation method, are also available. On the other hand, to take into account the effects of tidal and rotational distortions, we computed the passband gravity-darkening coefficients y(λ) using a general differential equation in which we consider the effects of convection and of the partial derivative (∂lnI(λ) /∂lng)Teff. Results: To generate the limb-darkening coefficients we adopt two stellar atmosphere models: atlas (plane-parallel) and phoenix (spherical, quasi-spherical, and r-method). The specific intensity distribution was fitted using five approaches: linear, quadratic, square root, logarithmic, and a more general one with four terms. These grids cover together 19 metallicities ranging from 10-5 up to 10+1 solar abundances, 0 ≤ log g ≤ 6.0 and 1500 K ≤Teff ≤ 50 000 K. The calculations of the gravity-darkening coefficients were performed for all plane-parallel ATLAS models. Tables 2-29 are only available at the CDS via anonymous ftp to http://cdsarc.u-strasbg.fr (http://130.79.128.5) or via http://cdsarc.u-strasbg.fr/viz-bin/qcat?J/A+A/600/A30

Comparative analysis of methods for modeling the penetration and plane-parallel motion of conical projectiles in soil

NASA Astrophysics Data System (ADS)

Bazhenov, V. G.; Bragov, A. M.; Konstantinov, A. Yu.; Kotov, V. L.

2015-05-01

This paper presents an analysis of the accuracy of known and new modeling methods using the hypothesis of local and plane sections for solution of problems of the impact and plane-parallel motion of conical bodies at an angle to the free surface of the half-space occupied by elastoplastic soil. The parameters of the local interaction model that is quadratic in velocity are determined by solving the one-dimensional problem of the expansion of a spherical cavity. Axisymmetric problems for each of the meridional section are solved simultaneously neglecting mass and momentum transfer in the circumferential direction and using an approach based on the hypothesis of plane sections. The dynamic and kinematic parameters of oblique penetration obtained using modified models are compared with the results of computer simulation in a three-dimensional formulation. The results obtained with regard to the contact stress distribution along the generator of the pointed cone are in satisfactory agreement.

A parallel direct-forcing fictitious domain method for simulating microswimmers

NASA Astrophysics Data System (ADS)

Gao, Tong; Lin, Zhaowu

2017-11-01

We present a 3D parallel direct-forcing fictitious domain method for simulating swimming micro-organisms at small Reynolds numbers. We treat the motile micro-swimmers as spherical rigid particles using the ``Squirmer'' model. The particle dynamics are solved on the moving Larangian meshes that overlay upon a fixed Eulerian mesh for solving the fluid motion, and the momentum exchange between the two phases is resolved by distributing pseudo body-forces over the particle interior regions which constrain the background fictitious fluids to follow the particle movement. While the solid and fluid subproblems are solved separately, no inner-iterations are required to enforce numerical convergence. We demonstrate the accuracy and robustness of the method by comparing our results with the existing analytical and numerical studies for various cases of single particle dynamics and particle-particle interactions. We also perform a series of numerical explorations to obtain statistical and rheological measurements to characterize the dynamics and structures of Squirmer suspensions. NSF DMS 1619960.

Scattered acoustic field above a grating of parallel rectangular cavities

NASA Astrophysics Data System (ADS)

Khanfir, A.; Faiz, A.; Ducourneau, J.; Chatillon, J.; Skali Lami, S.

2013-02-01

The aim of this research project was to predict the sound pressure above a wall facing composed of N parallel rectangular cavities. The diffracted acoustic field is processed by generalizing the Kobayashi Potential (KP) method used for determining the electromagnetic field diffracted by a rectangular cavity set in a thick screen. This model enables the diffracted field to be expressed in modal form. Modal amplitudes are subsequently calculated using matrix equations obtained by enforcing boundary conditions. Solving these equations allows the determination of the total reflected acoustic field above the wall facing. This model was compared with experimental results obtained in a semi-anechoic room for a single cavity, a periodic array of three rectangular cavities and an aperiodic grating of nine rectangular cavities of different size and spacing. These facings were insonified by an incident spherical acoustic field, which was decomposed into plane waves. The validity of this model is supported by the agreement between the numerical and experimental results observed.

Embedded cluster metal-polymeric micro interface and process for producing the same

DOEpatents

Menezes, Marlon E.; Birnbaum, Howard K.; Robertson, Ian M.

2002-01-29

A micro interface between a polymeric layer and a metal layer includes isolated clusters of metal partially embedded in the polymeric layer. The exposed portion of the clusters is smaller than embedded portions, so that a cross section, taken parallel to the interface, of an exposed portion of an individual cluster is smaller than a cross section, taken parallel to the interface, of an embedded portion of the individual cluster. At least half, but not all of the height of a preferred spherical cluster is embedded. The metal layer is completed by a continuous layer of metal bonded to the exposed portions of the discontinuous clusters. The micro interface is formed by heating a polymeric layer to a temperature, near its glass transition temperature, sufficient to allow penetration of the layer by metal clusters, after isolated clusters have been deposited on the layer at lower temperatures. The layer is recooled after embedding, and a continuous metal layer is deposited upon the polymeric layer to bond with the discontinuous metal clusters.

3D printed soft parallel actuator

NASA Astrophysics Data System (ADS)

Zolfagharian, Ali; Kouzani, Abbas Z.; Khoo, Sui Yang; Noshadi, Amin; Kaynak, Akif

2018-04-01

This paper presents a 3-dimensional (3D) printed soft parallel contactless actuator for the first time. The actuator involves an electro-responsive parallel mechanism made of two segments namely active chain and passive chain both 3D printed. The active chain is attached to the ground from one end and constitutes two actuator links made of responsive hydrogel. The passive chain, on the other hand, is attached to the active chain from one end and consists of two rigid links made of polymer. The actuator links are printed using an extrusion-based 3D-Bioplotter with polyelectrolyte hydrogel as printer ink. The rigid links are also printed by a 3D fused deposition modelling (FDM) printer with acrylonitrile butadiene styrene (ABS) as print material. The kinematics model of the soft parallel actuator is derived via transformation matrices notations to simulate and determine the workspace of the actuator. The printed soft parallel actuator is then immersed into NaOH solution with specific voltage applied to it via two contactless electrodes. The experimental data is then collected and used to develop a parametric model to estimate the end-effector position and regulate kinematics model in response to specific input voltage over time. It is observed that the electroactive actuator demonstrates expected behaviour according to the simulation of its kinematics model. The use of 3D printing for the fabrication of parallel soft actuators opens a new chapter in manufacturing sophisticated soft actuators with high dexterity and mechanical robustness for biomedical applications such as cell manipulation and drug release.

Motion control of planar parallel robot using the fuzzy descriptor system approach.

PubMed

Vermeiren, Laurent; Dequidt, Antoine; Afroun, Mohamed; Guerra, Thierry-Marie

2012-09-01

This work presents the control of a two-degree of freedom parallel robot manipulator. A quasi-LPV approach, through the so-called TS fuzzy model and LMI constraints problems is used. Moreover, in this context a way to derive interesting control laws is to keep the descriptor form of the mechanical system. Therefore, new LMI problems have to be defined that helps to reduce the conservatism of the usual results. Some relaxations are also proposed to leave the pure quadratic stability/stabilization framework. A comparison study between the classical control strategies from robotics and the control design using TS fuzzy descriptor models is carried out to show the interest of the proposed approach. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Flat Terahertz Reflective Focusing Metasurface with Scanning Ability.

PubMed

Yi, Huan; Qu, Shi-Wei; Chen, Bao-Jie; Bai, Xue; Ng, Kung Bo; Chan, Chi Hou

2017-06-14

The ability to manipulate the propagation properties of electromagnetic waves, e.g., divergence, focusing, holography or deflection, is very significant in terahertz applications. Metasurfaces with flat structures are attractive for achieving such manipulations in terahertz band, as they feature low profile, lightweight, and ease of design and installation. Several types of terahertz reflective or transmitting metasurfaces with focusing function have been implemented recently, but none of them can provide scanning ability with controllable focus. Here, a flat reflective metasurface featuring controllable focal shift is proposed and experimentally demonstrated. Furthermore, the principle of designing a focus scanning reflective metasurface is presented and the focusing characteristics are discussed, including focus scanning along a line parallel or orthogonal to the metasurface with a large bandwidth. These interesting properties indicate that this flat reflective metasurface could play a key role in many terahertz imaging and detection systems.

Ion Trapping, Storage, and Ejection in Structures for Lossless Ion Manipulations

DOE PAGES

Zhang, Xinyu; Garimella, Sandilya V. B.; Prost, Spencer A.; ...

2015-06-14

Here, a structure for lossless ion manipulation (SLIM) module was constructed with electrode arrays patterned on a pair of parallel printed circuit boards (PCB) separated by 5 mm and utilized to investigate capabilities for ion trapping at 4 Torr. Positive ions were confined by application of RF having alternating phases on a series of inner rung electrodes and by positive DC potentials on surrounding guard electrodes on each PCB. An axial DC field was also introduced by stepwise varying the DC potential of the inner rung electrodes so as to control the ion transport and accumulation inside the ion trap.more » We show that ions could be trapped and accumulated with 100% efficiency, stored for at least 5 hours with no losses, and could be rapidly ejected from the SLIM trap.« less

[Advanced Development for Space Robotics With Emphasis on Fault Tolerance Technology

NASA Technical Reports Server (NTRS)

Tesar, Delbert

1997-01-01

This report describes work developing fault tolerant redundant robotic architectures and adaptive control strategies for robotic manipulator systems which can dynamically accommodate drastic robot manipulator mechanism, sensor or control failures and maintain stable end-point trajectory control with minimum disturbance. Kinematic designs of redundant, modular, reconfigurable arms for fault tolerance were pursued at a fundamental level. The approach developed robotic testbeds to evaluate disturbance responses of fault tolerant concepts in robotic mechanisms and controllers. The development was implemented in various fault tolerant mechanism testbeds including duality in the joint servo motor modules, parallel and serial structural architectures, and dual arms. All have real-time adaptive controller technologies to react to mechanism or controller disturbances (failures) to perform real-time reconfiguration to continue the task operations. The developments fall into three main areas: hardware, software, and theoretical.

Digital holographic microscopy combined with optical tweezers

NASA Astrophysics Data System (ADS)

Cardenas, Nelson; Yu, Lingfeng; Mohanty, Samarendra K.

2011-02-01

While optical tweezers have been widely used for the manipulation and organization of microscopic objects in three dimensions, observing the manipulated objects along axial direction has been quite challenging. In order to visualize organization and orientation of objects along axial direction, we report development of a Digital holographic microscopy combined with optical tweezers. Digital holography is achieved by use of a modified Mach-Zehnder interferometer with digital recording of interference pattern of the reference and sample laser beams by use of a single CCD camera. In this method, quantitative phase information is retrieved dynamically with high temporal resolution, only limited by frame rate of the CCD. Digital focusing, phase-unwrapping as well as online analysis and display of the quantitative phase images was performed on a software developed on LabView platform. Since phase changes observed in DHOT is very sensitive to optical thickness of trapped volume, estimation of number of particles trapped in the axial direction as well as orientation of non-spherical objects could be achieved with high precision. Since in diseases such as malaria and diabetics, change in refractive index of red blood cells occurs, this system can be employed to map such disease-specific changes in biological samples upon immobilization with optical tweezers.

Modeling and Simulation of Two Wheelchair Accessories for Pushing Doors.

PubMed

Abdullah, Soran Jalal; Shaikh Mohammed, Javeed

2017-03-27

Independent mobility is vital to individuals of all ages, and wheelchairs have proven to be great personal mobility devices. The tasks of opening and navigating through a door are trivial for healthy people, while the same tasks could be difficult for some wheelchair users. A wide range of intelligent wheelchair controllers and systems, robotic arms, or manipulator attachments integrated with wheelchairs have been developed for various applications, including manipulating door knobs. Unfortunately, the intelligent wheelchairs and robotic attachments are not widely available as commercial products. Therefore, the current manuscript presents the modeling and simulation of a novel but simple technology in the form of a passive wheelchair accessory (straight, arm-like with a single wheel, and arc-shaped with multiple wheels) for pushing doors open from a wheelchair. From the simulations using different wheel shapes and sizes, it was found that the arc-shaped accessory could push open the doors faster and with almost half the required force as compared to the arm-like accessory. Also, smaller spherical wheels were found to be best in terms of reaction forces on the wheels. Prototypes based on the arc-shaped accessory design will be manufactured and evaluated for pushing doors open and dodging or gliding other obstacles.

Optical Modification of Casimir Forces for Improved Function of Micro-and Nano-Scale Devices

NASA Technical Reports Server (NTRS)

Strekalov, Dmitry V.; Yu, Nan

2010-01-01

Recently, there has been a considerable effort to study the Casimir and van der Waals forces, enabled by the improved ability to measure small forces near surfaces. Because of the continuously growing role of micro- and nanomechanical devices, the focus of this activity has shifted towards the ability to control these forces. Possible approaches to manipulating the Casimir force include development of composite materials, engineered nanostructures, mixed-phase materials, or active elements. So far, practical success has been limited. The role of geometrical factors in the Casimir force is significant. It is known, for example, that the Casimir force between two spherical shells enclosed one into the other is repulsive instead of normal attractive. Unfortunately, nanosurfaces with this topology are very difficult to make. A more direct approach to manipulating and neutralizing the Casimir force is using external mechanical or electromagnetic forces. Unfortunately, the technological overhead of such an approach is quite large. Using electromagnetic compensation instead of mechanical will considerably reduce this overhead and at the same time provide the degree of control over the Casimir force that mechanical springs cannot provide. A mechanical analog behind Casimir forces is shown.

Focusing of concentric piecewise vector Bessel-Gaussian beam

NASA Astrophysics Data System (ADS)

Li, Jinsong; Fang, Ying; Zhou, Shenghua; Ye, Youxiang

2010-12-01

The focusing properties of a concentric piecewise vector Bessel-Gaussian beam are investigated in this paper. The beam consists of three portions: the center circular portion and outer annular portion are radially polarized, while the inner annular portion is generalized polarized with tunable polarized angle. Numerical simulations show that the evolution of focal pattern is altered considerably with different Bessel parameters in the Bessel term of the vector Bessel-Gaussian beam. The polarized angle also affects the focal pattern remarkably. Some interesting focal patterns may appear, such as two-peak, dark hollow focus; ring focus; spherical shell focus; cylindrical shell focus; and multi-ring-peak focus, and transverse focal switch occurs with increasing polarized angle of the inner annular portion, which may be used in optical manipulation.

Radiation torque on nonspherical particles in the transition matrix formalism

NASA Astrophysics Data System (ADS)

Borghese, Ferdinando; Denti, Paolo; Saija, Rosalba; Iatì, Maria A.

2006-10-01

The torque exerted by radiation on small particles is recognized to have a considerable relevance, e.g., on the dynamics of cosmic dust grains and for the manipulation of micro and nanoparticles under controlled conditions. In the present paper we derive, in the transition matrix formalism, the radiation torque applied by a plane polarized wave on nonspherical particles. In case of circularly polarized waves impinging on spherical particles our equations reproduce the findings of Marston and Crichton [Phys. Rev. A 30, 2508 2516 (1984)]. Our equations were applied to calculate the torque on a few model particles shaped as aggregates of identical spheres, both axially symmetric and lacking any symmetry, and the conditions for the stability of the induced rotational motion are discussed.

Joint optimization of source, mask, and pupil in optical lithography

NASA Astrophysics Data System (ADS)

Li, Jia; Lam, Edmund Y.

2014-03-01

Mask topography effects need to be taken into consideration for more advanced resolution enhancement techniques in optical lithography. However, rigorous 3D mask model achieves high accuracy at a large computational cost. This work develops a combined source, mask and pupil optimization (SMPO) approach by taking advantage of the fact that pupil phase manipulation is capable of partially compensating for mask topography effects. We first design the pupil wavefront function by incorporating primary and secondary spherical aberration through the coefficients of the Zernike polynomials, and achieve optimal source-mask pair under the condition of aberrated pupil. Evaluations against conventional source mask optimization (SMO) without incorporating pupil aberrations show that SMPO provides improved performance in terms of pattern fidelity and process window sizes.

Biocellion: accelerating computer simulation of multicellular biological system models

PubMed Central

Kang, Seunghwa; Kahan, Simon; McDermott, Jason; Flann, Nicholas; Shmulevich, Ilya

2014-01-01

Motivation: Biological system behaviors are often the outcome of complex interactions among a large number of cells and their biotic and abiotic environment. Computational biologists attempt to understand, predict and manipulate biological system behavior through mathematical modeling and computer simulation. Discrete agent-based modeling (in combination with high-resolution grids to model the extracellular environment) is a popular approach for building biological system models. However, the computational complexity of this approach forces computational biologists to resort to coarser resolution approaches to simulate large biological systems. High-performance parallel computers have the potential to address the computing challenge, but writing efficient software for parallel computers is difficult and time-consuming. Results: We have developed Biocellion, a high-performance software framework, to solve this computing challenge using parallel computers. To support a wide range of multicellular biological system models, Biocellion asks users to provide their model specifics by filling the function body of pre-defined model routines. Using Biocellion, modelers without parallel computing expertise can efficiently exploit parallel computers with less effort than writing sequential programs from scratch. We simulate cell sorting, microbial patterning and a bacterial system in soil aggregate as case studies. Availability and implementation: Biocellion runs on x86 compatible systems with the 64 bit Linux operating system and is freely available for academic use. Visit http://biocellion.com for additional information. Contact: seunghwa.kang@pnnl.gov PMID:25064572

Decentralized Adaptive Control For Robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

Precise knowledge of dynamics not required. Proposed scheme for control of multijointed robotic manipulator calls for independent control subsystem for each joint, consisting of proportional/integral/derivative feedback controller and position/velocity/acceleration feedforward controller, both with adjustable gains. Independent joint controller compensates for unpredictable effects, gravitation, and dynamic coupling between motions of joints, while forcing joints to track reference trajectories. Scheme amenable to parallel processing in distributed computing system wherein each joint controlled by relatively simple algorithm on dedicated microprocessor.

Teleoperator/robot technology can help solve biomedical problems

NASA Technical Reports Server (NTRS)

Heer, E.; Bejczy, A. K.

1975-01-01

Teleoperator and robot technology appears to offer the possibility to apply these techniques to the benefit for the severely handicapped giving them greater self reliance and independence. Major problem areas in the development of prostheses and remotely controlled devices for the handicapped are briefly discussed, and the parallelism with problems in the development of teleoperator/robots identified. A brief description of specific ongoing and projected developments in the area of remotely controlled devices (wheelchairs and manipulators) is provided.

Systematic generation of multibody equations of motion suitable for recursive and parallel manipulation

NASA Technical Reports Server (NTRS)

Nikravesh, Parviz E.; Gim, Gwanghum; Arabyan, Ara; Rein, Udo

1989-01-01

The formulation of a method known as the joint coordinate method for automatic generation of the equations of motion for multibody systems is summarized. For systems containing open or closed kinematic loops, the equations of motion can be reduced systematically to a minimum number of second order differential equations. The application of recursive and nonrecursive algorithms to this formulation, computational considerations and the feasibility of implementing this formulation on multiprocessor computers are discussed.

Topology search of 3-DOF translational parallel manipulators with three identical limbs for leg mechanisms

NASA Astrophysics Data System (ADS)

Wang, Mingfeng; Ceccarelli, Marco

2015-07-01

Three-degree of freedom(3-DOF) translational parallel manipulators(TPMs) have been widely studied both in industry and academia in the past decades. However, most architectures of 3-DOF TPMs are created mainly on designers' intuition, empirical knowledge, or associative reasoning and the topology synthesis researches of 3-DOF TPMs are still limited. In order to find out the atlas of designs for 3-DOF TPMs, a topology search is presented for enumeration of 3-DOF TPMs whose limbs can be modeled as 5-DOF serial chains. The proposed topology search of 3-DOF TPMs is aimed to overcome the sensitivities of the design solution of a 3-DOF TPM for a LARM leg mechanism in a biped robot. The topology search, which is based on the concept of generation and specialization in graph theory, is reported as a step-by-step procedure with desired specifications, principle and rules of generalization, design requirements and constraints, and algorithm of number synthesis. In order to obtain new feasible designs for a chosen example and to limit the search domain under general considerations, one topological generalized kinematic chain is chosen to be specialized. An atlas of new feasible designs is obtained and analyzed for a specific solution as leg mechanisms. The proposed methodology provides a topology search for 3-DOF TPMs for leg mechanisms, but it can be also expanded for other applications and tasks.

Aberration control in adaptive optics: a numerical study of arbitrarily deformable liquid lenses.

PubMed

Lima, N C; Mishra, K; Mugele, F

2017-03-20

By means of numerical simulations, using a computational fluid dynamics software together with an optical ray tracing analysis platform, we show that we can tune various optical aberrations by electrically manipulating the shape of liquid lenses using one hundred individually addressable electrodes. To demonstrate the flexibility of our design, we define electrode patterns based on specific Zernike modes and show that aspherical, cylindrical and decentered shapes of liquid lenses can be produced. Using different voltages, we evaluate the tuning range of spherical aberration (Z11), astigmatism (Z5 and Z6) and coma (Z7), while a hydrostatic pressure is applied to control the average curvature of a microlens with a diameter of 1mm. Upon activating all electrodes simultaneously spherical aberrations of 0.15 waves at a pressure of 30Pa can be suppressed almost completely for the highest voltages applied. For astigmatic and comatic patterns, the values of Z5, Z6 and Z7 increase monotonically with the voltage reaching values up to 0.06, 0.06 and 0.2 waves, respectively. Spot diagrams, wavefront maps and modulation transfer function are reported to quantify the optical performance of each lens. Crosstalk and independence of tunability are discussed in the context of possible applications of the approach for general wavefront shaping.

Iron oxide nanoparticles with controlled morphology for advanced hyperthermia

NASA Astrophysics Data System (ADS)

Nemati Porshokouh, Zohreh; Khurshid, Hafsa; Alonso Messa, Javier; Phan, Manh-Huong; Srikanth, Hariharan

2015-03-01

Magnetic nanoparticles (NPs) are interesting for a wide range of applications. In biomedicine, they have been exploited for use in drug delivery, magnetic resonance imaging, and magnetic hyperthermia. While magnetic hyperthermia, using NPs to convert electromagnetic energy into heat to destroy the cancer cells, represents a novel cancer treatment technique, a poor heating conversion efficiency of the existing NPs restricts its practical use. Different strategies have been proposed to overcome this limitation, mainly by tuning the size, saturation magnetization and effective anisotropy of the NPs. Here we report a magnetic hyperthermia study on Fe3O4 NPs, where the effective anisotropy was tuned by varying particle morphology from the spherical to octopod shape. The Fe3O4 NPs were synthesized using a thermal decomposition method. Transmission electron microscopy (TEM) and high-resolution TEM images show high crystalline monodisperse nanoparticles. X-ray diffraction patterns confirm the presence of Fe3O4 phase. Hyperthermia experiments indicate that the octopods possess a higher SAR as compared to their spherical counterpart. Our findings provide an effective approach to improve the SAR of NPs by manipulating the shape anisotropy of the nanoparticles. Research was supported by USAMRMC through Grant Numbers W81XWH-07-1-0708 and W81XWH1020101/3349.

Osmotic shrinkage of giant egg-lecithin vesicles.

PubMed Central

Boroske, E; Elwenspoek, M; Helfrich, W

1981-01-01

Osmotic shrinkage of giant egg-lecithin vesicles was observed by phase-contrast microscopy. The vesicles remained or became spherical when shrinking. Small and thick-walled vesicles formed visible fingers attached to the sphere. The water permeability of the single bilayer was found to be 41 micrometers/s. A variety of observations indicate that osmosis induces a parallel lipid flow between the monolayers of the bilayer, leading to a strong positive spontaneous curvature. They also suggest the formation of mostly submicroscopic daughter vesicles. The estimated coupling constant, 2 . 10(-6) mol/mol, is large enough to be biologically significant. Images FIGURE 1 FIGURE 3 FIGURE 4 PMID:7213933

Large-aperture focusing of x rays with micropore optics using dry etching of silicon wafers.

PubMed

Ezoe, Yuichiro; Moriyama, Teppei; Ogawa, Tomohiro; Kakiuchi, Takuya; Mitsuishi, Ikuyuki; Mitsuda, Kazuhisa; Aoki, Tatsuhiko; Morishita, Kohei; Nakajima, Kazuo

2012-03-01

Large-aperture focusing of Al K(α) 1.49 keV x-ray photons using micropore optics made from a dry-etched 4 in. (100 mm) silicon wafer is demonstrated. Sidewalls of the micropores are smoothed with high-temperature annealing to work as x-ray mirrors. The wafer is bent to a spherical shape to collect parallel x rays into a focus. Our result supports that this new type of optics allows for the manufacturing of ultralight-weight and high-performance x-ray imaging optics with large apertures at low cost. © 2012 Optical Society of America

CELES: CUDA-accelerated simulation of electromagnetic scattering by large ensembles of spheres

NASA Astrophysics Data System (ADS)

Egel, Amos; Pattelli, Lorenzo; Mazzamuto, Giacomo; Wiersma, Diederik S.; Lemmer, Uli

2017-09-01

CELES is a freely available MATLAB toolbox to simulate light scattering by many spherical particles. Aiming at high computational performance, CELES leverages block-diagonal preconditioning, a lookup-table approach to evaluate costly functions and massively parallel execution on NVIDIA graphics processing units using the CUDA computing platform. The combination of these techniques allows to efficiently address large electrodynamic problems (>104 scatterers) on inexpensive consumer hardware. In this paper, we validate near- and far-field distributions against the well-established multi-sphere T-matrix (MSTM) code and discuss the convergence behavior for ensembles of different sizes, including an exemplary system comprising 105 particles.

Knowing where is different from knowing what: Distinct response time profiles and accuracy effects for target location, orientation, and color probability.

PubMed

Jabar, Syaheed B; Filipowicz, Alex; Anderson, Britt

2017-11-01

When a location is cued, targets appearing at that location are detected more quickly. When a target feature is cued, targets bearing that feature are detected more quickly. These attentional cueing effects are only superficially similar. More detailed analyses find distinct temporal and accuracy profiles for the two different types of cues. This pattern parallels work with probability manipulations, where both feature and spatial probability are known to affect detection accuracy and reaction times. However, little has been done by way of comparing these effects. Are probability manipulations on space and features distinct? In a series of five experiments, we systematically varied spatial probability and feature probability along two dimensions (orientation or color). In addition, we decomposed response times into initiation and movement components. Targets appearing at the probable location were reported more quickly and more accurately regardless of whether the report was based on orientation or color. On the other hand, when either color probability or orientation probability was manipulated, response time and accuracy improvements were specific for that probable feature dimension. Decomposition of the response time benefits demonstrated that spatial probability only affected initiation times, whereas manipulations of feature probability affected both initiation and movement times. As detection was made more difficult, the two effects further diverged, with spatial probability disproportionally affecting initiation times and feature probability disproportionately affecting accuracy. In conclusion, all manipulations of probability, whether spatial or featural, affect detection. However, only feature probability affects perceptual precision, and precision effects are specific to the probable attribute.

The Five-Hundred Aperture Spherical Radio Telescope (fast) Project

NASA Astrophysics Data System (ADS)

Nan, Rendong; Li, Di; Jin, Chengjin; Wang, Qiming; Zhu, Lichun; Zhu, Wenbai; Zhang, Haiyan; Yue, Youling; Qian, Lei

Five-hundred-meter Aperture Spherical radio Telescope (FAST) is a Chinese mega-science project to build the largest single dish radio telescope in the world. Its innovative engineering concept and design pave a new road to realize a huge single dish in the most effective way. FAST also represents Chinese contribution in the international efforts to build the square kilometer array (SKA). Being the most sensitive single dish radio telescope, FAST will enable astronomers to jump-start many science goals, such as surveying the neutral hydrogen in the Milky Way and other galaxies, detecting faint pulsars, looking for the first shining stars, hearing the possible signals from other civilizations, etc. The idea of sitting a large spherical dish in a karst depression is rooted in Arecibo telescope. FAST is an Arecibo-type antenna with three outstanding aspects: the karst depression used as the site, which is large to host the 500-meter telescope and deep to allow a zenith angle of 40 degrees; the active main reflector correcting for spherical aberration on the ground to achieve a full polarization and a wide band without involving complex feed systems; and the light-weight feed cabin driven by cables and servomechanism plus a parallel robot as a secondary adjustable system to move with high precision. The feasibility studies for FAST have been carried out for 14 years, supported by Chinese and world astronomical communities. Funding for FAST has been approved by the National Development and Reform Commission in July of 2007 with a capital budget ~ 700 million RMB. The project time is 5.5 years from the commencement of work in March of 2011 and the first light is expected to be in 2016. This review intends to introduce the project of FAST with emphasis on the recent progress since 2006. In this paper, the subsystems of FAST are described in modest details followed by discussions of the fundamental science goals and examples of early science projects.

Concurrent Collections (CnC): A new approach to parallel programming

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

Knobe, Kathleen

2010-05-07

A common approach in designing parallel languages is to provide some high level handles to manipulate the use of the parallel platform. This exposes some aspects of the target platform, for example, shared vs. distributed memory. It may expose some but not all types of parallelism, for example, data parallelism but not task parallelism. This approach must find a balance between the desire to provide a simple view for the domain expert and provide sufficient power for tuning. This is hard for any given architecture and harder if the language is to apply to a range of architectures. Either simplicitymore » or power is lost. Instead of viewing the language design problem as one of providing the programmer with high level handles, we view the problem as one of designing an interface. On one side of this interface is the programmer (domain expert) who knows the application but needs no knowledge of any aspects of the platform. On the other side of the interface is the performance expert (programmer or program) who demands maximal flexibility for optimizing the mapping to a wide range of target platforms (parallel / serial, shared / distributed, homogeneous / heterogeneous, etc.) but needs no knowledge of the domain. Concurrent Collections (CnC) is based on this separation of concerns. The talk will present CnC and its benefits. About the speaker. Kathleen Knobe has focused throughout her career on parallelism especially compiler technology, runtime system design and language design. She worked at Compass (aka Massachusetts Computer Associates) from 1980 to 1991 designing compilers for a wide range of parallel platforms for Thinking Machines, MasPar, Alliant, Numerix, and several government projects. In 1991 she decided to finish her education. After graduating from MIT in 1997, she joined Digital Equipment’s Cambridge Research Lab (CRL). She stayed through the DEC/Compaq/HP mergers and when CRL was acquired and absorbed by Intel. She currently works in the Software and Services Group / Technology Pathfinding and Innovation.« less

Concurrent Collections (CnC): A new approach to parallel programming

ScienceCinema

Knobe, Kathleen

2018-04-16

A common approach in designing parallel languages is to provide some high level handles to manipulate the use of the parallel platform. This exposes some aspects of the target platform, for example, shared vs. distributed memory. It may expose some but not all types of parallelism, for example, data parallelism but not task parallelism. This approach must find a balance between the desire to provide a simple view for the domain expert and provide sufficient power for tuning. This is hard for any given architecture and harder if the language is to apply to a range of architectures. Either simplicity or power is lost. Instead of viewing the language design problem as one of providing the programmer with high level handles, we view the problem as one of designing an interface. On one side of this interface is the programmer (domain expert) who knows the application but needs no knowledge of any aspects of the platform. On the other side of the interface is the performance expert (programmer or program) who demands maximal flexibility for optimizing the mapping to a wide range of target platforms (parallel / serial, shared / distributed, homogeneous / heterogeneous, etc.) but needs no knowledge of the domain. Concurrent Collections (CnC) is based on this separation of concerns. The talk will present CnC and its benefits. About the speaker. Kathleen Knobe has focused throughout her career on parallelism especially compiler technology, runtime system design and language design. She worked at Compass (aka Massachusetts Computer Associates) from 1980 to 1991 designing compilers for a wide range of parallel platforms for Thinking Machines, MasPar, Alliant, Numerix, and several government projects. In 1991 she decided to finish her education. After graduating from MIT in 1997, she joined Digital Equipment’s Cambridge Research Lab (CRL). She stayed through the DEC/Compaq/HP mergers and when CRL was acquired and absorbed by Intel. She currently works in the Software and Services Group / Technology Pathfinding and Innovation.

Developments in parallel grafts for aortic arch lesions.

PubMed

Kolvenbach, Ralf R; Rabin, Asaf; Karmeli, Ron; Alpaslan, Alper; Schwierz, Elizabeth

2016-06-01

Due to the shortage of commercially available off the shelf aortic arch grafts since the last years parallel grafts or chimney grafts have played an increasing role in the treatment of patients with aortic arch lesions. Although there are still issues with type endoleaks and gutters between the chimney graft and the aortic stent-graft remaining. We report our results with the Medtronic thoracic graft in combination with long self-expanding parallel grafts, to ensure an overlapping zone of more than 7 cm between the different grafts. Alternatively, sandwich configurations are used where a direct contact between the parallel graft and the aortic wall is avoided. We have placed a total of 65 parallel grafts into supra-aortic branches. In 21 cases chimney grafts were placed into the carotid artery, in most cases into the left common carotid artery. In 36 cases chimney grafts were placed into left subclavian artery. A maximum number of 4 parallel grafts were placed for total endovascular debranching. In addition, in 8 patients a parallel graft had to be placed into the innominate artery. There was a patency of 69% for all subclavian artery chimney grafts versus 73% for carotid artery parallel grafts. Of note is a stroke rate of 5.2% in all these cases. Only 2 of the patients with an occluded left subclavian artery chimney graft required a bypass procedure for arm claudication or ischemia. We had a primary type I endoleak rate of 28%. In almost 25% secondary interventions were required mainly to treat type I leaks, in those cases where the leak did not resolve spontaneously. The overall mortality rate was 3.5%. The results of parallel graft in the aortic arch are promising, but of major concern is still the high rate of type I endoleaks as well as the neurological complication rate, most probably due to catheter manipulation in patients with severe atherosclerotic arch lesions.

Magnetic and optical holonomic manipulation of colloids, structures and topological defects in liquid crystals for characterization of mesoscale self-assembly and dynamics

NASA Astrophysics Data System (ADS)

Varney, Michael C. M.

Colloidal systems find important applications ranging from fabrication of photonic crystals to direct probing of phenomena encountered in atomic crystals and glasses; topics of great interest for physicists exploring a broad range of scientific, industrial and biomedical fields. The ability to accurately control particles of mesoscale size in various liquid host media is usually accomplished through optical trapping methods, which suffer limitations intrinsic to trap laser intensity and force generation. Other limitations are due to colloid properties, such as optical absorptivity, and host properties, such as viscosity, opacity and structure. Therefore, alternative and/or novel methods of colloidal manipulation are of utmost importance in order to advance the state of the art in technical applications and fundamental science. In this thesis, I demonstrate a magnetic-optical holonomic control system to manipulate magnetic and optical colloids in liquid crystals and show that the elastic structure inherent to nematic and cholesteric liquid crystals may be used to assist in tweezing of particles in a manner impossible in other media. Furthermore, I demonstrate the utility of this manipulation in characterizing the structure and microrheology of liquid crystals, and elucidating the energetics and dynamics of colloids interacting with these structures. I also demonstrate the utility of liquid crystal systems as a table top model system to probe topological defects in a manner that may lead to insights into topologically related phenomena in other fields, such as early universe cosmology, sub-atomic and high energy systems, or Skrymionic structures. I explore the interaction of colloid surface anchoring with the structure inherent in cholesteric liquid crystals, and how this affects the periodic dynamics and localization metastability of spherical colloids undergoing a "falling" motion within the sample. These so called "metastable states" cause colloidal dynamics to deviate from Stokes-like behavior at very low Reynolds numbers and is understood by accounting for periodic landscapes of elastic interaction potential between the particle and cholesteric host medium due to surface anchoring. This work extends our understanding of how colloids interact with liquid crystals and topological defects, and introduces a powerful method of colloidal manipulation with many potential applications.

Current-controlled light scattering and asymmetric plasmon propagation in graphene

NASA Astrophysics Data System (ADS)

Wenger, Tobias; Viola, Giovanni; Kinaret, Jari; Fogelström, Mikael; Tassin, Philippe

2018-02-01

We demonstrate that plasmons in graphene can be manipulated using a dc current. A source-drain current lifts the forward/backward degeneracy of the plasmons, creating two modes with different propagation properties parallel and antiparallel to the current. We show that the propagation length of the plasmon propagating parallel to the drift current is enhanced, while the propagation length for the antiparallel plasmon is suppressed. We also investigate the scattering of light off graphene due to the plasmons in a periodic dielectric environment and we find that the plasmon resonance separates in two peaks corresponding to the forward and backward plasmon modes. The narrower linewidth of the forward propagating plasmon may be of interest for refractive index sensing and the dc current control could be used for the modulation of mid-infrared electromagnetic radiation.

Contingency learning is reduced for high conflict stimuli.

PubMed

Whitehead, Peter S; Brewer, Gene A; Patwary, Nowed; Blais, Chris

2016-09-16

Recent theories have proposed that contingency learning occurs independent of control processes. These parallel processing accounts propose that behavioral effects originally thought to be products of control processes are in fact products solely of contingency learning. This view runs contrary to conflict-mediated Hebbian-learning models that posit control and contingency learning are parts of an interactive system. In this study we replicate the contingency learning effect and modify it to further test the veracity of the parallel processing accounts in comparison to conflict-mediated Hebbian-learning models. This is accomplished by manipulating conflict to test for an interaction, or lack thereof, between conflict and contingency learning. The results are consistent with conflict-mediated Hebbian-learning in that the addition of conflict reduces the magnitude of the contingency learning effect. Copyright © 2016 Elsevier B.V. All rights reserved.

Linear-scaling density-functional simulations of charged point defects in Al2O3 using hierarchical sparse matrix algebra.

PubMed

Hine, N D M; Haynes, P D; Mostofi, A A; Payne, M C

2010-09-21

We present calculations of formation energies of defects in an ionic solid (Al(2)O(3)) extrapolated to the dilute limit, corresponding to a simulation cell of infinite size. The large-scale calculations required for this extrapolation are enabled by developments in the approach to parallel sparse matrix algebra operations, which are central to linear-scaling density-functional theory calculations. The computational cost of manipulating sparse matrices, whose sizes are determined by the large number of basis functions present, is greatly improved with this new approach. We present details of the sparse algebra scheme implemented in the ONETEP code using hierarchical sparsity patterns, and demonstrate its use in calculations on a wide range of systems, involving thousands of atoms on hundreds to thousands of parallel processes.

Parallel Syndromes: Two Dimensions of Narcissism and the Facets of Psychopathic Personality in Criminally-Involved Individuals

PubMed Central

2012-01-01

Little research has examined different dimensions of narcissism that may parallel psychopathy facets in criminally-involved individuals. The present study examined the pattern of relationships between grandiose and vulnerable narcissism, assessed using the Narcissistic Personality Inventory-16 and the Hypersensitive Narcissism Scale, respectively, and the four facets of psychopathy (interpersonal, affective, lifestyle, and antisocial) assessed via the Psychopathy Checklist: Screening Version (PCL:SV). As predicted, grandiose and vulnerable narcissism showed differential relationships to psychopathy facets, with grandiose narcissism relating positively to the interpersonal facet of psychopathy and vulnerable narcissism relating positively to the lifestyle facet of psychopathy. Paralleling existing psychopathy research, vulnerable narcissism showed stronger associations than grandiose narcissism to 1) other forms of psychopathology, including internalizing and substance use disorders, and 2) self- and other-directed aggression, measured using the Life History of Aggression and the Forms of Aggression Questionnaire. Grandiose narcissism was nonetheless associated with social dysfunction marked by a manipulative and deceitful interpersonal style and unprovoked aggression. Potentially important implications for uncovering etiological pathways and developing treatment interventions for these disorders in externalizing adults are discussed. PMID:22448731

Real-time multi-mode neutron multiplicity counter

DOEpatents

Rowland, Mark S; Alvarez, Raymond A

2013-02-26

Embodiments are directed to a digital data acquisition method that collects data regarding nuclear fission at high rates and performs real-time preprocessing of large volumes of data into directly useable forms for use in a system that performs non-destructive assaying of nuclear material and assemblies for mass and multiplication of special nuclear material (SNM). Pulses from a multi-detector array are fed in parallel to individual inputs that are tied to individual bits in a digital word. Data is collected by loading a word at the individual bit level in parallel, to reduce the latency associated with current shift-register systems. The word is read at regular intervals, all bits simultaneously, with no manipulation. The word is passed to a number of storage locations for subsequent processing, thereby removing the front-end problem of pulse pileup. The word is used simultaneously in several internal processing schemes that assemble the data in a number of more directly useable forms. The detector includes a multi-mode counter that executes a number of different count algorithms in parallel to determine different attributes of the count data.

Integration of Si-CMOS embedded photo detector array and mixed signal processing system with embedded optical waveguide input

NASA Astrophysics Data System (ADS)

Kim, Daeik D.; Thomas, Mikkel A.; Brooke, Martin A.; Jokerst, Nan M.

2004-06-01

Arrays of embedded bipolar junction transistor (BJT) photo detectors (PD) and a parallel mixed-signal processing system were fabricated as a silicon complementary metal oxide semiconductor (Si-CMOS) circuit for the integration optical sensors on the surface of the chip. The circuit was fabricated with AMI 1.5um n-well CMOS process and the embedded PNP BJT PD has a pixel size of 8um by 8um. BJT PD was chosen to take advantage of its higher gain amplification of photo current than that of PiN type detectors since the target application is a low-speed and high-sensitivity sensor. The photo current generated by BJT PD is manipulated by mixed-signal processing system, which consists of parallel first order low-pass delta-sigma oversampling analog-to-digital converters (ADC). There are 8 parallel ADCs on the chip and a group of 8 BJT PDs are selected with CMOS switches. An array of PD is composed of three or six groups of PDs depending on the number of rows.

An intrinsic algorithm for parallel Poisson disk sampling on arbitrary surfaces.

PubMed

Ying, Xiang; Xin, Shi-Qing; Sun, Qian; He, Ying

2013-09-01

Poisson disk sampling has excellent spatial and spectral properties, and plays an important role in a variety of visual computing. Although many promising algorithms have been proposed for multidimensional sampling in euclidean space, very few studies have been reported with regard to the problem of generating Poisson disks on surfaces due to the complicated nature of the surface. This paper presents an intrinsic algorithm for parallel Poisson disk sampling on arbitrary surfaces. In sharp contrast to the conventional parallel approaches, our method neither partitions the given surface into small patches nor uses any spatial data structure to maintain the voids in the sampling domain. Instead, our approach assigns each sample candidate a random and unique priority that is unbiased with regard to the distribution. Hence, multiple threads can process the candidates simultaneously and resolve conflicts by checking the given priority values. Our algorithm guarantees that the generated Poisson disks are uniformly and randomly distributed without bias. It is worth noting that our method is intrinsic and independent of the embedding space. This intrinsic feature allows us to generate Poisson disk patterns on arbitrary surfaces in IR(n). To our knowledge, this is the first intrinsic, parallel, and accurate algorithm for surface Poisson disk sampling. Furthermore, by manipulating the spatially varying density function, we can obtain adaptive sampling easily.

Issues in human/computer control of dexterous remote hands

NASA Technical Reports Server (NTRS)

Salisbury, K.

1987-01-01

Much research on dexterous robot hands has been aimed at the design and control problems associated with their autonomous operation, while relatively little research has addressed the problem of direct human control. It is likely that these two modes can be combined in a complementary manner yielding more capability than either alone could provide. While many of the issues in mixed computer/human control of dexterous hands parallel those found in supervisory control of traditional remote manipulators, the unique geometry and capabilities of dexterous hands pose many new problems. Among these are the control of redundant degrees of freedom, grasp stabilization and specification of non-anthropomorphic behavior. An overview is given of progress made at the MIT AI Laboratory in control of the Salisbury 3 finger hand, including experiments in grasp planning and manipulation via controlled slip. It is also suggested how we might introduce human control into the process at a variety of functional levels.

A new RISE-based adaptive control of PKMs: design, stability analysis and experiments

NASA Astrophysics Data System (ADS)

Bennehar, M.; Chemori, A.; Bouri, M.; Jenni, L. F.; Pierrot, F.

2018-03-01

This paper deals with the development of a new adaptive control scheme for parallel kinematic manipulators (PKMs) based on Rrbust integral of the sign of the error (RISE) control theory. Original RISE control law is only based on state feedback and does not take advantage of the modelled dynamics of the manipulator. Consequently, the overall performance of the resulting closed-loop system may be poor compared to modern advanced model-based control strategies. We propose in this work to extend RISE by including the nonlinear dynamics of the PKM in the control loop to improve its overall performance. More precisely, we augment original RISE control scheme with a model-based adaptive control term to account for the inherent nonlinearities in the closed-loop system. To demonstrate the relevance of the proposed controller, real-time experiments are conducted on the Delta robot, a three-degree-of-freedom (3-DOF) PKM.

Motivation modulates the effect of approach on implicit preferences.

PubMed

Zogmaister, Cristina; Perugini, Marco; Richetin, Juliette

2016-08-01

With three studies, we investigated whether motivational states can modulate the formation of implicit preferences. In Study 1, participants played a video game in which they repeatedly approached one of two similar beverages, while disregarding the other. A subsequent implicit preference for the target beverage emerged, which increased with participants' thirst. In Study 2, participants approached one brand of potato chips while avoiding the other: Conceptually replicating the moderation observed in Study 1, the implicit preference for the approached brand increased with the number of hours from last food intake. In Study 3, we experimentally manipulated hunger, and the moderation effect emerged again, with hungry participants displaying a higher implicit preference for the approached brand, as compared to satiated participants. In the three studies, the moderation effect was not paralleled in explicit preferences although the latter were affected by the preference inducing manipulation. Theoretical implications and open questions are discussed.

Space spider crane

NASA Technical Reports Server (NTRS)

Macconochie, Ian O. (Inventor); Mikulas, Martin M., Jr. (Inventor); Pennington, Jack E. (Inventor); Kinkead, Rebecca L. (Inventor); Bryan, Charles F., Jr. (Inventor)

1988-01-01

A space spider crane for the movement, placement, and or assembly of various components on or in the vicinity of a space structure is described. As permanent space structures are utilized by the space program, a means will be required to transport cargo and perform various repair tasks. A space spider crane comprising a small central body with attached manipulators and legs fulfills this requirement. The manipulators may be equipped with constant pressure gripping end effectors or tools to accomplish various repair tasks. The legs are also equipped with constant pressure gripping end effectors to grip the space structure. Control of the space spider crane may be achieved either by computer software or a remotely situated human operator, who maintains visual contact via television cameras mounted on the space spider crane. One possible walking program consists of a parallel motion walking program whereby the small central body alternatively leans forward and backward relative to end effectors.

Numerical analysis of electrically tunable aspherical optofluidic lenses.

PubMed

In this work, we use the numerical simulation platform Zemax to investigate the optical properties of electrically tunable aspherical liquid lenses, as we recently reported in an experimental study [ K. Mishra C. Murade B. Carreel I. Roghair J. M. Oh G. Manukyan D. van den Ende F. Mugele , "Optofluidic lens with tunable focal length and asphericity," Sci. Rep.4, 6378 (2014)]. Based on the measured lens profiles in the presence of an inhomogeneous electric field and the geometry of the optical device, we calculate the optical aberrations, focusing in particular on the Z11 Zernike coefficient of spherical aberration obtained at zero defocus (Z4). Focal length and spherical aberrations are calculated for a wide range of control parameters (fluid pressure and electric field), parallel with the experimental results. Similarly, the modulation transfer function (MTF), image spot diagrams, Strehl's ratio, and peak-to-valley (P-V) and root mean square (RMS) wavefront errors are calculated to quantify the performance of our aspherical liquid lenses. We demonstrate that the device concept allows compensation for a wide range of spherical aberrations encountered in optical systems.; Mishra, Kartikeya; Mugele, Frieder

2016-06-27

In this work, we use the numerical simulation platform Zemax to investigate the optical properties of electrically tunable aspherical liquid lenses, as we recently reported in an experimental study [ K. Mishra C. Murade B. Carreel I. Roghair J. M. Oh G. Manukyan D. van den Ende F. Mugele , "Optofluidic lens with tunable focal length and asphericity," Sci. Rep.4, 6378 (2014)]. Based on the measured lens profiles in the presence of an inhomogeneous electric field and the geometry of the optical device, we calculate the optical aberrations, focusing in particular on the Z11 Zernike coefficient of spherical aberration obtained at zero defocus (Z4). Focal length and spherical aberrations are calculated for a wide range of control parameters (fluid pressure and electric field), parallel with the experimental results. Similarly, the modulation transfer function (MTF), image spot diagrams, Strehl's ratio, and peak-to-valley (P-V) and root mean square (RMS) wavefront errors are calculated to quantify the performance of our aspherical liquid lenses. We demonstrate that the device concept allows compensation for a wide range of spherical aberrations encountered in optical systems.

A fast algorithm for forward-modeling of gravitational fields in spherical coordinates with 3D Gauss-Legendre quadrature

NASA Astrophysics Data System (ADS)

Zhao, G.; Liu, J.; Chen, B.; Guo, R.; Chen, L.

2017-12-01

Forward modeling of gravitational fields at large-scale requires to consider the curvature of the Earth and to evaluate the Newton's volume integral in spherical coordinates. To acquire fast and accurate gravitational effects for subsurface structures, subsurface mass distribution is usually discretized into small spherical prisms (called tesseroids). The gravity fields of tesseroids are generally calculated numerically. One of the commonly used numerical methods is the 3D Gauss-Legendre quadrature (GLQ). However, the traditional GLQ integration suffers from low computational efficiency and relatively poor accuracy when the observation surface is close to the source region. We developed a fast and high accuracy 3D GLQ integration based on the equivalence of kernel matrix, adaptive discretization and parallelization using OpenMP. The equivalence of kernel matrix strategy increases efficiency and reduces memory consumption by calculating and storing the same matrix elements in each kernel matrix just one time. In this method, the adaptive discretization strategy is used to improve the accuracy. The numerical investigations show that the executing time of the proposed method is reduced by two orders of magnitude compared with the traditional method that without these optimized strategies. High accuracy results can also be guaranteed no matter how close the computation points to the source region. In addition, the algorithm dramatically reduces the memory requirement by N times compared with the traditional method, where N is the number of discretization of the source region in the longitudinal direction. It makes the large-scale gravity forward modeling and inversion with a fine discretization possible.

Development of a Small Molecule P2X7R Antagonist as a Treatment for Acute SCI

DTIC Science & Technology

2013-10-01

microglia in response to SCI, and of the role of P2X7 receptor activation in that process . Indeed, in parallel work using uninjured human brain tissue...distinct glial fates are instructed, and how that process may be manipulated for therapeutic purposes. Thus, on the basis of the injury-associated...autocrine loop for the self -maintenance of glial progenitors, the perturbation of which might dictate progenitor recruitment as either reactive glia or

A broadband polarization-insensitive cloak based on mode conversion

PubMed Central

Gu, Chendong; Xu, Yadong; Li, Sucheng; Lu, Weixin; Li, Jensen; Chen, Huanyang; Hou, Bo

2015-01-01

In this work, we demonstrate an one-dimensional cloak consisting of parallel-plated waveguide with two slabs of gradient index metamaterials attached to its metallic walls. In it objects are hidden without limitation of polarizations, and good performance is observed for a broadband of frequencies. The experiments at microwave frequencies are carried out, supporting the theoretical results very well. The essential principle behind the proposed cloaking device is based on mode conversion, which provides a new strategy to manipulate wave propagation. PMID:26175114

Utilization of PD modalities: evolution.

PubMed

Venkataraman, Vijaya; Nolph, Karl D

2002-01-01

In the early 1960s, peritoneal dialysis (PD) was introduced as a form of long-term maintenance therapy in patients with end-stage renal disease (ESRD). We have come a long way since. Increasing understanding of peritoneal kinetic behavior, its innovative manipulation to meet patient needs, critical monitoring of clinical outcomes, and parallel development in technology have all contributed to the worldwide success of the therapy over the past four decades. In this article we review the evolution of the various PD modalities in the context of these factors.

Emergent Intelligent Behavior through Integrated Investigation of Embodied Natural Language, Reasoning, Learning, Computer Vision, and Robotic Manipulation

DTIC Science & Technology

2011-10-11

developed a method for determining the structure (component logs and their 3D place- ment) of a LINCOLN LOG assembly from a single image from an uncalibrated...small a class of components. Moreover, we focus on determining the precise pose and structure of an assembly, including the 3D pose of each...medial axes are parallel to the work surface. Thus valid structures Fig. 1. The 3D geometric shape parameters of LINCOLN LOGS. have logs on

Designer: A Knowledge-Based Graphic Design Assistant.

DTIC Science & Technology

1986-07-01

pro- pulsion. The system consists of a color graphics interface to a mathematical simulation. One can view and manipulate this simulation at a number of...valve vaive graph 50- mufi -plot graph 100 4 0 80 6.. 30 60 4 20 .... 40 2 10 V 20 0 2 4 6 8 10 0 20 40 60 80 100 FIGURE 4. Icon Sampler. This view...in Computing Systems. New York: ACM, 1983. 8306. Paul Smolensky. Harmony Theory: A Mathematical Framework for Stochastic Parallel Pro- cessing

Planning of reach-and-grasp movements: effects of validity and type of object information

NASA Technical Reports Server (NTRS)

Loukopoulos, L. D.; Engelbrecht, S. F.; Berthier, N. E.

2001-01-01

Individuals are assumed to plan reach-and-grasp movements by using two separate processes. In 1 of the processes, extrinsic (direction, distance) object information is used in planning the movement of the arm that transports the hand to the target location (transport planning); whereas in the other, intrinsic (shape) object information is used in planning the preshaping of the hand and the grasping of the target object (manipulation planning). In 2 experiments, the authors used primes to provide information to participants (N = 5, Experiment 1; N = 6, Experiment 2) about extrinsic and intrinsic object properties. The validity of the prime information was systematically varied. The primes were succeeded by a cue, which always correctly identified the location and shape of the target object. Reaction times were recorded. Four models of transport and manipulation planning were tested. The only model that was consistent with the data was 1 in which arm transport and object manipulation planning were postulated to be independent processes that operate partially in parallel. The authors suggest that the processes involved in motor planning before execution are primarily concerned with the geometric aspects of the upcoming movement but not with the temporal details of its execution.

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

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

Dux, Joachim; Friedrich, Daniel; Lutz, Werner

2013-07-01

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

A Method for Spatially Resolved Local Intracellular Mechanochemical Sensing and Organelle Manipulation

PubMed Central

Shekhar, S.; Cambi, A.; Figdor, C.G.; Subramaniam, V.; Kanger, J.S.

2012-01-01

Because both the chemical and mechanical properties of living cells play crucial functional roles, there is a strong need for biophysical methods to address these properties simultaneously. Here we present a novel (to our knowledge) approach to measure local intracellular micromechanical and chemical properties using a hybrid magnetic chemical biosensor. We coupled a fluorescent dye, which serves as a chemical sensor, to a magnetic particle that is used for measurement of the viscoelastic environment by studying the response of the particle to magnetic force pulses. As a demonstration of the potential of this approach, we applied the method to study the process of phagocytosis, wherein cytoskeletal reorganization occurs in parallel with acidification of the phagosome. During this process, we measured the shear modulus and viscosity of the phagosomal environment concurrently with the phagosomal pH. We found that it is possible to manipulate phagocytosis by stalling the centripetal movement of the phagosome using magnetic force. Our results suggest that preventing centripetal phagosomal transport delays the onset of acidification. To our knowledge, this is the first report of manipulation of intracellular phagosomal transport without interfering with the underlying motor proteins or cytoskeletal network through biochemical methods. PMID:22947855

Reconstruction of mreB expression in Staphylococcus aureus via a collection of new integrative plasmids.

PubMed

Yepes, Ana; Koch, Gudrun; Waldvogel, Andrea; Garcia-Betancur, Juan-Carlos; Lopez, Daniel

2014-07-01

Protein localization has been traditionally explored in unicellular organisms, whose ease of genetic manipulation facilitates molecular characterization. The two rod-shaped bacterial models Escherichia coli and Bacillus subtilis have been prominently used for this purpose and have displaced other bacteria whose challenges for genetic manipulation have complicated any study of cell biology. Among these bacteria is the spherical pathogenic bacterium Staphylococcus aureus. In this report, we present a new molecular toolbox that facilitates gene deletion in staphylococci in a 1-step recombination process and additional vectors that facilitate the insertion of diverse reporter fusions into newly identified neutral loci of the S. aureus chromosome. Insertion of the reporters does not add any antibiotic resistance genes to the chromosomes of the resultant strains, thereby making them amenable for further genetic manipulations. We used this toolbox to reconstitute the expression of mreB in S. aureus, a gene that encodes an actin-like cytoskeletal protein which is absent in coccal cells and is presumably lost during the course of speciation. We observed that in S. aureus, MreB is organized in discrete structures in association with the membrane, leading to an unusual redistribution of the cell wall material. The production of MreB also caused cell enlargement, but it did not revert staphylococcal shape. We present interactions of MreB with key staphylococcal cell wall-related proteins. This work facilitates the use S. aureus as a model system in exploring diverse aspects of cellular microbiology. Copyright © 2014, American Society for Microbiology. All Rights Reserved.

Calibration Technique for Polarization-Sensitive Lidars

NASA Technical Reports Server (NTRS)

Alvarez, J. M.; Vaughan, M. A.; Hostetler, C. A.; Hung, W. H.; Winker, D. M.

2006-01-01

Polarization-sensitive lidars have proven to be highly effective in discriminating between spherical and non-spherical particles in the atmosphere. These lidars use a linearly polarized laser and are equipped with a receiver that can separately measure the components of the return signal polarized parallel and perpendicular to the outgoing beam. In this work we describe a technique for calibrating polarization-sensitive lidars that was originally developed at NASA s Langley Research Center (LaRC) and has been used continually over the past fifteen years. The procedure uses a rotatable half-wave plate inserted into the optical path of the lidar receiver to introduce controlled amounts of polarization cross-talk into a sequence of atmospheric backscatter measurements. Solving the resulting system of nonlinear equations generates the system calibration constants (gain ratio, G, and offset angle, theta) required for deriving calibrated measurements of depolarization ratio from the lidar signals. In addition, this procedure also determines the mean depolarization ratio within the region of the atmosphere that is analyzed. Simulations and error propagation studies show the method to be both reliable and well behaved. Operational details of the technique are illustrated using measurements obtained as part of Langley Research Center s participation in the First ISCCP Regional Experiment (FIRE).

3-D phononic crystals with ultra-wide band gaps

PubMed Central

Lu, Yan; Yang, Yang; Guest, James K.; Srivastava, Ankit

2017-01-01

In this paper gradient based topology optimization (TO) is used to discover 3-D phononic structures that exhibit ultra-wide normalized all-angle all-mode band gaps. The challenging computational task of repeated 3-D phononic band-structure evaluations is accomplished by a combination of a fast mixed variational eigenvalue solver and distributed Graphic Processing Unit (GPU) parallel computations. The TO algorithm utilizes the material distribution-based approach and a gradient-based optimizer. The design sensitivity for the mixed variational eigenvalue problem is derived using the adjoint method and is implemented through highly efficient vectorization techniques. We present optimized results for two-material simple cubic (SC), body centered cubic (BCC), and face centered cubic (FCC) crystal structures and show that in each of these cases different initial designs converge to single inclusion network topologies within their corresponding primitive cells. The optimized results show that large phononic stop bands for bulk wave propagation can be achieved at lower than close packed spherical configurations leading to lighter unit cells. For tungsten carbide - epoxy crystals we identify all angle all mode normalized stop bands exceeding 100%, which is larger than what is possible with only spherical inclusions. PMID:28233812

3-D phononic crystals with ultra-wide band gaps.

PubMed

Lu, Yan; Yang, Yang; Guest, James K; Srivastava, Ankit

2017-02-24

In this paper gradient based topology optimization (TO) is used to discover 3-D phononic structures that exhibit ultra-wide normalized all-angle all-mode band gaps. The challenging computational task of repeated 3-D phononic band-structure evaluations is accomplished by a combination of a fast mixed variational eigenvalue solver and distributed Graphic Processing Unit (GPU) parallel computations. The TO algorithm utilizes the material distribution-based approach and a gradient-based optimizer. The design sensitivity for the mixed variational eigenvalue problem is derived using the adjoint method and is implemented through highly efficient vectorization techniques. We present optimized results for two-material simple cubic (SC), body centered cubic (BCC), and face centered cubic (FCC) crystal structures and show that in each of these cases different initial designs converge to single inclusion network topologies within their corresponding primitive cells. The optimized results show that large phononic stop bands for bulk wave propagation can be achieved at lower than close packed spherical configurations leading to lighter unit cells. For tungsten carbide - epoxy crystals we identify all angle all mode normalized stop bands exceeding 100%, which is larger than what is possible with only spherical inclusions.

Post-earthquake relaxation using a spectral element method: 2.5-D case

USGS Publications Warehouse

Pollitz, Fred

2014-01-01

The computation of quasi-static deformation for axisymmetric viscoelastic structures on a gravitating spherical earth is addressed using the spectral element method (SEM). A 2-D spectral element domain is defined with respect to spherical coordinates of radius and angular distance from a pole of symmetry, and 3-D viscoelastic structure is assumed to be azimuthally symmetric with respect to this pole. A point dislocation source that is periodic in azimuth is implemented with a truncated sequence of azimuthal order numbers. Viscoelasticity is limited to linear rheologies and is implemented with the correspondence principle in the Laplace transform domain. This leads to a series of decoupled 2-D problems which are solved with the SEM. Inverse Laplace transform of the independent 2-D solutions leads to the time-domain solution of the 3-D equations of quasi-static equilibrium imposed on a 2-D structure. The numerical procedure is verified through comparison with analytic solutions for finite faults embedded in a laterally homogeneous viscoelastic structure. This methodology is applicable to situations where the predominant structure varies in one horizontal direction, such as a structural contrast across (or parallel to) a long strike-slip fault.

Dynamics of Small Inertia-Free Spheroidal Particles in a Turbulent Channel Flow

NASA Astrophysics Data System (ADS)

Challabotla, Niranjan Reddy; Zhao, Lihao; Andersson, Helge I.; Department of Energy; Process Engineering Team

2015-11-01

The study of small non-spherical particles suspended in turbulent fluid flows is of interest in view of the potential applications in industry and the environment. In the present work, we investigated the dynamics of inertia-free spheroidal particles suspended in fully-developed turbulent channel flow at Re τ = 180 by using the direct numerical simulations (DNS) for the Eulerian fluid phase coupled with the Lagrangian point-particle tracking. We considered inertia-free spheroidal particles with a wide range of aspect ratios from 0.01 to 50, i.e. from flat disks to long rods. Although the spheroids passively translate along with the fluid, the particle orientation and rotation strongly depend on the particle shape. The flattest disks were preferentially aligned with their symmetry axis normal to the wall, whereas the longest rods aligned parallel to the wall. Strong mean rotational spin was observed for spherical particles and this has been damped with increasing asphericity both for rod-like and disk-like spheroids. The anisotropic mean and fluctuating fluid vorticity resulted in particle spin anisotropies which exhibited a complex dependence on the particle asphericty. The Research Council of Norway, Notur and COST Action FP1005 are gratefully acknowledged.

Spherical harmonic modelling to ultra-high degree of Bouguer and isostatic anomalies

NASA Astrophysics Data System (ADS)

Balmino, G.; Vales, N.; Bonvalot, S.; Briais, A.

2012-07-01

The availability of high-resolution global digital elevation data sets has raised a growing interest in the feasibility of obtaining their spherical harmonic representation at matching resolution, and from there in the modelling of induced gravity perturbations. We have therefore estimated spherical Bouguer and Airy isostatic anomalies whose spherical harmonic models are derived from the Earth's topography harmonic expansion. These spherical anomalies differ from the classical planar ones and may be used in the context of new applications. We succeeded in meeting a number of challenges to build spherical harmonic models with no theoretical limitation on the resolution. A specific algorithm was developed to enable the computation of associated Legendre functions to any degree and order. It was successfully tested up to degree 32,400. All analyses and syntheses were performed, in 64 bits arithmetic and with semi-empirical control of the significant terms to prevent from calculus underflows and overflows, according to IEEE limitations, also in preserving the speed of a specific regular grid processing scheme. Finally, the continuation from the reference ellipsoid's surface to the Earth's surface was performed by high-order Taylor expansion with all grids of required partial derivatives being computed in parallel. The main application was the production of a 1' × 1' equiangular global Bouguer anomaly grid which was computed by spherical harmonic analysis of the Earth's topography-bathymetry ETOPO1 data set up to degree and order 10,800, taking into account the precise boundaries and densities of major lakes and inner seas, with their own altitude, polar caps with bedrock information, and land areas below sea level. The harmonic coefficients for each entity were derived by analyzing the corresponding ETOPO1 part, and free surface data when required, at one arc minute resolution. The following approximations were made: the land, ocean and ice cap gravity spherical harmonic coefficients were computed up to the third degree of the altitude, and the harmonics of the other, smaller parts up to the second degree. Their sum constitutes what we call ETOPG1, the Earth's TOPography derived Gravity model at 1' resolution (half-wavelength). The EGM2008 gravity field model and ETOPG1 were then used to rigorously compute 1' × 1' point values of surface gravity anomalies and disturbances, respectively, worldwide, at the real Earth's surface, i.e. at the lower limit of the atmosphere. The disturbance grid is the most interesting product of this study and can be used in various contexts. The surface gravity anomaly grid is an accurate product associated with EGM2008 and ETOPO1, but its gravity information contents are those of EGM2008. Our method was validated by comparison with a direct numerical integration approach applied to a test area in Morocco-South of Spain (Kuhn, private communication 2011) and the agreement was satisfactory. Finally isostatic corrections according to the Airy model, but in spherical geometry, with harmonic coefficients derived from the sets of the ETOPO1 different parts, were computed with a uniform depth of compensation of 30 km. The new world Bouguer and isostatic gravity maps and grids here produced will be made available through the Commission for the Geological Map of the World. Since gravity values are those of the EGM2008 model, geophysical interpretation from these products should not be done for spatial scales below 5 arc minutes (half-wavelength).

Formation and maintenance of tubular membrane projections: experiments and numerical calculations.

PubMed

Umeda, Tamiki; Inaba, Takehiko; Ishijima, Akihiko; Takiguchi, Kingo; Hotani, Hirokazu

2008-01-01

To study the mechanical properties of lipid membranes, we manipulated liposomes by using a system comprising polystyrene beads and laser tweezers, and measured the force required to transform their shapes. When two beads pushed the membrane from inside, spherical liposomes transformed into a lemon-shape. Then a discontinuous shape transformation occurred to form a membrane tube from either end of the liposomes, and the force dropped drastically. We analyzed these processes using a mathematical model based on the bending elasticity of the membranes. Numerical calculations showed that when the bead size was taken into account, the model reproduced both the liposomal shape transformation and the force-extension relation. This result suggests that the size of the beads is responsible for the existence of a force barrier for the tube formation.

Building micro-soccer-balls with evaporating colloidal fakir drops

NASA Astrophysics Data System (ADS)

Gelderblom, Hanneke; Marín, Álvaro G.; Susarrey-Arce, Arturo; van Housselt, Arie; Lefferts, Leon; Gardeniers, Han; Lohse, Detlef; Snoeijer, Jacco H.

2013-11-01

Drop evaporation can be used to self-assemble particles into three-dimensional microstructures on a scale where direct manipulation is impossible. We present a unique method to create highly-ordered colloidal microstructures in which we can control the amount of particles and their packing fraction. To this end, we evaporate colloidal dispersion drops from a special type of superhydrophobic microstructured surface, on which the drop remains in Cassie-Baxter state during the entire evaporative process. The remainders of the drop consist of a massive spherical cluster of the microspheres, with diameters ranging from a few tens up to several hundreds of microns. We present scaling arguments to show how the final particle packing fraction of these balls depends on the drop evaporation dynamics, particle size, and number of particles in the system.

Modelling the core magnetic field of the earth

NASA Technical Reports Server (NTRS)

Harrison, C. G. A.; Carle, H. M.

1982-01-01

It is suggested that radial off-center dipoles located within the core of the earth be used instead of spherical harmonics of the magnetic potential in modeling the core magnetic field. The off-center dipoles, in addition to more realistically modeling the physical current systems within the core, are if located deep within the core more effective at removing long wavelength signals of either potential or field. Their disadvantage is that their positions and strengths are more difficult to compute, and such effects as upward and downward continuation are more difficult to manipulate. It is nevertheless agreed with Cox (1975) and Alldredge and Hurwitz (1964) that physical realism in models is more important than mathematical convenience. A radial dipole model is presented which agrees with observations of secular variation and excursions.

Biocellion: accelerating computer simulation of multicellular biological system models.

PubMed

Kang, Seunghwa; Kahan, Simon; McDermott, Jason; Flann, Nicholas; Shmulevich, Ilya

2014-11-01

Biological system behaviors are often the outcome of complex interactions among a large number of cells and their biotic and abiotic environment. Computational biologists attempt to understand, predict and manipulate biological system behavior through mathematical modeling and computer simulation. Discrete agent-based modeling (in combination with high-resolution grids to model the extracellular environment) is a popular approach for building biological system models. However, the computational complexity of this approach forces computational biologists to resort to coarser resolution approaches to simulate large biological systems. High-performance parallel computers have the potential to address the computing challenge, but writing efficient software for parallel computers is difficult and time-consuming. We have developed Biocellion, a high-performance software framework, to solve this computing challenge using parallel computers. To support a wide range of multicellular biological system models, Biocellion asks users to provide their model specifics by filling the function body of pre-defined model routines. Using Biocellion, modelers without parallel computing expertise can efficiently exploit parallel computers with less effort than writing sequential programs from scratch. We simulate cell sorting, microbial patterning and a bacterial system in soil aggregate as case studies. Biocellion runs on x86 compatible systems with the 64 bit Linux operating system and is freely available for academic use. Visit http://biocellion.com for additional information. © The Author 2014. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

Creating a Parallel Version of VisIt for Microsoft Windows

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

Whitlock, B J; Biagas, K S; Rawson, P L

2011-12-07

VisIt is a popular, free interactive parallel visualization and analysis tool for scientific data. Users can quickly generate visualizations from their data, animate them through time, manipulate them, and save the resulting images or movies for presentations. VisIt was designed from the ground up to work on many scales of computers from modest desktops up to massively parallel clusters. VisIt is comprised of a set of cooperating programs. All programs can be run locally or in client/server mode in which some run locally and some run remotely on compute clusters. The VisIt program most able to harness today's computing powermore » is the VisIt compute engine. The compute engine is responsible for reading simulation data from disk, processing it, and sending results or images back to the VisIt viewer program. In a parallel environment, the compute engine runs several processes, coordinating using the Message Passing Interface (MPI) library. Each MPI process reads some subset of the scientific data and filters the data in various ways to create useful visualizations. By using MPI, VisIt has been able to scale well into the thousands of processors on large computers such as dawn and graph at LLNL. The advent of multicore CPU's has made parallelism the 'new' way to achieve increasing performance. With today's computers having at least 2 cores and in many cases up to 8 and beyond, it is more important than ever to deploy parallel software that can use that computing power not only on clusters but also on the desktop. We have created a parallel version of VisIt for Windows that uses Microsoft's MPI implementation (MSMPI) to process data in parallel on the Windows desktop as well as on a Windows HPC cluster running Microsoft Windows Server 2008. Initial desktop parallel support for Windows was deployed in VisIt 2.4.0. Windows HPC cluster support has been completed and will appear in the VisIt 2.5.0 release. We plan to continue supporting parallel VisIt on Windows so our users will be able to take full advantage of their multicore resources.« less

In Support of a Distinction between Voluntary and Stimulus-Driven Control: A Review of the Literature on Proportion Congruent Effects.

PubMed

Bugg, Julie M; Crump, Matthew J C

2012-01-01

Cognitive control is by now a large umbrella term referring collectively to multiple processes that plan and coordinate actions to meet task goals. A common feature of paradigms that engage cognitive control is the task requirement to select relevant information despite a habitual tendency (or bias) to select goal-irrelevant information. At least since the 1970s, researchers have employed proportion congruent (PC) manipulations to experimentally establish selection biases and evaluate the mechanisms used to control attention. PC manipulations vary the frequency with which irrelevant information conflicts (i.e., is incongruent) with relevant information. The purpose of this review is to summarize the growing body of literature on PC effects across selective attention paradigms, beginning first with Stroop, and then describing parallel effects in flanker and task-switching paradigms. The review chronologically tracks the expansion of the PC manipulation from its initial implementation at the list-wide level, to more recent implementations at the item-specific and context-specific levels. An important theoretical aim is demonstrating that PC effects at different levels (e.g., list-wide vs. item or context-specific) support a distinction between voluntary forms of cognitive control, which operate based on anticipatory information, and relatively automatic or reflexive forms of cognitive control, which are rapidly triggered by the processing of particular stimuli or stimulus features. A further aim is to highlight those PC manipulations that allow researchers to dissociate stimulus-driven control from other stimulus-driven processes (e.g., S-R responding; episodic retrieval). We conclude by discussing the utility of PC manipulations for exploring the distinction between voluntary control and stimulus-driven control in other relevant paradigms.

Influence of Spinal Manipulative Therapy Force Magnitude and Application Site on Spinal Tissue Loading: A Biomechanical Robotic Serial Dissection Study in Porcine Motion Segments.

PubMed

Funabashi, Martha; Nougarou, François; Descarreaux, Martin; Prasad, Narasimha; Kawchuk, Greg

In order to define the relation between spinal manipulative therapy (SMT) input parameters and the distribution of load within spinal tissues, the aim of this study was to determine the influence of force magnitude and application site when SMT is applied to cadaveric spines. In 10 porcine cadavers, a servo-controlled linear actuator motor provided a standardized SMT simulation using 3 different force magnitudes (100N, 300N, and 500N) to 2 different cutaneous locations: L3/L4 facet joint (FJ), and L4 transverse processes (TVP). Vertebral kinematics were tracked optically using indwelling bone pins, the motion segment removed and mounted in a parallel robot equipped with a 6-axis load cell. The kinematics of each SMT application were replicated robotically. Serial dissection of spinal structures was conducted to quantify loading characteristics of discrete spinal tissues. Forces experienced by the L3/L4 segment and spinal structures during SMT replication were recorded and analyzed. Spinal manipulative therapy force magnitude and application site parameters influenced spinal tissues loading. A significant main effect (P < .05) of force magnitude was observed on the loads experienced by the intact specimen and supra- and interspinous ligaments. The main effect of application site was also significant (P < .05), influencing the loading of the intact specimen and facet joints, capsules, and ligamentum flavum (P < .05). Spinal manipulative therapy input parameters of force magnitude and application site significantly influence the distribution of forces within spinal tissues. By controlling these SMT parameters, clinical outcomes may potentially be manipulated. Copyright © 2017. Published by Elsevier Inc.

In Support of a Distinction between Voluntary and Stimulus-Driven Control: A Review of the Literature on Proportion Congruent Effects

PubMed Central

Bugg, Julie M.; Crump, Matthew J. C.

2012-01-01

Cognitive control is by now a large umbrella term referring collectively to multiple processes that plan and coordinate actions to meet task goals. A common feature of paradigms that engage cognitive control is the task requirement to select relevant information despite a habitual tendency (or bias) to select goal-irrelevant information. At least since the 1970s, researchers have employed proportion congruent (PC) manipulations to experimentally establish selection biases and evaluate the mechanisms used to control attention. PC manipulations vary the frequency with which irrelevant information conflicts (i.e., is incongruent) with relevant information. The purpose of this review is to summarize the growing body of literature on PC effects across selective attention paradigms, beginning first with Stroop, and then describing parallel effects in flanker and task-switching paradigms. The review chronologically tracks the expansion of the PC manipulation from its initial implementation at the list-wide level, to more recent implementations at the item-specific and context-specific levels. An important theoretical aim is demonstrating that PC effects at different levels (e.g., list-wide vs. item or context-specific) support a distinction between voluntary forms of cognitive control, which operate based on anticipatory information, and relatively automatic or reflexive forms of cognitive control, which are rapidly triggered by the processing of particular stimuli or stimulus features. A further aim is to highlight those PC manipulations that allow researchers to dissociate stimulus-driven control from other stimulus-driven processes (e.g., S-R responding; episodic retrieval). We conclude by discussing the utility of PC manipulations for exploring the distinction between voluntary control and stimulus-driven control in other relevant paradigms. PMID:23060836

Kinesthetic perceptions of earth- and body-fixed axes.

PubMed

Darling, W G; Hondzinski, J M

1999-06-01

The major purpose of this research was to determine whether kinesthetic/proprioceptive perceptions of the earth-fixed vertical axis are more accurate than perceptions of intrinsic axes. In one experiment, accuracy of alignment of the forearm to earth-fixed vertical and head- and trunk-longitudinal axes by seven blindfolded subjects was compared in four tasks: (1) Earth-Arm--arm (humerus) orientation was manipulated by the experimenter; subjects aligned the forearm parallel to the vertical axis, which was also aligned with the head and trunk longitudinal axis; (2) Head--head, trunk, and upper-limb orientations were manipulated by the experimenter, subjects aligned the forearm parallel to the longitudinal axis of the head using only elbow flexion/extension and shoulder internal/external rotation; (3) Trunk--same as (2), except that subjects aligned the forearm parallel to the trunk-longitudinal axis; (4) Earth--same as (2), except that subjects aligned the forearm parallel to the earth-fixed vertical. Head, trunk, and gravitational axes were never parallel in tasks 2, 3, and 4 so that subjects could not simultaneously match their forearm to all three axes. The results showed that the errors for alignment of the forearm with the earth-fixed vertical were lower than for the trunk- and head-longitudinal axes. Furthermore, errors in the Earth condition were less dependent on alterations of the head and trunk orientation than in the Head and Trunk conditions. These data strongly suggest that the earth-fixed vertical is used as one axis for the kinesthetic sensory coordinate system that specifies upper-limb orientation at the perceptual level. We also examined the effects of varying gravitational torques at the elbow and shoulder on the accuracy of forearm alignment to earth-fixed axes. Adding a 450 g load to the forearm to increase gravitational torques when the forearm is not vertical did not improve the accuracy of forearm alignment with the vertical. Furthermore, adding small, variably sized loads (between which the subjects could not distinguish at the perceptual level) to the forearm just proximal to the wrist produced similar errors in aligning the forearm with the vertical and horizontal. Forearm-positioning errors were not correlated with the size of the load, as would be expected if gravitational torques affected forearm-position sense. We conclude that gravitational torques exerted about the shoulder and elbow do not make significant contributions to sensing forearm-orientation relative to earth-fixed axes when the upper-limb segments are not constrained by external supports.

Panoramic attitude sensor for Radio Astronomy Explorer B

NASA Technical Reports Server (NTRS)

Thomsen, R.

1973-01-01

An instrument system to acquire attitude determination data for the RAE-B spacecraft was designed and built. The system consists of an electronics module and two optical scanner heads. Each scanner head has an optical scanner with a field of view of 0.7 degrees diameter which scans the sky and measures the position of the moon, earth and sun relative to the spacecraft. This scanning is accomplished in either of two modes. When the spacecraft is spinning, the scanner operates in spherical mode, with the spacecraft spin providing the slow sweep of lattitude to scan the entire sky. After the spacecraft is placed in lunar orbit and despun, the scanner will operate in planar mode, advancing at a rate of 5.12 seconds per revolution in a fixed plane parallel to the spacecraft Z axis. This scan will cross and measure the moon horizons with every revolution. Each scanner head also has a sun slit which is aligned parallel to the spin axis of the spacecraft and which provides a sun pulse each revolution of the spacecraft. The electronics module provides the command and control, data processing and housekeeping functions.

Radiative transfer in a sphere illuminated by a parallel beam - An integral equation approach. [in planetary atmosphere

NASA Technical Reports Server (NTRS)

Shia, R.-L.; Yung, Y. L.

1986-01-01

The problem of multiple scattering of nonpolarized light in a planetary body of arbitrary shape illuminated by a parallel beam is formulated using the integral equation approach. There exists a simple functional whose stationarity condition is equivalent to solving the equation of radiative transfer and whose value at the stationary point is proportional to the differential cross section. The analysis reveals a direct relation between the microscopic symmetry of the phase function for each scattering event and the macroscopic symmetry of the differential cross section for the entire planetary body, and the interconnection of these symmetry relations and the variational principle. The case of a homogeneous sphere containing isotropic scatterers is investigated in detail. It is shown that the solution can be expanded in a multipole series such that the general spherical problem is reduced to solving a set of decoupled integral equations in one dimension. Computations have been performed for a range of parameters of interest, and illustrative examples of applications to planetary problems as provided.

A Soft Parallel Kinematic Mechanism.

PubMed

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

2018-02-01

In this article, we describe a novel holonomic soft robotic structure based on a parallel kinematic mechanism. The design is based on the Stewart platform, which uses six sensors and actuators to achieve full six-degree-of-freedom motion. Our design is much less complex than a traditional platform, since it replaces the 12 spherical and universal joints found in a traditional Stewart platform with a single highly deformable elastomer body and flexible actuators. This reduces the total number of parts in the system and simplifies the assembly process. Actuation is achieved through coiled-shape memory alloy actuators. State observation and feedback is accomplished through the use of capacitive elastomer strain gauges. The main structural element is an elastomer joint that provides antagonistic force. We report the response of the actuators and sensors individually, then report the response of the complete assembly. We show that the completed robotic system is able to achieve full position control, and we discuss the limitations associated with using responsive material actuators. We believe that control demonstrated on a single body in this work could be extended to chains of such bodies to create complex soft robots.

Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes

NASA Astrophysics Data System (ADS)

Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying

2018-03-01

This paper addresses the problem of rigid-flexible coupling dynamic modeling and active control of a novel flexible parallel manipulator (PM) with multiple actuation modes. Firstly, based on the flexible multi-body dynamics theory, the rigid-flexible coupling dynamic model (RFDM) of system is developed by virtue of the augmented Lagrangian multipliers approach. For completeness, the mathematical models of permanent magnet synchronous motor (PMSM) and piezoelectric transducer (PZT) are further established and integrated with the RFDM of mechanical system to formulate the electromechanical coupling dynamic model (ECDM). To achieve the trajectory tracking and vibration suppression, a hierarchical compound control strategy is presented. Within this control strategy, the proportional-differential (PD) feedback controller is employed to realize the trajectory tracking of end-effector, while the strain and strain rate feedback (SSRF) controller is developed to restrain the vibration of the flexible links using PZT. Furthermore, the stability of the control algorithm is demonstrated based on the Lyapunov stability theory. Finally, two simulation case studies are performed to illustrate the effectiveness of the proposed approach. The results indicate that, under the redundant actuation mode, the hierarchical compound control strategy can guarantee the flexible PM achieves singularity-free motion and vibration attenuation within task workspace simultaneously. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and efficient controller design of other flexible PMs, especially the emerging ones with multiple actuation modes.

Stability improvement of a four cable-driven parallel manipulator using a center of mass balance system

NASA Astrophysics Data System (ADS)

Salafian, Iman; Stewart, Blake; Newman, Matthew; Zygielbaum, Arthur I.; Terry, Benjamin

2017-04-01

A four cable-driven parallel manipulator (CDPM), consisting of sophisticated spectrometers and imagers, is under development for use in acquiring phenotypic and environmental data over an acre-sized crop field. To obtain accurate and high quality data from the instruments, the end effector must be stable during sensing. One of the factors that reduces stability is the center of mass offset of the end effector, which can cause a pendulum effect or undesired tilt angle. The purpose of this work is to develop a system and method for balancing the center of mass of a 12th-scale CDPM to minimize vibration that can cause error in the acquired data. A simple method for balancing the end effector is needed to enable end users of the CDPM to arbitrarily add and remove sensors and imagers from the end effector as their experiments may require. A Center of Mass Balancing System (CMBS) is developed in this study which consists of an adjustable system of weights and a gimbal for tilt mitigation. An electronic circuit board including an orientation sensor, wireless data communication, and load cells was designed to validate the CMBS. To measure improvements gained by the CMBS, several static and dynamic experiments are carried out. In the experiments, the dynamic vibrations due to the translational motion and static orientation were measured with and without CMBS use. The results show that the CMBS system improves the stability of the end-effector by decreasing vibration and static tilt angle.

Growth rate effects on the formation of dislocation loops around deep helium bubbles in Tungsten

DOE PAGES

Sandoval, Luis; Perez, Danny; Uberuaga, Blas P.; ...

2016-11-15

Here, the growth process of spherical helium bubbles located 6 nm below a (100) surface is studied using molecular dynamics and parallel replica dynamics simulations, over growth rates from 10 6 to 10 12 helium atoms per second. Slower growth rates lead to a release of pressure and lower helium content as compared with fast growth cases. In addition, at slower growth rates, helium bubbles are not decorated by multiple dislocation loops, as these tend to merge or emit given sufficient time. At faster rates, dislocation loops nucleate faster than they can emit, leading to a more complicated dislocation structuremore » around the bubble.« less

Can generic knee joint models improve the measurement of osteoarthritic knee kinematics during squatting activity?

PubMed

Clément, Julien; Dumas, Raphaël; Hagemeister, Nicola; de Guise, Jaques A

2017-01-01

Knee joint kinematics derived from multi-body optimisation (MBO) still requires evaluation. The objective of this study was to corroborate model-derived kinematics of osteoarthritic knees obtained using four generic knee joint models used in musculoskeletal modelling - spherical, hinge, degree-of-freedom coupling curves and parallel mechanism - against reference knee kinematics measured by stereo-radiography. Root mean square errors ranged from 0.7° to 23.4° for knee rotations and from 0.6 to 9.0 mm for knee displacements. Model-derived knee kinematics computed from generic knee joint models was inaccurate. Future developments and experiments should improve the reliability of osteoarthritic knee models in MBO and musculoskeletal modelling.

Simulation of an array-based neural net model

NASA Technical Reports Server (NTRS)

Barnden, John A.

1987-01-01

Research in cognitive science suggests that much of cognition involves the rapid manipulation of complex data structures. However, it is very unclear how this could be realized in neural networks or connectionist systems. A core question is: how could the interconnectivity of items in an abstract-level data structure be neurally encoded? The answer appeals mainly to positional relationships between activity patterns within neural arrays, rather than directly to neural connections in the traditional way. The new method was initially devised to account for abstract symbolic data structures, but it also supports cognitively useful spatial analogue, image-like representations. As the neural model is based on massive, uniform, parallel computations over 2D arrays, the massively parallel processor is a convenient tool for simulation work, although there are complications in using the machine to the fullest advantage. An MPP Pascal simulation program for a small pilot version of the model is running.

Evaluation of peristaltic micromixers for highly integrated microfluidic systems

PubMed Central

Kim, Duckjong; Rho, Hoon Suk; Jambovane, Sachin; Shin, Soojeong; Hong, Jong Wook

2016-01-01

Microfluidic devices based on the multilayer soft lithography allow accurate manipulation of liquids, handling reagents at the sub-nanoliter level, and performing multiple reactions in parallel processors by adapting micromixers. Here, we have experimentally evaluated and compared several designs of micromixers and operating conditions to find design guidelines for the micromixers. We tested circular, triangular, and rectangular mixing loops and measured mixing performance according to the position and the width of the valves that drive nanoliters of fluids in the micrometer scale mixing loop. We found that the rectangular mixer is best for the applications of highly integrated microfluidic platforms in terms of the mixing performance and the space utilization. This study provides an improved understanding of the flow behaviors inside micromixers and design guidelines for micromixers that are critical to build higher order fluidic systems for the complicated parallel bio/chemical processes on a chip. PMID:27036809

Evaluation of peristaltic micromixers for highly integrated microfluidic systems

NASA Astrophysics Data System (ADS)

Kim, Duckjong; Rho, Hoon Suk; Jambovane, Sachin; Shin, Soojeong; Hong, Jong Wook

2016-03-01

Microfluidic devices based on the multilayer soft lithography allow accurate manipulation of liquids, handling reagents at the sub-nanoliter level, and performing multiple reactions in parallel processors by adapting micromixers. Here, we have experimentally evaluated and compared several designs of micromixers and operating conditions to find design guidelines for the micromixers. We tested circular, triangular, and rectangular mixing loops and measured mixing performance according to the position and the width of the valves that drive nanoliters of fluids in the micrometer scale mixing loop. We found that the rectangular mixer is best for the applications of highly integrated microfluidic platforms in terms of the mixing performance and the space utilization. This study provides an improved understanding of the flow behaviors inside micromixers and design guidelines for micromixers that are critical to build higher order fluidic systems for the complicated parallel bio/chemical processes on a chip.

Chromium: A Stress-Processing Framework for Interactive Rendering on Clusters

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

Humphreys, G,; Houston, M.; Ng, Y.-R.

2002-01-11

We describe Chromium, a system for manipulating streams of graphics API commands on clusters of workstations. Chromium's stream filters can be arranged to create sort-first and sort-last parallel graphics architectures that, in many cases, support the same applications while using only commodity graphics accelerators. In addition, these stream filters can be extended programmatically, allowing the user to customize the stream transformations performed by nodes in a cluster. Because our stream processing mechanism is completely general, any cluster-parallel rendering algorithm can be either implemented on top of or embedded in Chromium. In this paper, we give examples of real-world applications thatmore » use Chromium to achieve good scalability on clusters of workstations, and describe other potential uses of this stream processing technology. By completely abstracting the underlying graphics architecture, network topology, and API command processing semantics, we allow a variety of applications to run in different environments.« less

The effect of cosmic-ray acceleration on supernova blast wave dynamics

NASA Astrophysics Data System (ADS)

Pais, M.; Pfrommer, C.; Ehlert, K.; Pakmor, R.

2018-05-01

Non-relativistic shocks accelerate ions to highly relativistic energies provided that the orientation of the magnetic field is closely aligned with the shock normal (quasi-parallel shock configuration). In contrast, quasi-perpendicular shocks do not efficiently accelerate ions. We model this obliquity-dependent acceleration process in a spherically expanding blast wave setup with the moving-mesh code AREPO for different magnetic field morphologies, ranging from homogeneous to turbulent configurations. A Sedov-Taylor explosion in a homogeneous magnetic field generates an oblate ellipsoidal shock surface due to the slower propagating blast wave in the direction of the magnetic field. This is because of the efficient cosmic ray (CR) production in the quasi-parallel polar cap regions, which softens the equation of state and increases the compressibility of the post-shock gas. We find that the solution remains self-similar because the ellipticity of the propagating blast wave stays constant in time. This enables us to derive an effective ratio of specific heats for a composite of thermal gas and CRs as a function of the maximum acceleration efficiency. We finally discuss the behavior of supernova remnants expanding into a turbulent magnetic field with varying coherence lengths. For a maximum CR acceleration efficiency of about 15 per cent at quasi-parallel shocks (as suggested by kinetic plasma simulations), we find an average efficiency of about 5 per cent, independent of the assumed magnetic coherence length.

RT DDA: A hybrid method for predicting the scattering properties by densely packed media

NASA Astrophysics Data System (ADS)

Ramezan Pour, B.; Mackowski, D.

2017-12-01

The most accurate approaches to predicting the scattering properties of particulate media are based on exact solutions of the Maxwell's equations (MEs), such as the T-matrix and discrete dipole methods. Applying these techniques for optically thick targets is challenging problem due to the large-scale computations and are usually substituted by phenomenological radiative transfer (RT) methods. On the other hand, the RT technique is of questionable validity in media with large particle packing densities. In recent works, we used numerically exact ME solvers to examine the effects of particle concentration on the polarized reflection properties of plane parallel random media. The simulations were performed for plane parallel layers of wavelength-sized spherical particles, and results were compared with RT predictions. We have shown that RTE results monotonically converge to the exact solution as the particle volume fraction becomes smaller and one can observe a nearly perfect fit for packing densities of 2%-5%. This study describes the hybrid technique composed of exact and numerical scalar RT methods. The exact methodology in this work is the plane parallel discrete dipole approximation whereas the numerical method is based on the adding and doubling method. This approach not only decreases the computational time owing to the RT method but also includes the interference and multiple scattering effects, so it may be applicable to large particle density conditions.

Effects of parallel planning on agreement production.

PubMed

Veenstra, Alma; Meyer, Antje S; Acheson, Daniel J

2015-11-01

An important issue in current psycholinguistics is how the time course of utterance planning affects the generation of grammatical structures. The current study investigated the influence of parallel activation of the components of complex noun phrases on the generation of subject-verb agreement. Specifically, the lexical interference account (Gillespie & Pearlmutter, 2011b; Solomon & Pearlmutter, 2004) predicts more agreement errors (i.e., attraction) for subject phrases in which the head and local noun mismatch in number (e.g., the apple next to the pears) when nouns are planned in parallel than when they are planned in sequence. We used a speeded picture description task that yielded sentences such as the apple next to the pears is red. The objects mentioned in the noun phrase were either semantically related or unrelated. To induce agreement errors, pictures sometimes mismatched in number. In order to manipulate the likelihood of parallel processing of the objects and to test the hypothesized relationship between parallel processing and the rate of agreement errors, the pictures were either placed close together or far apart. Analyses of the participants' eye movements and speech onset latencies indicated slower processing of the first object and stronger interference from the related (compared to the unrelated) second object in the close than in the far condition. Analyses of the agreement errors yielded an attraction effect, with more errors in mismatching than in matching conditions. However, the magnitude of the attraction effect did not differ across the close and far conditions. Thus, spatial proximity encouraged parallel processing of the pictures, which led to interference of the associated conceptual and/or lexical representation, but, contrary to the prediction, it did not lead to more attraction errors. Copyright © 2015 Elsevier B.V. All rights reserved.

Microcapsules and Methods for Making

NASA Technical Reports Server (NTRS)

Morrison, Dennis R. (Inventor); Mosier, Benjamin (Inventor)

1998-01-01

Methods of forming multi-lamellar microcapsules having alternating layers of hydrophilic and hydrophobic immiscible liquid phases have been developed using different polymer/solvent systems. The methods use liquid-liquid diffusion and simultaneous lateral phase separation, controlled by proper timed-sequence exposures of immiscible phases and low shear mixing, to form narrow size distributions of spherical, multilamellar microcapsules. The use of special formulations of solubilized drugs, surfactants, and polymeric co-surfactants in aqueous vehicles which are dispersed in hydrocarbon solvents containing small quantities of oil, low molecular weight co-surfactants and glycerides that are aqueous insoluble enables the formation of unique microcapsules which can carry large amounts of pharmaceuticals in both aqueous and non-aqueous solvent compartments. The liquid microcapsules are quickly formed in a single step and can include a polymeric outer 'skin' which protects the microcapsules during physical manipulation or exposure to high shear forces. Water-in-oil and oil-in-water microcapsules have been formed both in 1 x g and in microgravity, which contain several types of drugs co-encapsulated within different fluid compartments inside the same microcapsule. Large, spherical multi-lamellar microcapsules have been formed including a cytotoxic drug co-encapsulated with a radiocontrast medium which has advantages for chemoembolization of vascular tumors. In certain cases, crystals of the drug form inside the microcapsules providing zero-order and first order, sustained drug release kinetics.

Surface morphology control of cross-linked polymer particles via dispersion polymerization.

PubMed

Peng, Bo; Imhof, Arnout

2015-05-14

Cross-linked polymer colloids (poly(methyl methacrylate) and polystyrene) with diverse shapes were prepared in polar solvents (ethanol, methanol and water) via dispersion polymerization, in which a linear addition of the cross-linker was used during reaction. Apart from spherical particles we found dented spheres or particles covered with nodules, or a combination of both. A comprehensive investigation was carried out, mainly concentrating on the effect of the experimental conditions (e.g., the addition start time and total addition time, cross-linker density and the solvency of the solvents) on particle morphologies. Consequently, we suggest a number of effective ways for the synthesis of regular (spherical) colloidal particles through maintaining a relatively low concentration of the cross-linker during the entire reaction, or forcing the co-polymerization (of monomer and cross-linker) locus to the continuous medium, or using a high quality or quantity of the stabilizer. Moreover, the size of the particles was also precisely manipulated by varying the polarity of the solvents, the concentration of the cross-linker, and the amount and average molecular weight of the stabilizer. In addition, the formation of the heavily dented particles with a very rough surface prepared under a pure or oxygen-'contaminated' nitrogen environment was monitored over time. The results accumulated in this article are of use for a better understanding of the mechanism of the polymerization and control over the structure and property of polymer particles.

Tile-based parallel coordinates and its application in financial visualization

NASA Astrophysics Data System (ADS)

Alsakran, Jamal; Zhao, Ye; Zhao, Xinlei

2010-01-01

Parallel coordinates technique has been widely used in information visualization applications and it has achieved great success in visualizing multivariate data and perceiving their trends. Nevertheless, visual clutter usually weakens or even diminishes its ability when the data size increases. In this paper, we first propose a tile-based parallel coordinates, where the plotting area is divided into rectangular tiles. Each tile stores an intersection density that counts the total number of polylines intersecting with that tile. Consequently, the intersection density is mapped to optical attributes, such as color and opacity, by interactive transfer functions. The method visualizes the polylines efficiently and informatively in accordance with the density distribution, and thus, reduces visual cluttering and promotes knowledge discovery. The interactivity of our method allows the user to instantaneously manipulate the tiles distribution and the transfer functions. Specifically, the classic parallel coordinates rendering is a special case of our method when each tile represents only one pixel. A case study on a real world data set, U.S. stock mutual fund data of year 2006, is presented to show the capability of our method in visually analyzing financial data. The presented visual analysis is conducted by an expert in the domain of finance. Our method gains the support from professionals in the finance field, they embrace it as a potential investment analysis tool for mutual fund managers, financial planners, and investors.

Role of dielectric constant in electrohydrodynamics of conducting fluids

NASA Technical Reports Server (NTRS)

Rhodes, Percy H.; Snyder, Robert S.; Roberts, Glyn O.

1992-01-01

Electrohydrodynamic (EHD) flows are driven by the interaction of an electric field with variations in electric conductivity or dielectric constant. In reported EHD experiments on the deformation of drops of immiscible dielectric fluids, the role of conductivity has tended to overshadow the role of dielectric constant. Often, large conductivity contrasts were convenient because the conductivities of the dielectric fluid were relatively uncertain. As a result, the observed effects were always qualitatively the same as if there had been no contrast in dielectric constant. Our early experiments studying the EHC deformations of cylindrical streams readily showed the conductivity effect but the dielectric constant effect was not discernible. We have modified our flow chamber and improved our method of observation and can now see an unequivocal dielectric constant effect which is in agreement with the prior theory. In this paper we first give a brief description of the physics of charge buildup at the interface of an immersed spherical drop or flowing cylindrical sample stream and then show how these charge distributions lead to interface distortions and accompanying viscous flows which constitute EHD. We next review theory and experiment describing the deformation of spherical drops. We show that in the reported drop deformation experiments, the contrast in dielectric constant was never sufficient to reverse the deformation due to the conductivity contrast. We review our work describing the deformation of a cylindrical stream of one fluid flowing in a parallel flow of another, and we compare the deformation equations with those for spherical drops. Finally, we show a definite experimental dielectric constant effect for cylindrical stream of aqueous polystyrene latex suspension. The dielectric constant varies with the frequency of the imposed electric field, and the associated EHD flow change is very apparent.

Too attractive: the growing problem of magnet ingestions in children.

PubMed

Brown, Julie C; Otjen, Jeffrey P; Drugas, George T

2013-11-01

Small, powerful magnets are increasingly available in toys and other products and pose a health risk. Small spherical neodymium magnets marketed since 2008 are of particular concern. The objective of this study was to determine the incidence, characteristics, and management of single and multiple-magnet ingestions over time. Magnet ingestion cases at a tertiary children's hospital were identified using radiology reports from June 2002 to December 2012. Cases were verified by chart and imaging review. Relative risk regressions were used to determine changes in the incidence of ingestions and interventions over time. Of 56 cases of magnet ingestion, 98% occurred in 2006 or later, and 57% involved multiple magnets. Median age was 8 years (range, 0-18 years). Overall, 21% of single and 88% of multiple ingestions had 2 or more imaging series obtained, whereas no single and 56.3% of multiple ingestions required intervention (25.0% endoscopy, 18.8% surgery, 12.5% both). Magnet ingestions increased in 2010 to 2012 compared with 2007 to 2009 (relative risk, 1.9; 95% confidence interval, 1.2-3.0). Small, spherical magnets likely from magnet sets comprised 27% of ingestions, all ingested 2010 or later: 86% involved multiple magnets, 50% of which required intervention. Excluding these cases, ingestions of other magnets did not increase in 2010 to 2012 compared with 2007 to 2009 (relative risk, 0.94; 95% confidence interval, 0.6-1.4). The incidence of pediatric magnet ingestions and subsequent interventions has increased over time. Multiple-magnet ingestions result in high utilization of radiological imaging and surgical interventions. Recent increases parallel the increased availability of small, spherical magnet sets. Young and at-risk children should not have access to these and other small magnets. Improved regulation and magnet safety standards are needed.

Revealing the Physics of Galactic Winds Through Massively-Parallel Hydrodynamics Simulations

NASA Astrophysics Data System (ADS)

Schneider, Evan Elizabeth

This thesis documents the hydrodynamics code Cholla and a numerical study of multiphase galactic winds. Cholla is a massively-parallel, GPU-based code designed for astrophysical simulations that is freely available to the astrophysics community. A static-mesh Eulerian code, Cholla is ideally suited to carrying out massive simulations (> 20483 cells) that require very high resolution. The code incorporates state-of-the-art hydrodynamics algorithms including third-order spatial reconstruction, exact and linearized Riemann solvers, and unsplit integration algorithms that account for transverse fluxes on multidimensional grids. Operator-split radiative cooling and a dual-energy formalism for high mach number flows are also included. An extensive test suite demonstrates Cholla's superior ability to model shocks and discontinuities, while the GPU-native design makes the code extremely computationally efficient - speeds of 5-10 million cell updates per GPU-second are typical on current hardware for 3D simulations with all of the aforementioned physics. The latter half of this work comprises a comprehensive study of the mixing between a hot, supernova-driven wind and cooler clouds representative of those observed in multiphase galactic winds. Both adiabatic and radiatively-cooling clouds are investigated. The analytic theory of cloud-crushing is applied to the problem, and adiabatic turbulent clouds are found to be mixed with the hot wind on similar timescales as the classic spherical case (4-5 t cc) with an appropriate rescaling of the cloud-crushing time. Radiatively cooling clouds survive considerably longer, and the differences in evolution between turbulent and spherical clouds cannot be reconciled with a simple rescaling. The rapid incorporation of low-density material into the hot wind implies efficient mass-loading of hot phases of galactic winds. At the same time, the extreme compression of high-density cloud material leads to long-lived but slow-moving clumps that are unlikely to escape the galaxy.

Knee Kinematics Estimation Using Multi-Body Optimisation Embedding a Knee Joint Stiffness Matrix: A Feasibility Study.

PubMed

Richard, Vincent; Lamberto, Giuliano; Lu, Tung-Wu; Cappozzo, Aurelio; Dumas, Raphaël

2016-01-01

The use of multi-body optimisation (MBO) to estimate joint kinematics from stereophotogrammetric data while compensating for soft tissue artefact is still open to debate. Presently used joint models embedded in MBO, such as mechanical linkages, constitute a considerable simplification of joint function, preventing a detailed understanding of it. The present study proposes a knee joint model where femur and tibia are represented as rigid bodies connected through an elastic element the behaviour of which is described by a single stiffness matrix. The deformation energy, computed from the stiffness matrix and joint angles and displacements, is minimised within the MBO. Implemented as a "soft" constraint using a penalty-based method, this elastic joint description challenges the strictness of "hard" constraints. In this study, estimates of knee kinematics obtained using MBO embedding four different knee joint models (i.e., no constraints, spherical joint, parallel mechanism, and elastic joint) were compared against reference kinematics measured using bi-planar fluoroscopy on two healthy subjects ascending stairs. Bland-Altman analysis and sensitivity analysis investigating the influence of variations in the stiffness matrix terms on the estimated kinematics substantiate the conclusions. The difference between the reference knee joint angles and displacements and the corresponding estimates obtained using MBO embedding the stiffness matrix showed an average bias and standard deviation for kinematics of 0.9±3.2° and 1.6±2.3 mm. These values were lower than when no joint constraints (1.1±3.8°, 2.4±4.1 mm) or a parallel mechanism (7.7±3.6°, 1.6±1.7 mm) were used and were comparable to the values obtained with a spherical joint (1.0±3.2°, 1.3±1.9 mm). The study demonstrated the feasibility of substituting an elastic joint for more classic joint constraints in MBO.

Knee Kinematics Estimation Using Multi-Body Optimisation Embedding a Knee Joint Stiffness Matrix: A Feasibility Study

PubMed Central

Richard, Vincent; Lamberto, Giuliano; Lu, Tung-Wu; Cappozzo, Aurelio; Dumas, Raphaël

2016-01-01

The use of multi-body optimisation (MBO) to estimate joint kinematics from stereophotogrammetric data while compensating for soft tissue artefact is still open to debate. Presently used joint models embedded in MBO, such as mechanical linkages, constitute a considerable simplification of joint function, preventing a detailed understanding of it. The present study proposes a knee joint model where femur and tibia are represented as rigid bodies connected through an elastic element the behaviour of which is described by a single stiffness matrix. The deformation energy, computed from the stiffness matrix and joint angles and displacements, is minimised within the MBO. Implemented as a “soft” constraint using a penalty-based method, this elastic joint description challenges the strictness of “hard” constraints. In this study, estimates of knee kinematics obtained using MBO embedding four different knee joint models (i.e., no constraints, spherical joint, parallel mechanism, and elastic joint) were compared against reference kinematics measured using bi-planar fluoroscopy on two healthy subjects ascending stairs. Bland-Altman analysis and sensitivity analysis investigating the influence of variations in the stiffness matrix terms on the estimated kinematics substantiate the conclusions. The difference between the reference knee joint angles and displacements and the corresponding estimates obtained using MBO embedding the stiffness matrix showed an average bias and standard deviation for kinematics of 0.9±3.2° and 1.6±2.3 mm. These values were lower than when no joint constraints (1.1±3.8°, 2.4±4.1 mm) or a parallel mechanism (7.7±3.6°, 1.6±1.7 mm) were used and were comparable to the values obtained with a spherical joint (1.0±3.2°, 1.3±1.9 mm). The study demonstrated the feasibility of substituting an elastic joint for more classic joint constraints in MBO. PMID:27314586

A switchable digital microfluidic droplet dye-laser.

PubMed

Kuehne, Alexander J C; Gather, Malte C; Eydelnant, Irwin A; Yun, Seok-Hyun; Weitz, David A; Wheeler, Aaron R

2011-11-07

Digital microfluidic devices allow the manipulation of droplets between two parallel electrodes. These electrodes can act as mirrors generating a micro-cavity, which can be exploited for a droplet dye-laser. Three representative laser-dyes with emission wavelengths spanning the whole visible spectrum are chosen to show the applicability of this concept. Sub-microlitre droplets of laser-dye solution are moved in and out of a lasing site on-chip to down-convert the UV-excitation light into blue, green and red laser-pulses. This journal is © The Royal Society of Chemistry 2011

Directed Magnetic Particle Transport above Artificial Magnetic Domains Due to Dynamic Magnetic Potential Energy Landscape Transformation.

PubMed

Holzinger, Dennis; Koch, Iris; Burgard, Stefan; Ehresmann, Arno

2015-07-28

An approach for a remotely controllable transport of magnetic micro- and/or nanoparticles above a topographically flat exchange-bias (EB) thin film system, magnetically patterned into parallel stripe domains, is presented where the particle manipulation is achieved by sub-mT external magnetic field pulses. Superparamagnetic core-shell particles are moved stepwise by the dynamic transformation of the particles' magnetic potential energy landscape due to the external magnetic field pulses without affecting the magnetic state of the thin film system. The magnetic particle velocity is adjustable in the range of 1-100 μm/s by the design of the substrate's magnetic field landscape (MFL), the particle-substrate distance, and the magnitude of the applied external magnetic field pulses. The agglomeration of magnetic particles is avoided by the intrinsic magnetostatic repulsion of particles due to the parallel alignment of the particles' magnetic moments perpendicular to the transport direction and parallel to the surface normal of the substrate during the particle motion. The transport mechanism is modeled by a quantitative theory based on the precise knowledge of the sample's MFL and the particle-substrate distance.

Microfluidic Pneumatic Logic Circuits and Digital Pneumatic Microprocessors for Integrated Microfluidic Systems

PubMed Central

Rhee, Minsoung

2010-01-01

We have developed pneumatic logic circuits and microprocessors built with microfluidic channels and valves in polydimethylsiloxane (PDMS). The pneumatic logic circuits perform various combinational and sequential logic calculations with binary pneumatic signals (atmosphere and vacuum), producing cascadable outputs based on Boolean operations. A complex microprocessor is constructed from combinations of various logic circuits and receives pneumatically encoded serial commands at a single input line. The device then decodes the temporal command sequence by spatial parallelization, computes necessary logic calculations between parallelized command bits, stores command information for signal transportation and maintenance, and finally executes the command for the target devices. Thus, such pneumatic microprocessors will function as a universal on-chip control platform to perform complex parallel operations for large-scale integrated microfluidic devices. To demonstrate the working principles, we have built 2-bit, 3-bit, 4-bit, and 8-bit microprecessors to control various target devices for applications such as four color dye mixing, and multiplexed channel fluidic control. By significantly reducing the need for external controllers, the digital pneumatic microprocessor can be used as a universal on-chip platform to autonomously manipulate microfluids in a high throughput manner. PMID:19823730

A method for spatially resolved local intracellular mechanochemical sensing and organelle manipulation.

PubMed

Shekhar, S; Cambi, A; Figdor, C G; Subramaniam, V; Kanger, J S

2012-08-08

Because both the chemical and mechanical properties of living cells play crucial functional roles, there is a strong need for biophysical methods to address these properties simultaneously. Here we present a novel (to our knowledge) approach to measure local intracellular micromechanical and chemical properties using a hybrid magnetic chemical biosensor. We coupled a fluorescent dye, which serves as a chemical sensor, to a magnetic particle that is used for measurement of the viscoelastic environment by studying the response of the particle to magnetic force pulses. As a demonstration of the potential of this approach, we applied the method to study the process of phagocytosis, wherein cytoskeletal reorganization occurs in parallel with acidification of the phagosome. During this process, we measured the shear modulus and viscosity of the phagosomal environment concurrently with the phagosomal pH. We found that it is possible to manipulate phagocytosis by stalling the centripetal movement of the phagosome using magnetic force. Our results suggest that preventing centripetal phagosomal transport delays the onset of acidification. To our knowledge, this is the first report of manipulation of intracellular phagosomal transport without interfering with the underlying motor proteins or cytoskeletal network through biochemical methods. Copyright © 2012 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Tensor contraction engine: Abstraction and automated parallel implementation of configuration-interaction, coupled-cluster, and many-body perturbation theories

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

Hirata, So

2003-11-20

We develop a symbolic manipulation program and program generator (Tensor Contraction Engine or TCE) that automatically derives the working equations of a well-defined model of second-quantized many-electron theories and synthesizes efficient parallel computer programs on the basis of these equations. Provided an ansatz of a many-electron theory model, TCE performs valid contractions of creation and annihilation operators according to Wick's theorem, consolidates identical terms, and reduces the expressions into the form of multiple tensor contractions acted by permutation operators. Subsequently, it determines the binary contraction order for each multiple tensor contraction with the minimal operation and memory cost, factorizes commonmore » binary contractions (defines intermediate tensors), and identifies reusable intermediates. The resulting ordered list of binary tensor contractions, additions, and index permutations is translated into an optimized program that is combined with the NWChem and UTChem computational chemistry software packages. The programs synthesized by TCE take advantage of spin symmetry, Abelian point-group symmetry, and index permutation symmetry at every stage of calculations to minimize the number of arithmetic operations and storage requirement, adjust the peak local memory usage by index range tiling, and support parallel I/O interfaces and dynamic load balancing for parallel executions. We demonstrate the utility of TCE through automatic derivation and implementation of parallel programs for various models of configuration-interaction theory (CISD, CISDT, CISDTQ), many-body perturbation theory [MBPT(2), MBPT(3), MBPT(4)], and coupled-cluster theory (LCCD, CCD, LCCSD, CCSD, QCISD, CCSDT, and CCSDTQ).« less

Multilevel summation method for electrostatic force evaluation.

PubMed

Hardy, David J; Wu, Zhe; Phillips, James C; Stone, John E; Skeel, Robert D; Schulten, Klaus

2015-02-10

The multilevel summation method (MSM) offers an efficient algorithm utilizing convolution for evaluating long-range forces arising in molecular dynamics simulations. Shifting the balance of computation and communication, MSM provides key advantages over the ubiquitous particle–mesh Ewald (PME) method, offering better scaling on parallel computers and permitting more modeling flexibility, with support for periodic systems as does PME but also for semiperiodic and nonperiodic systems. The version of MSM available in the simulation program NAMD is described, and its performance and accuracy are compared with the PME method. The accuracy feasible for MSM in practical applications reproduces PME results for water property calculations of density, diffusion constant, dielectric constant, surface tension, radial distribution function, and distance-dependent Kirkwood factor, even though the numerical accuracy of PME is higher than that of MSM. Excellent agreement between MSM and PME is found also for interface potentials of air–water and membrane–water interfaces, where long-range Coulombic interactions are crucial. Applications demonstrate also the suitability of MSM for systems with semiperiodic and nonperiodic boundaries. For this purpose, simulations have been performed with periodic boundaries along directions parallel to a membrane surface but not along the surface normal, yielding membrane pore formation induced by an imbalance of charge across the membrane. Using a similar semiperiodic boundary condition, ion conduction through a graphene nanopore driven by an ion gradient has been simulated. Furthermore, proteins have been simulated inside a single spherical water droplet. Finally, parallel scalability results show the ability of MSM to outperform PME when scaling a system of modest size (less than 100 K atoms) to over a thousand processors, demonstrating the suitability of MSM for large-scale parallel simulation.

An efficient implementation of a high-order filter for a cubed-sphere spectral element model

NASA Astrophysics Data System (ADS)

Kang, Hyun-Gyu; Cheong, Hyeong-Bin

2017-03-01

A parallel-scalable, isotropic, scale-selective spatial filter was developed for the cubed-sphere spectral element model on the sphere. The filter equation is a high-order elliptic (Helmholtz) equation based on the spherical Laplacian operator, which is transformed into cubed-sphere local coordinates. The Laplacian operator is discretized on the computational domain, i.e., on each cell, by the spectral element method with Gauss-Lobatto Lagrange interpolating polynomials (GLLIPs) as the orthogonal basis functions. On the global domain, the discrete filter equation yielded a linear system represented by a highly sparse matrix. The density of this matrix increases quadratically (linearly) with the order of GLLIP (order of the filter), and the linear system is solved in only O (Ng) operations, where Ng is the total number of grid points. The solution, obtained by a row reduction method, demonstrated the typical accuracy and convergence rate of the cubed-sphere spectral element method. To achieve computational efficiency on parallel computers, the linear system was treated by an inverse matrix method (a sparse matrix-vector multiplication). The density of the inverse matrix was lowered to only a few times of the original sparse matrix without degrading the accuracy of the solution. For better computational efficiency, a local-domain high-order filter was introduced: The filter equation is applied to multiple cells, and then the central cell was only used to reconstruct the filtered field. The parallel efficiency of applying the inverse matrix method to the global- and local-domain filter was evaluated by the scalability on a distributed-memory parallel computer. The scale-selective performance of the filter was demonstrated on Earth topography. The usefulness of the filter as a hyper-viscosity for the vorticity equation was also demonstrated.

Fierz bilinear formulation of the Maxwell–Dirac equations and symmetry reductions

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

Inglis, Shaun, E-mail: sminglis@utas.edu.au; Jarvis, Peter, E-mail: Peter.Jarvis@utas.edu.au

We study the Maxwell–Dirac equations in a manifestly gauge invariant presentation using only the spinor bilinear scalar and pseudoscalar densities, and the vector and pseudovector currents, together with their quadratic Fierz relations. The internally produced vector potential is expressed via algebraic manipulation of the Dirac equation, as a rational function of the Fierz bilinears and first derivatives (valid on the support of the scalar density), which allows a gauge invariant vector potential to be defined. This leads to a Fierz bilinear formulation of the Maxwell tensor and of the Maxwell–Dirac equations, without any reference to gauge dependent quantities. We showmore » how demanding invariance of tensor fields under the action of a fixed (but arbitrary) Lie subgroup of the Poincaré group leads to symmetry reduced equations. The procedure is illustrated, and the reduced equations worked out explicitly for standard spherical and cylindrical cases, which are coupled third order nonlinear PDEs. Spherical symmetry necessitates the existence of magnetic monopoles, which do not affect the coupled Maxwell–Dirac system due to magnetic terms cancelling. In this paper we do not take up numerical computations. As a demonstration of the power of our approach, we also work out the symmetry reduced equations for two distinct classes of dimension 4 one-parameter families of Poincaré subgroups, one splitting and one non-splitting. The splitting class yields no solutions, whereas for the non-splitting class we find a family of formal exact solutions in closed form. - Highlights: • Maxwell–Dirac equations derived in manifestly gauge invariant tensor form. • Invariant scalar and four vector fields for four Poincaré subgroups derived, including two unusual cases. • Symmetry reduction imposed on Maxwell–Dirac equations under example subgroups. • Magnetic monopole arises for spherically symmetric case, consistent with charge quantization condition.« less

Nonlinear MHD simulation of current drive by multi-pulsed coaxial helicity injection in spherical torus

NASA Astrophysics Data System (ADS)

Kanki, Takashi; Nagata, Masayoshi; Kagei, Yasuhiro

2011-10-01

The dynamics of structures of magnetic field, current density, and plasma flow generated during multi-pulsed coaxial helicity injection in spherical torus is investigated by 3-D nonlinear MHD simulations. During the driven phase, the flux and current amplifications occur due to the merging and magnetic reconnection between the preexisting plasma in the confinement region and the ejected plasma from the gun region involving the n = 1 helical kink distortion of the central open flux column (COFC). Interestingly, the diamagnetic poloidal flow which tends toward the gun region is then observed due to the steep pressure gradients of the COFC generated by ohmic heating through an injection current winding around the inboard field lines, resulting in the formation of the strong poloidal flow shear at the interface between the COFC and the core region. This result is consistent with the flow shear observed in the HIST. During the decay phase, the configuration approaches the axisymmetric MHD equilibrium state without flow because of the dissipation of magnetic fluctuation energy to increase the closed flux surfaces, suggesting the generation of ordered magnetic field structure. The parallel current density λ concentrated in the COFC then diffuses to the core region so as to reduce the gradient in λ, relaxing in the direction of the Taylor state.

Valve actuator for internal combustion engine

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

Uchida, T.

1987-06-16

A valve actuating mechanism is described for an overhead valve and overhead cam type internal combustion engine in which the camshaft is positioned above and between the valve and a cam follower seat member in a cylinder head of the engine. The cam follower seat member is threadedly mounted in the cylinder head and has a semi-spherical recess facing upwardly. A cam follower has an adjustable bolt threadedly received in one end of the cam follower. The adjustable bolt has a spherical fulcrum engaging the semispherical recess of the seat member. The cam follower also has a downwardly facing meansmore » on the other end for engaging the valve and an upwardly facing slipper face for sliding engagement with a cam on the camshaft. The cam is adapted to rotate across the slipper face in the direction of the valve. The slipper face has a surface shape for engaging the cam at the start of valve-lifting movement of the cam follower at a point through which a line tangent to the slipper face is substantially parallel to a line through contact points between the cam follower. The seat member and valve for minimizing the lateral forces are imposed on the cam follower by the cam at the start of the valve-lifting movement.« less

Single-cell adhesion probed in-situ using optical tweezers: A case study with Saccharomyces cerevisiae

NASA Astrophysics Data System (ADS)

Castelain, Mickaël; Rouxhet, Paul G.; Pignon, Frédéric; Magnin, Albert; Piau, Jean-Michel

2012-06-01

A facile method of using optical trapping to measure cell adhesion forces is presented and applied to the adhesion of Saccharomyces cerevisiae on glass, in contact with solutions of different compositions. Trapping yeast cells with optical tweezers (OT) is not perturbed by cell wall deformation or cell deviation from a spherical shape. The trapping force calibration requires correction not only for the hydrodynamic effect of the neighboring wall but also for spherical aberrations affecting the focal volume and the trap stiffness. Yeast cells trapped for up to 5 h were still able to undergo budding but showed an increase of doubling time. The proportion of adhering cells showed the expected variation according to the solution composition. The detachment force varied in the same way. This observation and the fact that the detachment stress was exerted parallel to the substrate surface point to the role of interactions involving solvated macromolecules. Both the proportion of adhering cells and the removal force showed a distribution which, in our experimental conditions, must be attributed to a heterogeneity of surface properties at the cell level or at the subcellular scale. As compared with magnetic tweezers, atomic force microscopy, and more conventional ways of studying cell adhesion (shear-flow cells), OT present several advantages that are emphasized in this paper.

Experimental determination of water activity for binary aqueous cerium(III) ionic solutions: application to an assessment of the predictive capability of the binding mean spherical approximation model.

PubMed

Ruas, Alexandre; Simonin, Jean-Pierre; Turq, Pierre; Moisy, Philippe

2005-12-08

This work is aimed at a description of the thermodynamic properties of actinide salt solutions at high concentration. The predictive capability of the binding mean spherical approximation (BIMSA) theory to describe the thermodynamic properties of electrolytes is assessed in the case of aqueous solutions of lanthanide(III) nitrate and chloride salts. Osmotic coefficients of cerium(III) nitrate and chloride were calculated from other lanthanide(III) salts properties. In parallel, concentrated binary solutions of cerium nitrate were prepared in order to measure experimentally its water activity and density as a function of concentration, at 25 degrees C. Water activities of several binary solutions of cerium chloride were also measured to check existing data on this salt. Then, the properties of cerium chloride and cerium nitrate solutions were compared within the BIMSA model. Osmotic coefficient values for promethium nitrate and promethium chloride given by this theory are proposed. Finally, water activity measurements were made to examine the fact that the ternary system Ce(NO3)3/HNO3/H2O and the quaternary system Ce(NO3)3/HNO3/N2H5NO3/H2O may be regarded as "simple solutions" (in the sense of Zdanovskii and Mikulin).

Synthesis of Freestanding Single-crystal Perovskite Films and Heterostructures by Etching of Sacrificial Water-soluble Layers

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

Lu, Di; Baek, David J.; Hong, Seung Sae

2016-08-22

The ability to create and manipulate materials in two-dimensional (2D) form has repeatedly had transformative impact on science and technology. In parallel with the exfoliation and stacking of intrinsically layered crystals, atomic-scale thin film growth of complex materials has enabled the creation of artificial 2D heterostructures with novel functionality and emergent phenomena, as seen in perovskite heterostructures. However, separation of these layers from the growth substrate has proven challenging, limiting the manipulation capabilities of these heterostructures with respect to exfoliated materials. Here we present a general method to create freestanding perovskite membranes. The key is the epitaxial growth of water-solublemore » Sr 3Al 2O 6 on perovskite substrates, followed by in situ growth of films and heterostructures. Millimetre-size single-crystalline membranes are produced by etching the Sr 3Al 2O 6 layer in water, providing the opportunity to transfer them to arbitrary substrates and integrate them with heterostructures of semiconductors and layered compounds.« less

Open and closed loop manipulation of charged microchiplets in an electric field

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

Lu, J. P., E-mail: jplu@parc.com; Thompson, J. D.; Whiting, G. L.

We demonstrate the ability to orient, position, and transport microchips (“chiplets”) with electric fields. In an open-loop approach, modified four phase traveling wave potential patterns manipulate chiplets in a dielectric solution using dynamic template agitation techniques. Repeatable parallel assembly of chiplets is demonstrated to a positional accuracy of 6.5 μm using electrodes of 200 μm pitch. Chiplets with dipole surface charge patterns are used to show that orientation can be controlled by adding unique charge patterns on the chiplets. Chip path routing is also demonstrated. With a closed-loop control system approach using video feedback, dielectric, and electrophoretic forces are used to achievemore » positioning accuracy of better than 1 μm with 1 mm pitch driving electrodes. These chip assembly techniques have the potential to enable future printer systems where inputs are electronic chiplets and the output is a functional electronic system.« less

Warming and Elevated CO2 Interact to Drive Rapid Shifts in Marine Community Production.

PubMed

Sorte, Cascade J B; Bracken, Matthew E S

2015-01-01

Predicting the outcome of future climate change requires an understanding of how alterations in multiple environmental factors manifest in natural communities and affect ecosystem functioning. We conducted an in situ, fully factorial field manipulation of CO2 and temperature on a rocky shoreline in southeastern Alaska, USA. Warming strongly impacted functioning of tide pool systems within one month, with the rate of net community production (NCP) more than doubling in warmed pools under ambient CO2 levels relative to initial NCP values. However, in pools with added CO2, NCP was unaffected by warming. Productivity responses paralleled changes in the carbon-to-nitrogen ratio of a red alga, the most abundant primary producer species in the system, highlighting the direct link between physiology and ecosystem functioning. These observed changes in algal physiology and community productivity in response to our manipulations indicate the potential for natural systems to shift rapidly in response to changing climatic conditions and for multiple environmental factors to act antagonistically.

Warming and Elevated CO2 Interact to Drive Rapid Shifts in Marine Community Production

PubMed Central

Sorte, Cascade J. B.; Bracken, Matthew E. S.

2015-01-01

Predicting the outcome of future climate change requires an understanding of how alterations in multiple environmental factors manifest in natural communities and affect ecosystem functioning. We conducted an in situ, fully factorial field manipulation of CO2 and temperature on a rocky shoreline in southeastern Alaska, USA. Warming strongly impacted functioning of tide pool systems within one month, with the rate of net community production (NCP) more than doubling in warmed pools under ambient CO2 levels relative to initial NCP values. However, in pools with added CO2, NCP was unaffected by warming. Productivity responses paralleled changes in the carbon-to-nitrogen ratio of a red alga, the most abundant primary producer species in the system, highlighting the direct link between physiology and ecosystem functioning. These observed changes in algal physiology and community productivity in response to our manipulations indicate the potential for natural systems to shift rapidly in response to changing climatic conditions and for multiple environmental factors to act antagonistically. PMID:26714167

Automated polarization control for the precise alignment of laser-induced self-organized nanostructures

NASA Astrophysics Data System (ADS)

Hermens, Ulrike; Pothen, Mario; Winands, Kai; Arntz, Kristian; Klocke, Fritz

2018-02-01

Laser-induced periodic surface structures (LIPSS) found in particular applications in the fields of surface functionalization have been investigated since many years. The direction of these ripple structures with a periodicity in the nanoscale can be manipulated by changing the laser polarization. For industrial use, it is useful to manipulate the direction of these structures automatically and to obtain smooth changes of their orientation without any visible inhomogeneity. However, currently no system solution exists that is able to control the polarization direction completely automated in one software solution so far. In this paper, a system solution is presented that includes a liquid crystal polarizer to control the polarization direction. It is synchronized with a scanner, a dynamic beam expander and a five axis-system. It provides fast switching times and small step sizes. First results of fabricated structures are also presented. In a systematic study, the conjunction of LIPSS with different orientation in two parallel line scans has been investigated.

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.

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.

Grip Forces During Object Manipulation: Experiment, Mathematical Model & Validation

PubMed Central

Slota, Gregory P.; Latash, Mark L.; Zatsiorsky, Vladimir M.

2011-01-01

When people transport handheld objects, they change the grip force with the object movement. Circular movement patterns were tested within three planes at two different rates (1.0, 1.5 Hz), and two diameters (20, 40 cm). Subjects performed the task reasonably well, matching frequencies and dynamic ranges of accelerations within expectations. A mathematical model was designed to predict the applied normal forces from kinematic data. The model is based on two hypotheses: (a) the grip force changes during movements along complex trajectories can be represented as the sum of effects of two basic commands associated with the parallel and orthogonal manipulation, respectively; (b) different central commands are sent to the thumb and virtual finger (Vf- four fingers combined). The model predicted the actual normal forces with a total variance accounted for of better than 98%. The effects of the two components of acceleration—along the normal axis and the resultant acceleration within the shear plane—on the digit normal forces are additive. PMID:21735245

Overview of ICE Project: Integration of Computational Fluid Dynamics and Experiments

NASA Technical Reports Server (NTRS)

Stegeman, James D.; Blech, Richard A.; Babrauckas, Theresa L.; Jones, William H.

2001-01-01

Researchers at the NASA Glenn Research Center have developed a prototype integrated environment for interactively exploring, analyzing, and validating information from computational fluid dynamics (CFD) computations and experiments. The Integrated CFD and Experiments (ICE) project is a first attempt at providing a researcher with a common user interface for control, manipulation, analysis, and data storage for both experiments and simulation. ICE can be used as a live, on-tine system that displays and archives data as they are gathered; as a postprocessing system for dataset manipulation and analysis; and as a control interface or "steering mechanism" for simulation codes while visualizing the results. Although the full capabilities of ICE have not been completely demonstrated, this report documents the current system. Various applications of ICE are discussed: a low-speed compressor, a supersonic inlet, real-time data visualization, and a parallel-processing simulation code interface. A detailed data model for the compressor application is included in the appendix.

Genome-Environment Interactions That Modulate Aging: Powerful Targets for Drug Discovery

PubMed Central

Wuttke, Daniel; Wood, Shona H.; Plank, Michael; Vora, Chintan

2012-01-01

Aging is the major biomedical challenge of this century. The percentage of elderly people, and consequently the incidence of age-related diseases such as heart disease, cancer, and neurodegenerative diseases, is projected to increase considerably in the coming decades. Findings from model organisms have revealed that aging is a surprisingly plastic process that can be manipulated by both genetic and environmental factors. Here we review a broad range of findings in model organisms, from environmental to genetic manipulations of aging, with a focus on those with underlying gene-environment interactions with potential for drug discovery and development. One well-studied dietary manipulation of aging is caloric restriction, which consists of restricting the food intake of organisms without triggering malnutrition and has been shown to retard aging in model organisms. Caloric restriction is already being used as a paradigm for developing compounds that mimic its life-extension effects and might therefore have therapeutic value. The potential for further advances in this field is immense; hundreds of genes in several pathways have recently emerged as regulators of aging and caloric restriction in model organisms. Some of these genes, such as IGF1R and FOXO3, have also been associated with human longevity in genetic association studies. The parallel emergence of network approaches offers prospects to develop multitarget drugs and combinatorial therapies. Understanding how the environment modulates aging-related genes may lead to human applications and disease therapies through diet, lifestyle, or pharmacological interventions. Unlocking the capacity to manipulate human aging would result in unprecedented health benefits. PMID:22090473

Intolerance of Uncertainty: A Temporary Experimental Induction Procedure

PubMed Central

Mosca, Oriana; Lauriola, Marco; Carleton, R. Nicholas

2016-01-01

Background and Objectives Intolerance of uncertainty (IU) is a trans-diagnostic construct involved in anxiety and related disorders. Research focused on cross-sectional reporting, manipulating attitudes toward objective and impersonal events or on treatments designed to reduce IU in clinical populations. The current paper presents an experimental procedure for laboratory manipulations of IU and tests mediation hypotheses following the Intolerance of Uncertainty Model. Methods On pre-test, undergraduate volunteers (Study 1, n = 43;68% women. Study 2, n = 169;83.8% women) were asked to provide an idiosyncratic future negative life event. State-IU, Worry, Positive and Negative Affect were assessed after that a standardized procedure was used to identify event’s potential negative consequences. The same variables were assessed on post-test, after that participants were asked to read-through increasing and decreasing IU statements. Results Temporary changes on IU were consistently reproduced in both studies. Participants receiving increasing IU instructions reported greater state-IU, Worry and Negative Affect than those receiving decreasing IU instructions. However, this latter condition was not different from a control one (Study 2). Both studies revealed significant indirect effects of IU induction instructions on Worry and Negative Affect through state-IU. Limitations Both studies used undergraduate psychology students samples, younger than average population and predominantly female. Experimental manipulation and outcome measures belongs to the same semantic domain, uncertainty, potentially limiting generalizability. Conclusions Results supported the feasibility and efficacy of the proposed IU manipulation for non-clinical sample. Findings parallel clinical research showing that state-IU preceded Worry and Negative Affect states. PMID:27254099

Subthalamic nucleus deep brain stimulation impacts language in early Parkinson's disease.

PubMed

Phillips, Lara; Litcofsky, Kaitlyn A; Pelster, Michael; Gelfand, Matthew; Ullman, Michael T; Charles, P David

2012-01-01

Although deep brain stimulation (DBS) of the basal ganglia improves motor outcomes in Parkinson's disease (PD), its effects on cognition, including language, remain unclear. This study examined the impact of subthalamic nucleus (STN) DBS on two fundamental capacities of language, grammatical and lexical functions. These functions were tested with the production of regular and irregular past-tenses, which contrast aspects of grammatical (regulars) and lexical (irregulars) processing while controlling for multiple potentially confounding factors. Aspects of the motor system were tested by contrasting the naming of manipulated (motor) and non-manipulated (non-motor) objects. Performance was compared between healthy controls and early-stage PD patients treated with either DBS/medications or medications alone. Patients were assessed on and off treatment, with controls following a parallel testing schedule. STN-DBS improved naming of manipulated (motor) but not non-manipulated (non-motor) objects, as compared to both controls and patients with just medications, who did not differ from each other across assessment sessions. In contrast, STN-DBS led to worse performance at regulars (grammar) but not irregulars (lexicon), as compared to the other two subject groups, who again did not differ. The results suggest that STN-DBS negatively impacts language in early PD, but may be specific in depressing aspects of grammatical and not lexical processing. The finding that STN-DBS affects both motor and grammar (but not lexical) functions strengthens the view that both depend on basal ganglia circuitry, although the mechanisms for its differential impact on the two (improved motor, impaired grammar) remain to be elucidated.

Subthalamic Nucleus Deep Brain Stimulation Impacts Language in Early Parkinson's Disease

PubMed Central

Phillips, Lara; Litcofsky, Kaitlyn A.; Pelster, Michael; Gelfand, Matthew

2012-01-01

Although deep brain stimulation (DBS) of the basal ganglia improves motor outcomes in Parkinson's disease (PD), its effects on cognition, including language, remain unclear. This study examined the impact of subthalamic nucleus (STN) DBS on two fundamental capacities of language, grammatical and lexical functions. These functions were tested with the production of regular and irregular past-tenses, which contrast aspects of grammatical (regulars) and lexical (irregulars) processing while controlling for multiple potentially confounding factors. Aspects of the motor system were tested by contrasting the naming of manipulated (motor) and non-manipulated (non-motor) objects. Performance was compared between healthy controls and early-stage PD patients treated with either DBS/medications or medications alone. Patients were assessed on and off treatment, with controls following a parallel testing schedule. STN-DBS improved naming of manipulated (motor) but not non-manipulated (non-motor) objects, as compared to both controls and patients with just medications, who did not differ from each other across assessment sessions. In contrast, STN-DBS led to worse performance at regulars (grammar) but not irregulars (lexicon), as compared to the other two subject groups, who again did not differ. The results suggest that STN-DBS negatively impacts language in early PD, but may be specific in depressing aspects of grammatical and not lexical processing. The finding that STN-DBS affects both motor and grammar (but not lexical) functions strengthens the view that both depend on basal ganglia circuitry, although the mechanisms for its differential impact on the two (improved motor, impaired grammar) remain to be elucidated. PMID:22880117

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

Preece, D.S.; Knudsen, S.D.

The spherical element computer code DMC (Distinct Motion Code) used to model rock motion resulting from blasting has been enhanced to allow routine computer simulations of bench blasting. The enhancements required for bench blast simulation include: (1) modifying the gas flow portion of DMC, (2) adding a new explosive gas equation of state capability, (3) modifying the porosity calculation, and (4) accounting for blastwell spacing parallel to the face. A parametric study performed with DMC shows logical variation of the face velocity as burden, spacing, blastwell diameter and explosive type are varied. These additions represent a significant advance in themore » capability of DMC which will not only aid in understanding the physics involved in blasting but will also become a blast design tool. 8 refs., 7 figs., 1 tab.« less

Spherical harmonic representation of the main geomagnetic field for world charting and investigations of some fundamental problems of physics and geophysics

NASA Technical Reports Server (NTRS)

Barraclough, D. R.; Hide, R.; Leaton, B. R.; Lowes, F. J.; Malin, S. R. C.; Wilson, R. L. (Principal Investigator)

1981-01-01

Quiet-day data from MAGSAT were examined for effects which might test the validity of Maxwell's equations. Both external and toroidal fields which might represent a violation of the equations appear to exist, well within the associated errors. The external field might be associated with the ring current, and varies of a time-scale of one day or less. Its orientation is parallel to the geomagnetic dipole. The toriodal field can be confused with an orientation in error (in yaw). It the toroidal field really exists, its can be related to either ionospheric currents, or to toroidal fields in the Earth's core in accordance with Einstein's unified field theory, or to both.

Common path point diffraction interferometer using liquid crystal phase shifting

NASA Technical Reports Server (NTRS)

Mercer, Carolyn R. (Inventor)

1997-01-01

A common path point diffraction interferometer uses dyed, parallel nematic liquid crystals which surround an optically transparent microsphere. Coherent, collimated and polarized light is focused on the microsphere at a diameter larger than that of the microsphere. A portion of the focused light passes through the microsphere to form a spherical wavefront reference beam and the rest of the light is attenuated by the dyed liquid crystals to form an object beam. The two beams form an interferogram which is imaged by a lens onto an electronic array sensor and into a computer which determines the wavefront of the object beam. The computer phase shifts the interferogram by stepping up an AC voltage applied across the liquid crystals without affecting the reference beam.

Capacitance of a highly ordered array of nanocapacitors: Model and microscopy

NASA Astrophysics Data System (ADS)

Cortés, A.; Celedón, C.; Ulloa, P.; Kepaptsoglou, D.; Häberle, P.

2011-11-01

This manuscript describes briefly the process used to build an ordered porous array in an anodic aluminum oxide (AAO) membrane, filled with multiwall carbon nanotubes (MWCNTs). The MWCNTs were grown directly inside the membrane through chemical vapor deposition (CVD). The role of the CNTs is to provide narrow metal electrodes contact with a dielectric surface barrier, hence, forming a capacitor. This procedure allows the construction of an array of 1010 parallel nano-spherical capacitors/cm2. A central part of this contribution is the use of physical parameters obtained from processing transmission electron microscopy (TEM) images, to predict the specific capacitance of the AAOs arrays. Electrical parameters were obtained by solving Laplace's equation through finite element methods (FEMs).

Theoretical foundations of the chronometric cosmology.

PubMed

Segal, I E

1976-03-01

The derivation of the redshift (z)-distance (r) relation in the chronometric theory of the Cosmos is amplified. The basic physical quantities are represented by precisely defined self-adjoint operators in global Hilbert spaces. Computations yielding explicit bounds for the deviation of the theoretical prediction from the relation z = tan(2)(r/2R) (where R denotes the radius of the universe), earlier derived employing less formal procedures, are carried out for: (a) a cut-off plane wave in two dimensions; (b) a scalar spherical wave in four dimensions; (c) the same as (b) with appropriate incorporation of the photon spin. Both this deviation and the (quantum) dispersion in redshift are shown to be unobservably small. A parallel classical treatment is possible and leads to similar results.

Scattering Properties of Heterogeneous Mineral Particles with Absorbing Inclusions

NASA Technical Reports Server (NTRS)

Dlugach, Janna M.; Mishchenko, Michael I.

2015-01-01

We analyze the results of numerically exact computer modeling of scattering and absorption properties of randomly oriented poly-disperse heterogeneous particles obtained by placing microscopic absorbing grains randomly on the surfaces of much larger spherical mineral hosts or by imbedding them randomly inside the hosts. These computations are paralleled by those for heterogeneous particles obtained by fully encapsulating fractal-like absorbing clusters in the mineral hosts. All computations are performed using the superposition T-matrix method. In the case of randomly distributed inclusions, the results are compared with the outcome of Lorenz-Mie computations for an external mixture of the mineral hosts and absorbing grains. We conclude that internal aggregation can affect strongly both the integral radiometric and differential scattering characteristics of the heterogeneous particle mixtures.

Lasing properties of polymerized chiral nematic Bragg onion microlasers.

PubMed

Humar, Matjaž; Araoka, Fumito; Takezoe, Hideo; Muševič, Igor

2016-08-22

Dye doped photocurable cholesteric liquid crystal was used to produce solid Bragg onion omnidirectional lasers. The lasers were produced by dispersing and polymerizing chiral nematic LC with parallel surface anchoring of LC molecules at the interface, extracted and transferred into another medium. Lasing characteristics were studied in carrier medium with different refractive index. The lasing in spherical cholesteric liquid crystal was attributed to two mechanisms, photonic bandedge lasing and lasing of whispering-gallery modes. The latter can be suppressed by using a higher index carrier fluid to prevent total internal reflection on the interface of the spheres. Pulse-to-pulse stability and threshold characteristics were also studied and compared to non-polymerized lasers. The polymerization process greatly increases the lasing stability.

Dark halos formed via dissipationless collapse. I - Shapes and alignment of angular momentum

NASA Astrophysics Data System (ADS)

Warren, Michael S.; Quinn, Peter J.; Salmon, John K.; Zurek, Wojciech H.

1992-11-01

We use N-body simulations on highly parallel supercomputers to study the structure of Galactic dark matter halos. The systems form by gravitational collapse from scale-free and more general Gaussian initial density perturbations in an expanding 400 Mpc-cubed spherical slice of an Einstein-deSitter universe. We analyze the structure and kinematics of about 100 of the largest relaxed halos in each of 10 separate simulations. A typical halo is a triaxial spheroid which tends to be more often prolate than oblate. These shapes are maintained by anisotropic velocity dispersion rather than by angular momentum. Nevertheless, there is a significant tendency for the total angular momentum vector to be aligned with the minor axis of the density distribution.

Synthesis and Evaluation of A High Precision 3D-Printed Ti6Al4V Compliant Parallel Manipulator

NASA Astrophysics Data System (ADS)

Pham, Minh Tuan; Teo, Tat Joo; Huat Yeo, Song; Wang, Pan; Nai, Mui Ling Sharon

2017-12-01

A novel 3D printed compliant parallel manipulator (CPM) with θX - θX - Z motions is presented in this paper. This CPM is synthesized using the beam-based method, a new structural optimization approach, to achieve optimized stiffness properties with targeted dynamic behavior. The CPM performs high non-actuating stiffness based on the predicted stiffness ratios of about 3600 for translations and 570 for rotations, while the dynamic response is fast with the targeted first resonant mode of 100Hz. A prototype of the synthesized CPM is fabricated using the electron beam melting (EBM) technology with Ti6Al4V material. Driven by three voice-coil (VC) motors, the CPM demonstrated a positioning resolution of 50nm along the Z axis and an angular resolution of ~0.3 “about the X and Y axes, the positioning accuracy is also good with the measured values of ±25.2nm and ±0.17” for the translation and rotations respectively. Experimental investigation also shows that this large workspace CPM has a first resonant mode of 98Hz and the stiffness behavior matches the prediction with the highest deviation of 11.2%. Most importantly, the full workspace of 10° × 10° × 7mm of the proposed CPM can be achieved, that demonstrates 3D printed compliant mechanisms can perform large elastic deformation. The obtained results show that CPMs printed by EBM technology have predictable mechanical characteristics and are applicable in precise positioning systems.

Identification of spinal tissues loaded by manual therapy: a robot-based serial dissection technique applied in porcine motion segments.

PubMed

Kawchuk, Gregory N; Carrasco, Alejandro; Beecher, Grayson; Goertzen, Darrell; Prasad, Narasimha

2010-10-15

Serial dissection of porcine motion segments during robotic control of vertebral kinematics. To identify which spinal tissues are loaded in response to manual therapy (manipulation and mobilization) and to what magnitude. Various theoretical constructs attempt to explain how manual therapies load specific spinal tissues. By using a parallel robot to control vertebral kinematics during serial dissection, it is possible to quantify the loads experienced by discrete spinal tissues undergoing common therapeutic procedures such as manual therapy. In 9 porcine cadavers, manual therapy was provided to L3 and the kinematic response of L3-L4 recorded. The exact kinematic trajectory experienced by L3-L4 in response to manual therapy was then replayed to the isolated segment by a parallel robot equipped with a 6-axis load cell. Discrete spinal tissues were then removed and the kinematic pathway replayed. The change in forces and moments following tissue removal were considered to be those applied to that specific tissue by manual therapy. In this study, both manual therapies affected spinal tissues. The intervertebral disc experienced the greatest forces and moments arising from both manipulation and mobilization. This study is the first to identify which tissues are loaded in response to manual therapy. The observation that manual therapy loads some tissues to a much greater magnitude than others offers a possible explanation for its modest treatment effect; only conditions involving these tissues may be influenced by manual therapy. Future studies are planned to determine if manual therapy can be altered to target (or avoid) specific spinal tissues.

Acoustic Constraints and Musical Consequences: Exploring Composers' Use of Cues for Musical Emotion

PubMed Central

Schutz, Michael

2017-01-01

Emotional communication in music is based in part on the use of pitch and timing, two cues effective in emotional speech. Corpus analyses of natural speech illustrate that happy utterances tend to be higher and faster than sad. Although manipulations altering melodies show that passages changed to be higher and faster sound happier, corpus analyses of unaltered music paralleling those of natural speech have proven challenging. This partly reflects the importance of modality (i.e., major/minor), a powerful musical cue whose use is decidedly imbalanced in Western music. This imbalance poses challenges for creating musical corpora analogous to existing speech corpora for purposes of analyzing emotion. However, a novel examination of music by Bach and Chopin balanced in modality illustrates that, consistent with predictions from speech, their major key (nominally “happy”) pieces are approximately a major second higher and 29% faster than their minor key pieces (Poon and Schutz, 2015). Although this provides useful evidence for parallels in use of emotional cues between these domains, it raises questions about how composers “trade off” cue differentiation in music, suggesting interesting new potential research directions. This Focused Review places those results in a broader context, highlighting their connections with previous work on the natural use of cues for musical emotion. Together, these observational findings based on unaltered music—widely recognized for its artistic significance—complement previous experimental work systematically manipulating specific parameters. In doing so, they also provide a useful musical counterpart to fruitful studies of the acoustic cues for emotion found in natural speech. PMID:29249997

Acoustic Constraints and Musical Consequences: Exploring Composers' Use of Cues for Musical Emotion.

PubMed

Schutz, Michael

2017-01-01

Emotional communication in music is based in part on the use of pitch and timing, two cues effective in emotional speech. Corpus analyses of natural speech illustrate that happy utterances tend to be higher and faster than sad. Although manipulations altering melodies show that passages changed to be higher and faster sound happier, corpus analyses of unaltered music paralleling those of natural speech have proven challenging. This partly reflects the importance of modality (i.e., major/minor), a powerful musical cue whose use is decidedly imbalanced in Western music. This imbalance poses challenges for creating musical corpora analogous to existing speech corpora for purposes of analyzing emotion. However, a novel examination of music by Bach and Chopin balanced in modality illustrates that, consistent with predictions from speech, their major key (nominally "happy") pieces are approximately a major second higher and 29% faster than their minor key pieces (Poon and Schutz, 2015). Although this provides useful evidence for parallels in use of emotional cues between these domains, it raises questions about how composers "trade off" cue differentiation in music, suggesting interesting new potential research directions. This Focused Review places those results in a broader context, highlighting their connections with previous work on the natural use of cues for musical emotion. Together, these observational findings based on unaltered music-widely recognized for its artistic significance-complement previous experimental work systematically manipulating specific parameters. In doing so, they also provide a useful musical counterpart to fruitful studies of the acoustic cues for emotion found in natural speech.

Exact simulation of polarized light reflectance by particle deposits

NASA Astrophysics Data System (ADS)

Ramezan Pour, B.; Mackowski, D. W.

2015-12-01

The use of polarimetric light reflection measurements as a means of identifying the physical and chemical characteristics of particulate materials obviously relies on an accurate model of predicting the effects of particle size, shape, concentration, and refractive index on polarized reflection. The research examines two methods for prediction of reflection from plane parallel layers of wavelength—sized particles. The first method is based on an exact superposition solution to Maxwell's time harmonic wave equations for a deposit of spherical particles that are exposed to a plane incident wave. We use a FORTRAN-90 implementation of this solution (the Multiple Sphere T Matrix (MSTM) code), coupled with parallel computational platforms, to directly simulate the reflection from particle layers. The second method examined is based upon the vector radiative transport equation (RTE). Mie theory is used in our RTE model to predict the extinction coefficient, albedo, and scattering phase function of the particles, and the solution of the RTE is obtained from adding—doubling method applied to a plane—parallel configuration. Our results show that the MSTM and RTE predictions of the Mueller matrix elements converge when particle volume fraction in the particle layer decreases below around five percent. At higher volume fractions the RTE can yield results that, depending on the particle size and refractive index, significantly depart from the exact predictions. The particle regimes which lead to dependent scattering effects, and the application of methods to correct the vector RTE for particle interaction, will be discussed.

An efficient spectral method for the simulation of dynamos in Cartesian geometry and its implementation on massively parallel computers

NASA Astrophysics Data System (ADS)

Stellmach, Stephan; Hansen, Ulrich

2008-05-01

Numerical simulations of the process of convection and magnetic field generation in planetary cores still fail to reach geophysically realistic control parameter values. Future progress in this field depends crucially on efficient numerical algorithms which are able to take advantage of the newest generation of parallel computers. Desirable features of simulation algorithms include (1) spectral accuracy, (2) an operation count per time step that is small and roughly proportional to the number of grid points, (3) memory requirements that scale linear with resolution, (4) an implicit treatment of all linear terms including the Coriolis force, (5) the ability to treat all kinds of common boundary conditions, and (6) reasonable efficiency on massively parallel machines with tens of thousands of processors. So far, algorithms for fully self-consistent dynamo simulations in spherical shells do not achieve all these criteria simultaneously, resulting in strong restrictions on the possible resolutions. In this paper, we demonstrate that local dynamo models in which the process of convection and magnetic field generation is only simulated for a small part of a planetary core in Cartesian geometry can achieve the above goal. We propose an algorithm that fulfills the first five of the above criteria and demonstrate that a model implementation of our method on an IBM Blue Gene/L system scales impressively well for up to O(104) processors. This allows for numerical simulations at rather extreme parameter values.