Evaluation of force-torque displays for use with space station telerobotic activities

Recent experiments which addressed Space Station remote manipulation tasks found that tactile force feedback (reflecting forces and torques encountered at the end-effector through the manipulator hand controller) does not improve performance significantly. Subjective response from astronaut and non-astronaut test subjects indicated that force information, provided visually, could be useful. No research exists which specifically investigates methods of presenting force-torque information visually. This experiment was designed to evaluate seven different visual force-torque displays which were found in an informal telephone survey. The displays were prototyped in the HyperCard programming environment. In a within-subjects experiment, 14 subjects nullified forces and torques presented statically, using response buttons located at the bottom of the screen. Dependent measures included questionnaire data, errors, and response time. Subjective data generally demonstrate that subjects rated variations of pseudo-perspective displays consistently better than bar graph and digital displays. Subjects commented that the bar graph and digital displays could be used, but were not compatible with using hand controllers. Quantitative data show similar trends to the subjective data, except that the bar graph and digital displays both provided good performance, perhaps do to the mapping of response buttons to display elements. Results indicate that for this set of displays, the pseudo-perspective displays generally represent a more intuitive format for presenting force-torque information

A human factors evaluation of the robotic interface for Space Station Freedom orbital replaceable units

An orbital replaceable unit (ORU) is often defined as any orbital unit aboard Space Station with a wearout life of less than 30 years. The capability of successful changeout of these units by remote manipulation is critical to the ORU to telerobot interface design. A human factors evaluation of the selected interface showed certain inadequacies of the alignment target concept that was part of the interface package. Alternative target concepts which addressed these inadequacies were developed and are presented. Recommendations will be incorporated into NASA requirements documents which ORU suppliers and manufacturers must then build to

Effects of spatially displaced feedback on remote manipulation tasks

Several studies have been performed to determine the effects on computer and direct manipulation task performance when viewing conditions are spatially displaced. Whether results from these studies can be directly applied to remote manipulation tasks is quenstionable. The objective of this evaluation was to determine the effects of reversed, inverted, and inverted/reversed views on remote manipulation task performance using two 3-Degree of Freedom (DOF) hand controllers and a replica position hand controller. Results showed that trials using the inverted viewing condition showed the worst performance, followed by the inverted/reversed view and the reversed view when using the 2x3 DOF. However, these differences were not significant. The inverted and inverted/reversed viewing conditions were significantly worse than the normal and reversed viewing conditions when using the Kraft Replica. A second evaluation was conducted in which additional trials were performed with each viewing condition to determine the long term effects of spatially displaced views on task performance for the hand controllers. Results of the second evaluation indicated that there was more of a difference in performance between the perturbed viewing conditions and the normal viewing condition with the Kraft Replica than with the 2x3 DOF

Suitability of brackish water tilapia species from the Ivory Coast for lagoon aquaculture : 2. Growth and rearing methods

En élevage intensif, les deux espèces de tilapia lagunaire, #T. guineensis et #S. melanotheron, se sont avérées décevantes. En effet, même dans la situation la plus favorable, l'élevage monosexe mâle de #S. melanotheron$, une vitesse de croissance médiocre (de l'ordre de 0.5 g.j-1) et une mauvaise transformation des aliments artificiels ne permettent pas dans l'état actuel d'envisager une exploitation rentable. Les essais d'élevage extensif utilisant la technique originale des "acadja-enclos" ont par contre donné des résultats très encourageants. Des rendements annuels en poissons de plus de 8t/ha, dont 70 à 80$ de taille marchande, sont possibles sans aucun apport en aliment artificiel. (Résumé d'auteur

Moller operators and Lippmann-Schwinger equations for step-like potentials

The Moller operators and the asociated Lippman-Schwinger equations obtained from different partitionings of the Hamiltonian for a step-like potential barrier are worked out, compared and related.Comment: 15 pages, 1 inlined figure, iopart.cl

(-)-Oleocanthal rapidly and selectively induces cancer cell death via lysosomal membrane permeabilization

(-)-Oleocanthal (OC), a phenolic compound present in extra-virgin olive oil (EVOO), has been implicated in the health benefits associated with diets rich in EVOO. We investigated the effect of OC on human cancer cell lines in culture and found that OC induced cell death in all cancer cells examined as rapidly as 30 minutes after treatment in the absence of serum. OC treatment of non-transformed cells suppressed their proliferation but did not cause cell death. OC induced both primary necrotic and apoptotic cell death via induction of lysosomal membrane permeabilization (LMP). We provide evidence that OC promotes LMP by inhibiting acid sphingomyelinase (ASM) activity, which destabilizes the interaction between proteins required for lysosomal membrane stability. The data presented here indicate that cancer cells, which tend to have fragile lysosomal membranes compared to non-cancerous cells, are susceptible to cell death induced by lysosomotropic agents. Therefore, targeting lysosomal membrane stability represents a novel approach for the induction of cancer-specific cell death

Transitional random matrix theory nearest-neighbor spacing distributions

This paper presents a study of the properties of a matrix model that was introduced to describe transitions between all Wigner surmises of Random Matrix theory. New results include closed-form exact analytical expressions for the transitional probability density functions, as well as suitable analytical approximations for cases not amenable to explicit representation

Subsurface chlorophyll maximum and hydrodynamics of the water column

The vertical distributions of chlorophyll a (in vivo fluorescence) and hydrodynamic properties were monitored in the Gulf of St. Lawrence (Canada) from 6 to 10 August 1983, using an automatic yo-yo profiling system and a chain of 4 current meters. Spectral analyses of temperature and in vivo fluorescence series showed that dominant frequencies were associated with internal waves (∼16 h inertial frequency). A subsurface chlorophyll maximum was continuously observed in the lower part of the 20 m thick photic layer, at a depth corresponding with maximum vertical stability of the water column, just above the nutricline.The depth of maximum phytoplankton production, at least on sunny days, corresponded to that of the subsurface chlorophyll maximum and of the maximum in vertical stability. This close association persisted despite strong horizontal advection and vertical movements caused by internal waves. Photosynthetic adjustment did occur in the water column: higher vertical stability at depth favored shade adaptation of the phytoplankton in the layer of maximum stability, as compared to the more light-adapted cells of the upper well-mixed layer. At our sampling station, vertical turbulent diffusion seemed to be high enough to replenish nutrients in the photic layer, so that they never became completely exhausted, even in surface waters. Therefore, the observed subsurface chlorophyll maximum not only resulted from environmental conditions more favorable for phytoplankton accumulation and growth, but it also involved active photosynthetic responses of phytoplankton