Luminary 1B DAP preflight performance evaluation

Preflight analysis of LUMINARY 1B DAP simulation and performance testing for Apollo Mission H

Hubungan Antara Imbalan Jasa Dan Motivasi Kerja Perawat Di Puskesmas Manganitu Kabupaten Sangihe

Imbalan jasa merupakan tambahan atau tunjangan yang diterima secara tidak rutin atau semua pengeluaran yang di keluarkan oleh Perusahaan atau pekerja dan diterima serta dinikmati oleh pekerja baik secara langsung atau tidak langsung. Motivasi penting karena dengan motivasi suatu organisasi dapat mencapai tujuannya dan semua anggotanya dapat menampilkan kinerja optimal, dan imbalan jasa adalah salah satu hal yang dapat memotivasi kinerja kerja perawat. Tujuan penelitian untuk mengetahui Hubungan Antara Imbalan Jasa Dengan Motivasi Kerja Perawat Di Puskesmas Manganitu Kabupaten Sangihe. Desain penelitian yang digunakan adalah deskriptif analitik dengan metode cross sectional. Teknik pengambilan sampel dilakukan dengan total sampling dengan jumlah sampel 30 orang. Hasil penelitian menggunakan Uji Korelasi Chi Square didapatkan nilai p = 0,003 < α = 0,05 OR = 7,500. Kesimpulan hasil penelitian menunjukkan adanya hubungan antara imbalan jasa dengan motivasi kerja perawat di puskesmas manganitu kabupaten sangihe. Saran memperhatikan kesejahteraan perawat dengan pemberian imbalan yang sesuai sehingga dapat memberikan pelayanan yang lebih berkualitas

Structural and chemical requirements for histidine phosphorylation by the chemotaxis kinase CheA

The CheA histidine kinase initiates the signal transduction pathway of bacterial chemotaxis by autophosphorylating a conserved histidine on its phosphotransferase domain (P1). Site-directed mutations of neighboring conserved P1 residues (Glu-67, Lys-48, and His-64) show that a hydrogen-bonding network controls the reactivity of the phospho-accepting His (His-45) in Thermotoga maritima CheA. In particular, the conservative mutation E67Q dramatically reduces phospho-transfer to P1 without significantly affecting the affinity of P1 for the CheA ATP-binding domain. High resolution crystallographic studies revealed that although all mutants disrupt the hydrogen-bonding network to varying degrees, none affect the conformation of His-45. N-15-NMR chemical shift studies instead showed that Glu-67 functions to stabilize the unfavored (NH)-H-delta 1 tautomer of His-45, thereby rendering the N-epsilon 2 imidazole unprotonated and well positioned for accepting the ATP phosphoryl group

Bases for the management of the AM symbiosis in cropping systems of the prairie

Non-Peer Reviewe

Joining teleoperation with robotics for advanced manipulation in hostile environments

Manipulators have been used for many years to perform remote handling tasks in hazardous environments. The development history of teleoperators is reviewed, and applications around the world are summarized. The effect of computer supervisory control is discussed, and similarities between robots and teleoperator research activities are delineated. With improved control strategies and system designs, combination of positive attributes of robots with teleoperators will lead to advanced machines capable of autonomy in unstructured environments. This concept of a telerobot is introduced as a goal for future activities

Modular robotics overview of the `state of the art`

The design of a robotic arm processing modular components and reconfigurable links is the general goal of a modular robotics development program. The impetus behind the pursuit of modular design is the remote engineering paradigm of improved reliability and availability provided by the ability to remotely maintain and repair a manipulator operating in a hazardous environment by removing and replacing worn or failed modules. Failed components can service off- line and away from hazardous conditions. The desire to reconfigure an arm to perform different tasks is also an important driver for the development of a modular robotic manipulator. In order to bring to fruition a truly modular manipulator, an array of technical challenges must be overcome. These range from basic mechanical and electrical design considerations such as desired kinematics, actuator types, and signal and transmission types and routings, through controls issues such as the need for control algorithms capable of stable free space and contact control, to computer and sensor design issues like consideration of the use of embedded processors and redundant sensors. This report presents a brief overview of the state of the art of technical issues relevant of modular robotic arm design. The focus is on breadth of coverage, rather than depth, in order to provide a reference frame for future development

Advanced teleoperation in nuclear applications

A new generation of integrated remote maintenance systems is being developed to meet the needs of future nuclear fuel reprocessing at the Oak Ridge National Laboratory. Development activities cover all aspects of an advanced teleoperated maintenance system with particular emphasis on a new force-reflecting servomanipulator concept. The new manipulator, called the advanced servomanipulator, is microprocessor controlled and is designed to achieve force-reflection performance near that of mechanical master/slave manipulators. The advanced servomanipulator uses a gear-drive transmission which permits modularization for remote maintainability (by other advanced servomanipulators) and increases reliability. Human factors analysis has been used to develop an improved man/machine interface concept based upon colorgraphic displays and menu-driven tough screens. Initial test and evaluation of two advanced servomanipulator slave arms and several other development components have begun. 9 references, 5 figures

Conversion of a servomanipulator from analog to digital control

Oak Ridge National Laboratory (ORNL) has developed expertise in computer control of force-reflecting master/slave servomanipulators as a result of research for the Consolidated Fuel Reprocessing Program. These computer control capabilities have been applied to a commercially available servomanipulator, the TeleOperator Systems SM-229. All of the servo drive and control circuitry has been replaced with commercially available digital controls and amplifiers, and a customer software - package has been developed at ORNL. This conversion to digital computer control resulted in significant improvements in force-reflection characteristics, ease of operation, diagnostic capabilities, indexing features, and potential increased reliability. The system will be used at the Tokamak Fusion Test Reactor at the Princeton Plasma Physics Laboratory (PPPL) for maintenance demonstrations

Control and electronic subsystems for the advanced servomanipulator

The advanced servomanipulator (ASM) represents a new generation of electrically driven force-reflecting manipulator systems designed to be remotely maintainable. This ASM is being developed to perform remote maintenance in a nuclear fuel reprocessing plant where human access is not allowed. The primary function of the manipulator control system is to maintain stable, accurate master/slave operation while providing sensitive force reflection to the operator. The control system is based upon tightly coupled distributed digital microprocessing methods. The architectural structure of the control system is outlined and is compared to the previously developed Model M-2 control system, and justification for the advances incorporated into the ASM structure are given. The various modes of operation and diagnostics are described, and throughput requirements associated with joint servo-control and counter-balancing are discussed. The fundamental elements of the control system are reviewed, including the processor selection (Motorola MC68000) and the language (FORTH). The purpose of this document is to review the design decisions and the resulting design selections to serve as a base for future improvements. Four main areas will be covered: (1) system overview, (2) hardware implementation, (3) software partitioning, and (4) remote electronics considerations. Each area will address the specifics of the selected equipment or the functional requirements of the control method. 9 references, 4 figures