Rotational Manipulation Research Articles

Spatial Reasoning and Data Displays.

Graphics convey numerical information very efficiently, but rely on a different set of mental processes than tabular displays. Here, we present a study relating demographic characteristics and visual skills to perception of graphical lineups. We conclude that lineups are essentially a classification test in a visual domain, and that performance on the lineup protocol is associated with general aptitude, rather than specific tasks such as card rotation and spatial manipulation. We also examine the possibility that specific graphical tasks may be associated with certain visual skills and conclude that more research is necessary to understand which visual skills are required in order to understand certain plot types.

Independent digit contributions to rotational manipulation in a three-digit pouring task requiring dynamic stability

Many activities of daily living involve multi-digit, voluntary rotational manipulations of grasped objects. Yet, only a few studies have focused on coordination of individual fingertip forces during such tasks. The objective of this study was to investigate individual digit contributions to a three-digit task in which an object was rotationally manipulated against gravity. Center of mass was varied through the use of containers shaped like a water bottle, pint glass, and cocktail glass, from which subjects poured fluid carefully into a nearby receptacle. The center of mass of the grasped object changed continuously as fluid was poured out. Self-selected digit placement and contributions of fingertip forces to rotational manipulation were dependent upon anticipated center of mass location associated with container shape. The thumb resisted the rotation of the top-heavy, cocktail glass container until 79% of the pouring phase had elapsed, but actively assisted the rotation of the less challenging containers. More directly opposing the thumb, the index finger contributed more to grasp stability. The middle finger contributed more to rotation of the container for pouring. It was found that the thumb, index, and middle fingers acted in unison temporally, but contributed independently to the grip forces and stabilizing moments throughout the dynamic, rotational manipulation task.

Effects of joint controller on analytical modal analysis of rotational flexible manipulator

Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters: joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.

IJIREEICE - Electrical, Electronics, Instrumentation and Control

Signature is a behavioral trait of an individual and forms a special class of handwriting in which legible letters or words may not be exhibited. The purpose of this paper is to design a new system to make the verification of signatures size and angle invariant for cheque system. The invariance can be achieved by scaling and rotational manipulations on the target image. That is the number of crests, toughs and curves remains the same irrespective of the size and orientation of the image. The ratio between consecutive crests and troughs there by remain the same and hence can be used to determine the genuineness of a signature. This system will be used in financial and business to automatic signature verification. It also includes the verification of the account number and amount on the cheque using OCR (Optical Character Recognition) and finds out if the cheque is cleared or bounced.

Dynamic operation of optical fibres beyond the single-mode regime facilitates the orientation of biological cells.

The classical purpose of optical fibres is delivery of either optical power, as for welding, or temporal information, as for telecommunication. Maximum performance in both cases is provided by the use of single-mode optical fibres. However, transmitting spatial information, which necessitates higher-order modes, is difficult because their dispersion relation leads to dephasing and a deterioration of the intensity distribution with propagation distance. Here we consciously exploit the fundamental cause of the beam deterioration—the dispersion relation of the underlying vectorial electromagnetic modes—by their selective excitation using adaptive optics. This allows us to produce output beams of high modal purity, which are well defined in three dimensions. The output beam distribution is even robust against significant bending of the fibre. The utility of this approach is exemplified by the controlled rotational manipulation of live cells in a dual-beam fibre-optical trap integrated into a modular lab-on-chip system.

Reproducibility of the Kinematics in Rotational High-Velocity, Low-Amplitude Thrust of the Upper Cervical Spine: A Cadaveric Study

ObjectiveThis study aimed to investigate the reproducibility of the kinematics in rotational high-velocity, low-amplitude (HVLA) thrust of the upper cervical spine. MethodsTwenty fresh human cervical specimens were studied in a test-retest situation with 2 manual therapists. Kinematics of C1-C2 and C0-C1 were examined during segmental rotational HVLA manipulation through an ultrasound-based tracking system. The thrust moment was analyzed by 3-dimensional aspects: the range of motion of axial rotation, flexion-extension, lateral banding, and the cross-correlation between the axial rotation and the coupled lateral banding components. ResultsDuring rotational HVLA thrust on C1-C2, the main axial rotation demonstrates an intraexaminer relationship varying from almost perfect to fair (intraclass correlation coefficient =0.71; intraclass correlation coefficient = 0.35) and a substantial interexaminer correlation of 0.73. ConclusionsThis study showed substantial levels of reliability for the main axial rotation component of segmental manual rotational HVLA thrust on C1-C2. Intra- and interrater reliability for flexion-extension, lateral bending, and cross-correlation was low.

Adverse Events Due to Chiropractic and Other Manual Therapies for Infants and Children: A Review of the Literature

ObjectiveThe purpose of this study was to review the literature for cases of adverse events in infants and children treated by chiropractors or other manual therapists, identifying treatment type and if a preexisting pathology was present. MethodEnglish language, peer-reviewed journals and non–peer-reviewed case reports discussing adverse events (ranging from minor to serious) were systematically searched from inception of the relevant searchable bibliographic databases through March 2014. Articles not referring to infants or children were excluded. ResultsThirty-one articles met the selection criteria. A total of 12 articles reporting 15 serious adverse events were found. Three deaths occurred under the care of various providers (1 physical therapist, 1 unknown practitioner, and 1 craniosacral therapist) and 12 serious injuries were reported (7 chiropractors/doctors of chiropractic, 1 medical practitioner, 1 osteopath, 2 physical therapists, and 1 unknown practitioner). High-velocity, extension, and rotational spinal manipulation was reported in most cases, with 1 case involving forcibly applied craniosacral dural tension and another involving use of an adjusting instrument. Underlying preexisting pathology was identified in a majority of the cases. ConclusionPublished cases of serious adverse events in infants and children receiving chiropractic, osteopathic, physiotherapy, or manual medical therapy are rare. The 3 deaths that have been reported were associated with various manual therapists; however, no deaths associated with chiropractic care were found in the literature to date. Because underlying preexisting pathology was associated in a majority of reported cases, performing a thorough history and examination to exclude anatomical or neurologic anomalies before applying any manual therapy may further reduce adverse events across all manual therapy professions.

Actuation Torque Reduction in Parallel Robots Using Joint Compliance

This work studies in detail how the judicial application of compliance in parallel manipulators can produce manipulators that require significantly lower actuator effort within a range of desired operating conditions. We propose a framework that uses the Jacobian matrices of redundant parallel manipulators to consider the influence of compliance both in parallel with the actuated joints as well as the passive joints, greatly simplifying previous approaches. We also propose a simple optimization procedure to maximize the motor force reduction for desired regions of the workspace and range of external forces. We then apply the method to a Stewart-Gough platform and to a 3-URS (universal rotational and spherical joint) manipulator. Our results show that parallel manipulators with tasks that involve a preferred external force direction, as for instance, big weights in the platform, can see large reductions in actuator effort through the judicial use of compliant joints without significantly losing rigidity.

S1620205 振動操作関数によるHDD磁気ヘッドのサンプル値制振制御([S162-02]情報機器メカニクスとヘッドディスクインターフェイス/情報・精密機器のサーボ・スマート制御(2))

Rotational vibration manipulation function for enforced angular displacement is applied to suppress residual vibration of swing arm of HDD device during seeking control. The function is derived from a three-body vibro-impact rotational oscillator under Grover algorithm. Since it can sampled-data control angle and angular velocity of the magnetic head in every natural period, robust control can be achieved without changing long or short-distance seeking mode. Because of the properties of rotational vibration manipulation function, the proposed method requires that the natural period of swing arm should be integral multiplication of the sampling time of servo-information.

3P1-W07 振動操作関数を利用したサンプル値制御による弾性ロボットアームの残留振動抑制(フレキシブルロボット・メカニズム)

3P1-W07 振動操作関数を利用したサンプル値制御による弾性ロボットアームの残留振動抑制(フレキシブルロボット・メカニズム)

A Family of Rotational Parallel Manipulators With Equal-Diameter Spherical Pure Rotation

In this work, a family of two degrees of freedom (2-DOF) rotational parallel manipulators (RPMs) with an equal-diameter spherical pure rotation (ESPR) is presented and discussed systematically. The theoretical models of both kinematics and constraints inherited in the manipulators are analyzed through a graphical approach. Based on the established constraint model, these 2-DOF ESPR RPMs are classified into three types according to their compositions of constraint spaces and several novel parallel manipulators are illustrated correspondingly. Finally, two common necessary geometric conditions satisfied for these manipulators are discussed in details with examples. The two conditions will be helpful for engineers with designing ESPR RPMs. Moreover, as one characteristic existing in the ESPR RPMs, two cases of self-rotations accompanying revolutions around fixed axes are revealed. As a result, the corresponding loci of points in the moving platform are proved to be compositions of two subrotations, which are spatial curves and surfaces rather than spherical curves and surfaces.

Changes in Vertebral Artery Blood Flow Following Various Head Positions and Cervical Spine Manipulation

ObjectiveThe objective of the study was to investigate the cerebrovascular hemodynamic response of cervical spine positions including rotation and cervical spine manipulation in vivo using magnetic resonance imaging technology on the vertebral artery (VA). MethodsThis pilot study was conducted as a blinded examiner cohort with 4 randomized clinical tasks. Ten healthy male participants aged 24 to 30 years (mean, 26.8 years) volunteered to participate in the study. None of the participants had a history of disabling neck, arm, or headache pain within the last 6 months. They did not have any current or history of neurologic symptoms. In a neutral head position, physiologic measures of VA blood flow and velocity at the C1-2 spinal level were obtained using phase-contrast magnetic resonance imaging after 3 different head positions and a chiropractic upper cervical spinal manipulation. A total of 30 flow-encoded phase-contrast images were collected over the cardiac cycle, in each of the 4 conditions, and were used to provide a blood flow profile for one complete cardiac cycle. Differences between flow (in milliliters per second) and velocity (in centimeters per second) variables were evaluated using repeated-measures analysis of variance. ResultsThe side-to-side difference between ipsilateral and contralateral VA velocities was not significant for either velocities (P = .14) or flows (P = .19) throughout the conditions. There were no other interactions or trends toward a difference for any of the other blood flow or velocity variables. ConclusionsThere were no significant changes in blood flow or velocity in the vertebral arteries of healthy young male adults after various head positions and cervical spine manipulations.

Intraocular Lens Delivery Characteristics of the Preloaded AcrySof IQ SN60WS/AcrySert Injectable Lens System

To evaluate the delivery characteristics of the AcrySof IQ SN60WS intraocular lens (IOL) injected via a preloaded AcrySert delivery system. Prospective observational case series. setting: This study was carried out in the cataract service of an ophthalmic hospital that serves a large sector of inner-city London. patient population: The study included all patients undergoing routine phacoemulsification procedures with implantation of the SN60WS IOL via the preloaded system over 5 consecutive months. A total of 85 patients (85 eyes) were included in this study. intervention: Phacoemulsification procedures conducted by 7 surgeons were digitally captured. outcome measures: Video recordings of the IOL delivery stage were analyzed by a single observer. Of particular interests were the orientation of the leading haptic and optic on insertion, the degree of intrawound manipulation of the injector, and the time required to satisfactorily deliver the IOL into the capsular bag in a correct orientation. Problems of IOL delivery were also noted. In 38 out of 85 eyes (45%), correct IOL delivery behavior was achieved with the leading haptic orientating to the left of the surgeon and thus did not require any intrawound rotational manipulation of the injector. Forty-seven of the 85 eyes (55%) required additional rotational manipulation of IOL orientation. Other problems recorded were trapped trailing haptic, haptic-optic adhesion, overriding of the plunger over the optic, and trauma to optic edge. The average time to achieve satisfactory IOL position was 47 seconds. IOL power and the grade of the operating surgeon did not appear to influence the event of a misdirected leading haptic. The AcrySof SN60WS/AcrySert system does not appear to meet the expectations of pro-viding a predictable means of IOL delivery.

Herbal iontophoresis and rotation manipulation management on lumbar disc herniation

Objective To observe the curative effect of herbal iontophoresis with rotation manipulation treating lumbar disc herniation.Methods 84 patients from July 2011 to July 2012 with lumber disc herniation in Electric Power hospital of Capital Medical University were randomly divided into two groups (a testing group n=42,a control group n=42).The testing group was treated with herbal iontophoresis and rotation manipulation,and the control group was treated with rotation manipulation only.The Visual Analogue Scale and Macnab standard for curative effect were observed before the treatment and 3 weeks later after the treatment.Results The total effective rate was 88.1％ and 66.7％ in the testing group and the control group respectively,the difference between two groups was statistically significant (chi-square=5.51,P=0.02＜0.05).The VAS before and after treatment in testing group were (7.31±1.39) and (2.41±1.62) respectively,compared with (7.19± 1.38) and (3.07± 1.28) in the control group.The VAS and curative effect indexes were both improved in the two groups,but the testing group increased more apparent,and the difference between the two groups was significant (P＜0.05).Conclusion The curative effect of herbal iontophoresis and rotation manipulation treating lumber disc herniation was sound. Key words: Conservative treatment; Lumber disc herniation; Manipulation

Optical manipulation of self-aligned graphene flakes in liquid crystals

Graphene recently emerged as a new two-dimensional material platform with unique optical, thermal and electronic properties. Single- or few-atom-thick graphene flakes can potentially be utilized to form structured bulk composites that further enrich these properties and enable a broad range of new applications. Here we describe optical manipulation of self-aligned colloidal graphene flakes in thermotropic liquid crystals of nematic and cholesteric types. Three-dimensional rotational and translational manipulation of graphene flakes by means of holographic optical tweezers allows for non-contact spatial patterning of graphene, control of liquid crystal defects, and low-power optical realignment of the liquid crystal director using these flakes. Potential applications include optically- and electrically-controlled reconfigurable liquid crystalline dispersions of spontaneously aligning colloidal graphene flakes and new electro-optic devices with graphene-based interconnected transparent electrodes at surfaces and in the bulk of liquid crystals.

Manipulation of giant Faraday rotation in graphene metasurfaces

Faraday rotation is a fundamental magneto-optical phenomenon used in various optical control and magnetic field sensing techniques. Recently, it was shown that a giant Faraday rotation can be achieved in the low-THz regime by a single monoatomic graphene layer. Here, we demonstrate that this exceptional property can be manipulated through adequate nano-patterning, notably achieving giant rotation up to 6THz with features no smaller than 100 nm. The effect of the periodic patterning on the Faraday rotation is predicted by a simple physical model, which is then verified and refined through accurate full-wave simulations.

Solid shape discrimination from vision and haptics: natural objects (Capsicum annuum) and Gibson’s “feelies”

A set of three experiments evaluated 96 participants' ability to visually and haptically discriminate solid object shape. In the past, some researchers have found haptic shape discrimination to be substantially inferior to visual shape discrimination, while other researchers have found haptics and vision to be essentially equivalent. A primary goal of the present study was to understand these discrepant past findings and to determine the true capabilities of the haptic system. All experiments used the same task (same vs. different shape discrimination) and stimulus objects (James Gibson's "feelies" and a set of naturally shaped objects--bell peppers). However, the methodology varied across experiments. Experiment 1 used random 3-dimensional (3-D) orientations of the stimulus objects, and the conditions were full-cue (active manipulation of objects and rotation of the visual objects in depth). Experiment 2 restricted the 3-D orientations of the stimulus objects and limited the haptic and visual information available to the participants. Experiment 3 compared restricted and full-cue conditions using random 3-D orientations. We replicated both previous findings in the current study. When we restricted visual and haptic information (and placed the stimulus objects in the same orientation on every trial), the participants' visual performance was superior to that obtained for haptics (replicating the earlier findings of Davidson et al. in Percept Psychophys 15(3):539-543, 1974). When the circumstances resembled those of ordinary life (e.g., participants able to actively manipulate objects and see them from a variety of perspectives), we found no significant difference between visual and haptic solid shape discrimination.

Influence of a Change in Helical Twisting Power of Photoresponsive Chiral Dopants on Rotational Manipulation of Micro‐Objects on the Surface of Chiral Nematic Liquid Crystalline Films

Herein we report a group of five planar chiral molecules as photon-mode chiral switches for the reversible control of the self-assembled superstructures of doped chiral nematic liquid crystals. The chiral switches are composed of an asymmetrically substituted aromatic moiety and a photoisomerizing azobenzene unit connected in a cyclic manner through methylene spacers of varying lengths. All the molecules show conformational restriction in the rotation of the asymmetrically substituted aromatic moiety in both the E and Z states of the azobenzene units resulting in planar chirality with separable enantiomers. Our newly synthesized compounds in pure enantiomeric form show high helical twisting power (HTP) in addition to an improved change in HTP between the E and Z states. The molecule with a diphenylnaphthalene unit shows the highest ever known initial helical twisting power among chiral dopants with planar chirality. In addition to the reversible tuning of reflection colors, we employed the enantiomers of these five compounds in combination with four nematic liquid crystalline hosts to study their properties as molecular machines; the change in HTP of the chiral dopant upon photoisomerization induces rotation of the texture of the liquid crystal surfaces. Importantly, this study has revealed a linear dependence of the ratio of the difference between HTPs before and after irradiation against the absolute value of the initial HTP, not the absolute value of the change in helical twisting power between two states, on the angle of rotation of micro-objects on chiral nematic liquid crystalline films. This study has also revealed that a change in irradiation intensity does not affect the maximum angle of rotation, but it does affect the speed of rotational reorganization of the cholesteric helix.

A technique for optimal manipulation of rotation of the flexible ureterorenoscope

A technique for optimal manipulation of rotation of the flexible ureterorenoscope

A technique for optimal manipulation of rotation of the flexible ureterorenoscope

A technique for optimal manipulation of rotation of the flexible ureterorenoscope