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BNL is responsible for the design and construction of the US Spallation Neutron Source (SNS) accumulator ring. Titanium Nitride (TiN) coating on the stainless steel vacuum chamber of the SNS accumulator ring is needed to reduce the secondary electron yield (SEY) and the undesirable resonant multiplication of electrons. The total SEY of TiN coated stainless(More)
This paper presents the current work progress of HIT/DLR Dexterous Hand. Based on the technology of DLR Hand II, HIT and DLR are jointly developing a smaller and easier manufactured robot hand. The prototype of one finger has been successfully built. The finger has three DOF and four joints, the last two joints are mechanically coupled by a rigid linkage.(More)
The paper presents hardware and software architectures of the HIT/DLR Hand. The hand has four identical fingers and an extra degree of freedom (d. (up to 25Mbps) real-time serial communication with the palm's FPGA. In order to achieve high modularity and reliability of the hand, a fully mechatronic integration and analog signals in-situ digitalization(More)
— We describe Team WPI-CMU's approach to the DARPA Robotics Challenge (DRC), focusing on our strategy to avoid failures that required physical human intervention. We implemented safety features in our controller to detect potential catastrophic failures, stop the current behavior, and allow remote intervention by a human supervisor. Our safety methods and(More)
A general framework for designing an optimum control strategy for the Hemopump is described. An objective function was defined that includes four membership functions, each constructed based on the desired values of one of the four members: stroke volume, mean left atrial pressure, aortic diastolic pressure and mean pump rotation speed. The Hemopump was(More)
Carbon Nanotube Field Effect Transistor (CNFET) is used for high performance, high stability and low power SRAM design as an alternative material to silicon in recent years. However, tube misalignment problem obstructs the application of CNFET to large scale integration. In this paper, we propose a design method for 6T CNFET misalignment immune SRAM(More)
The Spallation Neutron Source (SNS) accumulator ring is designed to accumulate, via H − injection, protons of 2 MW beam power at 1 GeV kinetic energy at a repetition rate of 60 Hz [1]. At such beam intensity, electron-cloud is expected to be one of the intensity-limiting mechanisms that complicate ring operations. This paper summarizes mitigation strategy(More)
We propose a new method for detecting and approximating the boundary surfaces in three-dimensional (3-D) biomedical images. Using this method, each boundary surface in the original 3-D image is normalized as a zero-value isosurface of a new 3-D image transformed from the original 3-D image. A novel computational framework is proposed to perform such an(More)