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Littérature scientifique sur le sujet « Industrial manipulation »

Auteur : Grafiati

Publié le 11 janvier 2025

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Articles de revues sur le sujet "Industrial manipulation"

Guo, Wanjin, Ruifeng Li, Yaguang Zhu, Tong Yang, Rui Qin et Zhixin Hu. « A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator ». Applied Sciences 9, n^o 10 (17 mai 2019) : 2033. http://dx.doi.org/10.3390/app9102033.

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Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool position and orientation planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method is proposed based on fuzzy control. Furthermore, a dexterous manipulation verification experiment is conducted to demonstrate the dexterous manipulation and the orientation reachability of the robot manipulator. Additionally, two robotic deburring experiments are conducted to verify the effectiveness of the two proposed methods and demonstrate the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator.

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Dömel, Andreas, Simon Kriegel, Michael Kaßecker, Manuel Brucker, Tim Bodenmüller et Michael Suppa. « Toward fully autonomous mobile manipulation for industrial environments ». International Journal of Advanced Robotic Systems 14, n^o 4 (1 juillet 2017) : 172988141771858. http://dx.doi.org/10.1177/1729881417718588.

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This work presents a concept for autonomous mobile manipulation in industrial environments. Utilizing autonomy enables an unskilled human worker to easily configure a complex robotics system in a setup phase before carrying out fetch and carry operations in the execution phase. In order to perform the given tasks in real industrial production sites, we propose a robotic system consisting of a mobile platform, a torque-controlled manipulator, and an additional sensor head. Multiple sensors are attached which allow for perception of the environment and the objects to be manipulated. This is essential for coping with uncertainties in real-world application. In order to provide an easy-to-use and flexible system, we present a modular software concept which is handled and organized by a hierarchical flow control depending on the given task and environmental requirements. The presented concept for autonomous mobile manipulation is implemented exemplary for industrial manipulation tasks and proven by real-world application in a water pump production site. Furthermore, the concept has also been applied to other robotic systems and other domains for planetary exploration with a rover.

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Vozzhenikova, Ol'ga, et Salavat Muhtarov. « Manipulation and protection against manipulation in activities of the head of the internal affairs body of the Russian Federation ». Applied psychology and pedagogy 6, n^o 4 (4 octobre 2021) : 101–14. http://dx.doi.org/10.12737/2500-0543-2021-6-4-101-114.

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The aim of the research in this work is to study the features of psychological manipulation and ways to neutralize it as components of the activities of the heads of the internal affairs body of the Russian Federation. The phenomenon of "manipulation" has been studied by researchers in this field for a long time. In general terms, it means a sequence of some intentions and actions, the final result of which is not obvious to those to whom it is directed. The development of the global information and communication environment makes various theoretical and applied knowledge of a specific property available to a wide range of people and creates favorable conditions for the use of this knowledge for the purpose of manipulation and manipulative influence on certain social groups, entire social systems and their individual representatives. By the nature of their activities, the heads of the internal affairs bodies of the Russian Federation often have to deal with psychological manipulation, the involvement in which is related to official necessity. A study (survey) was carried out with the participation of 50 students of the management faculty of the Academy of Management of the Ministry of Internal Affairs of Russia aged 30 to 55 years, the purpose of which was to study the features of psychological manipulation in the activities of the head of the internal affairs body of the Russian Federation. The results of the study showed that there is a need to develop the manager's competence in the field of manipulative influence. Today in psychological science and practice there are many technologies for the use, recognition and protection from psychological manipulations, which can be successfully used by the heads of the internal affairs bodies of the Russian Federation in managerial activities, but this requires special training from them.

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Sepiashvili, Ekaterina, Manuchehr Rozikov et Ruzador Aydarmamadov. « Scientific basis for the use of psychological influence in personnel work ». Applied psychology and pedagogy 5, n^o 3 (14 juillet 2020) : 178–90. http://dx.doi.org/10.12737/2500-0543-2020-184-196.

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The problem of psychological influence on people is relevant for research both in theoretical and applied terms. A significant increase in interest in the study of communication processes is one of the characteristic features of the development of the modern world. Projects are being carried out in the course of which the features of communication in the educational, industrial, official, political and other social spheres are studied. At present, several methodological approaches that have formed in science can be identified in which the phenomenon of “manipulation” is understood differently. The paper presents the theoretical and methodological foundations of the study of psychological influence, outlines the guidelines of the studies carried out to date on this issue. Existing theories and methodologies dictate a different understanding of how to relate to manipulations, how to work with manipulative behavior, what is considered an effective solution to the problem of manipulation. In the broadest sense, manipulation is any personal influence on someone or something. As part of the writing of the article, an empirical study of employees and managers of personnel services of organizations was conducted. The subjects were 50 people aged 22 to 45 years, organizations and enterprises whose profession is of the type “person-person”, because the tendency to manipulate in this case is especially strong. Based on the study, among all the psychological manipulations in the professional activities of the personnel service, nine methods of psychological manipulations (constructive and destructive) created in the course of professional activity were identified.

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Cheng, H. H. « Real-Time Manipulation of a Hybrid Serial-and-Parallel-Driven Redundant Industrial Manipulator ». Journal of Dynamic Systems, Measurement, and Control 116, n^o 4 (1 décembre 1994) : 687–701. http://dx.doi.org/10.1115/1.2899268.

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The real-time implementation of path planning, trajectory generation, and servo control for manipulation of the prototype UPSarm are presented in this paper. The prototype UPSarm, which is primarily designed for studying the feasibility of loading packages inside a trailer, is a ten degree-of-freedom hybrid serial-and-parallel-driven redundant robot manipulator. The direct, forward, inverse, and indirect kinematic solutions of the UPSarm using three coordinate spaces: actuator space, effective joint space, and world Cartesian coordinate space are derived for real-time path planning, trajectory generation, and control. The manipulation of the UPSarm is based upon a general-purpose path planner and trajectory generator. Provided with appropriate kinematics modules and sufficient computational power, this path planner and trajectory generator can be used for real-time motion control of any degree-of-freedom hybrid serial-and-parallel-driven electromechanical devices. A VMEbus-based distributed computing system has been implemented for real-time motion control of the UPSarm. A PID-based feedforward servo control scheme is used in our servo controller. The motion examples of the UPSarm programmed in our robot language will show the practical manipulation of hybrid serial-and-parallel-driven redundant kinematic chains.

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Chen, Yan, Tianwei Tang, Yongjian Li et Di Fan. « Does interest alignment between hotels and online travel agencies intensify review manipulations ? » Industrial Management & ; Data Systems 121, n^o 6 (16 mars 2021) : 1435–56. http://dx.doi.org/10.1108/imds-11-2020-0657.

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PurposeThis study examines whether a higher interest alignment between online travel agencies (OTAs; hosting platform) and hotels (business owners) will intensify review manipulation activities.Design/methodology/approachWith a panel data set collected from a Chinese online travel agency and a travel search engine, the authors develop a matching-based difference-indifference approach to examine the presence of partnership-intensified review manipulation.FindingsThe authors find that the ratings of agency's partner hotels (with a higher interest alignment) are abnormally higher than those of matched non-partner hotels (with a lower interest alignment), after they are benchmarked with their ratings on the search engine (without a partnership business model). Further, the analysis results indicate that this partnership-intensified manipulation deteriorates the hotel's sales performance because of damaged customer trust and satisfaction.Originality/valuePrevious studies implicitly assume that review manipulator is independent from the hosting platform. This is the first study examining the role of the hosting platform in review manipulations.

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Zhang, Qin, Jialei Zhang, Ahmed Chemori et Xianbo Xiang. « Virtual Submerged Floating Operational System for Robotic Manipulation ». Complexity 2018 (12 novembre 2018) : 1–18. http://dx.doi.org/10.1155/2018/9528313.

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In this work, a virtual submerged floating operational system (VSFOS) based on parallel and serial robotic platforms is proposed. The primary aim behind its development lies in carrying out simulated underwater manipulation experiments in an easier and safer way. This VSFOS is consisted of a six-degree-of-freedom (6-DOF) parallel platform, an ABB serial manipulator, an inertial sensor, and a real-time industrial computer. The 6-DOF platform is used to simulate the movement of an underwater vehicle, whose attitude is measured by the inertial sensor. The ABB manipulator, controlled by the real-time industrial computer, works as an operational tool to perform underwater manipulation tasks. In the control system architecture, software is developed to receive the data collected by the inertial sensor, to communicate and send instructions. Furthermore, the real-time status of the manipulator is displayed in this software. To validate the proposed system, two experiments have been conducted to test its performance. In the first experiment, the test is carried out to check the communication function of VSFOS, while in the second one, the manipulator is intended to follow the movement of the parallel platform and perform simulated operational task in the space. The obtained results from these two experiments show clearly the effectiveness and the performance of the proposed VSFOS.

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KRAKHMALEV, O. N. « GENETIC PROGRAMMING AND OBJECT MODELING OF MANIPULATION ROBOTS ». Computational Nanotechnology 10, n^o 2 (30 juin 2023) : 16–25. http://dx.doi.org/10.33693/2313-223x-2023-10-2-16-25.

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The application of a genetic algorithm to solve the inverse kinematics problem of manipulative robots is considered. The basic concepts of the method of finding solutions using a genetic algorithm are defined. A block diagram of a simple genetic algorithm is presented. It is justified to use multiprocessor computing systems (transputers) to calculate genetic operators. This will greatly increase the efficiency of genetic algorithms. Manipulation systems with three and four links are selected as examples. The problem statement consisted in determining the hinge coordinates of an industrial robot by the specified Cartesian coordinates of the position of the center of the tool (TCP - Tool Center Point) installed on its final link. The results obtained confirm the effectiveness of genetic algorithms in solving inverse kinematics problems of industrial (manipulation) robots. Based on graph theory, the genetic programming procedure is defined as a way to find optimal kinematic structures of robot manipulation systems. The use of genetic programming for modification of object models of manipulation robots is shown. The object representation of the dynamic model of manipulation robots is considered. It is noted that the recombination of objects corresponding to mathematical expressions having mechanical meaning requires kinematic correspondence of the objects used. It is proposed to draw up object diagrams using computer programs that automate this process based on the principle of visual programming (Low-code).

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Ozawa, Mikio, Daiki Kato, Hiroaki Hanai, Toshiki Hirogaki et Eiichi Aoyama. « Skillful Manipulation of Electronic Musical-Note-Type Instrument Using Industrial Humanoid Robot ». International Journal of Mechanical Engineering and Robotics Research 13, n^o 3 (2024) : 325–30. http://dx.doi.org/10.18178/ijmerr.13.3.325-330.

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Industrial robots contribute significantly to productivity improvements, quality improvements, and cost reductions at production sites. Among the industrial robots, those that can cooperate with humans without safety measures or output limitations on the motors of their axes are known as cooperative robots. In the manufacturing field, there is a growing demand for production lines where humans and robots can coexist and cooperate instead of those where robots perform all processes on their own. In this study, we focus on a cooperative robot fabricated using a 3D resin printer and aim to improve its operation using the same tools as humans. As an example of such an application, we attempt to develop a sound-feedback-based motion for manipulating an electronic musical instrument called an “otamatone”. First, the hardware for grasping the object is created using a 3D printer, and notes on the modeling process are described. We then construct an advanced sound feedback system using the Robot Operating System (ROS) to identify the sounding position and pitch of the instrument. In this study, we propose a partial model-matching method for determining the Proportional–Integral–Derivative (PID) gains of the servomotors of each joint of a robot. Consequently, the accuracy of the robot’s motion improves and the accuracy of the intended musical performance is enhanced.

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Yartseva, S. « Speech Manipulation : Spanglish as a Tool of Speech Impact ». Bulletin of Science and Practice, n^o 8 (15 août 2023) : 339–46. http://dx.doi.org/10.33619/2414-2948/93/39.

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The article deals with speech impact, in particular, speech manipulation. Various approaches to the definition of manipulation in the language are being analyzed, manipulative techniques are being defined. As an example, for the analysis of the impact, a linguistic phenomenon is taken, which, in fact, is not manipulative, but is involved in advertising activities to influence English and Spanish-speaking consumers, namely Spanglish. It is being analyzed how the phenomenon of Spanglish is actively used in the advertising field to influence the addressee, and what manipulative techniques are applied.

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Thèses sur le sujet "Industrial manipulation"

Schmitt, Philipp Sebastian [Verfasser], et Wolfram [Akademischer Betreuer] Burgard. « Planning and control for industrial manipulation ». Freiburg : Universität, 2019. http://d-nb.info/1223849260/34.

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Damianakis, John. « Proximity sensor network for sensor-based manipulation ». Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ29588.pdf.

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Tarbouriech, Sonny. « Dual-Arm control strategy in industrial environments ». Thesis, Montpellier, 2019. http://www.theses.fr/2019MONTS111.

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Le besoin grandissant de flexibilité en milieu industriel conduit à reconsidérer la manière dont les robots sont utilisés dans de tels environnements. Il s'ensuit que la relation entre l'homme et les machines doit évoluer au profit d'une plus grande proximité, en leur permettant de partager un espace de travail commun et d'interagir physiquement.Dans cette optique, cette thèse a pour objectif de contribuer au contrôle de robots bi-bras à des fins collaboratives dans un contexte industriel. Pour ce faire, nous proposons une approche de contrôle cinématique réactif basée sur une loi de contrôle en admittance. Celle-ci permet une manipulation d'objets sécuritaire en collaboration physique avec des opérateurs humains. Le contrôleur résout un problème d’optimisation quadratique (QP) afin de trouver le déplacement articulaire permettant de satisfaire la commande spécifiée dans l'espace de la tâche, ceci tout en respectant un ensemble de contraintes (e.g. limites articulaires, évitement de collision).La résolution cinématique peut être adaptée afin de générer des solutions parcimonieuses au niveau des vitesses articulaires, ce qui signifie qu'un nombre minimal d'actionneurs est activé pour assurer la réalisation de la tâche. Cela induit un comportement potentiellement plus sûr dans un environnement évolutif partagé avec des individus.Les plateformes bi-bras comprennent parfois des extensions (par exemple, une base mobile, un torse articulé, etc.). Dans cette thèse, nous présentons une méthode hiérarchique originale pour le contrôle de systèmes multi-robots.Une implémentation open source du travail, acrfull {rkcl}, a été développée. Cette librairie rassemble tous les composants décrits dans cette thèse et peut être facilement configuré pour inclure de nouveaux robots. Tout au long des développements, des validations expérimentales ont été effectuées sur le cobot mobile à deux bras BAZAR
The growing need for flexibility in industrial settings leads to reconsidering the way robotic systems are exploited in such environments. It follows that the relationship between humans and machines has to evolve in favor of more proximity, by letting them share the same workspace and physically interact together.With this in mind, this thesis aims at contributing beyond the state of art in the control of dual-arm robots for collaborative purposes in an industrial context. We propose a generic online kinematic control approach based on an admittance control law which enables safe manipulation of objects in physical collaboration with humans. The controller solves a acrfull{qp} optimization problem to find the joint space motion that satisfies the task space command while respecting a set of constraints (e.g. joint limits, collision avoidance).The kinematic solver can be tuned to generate parsimonious solutions at the joint velocity level, meaning that as few actuators as possible are activated to achieve the tasks. This induces potentially safer behavior in an unstructured environment shared with humans.Dual-arm platforms are sometimes extended to include additional robots (e.g., mobile base, articulated torso, ...). In this thesis, we also present an original hierarchical method for the control of multi-robot systems.An open-source implementation of the work, acrfull{rkcl}, is available. It implements all the components described in this thesis and can be easily configured to work with new robots. Throughout the developments, experimental validations have been performed on the dual-arm mobile cobot BAZAR

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Huckaby, Jacob O. « Knowledge transfer in robot manipulation tasks ». Diss., Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51902.

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Technology today has progressed to the point that the true potential of robotics is beginning to be realized. However, programming robots to be robust across varied environments and objectives, in a way that is accessible and intuitive to most users, is still a difficult task. There remain a number of unmet needs. For example, many existing solutions today are proprietary, which makes widespread adoption of a single solution difficult to achieve. Also, most approaches are highly targeted to a specific implementation. But it is not clear that these approaches will generalize to a wider range of problems and applications. To address these issues, we define the Interaction Space, or the space created by the interaction between robots and humans. This space is used to classify relevant existing work, and to conceptualize these unmet needs. GTax, a knowledge transfer framework, is presented as a solution that is able to span the Interaction Space. The framework is based on SysML, a standard used in many different systems, which provides a formalized representation and verification. Through this work, we demonstrate that by generalizing across the Interaction Space, we can simplify robot programming and enable knowledge transfer between processes, systems and application domains.

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Venator, Edward Stephen. « A Low-cost Mobile Manipulator for Industrial and Research Applications ». Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1370512665.

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Bahloul, Abdelkrim. « Sur la commande des robots manipulateurs industriels en co-manipulation robotique ». Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLS511/document.

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Durant ce travail de thèse, nous nous sommes intéressés à la commande d'un robot manipulateur industriel, configuré pour une co-manipulation avec un opérateur humain, en vue de la manutention de charges lourdes. Dans un premier temps, nous avons présenté une vue d'ensemble des études qui ont été menées dans ce cadre. Ensuite, nous avons abordé la modélisation et l'identification des paramètres dynamiques du robot Denso VP-6242G. Nous avons utilisé le logiciel OpenSYMORO pour calculer son modèle dynamique. Après une présentation détaillée de la méthode d'identification des paramètres de robots manipulateurs, nous l'avons appliqué au cas de notre robot. Cela nous a permis d'obtenir un vecteur des paramètres qui garantit une matrice d'inertie définie positive pour n'importe quelle configuration articulaire du robot, tout en assurant une bonne qualité de reconstruction des couples pour des vitesses articulaires constantes, ou variables au cours du temps. Par la suite, nous avons détaillé les nouvelles fonctionnalités proposées pour le générateur de trajectoire en temps réel, sur lequel repose notre schéma de commande. Nous avons présenté une méthode d'estimation de la force de l'opérateur à partir des mesures de la force d'interaction entre le robot et l'opérateur, tout en tenant compte de la pénalisation de la force de l'opérateur afin d'avoir une image de cette dernière permettant de générer une trajectoire qui respecte les limites de l'espace de travail. Des tests du générateur de trajectoire simulant différents cas de figure possibles nous ont permis de vérifier l'efficacité des nouvelles fonctionnalités proposées. Le générateur permet de produire une trajectoire dans l'espace de travail tridimensionnel selon la direction de l'effort appliqué par l'opérateur, ce qui contribue à l'exigence de transparence recherchée en co-manipulation robotique. Dans la dernière partie, nous avons présenté et validé en simulation une commande en impédance dont les trajectoires de référence sont issues du générateur développé. Les résultats obtenus ont donné lieu à une bonne qualité de poursuite des trajectoires désirées. D'autre part, le respect des limites virtuelles de l'espace de travail a également été pris en compte. Cependant, les trajectoires articulaires correspondantes peuvent franchir les limites définies pour préserver l'intégrité du robot
In this thesis, we were interested in the control of industrial manipulators in co-manipulation mode with a human operator for the handling of heavy loads. First, we have presented an overview of existing studies in this framework. Then, we have addressed the modeling and the identification of dynamic parameters for the Denso VP-6242G robot. We have used the OpenSYMORO software to calculate its dynamical model. After a detailed presentation of the method for identifying the robot's parameters, we have applied it to the case of our robot. This allowed us to obtain a vector of the parameters which guarantees a positive definite inertia matrix for any configuration of the robot, as well as a good quality of reconstruction of the torques in the case of constant joint velocities or in the case of variable ones over time. To continue, we have detailed the new features that have been proposed for the online trajectory generator, for which the control scheme is based on. We have presented a method for estimating the operator's force from the measurements of the interaction force between the robot and the operator, while taking into account for the penalization of the operator's force in order to have an information of this last which allows to generate a trajectory that respects the limits of workspace. Some tests of the trajectory generator simulating different possible scenarios have allowed us to check the effectiveness of the new proposed features. The generator makes it possible to produce a trajectory in the three-dimensional workspace according to the direction of the force applied by the operator, which contributes to fulfill the requirement of transparency that is sought in a co-manipulation. In the last part, we have presented and validated, in simulation, an impedance control whose reference trajectories are delivered by the proposed generator. The obtained results have shown a good trajectory tracking. On the other hand, the satisfaction of the virtual bounds of the workspace has also been nicely taken into account. However, the corresponding articular trajectories can cross the bounds defined to preserve the integrity of the robot

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Talbut, Carol-Jane. « Workforce control and manipulation : a case study of the social relations of power in the canning industry in Ashton ». Master's thesis, University of Cape Town, 1998. http://hdl.handle.net/11427/13879.

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Bibliography: leaves. [141-145].
This thesis is a case study of the social relations of power within the canning industry in Ashton. The project had three main aims: 1) to document the physical situation at the two canning factories in Ashton, in order to profile the basic composition of the workforce, aspects of the labour process and working and employment conditions; 2) to examine the processes and mechanisms of control and then 3) to use the first two aims as a basis to take stock of what this control means in terms of workers lives: i.e. examining the lived experience of 'control'. I adopted a primarily qualitatively focused approach and used a combination of interviews and group discussions to elicit the information necessary to inform these aims. The results showed how in the logic of capitalist development, pre-existing social divisions are exploited. The interaction of these pre-existing social divisions within the structure of the workforce, combined with deliberate control mechanisms serves to divide, atomise and thereby control the workforce. I found the workers to be divided by gender and race, these divisions are intensified by differences between whether workers have seasonal or permanent employment and where they live. These divisions, aggravated by differences, are then combined with the deliberate use of piecework, the assembly line and the factories recruitment system. Workers experienced most of these control mechanisms as normal and natural and are mostly thankful to have work.

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Shaikh, Amir. « Alternative manipulation devices and strategies in a virtual reality operator-training system ». Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0001/MQ44039.pdf.

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LIMA, Serena. « Technologies for cultivation and exploitation of microalgae in industrial applications ». Doctoral thesis, Università degli Studi di Palermo, 2020. http://hdl.handle.net/10447/395104.

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This thesis work is focused on technologies for the development of the microalgal industry. During this 3-years PhD work several themes were addressed. Section 1 consists in a literature review concerning the general features of microalgae, their composition and a description of the photosynthetic process. Furthermore, themes such as biosynthetic pathways, growth kinetics, microalgae cultivation and their applications are reviewed. Section 2 focuses on the genetic manipulation of microalgae aimed at producing a vitamin B12-enriched food supplement. In this case, the human intrinsic factor gene, was inserted in the genome of the microalgae Chlamydomonas reinardhtii in order to integrate new functions in this organism and path the way for the creation of a B12-enriched microalgal supplement. For sure, genetic engineering is going to play a role in the future of microalgal industry, but, while these technologies are developing, alternative strategies may consist in exploiting the present available photosynthetic microorganisms for obtaining the desired products. For this reason, in Section 3, flashing light as lighting strategy was explored. In fact, light energy was provided in packages to three different microalgal species, Nannochloropsis gaditana, Koliella antarctica, Tetraselmis chui, to observe the enhanced production of high-value products such as chlorophylls, carotenoids and polyunsaturated fatty acids. Furthermore, this method represents a temporal dilution of light aimed at avoiding the saturation effect. An alternative strategy for the exploitation of microalgal industry may consist in selecting and isolating indigenous species in an approach called phycoprospecting, discussed in Section 4. The concept of phycoprospecting relies on employing wastewaters as a nutrient source in order to create a sustainable process able to remediate polluted effluents while at the same time providing valuable compounds. Lastly, in Section 5 the theme of outdoor photobioreactors for the production of microalgal biomass is addressed. The possibility to produce biomass and extend microalgal industry in Sicily, a region full of unexploited natural resources, was investigated.

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Veelo, Bastiaan Niels. « Variations of Shape in Industrial Geometric Models ». Doctoral thesis, Norwegian University of Science and Technology, Department of Product Design, 2004. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-240.

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This thesis presents an approach to free-form surface manipulations, which conceptually improves an existing CAD system that constructs surfaces by smoothly interpolating a network of intersecting curves. There are no regularity requirements on the network, which already yields superior modelling capabilities compared to systems that are based on industry-standard NURBS surfaces.

Originally, the shape of such a surface can be modified only locally by manipulating a curve in the network. In this process there is an inherent danger that the curve is being pulled away from intersections that it has with other curves. When this happens, the network is invalidated as a surface representation, and many curves may have to be adjusted to restore network consistency and surface quality. This thesis contributes a method that solves these problems by propagating changes that are made in one curve to curves in its vicinity. How and to what extent curves react to changes is controlled by two parameters that can be varied along the curve that is being manipulated. Any curve may be constrained in one or more degrees of freedom. The integrity of the curve network is implicitly conserved, as well as the geometric continuity of the surface.

The result is a tool for the modification of curve-interpolating surfaces, which can easily be applied to large areas on models with any level of detail. This allows designers to concentrate on the creative process, rather than on planning chains of actions. They can explore different design variations, optimise shapes further, and generally be more productive.

Dette doktorgradsarbeidet presenterer en fremgangsmåte for formgivning og modifisering av datamaskinbaserte, skulpturerte flater. Metoden forbedrer et eksisterende system for data-assistert konstruksjon (DAK) som bygger dobbeltkrummede flater ved å interpolere et nettverk av skjærende kurver. Nettverket trenger ikke være regelmessig, noe som allerede gir bedre modelleringsmuligheter sammenliknet med systemer som er basert på standard NURBS flater.

En slik flate kan opprinnelig bare endres lokalt ved å dra i en kurve. I denne prosessen er det fare for at kurven blir dratt fra skjæringspunkter den har med andre kurver. Hvis dette skjer, representerer ikke nettverket en flate lenger, og mange kurver må justeres for å få tilbake integriteten i nettverket og kvaliteten i formen. Denne avhandlingen bidrar med en metode som løser disse problemene ved å spre endringer som blir gjort i en kurve til andre kurver i nærheten. Hvordan og i hvilken utstrekning kurvene reagerer på endringen styres av to parametre som kan varieres langs kurven som blir endret. Enhver kurve kan låses i en eller flere frihetsgrader. Integriteten til nettverket samt glattheten i formen blir bevart automatisk.

Resultatet er et redskap for modifikasjon av kurve-interpolerende flater som med letthet kan brukes på større områder av modeller med hvilken som helst grad av detalj. Dette gir designere muligheten til å konsentrere seg om det kreative, istedenfor å planlegge handlingsrekker. De kan utforske forskjellige designvariasjoner, optimalisere former ytterligere, og i det hele tatt være mer produktive.

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Livres sur le sujet "Industrial manipulation"

Mason, Matthew T. Robot hands andthe mechanics of manipulation. Cambridge, Mass : MIT Press, 1985.

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author, Li Guangyong joint, dir. Introduction to nanorobotic manipulation and assembly. Boston : Artech House, 2012.

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Henrich, Dominik. Robot Manipulation of Deformable Objects. London : Springer London, 2000.

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Marzano, Michela. Extension du domaine de la manipulation : De l'entreprise à la vie privée. Paris : Bernard Grasset, 2008.

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Marzano, Michela. Extension du domaine de la manipulation : De l'entreprise à la vie privée. Paris : Bernard Grasset, 2008.

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library, Wiley online, dir. Optical refrigeration : Science and applications of laser cooling of solids. Weinheim : Wiley-VCH, 2009.

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Mooring, Benjamin. Fundamentals of manipulator calibration. New York : Wiley, 1991.

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Z̆ivanović, Milovan. Multi-arm cooperating robots : Dynamicsand control. Dordrecht, Netherlands : Springer, 2006.

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Tarring, T. J. Corner ! : A century of metal market manipulation. Surrey, England : Metal Bulletin Books Ltd, 1997.

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Tarring, T. J. Corner ! : A century of metal market manipulation. Surrey, England : Metal Bulletin Books Ltd, 1997.

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Chapitres de livres sur le sujet "Industrial manipulation"

Bradshaw, Marite, et Eric A. Johnson. « Genetic Manipulation of Clostridium ». Dans Manual of Industrial Microbiology and Biotechnology, 238–61. Washington, DC, USA : ASM Press, 2014. http://dx.doi.org/10.1128/9781555816827.ch17.

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Black, Wesley P., Bryan Julien, Eduardo Rodriguez et Zhaomin Yang. « Genetic Manipulation of Myxobacteria ». Dans Manual of Industrial Microbiology and Biotechnology, 262–72. Washington, DC, USA : ASM Press, 2014. http://dx.doi.org/10.1128/9781555816827.ch18.

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Engemann, Heiko, Patrick Wiesen, Stephan Kallweit, Harshavardhan Deshpande et Josef Schleupen. « Autonomous Mobile Manipulation Using ROS ». Dans Advances in Service and Industrial Robotics, 389–401. Cham : Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-61276-8_43.

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Skatrud, Paul L., JoAnn Hoskins, John S. Wood, Matthew B. Tobin, James R. Miller, Stephen Kovacevic, Cathleen A. Cantwell et Stephen W. Queener. « Genetic Manipulation of the β-lactam Antibiotic Biosynthetic Pathway ». Dans Frontiers in Industrial Mycology, 40–53. Boston, MA : Springer US, 1992. http://dx.doi.org/10.1007/978-1-4684-7112-0_3.

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Petrič, Tadej, Mišel Cevzar et Jan Babič. « Shared Control for Human-Robot Cooperative Manipulation Tasks ». Dans Advances in Service and Industrial Robotics, 787–96. Cham : Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-61276-8_83.

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Kantardjieff, Anne, Wei-Shou Hu, Gargi Seth et R. Scott McIvor. « Genetic Manipulation of Mammalian Cells for Protein Expression ». Dans Manual of Industrial Microbiology and Biotechnology, 330–44. Washington, DC, USA : ASM Press, 2014. http://dx.doi.org/10.1128/9781555816827.ch23.

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Xue, Ailin, Xiaoli Li, Chunfang Liu et Xiaoyue Cao. « Movement Primitive Libraries Learning for Industrial Manipulation Tasks ». Dans Communications in Computer and Information Science, 287–300. Singapore : Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-2336-3_26.

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Sartirana, Diego, Daniela Calvo, Vittoria Capirossi, Carlo Ferraresi, Felice Iazzi et Federico Pinna. « Target Manipulation in Nuclear Physics Experiment with Ion Beams ». Dans Advances in Service and Industrial Robotics, 535–43. Cham : Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-48989-2_57.

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Gîrbacia, Florin, Cristian Postelnicu et Gheorghe-Daniel Voinea. « Towards Using Natural User Interfaces for Robotic Arm Manipulation ». Dans Advances in Service and Industrial Robotics, 188–93. Cham : Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-19648-6_22.

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Keevers, T. L. « Expanded Basis Sets for the Manipulation of Random Forests ». Dans Lecture Notes in Management and Industrial Engineering, 279–93. Cham : Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-60135-5_20.

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Actes de conférences sur le sujet "Industrial manipulation"

Allison, Austin, Nathaniel Hanson, Sebastian Wicke et Taşkın Padır. « HASHI : Highly Adaptable Seafood Handling Instrument for Manipulation in Industrial Settings ». Dans 2024 IEEE International Conference on Robotics and Automation (ICRA), 4191–97. IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10611022.

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Li, Zhitian, Yida Niu, Yao Su, Hangxin Liu et Ziyuan Jiao. « Dynamic Planning for Sequential Whole-body Mobile Manipulation ». Dans 2024 IEEE 19th Conference on Industrial Electronics and Applications (ICIEA), 1–7. IEEE, 2024. http://dx.doi.org/10.1109/iciea61579.2024.10664822.

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Singh, Jayant, Jing Zhou, Baltasar Beferull-Lozano, Shijun Yan et Shalman Khan. « Haptic Teleoperation Framework for Learning Task Space Fine Manipulation Skills ». Dans 2024 IEEE 19th Conference on Industrial Electronics and Applications (ICIEA), 1–6. IEEE, 2024. http://dx.doi.org/10.1109/iciea61579.2024.10665270.

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Zhang, Xiang, Hsien-Chung Lin, Yu Zhao et Masayoshi Tomizuka. « Harnessing with Twisting : Single-Arm Deformable Linear Object Manipulation for Industrial Harnessing Task ». Dans 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4069–75. IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10802801.

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Mahmud, Al Jaber, Duc M. Nguyen, Filipe Veiga, Xuesu Xiao et Xuan Wang. « Human Uncertainty-Aware MPC for Enhanced Human-Robot Collaborative Manipulation ». Dans 2024 IEEE 7th International Conference on Industrial Cyber-Physical Systems (ICPS), 1–6. IEEE, 2024. http://dx.doi.org/10.1109/icps59941.2024.10640020.

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Chen, Heping, Hongtai Cheng, Biao Zhang, Jianjun Wang, Tom Fuhlbrigge et Jian Liu. « Semiautonomous industrial mobile manipulation for industrial applications ». Dans 2013 IEEE 3rd Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). IEEE, 2013. http://dx.doi.org/10.1109/cyber.2013.6705472.

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Ramadan S, Muhsin Al, Jaman Sahaul N, Vishnuvardhan S, Purushothaman S, Ramkumar A et Sivaguru J. « Industrial Robot Manipulation using Hand Gesture ». Dans 2023 2nd International Conference on Advancements in Electrical, Electronics, Communication, Computing and Automation (ICAECA). IEEE, 2023. http://dx.doi.org/10.1109/icaeca56562.2023.10199344.

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Tomizuka, Daisuke, et Kouhei Ohnishi. « Haptic micro manipulation using grasping/manipulating mode with different DOF ». Dans IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society. IEEE, 2016. http://dx.doi.org/10.1109/iecon.2016.7793596.

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Wang, Yiru, Qingxuan Jia et Gang Chen. « Design of control system for dual-arm manipulator considering coordinated manipulation ». Dans 2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA). IEEE, 2016. http://dx.doi.org/10.1109/iciea.2016.7603763.

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Cheng, Harry H. « Real-Time Manipulation of a Hybrid Serial-and-Parallel-Driven Redundant Industrial Manipulator ». Dans 1993 American Control Conference. IEEE, 1993. http://dx.doi.org/10.23919/acc.1993.4793187.

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Rapports d'organisations sur le sujet "Industrial manipulation"

Bostelman, Roger, et Joe Falco. Survey of industrial manipulation technologies for autonomous assembly applications. Gaithersburg, MD : National Institute of Standards and Technology, 2012. http://dx.doi.org/10.6028/nist.ir.7844.

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Dawson, William O., et Moshe Bar-Joseph. Creating an Ally from an Adversary : Genetic Manipulation of Citrus Tristeza. United States Department of Agriculture, janvier 2004. http://dx.doi.org/10.32747/2004.7586540.bard.

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Citrus is one of the major agricultural crops common to Israel and the United States, important in terms of nutrition, foreign exchange, and employment. The economy of both citrus industries have been chronically plagued by diseases caused by Citrus tristeza virus (CTV). The short term solution until virus-resistant plants can be used is the use of mild strain cross-protection. We are custom designing "ideal" protecting viruses to immunize trees against severe isolates of CTV by purposely inoculating existing endangered trees and new plantings to be propagated as infected (protected) citrus budwood. We crossed the substantial technological hurdles necessary to accomplish this task which included developing an infectious cDNA clone which allows in vitro manipulation of the virus and methods to then infect citrus plants. We created a series of hybrids between decline-inducing and mild CTV strains, tested them in protoplasts, and are amplifying them to inoculate citrus trees for evaluation and mapping of disease determinants. We also extended this developed technology to begin engineering transient expression vectors based on CTV as tools for genetic improvement of tree crops, in this case citrus. Because of the long periods between genetic transformation and the ultimate assay of mature tree characteristics, there is a great need for an effective system that allows the expression or suppression of target genes in fruiting plants. Virus-based vectors will greatly expedite progress in citrus genetic improvement. We characterized several components of the virus that provides necessary information for designing virus-based vectors. We characterized the requirements of the 3 ’-nontranslated replication promoter and two 3 ’-ORF subgenomic (sg) mRNA controller elements. We discovered a novel type of 5’-terminal sgRNAs and characterized the cis-acting control element that also functions as a strong promoter of a 3 ’-sgRNA. We showed that the p23 gene controls negative-stranded RNA synthesis and expression of 3 ’ genes. We identified which genes are required for infection of plants, which are host range determinants, and which are not needed for plant infection. We continued the characterization of native dRNA populations and showed the presence of five different classes including class III dRNAs that consists of infectious and self-replicating molecules and class V dRNAs that contain all of the 3 ’ ORFs, along with class IV dRNAs that retain non-contiguous internal sequences. We have constructed and tested in protoplasts a series of expression vectors that will be described in this proposal.

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Dubcovsky, Jorge, Tzion Fahima, Ann Blechl et Phillip San Miguel. Validation of a candidate gene for increased grain protein content in wheat. United States Department of Agriculture, janvier 2007. http://dx.doi.org/10.32747/2007.7695857.bard.

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High Grain Protein Content (GPC) of wheat is important for improved nutritional value and industrial quality. However, selection for this trait is limited by our poor understanding of the genes involved in the accumulation of protein in the grain. A gene with a large effect on GPC was detected on the short arm of chromosome 6B in a Triticum turgidum ssp. dicoccoides accession from Israel (DIC, hereafter). During the previous BARD project we constructed a half-million clones Bacterial Artificial Chromosome (BAC) library of tetraploid wheat including the high GPC allele from DIC and mapped the GPC-B1 locus within a 0.3-cM interval. Our long-term goal is to provide a better understanding of the genes controlling grain protein content in wheat. The specific objectives of the current project were to: (1) complete the positional cloning of the GPC-B1 candidate gene; (2) characterize the allelic variation and (3) expression profile of the candidate gene; and (4) validate this gene by using a transgenic RNAi approach to reduce the GPC transcript levels. To achieve these goals we constructed a 245-kb physical map of the GPC-B1 region. Tetraploid and hexaploid wheat lines carrying this 245-kb DIC segment showed delayed senescence and increased GPC and grain micronutrients. The complete sequencing of this region revealed five genes. A high-resolution genetic map, based on approximately 9,000 gametes and new molecular markers enabled us to delimit the GPC-B1 locus to a 7.4-kb region. Complete linkage of the 7.4-kb region with earlier senescence and increase in GPC, Zn, and Fe concentrations in the grain suggested that GPC-B1 is a single gene with multiple pleiotropic effects. The annotation of this 7.4-kb region identified a single gene, encoding a NAC transcription factor, designated as NAM-B1. Allelic variation studies demonstrated that the ancestral wild wheat allele encodes a functional NAC transcription factor whereas modern wheat varieties carry a non-functional NAM-B1 allele. Quantitative PCR showed that transcript levels for the multiple NAMhomologues were low in flag leaves prior to anthesis, after which their levels increased significantly towards grain maturity. Reduction in RNA levels of the multiple NAMhomologues by RNA interference delayed senescence by over three weeks and reduced wheat grain protein, Zn, and Fe content by over 30%. In the transgenic RNAi plants, residual N, Zn and Fe in the dry leaves was significantly higher than in the control plants, confirming a more efficient nutrient remobilization in the presence of higher levels of GPC. The multiple pleiotropic effects of NAM genes suggest a central role for these genes as transcriptional regulators of multiple processes during leaf senescence, including nutrient remobilization to the developing grain. The cloning of GPC-B1 provides a direct link between the regulation of senescence and nutrient remobilization and an entry point to characterize the genes regulating these two processes. This may contribute to their more efficient manipulation in crops and translate into food with enhanced nutritional value. The characterization of the GPC-B1 gene will have a significant impact on wheat production in many regions of the world and will open the door for the identification of additional genes involved in the accumulation of protein in the grain.

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Barefoot, Susan F., Bonita A. Glatz, Nathan Gollop et Thomas A. Hughes. Bacteriocin Markers for Propionibacteria Gene Transfer Systems. United States Department of Agriculture, juin 2000. http://dx.doi.org/10.32747/2000.7573993.bard.

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The antibotulinal baceriocins, propionicin PLG-1 and jenseniin G., were the first to be identified, purified and characterized for the dairy propionibaceria and are produced by Propionibacterium thoenii P127 and P. thoenii/jensenii P126, respectively. Objectives of this project were to (a) produce polyclonal antibodies for detection, comparison and monitoring of propionicin PLG-1; (b) identify, clone and characterize the propionicin PLG-1 (plg-1) and jenseniin G (jnG) genes; and (3) develop gene transfer systems for dairy propionibacteria using them as models. Polyclonal antibodies for detection, comparison and monitoring of propionicin PLG-1 were produced in rabbits. Anti-PLG-1 antiserum had high titers (256,000 to 512,000), neutralized PLG-1 activity, and detected purified PLG-1 at 0.10 mg/ml (indirect ELISA) and 0.033 mg/ml (competitive indirect ELISA). Thirty-nine of 158 strains (most P. thoenii or P. jensenii) yielded cross-reacting material; four strains of P. thoenii, including two previously unidentified bacteriocin producers, showed biological activity. Eight propionicin-negative P127 mutants produced neither ELISA response nor biological activity. Western blot analyses of supernates detected a PLG-1 band at 9.1 kDa and two additional protein bands with apparent molecular weights of 16.2 and 27.5 kDa. PLG-1 polyclonal antibodies were used for detection of jenseniin G. PLG-1 antibodies neutralized jenseniin G activity and detected a jenseniin G-sized, 3.5 kDa peptide. Preliminary immunoprecipitation of crude preparations with PLG-1 antibodies yielded three proteins including an active 3-4 kDa band. Propionicin PLG-1 antibodies were used to screen a P. jensenii/thoenii P126 genomic expression library. Complete sequencing of a cloned insert identified by PLG-1 antibodies revealed a putative response regulator, transport protein, transmembrane protein and an open reading frame (ORF) potentially encoding jenseniin G. PCR cloning of the putative plg-1 gene yielded a 1,100 bp fragment with a 355 bp ORF encoding 118 amino acids; the deduced N-terminus was similar to the known PLG-1 N-terminus. The 118 amino acid sequence deduced from the putative plg-1 gene was larger than PLG-1 possibly due to post-translational processing. The product of the putative plg-1 gene had a calculated molecular weight of 12.8 kDa, a pI of 11.7, 14 negatively charged residues (Asp+Glu) and 24 positively charged residues (Arg+Lys). The putative plg-1 gene was expressed as an inducible fusion protein with a six-histidine residue tag. Metal affinity chromatography of the fused protein yielded a homogeneous product. The fused purified protein sequence matched the deduced putative plg-1 gene sequence. The data preliminarily suggest that both the plg-1 and jnG genes have been identified and cloned. Demonstrating that antibodies can be produced for propionicin PLG-1 and that those antibodies can be used to detect, monitor and compare activity throughout growth and purification was an important step towards monitoring PLG-1 concentrations in food systems. The unexpected but fortunate cross-reactivity of PLG-1 antibodies with jenseniin G led to selective recovery of jenseniin G by immunoprecipitation. Further refinement of this separation technique could lead to powerful affinity methods for rapid, specific separation of the two bacteriocins and thus facilitate their availability for industrial or pharmaceutical uses. Preliminary identification of genes encoding the two dairy propionibacteria bacteriocins must be confirmed; further analysis will provide means for understanding how they work, for increasing their production and for manipulating the peptides to increase their target species. Further development of these systems would contribute to basic knowledge about dairy propionibacteria and has potential for improving other industrially significant characteristics.

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Gurevitz, Michael, William A. Catterall et Dalia Gordon. face of interaction of anti-insect selective toxins with receptor site-3 on voltage-gated sodium channels as a platform for design of novel selective insecticides. United States Department of Agriculture, décembre 2013. http://dx.doi.org/10.32747/2013.7699857.bard.

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Voltage-gated sodium channels (Navs) play a pivotal role in excitability and are a prime target of insecticides like pyrethroids. Yet, these insecticides are non-specific due to conservation of Navs in animals, raising risks to the environment and humans. Moreover, insecticide overuse leads to resistance buildup among insect pests, which increases misuse and risks. This sad reality demands novel, more selective, insect killers whose alternative use would avoid or reduce this pressure. As highly selective insect toxins exist in venomous animals, why not exploit this gift of nature and harness them in insect pest control? Many of these peptide toxins target Navs, and since their direct use via transformed crop plants or mediator microorganisms is problematic in public opinion, we focus on the elucidation of their receptor binding sites with the incentive of raising knowledge for design of toxin peptide mimetics. This approach is preferred nowadays by agro-industries in terms of future production expenses and public concern. However, characterization of a non-continuous epitope, that is the channel receptor binding site for such toxins, requires a suitable experimental system. We have established such a system within more than a decade and reached the stage where we employ a number of different insect-selective toxins for the identification of their receptor sites on Navs. Among these toxins we wish to focus on those that bind at receptor site-3 and inhibit Nav inactivation because: (1) We established efficient experimental systems for production and manipulation of site-3 toxins from scorpions and sea anemones. These peptides vary in size and structure but compete for site-3 on insect Navs. Moreover, these toxins exhibit synergism with pyrethroids and with other channel ligands; (2) We determined their bioactive surfaces towards insect and mammalian receptors (see list of publications); (3) We found that despite the similar mode of action on channel inactivation, the preference of the toxins for insect and mammalian channel subtypes varies greatly, which can direct us to structural features in the basis of selectivity; (4) We have identified by channel loop swapping and point mutagenesis extracellular segments of the Navinvolved with receptor site-3. On this basis and using channel scanning mutagenesis, neurotoxin binding, electrophysiological analyses, and structural data we offer: (i) To identify the residues that form receptor site-3 at insect and mammalian Navs; (ii) To identify by comparative analysis differences at site-3 that dictate selectivity toward various Navs; (iii) To exploit the known toxin structures and bioactive surfaces for modeling their docking at the insect and mammalian channel receptors. The results of this study will enable rational design of novel anti-insect peptide mimetics with minimized risks to human health and to the environment. We anticipate that the release of receptor site-3 molecular details would initiate a worldwide effort to design peptide mimetics for that site. This will establish new strategies in insect pest control using alternative insecticides and the combined use of compounds that interact allosterically leading to increased efficiency and reduced risks to humans or resistance buildup among insect pests.

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Bar-Joseph, Moshe, William O. Dawson et Munir Mawassi. Role of Defective RNAs in Citrus Tristeza Virus Diseases. United States Department of Agriculture, septembre 2000. http://dx.doi.org/10.32747/2000.7575279.bard.

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This program focused on citrus tristeza virus (CTV), the largest and one of the most complex RNA-plant-viruses. The economic importance of this virus to the US and Israeli citrus industries, its uniqueness among RNA viruses and the possibility to tame the virus and eventually turn it into a useful tool for the protection and genetic improvement of citrus trees justify these continued efforts. Although the overall goal of this project was to study the role(s) of CTV associated defective (d)-RNAs in CTV-induced diseases, considerable research efforts had to be devoted to the engineering of the helper virus which provides the machinery to allow dRNA replication. Considerable progress was made through three main lines of complementary studies. For the first time, the generation of an engineered CTV genetic system that is capable of infecting citrus plants with in vitro modified virus was achieved. Considering that this RNA virus consists of a 20 kb genome, much larger than any other previously developed similar genetic system, completing this goal was an extremely difficult task that was accomplished by the effective collaboration and complementarity of both partners. Other full-length genomic CTV isolates were sequenced and populations examined, resulting in a new level of understanding of population complexities and dynamics in the US and Israel. In addition, this project has now considerably advanced our understanding and ability to manipulate dRNAs, a new class of genetic elements of closteroviruses, which were first found in the Israeli VT isolate and later shown to be omnipresent in CTV populations. We have characterized additional natural dRNAs and have shown that production of subgenomic mRNAs can be involved in the generation of dRNAs. We have molecularly cloned natural dRNAs and directly inoculated citrus plants with 35S-cDNA constructs and have shown that specific dRNAs are correlated with specific disease symptoms. Systems to examine dRNA replication in protoplasts were developed and the requirements for dRNA replication were defined. Several artificial dRNAs that replicate efficiently with a helper virus were created from infectious full-genomic cDNAs. Elements that allow the specific replication of dRNAs by heterologous helper viruses also were defined. The T36-derived dRNAs were replicated efficiently by a range of different wild CTV isolates and hybrid dRNAs with heterologous termini are efficiently replicated with T36 as helper. In addition we found: 1) All CTV genes except of the p6 gene product from the conserved signature block of the Closteroviridae are obligate for assembly, infectivity, and serial protoplast passage; 2) The p20 protein is a major component of the amorphous inclusion bodies of infected cells; and 3) Novel 5'-Co-terminal RNAs in CTV infected cells were characterized. These results have considerably advanced our basic understanding of the molecular biology of CTV and CTV-dRNAs and form the platform for the future manipulation of this complicated virus. As a result of these developments, the way is now open to turn constructs of this viral plant pathogen into new tools for protecting citrus against severe CTV terms and development of virus-based expression vectors for other citrus improvement needs. In conclusion, this research program has accomplished two main interconnected missions, the collection of basic information on the molecular and biological characteristics of the virus and its associated dRNAs toward development of management strategies against severe diseases caused by the virus and building of novel research tools to improve citrus varieties. Reaching these goals will allow us to advance this project to a new phase of turning the virus from a pathogen to an ally.

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