Handle Anywhere: A Mobile Robot Arm for Providing Bodily Support to Elderly Persons

Age-related loss of mobility and increased risk of falling remain important obstacles toward facilitating aging-in-place. Many elderly people lack the coordination and strength necessary to perform common movements around their home, such as getting out of bed or stepping into a bathtub. The traditional solution has been to install grab bars on various surfaces; however, these are often not placed in optimal locations due to feasibility constraints in room layout. In this paper, we present a mobile robot that provides an older adult with a handle anywhere in space - "handle anywhere". The robot consists of an omnidirectional mobile base attached to a repositionable handle. We analyze the postural changes in four activities of daily living and determine, in each, the body pose that requires the maximal muscle effort. Using a simple model of the human body, we develop a methodology to optimally place the handle to provide the maximum support for the elderly person at the point of most effort. Our model is validated with experimental trials. We discuss how the robotic device could be used to enhance patient mobility and reduce the incidence of falls.Comment: 8 pages, 10 figure

Composites for hydraulic structures: a review

Composites for hydraulic structures: a review Composites have evolved over the years and are making major in-roads into the marine, aviation and other industries where corrosions and self-weight are the major impediments to advancing the state-of-the-art. Civil Works engineers have been reluctant to make use of these composite advantages, partially because of the absence of well documented success stories, accepted design and construction practices or specifications, and limited understanding of composites, higher initial costs and others. A few navigational structures using FRP composites have been designed, manufactured and installed in the United States of America and Netherlands, recently. US Army Corps of Engineers is embarking on higher volume applications of composites for navigational structures. This report is aimed at summarizing the state of the art of fiber reinforced polymer (FRP) composites for hydraulic structures including design, construction, evaluation and repair. After a brief review of history and introduction of fundamentals of composites, their manufacturing techniques, properties, and recent field applications are presented, including FRP rebar for bridge decks, other highway and railway structures, gratings, underground storage tank, pavement, sheet and pipe piling, FRP wraps, moveable bridges, utility poles, etc. Focus is placed on applications of composites in waterfront, marine, navigational structures including lock doors, gates, and protection systems. Design of hydraulic composite structures is presented for the cases available, such as design of FRP recess panel, Wicket Gates, Miter Gates, FRP slides and repair of corroded steel piles. This report also reviews engineering science issues such as fracture and fatigue, durability, creep and relaxation, UV degradation, impact resistance, and fire performance. The report concludes with summary remarks and recommendations after a discussion on operation and maintenance guidance including nondestructive evaluation inspection techniques. Intention is to provide up to date information on composite design, manufacturing and evaluation methodologies that are applicable for fabrication and maintenance of navigational structures. This report is a living document with advances taking place with time as waterborne transport infrastructure community makes progress with FRP systems. This report is expected to be useful for those decision-makers in government, consultants, designers, contractors, maintenance and rehab engineers whose focus is to minimize traffic interruptions while maximizing cost effectiveness

Design Principles for FES Concept Development

© Cranfield University 2013. All rights reserved. No part of this publication may be reproduced without the written permission of the copyright owner.A variety of pathologies can cause injury to the spinal cord and hinder movement. A range of equipment is available to help spinal injury sufferers move their affected limbs. One method of rehabilitation is functional electrical stimulation (FES). FES is a technique where small electrical currents are applied to the surface of the user’s legs to stimulate the muscles. Studies have demonstrated the benefits of using this method and it has also been incorporated into a number of devices. The aim of the project was to produce a number of designs for a new device that uses FES technology. The project was completed in conjunction with an industrial partner. A review of the literature and consultation with industrial experts suggested a number of ways current devices could be improved. These included encouraging the user to lean forwards while walking and powering the device using a more ergonomic method. A group of designers were used to produce designs that allowed the user to walk with a more natural gait and avoided cumbersome power packs. The most effective of these designs were combined to form one design that solved both problems. A 3-dimensional model of this design was simulated using computer-aided design software. Groups of engineers, scientists and consumers were also invited to provide input on how a new device should function. Each of these groups provided a design that reflected their specific needs, depending on their experience with similar technology. Low level prototypes were produced of these designs. A group of designers were also used to design concepts for a functional electrical stimulation device based on an introduction given by industry experts. Each of the designs was presented to experienced professionals to obtain feedback. A set of guidelines were also produced during the project that instructed how to create the designs

Place Experience of Nursing Home Courtyards: a Holistic Approach to Understanding Institutional Outdoor Environments

This dissertation research investigates place experience of three nursing home courtyards. Based on systemic place theories, each nursing home courtyard is conceptualized as place or a system consisting of three major subsystems: physical settings, people and rules of place uses. Place experience as the center of conceptualization is the result of interactions between them. Place experience is thus characterized by objective, subjective and consensual qualities of people-environment relationships. The research design follows the premises of pragmatic case study methodology; a mixed research method is employed that includes archival research of floor plans, photo documentation, a physical setting checklist and instrumented measures for physical environments; staff interviews, surveys and auditing evaluations for organizational and staff contexts; and resident interviews and behavior mapping for individual contexts and place rules. Through synthesizing different sources of data into experiential descriptions, this study suggests that each courtyard is a compound of nine desired experiential attributes including 1) privacy, 2) social interactions, 3) accessible space and built features, 4) safety & security, 5) sensory stimulation, 6) information awareness and spatial orientation, 7) familiarity, 8) sense of ownership and 9) participation in meaningful activities. Each courtyard is unique in its distinct composition of these attributes and arrangements of the three subsystems. Experience of social interactions is the shared experiential quality across the cases. The three courtyards are programmed as a social space but are not meant to be a place to mark ownership, show identities and create meaningful engagement. The shared nature is incongruent with residents’ experience of home gardens and gardening collected from the interviews. A relatively successful case is selected; it is a place with more equal emphases on the nine attributes. Its patterns of the three subsystems may guide a less effective case to make future improvement. Implications of the findings are considered at three levels. First, this study applied a pragmatic approach, which offers a means to generate a holistic understanding of institutional outdoor environments; this study may complement the current research dominated by a positivist approach. Second, the approach recognizes and acknowledges the multifaceted phenomenon of the courtyards; it describes sets of variables or quality indicators that may help further theoretical construction or the development of quality measure. Third, this comparative research highlights the importance of establishing a database of cases reports. The accumulation of successful cases would help identify effective patterns of the three subsystems. Shared features emerging from successful cases may represent findings with high generalizability

The development of stage machinery in the nineteenth century British theatre : a study of physical and documentary evidence

Thc devolopment of scene changing machinery in Great Britain is perhaps one of the few disciplines in the field of mechanical engineering which have virtually never relied upon new discoveries in technology for their advancement. Instead it has always lagged behind, perhaps modifying, certainly adapting, existing techniques. This study aims to examine the evolution of stage machinery during the nineteenth century, when many techniques had already been in existence and traditions firmly established since the previous century. The degree of development in the course of the nineteenth century was in many ways a reflection of the type of drama presented. As time went by, the public's taste for spectacle and visual presentation intensified and fostered an increase in the complexity of scene changing equipment. This in turn meant that many of the theatres built in the eighteenth century, especially in the provinces, were sadly inadequate for housing the vast quantities of equipment which machinists needed to install above and below the stage. As a result architects, began improving and enlarging existing theatres as well as building new ones, with increased stage width and depth, increased flying space above and increased depth below the stage.There was indeed an enormous rise in demand for scenic effects shortly after the beginning of the nineteenth century. This rapid growth caused the smaller existing Georgian playhouses, like the Theatre Royal, Ipswich, either to be modified in an attempt to cater for new trends, or to close. This dilemma alone must be acknowledged as a significant contributory factor in the decline of the Georgian playhouse and helps to explain the comparatively small number of such theatres surviving to the present day.The techniques of the stage machinist in the first half of the nineteenth century relied almost totally on  technology and basic engineering principles which had existed for many years. Certainly the comparison often made between the backstage of a theatre of this period and a sailing ship is a very apt one, since both relied on manually hauled ropes, sheaves and the principles of mechanical advantage. However, these techniques had also been utilised for other, non-theatrical purposes. For instance, housed in the central tower of Beverley Minster is a large treadwheel, which was, and is still, used to raise equipment from ground level into the roof space [sec photo.1]. This is based upon the principles of mechanical advantage, in much the same way as many pieces of scene-changing equipment.Thus, because the theatrical profession was slow to adopt now apparatus and constantly replacing old machinery with brand new near-replicas, its evolution was comparatively slow. The job of a stage machinist was quite often a family concern, as the techniques, traditions, secrets and tricks of the trade were passed from father to son. The Sloman family and the Grieve family were particularly well known in London for their knowledge and expertise in this hold. Change was to a greater or lessor extent resisted and in any case many saw little need for change, especially those who were steeped in the traditions of the machinist and his machinery. It was, in fact, this basic resistance which caused a disruption in the evolutionary development of stage machinery. Many theatre architects were happy to furnish a traditional stage machinist with a blank drawing denoting "The Stage", requiring him to fill in the details as he saw fit, whilst the innovators devised all manner of new equipment, that which worked and sometimes that which emphatically did not. There was therefore a bifurcation, with the 'traditional school' refining the 'English wood stage' to a higher degree of sophistication, whilst the 'modern school' developed and attempted to apply the engineering technology associated with other disciplines. In essence, the latter attempted to replace muscle power with hydraulic or electrical power.This thesis documents the development of stage machinery from its comparatively primitive state at the beginning of the nineteenth century, through years of growth and expansion, and finally into the last decade of the century, when theatrical productions were in truth exercises in spectacle

KINE[SIS]TEM'17 From Nature to Architectural Matter

Kine[SiS]tem – From Kinesis + System. Kinesis is a non-linear movement or activity of an organism in response to a stimulus. A system is a set of interacting and interdependent agents forming a complex whole, delineated by its spatial and temporal boundaries, influenced by its environment. How can architectural systems moderate the external environment to enhance comfort conditions in a simple, sustainable and smart way? This is the starting question for the Kine[SiS]tem’17 – From Nature to Architectural Matter International Conference. For decades, architectural design was developed despite (and not with) the climate, based on mechanical heating and cooling. Today, the argument for net zero energy buildings needs very effective strategies to reduce energy requirements. The challenge ahead requires design processes that are built upon consolidated knowledge, make use of advanced technologies and are inspired by nature. These design processes should lead to responsive smart systems that deliver the best performance in each specific design scenario. To control solar radiation is one key factor in low-energy thermal comfort. Computational-controlled sensor-based kinetic surfaces are one of the possible answers to control solar energy in an effective way, within the scope of contradictory objectives throughout the year.FC

Proceedings of the 40th Aerospace Mechanisms Symposium

The Aerospace Mechanisms Symposium (AMS) provides a unique forum for those active in the design, production and use of aerospace mechanisms. A major focus is the reporting of problems and solutions associated with the development and flight certification of new mechanisms. Organized by the Mechanisms Education Association, responsibility for hosting the AMS is shared by the National Aeronautics and Space Administration and Lockheed Martin Space Systems Company (LMSSC). Now in its 40th symposium, the AMS continues to be well attended, attracting participants from both the U.S. and abroad. The 40th AMS, hosted by the Kennedy Space Center (KSC) in Cocoa Beach, Florida, was held May 12, 13 and 14, 2010. During these three days, 38 papers were presented. Topics included gimbals and positioning mechanisms, CubeSats, actuators, Mars rovers, and Space Station mechanisms. Hardware displays during the supplier exhibit gave attendees an opportunity to meet with developers of current and future mechanism components. The use of trade names of manufacturers in this publication does not constitute an official endorsement of such products or manufacturers, either expressed or implied, by the National Aeronautics and Space Administratio

Truth in Soft-Focus: Photography and Abstraction in Dialogue 1914–1930

This thesis explores the dialogue between modernist photography and abstraction during the period between 1914 and 1930 primarily in France, Germany and the United States. The duality of photography is emphasised: binaries and antagonistic terms associated with photography are consistently challenged and disentangled to argue against the separation of realism and abstraction. A formalist-phenomenological methodology associated with art historical traditions is adopted in order to bridge photography and abstraction. Central to this argument is a consideration of atmospheres in photography that contribute to and encourage ties with abstraction. This thesis will attend to atmospheres and their effects, putting formalist-phenomenology into practice by linking realism and abstraction, and will closely read and explore embodied experiences of abstract photographs. Chapters 1 and 2 theoretically outline key contextual stakes such as the relationship between documentary and aesthetics, photography and painting, as well as perception and photographic optics. Chapter 3 positions the abstract nature photograph within and against conventions of landscape by excluding the horizon line from compositions. Alfred Stieglitz’s Equivalents series and Josef Albers’s photographs of sludge are considered alongside Arvid Gutschow’s photobook See Sand Sonne. Chapter 4 investigates the still-life photograph as well as formalist concerns relating to light, shadow, glows and blurs as contributors to the atmospheric charge of abstract photographs. Artists given particular attention here include Florence Henri, Lyonel Feininger, Ilse Bing and Paul Strand. Chapter 5 probes the theme of the machine in photography. Charles Sheeler’s River Rouge series and a still-life photograph of jugs and vases are explored in connection with Amédée Ozenfant’s theories on the ‘spirit’ of the modern age. Oblique photographs of the Eiffel Tower by Moholy-Nagy, Ilse Bing and Germaine Krull are also discussed as ‘faulty’ and disorienting abstract images