A Magnetic Localization Technique Designed for use with Magnetic Levitation Systems.

M.S. Thesis. University of Hawaiʻi at Mānoa 2017

Robotics 2010

Without a doubt, robotics has made an incredible progress over the last decades. The vision of developing, designing and creating technical systems that help humans to achieve hard and complex tasks, has intelligently led to an incredible variety of solutions. There are barely technical fields that could exhibit more interdisciplinary interconnections like robotics. This fact is generated by highly complex challenges imposed by robotic systems, especially the requirement on intelligent and autonomous operation. This book tries to give an insight into the evolutionary process that takes place in robotics. It provides articles covering a wide range of this exciting area. The progress of technical challenges and concepts may illuminate the relationship between developments that seem to be completely different at first sight. The robotics remains an exciting scientific and engineering field. The community looks optimistically ahead and also looks forward for the future challenges and new development

Modular soft pneumatic actuator system design for compliance matching

The future of robotics is personal. Never before has technology been as pervasive as it is today, with advanced mobile electronics hardware and multi-level network connectivity pushing âsmartâ devices deeper into our daily lives through home automation systems, virtual assistants, and wearable activity monitoring. As the suite of personal technology around us continues to grow in this way, augmenting and offloading the burden of routine activities of daily living, the notion that this trend will extend to robotics seems inevitable. Transitioning robots from their current principal domain of industrial factory settings to domestic, workplace, or public environments is not simply a matter of relocation or reprogramming, however. The key differences between âtraditionalâ types of robots and those which would best serve personal, proximal, human interactive applications demand a new approach to their design. Chief among these are requirements for safety, adaptability, reliability, reconfigurability, and to a more practical extent, usability. These properties frame the context and objectives of my thesis work, which seeks to provide solutions and answers to not only how these features might be achieved in personal robotic systems, but as well what benefits they can afford. I approach the investigation of these questions from a perspective of compliance matching of hardware systems to their applications, by providing methods to achieve mechanical attributes complimentary to their environment and end-use. These features are fundamental to the burgeoning field of Soft Robotics, wherein flexible, compliant materials are used as the basis for the structure, actuation, sensing, and control of complete robotic systems. Combined with pressurized air as a power source, soft pneumatic actuator (SPA) based systems offers new and novel methods of exploiting the intrinsic compliance of soft material components in robotic systems. While this strategy seems to answer many of the needs for human-safe robotic applications, it also brings new questions and challenges: What are the needs and applications personal robots may best serve? Are soft pneumatic actuators capable of these tasks, or âusefulâ work output and performance? How can SPA based systems be applied to provide complex functionality needed for operation in diverse, real-world environments? What are the theoretical and practical challenges in implementing scalable, multiple degrees of freedom systems, and how can they be overcome? I present solutions to these problems in my thesis work, elucidated through scientific design, testing and evaluation of robotic prototypes which leverage and demonstrate three key features: 1) Intrinsic compliance: provided by passive elastic and flexible component material properties, 2) Extrinsic compliance: rendered through high number of independent, controllable degrees of freedom, and 3) Complementary design: exhibited by modular, plug and play architectures which combine both attributes to achieve compliant systems. Through these core projects and others listed below I have been engaged in soft robotic technology, its application, and solutions to the challenges which are critical to providing a path forward within the soft robotics field, as well as for the future of personal robotics as a whole toward creating a better society

The Mechanics of Mitotic Cell Rounding

During mitosis, adherent animal cells undergo a drastic shape change, from essentially flat to round, in a process known as mitotic cell rounding (MCR). The aim of this thesis was to critically examine the physical and biological basis of MCR. The experimental part of this thesis employed a combined optical microscope-atomic force microscope (AFM) setup in conjunction with flat tipless cantilevers to analyze cell mechanics, shape and volume. To this end, two AFM assays were developed: the constant force assay (CFA), which applies constant force to cells and measures the resultant height, and the constant height assay (CHA), which confines cell height and measures the resultant force. These assays were deployed to analyze the shape and mechanical properties of single cells trans-mitosis. The CFA results showed that cells progressing through mitosis could increase their height against forces as high as 50 nN, and that higher forces can delay mitosis in HeLa cells. The CHA results showed that mitotic cells confined to ~50% of their normal height can generate forces around 50-100 nN without disturbing mitotic progression. Such forces represent intracellular pressures of at least 200 Pascals and cell surface tensions of around 10 nN/µm. Using the CHA to compare mitotic cell rounding with induced cell rounding, it was observed that the intracellular pressure of mitotic cells is at least 3-fold higher than rounded interphase cells. To investigate the molecular basis of the mechanical changes inherent in mitotic cell rounding, inhibitors and toxins were used to pharmacologically dissect the role of candidate cellular processes. These results implicated the actomyosin cortex and osmolyte transporters, the most prominent of which is the Na+/H+ exchanger, in the maintenance of mechanical properties and intracellular hydrostatic pressure. Observations on blebbing cells under the cantilever supported the idea that the actomyosin cortex is required to sustain hydrostatic pressure and direct this pressure into cell shape changes. To gain further insight into the relationship between actomyosin activity and intracellular pressure, dynamic perturbation experiments were conducted. To this end, the CHA was used to evaluate the pressure and volume of mitotic cells before, during and after dynamic perturbations that included tonic shocks, influx of specific inhibitors, and exposure to pore-forming toxins. When osmotic pressure gradients were depleted, pressure and volume decreased. When the actomyosin cytoskeleton was abolished, cell volume increased while rounding pressure decreased. Conversely, stimulation of actomyosin cortex contraction triggered an increase in rounding pressure and a decrease in volume. Taken together, the dynamic perturbation results demonstrated that the actomyosin cortex contracts against an opposing intracellular pressure and that this relationship sets the surface tension, pressure and volume of the cell. The discussion section of this thesis provides a comprehensive overview of the physical basis of MCR by amalgamating the experimental results of this thesis with the literature. Additionally, the biochemal signaling pathways and proteins that drive MCR are collated and discussed. An exhaustive and unprecedented synthesis of the literature on cell rounding (approx. 750 papers as pubmed search hits on “cell rounding”, April 2012) reveals that the spread-to-round transition can be thought of in terms of a surface tension versus adhesion paradigm, and that cell rounding can be physically classified into four main modes, of which one is an MCR-like category characterized by increased actomyosin cortex tension and diminution of focal adhesions. The biochemical pathways and signaling patterns that correspond with these four rounding modes are catalogued and expounded upon in the context of the relevant physiology. This analysis reveals cell rounding as a pertinent topic that can be leveraged to yield insight into core principles of cell biophysics and tissue organization. It furthermore highlights MCR as a model problem to understand the adhesion versus cell surface tension paradigm in cells and its fundamentality to cell shape, mechanics and physiology

Circles within spirals, wheels within wheels; Body rotation facilitates critical insights into animal behavioural ecology

How animals behave is fundamental to enhancing their lifetime fitness, so defining how animals move in space and time relates to many ecological questions, including resource selection, activity budgets and animal movement networks. Historically, animal behaviour and movement has been defined by direct observation, however recent advancements in biotelemetry have revolutionised how we now assess behaviour, particularly allowing animals to be monitored when they cannot be seen. Studies now pair ‘convectional’ radio telemetries with motion sensors to facilitate more detailed investigations of animal space-use. Motion sensitive tags (containing e.g., accelerometers and magnetometers) provide precise data on body movements which characterise behaviour, and this has been exemplified in extensive studies using accelerometery data, which has been linked to space-use defined by GPS. Conversely, consideration of body rotation (particularly change in yaw) is virtually absent within the biologging literature, even though various scales of yaw rotation can reveal important patterns in behaviour and movement, with animal heading being a fundamental component characterising space-use. This thesis explores animal body angles, particularly about the yaw axis, for elucidating animal movement ecology. I used five model species (a reptile, a mammal and three birds) to demonstrate the value of assessing body rotation for investigating fine-scale movement-specific behaviours. As part of this, I advanced the ‘dead-reckoning’ method, where fine-scale animal movement between temporally poorly resolved GPS fixes can be deduced using heading vectors and speed. I addressed many issues with this protocol, highlighting errors and potential solutions but was able to show how this approach leads to insights into many difficult-to-study animal behaviours. These ranged from elucidating how and where lions cross supposedly impermeable man-made barriers to examining how penguins react to tidal currents and then navigate their way to their nests far from the sea in colonies enclosed within thick vegetation

European Avant-Garde: Art, Borders and Culture in Relationship to Mainstream Cinema and New Media

This research analyses the impact of transformation and hybridization processes at the intersection of art, science and technology. These forms of transformation and hybridization are the result of contemporary interactions between classic and digital media. It discusses the concept of 'remediation' presented by Bolter and proposes the concept of 'digital ekphrasis,' which is based on Manovich' s analyses of the interactions between classic and digital media. This is a model which, borrowed from semiotic structures, encompasses the technical as well as aesthetic and philosophical transformations of contemporary media. The thesis rejects Baudrillard's and Virilio's proposed concepts of 'digital black hole' as the only possible form of evolution of contemporary digital media. It proposes a different concept for the evolutionary model of contemporary hybridization processes based on contemporary forms of hybridizations that are rooted in aesthetic, philosophical and technological developments. This concept is argued as emancipated from the 'religious' idea of a 'divine originated' perfect image that Baudrillard and Virilio consider to be deteriorated from contemporary hybridization experimentation. The thesis proposes, through historical examples in the fine arts, the importance of transmedia migrations and experimentations as the framework for a philosophical, aesthetic and technological evolutionary concept of humanity freed from the restrictions of religious imperatives

Obiter Dicta

"Stitched together over five years of journaling, Obiter Dicta is a commonplace book of freewheeling explorations representing the transcription of a dozen notebooks, since painstakingly reimagined for publication. Organized after Theodor Adorno’s Minima Moralia, this unschooled exercise in aesthetic thought—gleefully dilettantish, oftentimes dangerously close to the epigrammatic—interrogates an array of subject matter (although inescapably circling back to the curiously resemblant histories of Western visual art and instrumental music) through the lens of drive-by speculation. Erick Verran’s approach to philosophical inquiry follows the brute-force literary technique of Jacques Derrida to exhaustively favor the material grammar of a signifier over hand-me-down meaning, juxtaposing outer semblances with their buried systems and our etched-in-stone intuitions about color and illusion, shape and value, with lessons stolen from seemingly unrelatable disciplines. Interlarded with extracts of Ludwig Wittgenstein but also Wallace Stevens, Cormac McCarthy as well as Roland Barthes, this cache of incidental remarks eschews what’s granular for the biggest picture available, leaving below the hyper-specialized fields of academia for a bird’s-eye view of their crop circles. Obiter Dicta is an unapologetic experiment in intellectual dot-connecting that challenges much long-standing wisdom about everything from illuminated manuscripts to Minecraft and the evolution of European music with lyrical brevity; that is, before jumping to the next topic.

Rewilding with AR and VR: Facilitating Care with Photography in Physically Immersive Apps

In this dissertation I analyze two AR apps from Internet of Elephants, Safari Central and Wildeverse, and one VR app from National Geographic, National Geographic: Explore VR. These three apps use photography as the central tool for engagement, attempt to educate users, and prompt them to care about wildlife and wilderness. However, the ethical consideration of design has largely ignored representations of the environment, especially as it may intersect with facilitating care for wilderness and wildlife that is experiencing the effects of habitat destruction and environmental degradation. This project begins developing a critical discussion of how wilderness and wildlife are selectively created through CGI by asking two research questions: What kinds of relationships are facilitated between users and representations of wildlife by designing around photography in AR and VR? and How can these designs be revised or leveraged for more beneficial environmental communication through care ethics? To answer my research questions, I use methods from game studies and a methodological lens informed by care ethics, new materialism, and feminist materialism. My results show that these apps facilitate an underdeveloped researcher/subject and patron/recipient roles. In answering my second research question, I craft three approaches for applying care ethics: 1) designing based on performances, 2) modeling behavior, and 3) engaging in a reflective photographic review process. This dissertation attempts to support the rewilding of media, which helps people reconnect (rewild) with (other) forms of wildlife and wilderness

Introduction: Ways of Machine Seeing

How do machines, and, in particular, computational technologies, change the way we see the world? This special issue brings together researchers from a wide range of disciplines to explore the entanglement of machines and their ways of seeing from new critical perspectives. This 'editorial' is for a special issue of AI & Society, which includes contributions from: María Jesús Schultz Abarca, Peter Bell, Tobias Blanke, Benjamin Bratton, Claudio Celis Bueno, Kate Crawford, Iain Emsley, Abelardo Gil-Fournier, Daniel Chávez Heras, Vladan Joler, Nicolas Malevé, Lev Manovich, Nicholas Mirzoeff, Perle Møhl, Bruno Moreschi, Fabian Offert, Trevor Paglan, Jussi Parikka, Luciana Parisi, Matteo Pasquinelli, Gabriel Pereira, Carloalberto Treccani, Rebecca Uliasz, and Manuel van der Veen