Robot Assisted Shoulder Rehabilitation: Biomechanical Modelling, Design and Performance Evaluation

The upper limb rehabilitation robots have made it possible to improve the motor recovery in stroke survivors while reducing the burden on physical therapists. Compared to manual arm training, robot-supported training can be more intensive, of longer duration, repetitive and task-oriented. To be aligned with the most biomechanically complex joint of human body, the shoulder, specific considerations have to be made in the design of robotic shoulder exoskeletons. It is important to assist all shoulder degrees-of-freedom (DOFs) when implementing robotic exoskeletons for rehabilitation purposes to increase the range of motion (ROM) and avoid any joint axes misalignments between the robot and human’s shoulder that cause undesirable interaction forces and discomfort to the user. The main objective of this work is to design a safe and a robotic exoskeleton for shoulder rehabilitation with physiologically correct movements, lightweight modules, self-alignment characteristics and large workspace. To achieve this goal a comprehensive review of the existing shoulder rehabilitation exoskeletons is conducted first to outline their main advantages and disadvantages, drawbacks and limitations. The research has then focused on biomechanics of the human shoulder which is studied in detail using robotic analysis techniques, i.e. the human shoulder is modelled as a mechanism. The coupled constrained structure of the robotic exoskeleton connected to a human shoulder is considered as a hybrid human-robot mechanism to solve the problem of joint axes misalignments. Finally, a real-scale prototype of the robotic shoulder rehabilitation exoskeleton was built to test its operation and its ability for shoulder rehabilitation

Research reports: 1991 NASA/ASEE Summer Faculty Fellowship Program

The basic objectives of the programs, which are in the 28th year of operation nationally, are: (1) to further the professional knowledge of qualified engineering and science faculty members; (2) to stimulate an exchange of ideas between participants and NASA; (3) to enrich and refresh the research and teaching activities of the participants' institutions; and (4) to contribute to the research objectives of the NASA Centers. The faculty fellows spent 10 weeks at MSFC engaged in a research project compatible with their interests and background and worked in collaboration with a NASA/MSFC colleague. This is a compilation of their research reports for summer 1991

Mechanical and optical studies for an extremely large telescope mid-infrared instrument

Extremely Large Telescopes are considered worldwide as one of the highest priorities in ground-based astronomy, since they have the potential to vastly advance astrophysical knowledge. ESO is building its own Extremely Large optical and infrared Telescope, the ELT. This new telescope will have a 39m main mirror and will be the largest optical telescope in the world, able to work at the diffraction limit. METIS, one of the first light instruments of the ELT, has powerful imaging and spectrographic capabilities on the thermal wavelengths. It will allow the investigation of key properties of a wide range of celestial objects. METIS is an extremely complex instrument, weighing almost 11t, and requiring high positioning and steering precisions. Here I present the ELT’s METIS’ Warm Support Structure. It consists of a seven leg elevation platform, an hexapod capable of providing METIS with sub-millimetre and arcsecond positioning and steering resolutions, and an access platform where personnel can perform in-situ maintenance activities. The structure weighs less than 5 t and is capable of surviving earthquake conditions with accelerations up to 5g. The current design is supported by FEM simulations in ANSYS®, and was approved for Phase C. I also study the impact of the Talbot effect on the optics of METIS. This near-field effect reimages high frequencies of the phase into the amplitude, having the potential to harm the High contrast imaging (HCI) modes of the instrument. I analyse the phase errors resulting from the surface form errors of optical elements and conclude that they have an impact of less than 3% on the amplitude considering the current specifications. Finally, I develop a way of replicating the behaviour of a vortex coronagraph with raytracing software. I use this to assess the straylight caused by this kind of coronagraphs

Project Argo: The design and analysis of an all-propulsive and an aeroassisted version of a manned space transportation vehicle

Project Argo is the design of a manned Space Transportation Vehicle (STV) that would transport payloads between LEO (altitude lying between 278 to 500 km above the Earth) and GEO (altitude is approximately 35,800 km above the Earth) and would be refueled and refurbished at the Space Station Freedom. Argo would be man's first space-based manned vehicle and would provide a crucial link to geosynchronous orbit where the vast majority of satellites are located. The vehicle could be built and launched shortly after the space station and give invaluable space experience while serving as a workhorse to deliver and repair satellites. Eventually, if a manned space station is established in GEO, then Argo could serve as the transport between the Space Station Freedom and a Geostation. If necessary, modifications could be made to allow the vehicle to reach the moon or possibly Mars. Project Argo is unique in that it consists of the design and comparison of two different concepts to accomplish the same mission. The first is an all-propulsive vehicle which uses chemical propulsion for all of its major maneuvers between LEO and GEO. The second is a vehicle that uses aeroassisted braking during its return from GEO to LEO by passing through the upper portions of the atmosphere

Cyber-Human Systems, Space Technologies, and Threats

CYBER-HUMAN SYSTEMS, SPACE TECHNOLOGIES, AND THREATS is our eighth textbook in a series covering the world of UASs / CUAS/ UUVs / SPACE. Other textbooks in our series are Space Systems Emerging Technologies and Operations; Drone Delivery of CBNRECy – DEW Weapons: Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD); Disruptive Technologies with applications in Airline, Marine, Defense Industries; Unmanned Vehicle Systems & Operations On Air, Sea, Land; Counter Unmanned Aircraft Systems Technologies and Operations; Unmanned Aircraft Systems in the Cyber Domain: Protecting USA’s Advanced Air Assets, 2nd edition; and Unmanned Aircraft Systems (UAS) in the Cyber Domain Protecting USA’s Advanced Air Assets, 1st edition. Our previous seven titles have received considerable global recognition in the field. (Nichols & Carter, 2022) (Nichols, et al., 2021) (Nichols R. K., et al., 2020) (Nichols R. , et al., 2020) (Nichols R. , et al., 2019) (Nichols R. K., 2018) (Nichols R. K., et al., 2022)https://newprairiepress.org/ebooks/1052/thumbnail.jp

Cybernationalism and cyberactivism in China

El nacionalismo en la era de Internet se está convirtiendo cada vez más en un factor esencial que influye en la agenda-setting de la sociedad china, así como en las relaciones de China con los países extranjeros, especialmente con Occidente. Para China, una mejor comprensión de la estructura teórica universal y de los patrones de comportamiento del nacionalismo facilitaría la articulación social general de esta tendencia y potenciaría su papel positivo en la agenda-setting social. Por otra parte, un estudio del cibernacionalismo chino basado en una perspectiva china en el mundo académico occidental es un intento de transculturación. Desde el punto de vista de las relaciones internacionales y la geopolítica actuales, que son bastante urgentes, este intento ayudaría a mejorar la compatibilidad de China con el actual orden mundial dominado por Occidente, a reducir la desinformación entre China y otros países y a sentar las bases culturales e ideológicas para otras colaboraciones internacionales. Teniendo en cuenta el estado actual de la investigación sobre el nacionalismo chino y la naturaleza participativa de las masas del cibernacionalismo, esta disertación se centra en el cibernacionalismo en las tres partes siguientes. El primero es un estudio de los orígenes históricos del cibernacionalismo chino. Esta sección incluye tanto una exploración del consenso social en la antigua China como un estudio de la influencia del nacionalismo en la historia china moderna. El estudio de los orígenes históricos no sólo nos muestra la secuencia cronológica de la experiencia del desarrollo y la evolución tanto del proto-nacionalismo como del nacionalismo en China, sino que también revela un impulso decisivo para las reivindicaciones y comportamientos actuales del cibernacionalismo. La segunda parte trata del proceso de formación y ascenso del cibernacionalismo desde el siglo XXI. El importante antecedente del paso del nacionalismo al cibernacionalismo es el proceso de informatización de la sociedad china. Una vez completado el estudio de la situación básica de la sociedad china de Internet, especialmente el estudio de los medios sociales como espacio público, podemos vincular Internet con el nacionalismo y examinar el nuevo desarrollo del nacionalismo en la era de la participación de masas. El objetivo final es conectar el proto-nacionalismo, el nacionalismo y el cibernacionalismo, y seguir construyendo una comprensión del cibernacionalismo que sea coherente tanto con los principios universales del nacionalismo como con el contexto chino. Por último, validamos los resultados derivados del estudio anterior a través de la realidad social, es decir, estudiando las prácticas de ciberactivismo del cibernacionalismo para juzgar su suficiencia general así como su validez. Llevaremos a cabo varios estudios de caso de natural language processing basados en big data para reproducir la lógica de comportamiento y el impacto real del ciberactivismo de la manera más cercana posible a la realidad de Internet, evitando al mismo tiempo los defectos de argumentación unilateral y de infrarrepresentación de los estudios de caso tradicionales.Nationalism in the Internet age is increasingly becoming an essential factor influencing agendasetting within Chinese society, as well as China’s relations with foreign countries, especially the West. For China, a better understanding of the universal theoretical structure and behavioral patterns of nationalism would facilitate the overall social articulation of this trend and enhance its positive role in social agenda setting. On the other hand, a study of Chinese cybernationalism based on a Chinese perspective in western academia is an attempt at transculturation. From the viewpoint of the current rather urgent international relations and geopolitics, such an attempt would help to enhance China’s compatibility with the current western-dominated world order, reduce misinformation between China and other countries, and lay the cultural and ideological groundwork for various other international collaborations. Considering the current state of Chinese nationalism research and the mass participatory nature of cybernationalism, this dissertation focuses on cybernationalism in the following three parts. The first is a study of the historical origins of Chinese cybernationalism. This section includes both an exploration of the social consensus in ancient China and a survey of the influence of nationalism in modern Chinese history. The historical origins study not only shows us the chronological sequence of experiencing the development and evolution of both proto-nationalism and nationalism in China, but also reveals a decisive impetus for the current claims and behaviors of cybernationalism. The second part deals with the process of formation and rise of cybernationalism since the 21st century. The important background for the move from nationalism to cybernationalism is the informatization process of Chinese society. After we have completed the study of the basic situation of Chinese Internet society, especially the study of social media as a public space, we can link the Internet with nationalism and examine the new development of nationalism in the era of mass participation. The ultimate goal is to connect the proto-nationalism, nationalism, cybernationalism, and furtherly construct an understanding of cybernationalism that is consistent with both the universal principles of nationalism and the Chinese context. Finally, we validate the results derived from the previous study through social reality, i.e., by studying the cyberactivism practices of cybernationalism to judge its general sufficiency as well as validity. We will conduct several natural language processing case studies based on big data to reproduce the behavioral logic and actual impact of cyberactivism in the closest possible way to the Internet reality while avoiding the unilateral argumentation and under-representation flaws of traditional case studies