A Dynamic Localized Adjustable Force Field Method for Real-time Assistive Non-holonomic Mobile Robotics

Providing an assistive navigation system that augments rather than usurps user control of a powered wheelchair represents a significant technical challenge. This paper evaluates an assistive collision avoidance method for a powered wheelchair that allows the user to navigate safely whilst maintaining their overall governance of the platform motion. The paper shows that by shaping, switching and adjusting localized potential fields we are able to negotiate different obstacles by generating a more intuitively natural trajectory, one that does not deviate significantly from the operator in the loop desired-trajectory. It can also be seen that this method does not suffer from the local minima problem, or narrow corridor and proximity oscillation, which are common problems that occur when using potential fields. Furthermore this localized method enables the robotic platform to pass very close to obstacles, such as when negotiating a narrow passage or doorway

Generic typology for irrigation systems operation

Irrigation management / Irrigation systems / Water use efficiency / Canals / Operations / Typology / Water delivery / Water distribution / Water conveyance / Water storage / Irrigation effects / Environmental effects / Gravity flow / Hydraulics / Constraints / Water supply / Networks / Case studies / Sri Lanka

Joint inversion estimate of regional glacial isostatic adjustment in Antarctica considering a lateral varying Earth structure (ESA STSE Project REGINA)

A major uncertainty in determining the mass balance of the Antarctic ice sheet from measurements of satellite gravimetry, and to a lesser extent satellite altimetry, is the poorly known correction for the ongoing deformation of the solid Earth caused by glacial isostatic adjustment (GIA). Although much progress has been made in consistently modelling the ice-sheet evolution throughout the last glacial cycle, as well as the induced bedrock deformation caused by these load changes, forward models of GIA remain ambiguous due to the lack of observational constraints on the ice sheet's past extent and thickness and mantle rheology beneath the continent. As an alternative to forward modelling GIA, we estimate GIA from multiple space-geodetic observations: GRACE, Envisat/ICESat and GPS. Making use of the different sensitivities of the respective satellite observations to current and past surface mass (ice mass) change and solid Earth processes, we estimate GIA based on viscoelastic response functions to disc load forcing. We calculate and distribute the viscoelastic response functions according to estimates of the variability of lithosphere thickness and mantle viscosity in Antarctica. We compare our GIA estimate with published GIA corrections and evaluate its impact in determining the ice mass balance in Antarctica from GRACE and satellite altimetry. Particular focus is applied to the Amundsen Sea Sector in West Antarctica, where uplift rates of several cm/yr have been measured by GPS. We show that most of this uplift is caused by the rapid viscoelastic response to recent ice-load changes, enabled by the presence of a low-viscosity upper mantle in West Antarctica. This paper presents the second and final contribution summarizing the work carried out within a European Space Agency funded study, REGINA, (www.regina-science.eu)

Growth with competing technologies and bounded rationality

I develop a model of growth based on three assumptions: first, a variety of technologies characterised by different degrees of labour skill intensity, where technological change is localized; second, agents are boundedly rational, and the aggregate rule of motion of their behaviour follows a replicator dynamics; third, markets do not clear instantaneously, with prices adjusting gradually. For simplicity, I study the case of two technologies and two labour markets, one for skilled and one for unskilled labour. The model is investigated by means of local stability and computer numerical analysis. Two types of steady states obtain, each characterised by the complete specialization of production into one of the two technologies. Convergence towards the low-growth steady state, associated with the unskilled labour intensive technology, occurs under adverse structural conditions, such as marked initial skill shortage and high skill upgrade costs. This result of lock-in to the inferior steady state is interpreted as co-ordination failure, in that market forces do not always provide sufficient incentives to ensure a high-growth path

Assistive trajectories for human-in-the-loop mobile robotic platforms

Autonomous and semi-autonomous smoothly interruptible trajectories are developed which are highly suitable for application in tele-operated mobile robots, operator on-board military mobile ground platforms, and other mobility assistance platforms. These trajectories will allow a navigational system to provide assistance to the operator in the loop, for purpose built robots or remotely operated platforms. This will allow the platform to function well beyond the line-of-sight of the operator, enabling remote operation inside a building, surveillance, or advanced observations whilst keeping the operator in a safe location. In addition, on-board operators can be assisted to navigate without collision when distracted, or under-fire, or when physically disabled by injury