12,893 research outputs found

    Towards Reuse and Recycling of Lithium-ion Batteries: Tele-robotics for Disassembly of Electric Vehicle Batteries

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    Disassembly of electric vehicle batteries is a critical stage in recovery, recycling and re-use of high-value battery materials, but is complicated by limited standardisation, design complexity, compounded by uncertainty and safety issues from varying end-of-life condition. Telerobotics presents an avenue for semi-autonomous robotic disassembly that addresses these challenges. However, it is suggested that quality and realism of the user's haptic interactions with the environment is important for precise, contact-rich and safety-critical tasks. To investigate this proposition, we demonstrate the disassembly of a Nissan Leaf 2011 module stack as a basis for a comparative study between a traditional asymmetric haptic-'cobot' master-slave framework and identical master and slave cobots based on task completion time and success rate metrics. We demonstrate across a range of disassembly tasks a time reduction of 22%-57% is achieved using identical cobots, yet this improvement arises chiefly from an expanded workspace and 1:1 positional mapping, and suffers a 10-30% reduction in first attempt success rate. For unbolting and grasping, the realism of force feedback was comparatively less important than directional information encoded in the interaction, however, 1:1 force mapping strengthened environmental tactile cues for vacuum pick-and-place and contact cutting tasks.Comment: 21 pages, 12 figures, Submitted to Frontiers in Robotics and AI; Human-Robot Interactio

    Review of Methodologies to Assess Bridge Safety During and After Floods

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    This report summarizes a review of technologies used to monitor bridge scour with an emphasis on techniques appropriate for testing during and immediately after design flood conditions. The goal of this study is to identify potential technologies and strategies for Illinois Department of Transportation that may be used to enhance the reliability of bridge safety monitoring during floods from local to state levels. The research team conducted a literature review of technologies that have been explored by state departments of transportation (DOTs) and national agencies as well as state-of-the-art technologies that have not been extensively employed by DOTs. This review included informational interviews with representatives from DOTs and relevant industry organizations. Recommendations include considering (1) acquisition of tethered kneeboard or surf ski-mounted single-beam sonars for rapid deployment by local agencies, (2) acquisition of remote-controlled vessels mounted with single-beam and side-scan sonars for statewide deployment, (3) development of large-scale particle image velocimetry systems using remote-controlled drones for stream velocity and direction measurement during floods, (4) physical modeling to develop Illinois-specific hydrodynamic loading coefficients for Illinois bridges during flood conditions, and (5) development of holistic risk-based bridge assessment tools that incorporate structural, geotechnical, hydraulic, and scour measurements to provide rapid feedback for bridge closure decisions.IDOT-R27-SP50Ope

    Embodying entrepreneurship: everyday practices, processes and routines in a technology incubator

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    The growing interest in the processes and practices of entrepreneurship has been dominated by a consideration of temporality. Through a thirty-six-month ethnography of a technology incubator, this thesis contributes to extant understanding by exploring the effect of space. The first paper explores how class structures from the surrounding city have appropriated entrepreneurship within the incubator. The second paper adopts a more explicitly spatial analysis to reveal how the use of space influences a common understanding of entrepreneurship. The final paper looks more closely at the entrepreneurs within the incubator and how they use visual symbols to develop their identity. Taken together, the three papers reject the notion of entrepreneurship as a primarily economic endeavour as articulated through commonly understood language and propose entrepreneuring as an enigmatic attractor that is accessed through the ambiguity of the non-verbal to develop the ‘new’. The thesis therefore contributes to the understanding of entrepreneurship and proposes a distinct role for the non-verbal in that understanding

    Cost-effective non-destructive testing of biomedical components fabricated using additive manufacturing

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    Biocompatible titanium-alloys can be used to fabricate patient-specific medical components using additive manufacturing (AM). These novel components have the potential to improve clinical outcomes in various medical scenarios. However, AM introduces stability and repeatability concerns, which are potential roadblocks for its widespread use in the medical sector. Micro-CT imaging for non-destructive testing (NDT) is an effective solution for post-manufacturing quality control of these components. Unfortunately, current micro-CT NDT scanners require expensive infrastructure and hardware, which translates into prohibitively expensive routine NDT. Furthermore, the limited dynamic-range of these scanners can cause severe image artifacts that may compromise the diagnostic value of the non-destructive test. Finally, the cone-beam geometry of these scanners makes them susceptible to the adverse effects of scattered radiation, which is another source of artifacts in micro-CT imaging. In this work, we describe the design, fabrication, and implementation of a dedicated, cost-effective micro-CT scanner for NDT of AM-fabricated biomedical components. Our scanner reduces the limitations of costly image-based NDT by optimizing the scanner\u27s geometry and the image acquisition hardware (i.e., X-ray source and detector). Additionally, we describe two novel techniques to reduce image artifacts caused by photon-starvation and scatter radiation in cone-beam micro-CT imaging. Our cost-effective scanner was designed to match the image requirements of medium-size titanium-alloy medical components. We optimized the image acquisition hardware by using an 80 kVp low-cost portable X-ray unit and developing a low-cost lens-coupled X-ray detector. Image artifacts caused by photon-starvation were reduced by implementing dual-exposure high-dynamic-range radiography. For scatter mitigation, we describe the design, manufacturing, and testing of a large-area, highly-focused, two-dimensional, anti-scatter grid. Our results demonstrate that cost-effective NDT using low-cost equipment is feasible for medium-sized, titanium-alloy, AM-fabricated medical components. Our proposed high-dynamic-range strategy improved by 37% the penetration capabilities of an 80 kVp micro-CT imaging system for a total x-ray path length of 19.8 mm. Finally, our novel anti-scatter grid provided a 65% improvement in CT number accuracy and a 48% improvement in low-contrast visualization. Our proposed cost-effective scanner and artifact reduction strategies have the potential to improve patient care by accelerating the widespread use of patient-specific, bio-compatible, AM-manufactured, medical components

    Does dual tasking affect the ability to generate anticipatory postural adjustments?

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    Introduction: To date, little is known about the impact of additional cognitive tasks on perturbed balance and whether different types of cognitive tasks can generate different balance mechanisms. The aim of the study was to investigate how two different cognitive tasks (Stroop test and counting backwards task) would influence young adults’ ability to generate appropriate postural responses. Methods: Twenty young adults (25.95 ± 2.97 years) were asked to stand eyes open, bare feet shoulder-width apart on a moving platform which was translated in the anterior-posterior direction at three different frequencies (0.1, 0.25, 0.5 Hz) and perform either a counting backwards task, a Stroop task, or no cognitive task. Tonic activity and muscle onset latencies of the Rectus Femoris, Bicep Femoris, Tibialis Anterior and Gastrocnemius Medialis muscles were measured through surface electromyography (1000 Hz), and the number of cognitive errors was recorded. Results: Results showed no significant differences in muscle onset latencies and tonic activity between dual tasking and single tasking conditions, nor between the two dual tasking conditions. More cognitive errors were made in the counting backwards task (238 total cognitive errors across all frequencies) compared to the Stroop task where no errors were recorded. A frequency effect was identified with participants, regardless of condition, showing greater tonic activity in the Rectus Femoris (p= 0.012, M= 177% baseline, SD= 79.2), the Gastrocnemius Medialis (p= 0.016, M= 274.8% baseline, SD= 201.4) and the Bicep Femoris (p= 0.043, M= 291%, SD= 3.5) at 0.5 Hz, as well as earlier muscle activation in the Tibialis Anterior (p< 0.001, M= -2.7, SD= 8.1% half cycle), the Gastrocnemius Medialis (p< 0.001, M= -9.54, SD= 3.3% half cycle) and the Bicep Femoris (p< 0.001, M= -1.34, SD= 3.9% half cycle) at 0.5 Hz compared to the other frequencies. Transition and steady state muscle onset latencies were only significantly different for the Gastrocnemius Medialis at 0.25 Hz (p= 0.001), possibly because the 0.1 Hz frequency was too easy to require adaptation and the 0.5 Hz frequency was large enough to trigger earlier muscle activation from transition state which was then carried to steady state. Dual tasking did not seem to influence anticipatory postural adjustments, however perturbation intensities did. Discussion: It is assumed that due to the ‘threatening’ nature of the 0.5 Hz perturbation, a stiffer position was adopted as seen by the increased tonic activity, and anticipatory mechanisms were triggered sooner than the other frequencies, as seen by earlier muscle activation. Since posture was unchanged between single and dual tasking, it is suggested that participants’ postural control was automated and the cognitive errors in the two mental tasks could reflect their difficulty level. Future research should explore body kinematics to identify the balance strategies adopted, as well as take into account the reaction time of the cognitive task to better understand participants’ allocation of attention during perturbed balance dual tasking

    Sensors and Methods for Railway Signalling Equipment Monitoring

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    Signalling upgrade projects that have been installed in equipment rooms in the recent past have limited capability to monitor performance of certain types of external circuits. To modify the equipment rooms on the commissioned railway would prove very expensive to implement and would be unacceptable in terms of delays caused to passenger services due to re-commissioning circuits after modification, to comply with rail signalling standards. The use of magnetoresistive sensors to provide performance data on point circuit operation and point operation is investigated. The sensors are bench tested on their ability to measure current in a circuit in a non-intrusive manner. The effect of shielding on the sensor performance is tested and found to be significant. The response of the sensors with various levels of amplification produces linear responses across a range of circuit gain. The output of the sensor circuit is demonstrated for various periods of interruption of conductor current. A three-axis accelerometer is mounted on a linear actuator to demonstrate the type of output expected from similar sensors mounted on a set of points. Measurements of current in point detection circuits and acceleration forces resulting from vibration of out of tolerance mechanical assemblies can provide valuable information on performance and possible threats to safe operation of equipment. The sensors seem capable of measuring the current in a conductor with a comparatively high degree of sensitivity. There is development work required on shielding the sensor from magnetic fields other than those being measured. The accelerometer work is at a demonstration level and requires development. The future testing work with accelerometers should be at a facility where multiple point moves can be made; with the capability to introduce faults to the point mechanisms. Methods can then be developed for analysis of the vibration signatures produced by the various faults

    Growth trends and site productivity in boreal forests under management and environmental change: insights from long-term surveys and experiments in Sweden

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    Under a changing climate, current tree and stand growth information is indispensable to the carbon sink strength of boreal forests. Important questions regarding tree growth are to what extent have management and environmental change influenced it, and how it might respond in the future. In this thesis, results from five studies (Papers I-V) covering growth trends, site productivity, heterogeneity in managed forests and potentials for carbon storage in forests and harvested wood products via differing management strategies are presented. The studies were based on observations from national forest inventories and long-term experiments in Sweden. The annual height growth of Scots pine (Pinus sylvestris) and Norway spruce (Picea abies) had increased, especially after the millennium shift, while the basal area growth remains stable during the last 40 years (Papers I-II). A positive response on height growth with increasing temperature was observed. The results generally imply a changing growing condition and stand composition. In Paper III, yield capacity of conifers was analysed and compared with existing functions. The results showed that there is a bias in site productivity estimates and the new functions give better prediction of the yield capacity in Sweden. In Paper IV, the variability in stand composition was modelled as indices of heterogeneity to calibrate the relationship between basal area and leaf area index in managed stands of Norway spruce and Scots pine. The results obtained show that the stand structural heterogeneity effects here are of such a magnitude that they cannot be neglected in the implementation of hybrid growth models, especially those based on light interception and light-use efficiency. In the long-term, the net climate benefits in Swedish forests may be maximized through active forest management with high harvest levels and efficient product utilization, compared to increasing carbon storage in standing forests through land set-asides for nature conservation (Paper V). In conclusion, this thesis offers support for the development of evidence-based policy recommendations for site-adapted and sustainable management of Swedish forests in a changing climate

    Management controls, government regulations, customer involvement: Evidence from a Chinese family-owned business

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    This research reports on a case study of a family-owned elevator manufacturing company in China, where management control was sandwiched between the state policies and global customer production requirements. By analysing the role of government and customer, this thesis aimed to illustrate how management control operated in a family-owned business and to see how and why they do management control differently. In particular, it focused on how international production standards and existing Chinese industry policies translated into a set of the management control practices through a local network within the family-owned business I studied. Based on an ethnographic approach to research, I spent six months in the field, conducted over 30 interviews, several conservations, and reviewed relevant internal documents to understand how management control (MC) techniques with humans cooperated in the company. I also understood how two layers of pressure have shaped company behaviour, and how a company located in a developing country is connecting with global network. I also found there is considerable tension among key actors and investigated how the company responded and managed it. Drawing on Actor Network Theory (ANT), I analysed the interviews from key actors, examined the role of government regulations and customer requirements to see how management control being managed under two layers of pressure, i.e., the government regulations (e.g., labour, tax, environment control) and customer requirement (e.g., quality and production control). Management controls were an obligatory passage point (OPP), and transformation of those elements of Western production requirements and government requirements arrived at the Chinese local factory and influenced management control and budgeting. The findings suggest that management control systems are not only a set of technical procedures, but it is also about managing tensions. This understanding shows a linear perspective on MC practices rather than a social perspective. However, when we use ANT as a theoretical perspective, we see those actors who, being obliged and sandwiched, and controlled by external forces for them to follow. Consequently, human actors must work in an unavoidable OPP. This is the tension they face which constructed mundane practices of MC. Hence, MCs are managing such tensions. This study contributes to management control research by analysing management controls in terms of OPP, extends our understanding by illustrating the role of the government and customers, and our understanding of family-owned business from a management controls perspective in a developing country
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