Locomation strategies for amphibious robots-a review

In the past two decades, unmanned amphibious robots have proven the most promising and efficient systems ranging from scientific, military, and commercial applications. The applications like monitoring, surveillance, reconnaissance, and military combat operations require platforms to maneuver on challenging, complex, rugged terrains and diverse environments. The recent technological advancements and development in aquatic robotics and mobile robotics have facilitated a more agile, robust, and efficient amphibious robots maneuvering in multiple environments and various terrain profiles. Amphibious robot locomotion inspired by nature, such as amphibians, offers augmented flexibility, improved adaptability, and higher mobility over terrestrial, aquatic, and aerial mediums. In this review, amphibious robots' locomotion mechanism designed and developed previously are consolidated, systematically The review also analyzes the literature on amphibious robot highlighting the limitations, open research areas, recent key development in this research field. Further development and contributions to amphibious robot locomotion, actuation, and control can be utilized to perform specific missions in sophisticated environments, where tasks are unsafe or hardly feasible for the divers or traditional aquatic and terrestrial robots

The Design and Development of a Mobile Colonoscopy Robot

The conventional colonoscopy is a common procedure used to access the colon. Despite it being considered the Gold Standard procedure for colorectal cancer diagnosis and treatment, it has a number of major drawbacks, including high patient discomfort, infrequent but serious complications and high skill required to perform the procedure. There are a number of potential alternatives to the conventional colonoscopy, from augmenting the colonoscope to using Computed Tomography Colonography (CTC) - a completely non-invasive method. However, a truly effective, all-round alternative has yet to be found. This thesis explores the design and development of a novel solution: a fully mobile colonoscopy robot called “RollerBall”. Unlike current passive diagnostic capsules, such as PillCam, this device uses wheels at the end of adjustable arms to provide locomotion through the colon, while providing a stable platform for the use of diagnostic and therapeutic tools. The work begins by reviewing relevant literature to better understand the problem and potential solutions. RollerBall is then introduced and its design described in detail. A robust prototype was then successfully fabricated using a 3D printing technique and its performance assessed in a series of benchtop experiments. These showed that the mechanisms functioned as intended and encouraged the further development of the concept. Next, the fundamental requirement of gaining traction on the colon was shown to be possible using hexagonal shaped, macro-scale tread patterns. A friction coefficient ranging between 0.29 and 0.55 was achieved with little trauma to the tissue substrate. The electronics hardware and control were then developed and evaluated in a series of tests in silicone tubes. An open-loop strategy was first used to establish the control algorithm to map the user inputs to motor outputs (wheel speeds). These tests showed the efficacy of the locomotion technique and the control algorithm used, but they highlighted the need for autonomy. To address this, feedback was included to automate the adjusting of the arm angle and amount of force applied by the device; a forward facing camera was also used to automate the orientation control by tracking a user-defined target. Force and orientation control were then combined to show that semi-autonomous control was possible and as a result, it was concluded that clinical use may be feasible in future developments

PHYSICS-AWARE MODEL SIMPLIFICATION FOR INTERACTIVE VIRTUAL ENVIRONMENTS

Rigid body simulation is an integral part of Virtual Environments (VE) for autonomous planning, training, and design tasks. The underlying physics-based simulation of VE must be accurate and computationally fast enough for the intended application, which unfortunately are conflicting requirements. Two ways to perform fast and high fidelity physics-based simulation are: (1) model simplification, and (2) parallel computation. Model simplification can be used to allow simulation at an interactive rate while introducing an acceptable level of error. Currently, manual model simplification is the most common way of performing simulation speedup but it is time consuming. Hence, in order to reduce the development time of VEs, automated model simplification is needed. The dissertation presents an automated model simplification approach based on geometric reasoning, spatial decomposition, and temporal coherence. Geometric reasoning is used to develop an accessibility based algorithm for removing portions of geometric models that do not play any role in rigid body to rigid body interaction simulation. Removing such inaccessible portions of the interacting rigid body models has no influence on the simulation accuracy but reduces computation time significantly. Spatial decomposition is used to develop a clustering algorithm that reduces the number of fluid pressure computations resulting in significant speedup of rigid body and fluid interaction simulation. Temporal coherence algorithm reuses the computed force values from rigid body to fluid interaction based on the coherence of fluid surrounding the rigid body. The simulations are further sped up by performing computing on graphics processing unit (GPU). The dissertation also presents the issues pertaining to the development of parallel algorithms for rigid body simulations both on multi-core processors and GPU. The developed algorithms have enabled real-time, high fidelity, six degrees of freedom, and time domain simulation of unmanned sea surface vehicles (USSV) and can be used for autonomous motion planning, tele-operation, and learning from demonstration applications

Evaluating footwear “in the wild”: Examining wrap and lace trail shoe closures during trail running

Trail running participation has grown over the last two decades. As a result, there have been an increasing number of studies examining the sport. Despite these increases, there is a lack of understanding regarding the effects of footwear on trail running biomechanics in ecologically valid conditions. The purpose of our study was to evaluate how a Wrap vs. Lace closure (on the same shoe) impacts running biomechanics on a trail. Thirty subjects ran a trail loop in each shoe while wearing a global positioning system (GPS) watch, heart rate monitor, inertial measurement units (IMUs), and plantar pressure insoles. The Wrap closure reduced peak foot eversion velocity (measured via IMU), which has been associated with fit. The Wrap closure also increased heel contact area, which is also associated with fit. This increase may be associated with the subjective preference for the Wrap. Lastly, runners had a small but significant increase in running speed in the Wrap shoe with no differences in heart rate nor subjective exertion. In total, the Wrap closure fit better than the Lace closure on a variety of terrain. This study demonstrates the feasibility of detecting meaningful biomechanical differences between footwear features in the wild using statistical tools and study design. Evaluating footwear in ecologically valid environments often creates additional variance in the data. This variance should not be treated as noise; instead, it is critical to capture this additional variance and challenges of ecologically valid terrain if we hope to use biomechanics to impact the development of new products

The emperor\u27s new clothes: how the new atheists are reminding the humanities of their place and purpose in society.

This dissertation will examine the social and intellectual impact of the so-called “New Atheism” as evidenced by the writings and public careers of its four principal protagonists: evolutionary biologist Richard Dawkins, philosopher Daniel Dennett, journalist Christopher Hitchens, and neuroscientist Sam Harris. I will argue that the New Atheists together provide an account of reality philosophically superior to that of theism, including those superficially sophisticated variations espoused in the writings of scholars William Lane Craig, John Lennox, Allister McGrath, Alvin Plantinga, etc. Yet, even if this were not so, I would still contend that the accessible, informative, and provocative style of the New Atheists’ prose nevertheless epitomizes precisely what academic writing could and should be. Their commitment to the Enlightenment principles of philosophical objectivity, reason, and the successes of the scientific method stands in stark contrast not only to the more malleable methodology of their religious opponents, but also to the prevailing (and ideologically-conflicting) traditions of deconstructive postmodernism and post-structuralism (as exemplified in the works of Jean Baudrillard, Gilles Deleuze, Jacques Derrida, Jacques Lacan, and others) which have greatly influenced humanities’ scholarship in recent decades. Therefore, while I very much intend to defend the substance of the New Atheists’ arguments against the various objections of their philosophical, religious, and scientific critics, I simultaneously mean to defend their stylistic choices as well (not only against their critics but also as compared to the obscurant, equivocal, and highly subjective style so often employed by postmodernists). It is my fervent hope that even those who should ultimately disagree with either the New Atheists’ assertions or my defense of them will still be able to see the value of their (and hopefully my) clear, concise brand of communication. For theirs is a style no longer widely employed within the confines of the academy. That said, I believe that the humanities disciplines of history, literary theory, cultural studies, and philosophy would greatly benefit, were they to adopt (or perhaps re-embrace) the communicative model and underlying realist epistemology of the New Atheists

Dictionary of World Biography

Jones, Barry Owen (1932– ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972–77 and the Australian House of Representatives 1977–98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983–90, Prices and Consumer Affairs 1987, Small Business 1987–90 and Customs 1988–90. He became a member of the Executive Board of UNESCO, Paris 1991–95 and National President of the Australian Labor Party 1992–2000, 2005–06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860– (1965), Joseph II (1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Work was published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. Knowledge Courage Leadership, a collection of speeches and essays, appeared in 2016. He received a DSc for his services to science in 1988 and a DLitt in 1993 for his work on information theory. Elected FTSE (1992), FAHA (1993), FAA (1996) and FASSA (2003), he is the only person to have become a Fellow of four of Australia’s five learned Academies. Awarded an AO in 1993, named as one of Australia’s 100 ‘living national treasures’ in 1998, he was elected a Visiting Fellow Commoner of Trinity College, Cambridge in 1999. His autobiography, A Thinking Reed, was published in 2006 and The Shock of Recognition, about music and literature, in 2016. In 2014 he received an AC for services ‘as a leading intellectual in Australian public life

Dictionary of World Biography

Jones, Barry Owen (1932– ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972–77 and the Australian House of Representatives 1977–98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983–90, Prices and Consumer Affairs 1987, Small Business 1987–90 and Customs 1988–90. He became a member of the Executive Board of UNESCO, Paris 1991–95 and National President of the Australian Labor Party 1992–2000, 2005–06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860– (1965), Joseph II (1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Work was published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. Knowledge Courage Leadership, a collection of speeches and essays, appeared in 2016

Dictionary of World Biography: Fourth edition

Jones, Barry Owen (1932– ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972–77 and the Australian House of Representatives 1977–98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983–90, Prices and Consumer Affairs 1987, Small Business 1987–90 and Customs 1988–90. He became a member of the Executive Board of UNESCO, Paris 1991–95 and National President of the Australian Labor Party 1992–2000, 2005–06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860– (1965), Joseph II (1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Work was published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. Knowledge Courage Leadership, a collection of speeches and essays, appeared in 2016. He received a DSc for his services to science in 1988 and a DLitt in 1993 for his work on information theory. Elected FTSE (1992), FAHA (1993), FAA (1996) and FASSA (2003), he is the only person to have been elected to all four Australian learned Academies. Awarded an AO in 1993, named as one of Australia’s 100 ‘living national treasures’ in 1998, he was elected a Visiting Fellow Commoner of Trinity College, Cambridge in 1999. His autobiography, A Thinking Reed, was published in 2006 and The Shock of Recognition, about music and literature, in 2016. In 2014 he received an AC for services ‘as a leading intellectual in Australian public life’

Dictionary of World Biography: Third edition

Jones, Barry Owen (1932– ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972-77 and the Australian House of Representatives 1977-98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983-90, Prices and Consumer Affairs 1987, Small Business 1987-90 and Customs 1988-90. He became a member of the Executive Board of UNESCO, Paris 1991-95 and National President of the Australian Labor Party 1992-2000, 2005-06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860 (1965), Joseph II(1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Workwas published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. He received a DSc for his services to science in 1988 and a DLitt in 1993 for his work on information theory. Elected FTSE (1992), FAHA (1993), FAA(1996) and FASSA (2003), he is the only person to have been elected to all four Australian learned Academies. Awarded an AO in 1993, named as one of Australia’s one hundred ‘living national treasures’ in 1998, he was elected a Visiting Fellow Commoner of Trinity College, Cambridge in 1999. His autobiography, A Thinking Reed, was published in 2006 and The Shock of Recognition, about music and literature, in 2016. In 2014 he received an AC for services ‘as a leading intellectual in Australian public life’

Dictionary of World Biography

Jones, Barry Owen (1932- ). Australian politician, writer and lawyer, born in Geelong. Educated at Melbourne University, he was a public servant, high school teacher, television and radio performer, university lecturer and lawyer before serving as a Labor MP in the Victorian Parliament 1972-77 and the Australian House of Representatives 1977-98. He took a leading role in reviving the Australian film industry, abolishing the death penalty in Australia, and was the first politician to raise public awareness of global warming, the ‘post-industrial’ society, the IT revolution, biotechnology, the rise of ‘the Third Age’ and the need to preserve Antarctica as a wilderness. In the Hawke Government, he was Minister for Science 1983-90, Prices and Consumer Affairs 1987, Small Business 1987-90 and Customs 1988-90. He became a member of the Executive Board of UNESCO, Paris 1991-95 and National President of the Australian Labor Party 1992-2000, 2005-06. He was Deputy Chairman of the Constitutional Convention 1998. His books include Decades of Decision 1860- (1965), Joseph II (1968), Age of Apocalypse (1975), and he edited The Penalty is Death (1968). Sleepers, Wake!: Technology and the Future of Work was published by Oxford University Press in 1982, became a bestseller and has been translated into Chinese, Japanese, Korean, Swedish and braille. The fourth edition was published in 1995. He received a DSc for his services to science in 1988 and a DLitt in 1993 for his work on information theory. Elected FTSE (1992), FAHA (1993), FAA (1996) and FASSA (2003), he is the only person to have been elected to all four Australian learned Academies. Awarded an AO in 1993, named as one of Australia’s one hundred ‘living national treasures’ in 1998, he was elected a Visiting Fellow Commoner of Trinity College, Cambridge in 1999. His autobiography, A Thinking Reed, was published in 2006