Overcoming barriers and increasing independence: service robots for elderly and disabled people

This paper discusses the potential for service robots to overcome barriers and increase independence of elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly people and advances in technology which will make new uses possible and provides suggestions for some of these new applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses the complementarity of assistive service robots and personal assistance and considers the types of applications and users for which service robots are and are not suitable

Car collision avoidance with velocity obstacle approach

The obstacle avoidance maneuver is required for an autonomous vehicle. It is essential to define the system's performance by evaluating the minimum reaction times of the vehicle and analyzing the probability of success of the avoiding operation. This paper presents a collision avoidance algorithm based on the velocity bstacle approach that guarantees collision-free maneuvers. The vehicle is controlled by an optimal feedback control named FLOP, designed to produce the best performance in terms of safety and minimum kinetic collision energy. Dimensionless accident evaluation parameters are proposed to compare different crash scenarios

Accreditation for transnational research access to official micro-data in Europe

Accreditation is a central element of the framework for research access to micro-data that currently is understood to be a barrier for transnational access. To better understand the nature and causes of the problem, and to devise potential solutions, we have mapped current arrangements across European countries. We identify similarities and differences as well as areas for improvement. Our key results are encouraging: almost all European countries do provide research access to their micro-data, and most of them allow non-national European researchers to access their data, though under varying conditions. However, some obstacles remain, and some of them require negotiation and coordination at policy-making levels. To overcome existing barriers, we propose some potential options for the future and concrete steps towards improvement, which if explored from now on, could substantially improve access while still ensuring safe and lawful conditions, and reducing the administrative financial burden of data providers

Capillary filling with wall corrugations] Capillary filling in microchannels with wall corrugations: A comparative study of the Concus-Finn criterion by continuum, kinetic and atomistic approaches

We study the impact of wall corrugations in microchannels on the process of capillary filling by means of three broadly used methods - Computational Fluid Dynamics (CFD), Lattice-Boltzmann Equations (LBE) and Molecular Dynamics (MD). The numerical results of these approaches are compared and tested against the Concus-Finn (CF) criterion, which predicts pinning of the contact line at rectangular ridges perpendicular to flow for contact angles theta > 45. While for theta = 30, theta = 40 (no flow) and theta = 60 (flow) all methods are found to produce data consistent with the CF criterion, at theta = 50 the numerical experiments provide different results. Whilst pinning of the liquid front is observed both in the LB and CFD simulations, MD simulations show that molecular fluctuations allow front propagation even above the critical value predicted by the deterministic CF criterion, thereby introducing a sensitivity to the obstacle heigth.Comment: 25 pages, 8 figures, Langmuir in pres

RMPD - A Recursive Mid-Point Displacement Algorithm for Path Planning

Motivated by what is required for real-time path planning, the paper starts out by presenting sRMPD, a new recursive "local" planner founded on the key notion that, unless made necessary by an obstacle, there must be no deviation from the shortest path between any two points, which would normally be a straight line path in the configuration space. Subsequently, we increase the power of sRMPD by using it as a "connect" subroutine call in a higher-level sampling-based algorithm mRMPD that is inspired by multi-RRT. As a consequence, mRMPD spawns a larger number of space exploring trees in regions of the configuration space that are characterized by a higher density of obstacles. The overall effect is a hybrid tree growing strategy with a trade-off between random exploration as made possible by multi-RRT based logic and immediate exploitation of opportunities to connect two states as made possible by sRMPD. The mRMPD planner can be biased with regard to this trade-off for solving different kinds of planning problems efficiently. Based on the test cases we have run, our experiments show that mRMPD can reduce planning time by up to 80% compared to basic RRT

Understanding the agility of running birds: Sensorimotor and mechanical factors in avian bipedal locomotion

Birds are a diverse and agile lineage of vertebrates that all use bipedal locomotion for at least part of their life. Thus birds provide a valuable opportunity to investigate how biomechanics and sensorimotor control are integrated for agile bipedal locomotion. This review summarizes recent work using terrain perturbations to reveal neuromechanical control strategies used by ground birds to achieve robust, stable and agile running. Early experiments in running guinea fowl aimed to reveal the immediate intrinsic mechanical response to an unexpected drop ('pothole') in terrain. When navigating the pothole, guinea fowl experience large changes in leg posture in the perturbed step, which correlates strongly with leg loading and perturbation recovery. Analysis of simple theoretical models of running has further confirmed the crucial role of swing-leg trajectory control for regulating foot contact timing and leg loading in uneven terrain. Coupling between body and leg dynamics results in an inherent trade-off in swing leg retraction rate for fall avoidance versus injury avoidance. Fast leg retraction minimizes injury risk, but slow leg retraction minimizes fall risk. Subsequent experiments have investigated how birds optimize their control strategies depending on the type of perturbation (pothole, step, obstacle), visibility of terrain, and with ample practice negotiating terrain features. Birds use several control strategies consistently across terrain contexts: 1) independent control of leg angular cycling and leg length actuation, which facilitates dynamic stability through simple control mechanisms, 2) feedforward regulation of leg cycling rate, which tunes foot-contact timing to maintain consistent leg loading in uneven terrain (minimizing fall and injury risks), 3) load-dependent muscle actuation, which rapidly adjusts stance push-off and stabilizes body mechanical energy, and 4) multi-step recovery strategies that allow body dynamics to transiently vary while tightly regulating leg loading to minimize risks of fall and injury. In future work, it will be interesting to investigate the learning and adaptation processes that allow animals to adjust neuromechanical control mechanisms over short and long timescales

Feeling, Not Freedom: Nietzsche Against Agency

Despite his rejection of the metaphysical conception of freedom of the will, Nietzsche frequently makes positive use of the language of freedom, autonomy, self-mastery, self-overcoming, and creativity when describing his normative project of enhancing humanity through the promotion of its highest types. A number of interpreters have been misled by such language to conclude that Nietzsche accepts some version of compatibilism, holding a theory of natural causality that excludes metaphysical or “libertarian” freedom of the will, while endorsing morally substantial alternative conceptions of freedom, autonomy, and responsibility. I argue to the contrary that although Nietzsche’s rejection of..