Bio-Inspired Soft Artificial Muscles for Robotic and Healthcare Applications

Soft robotics and soft artificial muscles have emerged as prolific research areas and have gained substantial traction over the last two decades. There is a large paradigm shift of research interests in soft artificial muscles for robotic and medical applications due to their soft, flexible and compliant characteristics compared to rigid actuators. Soft artificial muscles provide safe human-machine interaction, thus promoting their implementation in medical fields such as wearable assistive devices, haptic devices, soft surgical instruments and cardiac compression devices. Depending on the structure and material composition, soft artificial muscles can be controlled with various excitation sources, including electricity, magnetic fields, temperature and pressure. Pressure-driven artificial muscles are among the most popular soft actuators due to their fast response, high exertion force and energy efficiency. Although significant progress has been made, challenges remain for a new type of artificial muscle that is easy to manufacture, flexible, multifunctional and has a high length-to-diameter ratio. Inspired by human muscles, this thesis proposes a soft, scalable, flexible, multifunctional, responsive, and high aspect ratio hydraulic filament artificial muscle (HFAM) for robotic and medical applications. The HFAM consists of a silicone tube inserted inside a coil spring, which expands longitudinally when receiving positive hydraulic pressure. This simple fabrication method enables low-cost and mass production of a wide range of product sizes and materials. This thesis investigates the characteristics of the proposed HFAM and two implementations, as a wearable soft robotic glove to aid in grasping objects, and as a smart surgical suture for perforation closure. Multiple HFAMs are also combined by twisting and braiding techniques to enhance their performance. In addition, smart textiles are created from HFAMs using traditional knitting and weaving techniques for shape-programmable structures, shape-morphing soft robots and smart compression devices for massage therapy. Finally, a proof-of-concept robotic cardiac compression device is developed by arranging HFAMs in a special configuration to assist in heart failure treatment. Overall this fundamental work contributes to the development of soft artificial muscle technologies and paves the way for future comprehensive studies to develop HFAMs for specific medical and robotic requirements

Attention Restraint, Working Memory Capacity, and Mind Wandering: Do Emotional Valence or Intentionality Matter?

Attention restraint appears to mediate the relationship between working memory capacity (WMC) and mind wandering (Kane et al., 2016). Prior work has identifed two dimensions of mind wandering—emotional valence and intentionality. However, less is known about how WMC and attention restraint correlate with these dimensions. Te current study examined the relationship between WMC, attention restraint, and mind wandering by emotional valence and intentionality. A confrmatory factor analysis demonstrated that WMC and attention restraint were strongly correlated, but only attention restraint was related to overall mind wandering, consistent with prior fndings. However, when examining the emotional valence of mind wandering, attention restraint and WMC were related to negatively and positively valenced, but not neutral, mind wandering. Attention restraint was also related to intentional but not unintentional mind wandering. Tese results suggest that WMC and attention restraint predict some, but not all, types of mind wandering

The Ecology and Evolution of Human Reproductive Behavior

The complexity of human reproductive behavior has necessitated its examination through a variety of scientific disciplines, each focusing on specific elements of our biology, behavior, and society. However, this complexity also necessitates that we reintegrate the information learned from each discipline into a single framework, one rooted in the evolutionary principles that have shaped the development of all life on earth. In this dissertation, I use this framework to explore human reproductive behavior, with a particular focus on sexual coercion and fertility-mediated sexual behavior. In Chapter 1, I introduce the approach taken in this document, identify several key limitations, and outline the general structure. In Chapter 2, I conduct a comprehensive and interdisciplinary review that includes the fundamentals of sexual conflict and reproductive strategies; the evolution of human reproductive characteristics in response to socio-cognitive demands; the aspects of human sociality expected to influence reproductive behavior; the identified trends in human mating behavior; the proposed pressures behind concealed ovulation in primates; the essentials of the menstrual cycle; and the existing evidence for behavioral fertility in humans. In Chapter 3, I use a game-theory model to investigate the emergence of sexually coercive behavior across a variety of species, including humans, in which male coercion is a non-developmentally-determined reproductive strategy to identify several ecological and behavioral characteristics that predict the emergence of coercive behavior generally consistent with observed trends. In Chapter 4, I use face-trait research to investigate the degree to which women recognize and discriminate between images of men with personality traits associated with different male reproductive strategies as well as how these preferences might be mediated by her relationship and fertility status. In Chapter 5, explore the intersection of fertility, fertility belief, and sexuality, specifically testing the hypothesis that a woman’s sexual interest shifts in response to her fertility while taking into consideration her beliefs regarding her fertility. Finally, in Chapter 6, I review the primary take-home messages of this work and recommend that future research take these into consideration as they move forward. By taking an interdisciplinary approach rooted in evolutionary biology, this work reveals the need for an understanding of human reproductive behavior that incorporates a wider view of reproductive ecology. In doing so, we can gain a more accurate, comprehensive, and nuanced understanding of human reproductive behavior

Live electronics in live performance : a performance practice emerging from the piano+ used in free improvisation

This thesis explores a performance practice within free improvisation. This is not a theory based improvisation – performances do not require specific preparation and the music refrains from repetition of musical structures. It engages in investigative and experimental approaches emerging from holistic considerations of acoustics, interaction and instrument, and also philosophy, psychology, sociopolitics and technology. The performance practice explores modes and approaches to working with the given potentiality of an electronically augmented acoustic instrument and involves the development of a suitably flexible computerised performance system, the piano+, combining extended techniques and real-time electroacoustic processes, which has the acoustic piano at its core. Contingencies of acoustic events and performance gestures – captured by audio analysis and sensors and combined to control the parameter space of computer processes – manipulate the fundamental properties of sound, timbre and time. Spherical abstractions, developed under consideration of Agamben’s potentiality and Sloterdijk’s philosophical theory of spheres, allow a shared metaphor for technical, instrumental, personal, and interpersonal concerns. This facilitates a theoretical approach for heuristic and investigative improvisation where performance is considered ‘Ereignis’ (an event) for sociopolitically aware activities that draw on the situational potentiality and present themselves in fragile and context dependent forms. Ever new relationships can be found and developed, but can equally be lost. Sloterdijk supplied the concept of knowledge resulting from equipping our ‘inner space’, an image suiting non-linearity of thought that transpires from Kuhl’s psychological PSI-theory to explain human motivation and behaviour. The role of technology – diversion and subversion of sound and activity – creates a space between performer and instrument that retains a fundamental pianism but defies expectation and anticipation. Responsibility for one’s actions is required to deal with the unexpected without resorting to preliminary strategies restricting potential discourses, particularly within ensemble situations. This type of performance embraces the ‘Ereignis’.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Proceedings of the 19th Sound and Music Computing Conference

Proceedings of the 19th Sound and Music Computing Conference - June 5-12, 2022 - Saint-Étienne (France). https://smc22.grame.f