4,854 research outputs found
Autonomous Mechanical Assembly on the Space Shuttle: An Overview
The space shuttle will be equipped with a pair of 50 ft. manipulators used to handle payloads and to perform mechanical assembly operations. Although current plans call for these manipulators to be operated by a human teleoperator. The possibility of using results from robotics and machine intelligence to automate this shuttle assembly system was investigated. The major components of an autonomous mechanical assembly system are examined, along with the technology base upon which they depend. The state of the art in advanced automation is also assessed
You\u27re Gonna Be Ok: A System to Control the Uncontrollable
This is a written defense to accompany the MFA Thesis Exhibition You’re Gonna Be Ok, an installation encompassing video, and other sensory components. This defense provides background for the artist’s motivation to make this work, along with a theoretical framework used to construct the installation. Accompanying photos, video, and PowerPoint are also included to give reference and documentation of the installation event
Concept development of installation technology for rainforest audio monitoring devices
Rainforest deforestation is the second largest anthropogenic source of greenhouse gas emission into the atmosphere, after the burning of fossil fuels. Up to 90 per cent of tropical rainforest deforestation is conducted illegally. Rainforest Connection endeavour to reduce this number through the installation of up-recycled Audio Monitoring Devices installed high in the trees of the forest.
The presented work aims to assist Rainforest Connection in their mission through the application of concept development methods for the enhancement of installation operations performed in the field. Due to the nature of the company a premium is placed on immediately implementable techniques. In response, both incremental improvements to current operations, through the adoption of industry techniques and commercially available equipment, and novel generated solutions are provided.
The paper recommends the employment of extendable carbon fibre poles for the installation of the Audio Monitoring Devices as a novel solution and identifies a path forward for further development of the installation technique. The adaption of commercial telescopic carbon fibre poles from the window washing industry repre-sents an additional tool for field operations that has the potential to save hours per temporarily installed device; while providing an immediate pathway for field trials in Ecuador at a low investment cost. A segment carbon fibre pole is recommended for future development of high elevation, permanent installations performed from the ground
Interactive videos: Plausible video editing using sparse structure points
Video remains the method of choice for capturing temporal events. However, without access to the underlying 3D scene models, it remains difficult to make object level edits in a single video or across multiple videos. While it may be possible to explicitly reconstruct the 3D geometries to facilitate these edits, such a workflow is cumbersome, expensive, and tedious. In this work, we present a much simpler workflow to create plausible editing and mixing of raw video footage using only sparse structure points (SSP) directly recovered from the raw sequences. First, we utilize user-scribbles to structure the point representations obtained using structure-from-motion on the input videos. The resultant structure points, even when noisy and sparse, are then used to enable various video edits in 3D, including view perturbation, keyframe animation, object duplication and transfer across videos, etc. Specifically, we describe how to synthesize object images from new views adopting a novel image-based rendering technique using the SSPs as proxy for the missing 3D scene information. We propose a structure-preserving image warping on multiple input frames adaptively selected from object video, followed by a spatio-temporally coherent image stitching to compose the final object image. Simple planar shadows and depth maps are synthesized for objects to generate plausible video sequence mimicking real-world interactions. We demonstrate our system on a variety of input videos to produce complex edits, which are otherwise difficult to achieve
Design and Development of a Myoelectric Transradial Prosthesis
The loss of a limb is a life-changing event and reality for 441,000 transradial amputees in the United States. Limb loss can have substantial physical, social, psychological, and economic consequences. A prototype prosthesis was created that has sophisticated hand functionality, an adjustable and comfortable socket, and a lightweight yet durable design utilizing 3D printing, all available at a reasonable price point. The prosthesis integrated force sensors, servo motors, and a myoelectric means of control so the user may perform activities of daily living. The overall outcome was a prosthesis that met its design requirements, offering increased usability, functionality, and availability
Design and Development of a Myoelectric Transradial Prosthesis
The loss of a limb is a life-changing event and reality for 441,000 transradial amputees in the United States. Limb loss can have substantial physical, social, psychological, and economic consequences. A prototype prosthesis was created that has sophisticated hand functionality, an adjustable and comfortable socket, and a lightweight yet durable design utilizing 3D printing, all available at a reasonable price point. The prosthesis integrated force sensors, servo motors, and a myoelectric means of control so the user may perform activities of daily living. The overall outcome was a prosthesis that met its design requirements, offering increased usability,functionality, and availability
The SmartHand transradial prosthesis
<p>Abstract</p> <p>Background</p> <p>Prosthetic components and control interfaces for upper limb amputees have barely changed in the past 40 years. Many transradial prostheses have been developed in the past, nonetheless most of them would be inappropriate if/when a large bandwidth human-machine interface for control and perception would be available, due to either their limited (or inexistent) sensorization or limited dexterity. <it>SmartHand </it>tackles this issue as is meant to be clinically experimented in amputees employing different neuro-interfaces, in order to investigate their effectiveness. This paper presents the design and on bench evaluation of the SmartHand.</p> <p>Methods</p> <p>SmartHand design was bio-inspired in terms of its physical appearance, kinematics, sensorization, and its multilevel control system. Underactuated fingers and differential mechanisms were designed and exploited in order to fit all mechatronic components in the size and weight of a natural human hand. Its sensory system was designed with the aim of delivering significant afferent information to the user through adequate interfaces.</p> <p>Results</p> <p>SmartHand is a five fingered self-contained robotic hand, with 16 degrees of freedom, actuated by 4 motors. It integrates a bio-inspired sensory system composed of 40 proprioceptive and exteroceptive sensors and a customized embedded controller both employed for implementing automatic grasp control and for potentially delivering sensory feedback to the amputee. It is able to perform everyday grasps, count and independently point the index. The weight (530 g) and speed (closing time: 1.5 seconds) are comparable to actual commercial prostheses. It is able to lift a 10 kg suitcase; slippage tests showed that within particular friction and geometric conditions the hand is able to stably grasp up to 3.6 kg cylindrical objects.</p> <p>Conclusions</p> <p>Due to its unique embedded features and human-size, the SmartHand holds the promise to be experimentally fitted on transradial amputees and employed as a bi-directional instrument for investigating -during realistic experiments- different interfaces, control and feedback strategies in neuro-engineering studies.</p
Proximal tibial reconstruction with auto transplantation of the fibular growth plate: two case reports, describing the surgical technique
Introduction: Tumors of the proximal tibia, in children, can affect the growth plate and pose a challenge to further reconstruction of the bone defects resulting from tumor resection. Reconstruction methods do not always compensate the potential for bone growth in this segment. We present a new surgical technique of bone reconstruction, based on the transposition of the ipsilateral fibula with its growth plate and the use of an internal sliding fixation device, without need for microsurgical technique. Case description: We report two patients with osteosarcoma of the proximal tibia affecting the growth cartilage who were treated with the new technique. Discussion and Evaluation: In both cases, bone healing, hypertrophy and longitudinal growth of the transposed fibula were documented. Conclusions: This new technique preserves the blood supply of the auto-transplanted bone segment, maintaining physeal growth potential, with no need for microsurgery. The implant allows longitudinal bone growth, which was radiographically confirmed.Fed Univ Sao Paulo UNIFESP, Oncol Orthoped Div, Sao Paulo, BrazilSanta Casa Sao Paulo, Fac Med Sci, Orthoped Div, Sao Paulo, BrazilSanta Casa Sao Paulo, Fac Med Sci, Hand Surg Div, Sao Paulo, BrazilR Gen Jardim, 846 Conjunto 41, BR-01223010 Sao Paulo, SP, BrazilFed Univ Sao Paulo UNIFESP, Oncol Orthoped Div, Sao Paulo, BrazilWeb of Scienc
Restoration Jewish Evangelism: A Dispensational Paradigm for Jewish Evangelism
Local Jewish populations within proximity of U.S. churches are perishing in their need to hear the Christian gospel. Obstacles to Jewish evangelism have festered through the centuries. Modern scholarship has held culpable the supersessionist traditions from the early church fathers and carried over to the present day. Dispensational pastors and scholars have acted on the front lines to correct this grievance. Restoration Jewish Evangelism (RJE) supplies a template of Jewish evangelism centered on a dispensational view of Romans 9—11. The goal of this project includes strengthening the parishioners’ situational awareness and self-confidence to engage in sharing the gospel of the kingdom with their Jewish neighbors. Research methods consisted of a tri-phase data collection procedure. The first phase employed an Initial Recruitment Survey and Pre-Workshop Interview. Participants openly assessed their history of faith and practice against the components of a dispensational view of Paul’s example. The second phase incorporated a curriculum entitled “An Inductive Lead to Jesus,” along with a survey designed to open the floor for a live discussion of critical topics. Expert special guests, Drs. Arnold Fruchtenbaum, Michael L. Brown, et al., reinforced the curriculum. Finally, a Post-Workshop Interview gauged the event’s impact according to a baseline Workshop Thematic Analysis Form. This project intends to supply churches with a working template for local Jewish evangelism. This project will enable local churches to empower their parishioners to reject impeding theological systems to deliver the gospel message to their local Jewish populations
What is happening here? [exploits of the nonhuman]
What is happening here? [exploits of the nonhuman] is a practice-led research project introducing the proposition of anthrodecentric art as conceptual framework. I propose anthrodecentric art to be a relational logic opening a state of re-enchantment for the viewer, allowing for the emergence of visible nonhuman agencies. My development of anthrodecentric art follows two lines of enquiry: ‘How can the practice of art-work to reveal nonhuman agencies?’ and, ‘What types of representation are most revealing of nonhuman agency to a human audience?’ My practical methodology begins with my working theory, testing variations of representation through experiments, generating diagrammatic arguments, enacting these diagrams in space, and developing analytic tools to understand how works impact viewers. I propose that the resulting art objects are not representations of theory but embodiments, extending beyond representation and generating spaces of function — the revelation of nonhuman agencies. I work through modes of non-Cartesian representation, creating a system of connective tissues, conceptual fibres of understanding the relational space between the real/represented through a state of re-enchantment — a space where the real and the represented are equally present/erased. The works presented within this project are works with animate nonhumans as present and active subjects; drawing from social, political, cultural, and ecological histories with the intention to seduce the viewer into a state of re-enchantment with the present and past nonhuman. I propose the viewer is key to the entirety of this project, with the aim of changing perspectives from cultural narcissism to that of a relational and connected existence. The layering of types of representation within each installation of work is intended to de-stabilise the viewer and allow for new ideas and thoughts to emerge — to generate a space of shifting perspectives
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