Force-based control for human-robot cooperative object manipulation

In Physical Human-Robot Interaction (PHRI), humans and robots share the workspace and physically interact and collaborate to perform a common task. However, robots do not have human levels of intelligence or the capacity to adapt in performing collaborative tasks. Moreover, the presence of humans in the vicinity of the robot requires ensuring their safety, both in terms of software and hardware. One of the aspects related to safety is the stability of the human-robot control system, which can be placed in jeopardy due to several factors such as internal time delays. Another aspect is the mutual understanding between humans and robots to prevent conflicts in performing a task. The kinesthetic transmission of the human intention is, in general, ambiguous when an object is involved, and the robot cannot distinguish the human intention to rotate from the intention to translate (the translation/rotation problem).This thesis examines the aforementioned issues related to PHRI. First, the instability arising due to a time delay is addressed. For this purpose, the time delay in the system is modeled with the exponential function, and the effect of system parameters on the stability of the interaction is examined analytically. The proposed method is compared with the state-of-the-art criteria used to study the stability of PHRI systems with similar setups and high human stiffness. Second, the unknown human grasp position is estimated by exploiting the interaction forces measured by a force/torque sensor at the robot end effector. To address cases where the human interaction torque is non-zero, the unknown parameter vector is augmented to include the human-applied torque. The proposed method is also compared via experimental studies with the conventional method, which assumes a contact point (i.e., that human torque is equal to zero). Finally, the translation/rotation problem in shared object manipulation is tackled by proposing and developing a new control scheme based on the identification of the ongoing task and the adaptation of the robot\u27s role, i.e., whether it is a passive follower or an active assistant. This scheme allows the human to transport the object independently in all degrees of freedom and also reduces human effort, which is an important factor in PHRI, especially for repetitive tasks. Simulation and experimental results clearly demonstrate that the force required to be applied by the human is significantly reduced once the task is identified

Force-based Perception and Control Strategies for Human-Robot Shared Object Manipulation

Physical Human-Robot Interaction (PHRI) is essential for the future integration of robots in human-centered environments. In these settings, robots are expected to share the same workspace, interact physically, and collaborate with humans to achieve a common task. One of the primary tasks that require human-robot collaboration is object manipulation. The main challenges that need to be addressed to achieve a seamless cooperative object manipulation are related to uncertainties in human trajectory, grasp position, and intention. The object’s motion trajectory intended by the human is not always defined for the robot and the human may grasp any part of the object depending on the desired trajectory. In addition, the state-of-the-art object-manipulation control schemes suffer from the translation/rotation problem, where the human cannot move the object in all degrees of freedom, independently, and thus, needs to exert extra effort to accomplish the task. To address the challenges, first, we propose an estimation method for identifying the human grasp position. We extend the conventional contact point estimation method by formulating a new identification model with the human applied torque as an unknown parameter and employing empirical conditions to estimate the human grasp position. The proposed method is compared with a conventional contact point estimation using the experimental data collected for various collaboration scenarios. Second, given the human grasp position, a control strategy is suggested to transport the object in all degrees of freedom, independently. We employ the concept of “the instantaneous center of zero velocity” to reduce the human effort by minimizing the exerted human force. The stability of the interaction is evaluated using a passivity-based analysis of the closed-loop system, including the object and the robotic manipulator. The performance of the proposed control scheme is validated through simulation of scenarios containing rotations and translations of the object. Our study indicates that the exerted torque of the human has a significant effect on the human grasp position estimation. Besides, the knowledge of the human grasp position can be used in the control scheme design to avoid the translation/rotation problem and reduce the human effort

Molecular Design Approach Managing Molecular Orbital Superposition for High Efficiency without Color Shift in Thermally Activated Delayed Fluorescent Organic Lightâ Emitting Diodes

Molecular design principles of thermally activated delayed fluorescent (TADF) emitters having a high quantum efficiency and a color tuning capability was investigated by synthesizing three TADF emitters with donors at different positions of a benzonitrile acceptor. The position rendering a large overlap between the highest occupied molecular orbital (HOMO) and the lowest unoccupied molecular orbital (LUMO) enhances the quantum efficiency of the TADF emitter. Regarding the orbital overlap, donor attachments at 2â and 6â positions of the benzonitrile were more beneficial than 3â and 5â substitutions. Moreover, an additional attachment of a weak donor at the 4â position further increased the quantum efficiency without decreasing the emission energy. Therefore, the molecular design strategy of substituting strong donors at the positions allowing a large molecular orbital overlap and an extra weak donor is a good approach to achieve both high quantum efficiency and a slightly increased emission energy.Overlap to emit: The substitution of strong donors at the positions rendering a large HOMOâ LUMO overlap and the addition of a weak donor constitute an effective design approach to realize TADF emitters having high efficiency.Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/147817/1/chem201805616-sup-0001-misc_information.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/147817/2/chem201805616.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/147817/3/chem201805616_am.pd

An overview of multi-ingredient kidney stone dissolving formulations from Traditional Persian Pharmacy

Kidney stone, as a third important urinary tract disease, is a common disease affecting 10-15% of the world population. Effective medical treatment for the disease is not yet well established. On the other hand, there is an increasing global demand to manage and control various diseases with natural medicine and medicaments originating from Complementary and Alternative Medicine (CAM). Traditional Persian medicine (TPM), as one of the most popular schools in CAM, suggests numerous clinical interventions for kidney stones. This review provides various related compound formulations for kidney/bladder stones from the standpoints of Persian scholars. These remedies have been cited in a series of traditional pharmaceutical manuscripts of Persian medicine, namely Qarābādin or prescription. More than fifty multi-ingredient formulations for kidney/bladder stones have been found by reviewing five main Persian pharmacopeias. Various dosage forms have been reported for the management of kidney/bladder stones, such as Majoon (confection), Sharāb (syrup), Jawārish (semisolid confection), Qors (Tablet), and Safoof (oral powder). Considering the positive pharmacological or biological activities of the constituents of filtered formulations, many of those can be re-formulated and either experimentally or clinically evaluated to be introduced as new natural remedies in this field

Efficacy of biological agents and fillers seed coating in improving drought stress in anise

Many plants, including anise, have tiny, non-uniform seeds with low and light nutrient reserves. The seeds also show a weak establishment, especially under stressful conditions where their accurate planting in the soil and optimal yield are tough. This study sought to improve anise seeds' physical and physiological characteristics under drought stress. To this end, two factorial experiments under laboratory and greenhouse conditions were performed in a completely randomized design with 4 and 3 replications, respectively. Five levels of seed inoculation (inoculation with T36 and T43 of Trichoderma harzianum, and CHA0 and B52 of Pseudomonas fluorescent, and non-inoculation which means that control seeds were not treated with microbial inoculant), three levels of coating (K10P20, K10P10V5, and non-coating), and three levels of drought stress (0, -3, and -6 bars) were considered as the factorial experiment [vermiculite (V), kaolin (K), and perlite (P) numbers refer to the amount of material used in grams]. The laboratory experiment revealed that the combined treatments of bio-agents with coating increased the physical and germination characteristics of anise seeds compared to the control treatment. The greenhouse experiment showed that drought stress reduced the initial growth indices. Still, the combination treatments of biological agents and coating (fillers) could alleviate the destructive effects of drought stress to some extent and improve these indices. The best treatment was provided by T36 and K10P20 in both experiments, which significantly increased morphological indices.Peer reviewe

Prevalence and predictors of low back pain among the Iranian population: Results from the Persian cohort study

Background and objectives: Low back pain (LBP) is a common health condition in populations. Limited large-scale population-based studies evaluated the prevalence and predictors of LBP in developing countries. This study aimed to evaluate the prevalence and factors associated with LBP among the Iranian population. Methods: We used baseline information from the Prospective Epidemiological Research Studies in Iran (PERSIAN), including individuals from 16 provinces of Iran. LBP was defined as the history of back pain interfering with daily activities for more than one week during an individual's lifetime. Various factors hypothesized to affect LBP, such as age, sex, marital status, educational status, ethnicity, living area, employment status, history of smoking, body mass index (BMI), physical activity, sleep duration, wealth score, history of joint pain, and history of morning stiffness in the joints were evaluated. Results: In total, 163770 Iranians with a mean age of 49.37 (SD = 9.15) were included in this study, 44.8% of whom were male. The prevalence of LBP was 25.2% among participants. After adjusting for confounders, the female gender [OR:1.244(1.02-1.50)], middle and older ages [OR:1.23(1.10-1.33) and OR:1.13(1.07-1.42), respectively], being overweight or obese [OR:1.13(1.07-1.19) and OR:1.21(1.16-1.27), respectively], former and current smokers (OR:1.25(1.16-1.36) and OR:1.28(1.17-1.39), respectively], low physical activity [OR:1.07 (1.01-1.14)], and short sleep duration [OR: 1.09(1.02-1.17)] were significantly associated with LBP. Conclusion: In this large-scale study, we found the lifetime prevalence of LBP to be lower among the Iranian population in comparison to the global prevalence of LBP; further studies are warranted to evaluate the causality of risk factors on LBP

Repositioning of the global epicentre of non-optimal cholesterol

High blood cholesterol is typically considered a feature of wealthy western countries(1,2). However, dietary and behavioural determinants of blood cholesterol are changing rapidly throughout the world(3) and countries are using lipid-lowering medications at varying rates. These changes can have distinct effects on the levels of high-density lipoprotein (HDL) cholesterol and non-HDL cholesterol, which have different effects on human health(4,5). However, the trends of HDL and non-HDL cholesterol levels over time have not been previously reported in a global analysis. Here we pooled 1,127 population-based studies that measured blood lipids in 102.6 million individuals aged 18 years and older to estimate trends from 1980 to 2018 in mean total, non-HDL and HDL cholesterol levels for 200 countries. Globally, there was little change in total or non-HDL cholesterol from 1980 to 2018. This was a net effect of increases in low- and middle-income countries, especially in east and southeast Asia, and decreases in high-income western countries, especially those in northwestern Europe, and in central and eastern Europe. As a result, countries with the highest level of non-HDL cholesterol-which is a marker of cardiovascular riskchanged from those in western Europe such as Belgium, Finland, Greenland, Iceland, Norway, Sweden, Switzerland and Malta in 1980 to those in Asia and the Pacific, such as Tokelau, Malaysia, The Philippines and Thailand. In 2017, high non-HDL cholesterol was responsible for an estimated 3.9 million (95% credible interval 3.7 million-4.2 million) worldwide deaths, half of which occurred in east, southeast and south Asia. The global repositioning of lipid-related risk, with non-optimal cholesterol shifting from a distinct feature of high-income countries in northwestern Europe, north America and Australasia to one that affects countries in east and southeast Asia and Oceania should motivate the use of population-based policies and personal interventions to improve nutrition and enhance access to treatment throughout the world.Peer reviewe

Height and body-mass index trajectories of school-aged children and adolescents from 1985 to 2019 in 200 countries and territories: a pooled analysis of 2181 population-based studies with 65 million participants

Summary Background Comparable global data on health and nutrition of school-aged children and adolescents are scarce. We aimed to estimate age trajectories and time trends in mean height and mean body-mass index (BMI), which measures weight gain beyond what is expected from height gain, for school-aged children and adolescents. Methods For this pooled analysis, we used a database of cardiometabolic risk factors collated by the Non-Communicable Disease Risk Factor Collaboration. We applied a Bayesian hierarchical model to estimate trends from 1985 to 2019 in mean height and mean BMI in 1-year age groups for ages 5–19 years. The model allowed for non-linear changes over time in mean height and mean BMI and for non-linear changes with age of children and adolescents, including periods of rapid growth during adolescence. Findings We pooled data from 2181 population-based studies, with measurements of height and weight in 65 million participants in 200 countries and territories. In 2019, we estimated a difference of 20 cm or higher in mean height of 19-year-old adolescents between countries with the tallest populations (the Netherlands, Montenegro, Estonia, and Bosnia and Herzegovina for boys; and the Netherlands, Montenegro, Denmark, and Iceland for girls) and those with the shortest populations (Timor-Leste, Laos, Solomon Islands, and Papua New Guinea for boys; and Guatemala, Bangladesh, Nepal, and Timor-Leste for girls). In the same year, the difference between the highest mean BMI (in Pacific island countries, Kuwait, Bahrain, The Bahamas, Chile, the USA, and New Zealand for both boys and girls and in South Africa for girls) and lowest mean BMI (in India, Bangladesh, Timor-Leste, Ethiopia, and Chad for boys and girls; and in Japan and Romania for girls) was approximately 9–10 kg/m2. In some countries, children aged 5 years started with healthier height or BMI than the global median and, in some cases, as healthy as the best performing countries, but they became progressively less healthy compared with their comparators as they grew older by not growing as tall (eg, boys in Austria and Barbados, and girls in Belgium and Puerto Rico) or gaining too much weight for their height (eg, girls and boys in Kuwait, Bahrain, Fiji, Jamaica, and Mexico; and girls in South Africa and New Zealand). In other countries, growing children overtook the height of their comparators (eg, Latvia, Czech Republic, Morocco, and Iran) or curbed their weight gain (eg, Italy, France, and Croatia) in late childhood and adolescence. When changes in both height and BMI were considered, girls in South Korea, Vietnam, Saudi Arabia, Turkey, and some central Asian countries (eg, Armenia and Azerbaijan), and boys in central and western Europe (eg, Portugal, Denmark, Poland, and Montenegro) had the healthiest changes in anthropometric status over the past 3·5 decades because, compared with children and adolescents in other countries, they had a much larger gain in height than they did in BMI. The unhealthiest changes—gaining too little height, too much weight for their height compared with children in other countries, or both—occurred in many countries in sub-Saharan Africa, New Zealand, and the USA for boys and girls; in Malaysia and some Pacific island nations for boys; and in Mexico for girls. Interpretation The height and BMI trajectories over age and time of school-aged children and adolescents are highly variable across countries, which indicates heterogeneous nutritional quality and lifelong health advantages and risks