An assistive robot to support dressing-strategies for planning and error handling

© 2016 IEEE. Assistive robots are emerging to address a social need due to changing demographic trends such as an ageing population. The main emphasis is to offer independence to those in need and to fill a potential labour gap in response to the increasing demand for caregiving. This paper presents work undertaken as part of a dressing task using a compliant robotic arm on a mannequin. Several strategies are explored on how to undertake this task with minimal complexity and a mix of sensors. A Vicon tracking system is used to determine the arm position of the mannequin for trajectory planning by means of waypoints. Methods of failure detection were explored through torque feedback and sensor tag data. A fixed vocabulary of recognised speech commands was implemented allowing the user to successfully correct detected dressing errors. This work indicates that low cost sensors and simple HRI strategies, without complex learning algorithms, could be used successfully in a robot assisted dressing task

A suspended-membrane balanced frequency doubler to 200 GHz

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'Elbows Out' - Predictive tracking of partially occluded pose for Robot-Assisted dressing

© 2016 IEEE. Robots that can assist in the activities of daily living, such as dressing, may support older adults, addressing the needs of an aging population in the face of a growing shortage of care professionals. Using depth cameras during robot-assisted dressing can lead to occlusions and loss of user tracking, which may result in unsafe trajectory planning or prevent the planning task proceeding altogether. For the dressing task of putting on a jacket, which is addressed in this letter, tracking of the arm is lost when the user's hand enters the jacket, which may lead to unsafe situations for the user and a poor interaction experience. Using motion tracking data, free from occlusions, gathered from a human-human interaction study on an assisted dressing task, recurrent neural network models were built to predict the elbow position of a single arm based on other features of the user pose. The best features for predicting the elbow position were explored by using regression trees indicating the hips and shoulder as possible predictors. Engineered features were also created based on observations of real dressing scenarios and their effectiveness explored. Comparison between position and orientation-based datasets was also included in this study. A 12-fold cross-validation was performed for each feature set and repeated 20 times to improve statistical power. Using position-based data, the elbow position could be predicted with a 4.1 cm error but adding engineered features reduced the error to 2.4 cm. Adding orientation information to the data did not improve the accuracy and aggregating univariate response models failed to make significant improvements. The model was evaluated on Kinect data for a robot dressing task and although not without issues, demonstrates potential for this application. Although this has been demonstrated for jacket dressing, the technique could be applied to a number of different situations during occluded tracking

Safety assessment review of a dressing assistance robot

Hazard analysis methods such as HAZOP and STPA have proven to be effective methods for assurance of system safety for years. However, the dimensionality and human factors uncertainty of many assistive robotic applications challenges the capability of these methods to provide comprehensive coverage of safety issues from interdisciplinary perspectives in a timely and cost-effective manner. Physically assistive tasks in which a range of dynamic contexts require continuous human–robot physical interaction such as e.g., robot-assisted dressing or sit-to-stand pose a new paradigm for safe design and safety analysis methodology. For these types of tasks, considerations have to be made for a range of dynamic contexts where the robot-assistance requires close and continuous physical contact with users. Current regulations mainly cover industrial collaborative robotics regarding physical human–robot interaction (pHRI) but largely neglects direct and continuous physical human contact. In this paper, we explore limitations of commonly used safety analysis techniques when applied to robot-assisted dressing scenarios. We provide a detailed analysis of the system requirements from the user perspective and consider user-bounded hazards that can compromise safety of this complex pHRI

Characteristics of tropospheric ozone depletion events in the Arctic spring: analysis of the ARCTAS, ARCPAC, and ARCIONS measurements and satellite BrO observations

Arctic ozone depletion events (ODEs) are caused by halogen catalyzed ozone loss. In situ chemistry, advection of ozone-poor air mass, and vertical mixing in the lower troposphere are important factors affecting ODEs. To better characterize the ODEs, we analyze the combined set of surface, ozonesonde, and aircraft in situ measurements of ozone and bromine compounds during the Arctic Research of the Composition of the Troposphere from Aircraft and Satellites (ARCTAS), the Aerosol, Radiation, and Cloud Processes affecting Arctic Climate (ARCPAC), and the Arctic Intensive Ozonesonde Network Study (ARCIONS) experiments (April 2008). Tropospheric BrO columns retrieved from satellite measurements and back trajectory calculations are also used to investigate the characteristics of observed ODEs. In situ observations from these field experiments are inadequate to validate tropospheric BrO columns derived from satellite measurements. In view of this difficulty, we construct an ensemble of tropospheric column BrO estimates from two satellite (OMI and GOME-2) measurements and with three independent methods of calculating stratospheric BrO columns. Furthermore, we select analysis methods that do not depend on the absolute magnitude of column BrO, such as time-lagged correlation analysis of ozone and tropospheric column BrO, to understand characteristics of ODEs. Time-lagged correlation analysis between in situ (surface and ozonesonde) measurements of ozone and satellite derived tropospheric BrO columns indicates that the ODEs are due to either local halogen-driven ozone loss or short-range (∼1 day) transport from nearby regions with ozone depletion. The effect of in situ ozone loss is also evident in the diurnal variation difference between low (10th and 25th percentiles) and higher percentiles of surface ozone concentrations at Alert, Canada. Aircraft observations indicate low-ozone air mass transported from adjacent high-BrO regions. Correlation analyses of ozone with potential temperature and time-lagged tropospheric BrO column show that the vertical extent of local ozone loss is surprisingly deep (1–2 km) at Resolute and Churchill, Canada. The unstable boundary layer during ODEs at Churchill could potentially provide a source of free-tropospheric BrO through convective transport and explain the significant negative correlation between free-tropospheric ozone and tropospheric BrO column at this site

Analysis of satellite-derived Arctic tropospheric BrO columns in conjunction with aircraft measurements during ARCTAS and ARCPAC

We derive tropospheric column BrO during the ARCTAS and ARCPAC field campaigns in spring 2008 using retrievals of total column BrO from the satellite UV nadir sensors OMI and GOME-2 using a radiative transfer model and stratospheric column BrO from a photochemical simulation. We conduct a comprehensive comparison of satellite-derived tropospheric BrO column to aircraft in-situ observations of BrO and related species. The aircraft profiles reveal that tropospheric BrO, when present during April 2008, was distributed over a broad range of altitudes rather than being confined to the planetary boundary layer (PBL). Perturbations to the total column resulting from tropospheric BrO are the same magnitude as perturbations due to longitudinal variations in the stratospheric component, so proper accounting of the stratospheric signal is essential for accurate determination of satellite-derived tropospheric BrO. We find reasonably good agreement between satellite-derived tropospheric BrO and columns found using aircraft in-situ BrO profiles, particularly when satellite radiances were obtained over bright surfaces (albedo \u3e0.7), for solar zenith angl

Characterization of soluble bromide measurements and a case study of BrO observations during ARCTAS

A focus of the Arctic Research of the Composition of the Troposphere from Aircraft and Satellites (ARCTAS) mission was examination of bromine photochemistry in the spring time high latitude troposphere based on aircraft and satellite measurements of bromine oxide (BrO) and related species. The NASA DC-8 aircraft utilized a chemical ionization mass spectrometer (CIMS) to measure BrO and a mist chamber (MC) to measure soluble bromide. We have determined that the MC detection efficiency to molecular bromine (Br2), hypobromous acid (HOBr), bromine oxide (BrO), and hydrogen bromide (HBr) as soluble bromide (Br−) was 0.9±0.1, 1.06+0.30/−0.35, 0.4±0.1, and 0.95±0.1, respectively. These efficiency factors were used to estimate soluble bromide levels along the DC-8 flight track of 17 April 2008 from photochemical calculations constrained to in situ BrO measured by CIMS. During this flight, the highest levels of soluble bromide and BrO were observed and atmospheric conditions were ideal for the space-borne observation of BrO. The good agreement (R2 = 0.76; slope = 0.95; intercept = −3.4 pmol mol−1) between modeled and observed soluble bromide, when BrO was above detection limit (\u3e2 pmol mol−1) under unpolluted conditions (NOmol−1), indicates that the CIMS BrO measurements were consistent with the MC soluble bromide and that a well characterized MC can be used to derive mixing ratios of some reactive bromine compounds. Tropospheric BrO vertical column densities (BrOVCD) derived from CIMS BrO observations compare well with BrOTROPVCD from OMI on 17 April 2008

2012-2013 Mostly Music: Mid-Europa/USA Connection

https://spiral.lynn.edu/conservatory_mostlymusic/1015/thumbnail.jp

A new interpretation of total column BrO during Arctic spring

Emission of bromine from sea-salt aerosol, frost flowers, ice leads, and snow results in the nearly complete removal of surface ozone during Arctic spring. Regions of enhanced total column BrO observed by satellites have traditionally been associated with these emissions. However, airborne measurements of BrO and O3 within the convective boundary layer (CBL) during the ARCTAS and ARCPAC field campaigns at times bear little relation to enhanced column BrO. We show that the locations of numerous satellite BrO “hotspots” during Arctic spring are consistent with observations of total column ozone and tropopause height, suggesting a stratospheric origin to these regions of elevated BrO. Tropospheric enhancements of BrO large enough to affect the column abundance are also observed, with important contributions originating from above the CBL. Closure of the budget for total column BrO, albeit with significant uncertainty, is achieved by summing observed tropospheric partial columns with calculated stratospheric partial columns provided that natural, short-lived biogenic bromocarbons supply between 5 and 10 ppt of bromine to the Arctic lowermost stratosphere. Proper understanding of bromine and its effects on atmospheric composition requires accurate treatment of geographic variations in column BrO originating from both the stratosphere and troposphere