Modeling Operator Behavior in the Safety Analysis of Collaborative Robotic Applications

Human-Robot Collaboration is increasingly prominent in peo- ple's lives and in the industrial domain, for example in manufacturing applications. The close proximity and frequent physical contacts between humans and robots in such applications make guaranteeing suitable levels of safety for human operators of the utmost importance. Formal veri- cation techniques can help in this regard through the exhaustive explo- ration of system models, which can identify unwanted situations early in the development process. This work extends our SAFER-HRC method- ology with a rich non-deterministic formal model of operator behaviors, which captures the hazardous situations resulting from human errors. The model allows safety engineers to rene their designs until all plausi- ble erroneous behaviors are considered and mitigated

Measuring multipole moments of Weyl metrics by means of gyroscopes

Using the technique of Rindler and Perlick we calculate the total precession per revolution of a gyroscope circumventing the source of Weyl metrics. We establish thereby a link between the multipole moments of the source and an ``observable'' quantity. Special attention deserves the case of the gamma-metric. As an extension of this result we also present the corresponding expressions for some stationary space-times.Comment: 18 pages Latex, To appear in J.Math.Phy

Exact relativistic models of thin disks around static black holes in a magnetic field

The exact superposition of a central static black hole with surrounding thin disk in presence of a magnetic field is investigated. We consider two models of disk, one of infinite extension based on a Kuzmin-Chazy-Curzon metric and other finite based on the first Morgan-Morgan disk. We also analyze a simple model of active galactic nuclei consisting of black hole, a Kuzmin-Chazy-Curzon disk and two rods representing jets, in presence of magnetic field. To explain the stability of the disks we consider the matter of the disk made of two pressureless streams of counterrotating charged particles (counterrotating model) moving along electrogeodesic. Using the Rayleigh criterion we derivate for circular orbits the stability conditions of the particles of the streams. The influence of the magnetic field on the matter properties of the disk and on its stability are also analyzed.Comment: 17 pages, 14 figures. arXiv admin note: text overlap with arXiv:gr-qc/0409109 by other author

From Personalised Predictions to Targeted Advice: Improving Self-Management in Rheumatoid Arthritis.

Rheumatoid arthritis (RA) is a chronic inflammatory autoimmune disease, that can lead to joint damage but also affects quality of life (QoL) including aspects such as self-esteem, fatigue, and mood. Current medical management focuses on the fluctuating disease activity to prevent progressive disability, but practical constraints mean periodic clinic appointments give little attention to the patient's experience of managing the wider consequences of chronic illness. The main aim of this study is to explore how to use patient-derived data both for clinical decision-making and for personalisation, with the first steps towards a platform for tailoring self-management advice to patients' lifestyle changes. As a result, we proposed a Bayesian network model for personalisation and have obtained promising outcomes

The song of the dunes as a self-synchronized instrument

Since Marco Polo (1) it has been known that some sand dunes have the peculiar ability of emitting a loud sound with a well defined frequency, sometimes for several minutes. The origin of this sustained sound has remained mysterious, partly because of its rarity in nature (2). It has been recognized that the sound is not due to the air flow around the dunes but to the motion of an avalanche (3), and not to an acoustic excitation of the grains but to their relative motion (4-7). By comparing several singing dunes and two controlled experiments, one in the laboratory and one in the field, we here demonstrate that the frequency of the sound is the frequency of the relative motion of the sand grains. The sound is produced because some moving grains synchronize their motions. The existence of a velocity threshold in both experiments further shows that this synchronization comes from an acoustic resonance within the flowing layer: if the layer is large enough it creates a resonance cavity in which grains self-synchronize.Comment: minor changes, essentially more references

Attitudes to technology supported rheumatoid arthritis care: investigating patient and clinician perceived opportunities and barriers

Globally, demand outstrips capacity in rheumatology services, making Mobile Health (mHealth) attractive, with the potential to improve access, empower patient self-management and save costs. Existing mHealth interventions have poor uptake by end-users. This study was designed to understand existing challenges, and opportunities and barriers for computer technology in the rheumatoid arthritis (RA) care pathway

Energy Distribution associated with Static Axisymmetric Solutions

This paper has been addressed to a very old but burning problem of energy in General Relativity. We evaluate energy and momentum densities for the static and axisymmetric solutions. This specializes to two metrics, i.e., Erez-Rosen and the gamma metrics, belonging to the Weyl class. We apply four well-known prescriptions of Einstein, Landau-Lifshitz, Papaterou and M$\ddot{o}$ller to compute energy-momentum density components. We obtain that these prescriptions do not provide similar energy density, however momentum becomes constant in each case. The results can be matched under particular boundary conditions.Comment: 18 pages, accepted for publication in Astrophysics and SpaceScienc

Performance of discrete heat engines and heat pumps in finite time

The performance in finite time of a discrete heat engine with internal friction is analyzed. The working fluid of the engine is composed of an ensemble of noninteracting two level systems. External work is applied by changing the external field and thus the internal energy levels. The friction induces a minimal cycle time. The power output of the engine is optimized with respect to time allocation between the contact time with the hot and cold baths as well as the adiabats. The engine's performance is also optimized with respect to the external fields. By reversing the cycle of operation a heat pump is constructed. The performance of the engine as a heat pump is also optimized. By varying the time allocation between the adiabats and the contact time with the reservoir a universal behavior can be identified. The optimal performance of the engine when the cold bath is approaching absolute zero is studied. It is found that the optimal cooling rate converges linearly to zero when the temperature approaches absolute zero.Comment: 45 pages LaTeX, 25 eps figure

Onsager coefficients of a Brownian Carnot cycle

We study a Brownian Carnot cycle introduced by T. Schmiedl and U. Seifert [Europhys. Lett. \textbf{81}, 20003 (2008)] from a viewpoint of the linear irreversible thermodynamics. By considering the entropy production rate of this cycle, we can determine thermodynamic forces and fluxes of the cycle and calculate the Onsager coefficients for general protocols, that is, arbitrary schedules to change the potential confining the Brownian particle. We show that these Onsager coefficients contain the information of the protocol shape and they satisfy the tight-coupling condition irrespective of whatever protocol shape we choose. These properties may give an explanation why the Curzon-Ahlborn efficiency often appears in the finite-time heat engines