DexROV: Enabling effective dexterous ROV operations in presence of communication latency

Subsea interventions in the oil & gas industry as well as in other domains such as archaeology or geological surveys are demanding and costly activities for which robotic solutions are often deployed in addition or in substitution to human divers - contributing to risks and costs cutting. The operation of ROVs (Remotely Operated Vehicles) nevertheless requires significant off-shore dedicated manpower to handle and operate the robotic platform and the supporting vessel. In order to reduce the footprint of operations, DexROV proposes to implement and evaluate novel operation paradigms with safer, more cost effective and time efficient ROV operations. As a keystone of the proposed approach, manned support will in a large extent be delocalized within an onshore ROV control center, possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme also makes provision for advanced dexterous manipulation and semi-autonomous capabilities, leveraging human expertise when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial in the Mediterranean sea

Explaining telecoms and electricity internationalization in the European Union: a political economy perspective

One consequence of the liberalization of certain services in the European Union was that a number of formerly inward-looking incumbents in telecommunications and electricity rapidly transformed themselves into some of the world’s leading Multinationals. However, the precise relationship between liberalization and incumbent internationalization is contested. This article tests three persuasive arguments derived from the political economy literature on this relationship. The first claims that those incumbents most exposed to domestic liberalization would internationalise most. The second asserts the opposite: incumbents operating where liberalization was restricted could exploit monopolistic rents to finance their aggressive internationalisation. The third argument claims that a diversity of paths will be adopted by countries and incumbents vis-à-vis liberalization and internationalization. Using correlation and cluster analysis of the sample of all major EU telecoms and electricity incumbent Multinationals evidence is found in favour of the third hypothesis. Internationalization as a response to liberalization took diverse forms in terms of timing and extent and this is best explained using a country, sector and firm logic

Current Account Balances and Structural Adjustment in the Euro Area

In the past decade, a set of euro area countries has accumulated large current account deficits. After a brief relaxation of the euro area internal imbalances in the wake of the financial crisis, it appears as if this pattern arises anew when times normalize again and Germany still sticks to export-led growth. This issue has been labelled one of the most challenging economic policy issues for Europe inter alia by the European Commission and some other players on the EU level. In this paper, we analyse the role of private restructuring and structural reforms for the urgently needed sustainable readjustment of intra-euro area current account balances. A panel regression reveals a significant impact of structural reforms on intra-euro area current account balances. This implies that in particular structural reforms and wage restraint in notorious current account and budget deficit countries such as Greece are highly suitable to support long-term economic stability in Europe.In den vergangenen Jahren haben einige Staaten der EWU, besonders Griechenland, Spanien und Portugal, hohe Leistungsbilanzdefizite aufgebaut. Die Finanzmarktkrise führte zwar zu einer Entspannung, jedoch ist eine deutliche Reduzierung der Defizite nicht in Sicht. Insbesondere durch die Griechenland-Krise haben die Leistungsbilanzdefizite einen hohen Stellenwert auf der wirtschaftspolitischen Agenda der EU eingenommen. Das Papier untersucht, inwieweit private Restrukturierungsmaßnahmen der Privatwirtschaft und/oder Strukturreformen zu einer notwendigen und nachhaltigen Korrektur der Leistungsbilanzdefizite in der EWU beitragen können. Eine umfassende empirische Analyse zeigt die herausragende Bedeutung von Strukturreformen für die Anpassung der Leistungsbilanzen innerhalb der EWU. Der Effekt von Arbeitsmarktreformen ist besonders ausgeprägt. Dies unterstützt die Forderung nach umfassenden und nachhaltigen Strukturreformen in der EWU, besonders in den Ländern mit hohen Leistungsbilanzdefiziten. Dies würde die derzeitigen ökonomischen Spannungen in der EWU reduzieren und die Stabilität der EWU sowie des Euros erhöhen

Design and Control of the MINDWALKER Exoskeleton

Powered exoskeletons can empower paraplegics to stand and walk. Actively controlled hip ab/adduction (HAA) is needed for weight shift and for lateral foot placement to support dynamic balance control and to counteract disturbances in the frontal plane. Here, we describe the design, control, and preliminary evaluation of a novel exoskeleton, MINDWALKER. Besides powered hip flexion/extension and knee flexion/extension, it also has powered HAA. Each of the powered joints has a series elastic actuator, which can deliver 100 Nm torque and 1 kW power. A finite-state machine based controller provides gait assistance in both the sagittal and frontal planes. State transitions, such as stepping, can be triggered by the displacement of the Center of Mass (CoM). A novel step-width adaptation algorithm was proposed to stabilize lateral balance. We tested this exoskeleton on both healthy subjects and paraplegics. Experimental results showed that all users could successfully trigger steps by CoM displacement. The step-width adaptation algorithm could actively counteract disturbances, such as pushes. With the current implementations, stable walking without crutches has been achieved for healthy subjects but not yet for SCI paraplegics. More research and development is needed to improve the gait stabilit