Tactile perception in hydrogel-based robotic skins using data-driven electrical impedance tomography

Combining functional soft materials with electrical impedance tomography is a promising method for developing continuum sensorized soft robotic skins with high resolutions. However, reconstructing the tactile stimuli from surface electrode measurements is a challenging ill-posed modelling problem, with FEM and analytic models facing a reality gap. To counter this, we propose and demonstrate a model-free superposition method which uses small amounts of real-world data to develop deformation maps of a soft robotic skin made from a self-healing ionically conductive hydrogel, the properties of which are affected by temperature, humidity, and damage. We demonstrate how this method outperforms a traditional neural network for small datasets, obtaining an average resolution of 12.1 mm over a 170 mm circular skin. Additionally, we explore how this resolution varies over a series of 15,000 consecutive presses, during which damages are continuously propagated. Finally, we demonstrate applications for functional robotic skins: damage detection/localization, environmental monitoring, and multi-touch recognition - all using the same sensing material

Using creative holism to inform new partnerships as a component of responsivity in the FET sector.

Doctor of Philosophy in Business Administration. University of KwaZulu-Natal, Durban 2011.I see my research as an exercise in critical systemic practice, expressed as Creative Holism, an approach to organisational research in complex problematical situations attributed to Jackson (2003; 2006), which informs my living theory, attributed to Whitehead (2008), of educating professional practitioners. I make the argument that my personal understanding of my role as a university lecturer includes a strong element of being an agent of transformation in that I am not merely conveying knowledge about a field or about a profession but am, in a sense, an embodiment of that knowledge. Moreover, I take ownership of the direction, focus and biases in my own knowledge and research because they are part of who I am and are a result of my limited perspective. By way of example, I provide a rationale for and inform a professional identity construction, namely new partnerships. I consider this within a context, namely students involved in a particular study in Further Education and Training (FET) who happen to be college managers. The concept of new partnerships and the linked leadership construct of connective leadership are applied to this cadre. This research is also located within the ontology and epistemology of critical systems thinking and draws on the Creative Holism advocated by Jackson as a methodology. Moreover, it defines living theory as a systemic methodology and locates it within the Creative Holism typology of systems methodologies. My thesis adds to our examples of the application of Creative Holism. It focuses on the institutional problem situations in which the FET managers are situated, especially as they do or do not focus on partnerships within their professional thinking. I use systems methodologies, within the Creative Holism framework, to inform those situations, and use a particular combination of methodologies within a critical systems rationale. In particular, I suggest that critical systems thinking provides a vehicle for my exploration of my living theory, especially as I elucidate my own thinking about various expressions of institutional life and the reality that such life for the individual can be liberating or confining and repressing. My broad value position is that organisational life should always hold out the possibility of living out one’s humanity with dignity and performing a worthwhile purpose in society. While I realise that for many, this is not their lived reality, it remains my espoused aspiration and a driver in and for my own work. In considering the work attributed to FET Colleges, I engage with new partnerships to provide a theoretical framework and refine this to focus on the strategic partnership capabilities and potential of FET Colleges. In doing this I integrate new partnerships as a field of study with critical systems thinking as a vehicle through which to investigate partnerships and build our knowledge of social partnerships. My purpose is to improve my understanding of social partnerships as it relates to FET and improve my practice in facilitating curriculum to FET practitioners. In using critical systems thinking, I use Soft Systems Methodology to draw up a set of recommendations and thereafter use Viable Systems Modelling to suggest a framework for engagement for improvement in the partnership capacity of the FET Colleges

Closed-Loop Optimization of Soft Sensor Morphology Using 3D Printing of Electrically Conductive Hydrogel

Soft sensing technologies provide a novel alternative for state estimation in wearables and robotic systems. They allow one to capture intrinsic state parameters in a highly conformable manner. However, due to the nonlinearities in the materials that make up a soft sensor, it is difficult to develop accurate models of these systems. Consequently, design of these soft sensors is largely user defined or based on trial and error. Since these sensors conform and take the shape of the sensing body, these issues are further exacerbated when they are installed. Herein, a framework for the automated design optimization of soft sensors using closed-loop 3D printing of a recyclable hydrogel-based sensing material is presented. The framework allows direct printing of the sensor on the sensing body using visual feedback, evaluates the sensor performance, and iteratively improves the sensor design. Following preliminary investigations into the material and morphology parameters, this is demonstrated through the optimization of a sensorized glove which can be matched to specific tasks and individual hand shapes. The glove's sensors are tuned to respond only to particular hand poses, including distinguishing between two similar tennis racket grip techniques

Bird, Beast, or Fish

Paper

General mutation databases : analysis and review

Databases of mutations causing Mendelian disease play a crucial role in research, diagnostic and genetic health care and can play a role in life and death decisions. These databases are thus heavily used, but only gene or locus specific databases have been previously reviewed for completeness, accuracy, currency and utility. We have performed a review of the various general mutation databases that derive their data from the published literature and locus specific databases. Only two&mdash;the Human Gene Mutation Database (HGMD) and Online Mendelian Inheritance in Man (OMIM)&mdash;had useful numbers of mutations. Comparison of a number of characteristics of these databases indicated substantial inconsistencies between the two databases that included absent genes and missing mutations. This situation strengthens the case for gene specific curation of mutations and the need for an overall plan for collection, curation, storage and release of mutation data.<br /

Exploring the Role of Cities in Electrifying Passenger Transportation

Key Takeaways1. The electrification of passenger vehicles should be one part of a city’s transportation plan. Shifting from internal combustion engine vehicles to plug-in electric vehicles (PEVs) can improve urban air quality, reduce greenhouse gas emissions, and reduce energy consumption.2. Recent studies show that electric vehicle awareness is low even in mature markets; cities should promote electric vehicles to residents by leveraging existing promotional campaigns.3. Various financial and non-financial incentives can effectively encourage electric vehicle uptake, including: free, discounted, or preferential-location parking; free or reduced road and bridge tolls; and allowing electric vehicles to drive in bus or carpool lanes.4. Several cities are restricting or planning to restrict the access that internal combustion engine vehicles (ICEVs) have to certain areas. If these restrictions apply to most (or all) passenger ICEVs, they can promote PEV purchase and use in cities.5. Infrastructure development in cities should follow the same fundamental approach as that used outside of cities. The priority should be ensuring that PEV owners and prospective PEV buyers have access to charging at or near home. Workplace and public charging should be developed for those who cannot access charging at or near home.6. Cities should be strategic in their approach, first identifying the goals they want to achieve, and then exploring what steps they can take to meet these goals. The steps available will likely differ between cities due to the different ways in which roads, parking, and any other vehicle infrastructure is governed

Annual report of the Department of Irrigation, fiscal year 1926-27

Study of underground water in the Las Vegas Valley and the drainage of irrigated land in the Moapa Valley. F. L. Bixby was Senior Irrigation Engineer of the Irrigation Division of the Government Bureau of Public Roads

Diagnosis and management of selective fetal growth restriction in monochorionic twin pregnancies: A cross‐sectional international survey

Objective: To identify current practices in the management of selective fetal growth restriction (sFGR) in monochorionic diamniotic (MCDA) twin pregnancies. Design: Cross‐sectional survey. Setting: International. Population: Clinicians involved in the management of MCDA twin pregnancies with sFGR. Methods: A structured, self‐administered survey. Main Outcome Measures: Clinical practices and attitudes to diagnostic criteria and management strategies. Results: Overall, 62.8% (113/180) of clinicians completed the survey; of which, 66.4% (75/113) of the respondents reported that they would use an estimated fetal weight (EFW) of 25% for the diagnosis of sFGR. For early‐onset type I sFGR, 79.8% (75/94) of respondents expressed that expectant management would be their routine practice. On the other hand, for early‐onset type II and type III sFGR, 19.3% (17/88) and 35.7% (30/84) of respondents would manage these pregnancies expectantly, whereas 71.6% (63/88) and 57.1% (48/84) would refer these pregnancies to a fetal intervention centre or would offer fetal intervention for type II and type III cases, respectively. Moreover, 39.0% (16/41) of the respondents would consider fetoscopic laser surgery (FLS) for early‐onset type I sFGR, whereas 41.5% (17/41) would offer either FLS or selective feticide, and 12.2% (5/41) would exclusively offer selective feticide. For early‐onset type II and type III sFGR cases, 25.9% (21/81) and 31.4% (22/70) would exclusively offer FLS, respectively, whereas 33.3% (27/81) and 32.9% (23/70) would exclusively offer selective feticide. Conclusions: There is significant variation in clinician practices and attitudes towards the management of early‐onset sFGR in MCDA twin pregnancies, especially for type II and type III cases, highlighting the need for high‐level evidence to guide management