Human Like Adaptation of Force and Impedance in Stable and Unstable Tasks

Abstract—This paper presents a novel human-like learning con-troller to interact with unknown environments. Strictly derived from the minimization of instability, motion error, and effort, the controller compensates for the disturbance in the environment in interaction tasks by adapting feedforward force and impedance. In contrast with conventional learning controllers, the new controller can deal with unstable situations that are typical of tool use and gradually acquire a desired stability margin. Simulations show that this controller is a good model of human motor adaptation. Robotic implementations further demonstrate its capabilities to optimally adapt interaction with dynamic environments and humans in joint torque controlled robots and variable impedance actuators, with-out requiring interaction force sensing. Index Terms—Feedforward force, human motor control, impedance, robotic control. I

Motion Planning using Reactive Circular Fields: A 2D Analysis of Collision Avoidance and Goal Convergence

Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpredictable environments of robotic systems. However, typically those approaches are only locally reactive without considering global path planning and no guarantees for simultaneous collision avoidance and goal convergence can be given. In this paper, we study a recently developed circular field (CF)-based motion planner that combines local reactive control with global trajectory generation by adapting an artificial magnetic field such that multiple trajectories around obstacles can be evaluated. In particular, we provide a mathematically rigorous analysis of this planner in a planar environment to ensure safe motion of the controlled robot. Contrary to existing results, the derived collision avoidance analysis covers the entire CF motion planning algorithm including attractive forces for goal convergence and is not limited to a specific choice of the rotation field, i.e., our guarantees are not limited to a specific potentially suboptimal trajectory. Our Lyapunov-type collision avoidance analysis is based on the definition of an (equivalent) two-dimensional auxiliary system, which enables us to provide tight, if and only if conditions for the case of a collision with point obstacles. Furthermore, we show how this analysis naturally extends to multiple obstacles and we specify sufficient conditions for goal convergence. Finally, we provide a challenging simulation scenario with multiple non-convex point cloud obstacles and demonstrate collision avoidance and goal convergence.Comment: Published in IEEE Transactions on Automatic Control (Early Access

NDM-534: SENSITIVITY OF WIND INDUCED DYNAMIC RESPONSE OF A TRANSMISSION LINE TO VARIATIONS IN WIND SPEED

This paper studies the dynamic behavior of a multi-span transmission line system under synoptic wind considering various speeds to determine the range of wind speeds in which the system experiences resonance. A finite element numerical model was developed for the purpose of this study. This model is employed to assess the dynamic behavior of a self-supported lattice tower line under various wind speeds. Dynamic Amplification Factor (DAF), defined as the ratio between the peak total response to the peak quasi-static response, is evaluated. It is found that conductors’ responses exhibit large DAF compared to the towers especially at low wind speeds (v ≤ 25 m/s). This results from the low natural frequency of the conductors (0.19 Hz) which is close to the wind load frequency while the natural frequency of the tower is equal to 2.36 Hz. In addition, the conductors’ aerodynamic damping decreases with the decrease of wind speed which leads to higher dynamic effect while the tower’s aerodynamic damping plays a minor role. The results of the dynamic analysis conducted in this study are also used to compare the gust response factors (GFT), defined as the ratio between peak total response to the mean response, to those obtained from the ASCE code (GFT-ASCE). It has been noticed that the gust response factors obtained from the ASCE code lead to conservative peak responses for both towers and conductors of the chosen line

Loss of p53 Expression in Gastric Epithelial Cells of Helicobacter pylori-Infected Jordanian Patients

BACKGROUND: Around half of the global population is chronically infected with the stomach bacterium Helicobacter pylori, making it one of the most common chronic infections worldwide. H. pylori induces the production of reactive oxygen species, DNA damage, and accelerates the degradation of the tumor suppressor protein p53, which may lead to cancer development. In this study, we investigated the relationship between H. pylori infection and the expression of p53 in gastric mucosa in a group of patients from Jordan. METHODS: In this retrospective case-control study, the epithelium of gastric glands in subjects chronically infected with H. pylori was examined for the expression of p53. Paraffin-embedded gastric biopsy samples from the archives for 50 Jordanian patients diagnosed with chronic H. pylori infection and 25 samples free of H. pylori infection and any other gastric abnormalities were selected. Samples were analyzed for the presence of H. pylori as well as p53 expression levels in the mucosa and submucosa by immunohistochemical analyses and Western blotting. RESULTS: H. pylori was detected in the gastric tissues of infected individuals (n = 50); whereas, no H. pylori infection was detected in uninfected healthy individuals (n = 25) using immunohistochemistry. In contrast to the noninfected samples of gastric mucosa, no nuclear p53 expression was detected in the infected samples using immunohistochemistry. In addition, the levels of p53 in H. pylori-positive samples detected by Western blotting were significantly lower than those in the negative individuals. CONCLUSION: Our data reveal that p53 protein expression decreased in gastric mucosa of patients infected with H. pylori. The loss of this tumor suppressor may play a role in the increased risk for tumor initiation associated with H. pylori carriage

Optimal Torque and Stiffness Control in Compliantly Actuated Robots

Abstract — Anthropomorphic robots that aim to approach human performance agility and efficiency are typically highly redundant not only in their kinematics but also in actuation. Variable-impedance actuators, used to drive many of these devices, are capable of modulating torque and passive impedance (stiffness and/or damping) simultaneously and independently. Here, we propose a framework for simultaneous optimisation of torque and impedance (stiffness) profiles in order to optimise task performance, tuned to the complex hardware and incorporating real-world constraints. Simulation and hardware experiments validate the viability of this approach to complex, state dependent constraints and demonstrate task performance benefits of optimal temporal impedance modulation. Index Terms — Variable-stiffness actuation, physical constraints, optimal control

Tracking Control of Redundant Manipulators with Singularity-Free Orientation Representation and Null-Space Compliant Behaviour

This paper presents a suitable solution to control the pose of the end-effector of a redundant robot along a pre-planned trajectory, while addressing an active compliant behaviour in the null-space. The orientation of the robot is expressed through a singularity-free representation form. To accomplish the task, no exteroceptive sensor is needed. While a rigorous stability proof confirms the developed theory, experimental results bolster the performance of the proposed approach

Dynamic political contexts and power asymmetries: the cases of the Blue Nile and the Yarmouk Rivers

This paper explores the evolving patterns of hydropolitical relations in the dynamic contexts of Yarmouk and Blue Nile Rivers in comparison. The analysis aims at shedding light over the complex implications that recent political and social changes have aroused for the water disputes between Jordan and Syria on the one hand, and Ethiopia and Egypt on the other. In both basins, cooperative efforts toward the integrated management of transboundary waters have been only partially effective and largely undermined by the perpetuation of unilateral actions by riparian states. In the case studies, the lack of a basin-wide vision over the control and use of shared waters has resulted in disputes among the basin states and ultimately in an unsustainable, unfair, and unwise utilization of the resources. This paper argues that a substantive and effective integration of national water policies is unlikely to occur, unless power asymmetries are properly addressed in order to overcome the likelihood of hegemonic regimes