Hybrid Position and Orientation Tracking for a Passive Rehabilitation Table-Top Robot

This paper presents a real time hybrid 2D position and orientation tracking system developed for an upper limb rehabilitation robot. Designed to work on a table-top, the robot is to enable home-based upper-limb rehabilitative exercise for stroke patients. Estimates of the robot's position are computed by fusing data from two tracking systems, each utilizing a different sensor type: laser optical sensors and a webcam. Two laser optical sensors are mounted on the underside of the robot and track the relative motion of the robot with respect to the surface on which it is placed. The webcam is positioned directly above the workspace, mounted on a fixed stand, and tracks the robot's position with respect to a fixed coordinate system. The optical sensors sample the position data at a higher frequency than the webcam, and a position and orientation fusion scheme is proposed to fuse the data from the two tracking systems. The proposed fusion scheme is validated through an experimental set-up whereby the rehabilitation robot is moved by a humanoid robotic arm replicating previously recorded movements of a stroke patient. The results prove that the presented hybrid position tracking system can track the position and orientation with greater accuracy than the webcam or optical sensors alone. The results also confirm that the developed system is capable of tracking recovery trends during rehabilitation therapy

The Janus-Faced Role of Gambling Flow in Addiction Issues

YesFlow experience has been widely investigated in experiential activities such as sports, the performing arts, gaming and Internet usage. Most studies focus on the positive aspects of flow experience and its effect on performance. In stark contrast, gambling research focusing on the negative side of addiction lacks an in-depth investigation of gamblers’ (positive) flow encounters. This separation of research lines seems out of place given that recent research indicates connections between flow and addiction. Joining both constructs in a causal effects model helps to gain a better understanding of their relationship and its contingencies. This paper empirically investigates whether and how it is possible to observe a “Janus face” of flow with its various sub-dimensions in online gambling. Empirical data was collected from 500 online gamblers by applying a structured questionnaire with established scales. The data was analyzed with a confirmatory factor analysis and a double-hurdle model to separate casual gamblers who are unsusceptible to any addiction issues from gamblers affected by initiatory addiction issues. The findings indicate that online gambling addiction is negatively influenced by two sub-dimensions of flow experience, namely a sense of control and concentration on the task at hand, while enhanced by a transformation of time and autotelic experience

Multivariate statistical process control based on principal component analysis: implementation of framework in R

The interest in multivariate statistical process control (MSPC) has increased as the industrial processes have become more complex. This paper presents an industrial process involving a plastic part in which, due to the number of correlated variables, the inversion of the covariance matrix becomes impossible, and the classical MSPC cannot be used to identify physical aspects that explain the causes of variation or to increase the knowledge about the process behaviour. In order to solve this problem, a Multivariate Statistical Process Control based on Principal Component Analysis (MSPC-PCA) approach was used and an R code was developed to implement it according some commercial software used for this purpose, namely the ProMV (c) 2016 from ProSensus, Inc. (www.prosensus.ca). Based on used dataset, it was possible to illustrate the principles of MSPC-PCA. This work intends to illustrate the implementation of MSPC-PCA in R step by step, to help the user community of R to be able to perform it.FCT - Fundação para a Ciência e a Tecnologia(UID/CEC/00319/2013

Aspects of asphaltene aggregation obtained from coarse-grained molecular modeling

We have performed a molecular-simulation-based study to explore some of the underlying mechanisms of asphaltene aggregation. The daunting complexity of the crude oil + asphaltene system precludes any type of meaningful molecular simulation unless some assumptions are made with respect to the key physical and chemical properties that must be explicitly described. In the present work, we focus on molecular simulations of a coarse-grained model of asphaltene molecules in pure solvents, which are based on the assumption that the general size asymmetry and asphaltene morphology play a key role in the aggregation process. We use simple single isotropic Lennard-Jones sites to represent paraffinic and aromatic C₆ segments, which are used as building blocks for the description of continental asphaltene models and solvent moieties. The energy and size parameters for the intermolecular models (ε and σ) for solute and solvent molecules are chosen to reproduce the experimental density of the liquid phase for different mixtures. An explicit pure solvent is considered, and the relationship between the aggregation mechanism and the solvent nature is investigated through direct simulation of the aggregation process. The results reproduce accurately expected trends observed for more-complex models as well as experiments, for example, strong aggregation of asphaltene molecules in <i>n-</i>heptane and high solubility in toluene. Different asphaltene models based on different geometries reveal that even at this level of simplification the topology of the molecules (number and position of aliphatic branches) does affect the way molecules aggregate

Tributyltin (TBT) and the decline of the Norfolk Broads

This is the final report to the Department for Environment, Food & Rural Affairs (DEFRA) on the contract "Tributyltin (TBT) and the decline of the Norfolk Broads"

Mid-infrared passively switched pulsed dual wavelength Ho3+ -doped fluoride fiber laser at 3 μm and 2 μm

Cascade transitions of rare earth ions involved in infrared host fiber provide the potential to generate dual or multiple wavelength lasing at mid-infrared region. In addition, the fast development of saturable absorber (SA) towards the long wavelengths motivates the realization of passively switched mid-infrared pulsed lasers. In this work, by combing the above two techniques, a new phenomenon of passively Q-switched ~3 μm and gain-switched ~2 μm pulses in a shared cavity was demonstrated with a Ho3+-doped fluoride fiber and a specifically designed semiconductor saturable absorber (SESAM) as the SA. The repetition rate of ~2 μm pulses can be tuned between half and same as that of ~3 μm pulses by changing the pump power. The proposed method here will add new capabilities and more flexibility for generating mid-infrared multiple wavelength pulses simultaneously that has important potential applications for laser surgery, material processing, laser radar, and free-space communications, and other areas

Proposed physiologic functions of boron in plants pertinent to animal and human metabolism.

Boron has been recognized since 1923 as an essential micronutrient element for higher plants. Over the years, many roles for boron in plants have been proposed, including functions in sugar transport, cell wall synthesis and lignification, cell wall structure, carbohydrate metabolism, RNA metabolism, respiration, indole acetic acid metabolism, phenol metabolism and membrane transport. However, the mechanism of boron involvement in each case remains unclear. Recent work has focused on two major plant-cell components: cell walls and membranes. In both, boron could play a structural role by bridging hydroxyl groups. In membranes, it could also be involved in ion transport and redox reactions by stimulating enzymes like nicotinamide adenine dinucleotide and reduced (NADH) oxidase. There is a very narrow window between the levels of boron required by and toxic to plants. The mechanisms of boron toxicity are also unknown. In nitrogen-fixing leguminous plants, foliarly applied boron causes up to a 1000% increase in the concentration of allantoic acid in leaves. In vitro studies show that boron inhibits the manganese-dependent allantoate amidohydrolase, and foliar application of manganese prior to application of boron eliminates allantoic acid accumulation in leaves. Interaction between borate and divalent cations like manganese may alter metabolic pathways, which could explain why higher concentrations of boron can be toxic to plants

Macroeconomic impact of stranded fossil-fuel assets

Several major economies rely heavily on fossil-fuel production and exports, yet current low-carbon technology diffusion, energy efficiency and climate policy may be substantially reducing global demand for fossil fuels.1-4 This trend is inconsistent with observed investment in new fossil-fuel ventures1,2, which could become stranded as a result. Here we use an integrated global economy environment simulation model to study the macroeconomic impact of stranded fossil-fuel assets (SFFA). Our analysis suggests that part of the SFFA would occur as a result of an already ongoing technological trajectory, irrespective of whether new climate policies are adopted or not; the loss would be amplified if new climate policies to reach the 2°C target are adopted and/or if low-cost producers (some OPEC countries) maintain their level of production (‘sell-out’) despite declining demand; the magnitude of the loss from SFFA may amount to a discounted global wealth loss of $1-4tn; and there are clear distributional impacts, with winners (e.g. net importers such as China or the EU) and losers (e.g. Russia, the US or Canada, which could see their fossil-fuel industries nearly shut down), although the two effects would largely offset each other at the level of aggregate global GDP.The authors acknowledge C-EERNG and Cambridge Econometrics for support, and funding from EPSRC (JFM, fellowship no. EP/ K007254/1); the Newton Fund (JFM, PS, JV, EPSRC grant no EP/N002504/1 and ESRC grant no ES/N013174/1), NERC (NRE, PH, HP, grant no NE/P015093/1), CONICYT (PS), the Philomathia Foundation (JV), the Cambridge Humanities Research Grants Scheme (JV), and Horizon 2020 (HP, JFM; Sim4Nexus project)

The distortion of a horizontal soap film due to the impact of a falling sphere

A horizontal soap film is established in vertical tube a few centimetres in diameter. A metal sphere, 1-2mm diameter, is dropped onto the film, whose distortion is observed by means of a high speed camera. The film wraps partly around the sphere, detaching at a circle which moves up the sphere as it falls. The shape of the film at successive radii, bigger than the radius of contact, was predicted from theory relying on the proposition that if both sides of the film are open to atmosphere, there can be no pressure difference across it. The pressure difference across a film is proportional to (surface tension) / (radius of curvature); hence it follows that the radii of curvature in two planes, perpendicular to each other and to the film surface, must be equal and opposite. This proposition gives equations predicting the shape, in reasonable agreement with experiment. This theory is compared with the theory of catenoids, first studied by Euler in 1744. Catenoid theory gives exactly the same results as the ‘radius of curvature’ theory presented here. A simple energy conservation argument shows that the two theories are compatible and agree with a published photograph of a soap film catenoid.The work was supported by EPSRC contract number EP/N00230X/1