Whisking with robots from rat vibrissae to biomimetic technology for active touch

This article summarizes some of the key features of the rat vibrissal system, including the actively controlled sweeping movements of the vibrissae known as whisking, and reviews the past and ongoing research aimed at replicating some of this functionality in biomimetic robots

Perception of simple stimuli using sparse data from a tactile whisker array

We introduce a new multi-element sensory array built from tactile whiskers and modelled on the mammalian whisker sensory system. The new array adds, over previous designs, an actuated degree of freedom corresponding approximately to the mobility of the mystacial pad of the animal. We also report on its performance in a preliminary test of simultaneous identification and localisation of simple stimuli (spheres and a plane). The sensory processing system uses prior knowledge of the set of possible stimuli to generate percepts of the form and location of extensive stimuli from sparse and highly localised sensory data. Our results suggest that the additional degree of freedom has the potential to offer a benefit to perception accuracy for this type of sensor. © 2013 Springer-Verlag Berlin Heidelberg

Development of the Radiation Stabilized Distributed Flux Burner. Phase 1, final report

The RSB was first developed for Thermally Enhanced Oil Recovery steamers which fire with a single 60 MMBtu/hr burner; the California Energy Commission and Chevron USA were involved in the burner development. The burner has also since found applications in refinery and chemical plant process heaters. All Phase I goals were successfully met: the RSB achieved sub-9 ppM NOx and sub-50 ppM CO emissions using high excess air, external flue gas recirculation (FGR), and fuel staging in the 3 MMBtu/hr laboratory watertube boiler. In a test in a 50,000 lb/hr oil field steamer with fuel staging, it consistently achieved sub-20 ppM NOx and as low as 10 ppM NOx. With high CO{sub 2} casing gas in this steamer, simulating external FGR, sub-20 ppM NOx and as low as 5 ppM NOx were achieved. Burner material cost was reduced by 25% on a per Btu basis by increasing the effective surface firing rate at the burner; further reductions will occur in Phase II. The market for 30 ppM and 9 ppM low NOx burners has been identified as package boilers in the 50,000 to 250,000 lb/hr size range (the 30 ppM is for retrofit, the 9 ppM for the new boiler market). Alzeta and Babcock & Wilcox have teamed to sell both boiler retrofits and new boilers; they have identified boiler designs which use the compact flame shape of the RSB and can increase steam capacity while maintaining the same boiler footprint. Alzeta, Chevron, and B & W have teamed to identify sites to demonstrate the RSB in Phases II and III. In Phase II, the RSB will be demonstrated in a 100,000 lb/hr industrial watertube boiler

Optimising Ferrite-less Pad Reflection Winding with a Multi-Objective Genetic Algorithm

Inductive power transfer is the leading technology for roadway electric vehicle wireless power transfer. A robust magnetic design is desired for magnetic couplers (pads) that are to be buried in a road surface. Ferrite-less designs including a reflection winding have been shown to be a possible way to increase the robustness of pads and reduce leakage magnetic field. This paper presents a methodology to optimise the reflection winding of a ferrite-less pad with a genetic algorithm and presents the results of an example optimisation with an axisymmetric approximation of the wireless power transfer standard SAE J2954 WPT3/Z3 secondary pad, with the results verified in the finite element analysis package FEMM, and in the laboratory. The results verify the reflection coil concept and indicate that improvements in leakage per power can be gained by allowing the reflection winding to be non-planar

Singular measures in circle dynamics

Critical circle homeomorphisms have an invariant measure totally singular with respect to the Lebesgue measure. We prove that singularities of the invariant measure are of Holder type. The Hausdorff dimension of the invariant measure is less than 1 but greater than 0

Metropolitan Universities: Building an Online, Open Access Archive

Metropolitan Universities (MUJ) provides peer-reviewed publishing on topics in higher education, including distributed learning, K-16 collaborations, assessment, service learning, campus-community partnerships and other subjects. In 2015 MUJ published its 25th volume. Beginning in the year 2000 (volume 11), MUJ has been published as a print journal with editorial offices at IUPUI. To celebrate more than of 25 years of successful publishing and to introduce new modes of dissemination, MUJ has developed an open access, online archive of its entire publication run. Here we describe the process of digitizing, indexing and building the MUJ archive

Predictive prey pursuit in a whiskered robot

Highly active small mammals need to capture prey rapidly and with a high success rate if they are to survive. We consider the case of the Etruscan shrew, which hunts prey including crickets almost as large as itself, and relies on its whiskers (vibrissae) to complete a kill. We model this hunting behaviour using a whiskered robot. Shrews strike rapidly and accurately after gathering very limited sensory information; we attempt to match this performance by using model-based simultaneous discrimination and localisation of a ‘prey’ robot (i.e. by using strong priors). We report performance that is comparable, given the spatial and temporal scale differences, to shrew performance in most respects

Application of inverse modeling to geothermal reservoir simulation

The authors have developed inverse modeling capabilities for the non-isothermal, multiphase, multicomponent numerical simulator TOUGH2 to facilitate automatic history matching and parameter estimation based on data obtained during testing and exploitation of geothermal fields.The ITOUGH2 code allows one to estimate TOUGH2 input parameters based on any type of observation for which a corresponding simulation output can be calculated. Furthermore, a detailed residual and error analysis is performed, and the uncertainty of model predictions can be evaluated. Automatic history matching using ITOUGH2 is robust and efficient so that model parameters affecting geothermal field performance can reliably be estimated based on a variety of field measurements such as pressures, temperatures, flow rates, and enthalpies. The paper describes the methodology of inverse modeling and provides a detailed discussion of sample problems to demonstrate the application of the method to data from geothermal reservoirs

The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics

Chapter 10 The Robot Vibrissal System: Understanding Mammalian Sensorimotor Co-ordination Through Biomimetics Tony J. Prescott, Ben Mitchinson, Nathan F. Lepora, Stuart P. Wilson, Sean R. Anderson, John Porrill, Paul Dean, Charles ..

Adjusting for treatment switching in oncology trials: A systematic review and recommendations for reporting

Objectives To systematically review the quality of reporting on the application of switching adjustment approaches in published oncology trials and industry submissions to the National Institute for Health and Care Excellence Although methods such as the rank preserving structural failure time model (RPSFTM) and inverse probability of censoring weights (IPCW) have been developed to address treatment switching, the approaches are not widely accepted within health technology assessment. This limited acceptance may partly be a consequence of poor reporting on their application. Methods Published trials and industry submissions were obtained from searches of PubMed and nice.org.uk, respectively. The quality of reporting in these studies was judged against a checklist of reporting recommendations, which was developed by the authors based on detailed considerations of the methods. Results Thirteen published trials and 8 submissions to nice.org.uk satisfied inclusion criteria. The quality of reporting around the implementation of the RPSFTM and IPCW methods was generally poor. Few studies stated whether the adjustment approach was prespecified, more than a third failed to provide any justification for the chosen method, and nearly half neglected to perform sensitivity analyses. Further, it was often unclear how the RPSFTM and IPCW methods were implemented. Conclusions Inadequate reporting on the application of switching adjustment methods increases uncertainty around results, which may contribute to the limited acceptance of these methods by decision makers. The proposed reporting recommendations aim to support the improved interpretation of analyses undertaken to adjust for treatment switching