A touch and pair system for battery-free 802.15.4/ZigBee home automation networks

In this paper, 2 problems affecting the acceptance of wireless devices by a wider public are introduced, and possible solutions are suggested. The first obstacle is linked to the necessity of changing the batteries of autonomous wireless nodes after. Although this problem can be solved to a certain extent by using battery-less devices, the energy need of flexible protocols such as ZigBee increases the complexity of such a device autonomously joining a network (including association and binding). A solution based on RFID components that allow the transfer of pairing information using a “Touch and Pair” system is presented. It is shown that a consumer device such as an iPod/iPhone can be modified to serve as a user friendly pairing device. Using ultra low power components, battery-less switches sending ZigBee compatible frames are built. Key network parameters can be transferred from the iPod/iPhone to the switch or other endpoints and thus allow a fast and simple configuration of battery-less elements on the network

Improving Rigid 3-D Calibration for Robotic Surgery

Autonomy is the next frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In this article, we propose a novel calibration technique for a surgical scenario with a da Vinci Research Kit (dVRK) robot. Camera and robotic arms calibration are necessary to precise position and emulate expert surgeon. The novel calibration technique is tailored for RGB-D cameras. Different tests performed on relevant use cases prove that we significantly improve precision and accuracy with respect to state of the art solutions for similar devices on a surgical-size setups. Moreover, our calibration method can be easily extended to standard surgical endoscope used in real surgical scenario

A General Framework for Hierarchical Redundancy Resolution Under Arbitrary Constraints

The increasing interest in autonomous robots with a high number of degrees of freedom for industrial applications and service robotics demands control algorithms to handle multiple tasks as well as hard constraints efficiently. This paper presents a general framework in which both kinematic (velocity- or acceleration-based) and dynamic (torque-based) control of redundant robots are handled in a unified fashion. The framework allows for the specification of redundancy resolution problems featuring a hierarchy of arbitrary (equality and inequality) constraints, arbitrary weighting of the control effort in the cost function and an additional input used to optimize possibly remaining redundancy. To solve such problems, a generalization of the Saturation in the Null Space (SNS) algorithm is introduced, which extends the original method according to the features required by our general control framework. Variants of the developed algorithm are presented, which ensure both efficient computation and optimality of the solution. Experiments on a KUKA LBRiiwa robotic arm, as well as simulations with a highly redundant mobile manipulator are reported.Comment: 19 pages, 19 figures, submitted to the IEE

Magnetic Field Generation in Core-Sheath Jets via the Kinetic Kelvin-Helmholtz Instability

We have investigated magnetic field generation in velocity shears via the kinetic Kelvin-Helmholtz instability (kKHI) using a relativistic plasma jet core and stationary plasma sheath. Our three-dimensional particle-in-cell simulations consider plasma jet cores with Lorentz factors of 1.5, 5, and 15 for both electron-proton and electron-positron plasmas. For electron-proton plasmas we find generation of strong large-scale DC currents and magnetic fields which extend over the entire shear-surface and reach thicknesses of a few tens of electron skin depths. For electron-positron plasmas we find generation of alternating currents and magnetic fields. Jet and sheath plasmas are accelerated across the shear surface in the strong magnetic fields generated by the kKHI. The mixing of jet and sheath plasmas generates transverse structure similar to that produced by the Weibel instability.Comment: 28 pages, 12 figures, in press, ApJ, September 10, 201

Neuroprotection by erythropoietin administration after experimental traumatic brain injury.

A large body of evidence indicates that the hormone erythropoietin (EPO) exerts beneficial effects in the central nervous system (CNS). To date, EPO's effect has been assessed in several experimental models of brain and spinal cord injury. This study was conducted to validate whether treatment with recombinant human EPO (rHuEPO) would limit the extent of injury following experimental TBI. Experimental TBI was induced in rats by a cryogenic injury model. rHuEPO or placebo was injected intraperitoneally immediately after the injury and then every 8 h until 2 or 14 days. Forty-eight hours after injury brain water content, an indicator of brain edema, was measured with the wet-dry method and blood-brain barrier (BBB) breakdown was evaluated by assay of Evans blue extravasation. Furthermore, extent of cerebral damage was assessed. Administration of rHuEPO markedly improved recovery from motor dysfunction compared with placebo group (P < 0.05). Brain edema was significantly reduced in the cortex of the EPO-treated group relative to that in the placebo-treated group (80.6 \ub1 0.3% versus 91.8% \ub1 0.8% respectively, P < 0.05). BBB breakdown was significantly lower in EPO-treated group than in the placebo-treated group (66.2 \ub1 18.7 \u3bcg/g versus 181.3 \ub1 21 \u3bcg/g, respectively, P < 0.05). EPO treatment reduced injury volume significantly compared with placebo group (17.4 \ub1 5.4 mm3 versus 37.1 \ub1 5.3 mm3, P < 0.05). EPO, administered in its recombinant form, affords significant neuroprotection in experimental TBI model and may hold promise for future clinical applications. \ua9 2007 Elsevier B.V. All rights reserved

Rendering of Pressure and Textures Using Wearable Haptics in Immersive VR Environments

Haptic systems have only recently started to be designed with wearability in mind. Compact, unobtrusive, inexpensive, easy-to-wear, and lightweight haptic devices enable researchers to provide compelling touch sensations to multiple parts of the body, significantly increasing the applicability of haptics in many fields, such as robotics, rehabilitation, gaming, and immersive systems. In this respect, wearable haptics has a great potential in the fields of virtual and augmented reality. Being able to touch virtual objects in a wearable and unobtrusive way may indeed open new exciting avenues for the fields of haptics and VR. This work presents a novel wearable haptic system for immersive virtual reality experiences. It conveys the sensation of touching objects made of different materials, rendering pressure and texture stimuli through a moving platform and a vibrotactile abbrv-doi-hyperref-narrowmotor. The device is composed of two platforms: one placed on the nail side of the finger and one in contact with the finger pad, connected by three cables. One small servomotor controls the length of the cables, moving the platform towards or away from the fingertip. One voice coil actuator, embedded in the platform, provides vibrotactile stimuli to the user

Teleology and Realism in Leibniz's Philosophy of Science

This paper argues for an interpretation of Leibniz’s claim that physics requires both mechanical and teleological principles as a view regarding the interpretation of physical theories. Granting that Leibniz’s fundamental ontology remains non-physical, or mentalistic, it argues that teleological principles nevertheless ground a realist commitment about mechanical descriptions of phenomena. The empirical results of the new sciences, according to Leibniz, have genuine truth conditions: there is a fact of the matter about the regularities observed in experience. Taking this stance, however, requires bringing non-empirical reasons to bear upon mechanical causal claims. This paper first evaluates extant interpretations of Leibniz’s thesis that there are two realms in physics as describing parallel, self-sufficient sets of laws. It then examines Leibniz’s use of teleological principles to interpret scientific results in the context of his interventions in debates in seventeenth-century kinematic theory, and in the teaching of Copernicanism. Leibniz’s use of the principle of continuity and the principle of simplicity, for instance, reveal an underlying commitment to the truth-aptness, or approximate truth-aptness, of the new natural sciences. The paper concludes with a brief remark on the relation between metaphysics, theology, and physics in Leibniz