Experimental Validation of Contact Dynamics for In-Hand Manipulation

This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions --linear sliding, pivoting, and rolling-- that involve contacts between a gripper, a rigid object, and their environment. The evaluation is done through thousands of controlled experiments designed to capture the motion of object and gripper, and all contact forces and torques at 250Hz. We demonstrate that a contact modeling approach based on Coulomb's friction law and maximum energy principle is effective at reasoning about interaction to first order, but limited for making accurate predictions. We attribute the major limitations to 1) the non-uniqueness of force resolution inherent to grasps with multiple hard contacts of complex geometries, 2) unmodeled dynamics due to contact compliance, and 3) unmodeled geometries dueto manufacturing defects.Comment: International Symposium on Experimental Robotics, ISER 2016, Tokyo, Japa

H-P adaptive methods for finite element analysis of aerothermal loads in high-speed flows

The commitment to develop the National Aerospace Plane and Maneuvering Reentry Vehicles has generated resurgent interest in the technology required to design structures for hypersonic flight. The principal objective of this research and development effort has been to formulate and implement a new class of computational methodologies for accurately predicting fine scale phenomena associated with this class of problems. The initial focus of this effort was to develop optimal h-refinement and p-enrichment adaptive finite element methods which utilize a-posteriori estimates of the local errors to drive the adaptive methodology. Over the past year this work has specifically focused on two issues which are related to overall performance of a flow solver. These issues include the formulation and implementation (in two dimensions) of an implicit/explicit flow solver compatible with the hp-adaptive methodology, and the design and implementation of computational algorithm for automatically selecting optimal directions in which to enrich the mesh. These concepts and algorithms have been implemented in a two-dimensional finite element code and used to solve three hypersonic flow benchmark problems (Holden Mach 14.1, Edney shock on shock interaction Mach 8.03, and the viscous backstep Mach 4.08)

On a Cahn--Hilliard--Darcy system for tumour growth with solution dependent source terms

We study the existence of weak solutions to a mixture model for tumour growth that consists of a Cahn--Hilliard--Darcy system coupled with an elliptic reaction-diffusion equation. The Darcy law gives rise to an elliptic equation for the pressure that is coupled to the convective Cahn--Hilliard equation through convective and source terms. Both Dirichlet and Robin boundary conditions are considered for the pressure variable, which allows for the source terms to be dependent on the solution variables.Comment: 18 pages, changed proof from fixed point argument to Galerkin approximatio

Microstructural enrichment functions based on stochastic Wang tilings

This paper presents an approach to constructing microstructural enrichment functions to local fields in non-periodic heterogeneous materials with applications in Partition of Unity and Hybrid Finite Element schemes. It is based on a concept of aperiodic tilings by the Wang tiles, designed to produce microstructures morphologically similar to original media and enrichment functions that satisfy the underlying governing equations. An appealing feature of this approach is that the enrichment functions are defined only on a small set of square tiles and extended to larger domains by an inexpensive stochastic tiling algorithm in a non-periodic manner. Feasibility of the proposed methodology is demonstrated on constructions of stress enrichment functions for two-dimensional mono-disperse particulate media.Comment: 27 pages, 12 figures; v2: completely re-written after the first revie

Gyroscopic motion of superfluid trapped atomic condensates

The gyroscopic motion of a trapped Bose gas containing a vortex is studied. We model the system as a classical top, as a superposition of coherent hydrodynamic states, by solution of the Bogoliubov equations, and by integration of the time-dependent Gross-Pitaevskii equation. The frequency spectrum of Bogoliubov excitations, including quantum frequency shifts, is calculated and the quantal precession frequency is found to be consistent with experimental results, though a small discrepancy exists. The superfluid precession is found to be well described by the classical and hydrodynamic models. However the frequency shifts and helical oscillations associated with vortex bending and twisting require a quantal treatment. In gyroscopic precession, the vortex excitation modes $m=\pm 1$ are the dominant features giving a vortex kink or bend, while the $m=+2$ is found to be the dominant Kelvin wave associated with vortex twisting.Comment: 18 pages, 7 figures, 1 tabl

Letter processing and font information during reading: beyond distinctiveness, where vision meets design

Letter identification is a critical front end of the reading process. In general, conceptualizations of the identification process have emphasized arbitrary sets of distinctive features. However, a richer view of letter processing incorporates principles from the field of type design, including an emphasis on uniformities across letters within a font. The importance of uniformities is supported by a small body of research indicating that consistency of font increases letter identification efficiency. We review design concepts and the relevant literature, with the goal of stimulating further thinking about letter processing during reading

A shelf-life study of silica- and carbon-based mesoporous materials

Mesoporous silica- and carbon-based materials, including bioactive glasses, have proven potential as components of medical devices and as drug carriers. From an application perspective, knowledge about the shelf-life stability of these materials under various conditions is vital. Here, mesoporous bioactive glasses (MBGs) synthesized by aerosol-assisted spray-drying and by a batch sol–gel method, mesoporous silicas of SBA-15 type, and mesoporous carbons CMK-1 and CMK-3 have been stored under varying conditions, e.g. at different temperature and relative humidity (RH), and in different storage vessels. The results show that the silica-based materials stored in Eppendorfs are sensitive to humidity. Spray dried MBGs decompose within 1 month at a RH >5%, whilst sol–gel MBGs are more stable up to a RH >60%. Changing the storage vessel to sealed glass flasks increases the MBGs lifetime significantly, with no degradation during 2 months of storage at a RH = 75%. SBA-15 stored in Eppendorfs are more stable compared to MBGs, and addition of F- ions added during the synthesis affects the material degradation rate. Mesoporous carbons are stable under all conditions for all time points. This systematic study clearly demonstrates the importance of storage conditions for mesoporous materials which is crucial knowledge for commercialization of these materials

Stimulant Reduction Intervention using Dosed Exercise (STRIDE) - CTN 0037: Study protocol for a randomized controlled trial

Background: There is a need for novel approaches to the treatment of stimulant abuse and dependence. Clinical data examining the use of exercise as a treatment for the abuse of nicotine, alcohol, and other substances suggest that exercise may be a beneficial treatment for stimulant abuse, with direct effects on decreased use and craving. In addition, exercise has the potential to improve other health domains that may be adversely affected by stimulant use or its treatment, such as sleep disturbance, cognitive function, mood, weight gain, quality of life, and anhedonia, since it has been shown to improve many of these domains in a number of other clinical disorders. Furthermore, neurobiological evidence provides plausible mechanisms by which exercise could positively affect treatment outcomes. The current manuscript presents the rationale, design considerations, and study design of the National Institute on Drug Abuse (NIDA) Clinical Trials Network (CTN) CTN-0037 Stimulant Reduction Intervention using Dosed Exercise (STRIDE) study. Methods/Design: STRIDE is a multisite randomized clinical trial that compares exercise to health education as potential treatments for stimulant abuse or dependence. This study will evaluate individuals diagnosed with stimulant abuse or dependence who are receiving treatment in a residential setting. Three hundred and thirty eligible and interested participants who provide informed consent will be randomized to one of two treatment arms: Vigorous Intensity High Dose Exercise Augmentation (DEI) or Health Education Intervention Augmentation (HEI). Both groups will receive TAU (i.e., usual care). The treatment arms are structured such that the quantity of visits is similar to allow for equivalent contact between groups. In both arms, participants will begin with supervised sessions 3 times per week during the 12-week acute phase of the study. Supervised sessions will be conducted as one-on-one (i.e., individual) sessions, although other participants may be exercising at the same time. Following the 12-week acute phase, participants will begin a 6-month continuation phase during which time they will attend one weekly supervised DEI or HEI session