Angled sensor configuration capable of measuring tri-axial forces for pHRI

© 2016 IEEE. This paper presents a new configuration for single axis tactile sensor arrays molded in rubber to enable tri-axial force measurement. The configuration requires the sensing axis of each sensor in the array to be rotated out of alignment with respect to external forces. This angled sensor array measures shear forces along axes in a way that is different to a planar sensor array. Three sensors using the angled configuration (22.5°, 45° and 67.5°) and a fourth sensor using the planar configuration (0°) have been fabricated for experimental comparison. Artificial neural networks were trained to interpret the external force applied along each axis (X, Y and Z) from raw pressure sensor values. The results show that the angled sensor configuration is capable of measuring tri-axial external forces with a root mean squared error of 1.79N, less error in comparison to the equivalent sensor utilizing the planar configuration (4.52N). The sensors are then implemented to control a robotic arm. Preliminary findings show angled sensor arrays to be a viable alternative to planar sensor arrays for shear force measurement; this has wide applications in physical Human Robot Interaction (pHRI)

‘River! that in silence windest’ The place of religion and spirituality in social work assessment: sociological reflections and practical implications

This paper explores the place of religion and spirituality in social work assessment. Place represents a topographic or locational concept that suggests an embeddedness within a physically bounded space, implying here that religion and spirituality are centrally important to the lives of many people and therefore necessarily part of the social work relationship between practitioners and their clients or service users. A range of concepts and implications arising from the idea that religion and spirituality form a necessary part of quotidian social work practice require some discussion. First of all we must recognize that religion and spirituality are often seen as synonyms and we must first discuss this and suggest discrete definitions of each concept. We also need to discuss assessment itself in social work, recognising the power relations and potential for the normative imposition of unspoken and taken-for-granted assumptions in making judgements about vulnerable people’s ecologies and psychologies. This is problematised further when we consider questions of vulnerability – a contested term in itself; who makes someone vulnerable, is it a quality or characteristic or does it reflect something structural, or both? Social work may be considered as a locally contextualized set of processes or moral practices that make statements about assumed vulnerabilities. We are taking this further by asking about religion and spirituality as one aspect of this collection of processes. This may project social work as both homogeneous, transferable and globally understood, an idea we will need to debate. Accepting that all these concepts may be contested and problematic we can move forward to consider ways in which religion and spirituality may be assessed in social work, making reference predominantly to UK and US social work whilst being tentative in making any normative assumptions about this exploration. A number of models will be introduced, drawing out some of the potential meanings and consequences of these for interpersonal relationship and also for people’s spiritual perspectives. A case example of the exclusion of religion and spirituality, notably Christianity, from UK social work in the recent past will be provided. This background prepares us for moving towards a sociological analysis of the state of play

Anisotropic clustering of inertial particles in homogeneous shear flow

Recently, clustering of inertial particles in turbulence has been thoroughly analyzed for statistically homogeneous isotropic flows. Phenomenologically, spatial homogeneity of particles configurations is broken by the advection of a range of eddies determined by the Stokes relaxation time of the particles which results in a multi-scale distribution of local concentrations and voids. Much less is known concerning anisotropic flows. Here, by addressing direct numerical simulations (DNS) of a statistically steady particle-laden homogeneous shear flow, we provide evidence that the mean shear preferentially orients particle patterns. By imprinting anisotropy on large scales velocity fluctuations, the shear indirectly affects the geometry of the clusters. Quantitative evaluation is provided by a purposely designed tool, the angular distribution function of particle pairs (ADF), which allows to address the anisotropy content of particles aggregates on a scale by scale basis. The data provide evidence that, depending on the Stokes relaxation time of the particles, anisotropic clustering may occur even in the range of scales where the carrier phase velocity field is already recovering isotropy. The strength of the singularity in the anisotropic component of the ADF quantifies the level of fine scale anisotropy, which may even reach values of more than 30% direction-dependent variation in the probability to find two close-by particles at viscous scale separation.Comment: To appear in Journal Fluid Mechanics 200

Marine Monitoring Program: Annual Report for inshore pesticide monitoring 2018–19

[Extract] This component of the Marine Monitoring Program provides an understanding of nearshore pesticide profiles and the exposure risk to marine organisms, as a part of water quality condition on the Great Barrier Reef. Data are collected from eleven fixed monitoring sites located in four Natural Resource Management regions — the Wet Tropics (five sites: Low Isles, High Island, Normanby Island, Dunk Island and Lucinda), Burdekin (one site: Barratta Creek), Mackay-Whitsundays (four sites: Repulse Bay, Flat Top Island, Sandy Creek and Sarina Inlet) and Fitzroy (one site: North Keppel Island). The suite of pesticides monitored includes photosystem II (PSII) inhibiting herbicides (such as diuron, atrazine (and its metabolites), ametryn, hexazinone, tebuthiuron), which all affect photosynthesis, and are commonly detected due to their high usage in adjacent catchments, and their high solubility. Other pesticides monitored include those that have non-photosynthetic effects (such as imidacloprid and metolachlor) and knockdown herbicides (such as 2,4-D)

Direct Numerical Simulation of Turbulent Heat Transfer Modulation in Micro-Dispersed Channel Flow

The object of this paper is to study the influence of dispersed micrometer size particles on turbulent heat transfer mechanisms in wall-bounded flows. The strategic target of the current research is to set up a methodology to size and design new-concept heat transfer fluids with properties given by those of the base fluid modulated by the presence of dynamically-interacting, suitably-chosen, discrete micro- and nano- particles. We run Direct Numerical Simulation (DNS) for hydrodynamically fully-developed, thermally-developing turbulent channel flow at shear Reynolds number Re=150 and Prandtl number Pr=3, and we tracked two large swarms of particles, characterized by different inertia and thermal inertia. Preliminary results on velocity and temperature statistics for both phases show that, with respect to single-phase flow, heat transfer fluxes at the walls increase by roughly 2% when the flow is laden with the smaller particles, which exhibit a rather persistent stability against non-homogeneous distribution and near-wall concentration. An opposite trend (slight heat transfer flux decrease) is observed when the larger particles are dispersed into the flow. These results are consistent with previous experimental findings and are discussed in the frame of the current research activities in the field. Future developments are also outlined.Comment: Pages: 305-32