Opportunistic communication schemes for unmanned vehicles in urban search and rescue

In urban search and rescue (USAR) operations, there is a considerable amount of danger faced by rescuers. The use of mobile robots can alleviate this issue. Coordinating the search effort is made more difficult by the communication issues typically faced in these environments, such that communication is often restricted. With small numbers of robots, it is necessary to break communication links in order to explore the entire environment. The robots can be viewed as a broken ad hoc network, relying on opportunistic contact in order to share data. In order to minimise overheads when exchanging data, a novel algorithm for data exchange has been created which maintains the propagation speed of flooding while reducing overheads. Since the rescue workers outside of the structure need to know the location of any victims, the task of finding their locations is two parted: 1) to locate the victims (Search Time), and 2) to get this data outside the structure (Delay Time). Communication with the outside is assumed to be performed by a static robot designated as the Command Station. Since it is unlikely that there will be sufficient robots to provide full communications coverage of the area, robots that discover victims are faced with the difficult decision of whether they should continue searching or return with the victim data. We investigate a variety of search techniques and see how the application of biological foraging models can help to streamline the search process, while we have also implemented an opportunistic network to ensure that data are shared whenever robots come within line of sight of each other or the Command Station. We examine this trade-off between performing a search and communicating the results

Design and Modelling of a Magnetic Fluid Based Artificial Muscle for Gait Rehabilitation

Robotic gait rehabilitation systems have seen a plateau in functional gait rehabilitation outcomes for hemiparetic stroke survivors over the past 5 years, particularly when using improvements in walking speed as a key metric. Research continues into various types of robotic systems, and many have been seen to increase rates of independent walking. Why then have improvements in users’ walking speed remained sluggish? It is suggested that the issue may lie either in the design of the robotic systems themselves or in approach these systems take to providing training. A such a ground up approach is taken for this research into improving robotic gait rehabilitation techniques. This first required a closer look at how hemiparetic gait patterns vary with walking speed though this in turn necessitated consideration of the targeting effect. Caused by the presence of a distinctly marked shape along their path, this effect was found to have no significant impact on the kinematic parameters of hemiparetic stroke survivors. This allowed gait analysis into the kinematic gait patterns of stroke survivors to be carried out and relationships between said pattern and the participants walking speed to be obtained. It was found that there existed compensatory gait techniques that related to walking speed and it was suggested that these could be encouraged as beneficial traits to improve functional rehabilitation outcomes. This still left the consideration of the robotic system itself though. Soft robotics and smart materials had been suggested as a potential avenue for designing improved robotic systems that would allow for high user engagement and autonomy while removing the tethering common in current designs. A magnetic fluid muscle design and FEA model was proposed and validated. The design was iterated on using the FEA model to improve its functionality and gather details about its potential for use in gait rehabilitation

Challenges relating to the inter-facility transport of high acuity paediatric cases

Abstract: Introduction: The motivation for this study came from anecdotal reports and observations that there was a potential need for improvement to the systems that support inter-facility transfers of high acuity paediatric cases between referring and receiving facilities in Johannesburg, South Africa. In this exploratory study, we formally document and describe challenges being experienced by members of the healthcare team in facilitating the interfacility transport of high acuity paediatric cases. Methods: A qualitative, explorative design was applied, making use of interviews with purposefully-identified role players involved in paediatric transportation and care. Verbatim transcripts from audio recorded interviews underwent content analysis to allow for the identification of common categories. Results: Participants described a number of challenges, which included time delays, lack of qualified ambulance personnel, poor communication between role players, and lack of appropriate equipment. Discussion: There are significant challenges experienced by members of the healthcare team with regard to interfacility transport of high acuity paediatric and neonatal cases in Johannesburg, South Africa. Whilst we acknowledge the African context and resource constrained setting, health systems managers need to explore the feasibility of establishing dedicated and suitably resourced retrieval teams who specialise in the transfer of high acuity paediatric and neonatal patients in order to improve quality of care and overall patient outcomes in this population

Targeting effect on gait parameters in healthy individuals and post-stroke hemiparetic individuals

Background: A targeting effect may occur in any gait analysis trial where the participant is instructed to step in a particular area or a clearly marked target is in their path. The targeting effect may affect the gait parameters and any variability being studied in regard to the participants. There are few studies examining this effect for healthy subjects and none for special populations. Methods: This study aimed to investigate if any targeting effects occurred in healthy and stroke-survivor populations. Eight male participants were recruited, four of whom exhibited right-hand side hemiparesis resulting from stroke. Each participant performed a series of gait trials at a comfortable walking pace after being made aware of the force plate in the centre of the walkway. The participants gait was then analysed and compared before and after the target force plate. Results: The results of the trials showed significant variations (p < 0.005) in the spatiotemporal gait parameters in both the healthy and stroke-survivor groups indicating a targeting effect. Conclusions: The effects were similar in both groups with the step speed and length being slower and shorter for the targeting step compared to the step after the force plate

Circus Perfomers

Photographic print of a 'The Paulos' performing a trampolining act on stage. The photograph shows Joachim Krause (left) and Betty Paulo (right) (Elizabeth Krause, nee Butcher). Their daughter Jackie can be seen on the trampoline in the centre. Stamped on reverse 'Studio Scone, 51 Ann Street, Belfast'

Cosmopolitan Attitudes in the Works of Emilia Pardo Bazán

The word cosmopolitan , citizen of the world, denotes, in its broadest sense, one whose interests are not limited to the confines of his own country and culture. But when we consider the role of the Spanish cosmopolitan in any age, we are obliged to confront the old spectre of Spain\u27s isolation from the rest of Europe, of a Spain which gazes only into the mirror of eternity

T.S. Eliot and Pablo Neruda; a study in contemporary attitudes

Pablo Neruda of Chile and T. S. Eliot of England are two writers who have achieved the status of major poet in their respective countries. The recognition which they have earned is not solely for their mastery of the technicalities of the craft. Indeed, when the name of either poet is mentioned, it is frequently as the name of one who expressed the situation of man in a world which seems to have lost its equilibrium. They are interpreters of the the role of humanity in an unquiet age