Towards a universal end effector : the design and development of production technology's intelligent robot hand : a thesis presented in partial fulfilment of the requirements for the degree of Master of Technology in Engineering and Automation at Massey University

Research into robot hands for industrial use began in the early 1980s and there are now many examples of robot hands in existence. The reason for research into robot hands is that standard robot end effectors have to be designed for each application and are therefore costly. A universal end effector is needed that will be able to perform any parts handling operation or use other tools for other industrial operations. Existing robot hand research would therefore benefit from new concepts, designs and control systems. The Department of Production Technology is developing an intelligent robot hand of a novel configuration, with the ultimate aim of producing a universal end effector. The concept of PTIRH (Production Technology's Intelligent Robot Hand) is that it is a multi-fingered manipulator with a configuration of two thumbs and two fingers. Research by the author for this thesis concentrated on five major areas. First, the background research into the state of the art in robot hand research. Second, the initiation, development and analysis of the novel configuration concept of PTIRH. Third, specification, testing and analysis of air muscle actuation, including design, development and testing of a servo pneumatic control valve for the air muscles. Fourth, choice of sensors for the robot hand, including testing and analysis of two custom made air pressure sensors. Fifth, definition, design, construction, development, testing and analysis of the mechanical structure for an early prototype of PTIRH. Development of an intelligent controller for PTIRH was outside the scope of the author's research. The results of the analysis on the air muscles showed that they could be a suitable direct drive actuator for an intelligent robotic hand. The force, pressure and position sensor results indicate that the sensors could form the basis of the feedback loop for an intelligent controller. The configuration of PTIRH enables it to grasp objects with little reliance on friction. This was demonstrated with an early prototype of the robot hand, which had one finger with actuation and three other static digits, by successfully manually arranging the digits into stable grasps of various objects

Community grants: a quick guide to key Internet links

This guide provides links to selected sources of financial assistance to community groups. It does not include links to scholarships, fellowships or research grants

Orbital pseudotumour masquerading as Wegener’s granulomatosis

A twenty-two year old female patient presented with new onset bilateral hard orbital masses and progressively worse tear lake problems. Computed tomography of the orbits revealed poorly differentiated bilateral orbital masses. Laboratory investigation revealed ANCA positivity. Routine biochemical investigations were all within normal limits. CXR was also normal. Biopsy of the orbital masses revealed non-specific histological findings. An initial diagnosis of Granulomatosis with Polyangitis (GPA) was postulated. Oral steroids were given followed by a rapid response to steroid therapy. The working diagnosis of GPA was abandoned and a diagnosis of idiopathic orbital inflammation (IOI), or orbital pseudotumour was made owing to the benign, non-infective, inflammatory pathology with no evident systemic or local cause. Tailoring off of steroids resulted in repeated flare ups, resulting in the initiation of methotrexate therapy. The patient is in remission and is currently on combined steroid and methotrexate treatment. IOI is a diagnosis of exclusion and a rapid response to steroids serves as a diagnostic aid but is not in itself diagnostic.peer-reviewe

Evaluation of Skills for Work pilot courses : final report

The evaluation has shown that the SfW pilot has been successful in achieving the objectives and key measures of success identified by the stakeholders interviewed at the start of the pilot. Schools, colleges and providers are committed to the value of SfW courses and see them as having raised the status of vocational learning in schools; providers have developed and tested out different approaches to delivering courses and overcome various obstacles and challenges; schools and colleges are increasingly recognising the need to work more closely together and have started to implement strategies to strengthen their partnerships; colleges and schools are positive about the impact of courses on students’ attitudes and skills relevant to employment, their motivation to learn, and their ability to work with and relate to adults; finally, more than four-fifths of students had passed their courses by the end of the second year of the pilot

A precise determination of alpha_s from LEP thrust data using effective field theory

Starting from a factorization theorem in Soft-Collinear Effective Theory, the thrust distribution in e+e- collisions is calculated including resummation of the next-to-next-to-next-to leading logarithms. This is a significant improvement over previous calculations which were only valid to next-to-leading logarithmic order. The fixed-order expansion of the resummed result approaches the exact fixed-order distribution towards the kinematic endpoint. This close agreement provides a verification of both the effective field theory expression and recently completed next-to-next-to-leading fixed order event shapes. The resummed distribution is then matched to fixed order, resulting in a distribution valid over a large range of thrust. A fit to ALEPH and OPAL data from LEP 1 and LEP 2 produces alpha_s(m_Z)= 0.1172 +/- 0.0010 +/- 0.0008 +/-0.0012 +/- 0.0012, where the uncertainties are respectively statistical, systematic, hadronic, and perturbative. This is one of the world's most precise extractions of alpha_s to date.Comment: 37 pages, 12 figures; v2: hadronization discussion and appendices expande