Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration

A 17 degree of freedom anthropomorphic manipulator

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints

V-ROOM: a virtual meeting system with intelligent structured summarisation

With the growth of virtual organisations and multinational companies, virtual collaboration tasks are becoming more important for employees. This paper describes the development of a virtual meeting system, called V-ROOM. An exploration of facilities required in such a system has been conducted. The findings highlighted that intelligent systems are needed, especially since information that individuals have to know and process, is vast. The survey results showed that meeting summarisation is one of the most important new features that should be added to virtual meeting systems for enterprises. This paper highlights the innovative methods employed in V-ROOM to produce relevant meeting summaries. V- ROOM's approach is compared to other methods from the literature and it is shown how the use of meta-data provided by parts of the V-ROOM system can improve the quality of summaries produced

P17. P3b event-related potentials show changes in varsity football players due to accumulated sub-concussive head impacts

BACKGROUND: Concussion has been a focus in football at all levels of participation. However, there is a growing appreciation that repetitive sub-concussive impacts may have more significant effects on overall neurological health than the isolated diagnosed concussions that have been the focus of recent research. The purpose of this study was to evaluate the relationship between the number of head impacts that players experience throughout the season and their P300 evoked potential. METHODS: Canadian university football players (n=45) were separated into three groups based on player mass and position/skill (small-skilled, big-skilled and big-unskilled). Groups were separated into low and high levels of impact exposure based on the total number of head impacts experienced in-season. Players completed baseline, midseason, postseason, and follow-up neurophysiological tests to measure P300 evoked potentials. Statistically significant differences between high versus low impact subgroups for each player group were assessed using independent-samples t-tests. RESULTS: Small-skilled and big-skilled players showed statistically significant decreases in P300 amplitude at midseason and postseason for high impact players compared to low impact players. Follow-up measures revealed that all groups were not significantly different compared to baseline measures. DISCUSSION & CONCLUSION: Players that experience a large number of head impacts in varsity football demonstrate significant decreases in specific EEG measures of cognitive function and information processing. INTERDISCIPLINARY REFLECTION: The combination of biomechanical head impact exposure with neurophysiological outcomes yields insight into the processes behind head impacts and their effects on the human brain

Critical learning incidents in system dynamics modelling engagements

This paper reports in-depth behavioural operational research to explore how individual clients learned to resolve dynamically complex problems in system dynamics model-based engagements. Consultant-client dyads were interviewed in ten system dynamics consulting engagements to identify individual clients' Critical Learning Incidents—defined as the moment of surprise caused after one's mental model produces unexpected failure and a change in one’s mental model produces the desired result. The cases are reprised from interviews and include assessments of the nature of the engagement problem, the form of system dynamics model, and the methods employed by consultants during each phase of the engagement. Reported Critical Learning Incidents are noted by engagement phase and consulting method, and constructivist learning theory is used to describe a pattern of learning. Outcomes of the research include describing the role of different methods applied in engagement phases (for example, the role of concept models to commence problem identification and to introduce iconography and jargon to the engagement participants), how model form associates with timings of Critical Learning Incidents, and the role of social mediation and negotiation in the learning process

Narrow-line Laser Cooling by Adiabatic Transfer

We propose and demonstrate a novel laser cooling mechanism applicable to particles with narrow-linewidth optical transitions. By sweeping the frequency of counter-propagating laser beams in a sawtooth manner, we cause adiabatic transfer back and forth between the ground state and a long-lived optically excited state. The time-ordering of these adiabatic transfers is determined by Doppler shifts, which ensures that the associated photon recoils are in the opposite direction to the particle's motion. This ultimately leads to a robust cooling mechanism capable of exerting large forces via a weak transition and with reduced reliance on spontaneous emission. We present a simple intuitive model for the resulting frictional force, and directly demonstrate its efficacy for increasing the total phase-space density of an atomic ensemble. We rely on both simulation and experimental studies using the 7.5~kHz linewidth $^1$S$_0$ to $^3$P$_1$ transition in $^{88}$Sr. The reduced reliance on spontaneous emission may allow this adiabatic sweep method to be a useful tool for cooling particles that lack closed cycling transitions, such as molecules.Comment: 5 pages, 4 figure

The effect of non-prescription ocular decongestants on intraocular pressure, anterior angle and pupil diameter

This study compares the effects of three sympathomimetic agents used in over-the-counter ocular decongestants, tetrahydrozoline, phenylephrine and naphazoline on intraocular pressure, anterior chamber angle and pupil diameter in normal healthy adult eyes. Both short term effects, monitored at 15 minutes, 30 minutes and 45 minutes following initial drop instillation, and long term effects measured for 96 hours during habitual use were studied. Only one product, Visine, which contains tetrahydrozoline, produced a significant change in the measured parameters. Visine lowered the intraocular pressure an average of 1.9 mmHg thirty minutes after instillation