Bio­-inspired approaches to the control and modelling of an anthropomimetic robot

Introducing robots into human environments requires them to handle settings designed specifically for human size and morphology, however, large, conventional humanoid robots with stiff, high powered joint actuators pose a significant danger to humans. By contrast, “anthropomimetic” robots mimic both human morphology and internal structure; skeleton, muscles, compliance and high redundancy. Although far safer, their resultant compliant structure presents a formidable challenge to conventional control. Here we review, and seek to address, characteristic control issues of this class of robot, whilst exploiting their biomimetic nature by drawing upon biological motor control research. We derive a novel learning controller for discovering effective reaching actions created through sustained activation of one or more muscle synergies, an approach which draws upon strong, recent evidence from animal and humans studies, but is almost unexplored to date in musculoskeletal robot literature. Since the best synergies for a given robot will be unknown, we derive a deliberately simple reinforcement learning approach intended to allow their emergence, in particular those patterns which aid linearization of control. We also draw upon optimal control theories to encourage the emergence of smoother movement by incorporating signal dependent noise and trial repetition. In addition, we argue the utility of developing a detailed dynamic model of a complete robot and present a stable, physics-­‐‑based model, of the anthropomimetic ECCERobot, running in real time with 55 muscles and 88 degrees of freedom. Using the model, we find that effective reaching actions can be learned which employ only two sequential motor co-­‐‑activation patterns, each controlled by just a single common driving signal. Factor analysis shows the emergent muscle co-­‐‑activations can be reconstructed to significant accuracy using weighted combinations of only 13 common fragments, labelled “candidate synergies”. Using these synergies as drivable units the same controller learns the same task both faster and better, however, other reaching tasks perform less well, proportional to dissimilarity; we therefore propose that modifications enabling emergence of a more generic set of synergies are required. Finally, we propose a continuous controller for the robot, based on model predictive control, incorporating our model as a predictive component for state estimation, delay-­‐‑ compensation and planning, including merging of the robot and sensed environment into a single model. We test the delay compensation mechanism by controlling a second copy of the model acting as a proxy for the real robot, finding that performance is significantly improved if a precise degree of compensation is applied and show how rapidly an un-­‐‑compensated controller fails as the model accuracy degrades

Integrating multiple sensor modalities for environmental monitoring of marine locations

In this paper we present preliminary work on integrating visual sensing with the more traditional sensing modalities for marine locations. We have deployed visual sensing at one of the Smart Coast WSN sites in Ireland and have built a software platform for gathering and synchronizing all sensed data. We describe how the analysis of a range of different sensor modalities can reinforce readings from a given noisy, unreliable sensor

Pump less wearable microfluidic device for real time pH sweat monitoring

This paper presents the fabrication and the performance of a novel, wearable, robust, flexible and disposable microfluidic device which incorporates micro-Light Emitting Diodes (μ-LEDs) as a detection system, for monitoring in real time mode the pH of the sweat generated during an exercising period

Population Estimates of Kea in Arthur\u27s Pass National Park

The population dynamics of a local group of Kea (Nestor notabilis) was studied at a refuse dump in Arthur\u27s Pass National Park over the course of three successive summers. The mean number of buds that foraged at the dump during the summer was estimated as 20 juveniles, 10 subadults, and 36 adults. An average of 11% of these birds were females. The number of adults was quite stable across years. The total population of Kea in this area was estimated to be between 88 and 119, or in the order of 0.018 to 0.040 buds per hectare. Mortality did not exceed 16-20% per year for adult and subadult buds, but it was probably higher for younger buds. Male juveniles all appeared to disperse from the area within the first two years; female juveniles, on the other hand, were frequently resighted in subsequent seasons. This difference in behaviour was statistically significant. The abundance of fledglings suggested that as few as 10% of adult males may breed in any given year

River water-level estimation using visual sensing

This paper reports our initial work on the extraction of en- vironmental information from images sampled from a camera deployed to monitor a river environment. It demonstrates very promising results for the use of a visual sensor in a smart multi-modal sensor network

Organizational Change and the Analytic Third: Locating and Attending to Unconscious Organizational Psychodynamics

doi:10.1057/palgrave.pcs.2100116This article examines the concept of the analytic third in psychoanalysis and psychoanalytically informed organizational change. The analytic third is often defined as the psychological(triangular) space between self and other, subject and object, fantasy and reality - the third dimension that emerges from two persons fully engaged in the exploration of unconscious meanings, reasons, motives and actions. In neo-Kleinian object relations, it is viewed as the intersubjective dimension of transference and counter- transference, or the emergence in analytic work of the observation and experience of ''I-as-subject'' and ''Me-as-object''(Ogden, 1994). The analytic third is what we create when we make genuine contact with one another at a deeper emotional level of experience whether in dyads, groups, communities, or organizations. It might be understood as akin to but not synonymous with Winnicott's (1971) notion of the transitional and potential space, where culture, play, creativity and imagination,reside. A case illustration is provided to better articulate the nature of the analytic third in the processes of observing, participating, and intervening in organizations.Includes bibliographical reference

Moral Violence in Organizations: Hierarchic Dominance and the Absence of Potential Space

Further issues of the journal "Organisational and Social Dynamics: An International Journal of Psychoanalytic, Systemic and Group Relations Perspectives" may be found at http://karnacbooks.metapress.com/content/120476/?p=afbd0cccf1964497a232ef8eeea8d8eaπ=0The authors introduce the concept of moral violence in organizations, by which they refer to emotionally and psychologically abusive and harmful workplace cultures. These narcissistic, organizational cultures, are, hierarchically, governed by arbitrary use of power and authority, sadistic-masochistic, relational patterns of dominance and submission, and an absence of potential space for dialogue and play. Providing several vignettes, the authors illustrate the prevalence of moral violence in managerial practices that result in dehumanizing and demoralizing the workforce. In so doing, the authors take an object relational and self-psychological, psychoanalytic perspective in understanding and working with morally violent organizations.Includes bibliographical reference

Organizational Immersion and Diagnosis: The Work of Harry Levinson

Further issues of the journal "Organisational and Social Dynamics: An International Journal of Psychoanalytic, Systemic and Group Relations Perspectives" may be found at http://karnacbooks.metapress.com/content/120476/?p=afbd0cccf1964497a232ef8eeea8d8eaπ=0In the following, I present readers with an overview of Harry Levinson's contributions to psychoanalytic organization psychology. Then, I share excerpts from an interview conducted with him in August 2002 during the American Psychological Association meetings in Chicago, Illinois. Finally, I provide a listing of his books and articles,which include published works not reviewed here. My intent is to offer readers a perspective on his impact on the psychoanalytic study of organizations.Includes bibliographical reference

Image processing for smart browsing of ocean colour data products and subsequent incorporation into a multi-modal sensing framework

Ocean colour is defined as the water hue due to the presence of tiny plants containing the pigment chlorophyll, sediments and coloured dissolved organic material and so water colour can provide valuable information on coastal ecosystems. The ‘Ocean Colour project’ collects data from various satellites (e.g. MERIS, MODIS) and makes this data available online. One method of searching the Ocean Colour project data is to visually browse level 1 and level 2 data. Users can search via location (regions), time and data type. They are presented with images which cover chlorophyll, quasi-true colour and sea surface temperature (11 μ) and links to the source data. However it is often preferable for users to search such a complex and large dataset by event and analyse the distribution of colour in an image before examination of the source data. This will allow users to browse and search ocean colour data more efficiently and to include this information more seamlessly into a framework that incorporates sensor information from a variety of modalities. This paper presents a system for more efficient management and analysis of ocean colour data and suggests how this information can be incorporated into a multi-modal sensing framework for a smarter, more adaptive environmental sensor network

Image processing for smarter browsing of ocean color data products: investigating algal blooms

Remote sensing technology continues to play a significant role in the understanding of our environment and the investigation of the Earth. Ocean color is the water hue due to the presence of tiny plants containing the pigment chlorophyll, sediments, and colored dissolved organic material and so can provide valuable information on coastal ecosystems. We propose to make the browsing of Ocean Color data more efficient for users by using image processing techniques to extract useful information which can be accessible through browser searching. Image processing is applied to chlorophyll and sea surface temperature images. The automatic image processing of the visual level 1 and level 2 data allow us to investigate the occurrence of algal blooms. Images with colors in a certain range (red, orange etc.) are used to address possible algal blooms and allow us to examine the seasonal variation of algal blooms in Europe (around Ireland and in the Baltic Sea). Yearly seasonal variation of algal blooms in Europe based on image processing for smarting browsing of Ocean Color are presented