Minimising vibration in a flexible golf club during robotic simulations of a golf swing

Robots are widely used as substitutes for humans in situations involving repetitive tasks where a precise and repeatable motion is required. Sports technology is an area which has seen an increase in the implementation of robots which simulate specific human motions required for a sport. One purpose is to test sports equipment, where the requirement is for a motion to be performed with consistent variables. One issue which has arisen frequently in the robot simulation of humans is the inherent presence of vibration excited in a flexible object being manipulated by a robot, and this issue is not unfounded in the situation presented in this research, of a golf robot manipulating a flexible golf club during the simulation of a golf swing. It had been found that during robotic simulations of golf swings performed with the Miyamae Robo V at the Sports Technology Institute at Loughborough University, swing variables such as shaft deformation and clubhead orientation were dissimilar to those measured for human golf swings. Vibrations present in the golf club were identified as the key cause of the disparity between human and robot swing variables. This research sought to address this issue and find a method which could be applied to reduce clubhead vibrations present in robot simulations of a golf swing to improve their similarity to human swings. This would facilitate the use of the golf robot for equipment testing and club fitting. Golf swing variables were studied and measured for 14 human subjects with the aim being to understand the motion that the robot is required to simulate. A vibration damping gripper was then fitted to the robot to test the effect that changing the interface between the robot-excited vibrations and the club would have, this was achieved with a selection of silicone sleeves with differing material properties which could be attached to the club. Preliminary results showed a noticeable reduction in clubhead vibrations and this solution was investigated further. Mathematically modelling the robot was seen as the most suitable method for this as it meant the robot remained functional and allowed a number of solutions to be tested. Several iterations of a mathematical model were developed with the final model being structurally similar to the robot with the addition of a compliant grip and wrist. The method by which the robot is driven was also recognised as having a large effect on the level of vibration excited in the clubhead and the methodology behind generating smooth robot swing profiles is presented. The mathematical model was used to perform 6 swings and the resulting shaft deformation and clubhead vibration were compared with data from human swings. It was found that the model was capable of producing swing variables comparable to human swings, however in the downswing portion of the swing the magnitude of these variables were larger for the simulations. Simulations were made which sought to demonstrate the difference between the model replicating the rigid robot and a compliant system. Reductions in vibration were achieved in all swings, including those driven with robot feedback data which contains oscillations excited by the method with which the robot is driven

Autoethnography in occupational science: me, we or they?

Studies of engagement in occupation have involved small group of individuals (Carin-Levy and Jones, 2007), ‘they’ or the occupational scientist/therapist themselves, (Taylor, 2008), ‘me’. My PhD research into “creative writing as an occupation” proposes an integrated approach combining autoethnography with collaborative group exploration of narratives to gain the perspective of the ‘we’. The exploration of an occupation by those who participate in it, including one who has a perspective as an occupational therapist will contribute to a deep understanding of the range of personal and sociocultural meanings (Creek, 2010) and will seek to frame the findings in occupational terms. This approach steps into a wider debate about ‘Heartful’ autoethnography, where evocative narratives ‘create the effect of reality’ (Ellis, 1999, p. 669) versus analytic autoethnography, where the researcher, a member of the research group has the specific aim of developing theoretical understanding (Anderson, 2006). Ellis and Bochner (2006) challenge the need for this analytical shift arguing that theorising or generalizing from autoethnography by using traditional analysis negates the way stories work. Through framing questions in occupational terms the narrative stories gathered will both speak for themselves and highlight occupational experience in a way that is immediately relatable to practising therapists. Anderson, L. 2006. Analytic Autoethnography. Journal of Contemporary Ethnography, 35(4), 373-395. Carin-Levy, G. and Jones, D., 2007. Psychosocial Aspects of Scuba Diving for People with Physical Disabilities: an occupational science perspective. Canadian Journal of Occupational Therapy, 74(1), 6-14. Creek, J., 2010. The Core Concepts of Occupational Therapy: a dynamic framework for practice. London: Jessica Kingsley Publishers. Ellis, C. 1999. Heartful Autoethnography. Qualitative Health Research. 9(5), 669-683. Ellis, C.S. and Bochner, A.P. 2006. Analyzing Analytic Autoethnography: an autopsy. Journal of Contemporary Ethnography, 35(4), 429-449. Taylor, J. 2008. An autoethnographic exploration of an occupation: doing a PhD. British Journal of Occupational Therapy, 71(5), 176-184

Navigation Among Movable Obstacles via Multi-Object Pushing Into Storage Zones

With the majority of mobile robot path planning methods being focused on obstacle avoidance, this paper, studies the problem of Navigation Among Movable Obstacles (NAMO) in an unknown environment, with static (i.e., that cannot be moved by a robot) and movable (i.e., that can be moved by a robot) objects. In particular, we focus on a specific instance of the NAMO problem in which the obstacles have to be moved to predefined storage zones. To tackle this problem, we propose an online planning algorithm that allows the robot to reach the desired goal position while detecting movable objects with the objective to push them towards storage zones to shorten the planned path. Moreover, we tackle the challenging problem where an obstacle might block the movability of another one, and thus, a combined displacement plan needs to be applied. To demonstrate the new algorithm's correctness and efficiency, we report experimental results on various challenging path planning scenarios. The presented method has significantly better time performance than the baseline, while also introducing multiple novel functionalities for the NAMO problem

The Causes and Consequences of a Colonising Pollinator

Relatório de estágio do mestrado em Ensino da Educação Física dos Ensinos Básicos e Secundário, apresentado à Faculdade de Ciências do Desporto e da Educação Física da Universidade de CoimbraO Relatório Final de Estágio insere-se no âmbito da unidade curricular Relatório de Estágio, do 2º ano do Mestrado em Ensino da Educação Física dos Ensinos Básico e Secundário, da Faculdade de Ciências do Desporto e Educação Física da Universidade de Coimbra. Esta etapa representa o culminar da formação académica em que são colocados em prática, em contexto real, todos os conhecimentos adquiridos até ao momento. Todas as experiências vivenciadas, aprendizagens e conhecimentos adquiridos permitem-nos hoje o desempenho de uma prática pedagógica de mestria na área da Educação Física. O Relatório Final de Estágio pretende a realização de uma reflexão por parte do estagiário, relativa às atividades desenvolvidas e aprendizagens realizadas durante o estágio pedagógico, contemplando sempre as suas expectativas iniciais. Este documento contempla três grandes capítulos. O primeiro é uma área essencialmente descritiva relativamente à contextualização pedagógica. O segundo consiste numa reflexão crítica das práticas pedagógicas realizadas. Por último, o terceiro capítulo pretende ser um aprofundamento de um tema/problema. O tema/problema selecionado foram as atitudes dos alunos sem deficiência face inclusão de alunos com necessidades educativas especiais na Educação Física. O Estágio Pedagógico foi realizado na Escola Básica com Secundário José Falcão de Miranda do Corvo, no ano letivo de 2013/2014, para a disciplina de Educação Física ao 7º ano de escolaridade. The Final Training Report falls within the scope of the Course Training Report, the 2nd year of the Master in Teaching Physical Education Primary and Secondary Education, Faculty of Sport Sciences and Physical Education, University of Coimbra. This step is the culmination of academic training in which are put into practice, in the real world, all the knowledge acquired so far. All the experiences, skills and knowledge acquired today allow us the performance of a pedagogical practice of mastery in the area of Physical Education. The main goal of the Final Training Report is to conduct to a reflection of the trainee on the developed and knowledge acquired during the practicum activities, always contemplating their initial expectations. This document contains three main chapters. The first is an essentially descriptive area regarding pedagogical context. The second is a critical reflection on the practices carried out. Finally, the third chapter will be a deepening of an issue / problem. The issue / problem selected were the attitudes of students without disabilities face inclusion of pupils with special educational needs in physical education. The Pedagogical Training was conducted in Secondary School with Joseph Falcon Miranda do Corvo, in school year 2013/2014, to the discipline of Physical Education through the 7th grade

The neonicotinoid insecticide thiacloprid impacts upon bumblebee colony development under field conditions

The impacts of pesticides, and in particular of neonicotinoids, on bee health remain much debated. Many studies describing negative effects have been criticised as the experimental protocol did not perfectly simulate real-life field scenarios. Here, we placed free-flying bumblebee colonies next to raspberry crops that were either untreated or treated with the neonicotinoid thiacloprid as part of normal farming practice. Colonies were exposed to the raspberry crops for a two week period before being relocated to either a flower-rich or flower-poor site. Overall, exposed colonies were more likely to die prematurely, and those that survived reached a lower final weight and produced 46% fewer reproductives than colonies placed at control farms. The impact was more marked at the flower-rich site (all colonies performed poorly at the flower poor site). Analysis of nectar and pollen stores from bumblebee colonies placed at the same raspberry farms revealed thiacloprid residues of up to 771ppb in pollen and up to 561ppb in nectar. The image of thiacloprid as a relatively benign neonicotinoid should now be questioned

ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features from large vision-language models to encode semantics in 3D representations. However, these approaches tend to produce maps with per-point feature vectors, which do not scale well in larger environments, nor do they contain semantic spatial relationships between entities in the environment, which are useful for downstream planning. In this work, we propose ConceptGraphs, an open-vocabulary graph-structured representation for 3D scenes. ConceptGraphs is built by leveraging 2D foundation models and fusing their output to 3D by multi-view association. The resulting representations generalize to novel semantic classes, without the need to collect large 3D datasets or finetune models. We demonstrate the utility of this representation through a number of downstream planning tasks that are specified through abstract (language) prompts and require complex reasoning over spatial and semantic concepts. (Project page: https://concept-graphs.github.io/ Explainer video: https://youtu.be/mRhNkQwRYnc )Comment: Project page: https://concept-graphs.github.io/ Explainer video: https://youtu.be/mRhNkQwRYn

The real-world problem of care coordination: a longitudinal qualitative study with patients living with advanced progressive illness and their unpaid caregivers.

OBJECTIVES: To develop a model of care coordination for patients living with advanced progressive illness and their unpaid caregivers, and to understand their perspective regarding care coordination. DESIGN: A prospective longitudinal, multi-perspective qualitative study involving a case-study approach. METHODS: Serial in-depth interviews were conducted, transcribed verbatim and then analyzed through open and axial coding in order to construct categories for three cases (sites). This was followed by continued thematic analysis to identify underlying conceptual coherence across all cases in order to produce one coherent care coordination model. PARTICIPANTS: Fifty-six purposively sampled patients and 27 case-linked unpaid caregivers. SETTINGS: Three cases from contrasting primary, secondary and tertiary settings within Britain. RESULTS: Coordination is a deliberate cross-cutting action that involves high-quality, caring and well-informed staff, patients and unpaid caregivers who must work in partnership together across health and social care settings. For coordination to occur, it must be adequately resourced with efficient systems and services that communicate. Patients and unpaid caregivers contribute substantially to the coordination of their care, which is sometimes volunteered at a personal cost to them. Coordination is facilitated through flexible and patient-centered care, characterized by accurate and timely information communicated in a way that considers patients' and caregivers' needs, preferences, circumstances and abilities. CONCLUSIONS: Within the midst of advanced progressive illness, coordination is a shared and complex intervention involving relational, structural and information components. Our study is one of the first to extensively examine patients' and caregivers' views about coordination, thus aiding conceptual fidelity. These findings can be used to help avoid oversimplifying a real-world problem, such as care coordination. Avoiding oversimplification can help with the development, evaluation and implementation of real-world coordination interventions for patients and their unpaid caregivers in the future