In-home and remote use of robotic body surrogates by people with profound motor deficits

By controlling robots comparable to the human body, people with profound motor deficits could potentially perform a variety of physical tasks for themselves, improving their quality of life. The extent to which this is achievable has been unclear due to the lack of suitable interfaces by which to control robotic body surrogates and a dearth of studies involving substantial numbers of people with profound motor deficits. We developed a novel, web-based augmented reality interface that enables people with profound motor deficits to remotely control a PR2 mobile manipulator from Willow Garage, which is a human-scale, wheeled robot with two arms. We then conducted two studies to investigate the use of robotic body surrogates. In the first study, 15 novice users with profound motor deficits from across the United States controlled a PR2 in Atlanta, GA to perform a modified Action Research Arm Test (ARAT) and a simulated self-care task. Participants achieved clinically meaningful improvements on the ARAT and 12 of 15 participants (80%) successfully completed the simulated self-care task. Participants agreed that the robotic system was easy to use, was useful, and would provide a meaningful improvement in their lives. In the second study, one expert user with profound motor deficits had free use of a PR2 in his home for seven days. He performed a variety of self-care and household tasks, and also used the robot in novel ways. Taking both studies together, our results suggest that people with profound motor deficits can improve their quality of life using robotic body surrogates, and that they can gain benefit with only low-level robot autonomy and without invasive interfaces. However, methods to reduce the rate of errors and increase operational speed merit further investigation.Comment: 43 Pages, 13 Figure

Search Interfaces for Mathematicians

Access to mathematical knowledge has changed dramatically in recent years, therefore changing mathematical search practices. Our aim with this study is to scrutinize professional mathematicians' search behavior. With this understanding we want to be able to reason why mathematicians use which tool for what search problem in what phase of the search process. To gain these insights we conducted 24 repertory grid interviews with mathematically inclined people (ranging from senior professional mathematicians to non-mathematicians). From the interview data we elicited patterns for the user group "mathematicians" that can be applied when understanding design issues or creating new designs for mathematical search interfaces.Comment: conference article "CICM'14: International Conference on Computer Mathematics 2014", DML-Track: Digital Math Libraries 17 page

The natural history of bugs: using formal methods to analyse software related failures in space missions

Space missions force engineers to make complex trade-offs between many different constraints including cost, mass, power, functionality and reliability. These constraints create a continual need to innovate. Many advances rely upon software, for instance to control and monitor the next generation ‘electron cyclotron resonance’ ion-drives for deep space missions.Programmers face numerous challenges. It is extremely difficult to conduct valid ground-based tests for the code used in space missions. Abstract models and simulations of satellites can be misleading. These issues are compounded by the use of ‘band-aid’ software to fix design mistakes and compromises in other aspects of space systems engineering. Programmers must often re-code missions in flight. This introduces considerable risks. It should, therefore, not be a surprise that so many space missions fail to achieve their objectives. The costs of failure are considerable. Small launch vehicles, such as the U.S. Pegasus system, cost around $18 million. Payloads range from$4 million up to $1 billion for security related satellites. These costs do not include consequent business losses. In 2005, Intelsat wrote off$73 million from the failure of a single uninsured satellite. It is clearly important that we learn as much as possible from those failures that do occur. The following pages examine the roles that formal methods might play in the analysis of software failures in space missions

Generation of multi-modal dialogue for a net environment

In this paper an architecture and special purpose markup language for simulated affective face-to-face communication is presented. In systems based on this architecture, users will be able to watch embodied conversational agents interact with each other in virtual locations on the internet. The markup language, or Rich Representation Language (RRL), has been designed to provide an integrated representation of speech, gesture, posture and facial animation

Field and laboratory evaluation of fungicides for the control of Phytophthora fruit rot of papaya in far north Queensland, Australia

Results from the first of two artificially inoculated field experiments showed foliar applications of copper hydroxide (Blue Shield Copper) at 600 g a.i./100 L−1 (0% infected fruit), copper hydroxide + metalaxyl-M (Ridomil Gold Plus.) at 877.5 g a.i./100 L−1 (0.27%), metiram + pyraclostrobin (Aero) at 720 g a.i./100 L−1 (0.51%), chlorothalonil (Bravo WeatherStik) at 994 g a.i./100 L−1 (0.63%) and cuprous oxide (Nordox 750 WG) at 990 g a.i./100 L−1 (0.8%) of water significantly reduced the percentage of infected fruit compared to potassium phosphonate (Agri-Fos 600) at 1200 g a.i./100 L−1 (8.22%), dimethomorph (Acrobat) at 108 g a.i./100 L−1 (11.18%) and the untreated control (16%). Results from the second experiment showed fruit sprayed with copper hydroxide (Champ Dry Prill) at 300 (2.0% infected fruit), 375 (0.4%) and 450 g a.i./100 L−1 (0.6%) and metiram + pyraclostrobin (Aero) at 360 (2.8%), 480 (0.6%) and 600 g a.i./100 L−1 of water (1.0%) significantly reduced the percentage of infected fruit compared to the untreated control (19.4%). Foliar sprays of copper hydroxide at 375 g a.i./100 L−1 in rotation with chlorothalonil at 994 g a.i./100 L−1 every two weeks is now recommended to growers for controlling Phytophthora fruit rot of papaya