Ergonomic Models of Anthropometry, Human Biomechanics and Operator-Equipment Interfaces

The Committee on Human Factors was established in October 1980 by the Commission on Behavioral and Social Sciences and Education of the National Research Council. The committee is sponsored by the Office of Naval Research, the Air Force Office of Scientific Research, the Army Research Institute for the Behavioral and Social Sciences, the National Aeronautics and Space Administration, and the National Science Foundation. The workshop discussed the following: anthropometric models; biomechanical models; human-machine interface models; and research recommendations. A 17-page bibliography is included

InAs-AlSb quantum wells in tilted magnetic fields

InAs-AlSb quantum wells are investigated by transport experiments in magnetic fields tilted with respect to the sample normal. Using the coincidence method we find for magnetic fields up to 28 T that the spin splitting can be as large as 5 times the Landau splitting. We find a value of the g-factor of about 13. For small even-integer filling factors the corresponding minima in the Shubnikov-de Haas oscillations cannot be tuned into maxima for arbitrary tilt angles. This indicates the anti-crossing of neighboring Landau and spin levels. Furthermore we find for particular tilt angles a crossover from even-integer dominated Shubnikov-de Haas minima to odd-integer minima as a function of magnetic field

Universality of the Gunn effect: self-sustained oscillations mediated by solitary waves

The Gunn effect consists of time-periodic oscillations of the current flowing through an external purely resistive circuit mediated by solitary wave dynamics of the electric field on an attached appropriate semiconductor. By means of a new asymptotic analysis, it is argued that Gunn-like behavior occurs in specific classes of model equations. As an illustration, an example related to the constrained Cahn-Allen equation is analyzed.Comment: 4 pages,3 Post-Script figure

Learning to predict phases of manipulation tasks as hidden states

Phase transitions in manipulation tasks often occur when contacts between objects are made or broken. A switch of the phase can result in the robot’s actions suddenly influencing different aspects of its environment. Therefore, the boundaries between phases often correspond to constraints or subgoals of the manipulation task. In this paper, we investigate how the phases of manipulation tasks can be learned from data. The task is modeled as an autoregressive hidden Markov model, wherein the hidden phase transitions depend on the observed states. The model is learned from data using the expectation-maximization algorithm. We demonstrate the proposed method on both a pushing task and a pepper mill turning task. The proposed approach was compared to a standard autoregressive hidden Markov model. The experiments show that the learned models can accurately predict the transitions in phases during the manipulation tasks

Proximity Effect, Andreev Reflections, and Charge Transport in Mesoscopic Superconducting-Semiconducting Heterostructures

In the quasi-twodimensional (Q2D) electron gas of an InAs channel between an AlSb substrate and superconducting Niobium layers the proximity effect induces a pair potential so that a Q2D mesoscopic superconducting-normal-superconducting (SNS) junction forms in the channel. The pair potential is calculated with quasiclassical Green's functions in the clean limit. For such a junction alternating Josephson currents and current-voltage characteristics (CVCs) are computed, using the non-equilibrium quasiparticle wavefunctions which solve the time-dependent Bogoliubov-de Gennes Equations. The CVCs exhibit features found experimentally by the Kroemer group: A steep rise of the current at small voltages ("foot") changes at a "corner current" to a much slower increase of current with higher voltages, and the zero-bias differential resistance increases with temperature. Phase-coherent multiple Andreev reflections and the associated Cooper pair transfers are the physical mechanisms responsible for the oscillating Josephson currents and the CVCs. Additional experimental findings not reproduced by the theory require model improvements, especially a consideration of the external current leads which should give rise to hybrid quasiparticle/collective mode excitations.Comment: 8 pages, 4 figures (consisting of 5 .ps-files), added referenc

Axisymmetric pulse recycling and motion in bulk semiconductors

The Kroemer model for the Gunn effect in a circular geometry (Corbino disks) has been numerically solved. The results have been interpreted by means of asymptotic calculations. Above a certain onset dc voltage bias, axisymmetric pulses of the electric field are periodically shed by an inner circular cathode. These pulses decay as they move towards the outer anode, which they may not reach. As a pulse advances, the external current increases continuously until a new pulse is generated. Then the current abruptly decreases, in agreement with existing experimental results. Depending on the bias, more complex patterns with multiple pulse shedding are possible.Comment: 8 pages, 15 figure

Interaction primitives for human-robot cooperation tasks

To engage in cooperative activities with human partners, robots have to possess basic interactive abilities and skills. However, programming such interactive skills is a challenging task, as each interaction partner can have different timing or an alternative way of executing movements. In this paper, we propose to learn interaction skills by observing how two humans engage in a similar task. To this end, we introduce a new representation called Interaction Primitives. Interaction primitives build on the framework of dynamic motor primitives (DMPs) by maintaining a distribution over the parameters of the DMP. With this distribution, we can learn the inherent correlations of cooperative activities which allow us to infer the behavior of the partner and to participate in the cooperation. We will provide algorithms for synchronizing and adapting the behavior of humans and robots during joint physical activities