Human machine interaction via the transfer of power and information signals

Robot manipulators are designed to perform tasks which would otherwise be executed by a human operator. No manipulator can even approach the speed and accuracy with which humans execute these tasks. But manipulators have the capability to exceed human ability in one particular area: strength. Through any reasonable observation and experience, the human's ability to perform a variety of physical tasks is limited not by his intelligence, but by his physical strength. If, in the appropriate environment, we can more closely integrate the mechanical power of a machine with intellectually driven human hand under the supervisory control of the human's intellect, we will then have a system which is superior to a loosely-integrated combination of a human and his fully automated robot as in the present day robotic systems. We must therefore develop a fundamental approach to the problem of this extending human mechanical power in certain environments. Extenders will be a class of robots worn by humans to increase human mechanical ability, while the wearer's intellect remains the central intelligent control system for manipulating the extender. The human body, in physical contact with the extender, exchanges information signals and power with the extender. Commands are transferred to the extender via the contact forces between the wearer and the extender as opposed to use of joystick (master arm), push-button or key-board to execute such commands that were used in previous man amplifiers. Instead, the operator becomes an integral part of the extender while executing the task. In this unique configuration the mechanical power transfer between the human and extender occurs in addition to information signal transfer. When the wearer uses the extender to touch and manipulate an object, the extender transfers to the wearer's hand, in feedback fashion, a scaled-down value of the actual external load which the extender is manipulating. This natural feedback force on the wearer's hand allows him to feel the scaled-down value of the external forces in the manipulations. Extenders can be utilized to maneuver very heavy loads in factories, shipyards, airports, and construction sites. In some instances, for example, extenders can replace forklifts. The experimental results for a prototype extender are discussed

Downstream Warming and Headwater Acidity May Diminish Coldwater Habitat in Southern Appalachian Mountain Streams

Stream-dwelling species in the U.S. southern Appalachian Mountains region are particularly vulnerable to climate change and acidification. The objectives of this study were to quantify the spatial extent of contemporary suitable habitat for acid- and thermally sensitive aquatic species and to forecast future habitat loss resulting from expected temperature increases on national forest lands in the southern Appalachian Mountain region. The goal of this study was to help watershed managers identify and assess stream reaches that are potentially vulnerable to warming, acidification, or both. To our knowledge, these results represent the first regional assessment of aquatic habitat suitability with respect to the combined effects of stream water temperature and acid-base status in the United States. Statistical models were developed to predict July mean daily maximum water temperatures and air-water temperature relations to determine potential changes in future stream water temperatures. The length of stream considered suitable habitat for acid- and thermally sensitive species, based on temperature and acid neutralizing capacity thresholds of 20°C and 50 μeq/L, was variable throughout the national forests considered. Stream length displaying temperature above 20°C was generally more than five times greater than the length predicted to have acid neutralizing capacity below 50 μeq/L. It was uncommon for these two stressors to occur within the same stream segment. Results suggested that species’ distributional shifts to colder, higher elevation habitats under a warming climate can be constrained by acidification of headwater streams. The approach used in this study can be applied to evaluate climate change impacts to stream water resources in other regions

Coefficients and descriptive statistics associated with the multiple linear regression model for predicting July mean daily maximum stream water temperature (JMMST).

<p>Coefficients and descriptive statistics associated with the multiple linear regression model for predicting July mean daily maximum stream water temperature (JMMST).</p

Distribution of observed a) July mean daily maximum stream water temperature (JMMST; n = 201) and b) slope of the relationship between daily maximum air and water temperature from June 1, 2012 to August 31, 2012 (n = 191).

<p>Distribution of observed a) July mean daily maximum stream water temperature (JMMST; n = 201) and b) slope of the relationship between daily maximum air and water temperature from June 1, 2012 to August 31, 2012 (n = 191).</p

Landscape characteristics used for statistical modeling.

<p>All variables were calculated as watershed average or percentage, with the exception of drainage density and watershed area.</p><p>Landscape characteristics used for statistical modeling.</p