A robotic chewing device for food evaluation : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University,

The aim of this masters project was to design and develop a prototype of robotic chewing device. This project was required for use in food evaluation as it can provide standardised chewing. The chewing device was required to follow chewing trajectories of a human and apply the same forces that humans apply during chewing. This was achieved by the use of a robotic system that incorporated a mechanical linkage, supporting software and electronics to control it and therefore ensure correct operation. The mechanical linkage used is based on a four-bar linkage mechanism that can closely approximate human chewing trajectories. The linkage also has the ability to be adjusted to achieve a range of chewing trajectories for different food types. This is due to the fact that humans chew foods with different properties differently. The linkage is driven by a single DC motor that is controlled by a control card and a supervisory software program on a computer. This ensures that chewing is performed at the correct speed in the different phases of the chewing cycle and also provides all the necessary controls for operation of the device. Anatomically correct teeth were also used to help closely match the particle size reduction of the human system, while a food retention device was made to keep the food particles on the teeth while chewing

A Mobile App Delivering a Gamified Battery of Cognitive Tests Designed for Repeated Play (OU Brainwave): App Design and Cohort Study

Background: Mobile phone and tablet apps are an increasingly common platform to collect data. A key challenge for researchers has been participant “buy-in” and participant attrition for designs requiring repeated testing. Objective: The objective of this study was to develop and asses the utility of 1 – 2 minute versions of both classic and novel cognitive tasks within a user focussed and driven mobile phone and tablet app designed to encourage repeated play. Methods: A large sample (N = 13,979 at first data collection) participated in multiple, self-paced, sessions of working memory (N-back), spatial cognition (Mental rotation), sustained attentional focus (Persistent Vigilance task), and split attention (Multiple object tracking) tasks along with an implementation of a novel action learning task. A full morningness-eveningness questionnaire was also included. Data was collected across an 18 month period. While the app prompted reengagement at set intervals, each participant was free to repeatedly complete each task as many times as they wished. Results: We found a significant relationship between morningness and age (r = 0.298, n = 12755, p Conclusions: Using extremely short testing periods and permitting participants to decide their own level of engagement - both in terms of which gamified task they played, and how many sessions they completed - we were able to collect a substantial and valid dataset. We suggest that the success of OU brainwave should inform future research oriented apps - particularly in issues around balancing participant engagement with data fidelity

Developing a low-cost beer dispensing robotic system for the service industry

As the prices of commercially available electronic and mechanical components decrease, manufacturers such as Devantech and Revolution Education have made encoded motor controller systems and microcontrollers very accessible to engineers and designers. This has made it possible to design sophisticated robotic and mechatronic systems very rapidly and at relatively low cost. A recent project in the Autonomous Systems Lab at Middlesex University, UK was to design and build a small, automated, robotic bartender based around the 5 litre Heineken 'Draughtkeg' system, which is capable of patrolling a bar and dispensing beer when signalled to by a customer. Because the system was designed as a commercial product, design constraints focused on keeping the build cost down, and so electronic components were sourced from outside companies and interfaced with a bespoke chassis and custom mechanical parts designed and manufactured on site at the University. All the programming was conducted using the proprietary BASIC language, which is freely available from the PicAXE supplier at no cost. This paper will discuss the restrictions involved in building a robot chassis around 'off-theshelf' components, and the issues arising from making the human-machine interaction intuitive whilst only using low-cost ultrasonic sensors. Programming issues will also be discussed, such as the control of accuracy when interfacing a PicAXE microcontroller with a Devantech MD25 Motor Controller board. Public live testing of the system was conducted at the Kinetica Art Fair 2010 event in London and has since been picked up by websites such as Engadget.com and many others. Feedback on the system will be described, as well as the refinements made as a result of these test

Behavioral Evidence for Chemosensory and Thermosensory Pathway Convergence in the Caenorhabditis Elegans Nervous System

The nematode, Caenorhabditis elegans, is an established model system to explore the ways simple nervous systems detect and direct organismal responses to environmental changes. C. elegans possesses specialized receptor cells for the detection of a variety of environmental stimuli. Separate cell types respond to volatile chemical and thermal stimuli and the neural pathways for these show anatomical evidence of convergence. This work reports findings from behavioral assays during simultaneous exposure of nematodes to both thermal differences and attractant volatile chemicals. Combined exposure to benzaldehyde and cold neutralized the behavioral responses to both stimuli in 24°C acclimated worms. Diacetyl and mild thermal stimulation produced the same effect with 16°C acclimated worms. Benzaldehyde appears to interfere with thermophilic circuitry while diacetyl acts similarly with cryophilic circuitry

The Spectroscopic Age of 47 Tuc

High signal-to-noise integrated spectra of the metal-rich globular cluster 47 Tuc, spanning the H-gamma(HR) and Fe4668 line indices, have been obtained. The combination of these indices has been suggested (Jones & Worthey 1995, ApJ, 446, L31) as the best available mechanism for cleanly separating the age-metallicity degeneracy which hampers the dating of distant, unresolved, elliptical galaxies. For the first time, we apply this technique to a nearby spheroidal system, 47 Tuc, for which independent ages, based upon more established methods, exist. Such an independent test of the technique's suitability has not been attempted before, but is an essential one before its application to more distant, unresolved, stellar populations can be considered valid. Because of its weak series of Balmer lines, relative to model spectra, our results imply a spectroscopic ``age'' for 47 Tuc well in excess of 20 Gyr, at odds with the colour-magnitude diagram age of 14+/-1 Gyr. The derived metal abundance, however, is consistent with the known value. Emission ``fill-in'' of the H-gamma line as the source of the discrepancy cannot be entirely excluded by existing data, although the observational constraints are restrictive.Comment: 17 pages, 4 figures, LaTeX, accepted for publication in The Astronomical Journal, also available at http://casa.colorado.edu/~bgibson/publications.htm

Investigating the use of unmanned plant machinery on construction sites

The UK Construction Sector has been estimated to contribute 8% of the UK’s GDP [1]. The worldwide recession has forced construction companies to introduce and adopt cost saving measures to increase productivity. Several robotic building systems are in development for the Construction Sector such as the PERI’s Automatic Climbing System [2] and Brokk’s remote-controlled demolition machines [3], but there has been little implementation on live sites. Construction sites by their very nature are dynamically changing environments, so if human input was removed entirely, a robot would need a high level of awareness of the current state of the building project in order to navigate and carry out its task