The design and evaluation of an interface and control system for a scariculated rehabilitation robot arm

This thesis is concerned with the design and development of a prototype implementation of a Rehabilitation Robotic manipulator based on a novel kinematic configuration. The initial aim of the research was to identify appropriate design criteria for the design of a user interface and control system, and for the subsequent evaluation of the manipulator prototype. This led to a review of the field of rehabilitation robotics, focusing on user evaluations of existing systems. The review showed that the design objectives of individual projects were often contradictory, and that a requirement existed for a more general and complete set of design criteria. These were identified through an analysis of the strengths and weaknesses of existing systems, including an assessment of manipulator performances, commercial success and user feedback. The resulting criteria were used for the design and development of a novel interface and control system for the Middlesex Manipulator - the novel scariculated robotic system. A highly modular architecture was adopted, allowing the manipulator to provide a level of adaptability not approached by existing rehabilitation robotic systems. This allowed the interface to be configured to match the controlling ability and input device selections of individual users. A range of input devices was employed, offering variation in communication mode and bandwidth. These included a commercial voice recognition system, and a novel gesture recognition device. The later was designed using electrolytic tilt sensors, the outputs of which were encoded by artificial neural networks. These allowed for control of the manipulator through head or hand gestures. An individual with spinal-cord injury undertook a single-subject user evaluation of the Middlesex Manipulator over a period of four months. The evaluation provided evidence for the value of adaptability presented by the user interface. It was also shown that the prototype did not currently confonn to all the design criteria, but allowed for the identification of areas for design improvements. This work led to a second research objective, concerned with the problem of configuring an adaptable user interface for a specific individual. A novel form of task analysis is presented within the thesis, that allows the relative usability of interface configurations to be predicted based upon individual user and input device characteristics. An experiment was undertaken with 6 subjects performing 72 tasks runs with 2 interface configurations controlled by user gestures. Task completion times fell within the range predicted, where the range was generated using confidence intervals (α = 0.05) on point estimates of user and device characteristics. This allowed successful prediction over all task runs of the relative task completion times of interface configurations for a given user

The November 1987 eclipse of the zeta-Aur system HR 2554

It is confirmed that HR 2554 (G6 II + A0 V) is an atmospheric eclipsing system of the zeta-Aur type. The IUE observations of the Nov. 1987 eclipse indicate that the eclipse of the A star lasts 4 days and is not total. Absorption lines due to the extended atmosphere of the primary can be seen a day before and after the eclipse and are missing 2 days from first and 4th contact. Thus the outer envelope of the primary extends to less than 1 stellar radius beyond the photosphere. Compared to 22 Vul (G3 Ib-II + B9 V), where the absorption can be traced to a few stellar radii, HR 2554 is a more moderate case of mass outflow, which implies there is reduced interaction of the secondary within the wind from the primary as is seen in the other zeta-Aur systems

Cotton spinning to climbing gear: practical aspects of design evolution in Lancashire and the North West of England

This article looks at the role of path dependency in the design of outdoor clothing and equipment, from the perspective of changing and overlapping industrial clusters in Lancashire and Sheffield, from the 1960s. It demonstrates that, unlike the fashion market, design in mountaineering clothing and equipment was originally based heavily upon functionality and hence on user innovation. It shows that skills and knowledge which evolved during the industrial revolution, in both industrial areas, were vitally important to the development of internationally competitive mountaineering equipment firms. It was, however, the way in which these sources of knowledge were combined with sporting expertise that contributed to the design of innovative functional products. In addition, fundamental changes occurred in the relationship between manufacturers and their customers and these were vital to the success of this process, marking a departure from past practice

Application of pushbroom altimetry from space using large space antennas

The capabilities of multibeam altimetry are discussed and an interferometric multibeam technique for doing precision altimetry is described. The antenna feed horn arrangement and the resulting footprint lube pattern are illustrated. Plans for a shuttle multibeam altimetry mission are also discussed

Evolutionary consequences of behavioral diversity

Iterated games provide a framework to describe social interactions among groups of individuals. Recent work stimulated by the discovery of "zero-determinant" strategies has rapidly expanded our ability to analyze such interactions. This body of work has primarily focused on games in which players face a simple binary choice, to "cooperate" or "defect". Real individuals, however, often exhibit behavioral diversity, varying their input to a social interaction both qualitatively and quantitatively. Here we explore how access to a greater diversity of behavioral choices impacts the evolution of social dynamics in finite populations. We show that, in public goods games, some two-choice strategies can nonetheless resist invasion by all possible multi-choice invaders, even while engaging in relatively little punishment. We also show that access to greater behavioral choice results in more "rugged " fitness landscapes, with populations able to stabilize cooperation at multiple levels of investment, such that choice facilitates cooperation when returns on investments are low, but hinders cooperation when returns on investments are high. Finally, we analyze iterated rock-paper-scissors games, whose non-transitive payoff structure means unilateral control is difficult and zero-determinant strategies do not exist in general. Despite this, we find that a large portion of multi-choice strategies can invade and resist invasion by strategies that lack behavioral diversity -- so that even well-mixed populations will tend to evolve behavioral diversity.Comment: 26 pages, 4 figure

No, we don’t just read books all day… Developing Statistical Narratives/Infographics for Technical Services

This poster is an example of the work I have created using cataloging statistics from Sierra, Google Sheets, and Excel. The graphs illustrate the number of books I have cataloged and discarded throughout a span of years. The graphs tell a story with the numbers. This is called a statistical narrative. These stories can be created by any library department and ultimately allow outsiders, and constituents to see the value of the academic library