Passive Compliance Control of Redundant Serial Manipulators

Current industrial robotic manipulators, and even state of the art robotic manipulators, are slower and less reliable than humans at executing constrained manipulation tasks, tasks where motion is constrained in some direction (e.g., opening a door, turning a crank, polishing a surface, or assembling parts). Many constrained manipulation tasks are still performed by people because robots do not have the manipulation ability to reliably interact with a stiff environment, for which even small commanded position error yields very high contact forces in the constrained directions. Contact forces can be regulated using compliance control, in which the multi-directional elastic behavior (force-displacement relationship) of the end-effector is controlled along with its position. Some state of the art manipulators can directly control the end-effector\u27s elastic behavior using kinematic redundancy (when the robot has more than the necessary number of joints to realize a desired end-effector position) and using variable stiffness actuators (actuators that adjust the physical joint stiffness in real time). Although redundant manipulators with variable stiffness actuators are capable of tracking a time-varying elastic behavior and position of the end-effector, no prior work addresses how to control the robot actuators to do so. This work frames this passive compliance control problem as a redundant inverse kinematics path planning problem extended to include compliance. The problem is to find a joint manipulation path (a continuous sequence of joint positions and joint compliances) to realize a task manipulation path (a continuous sequence of end-effector positions and compliances). This work resolves the joint manipulation path at two levels of quality: 1) instantaneously optimal and 2) globally optimal. An instantaneously optimal path is generated by integrating the optimal joint velocity (according to an instantaneous cost function) that yields the desired task velocity. A globally optimal path is obtained by deforming an instantaneously generated path into one that minimizes a global cost function (integral of the instantaneous cost function). This work shows the existence of multiple local minima of the global cost function and provides an algorithm for finding the global minimum

Design of a Passive Ankle Prosthesis with Powered Push-Off Using a Cam Timing Mechanism

This thesis presents the design and simulation results of the CamWalk, a novel passive prosthetic ankle that has mechanical behavior similar to that for a natural ankle. The CamWalk uses a compression spring network that allows coupling between two degrees of freedom; one for translation along the leg and another for rotation about the ankle joint. When walking, potential energy from the person\u27s weight is stored in the spring network in deflection along the leg. The energy is released by the network as rotation of the foot. The amount of translational work that is converted to rotational work about the ankle is proportional to the maximum allowed leg deflection, which was limited to 15 mm. A quasi-static model is used to assess the performance of the design and is used in the optimization of the design parameters. Optimizing the design parameters to match the natural ankle characteristics of published average kinetic and kinematic data from gait analyses, yields a design that provides 44.47% of the net rotational work of a natural ankle. Conventional compression springs, used for the spring network of the CamWalk, are interchangeable. These springs are optimized for the individual user, keeping the same prosthesis geometry determined by the optimization for the average walker. Simulation results for three individuals show that spring optimization is sufficient to produce 44.4% (or more) of the natural ankle work. The individual subject results also show that the CamWalk preforms reliably even with variation in the dynamics on the walker. A proof-of-concept prototype was fabricated and tested to verify the quasi-static model accuracy and validate the overall approach. The prototype was walked using an industrial robotic manipulator as a positioning source. The deflection and load profiles were measured using potentiometers and a 6-axis force/torque sensor. The prototype\u27s measured rotational work was 93.7% of the work predicted by the quasi-static model, verifying the model\u27s accuracy and demonstrating that energy generated in the deflection is converted into torque about the ankle

The disutility of commuting? The effect of gender and local labour markets

Commuting is an extremely important modern phenomenon characterised by the spatial interaction of housing and labour markets. The average commuter in the UK spends nearly an hour a day travelling to and from employment. Standard economic theory postulates that commuting is a choice behaviour undertaken when compensated through either lower rents or greater amenities in the housing market or through greater wages in the labour market. By exploiting exogenous shocks to commuting time, this paper investigates the impact on wellbeing of increased commuting. Ceteris paribus, exogenous increases in commuting time are expected to lower wellbeing. We find this holds for women but not men. This phenomenon can be explained, in part, by the different labour markets in which women operate. Where local labour markets are thin, women report significantly lower wellbeing when faced with an increased commute. This does not hold for tight local labour markets. Further our findings reveal that it is full-time working women in the managerial and professional tier of the occupational hierarchy who are most affected

Turbulent Linewidths as a Diagnostic of Self-Gravity in Protostellar Discs

We use smoothed particle hydrodynamics simulations of massive protostellar discs to investigate the predicted broadening of molecular lines from discs in which self-gravity is the dominant source of angular momentum transport. The simulations include radiative transfer, and span a range of disc-to-star mass ratios between 0.25 and 1.5. Subtracting off the mean azimuthal flow velocity, we compute the distribution of the in-plane and perpendicular peculiar velocity due to large scale structure and turbulence induced by self-gravity. For the lower mass discs, we show that the characteristic peculiar velocities scale with the square root of the effective turbulent viscosity parameter, as expected from local turbulent-disc theory. The derived velocities are anisotropic, with substantially larger in-plane than perpendicular values. As the disc mass is increased, the validity of the locally determined turbulence approximation breaks down, and this is accompanied by anomalously large in-plane broadening. There is also a high variance due to the importance of low-m spiral modes. For low-mass discs, the magnitude of in-plane broadening is, to leading order, equal to the predictions from local disc theory and cannot constrain the source of turbulence. However, combining our results with prior evaluations of turbulent broadening expected in discs where the magnetorotational instability (MRI) is active, we argue that self-gravity may be distinguishable from the MRI in these systems if it is possible to measure the anisotropy of the peculiar velocity field with disc inclination. Furthermore, for large mass discs, the dominant contribution of large-scale modes is a distinguishing characteristic of self-gravitating turbulence versus MRI driven turbulence.Comment: 8 pages, 13 figures, accepted for publication in MNRA

Antibiotic stress selects against cooperation in the pathogenic bacterium Pseudomonas aeruginosa

Cheats are a pervasive threat to public goods production in natural and human communities, as they benefit from the commons without contributing to it. Although ecological antagonisms such as predation, parasitism, competition, and abiotic environmental stress play key roles in shaping population biology, it is unknown how such stresses generally affect the ability of cheats to undermine cooperation. We used theory and experiments to address this question in the pathogenic bacterium, Pseudomonas aeruginosa Although public goods producers were selected against in all populations, our competition experiments showed that antibiotics significantly increased the advantage of nonproducers. Moreover, the dominance of nonproducers in mixed cultures was associated with higher resistance to antibiotics than in either monoculture. Mathematical modeling indicates that accentuated costs to producer phenotypes underlie the observed patterns. Mathematical analysis further shows how these patterns should generalize to other taxa with public goods behaviors. Our findings suggest that explaining the maintenance of cooperative public goods behaviors in certain natural systems will be more challenging than previously thought. Our results also have specific implications for the control of pathogenic bacteria using antibiotics and for understanding natural bacterial ecosystems, where subinhibitory concentrations of antimicrobials frequently occur

Diffuse Pulmonary Ossification in Fibrosing Interstitial Lung Diseases: Prevalence and Associations

Purpose: To investigate the prevalence of diffuse pulmonary ossification (DPO) in patients with fibrosing interstitial lung disease (ILD) and determine whether there are differences among the types of ILDs. // Materials and Methods: Institutional review board approval was given and patient consent was not required for this study. The study population comprised 892 consecutive patients with fibrosing ILD, including 456 patients with idiopathic pulmonary fibrosis (IPF) (men, 366; women, 90; median age, 72 years [range, 38–93 years]), 244 with nonspecific interstitial pneumonia (men, 79; women, 165; median age, 60.5 years [range, 23–86 years]), and 192 with chronic hypersensitivity pneumonitis (men, 76; women, 116; median age, 66 years [range, 35–88 years]). Pulmonary ossifications were recorded when nodules (<4 mm diameter) were identified on bone window images (width, 2500 HU; level, 500 HU). DPO was defined as 10 or more bilateral nodular ossifications (definition 1) or as one or more lobes with five or more bilateral nodular ossifications (definition 2). Relationships among pulmonary ossification and parenchymal patterns, clinical parameters, and multidisciplinary team diagnoses were examined. The prevalence of DPO was compared with the χ2 statistic or Fisher exact test, and multivariate analysis was performed with logistic regression. // Results: In the whole population, the prevalence of DPO was 166 (18.6%) and 106 (11.9%) of 892 patients according to definitions 1 and 2, respectively. The prevalence of DPO (definition 1) was significantly higher in patients with IPF (28.5%) than in those without IPF (8.3%, P < .001). Nine of 192 (4.7%) had chronic hypersensitivity pneumonitis (P < .001), and 27 of 244 (11.1%) had nonspecific interstitial pneumonia (P < .001). At multivariate analysis, DPO according to definition 1 was an independent predictor of IPF diagnosis (P < .001) and male sex (P = .003). Coarseness of fibrosing ILD (P = .011) and IPF diagnosis (P = .016) were independently associated with pulmonary ossification profusion. // Conclusion: DPO is common in patients with fibrosing ILD and is significantly more prevalent in patients with IPF than in those with other fibrosing ILDs, and thus, computed tomographic signs of DPO may be helpful for diagnosis of IPF

Membrane Modulates Affinity for Calcium Ion to Create an Apparent Cooperative Binding Response by Annexin a5

Isothermal titration calorimetry was used to characterize the binding of calcium ion (Ca2+) and phospholipid to the peripheral membrane-binding protein annexin a5. The phospholipid was a binary mixture of a neutral and an acidic phospholipid, specifically phosphatidylcholine and phosphatidylserine in the form of large unilamellar vesicles. To stringently define the mode of binding, a global fit of data collected in the presence and absence of membrane concentrations exceeding protein saturation was performed. A partition function defined the contribution of all heat-evolving or heat-absorbing binding states. We find that annexin a5 binds Ca2+ in solution according to a simple independent-site model (solution-state affinity). In the presence of phosphatidylserine-containing liposomes, binding of Ca2+ differentiates into two classes of sites, both of which have higher affinity compared with the solution-state affinity. As in the solution-state scenario, the sites within each class were described with an independent-site model. Transitioning from a solution state with lower Ca2+ affinity to a membrane-associated, higher Ca2+ affinity state, results in cooperative binding. We discuss how weak membrane association of annexin a5 prior to Ca2+ influx is the basis for the cooperative response of annexin a5 toward Ca2+, and the role of membrane organization in this response