Force reflecting hand controller

A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the handgrip and control the position thereof relative to the base through the mechanical links. A plurality of rotary joints is arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base. A cable and pulley assembly for each joint is connected to a corresponding motor for transmitting forces from the slave machine to the handgrip to provide kinesthetic feedback to the operator and for producing control signals that may be transmitted from the handgrip to the slave machine. The device gives excellent kinesthetic feedback, high-fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all six degrees of freedom, and zero backlash. The device also has a much larger work envelope, greater stiffness and responsiveness, smaller stowage volume, and better overlap of the human operator's range of motion than previous designs

Rotor balancing of a 10 MVA superconducting generator

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1984.MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING.Bibliography: leaves 170-173.by William T. Townsend.M.S

Ultra-Compact Motor Controller

This invention is an electronically commutated brushless motor contro ller that incorporates Hall-array sensing in a small, 42-gram packag e that provides 4096 absolute counts per motor revolution position s ensing. The unit is the size of a miniature hockey puck, and is a 44 -pin male connector that provides many I/O channels, including CANbus , RS-232 communications, general-purpose analog and digital I/O (GPI O), analog and digital Hall inputs, DC power input (18-90 VDC, 0-l0 A), three-phase motor outputs, and a strain gauge amplifier

Earthquake science in resilient societies

Earthquake science is critical in reducing vulnerability to a broad range of seismic hazards. Evidenceâ based studies drawing from several branches of the Earth sciences and engineering can effectively mitigate losses experienced in earthquakes. Societies that invest in this research have lower fatality rates in earthquakes and can recover more rapidly. This commentary explores the scientific pathways through which earthquakeâ resilient societies are developed. We highlight recent case studies of evidenceâ based decision making and how modern research is improving the way societies respond to earthquakes.Key PointsThe level of seismic risk depends in part on societal investment in earthquake scienceMultidisciplinary investigations involving earthquake scientists and engineers greatly reduce casualties in earthquakesRecent examples highlight the utility of earthquake science in building resilient societies and the need for further research to reduce seismic riskPeer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/137197/1/tect20552_am.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/137197/2/tect20552.pd

The Otterbein Miscellany - May 1972

https://digitalcommons.otterbein.edu/miscellany/1016/thumbnail.jp

Predicting the Impact of Climate Change on Threatened Species in UK Waters

Global climate change is affecting the distribution of marine species and is thought to represent a threat to biodiversity. Previous studies project expansion of species range for some species and local extinction elsewhere under climate change. Such range shifts raise concern for species whose long-term persistence is already threatened by other human disturbances such as fishing. However, few studies have attempted to assess the effects of future climate change on threatened vertebrate marine species using a multi-model approach. There has also been a recent surge of interest in climate change impacts on protected areas. This study applies three species distribution models and two sets of climate model projections to explore the potential impacts of climate change on marine species by 2050. A set of species in the North Sea, including seven threatened and ten major commercial species were used as a case study. Changes in habitat suitability in selected candidate protected areas around the UK under future climatic scenarios were assessed for these species. Moreover, change in the degree of overlap between commercial and threatened species ranges was calculated as a proxy of the potential threat posed by overfishing through bycatch. The ensemble projections suggest northward shifts in species at an average rate of 27 km per decade, resulting in small average changes in range overlap between threatened and commercially exploited species. Furthermore, the adverse consequences of climate change on the habitat suitability of protected areas were projected to be small. Although the models show large variation in the predicted consequences of climate change, the multi-model approach helps identify the potential risk of increased exposure to human stressors of critically endangered species such as common skate (Dipturus batis) and angelshark (Squatina squatina)

Excess Post-Exercise Oxygen Consumption (Epoc) Following Multiple Effort Sprint and Moderate Aerobic Exercise

The purpose of this study was to investigate the effects of 30-second all-out sprint interval exercise (SIE) vs. moderate aerobic exercise (MA) on excess post-exercise oxygen consumption (EPOC). Six recreationally-trained males (age=23.3 +/- 1.4 yrs, weight=81.8 +/- 9.9 kg, height=180.8 +/- 6.3 cm) completed a sprint interval exercise session consisting of three repeated 30-second Wingate cycling tests separated by four minutes (duration similar to 11minutes) as well as a moderate aerobic exercise session consisting of 30-minute cycling at 60% heart rate reserve (HRR) in a random counterbalanced design. Baseline oxygen consumption (VO2) was determined by an average VO2 from the final five minutes of a 30-minute supine rest period prior to each trial. Following each protocol, VO2 was measured for 30 minutes or until baseline measures were reached. EPOC was determined by subtracting baseline VO2 from post-exercise VO2 measurements. Energy expenditure (kJ) was determined by multiplying kJ per liter of oxygen by the average VO2 during recovery. EPOC values were significantly higher in SIE (7.5 +/- 1.3 L) than MA (1.8 +/- 0.7 L). SIE produced a higher recovery caloric expenditure (156.9 kJ) compared to MA (41.0 kJ) and remained significantly elevated (p=.024) over resting levels during the entire recovery period (30 minutes) compared to MA (6 minutes, p=.003). The energy required to recover from three repeated maximal effort 30-second Wingate cycling tests was greater than 30 minutes of moderate aerobic exercise. Future studies should examine the chronic effects of maximal effort sprint training protocol on cardiovascular fitness and body composition

The Resilient Organization: A Meta-Analysis of the Effect of Communication on Team Diversity and Team Performance

The Input-Process-Output framework is adopted to examine the impact of diversity attributes (the input) on communication (the process) and their influence on performance (the output), to understand the internal group/team working mechanisms of organizational resilience. A meta-analysis of 174 correlations from 35 empirical studies undertaken over 35 years (1982-2017) showed that members of a team who have different experiences are more likely to share information and communicate openly when they deal with a task that requires collaboration outside the team. This supports the view that organizations are more resilient by being more closely connected with the external environment. Differences in social categories tend to favor openness of communication, especially in the case of age diversity and race/ethnicity diversity. An increase in openness of communication is likely to enhance team performance, particularly for small and medium sized teams operating in manufacturing industries, while frequency of communication can be beneficial for both large and medium sized teams working in the high technology industry. The positive workings of these associations form the resilient organization

Assistants, Guides, Collaborators, Friends: The Concealed Figures of Conflict Research

Recent scholarship has demonstrated an increasing awareness of the need for more grounded, empirical research into the micro-level dynamics of violent contexts. Research in these difficult, dangerous, and potentially violent conflict or post-conflict settings necessitates the formation of new relationships of dependency, and assistants, friends, collaborators, and guides become central figures in the field. However, all too often, these figures are written out of academic accounts and silenced in our analyses. This not only does them a significant disservice, but it also obscures potential biases, complexities, and ethical dilemmas that emerge in the way in which such research is carried out. Drawing upon fieldwork exploring the 2007–2008 Kenyan postelection violence, this paper argues that reliance upon insider-assistants is essential in conflict settings and explores the challenges inherent in these relationships. As researchers become increasingly engaged in micro-level studies of violent contexts, we must interrogate the realities of how our knowledge has been produced and engage in more open and honest discussions of the methodological and ethical challenges of conflict research

A phase II clinical trial of fludarabine and cyclophosphamide followed by thalidomide for angioimmunoblastic T-cell lymphoma. An NCRI clinical trial. CRUK number C17050/A5320.

Accepted version (12 month embargo