Perception of Time-Discrete Haptic Feedback on the Waist is Invariant with Gait Events

The effectiveness of haptic feedback devices highly depends on the perception of tactile stimuli, which differs across body parts and can be affected by movement. In this study, a novel wearable sensory feedback apparatus made of a pair of pressure-sensitive insoles and a belt equipped with vibrotactile units is presented; the device provides time-discrete vibrations around the waist, synchronized with biomechanically-relevant gait events during walking. Experiments with fifteen healthy volunteers were carried out to investigate users' tactile perception on the waist. Stimuli of different intensities were provided at twelve locations, each time synchronously with one pre-defined gait event (i.e. heel strike, flat foot or toe off), following a pseudo-random stimulation sequence. Reaction time, detection rate and localization accuracy were analyzed as functions of the stimulation level and site and the effect of gait events on perception was investigated. Results revealed that above-threshold stimuli (i.e. vibrations characterized by acceleration amplitudes of 1.92g and 2.13g and frequencies of 100 Hz and 150 Hz, respectively) can be effectively perceived in all the sites and successfully localized when the intertactor spacing is set to 10 cm. Moreover, it was found that perception of time-discrete vibrations was not affected by phase-related gating mechanisms, suggesting that the waist could be considered as a preferred body region for delivering haptic feedback during walking

CDF experience with monte carlo production using LCG grid

The upgrades of the Tevatron collider and CDF detector have considerably increased the demand on computing resources, in particular for Monte Carlo production. This has forced the collaboration to move beyond the usage of dedicated resources and start exploiting the Grid. The CDF Analysis Farm (CAF) model has been reimplemented into LcgCAF in order to access Grid resources by using the LCG/EGEE middleware. Many sites in Italy and in Europe are accessed through this portal by CDF users mainly to produce Monte Carlo data but also for other analysis jobs. We review here the setup used to submit jobs to Grid sites and retrieve the output, including CDF-specific configuration of some Grid components. We also describe the batch and interactive monitor tools developed to allow users to verify the jobs status during their lifetime in the Grid environment. Finally we analyze the efficiency and typical failure modes of the current Grid infrastructure reporting the performances of different parts of the system used

Assessment of intuitiveness and comfort of wearable haptic feedback strategies for assisting level and stair walking

Nowadays, lower-limb prostheses are reaching real-world usability especially on ground-level walking. However, some key tasks such as stair walking are still quite demanding. Providing haptic feedback about the foot placement on the steps might reduce the cognitive load of the task, compensating for increased dependency on vision and lessen the risk of falling. Experiments on intact subjects can be useful to define the feedback strategies prior to clinical trials, but effective methods to assess the efficacy of the strategies are few and usually rely on the emulation of the disability condition. The present study reports on the design and testing of a wearable haptic feedback system in a protocol involving intact subjects to assess candidate strategies to be adopted in clinical trials. The system integrated a sensorized insole wirelessly connected to a textile waist belt equipped with three vibrating motors. Three stimulation strategies for mapping the insole pressure data to vibrotactile feedback were implemented and compared in terms of intuitiveness and comfort perceived during level and stair walking. The strategies were ranked using a relative rating approach, which highlighted the differences between them and suggested guidelines for their improvement. The feedback evaluation procedure proposed could facilitate the selection and improvement of haptic feedback strategies prior to clinical testing

Seedless hydrothermal growth of ZnO nanorods as a promising route for flexible tactile sensors

Hydrothermal growth of ZnO nanorods has been widely used for the development of tactile sensors, with the aid of ZnO seed layers, favoring the growth of dense and vertically aligned nanorods. However, seed layers represent an additional fabrication step in the sensor design. In this study, a seedless hydrothermal growth of ZnO nanorods was carried out on Au-coated Si and polyimide substrates. The effects of both the Au morphology and the growth temperature on the characteristics of the nanorods were investigated, finding that smaller Au grains produced tilted rods, while larger grains provided vertical rods. Highly dense and high-aspect-ratio nanorods with hexagonal prismatic shape were obtained at 75 °C and 85 °C, while pyramid-like rods were grown when the temperature was set to 95 °C. Finite-element simulations demonstrated that prismatic rods produce higher voltage responses than the pyramid-shaped ones. A tactile sensor, with an active area of 1 cm2, was fabricated on flexible polyimide substrate and embedding the nanorods forest in a polydimethylsiloxane matrix as a separation layer between the bottom and the top Au electrodes. The prototype showed clear responses upon applied loads of 2–4 N and vibrations over frequencies in the range of 20–800 Hz

Use of the gLite-WMS in CMS for production and analysis

The CMS experiment at LHC started using the Resource Broker (by the EDG and LCG projects) to submit Monte Carlo production and analysis jobs to distributed computing resources of the WLCG infrastructure over 6 years ago. Since 2006 the gLite Workload Management System (WMS) and Logging \& Bookkeeping (LB) are used. The interaction with the gLite-WMS/LB happens through the CMS production and analysis frameworks, respectively ProdAgent and CRAB, through a common component, BOSSLite. The important improvements recently made in the gLite-WMS/LB as well as in the CMS tools and the intrinsic independence of different WMS/LB instances allow CMS to reach the stability and scalability needed for LHC operations. In particular the use of a multi-threaded approach in BOSSLite allowed to increase the scalability of the systems significantly. In this work we present the operational set up of CMS production and analysis based on the gLite-WMS and the performances obtained in the past data challenges and in the daily Monte Carlo productions and user analysis usage in the experiment