Interactive robot control system and method of use

A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence

Nerve Agent Hydrolysis Activity Designed into a Human Drug Metabolism Enzyme

Organophosphorus (OP) nerve agents are potent suicide inhibitors of the essential neurotransmitter-regulating enzyme acetylcholinesterase. Due to their acute toxicity, there is significant interest in developing effective countermeasures to OP poisoning. Here we impart nerve agent hydrolysis activity into the human drug metabolism enzyme carboxylesterase 1. Using crystal structures of the target enzyme in complex with nerve agent as a guide, a pair of histidine and glutamic acid residues were designed proximal to the enzyme's native catalytic triad. The resultant variant protein demonstrated significantly increased rates of reactivation following exposure to sarin, soman, and cyclosarin. Importantly, the addition of these residues did not alter the high affinity binding of nerve agents to this protein. Thus, using two amino acid substitutions, a novel enzyme was created that efficiently converted a group of hemisubstrates, compounds that can start but not complete a reaction cycle, into bona fide substrates. Such approaches may lead to novel countermeasures for nerve agent poisoning

Robotic Finger Assembly

A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange

Control of a Glove-Based Grasp Assist Device

A grasp assist system includes a glove and sleeve. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly

Tendon Driven Finger Actuation System

A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger

Explore the concept of “light” and its interaction with matter: an inquiry-based science education project in primary school

The exploration process leading to the understanding of physical phenomena, such as light and its interaction with matter, raises great interest and curiosity in children. However, in most primary schools, children rarely have the opportunity to conduct science activities in which they can engage in an enquiry process even if by the action of the teacher. In this context, we have organised several in-service teacher training courses and carried out several pedagogic interventions in Portuguese primary schools, with the aim of promoting inquirybased science education. This article describes one of those projects, developed with a class of the third grade, which explored the curricular topic “Light Experiments”. Various activities were planned and implemented, during a total of ten hours spread over five lessons. The specific objectives of this paper are: to illustrate and analyse the teaching and learning process promoted in the classroom during the exploration of one of these lessons, and to assess children’s learning three weeks after the lessons. The results suggest that children made significant learning which persisted. We conclude discussing some processes that stimulated children’ learning, including the importance of teacher questioning in scaffolding children's learning and some didactic implications for teacher training.CIEC – Research Centre on Child Studies, IE, UMinho (FCT R&D unit 317), Portuga

Humanoid Robot

A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders

Skunk River Review 2009-10, vol 22

Welcome to the 2009-2010 edition of The Skunk River Review! We received a record number of entries this year, making this volume one of the best and most competitive! We even added a new category called Art & Literary Analysis to include a growing number of submissions dedicated to inspiration and critique. Each year we continue to receive many fine examples of student writing. Selection is a challenging process but enjoyable as the submissions range from a variety of topics and styles. Selected entries were only minimally edited for clarity. The Skunk River Review focuses on students from various DMACC campuses. It includes selections from College Preparatory Writing classes, Composition I and Composition II classes. All entries generally begin as class assignments and are supported by the instructor.https://openspace.dmacc.edu/skunkriver/1001/thumbnail.jp

Complexities of learning with computer-based tools: A case of inquiry about sound and music in elementary school

Computer-based technology is increasingly becoming available for students at all grade levels in schools, and its promise and power as a learning tool is being extolled by many. From a constructive perspective, if individuals actively construct meaning from their experiences, then simply having particular tools to work with via a computer doesn't ensure that desired learning will result. Thus, it is important to examine how students construct meaning while using such tools. This study examined what fourth grade students learned from the use of two computer-based tools intended to help them understand sound and music: software that emulated an oscilloscope and allowed students to view sound waves from audio input; and software that turned the computer into an electronic keyboard, which provided students with standard pitches for comparison purposes. Principles of selective attention and pior knowledge and experiences —foundational ideas of a constructivist epistemology—were useful in understanding learning outcomes from inquiry with these tools. Our findings provide critical information for future instruction with the goal of supporting learning about sound and music from such tools. They also indicate the need for more studies examining learning from computer-based tools in specific contexts, to advance our understanding of how teachers can mediate student activity with computer-based tools to support the development of conceptual understanding.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/45183/1/10956_2005_Article_BF01677126.pd