A robotic apparatus that dictates torque fields around joints without affecting inherent joint dynamics

This manuscript describes how motor behaviour researchers who are not at the same time expert roboticists may implement an experimental apparatus, which has the ability to dictate torque fields around a single joint on one limb or single joints on multiple limbs without otherwise interfering with the inherent dynamics of those joints. Such an apparatus expands the exploratory potential of the researcher wherever experimental distinction of factors may necessitate independent control of torque fields around multiple limbs, or the shaping of torque fields of a given joint independently of its plane of motion, or its directional phase within that plane. The apparatus utilizes torque motors. The challenge with torque motors is that they impose added inertia on limbs and thus attenuate joint dynamics. We eliminated this attenuation by establishing an accurate mathematical model of the robotic device using the Box-Jenkins method, and cancelling out its dynamics by employing the inverse of the model as a compensating controller. A direct measure of the remnant inertial torque as experienced by the hand during a 50 s period of wrist oscillations that increased gradually in frequency from 1.0 to 3.8 Hz confirmed that the removal of the inertial effect of the motor was effectively complete.

An intelligent configuration-sampling based local motion planner for robotic manipulators

Manipulator motion planning is a task which relies heavily on the construction of a configuration space prior to path planning. However when fast real-time motion is needed, the full construction of the manipulator's high-dimensional configu-ration space can be too slow and expensive. Alternative planning methods, which avoid this full construction of the manipulator's configuration space are needed to solve this problem. Here, one such existing local planning method for manipulators based on configuration-sampling and subgoal-selection has been extended. Using a modified Artificial Potential Fields (APF) function, goal-configuration sampling and a novel subgoal selection method, it provides faster, more optimal paths than the previously proposed work. Simulation results show a decrease in both runtime and path lengths, along with a decrease in unexpected local minimum and crashing issues.

Preliminary Report. Post Excavation Work. Gubbio Project.

Stoddart, S.K.F. and C.A.T. Malone, Xerox circulation to sponsors. 1988.

The Neolithic site of San Marco, Gubbio (Perugia) Umbria: survey and excavation. 1985-8.

Malone, C. and S. Stoddart, Papers of the British School at Rome, 1992. 60: p. 1-69.

Post excavation report of the Gozo project.

Stoddart, S.K.F., C.A.T. Malone, and D. Trump, 1992, Unpublished report, Cambridge University.

Short report on the 1998 field survey and excavation season of the Troina project.

Stoddart, S. and M. C, Private circulation to sponsors. 1998.

Short report on the 1999 field survey and excavation season of the Troina project

Stoddart, S. and M. C,. Private circulation to sponsors. 1999.

Short report on the 2000 field survey and excavation season of the Troina project.

Stoddart, S. and C. Malone, Private circulation to sponsors. 2000.

Short report on the 2001 field survey and excavation season of the Troina project

Stoddart, S. and C. Malone,. Private circulation to sponsors. 2001

The Double Life of Duke of Somerset v Cookson, or a Legal Excavation of the Corbridge Lanx

Duke of Somerset v Cookson (1735) occupies an important place in English legal history as a leading authority for Chancery jurisdiction to order specific delivery of movable property where an award of damages would be inadequate. The property at issue was the Corbridge lanx, now in the British Museum, but then claimed as treasure trove by the duke of Somerset as lord of the manor of Corbridge. This paper re-examines Cookson as the first reported English decision relating to treasure trove, and uses later treasure trove claims by the duke of Somerset's successors to the manor of Corbridge, the dukes of Northumberland, to shed fresh light on the 1735 decision and on the development of treasure trove practice from the eighteenth century onwards.