Head-controlled assistive telerobot with extended physiological proprioception capability

People with disabilities such as quadriplegia can use mouth-sticks and head-sticks as extension devices to perform desired manipulations. These extensions provide extended proprioception which allows users to directly feel forces and other perceptual cues such as texture present at the tip of the mouth-stick. Such devices are effective for two principle reasons: because of their close contact with the user's tactile and proprioceptive sensing abilities; and because they tend to be lightweight and very stiff, and can thus convey tactile and kinesthetic information with high-bandwidth. Unfortunately, traditional mouth-sticks and head-sticks are limited in workspace and in the mechanical power that can be transferred because of user mobility and strength limitations. We describe an alternative implementation of the head-stick device using the idea of a virtual head-stick: a head-controlled bilateral force-reflecting telerobot. In this system the end-effector of the slave robot moves as if it were at the tip of an imaginary extension of the user's head. The design goal is for the system is to have the same intuitive operation and extended proprioception as a regular mouth-stick effector but with augmentation of workspace volume and mechanical power. The input is through a specially modified six DOF master robot (a PerForceTM hand-controller) whose joints can be back-driven to apply forces at the user's head. The manipulation tasks in the environment are performed by a six degree-of-freedom slave robot (the Zebra-ZEROTM) with a built-in force sensor. We describe the prototype hardware/software implementation of the system, control system design, safety/disability issues, and initial evaluation tasks.

Impact of the earthworm Lumbricus terrestris (L.) on As, Cu, Pb and Zn mobility and speciation in contaminated soils

To assess the risks that contaminated soils pose to the environment properly a greater understanding of how soil biota influence the mobility of metal(loid)s in soils is required. Lumbricus terrestris L. were incubated in three soils contaminated with As, Cu, Pb and Zn. The concentration and speciation of metal(loid)s in pore waters and the mobility and partitioning in casts were compared with earthworm-free soil. Generally the concentrations of water extractable metal(loid)s in earthworm casts were greater than in earthworm-free soil. The impact of the earthworms on concentration and speciation in pore waters was soil and metal specific and could be explained either by earthworm induced changes in soil pH or soluble organic carbon. The mobilisation of metal(loid)s in the environment by earthworm activity may allow for leaching or uptake into biota.

Cosmopolitan Catterick? Isotopic evidence for population mobility on Rome’s Northern frontier

In order to investigate how the population diversity at major Romano-British urban centres compared to small towns and military outposts, we conducted multi-isotope (carbon, nitrogen, oxygen and strontium) analyses of bones (42 individuals) and teeth (26 individuals) of human skeletons from Cataractonium/ Roman Catterick in North Yorkshire (U.K.). The results suggest a markedly less diverse population at Catterick than at the larger towns. Significant differences are observed between burials from the town and fort area and the suburb of Bainesse to the south, and it is suggested that these reflect a shift to more localised recruitment for the Roman army in the Late Roman period. Isotope data for the ‘Bainesse Eunuch’, an unusual 4th century burial that has been interpreted as the remains of a ‘transvestite’ priest of Cybele, are not ultimately conclusive but consistent with origins in Southern Britain or areas with a similar climate abroad. This paper also presents strontium isotope data for modern vegetation samples from 17 sites in the Catterick/northern Vale of York area which contribute to a continuing effort to map the biosphere 87Sr/86Sr variation in Britain.

Impact of gut passage and mucus secretion by the earthworm Lumbricus terrestris on mobility and speciation of arsenic in contaminated soil

Earthworms inhabiting arsenic contaminated soils may accelerate the leaching of As into surface and ground waters. We carried out three experiments to determine the impact of passage of As contaminated soil (1150 mgAs kg−1) through the gut of the earthworm Lumbricus terrestris on the mobility and speciation of As and the effects of earthworm mucus on As mobility. The concentration of water soluble As in soil increased (from 1.6 to 18 mg kg−1) after passage through the earthworm gut. Casts that were aged for 56 days still contained more than nine times greater water soluble As than bulk earthworm inhabited soil. Changes were due to increases in As(V) mobility, with no change in As(III). Dilute mucus extracts reduced As mobility through the formation of As-amino acid-iron oxide ternary complexes. More concentrated mucus extracts increased As mobility. These changes, together with those due to the passage through the gut, were due to increases in pH, phosphate and soluble organic carbon. The mobilisation of As from contaminated soils in the environment by cast production and mucus secretion may allow for accelerated leaching or uptake into biota which is underestimated when bulk soil samples are analysed and the influence of soil biota ignored.

Phosphorus flux from wetland ditch sediments

The accumulation of phosphorus (P) in the bottom sediment of field drainage ditches poses a threat to the ecology both of the ditch water and downstream water courses. We investigated the amounts, forms and internal loading of sediment-bound P along two drainage ditches that regulate water levels in a basin fen (~ 200 ha) supporting a mixture of restored wetland and drained agricultural fields. Water levels in the Lady's Drove Rhyne are currently managed to enhance the biodiversity of the wetland (Catcott Lows Reserve — an area formerly cultivated for arable crop production); whereas, the East Ditch is managed to drain adjoining land that remains under arable and livestock production. Laboratory-based chemical fractionation schemes were used to characterise the forms and potential mobility of the sediment-bound P, whilst pore-water equilibrators were employed in situ to evaluate the diffusive flux of P through the sediment–water column, and to characterise the corresponding redox conditions. Along both ditches, sediment pore-water profiles indicated conditions ranging from weakly to very reducing conditions with increasing depth, and net fluxes of P from the sediment to overlying water. P flux values ranged from 0.33 to 1.30 mg m− 2 day− 1. Both the degree of P saturation (DPS) of the sediment and NaOH extractable (Fe/Al-bound) P correlated significantly (P < 0.05) with P flux. Both in the wetland and agricultural ditches, by far the highest values for P flux were recorded at sites closest to points of drainage water entry from the corresponding, adjoining land. Although the P flux data were obtained from only a single sampling event, this study highlights the contribution of historical as well as ongoing agricultural land use on the sustained elevated P status of ditch sediments in lowland catchments.

Inequality, intergenerational mobility and redistributive policies under endogenous information

This paper presents a dynamic model to study how different levels of information about the root determinants of wealth (luck versus effort) can impact inequality and intergenerational mobility through societal beliefs, individual choices and redistributive policies. To my knowledge, the model presented is the first dynamicmodel in which skills are stochastic and both beliefs and voted redistribution are determined endogenously. The model is able to explain a number of empirical facts. Large empirical evidence shows that the difference in the political support for redistribution appears to reflect differences in the social perceptions regarding the determinants of individual wealth and the underlying sources of income inequality. Moreover the beliefs about the determinants of wealth impact individual choices of effort and therefore the beliefs about the determinants of wealth impact inequality and mobility both through choices of effort and redistributive policies. The model generates multiple equilibria (US versus Europe-type) which may account for the observed features not only in terms of societal beliefs and redistribution but also in terms of perceived versus real mobility and inequality.