Modelling human dynamics in-situ for rehabilitation and therapy robots

This paper outlines some rehabilitation applications of manipulators and identifies that new approaches demand that the robot make an intimate contact with the user. Design of new generations of manipulators with programmable compliance along with higher level controllers that can set the compliance appropriately for the task, are both feasible propositions. We must thus gain a greater insight into the way in which a person interacts with a machine, particularly given that the interaction may be non-passive. We are primarily interested in the change in wrist and arm dynamics as the person co-contracts his/her muscles. It is observed that this leads to a change in stiffness that can push an actuated interface into a limit cycle. We use both experimental results gathered from a PHANToM haptic interface and a mathematical model to observe this effect. Results are relevant to the fields of rehabilitation and therapy robots, haptic interfaces, and telerobotics

Growth rate and physical properties of Erythrina variegata with regard to dry matter production

Erythrina variegata grown from seeds showed a great deal of variation with respect to height, diameter, density of wood and dry matter production. Statistical analysis showed that the density of wood produced by any plant was not related to its growth rate, but dry matter production was associated with plant growth rate (height and diameter) that could lead to overall increased dry matter or biomass production.

Effects of calcium chloride and sodium hexametaphosphate on certain chemical and physical properties of soymilk

Soymilks with sodium hexametaphosphate (SHMP) (0% to 1.2%) and calcium chloride (12.50, 18.75, and 25.00 mM Ca),were analyzed for total Ca, Ca ion concentration, pH, kinematic viscosity, particle diameter, and sediment after pasteurization. Higher added Ca led to significant (P <= 0.05) increases in Ca ion concentration and significant (P <= 0.05) decreases in pH. At certain levels of SHMP, higher concentrations of added Ca significantly increased (P <= 0.05) kinematic viscosity, particle diameter, and sediment. Increasing SHMP concentration reduced Ca ion concentration, particle diameter, and dry sediment content, but reduced kinematic viscosity of samples (P <= 0.05). Adding SHMP up to 0.7% influenced pH of soymilk in different ways, depending on the level of Ca addition. When the pH of Ca-fortified soymilk was adjusted to a higher level, ionic Ca decreased as pH increased. Ihere was a negative linear relationship between the logarithm of ionic Ca concentration and the adjusted pH of the soymilk. Ionic Ca appeared to be a good indicator of thermally induced sediment formation, with little sediment being produced if ionic Ca was maintained below 0.4 mM.

Interaction of heat-moisture conditions and physical properties in oat processing: II. Flake quality

Product quality is an important determinant of consumer acceptance. Consistent oat flake properties are thus necessary in the mill as well as in the marketplace. The effects of kilning and tempering conditions (30, 60 or 90 min at 80, 95 or 110 degrees C) on flake peroxidase activity, size, thickness, strength and water absorption were therefore determined. After kilning, some peroxidase activity remained but steaming and tempering effectively destroyed the activity of these enzymes. Thus the supposed protective effect of kilning or groat durability was not confirmed. Kilning resulted in an increase in flake specific weight, but no other significant effect on flake quality was observed. Tempering time and temperature interacted significantly to produce complex effects on flake specific weight, thickness and water absorption. Flake thickness and specific weight were significantly correlated (r = 0.808, n = 54). Longer tempering times resulted in an increased fines' fraction, from 1.45% at 30 min to 1.75% at 90 min. It is concluded that whilst kilning has little effect on flake quality, the heat treatment immediately prior to flaking, can be used to adjust flake quality independently of flake thickness.

Interaction of heat-moisture conditions and physical properties in oat processing: I. Mechanical properties of steamed oat groats

Research interest in oats has focussed on their nutritional value, but there have been few studies of their food processing. Heat treatment is characteristic of oat processing, as it is needed to inactivate lipase and to facilitate flaking. A Texture Analyser was used to characterise the mechanical properties of unkilned and kilned oat groats after steaming and tempering in an oven for 30, 60 and 90 min at 80, 95 and 110 degrees C. Maximum force, number of peaks before maximum and final force after 5s hold were used to characterise the behaviour of the groats during compression. Kilned groats were larger and softer before steaming. After steaming and tempering, the moisture content of the kilned groats was higher than for unkilned groats. Hot, steamed oats were softer than cold, unsteamed groats, indicated by a decrease in maximum force from 59 to 55 N, and there was no significant difference between kilned and unkilned groats. However, higher temperatures during tempering increased maximum force. These results suggest that mild steam treatment yields softer oat groats, whereas cold or over-treated groats tend to be harder. (c) 2007 Elsevier Ltd. All rights reserved.

Childhood emotional abuse and neglect as predictors of psychological and physical symptoms in women presenting to a primary care practice

Objective: There were two aims to this study: first to examine whether emotional abuse and neglect are significant predictors of psychological and somatic symptoms, and lifetime trauma exposure in women presenting to a primary care practice, and second to examine the strength of these relationships after controlling for the effects of other types of childhood abuse and trauma. Method: Two-hundred and five women completed the Childhood Trauma Questionnaire (Bernstein et al., 1994), Trauma History Questionnaire (Green, 1996), the Symptom Checklist-revised (Derogatis, 1997), and the Revised Civilian Mississippi Scale for posttraumatic stress disorder (Norris & Perilla, 1996) when presenting to their primary care physician for a visit. Hierarchical multiple regression analyses were conducted to examine unique contributions of emotional abuse and neglect variables on symptom measures while controlling for childhood sexual and physical abuse and lifetime trauma exposure. Results: A history of emotional abuse and neglect was associated with increased anxiety, depression, posttraumatic stress and physical symptoms, as well as lifetime trauma exposure. Physical and sexual abuse and lifetime trauma were also significant predictors of physical and psychological symptoms. Hierarchical multiple regressions demonstrated that emotional abuse and neglect predicted symptomatology in these women even when controlling for other types of abuse and lifetime trauma exposure. Conclusions: Long-standing behavioral consequences may arise as a result of childhood emotional abuse and neglect, specifically, poorer emotional and physical functioning, and vulnerability to further trauma exposure. (C) 2003 Elsevier Ltd. All rights reserved.

Minimum jerk trajectory control for rehabilitation and haptic applications

Smooth trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. This paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. These motions are intended to retrain the upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.

Learners’ perceptions of being identified as very able: insights from Modern Foreign Languages and Physical Education

While learners’ attitudes to Modern Foreign Languages (MFL) and to Physical Education (PE) in the UK have been widely investigated in previous research, an under-explored area is learners’ feelings about being highly able in these subjects. The present study explored this issue, among 78 learners (aged 12-13) from two schools in England, a Specialist Language College, and a Specialist Sports College. Learners completed a questionnaire exploring their feelings about the prospect of being identified as gifted/talented in these subjects, and their perceptions of the characteristics of highly able learners in MFL and PE. Questionnaires were chosen as the data collection method to encourage more open responses from these young learners than might have been elicited in an interview. While learners were enthusiastic about the idea of being highly able in both subjects, this enthusiasm was more muted for MFL. School specialism was related to learners’ enthusiasm only in the Sports College. Learners expressed fairly stereotypical views of the characteristics of the highly able in MFL and PE. The relevance of these findings for motivation and curriculum design within both subjects is discussed.

Extended Canadian middle atmosphere model: zonal-mean climatology and physical parameterizations

This paper describes the energetics and zonal-mean state of the upward extension of the Canadian Middle Atmosphere Model, which extends from the ground to ~210 km. The model includes realistic parameterizations of the major physical processes from the ground up to the lower thermosphere and exhibits a broad spectrum of geophysical variability. The rationale for the extended model is to examine the nature of the physical and dynamical processes in the mesosphere/lower thermosphere (MLT) region without the artificial effects of an imposed sponge layer which can modify the circulation in an unrealistic manner. The zonal-mean distributions of temperature and zonal wind are found to be in reasonable agreement with observations in most parts of the model domain below ~150 km. Analysis of the global-average energy and momentum budgets reveals a balance between solar extreme ultraviolet heating and molecular diffusion and a thermally direct viscous meridional circulation above 130 km, with the viscosity coming from molecular diffusion and ion drag. Below 70 km, radiative equilibrium prevails in the global mean. In the MLT region between ~70 and 120 km, many processes contribute to the global energy budget. At solstice, there is a thermally indirect meridional circulation driven mainly by parameterized nonorographic gravity-wave drag. This circulation provides a net global cooling of up to 25 K d^-1.

Quantification of chemical and physical processes influencing ozone during long-range transport using a trajectory ensemble

During long-range transport, many distinct processes – including photochemistry, deposition, emissions and mixing – contribute to the transformation of air mass composition. Partitioning the effects of different processes can be useful when considering the sensitivity of chemical transformation to, for example, a changing environment or anthropogenic influence. However, transformation is not observed directly, since mixing ratios are measured, and models must be used to relate changes to processes. Here, four cases from the ITCT-Lagrangian 2004 experiment are studied. In each case, aircraft intercepted a distinct air mass several times during transport over the North Atlantic, providing a unique dataset and quantifying the net changes in composition from all processes. A new framework is presented to deconstruct the change in O3 mixing ratio (Δ O3) into its component processes, which were not measured directly, taking into account the uncertainty in measurements, initial air mass variability and its time evolution. The results show that the net chemical processing (Δ O3chem) over the whole simulation is greater than net physical processing (Δ O3phys) in all cases. This is in part explained by cancellation effects associated with mixing. In contrast, each case is in a regime of either net photochemical destruction (lower tropospheric transport) or production (an upper tropospheric biomass burning case). However, physical processes influence O3 indirectly through addition or removal of precursor gases, so that changes to physical parameters in a model can have a larger effect on Δ O3chem than Δ O3phys. Despite its smaller magnitude, the physical processing distinguishes the lower tropospheric export cases, since the net photochemical O3 change is −5 ppbv per day in all three cases. Processing is quantified using a Lagrangian photochemical model with a novel method for simulating mixing through an ensemble of trajectories and a background profile that evolves with them. The model is able to simulate the magnitude and variability of the observations (of O3, CO, NOy and some hydrocarbons) and is consistent with the time-average OH following air-masses inferred from hydrocarbon measurements alone (by Arnold et al., 2007). Therefore, it is a useful new method to simulate air mass evolution and variability, and its sensitivity to process parameters.