Robots with a gentle touch: advances in assistive robotics and prosthetics

As healthcare costs rise and an aging population makes an increased demand on services, so new techniques must be introduced to promote an individuals independence and provide these services. Robots can now be designed so they can alter their dynamic properties changing from stiff to flaccid, or from giving no resistance to movement, to damping any large and sudden movements. This has some strong implications in health care in particular for rehabilitation where a robot must work in conjunction with an individual, and might guiding or assist a persons arm movements, or might be commanded to perform some set of autonomous actions. This paper presents the state-of-the-art of rehabilitation robots with examples from prosthetics, aids for daily living and physiotherapy. In all these situations there is the potential for the interaction to be non-passive with a resulting potential for the human/machine/environment combination to become unstable. To understand this instability we must develop better models of the human motor system and fit these models with realistic parameters. This paper concludes with a discussion of this problem and overviews some human models that can be used to facilitate the design of the human/machine interfaces.

Observations of ice multiplication in a weakly convective cell embedded in supercooled mid-level stratus

Simultaneous observations of cloud microphysical properties were obtained by in-situ aircraft measurements and ground based Radar/Lidar. Widespread mid-level stratus cloud was present below a temperature inversion (~5 °C magnitude) at 3.6 km altitude. Localised convection (peak updraft 1.5 m s−1) was observed 20 km west of the Radar station. This was associated with convergence at 2.5 km altitude. The convection was unable to penetrate the inversion capping the mid-level stratus. The mid-level stratus cloud was vertically thin (~400 m), horizontally extensive (covering 100 s of km) and persisted for more than 24 h. The cloud consisted of supercooled water droplets and small concentrations of large (~1 mm) stellar/plate like ice which slowly precipitated out. This ice was nucleated at temperatures greater than −12.2 °C and less than −10.0 °C, (cloud top and cloud base temperatures, respectively). No ice seeding from above the cloud layer was observed. This ice was formed by primary nucleation, either through the entrainment of efficient ice nuclei from above/below cloud, or by the slow stochastic activation of immersion freezing ice nuclei contained within the supercooled drops. Above cloud top significant concentrations of sub-micron aerosol were observed and consisted of a mixture of sulphate and carbonaceous material, a potential source of ice nuclei. Particle number concentrations (in the size range 0.1

Towards a modular robotics standard for AGV design and programming

Across the world there are many bodies currently involved in researching into the design of autonomous guided vehicles (AGVs). One of the greatest problems at present however, is that much of the research work is being conducted in isolated groups, with the resulting AGVs sensor/control/command systems being almost completely nontransferable to other AGV designs. This paper describes a new modular method for robot design which when applied to AGVs overcomes the above problems. The method is explained here with respect to all forms of robotics but the examples have been specifically chosen to reflect typical AGV systems.

Magnetic compliant suspension concept for space robotics

This paper proposes a Dual-Magnet Magnetic Compliance Unit (DMCU) for use in medium sized space rover platforms to enhance terrain handling capabilities and speed of traversal. An explanation of magnetic compliance and how it can be applied to space robotics is shown, along with an initial mathematical model for this system. A design for the DMCU is proposed along with a 4-wheeled DMCU Testing Rig.

Developing sensorized arm skin for an octopus inspired robot

Soft skin artefacts made of knitted nylon reinforced silicon rubber were fabricated mimicking octopus skin. A combination of ecoflex 0030 and 0010 were used as matrix of the composite to obtain the right stiffness for the skin artefacts. Material properties were characterised using static uniaxial tension and scissors cutting tests. Two types of tactile sensors were developed to detect normal contact; one used quantum tunnelling composite materials and the second was fabricated from silicone rubber and a conductive textile. Sensitivities of the sensors were tested by applying different modes of loading and the soft sensors were incorporated into the skin prototype. Passive suckers were developed and tested against squid suckers. An integrated skin prototype with embedded deformable sensors and attached suckers developed for the arm of an octopus inspired robot is also presented.

Under what conditions does embedded convection enhance orographic precipitation?

Idealised convection-permitting simulations are used to quantify the impact of embedded convection on the precipitation generated by moist flow over midlatitude mountain ridges. A broad range of mountain dimensions and moist stabilities are considered to encompass a spectrum of physically plausible flows. The simulations reveal that convection only enhances orographic precipitation in cap clouds that are otherwise unable to efficiently convert cloud condensate into precipitate. For tall and wide mountains (e.g. the Washington Cascades or the southern Andes), precipitate forms efficiently through vapour deposition and collection, even in the absence of embedded convection. When embedded convection develops in such clouds, it produces competing effects (enhanced condensation in updraughts and enhanced evaporation through turbulent mixing and compensating subsidence) that cancel to yield little net change in precipitation. By contrast, convection strongly enhances precipitation over short and narrow mountains (e.g. the UK Pennines or the Oregon Coastal Range) where precipitation formation is otherwise highly inefficient. Although cancellation between increased condensation and evaporation still occurs, the enhanced precipitation formation within the convective updraughts leads to a net increase in precipitation efficiency. The simulations are physically interpreted through non-dimensional diagnostics and relevant time-scales that govern advective, microphysical, and convective processes.

The cyber challenge: a robotics project to enthuse

Robotics is a key theme in many of the degrees offered in Systems Engineering. The topic has proved useful in attracting students to the University, and it also provides the basis of much practical and project work throughout the degrees. This paper focuses on one aspect, a Part 2 project in which students doing various degrees work together to develop a mobile robot which is controlled remotely to navigate an environment and perform specific tasks. In addition to providing practical experience of relevant academic topics, this project helps to contribute to key teaching and learning priorities including problem based learning, motivation and important employability skills.

A mixed-phase bulk orographic precipitation model with embedded convection

A novel analytical model for mixed-phase, unblocked and unseeded orographic precipitation with embedded convection is developed and evaluated. The model takes an idealised background flow and terrain geometry, and calculates the area-averaged precipitation rate and other microphysical quantities. The results provide insight into key physical processes, including cloud condensation, vapour deposition, evaporation, sublimation, as well as precipitation formation and sedimentation (fallout). To account for embedded convection in nominally stratiform clouds, diagnostics for purely convective and purely stratiform clouds are calculated independently and combined using weighting functions based on relevant dynamical and microphysical time scales. An in-depth description of the model is presented, as well as a quantitative assessment of its performance against idealised, convection-permitting numerical simulations with a sophisticated microphysics parameterisation. The model is found to accurately reproduce the simulation diagnostics over most of the parameter space considered.

Determination of the embedded thermo-optical expansion coefficients of PbTe and ZnSe thin film infrared multilayers

This paper reports the first derived thermo-optical properties for vacuum deposited infrared thin films embedded in multilayers. These properties were extracted from the temperature-dependence of manufactured narrow bandpass filters across the 4-17 µm mid-infrared wavelength region. Using a repository of spaceflight multi-cavity bandpass filters, the thermo-optical expansion coefficients of PbTe and ZnSe were determined across an elevated temperature range 20-160 ºC. Embedded ZnSe films showed thermo-optical properties similar to reported bulk values, whilst the embedded PbTe films of lower optical density, deviate from reference literature sources. Detailed knowledge of derived coefficients is essential to the multilayer design of temperature-invariant narrow bandpass filters for use in non-cooled infrared detection systems. We further present manufacture of the first reported temperature-invariant multi-cavity narrow bandpass filter utilizing PbS chalcogenide layer material.

Simultaneous mobile sink allocation in home environments with applications in mobile consumer robotics

This paper presents a novel mobile sink area allocation scheme for consumer based mobile robotic devices with a proven application to robotic vacuum cleaners. In the home or office environment, rooms are physically separated by walls and an automated robotic cleaner cannot make a decision about which room to move to and perform the cleaning task. Likewise, state of the art cleaning robots do not move to other rooms without direct human interference. In a smart home monitoring system, sensor nodes may be deployed to monitor each separate room. In this work, a quad tree based data gathering scheme is proposed whereby the mobile sink physically moves through every room and logically links all separated sub-networks together. The proposed scheme sequentially collects data from the monitoring environment and transmits the information back to a base station. According to the sensor nodes information, the base station can command a cleaning robot to move to a specific location in the home environment. The quad tree based data gathering scheme minimizes the data gathering tour length and time through the efficient allocation of data gathering areas. A calculated shortest path data gathering tour can efficiently be allocated to the robotic cleaner to complete the cleaning task within a minimum time period. Simulation results show that the proposed scheme can effectively allocate and control the cleaning area to the robot vacuum cleaner without any direct interference from the consumer. The performance of the proposed scheme is then validated with a set of practical sequential data gathering tours in a typical office/home environment.

The embedded cluster DBSB 48 in the nebula Hoffleit 18: Comparison with Trumpler 14

We derive fundamental parameters of the embedded cluster DBSB 48 in the southern nebula Hoffleit 18 and the very young open cluster Trumpler 14, by means of deep JHK(s) infrared photometry. We build colour-magnitude and colour-colour diagrams to derive reddening and age, based on main sequence and pre-main sequence distributions. Radial stellar density profiles are used to study cluster structure and guide photometric diagram extractions. Field-star decontamination is applied to uncover the intrinsic cluster sequences in the diagrams. Ages are inferred from K-excess fractions. A prominent pre-main sequence population is present in DBSB 48, and the K-excess fraction f(K) = 55 +/- 6% gives an age of 1.1 +/- 0.5 Myr. A mean reddening of A(Ks) = 0.9 +/- 0.03 was found, corresponding to A(v) = 8.2 +/- 0.3. The cluster CMD is consistent with the far kinematic distance of 5 kpc for Hoffleit 18. For Trumpler 14 we derived similar parameters as in previous studies in the optical, in particular an age of 1.7 +/- 0.7 Myr. The fraction of stars with infrared excess in Trumpler 14 is f(K) = 28 +/- 4%. Despite the young ages, both clusters are described by a King profile with core radii R-core = 0.46 +/- 0.05 pc and R-core = 0.35 +/- 0.04 pc, respectively, for DBSB 48 and Trumpler 14. Such cores are smaller than those of typical open clusters. Small cores are probably related to the cluster formation and/or parent molecular cloud fragmentation. In DBSB 48, the magnitude extent of the upper main sequence is Delta K-s approximate to 2 mag, while in Trumpler 14 it is Delta K-s approximate to 5 mag, consistent with the estimated ages. (c) 2008 Elsevier B.V. All rights reserved.