Design and analysis of a haptic device design for large and fast movements

Haptic devices tend to be kept small as it is easier to achieve a large change of stiffness with a low associated apparent mass. If large movements are required there is a usually a reduction in the quality of the haptic sensations which can be displayed. The typical measure of haptic device performance is impedance-width (z-width) but this does not account for actuator saturation, usable workspace or the ability to do rapid movements. This paper presents the analysis and evaluation of a haptic device design, utilizing a variant of redundant kinematics, sometimes referred to as a macro-micro configuration, intended to allow large and fast movements without loss of impedance-width. A brief mathematical analysis of the design constraints is given and a prototype system is described where the effects of different elements of the control scheme can be examined to better understand the potential benefits and trade-offs in the design. Finally, the performance of the system is evaluated using a Fitts’ Law test and found to compare favourably with similar evaluations of smaller workspace devices.

Short-term movements of the South American rattlesnake (Crotalus durissus) in southeastern Brazil

Ecological studies of movements in animals require extensive knowledge of direction, distance and frequency of movements. The purpose of this study was to describe the daily and seasonal movements in a population of the South American rattlesnake, Crotalus durissus. The study population inhabits a cerrado area in southeastern Brazil. Snakes were tracked with externally attached radio-transmitters and thread bobbins. Larger animals tended to make more extensive daily movements, moving further from the initial site of capture. There were no differences in average daily movements between sexes. Site fidelity was higher in the dry season for both sexes. Both sexes moved distances twice as long as those calculated by drawing a straight line between consecutive points. The movement pattern of C. durissus seemed to be similar to that observed in other tropical pit vipers, such as species of the genus Bothrops.

Movements of neotropical understory passerines affected by anthropogenic forest edges in the Brazilian Atlantic rainforest

Edge effects are suggested to have great impact on the persistence of species in fragmented landscapes. We tested edge avoidance by forest understory passerines in the Brazilian Atlantic Rainforest and also compared their mobility and movement patterns in contiguous and fragmented landscapes to assess whether movements would increase in the fragmented landscape. Between 2003 and 2005, 96 Chiroxiphia caudata, 38 Pyriglena leucoptera and 27 Sclerurus scansor were radio-tracked. The most strictly forest species C. caudata and S scansor avoided forest edges while P leucoptera showed affinities for the edge Both sensitive species showed larger mean step length and maximal observed daily distance in the fragmented forest versus the unfragmented forest. P. leucoptera did not show any significant difference. There were no significant differences in proportional daily home range use for any of the three species. Our results suggested that fragmentation and the consequent increase in edge areas do influence movement behavior of sensitive forest understory birds that avoided the use of edges and increased the speed and distance they covered daily. For the most restricted forest species, it would be advisable to protect larger patches of forest instead of many small or medium fragments connected by narrow corridors. However, by comparing our data with that obtained earlier, we concluded that movement behavior of resident birds differs from that of dispersing birds and might not allow to infer functional connectivity or landscape-scale sensitivity to fragmentation; a fact that should be taken into consideration when suggesting conservation strategies. (c) 2008 Elsevier Ltd. All rights reserved.

Forebrain projections to brainstem nuclei involved in the control of mandibular movements in rats

Mandibular movements occur through the triggering of trigeminal motoneurons. Aberrant movements by orofacial muscles are characteristic of orofacial motor disorders, such as nocturnal bruxism (clenching or grinding of the dentition during sleep). Previous studies have suggested that autonomic changes occur during bruxism episodes. Although it is known that emotional responses increase jaw movement, the brain pathways linking forebrain limbic nuclei and the trigeminal motor nucleus remain unclear. Here we show that neurons in the lateral hypothalamic area, in the central nucleus of the amygdala, and in the parasubthalamic nucleus, project to the trigeminal motor nucleus or to reticular regions around the motor nucleus (Regio h) and in the mesencephalic trigeminal nucleus. We observed orexin co-expression in neurons projecting from the lateral hypothalamic area to the trigeminal motor nucleus. In the central nucleus of the amygdala, neurons projecting to the trigeminal motor nucleus are innervated by corticotrophin-releasing factor immunoreactive fibers. We also observed that the mesencephalic trigeminal nucleus receives dense innervation from orexin and corticotrophin-releasing factor immunoreactive fibers. Therefore, forebrain nuclei related to autonomic control and stress responses might influence the activity of trigeminal motor neurons and consequently play a role in the physiopathology of nocturnal bruxism.

Movements and mechanical stresses in gas-filled flat plate solar collectors

Sealed gas filled flat plate solar collectors will have stresses in the material since volume and pressure varies in the gas when the temperature changes. Several geometries were analyzed and it could be seen that it is possible reducing the stresses and improve the safety factor of the weakest point in the construction by using larger area and/or reducing the distance between glass and absorber and/or change width and height relationship so the tubes are getting longer. Further it could be shown that the safety factor won't always get improved with reinforcements. It is so because when an already strong part of the collector gets reinforced it will expose weaker parts for higher stresses. The finite element method was used for finding out the stresses.

Learning as movements in interspace

My research issues (in rearch project for PhD-degree, named Drama in School) concern how learning takes place in drama education in compulsory school. One part is to explore and problematize approaches to learning (in and through drama). In this paper will the concept learning be discussed by using a thought derived from Deleuze and Guattari’s nomad philosophy. They describe learning as a movement in the interspace. Focus is on process and inquiry, not on achievement of predetermined skills and competences. 

On processing GPS tracking data of car-movements in Borlänge, Sweden

The advancement of GPS technology enables GPS devices not only to be used as orientation and navigation tools, but also to track travelled routes. GPS tracking data provides essential information for a broad range of urban planning applications such as transportation routing and planning, traffic management and environmental control. This paper describes on processing the data that was collected by tracking the cars of 316 volunteers over a seven-week period. The detailed information is extracted. The processed data is further connected to the underlying road network by means of maps. Geographical maps are applied to check how the car-movements match the road network. The maps capture the complexity of the car-movements in the urban area. The results show that 90% of the trips on the plane match the road network within a tolerance.

Women's experiences of two different self-assessment methods for monitoring fetal movements in full-term pregnancy : a crossover trial

Background: Low maternal awareness of fetal movements is associated with negative birth outcomes. Knowledge regarding pregnant women's compliance with programs of systematic self-assessment of fetal movements is needed. The aim of this study was to investigate women's experiences using two different self-assessment methods for monitoring fetal movements and to determine if the women had a preference for one or the other method. Methods: Data were collected by a crossover trial; 40 healthy women with an uncomplicated full-term pregnancy counted the fetal movements according to a Count-to-ten method and assessed the character of the movements according to the Mindfetalness method. Each self-assessment was observed by a midwife and followed by a questionnaire. A total of 80 self-assessments was performed; 40 with each method. Results: Of the 40 women, only one did not find at least one method suitable. Twenty of the total of 39 reported a preference, 15 for the Mindfetalness method and five for the Count-to-ten method. All 39 said they felt calm, relaxed, mentally present and focused during the observations. Furthermore, the women described the observation of the movements as safe and reassuring and a moment for communication with their unborn baby. Conclusions: In the 80 assessments all but one of the women found one or both methods suitable for self-assessment of fetal movements and they felt comfortable during the assessments. More women preferred the Mindfetalness method compared to the count-to-ten method, than vice versa.

The Schwarmgeister: The Development of Ecclesiastical Doctrine Through Schismatic Movements

Throughout the Christian story, Church doctrine and ecclesiology have been shrouded in controversy. From the Council of Nicea in 325, when are early Church fathers debated about the Trinity of Christ all the way to the modern day with Vatican II theological controversies have been important in the molding of Christian doctrine on the structure, role, and function of the Church. What makes those controversies different from the ones I treat in my thesis is that the previously mentioned controversies did not lead to schismatic divisions in the Church. The Donatist controversy and Luther's theological battle with Karlstadt were major movements that endangered the unity of the Church. These controversies propagated crucial writings and teachings in two major areas. The first area is the spiritual power and validity of the sacraments. Second is the role, function, and ecclesiology of the Church, with particular attention to the authority of the ministry. I want to demonstrate that these controversies refined the Church's thinking on sacramental issues such as baptism and Eucharist, as well as address the question of who has the power in the Church? And to what extent do they have the power to press reforms?

Assessment of the ergonomic design of diagnostic ultrasound transducers through wrist movements and subjective evaluation

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Are cutout handles used when available in real occupational settings? Description of grips and upper extremities movements during industrial box handling

In order to achieve better postures and decrease musculoskeletal risks adequate design of hand/box couplings for manual materials handling (MMH) are still needed. No studies evaluating upper limb movement thorough direct measurements during box handling in workplace were identified in the literature. In this study we describe the types of grip and movements adopted by ten workers when handling redesigned boxes with cutout handles between different heights on industrial pallets. The new handles were used by 90% of the workers through different types of grip. Electrogoniometric measurements showed relatively safe forearm and wrist movements, although elbow inadequate range of movement was recorded. Despite the good acceptance of the cutout by workers, the new design requires extra internal space in the boxes reducing applications for this alternative of box.

Impact of Road Clearings on the Movements of Three Understory Insectivorous Bird Species in the Brazilian Atlantic Forest

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)