Haptic teleoperation of mobile robots for augmentation of operator perception in environments with low-wireless signal

Wireless teleoperation of field robots for maintenance, inspection and rescue missions is often performed in environments with low wireless connectivity, caused by signal losses from the environment and distance from the wireless transmitters. Various studies from the literature have addressed these problems with time-delay robust control systems and multi-hop wireless relay networks. However, such approaches do not solve the issue of how to present wireless data to the operator to avoid losing control of the robot. Despite the fact that teleoperation for maintenance often already involves haptic devices, no studies look at the possibility of using this existing feedback to aid operators in navigating within areas of variable wireless connectivity. We propose a method to incorporate haptic information into the velocity control of an omnidirectional robot to augment the operators perception of wireless signal strength in the remote environment. In this paper we introduce a mapping between wireless signal strength from multiple receivers to the force feedback of a 6 Degree of Freedom haptic master and evaluate the proposed approach using experimental data and randomly generated wireless maps

Inter-operator reliability of live football match statistics from OPTA Sportsdata

The aim of the study was to evaluate the inter-operator reliability of OPTA Client System which is used to collect live football match statistics by OPTA Sportsdata Company. Two groups of experienced operators were required to analyze a Spanish league match independently. Results showed that team events coded by independent operators reached a very good agreement (kappa values were 0.92 and 0.94) and average difference of event time was 0.06±0.04 s. The reliability of goalkeeper actions was also at high level, kappa values were 0.92 and 0.86. The high intra-class correlation coefficients (ranged from 0.88 to 1.00) and low standardized typical errors (varied from 0.00 to 0.37) of different match actions and indicators of individual outfield players showed a high level of inter-operator reliability as well. These results suggest that the OPTA Client System is reliable to be used to collect live football match statistics by well trained operators.

Multiple Robots, Single Operator: Considerations About Information And Commanding

Multiple robot, single operator scenarios suppose a challenge in terms of human factors. Two relevant issues are keeping the situational awareness and managing the workload of operators. In order to address these problems, this work analyses the management of information and commands in multi-robot missions. About the information, this paper proposes a selection based on mission and operator states. Regarding the commands, this work reflects about the levels of automation and the methods of commanding.

Orientation in operator algebras

A concept of orientation is relevant for the passage from Jordan structure to associative structure in operator algebras. The research reported in this paper bridges the approach of Connes for von Neumann algebras and ourselves for C*-algebras in a general theory of orientation that is of geometric nature and is related to dynamics.

Contributions of distinct quaternary contacts to cooperative operator binding by Mnt repressor

Mnt, a tetrameric repressor encoded by bacteriophage P22, uses N-domain dimers to contact each half of its operator site. Experiments with a double mutant and structural homology with the P22 Arc repressor suggest that contacts made by Arg-28 and stabilized by Glu-33 are largely responsible for dimer–dimer cooperativity in Mnt. These dimer–dimer contacts are energetically more important for operator binding than solution tetramerization, which is mediated by an independent C-terminal coiled-coil domain. Indeed, once one dimer of the Mnt tetramer contacts an operator half site, binding of the second dimer occurs with an effective concentration much lower than that expected if both dimers were flexibly tethered. These results suggest that binding of the second dimer introduces some strain into the protein–DNA complex, a mechanism that could serve to limit the affinity of operator binding and to prevent strong binding of the Mnt tetramer to nonoperator sites.

The operator algebra approach to quantum groups

A relatively simple definition of a locally compact quantum group in the C*-algebra setting will be explained as it was recently obtained by the authors. At the same time, we put this definition in the historical and mathematical context of locally compact groups, compact quantum groups, Kac algebras, multiplicative unitaries, and duality theory.

On the coefficients of the characteristic series of the U-operator

A conceptual proof is given of the fact that the coefficients of the characteristic series of the U-operator acting on families of overconvegent modular forms lie in the Iwasawa algebra.

Operator binding by lambda repressor heterodimers with one or two N-terminal arms.

The first 6 amino acids (NH2-Ser1-Thr2-Lys3-Lys4-Lys5-Pro6) of bacteriophage lambda cI repressor form a flexible arm that wraps around the operator DNA. Homodimeric lambda repressor has two arms. To determine whether both arms are necessary or only one arm is sufficient for operator binding, we constructed heterodimeric repressors with two, one, or no arms by fusing the DNA binding domain of lambda repressor to leucine zippers from Fos and Jun. Although only one arm is visible in the cocrystal structure of the N-domain-operator complex, our results indicate that both arms are required for optimal operator binding and normal site discrimination.

Binding of purified multiple antibiotic-resistance repressor protein (MarR) to mar operator sequences.

Elevated expression of the marORAB multiple antibiotic-resistance operon enhances the resistance of Escherichia coli to various medically significant antibiotics. Transcription of the operon is repressed in vivo by the marR-encoded protein, MarR, and derepressed by salicylate and certain antibiotics. The possibility that repression results from MarR interacting with the marO operator-promoter region was studied in vitro using purified MarR and a DNA fragment containing marO. MarR formed at least two complexes with marO DNA, bound > 30-fold more tightly to it than to salmon sperm DNA, and protected two separate 21-bp sites within marO from digestion by DNase I. Site I abuts the downstream side of the putative -35 transcription-start signal and includes 4 bp of the -10 signal. Site II begins 13 bp downstream of site I, ending immediately before the first base pair of marR. Site II, approximately 80% homologous to site I, is not required for repression since a site II-deleted mutant (marO133) was repressed in trans by wild-type MarR. The absence of site II did not prevent MarR from complexing with the site I of marO133. Salicylate bound to MarR (Kd approximately 0.5 mM) and weakened the interaction of MarR with sites I and II. Thus, repression of the mar operon, which curbs the antibiotic resistance of E. coli, correlates with the formation of MarR-site I complexes. Salicylate appears to induce the mar operon by binding to MarR and inhibiting complex formation, whereas tetracycline and chloramphenicol, which neither bind MarR nor inhibit complex formation, must induce by an indirect mechanism.

Motorcycle operator licensing - issue paper.

Mode of access: Internet.

Results of owner/operator and mechanic/technician survey. Final report.

National Highway Traffic Safety Administration, Washington, D.C.

Recreational boat safe loading : operator study /

Contract no. DOT-CG-40672-A.