A modular planar robotic manipulandum with end-point torque control.

Robotic manipulanda are extensively used in investigation of the motor control of human arm movements. They permit the application of translational forces to the arm based on its state and can be used to probe issues ranging from mechanisms of neural control to biomechanics. However, most current designs are optimized for studying either motor learning or stiffness. Even fewer include end-point torque control which is important for the simulation of objects and the study of tool use. Here we describe a modular, general purpose, two-dimensional planar manipulandum (vBOT) primarily optimized for dynamic learning paradigms. It employs a carbon fibre arm arranged as a parallelogram which is driven by motors via timing pulleys. The design minimizes the intrinsic dynamics of the manipulandum without active compensation. A novel variant of the design (WristBOT) can apply torques at the handle using an add-on cable drive mechanism. In a second variant (StiffBOT) a more rigid arm can be substituted and zero backlash belts can be used, making the StiffBOT more suitable for the study of stiffness. The three variants can be used with custom built display rigs, mounting, and air tables. We investigated the performance of the vBOT and its variants in terms of effective end-point mass, viscosity and stiffness. Finally we present an object manipulation task using the WristBOT. This demonstrates that subjects can perceive the orientation of the principal axis of an object based on haptic feedback arising from its rotational dynamics.

Marine fish assemblages associated with fish aggregating devices (FADs): effects of fish removal, FAD size, fouling communities, and prior recruits

Fishes are widely known to aggregate around floating objects, including flotsam and fish aggregating devices (FADs).The numbers and diversity of juvenile fishes that associated with floating objects in the nearshore waters of the eastern tropical Pacific were recording by using FADs as an experimental tool. The effects of fish removal, FAD size, and the presence or absence of a fouling community at the FAD over a period of days, and the presence of prior recruits over a period of hours were evaluated by using a series of experiments. The removal of FAD-associated fish assemblages had a significant effect on the number of the dominant species (Abudefduf troschelii) in the following day’s assemblage compared to FADs where the previous day’s assemblage was undisturbed; there was no experimental effect on combined species totals. Fishes do, however, discriminate among floating objects, forming larger, more species-rich assemblages around large FADs compared to small ones. Fishes also formed larger assemblages around FADs possessing a fouling biota versus FADs without a fouling biota, although this effect was also closely tied to temporal factors. FADs enriched with fish accumulated additional recruits more quickly than FADs that were not enriched with fish and therefore the presence of prior recruits had a strong, positive effect on subsequent recruitment. These results suggest that fish recruitment to floating objects is deliberate rather than haphazard or accidental and they sup-port the hypothesis that flotsam plays a role in the interrelationship between environment and some juvenile fishes. These results are relevant to the use of FADs for fisheries, but emphasize that further research is necessary for applied interests.

Characterization of defect removal in hydrogenated and deuterated amorphous silicon thin film transistors

Thin film transistors (TFTs) utilizing an hydrogenated amorphous silicon (a-Si:H) channel layer exhibit a shift in the threshold voltage with time under the application of a gate bias voltage due to the creation of metastable defects. These defects are removed by annealing the device with zero gate bias applied. The defect removal process can be characterized by a thermalization energy which is, in turn, dependent upon an attempt-to-escape frequency for defect removal. The threshold voltage of both hydrogenated and deuterated amorphous silicon (a-Si:D) TFTs has been measured as a function of annealing time and temperature. Using a molecular dynamics simulation of hydrogen and deuterium in a silicon network in the H2 * configuration, it is shown that the experimental results are consistent with an attempt-to-escape frequency of (4.4 ± 0.3) × 1013 Hz and (5.7 ± 0.3) × 1013 Hz for a-Si:H and a-Si:D respectively which is attributed to the oscillation of the Si-H and Si-D bonds. Using this approach, it becomes possible to describe defect removal in hydrogenated and deuterated material by the thermalization energies of (1.552 ± 0.003) eV and (1.559 ± 0.003) eV respectively. This correlates with the energy per atom of the Si-H and Si-D bonds. © 2006 Elsevier B.V. All rights reserved.

Paper re-use: Toner-print removal by laser ablation

This article explores the possibility of using a laser to remove toner-print from office paper. Removal of print would allow paper to be re-used instead of being recycled or disposed into a landfill. This might reduce climate change gas emissions per tonne of office paper by between 45% and 95%. Although there is little previous research on the area, a number of related articles on paper conservation methods using laser radiation can be found in literature. Different authors have studied the effects of laser energy on blank paper and its application for cleaning soiled paper. However, this study examines toner-print removal from paper by laser ablation. In this article a laser in the visible range is applied to a single toner-paper combination with a range of energy fluences. Results are evaluated by means of colour measurements under the L*a*b* colour space and SEM images. Analysis of the samples reveals that there are parameters under which it is possible to remove toner from paper without causing significant discolouration or damage to the substrate. This means that it is technically possible to remove toner-print for paper re-use.

A model of driver steering control incorporating the driver's sensing of steering torque

Steering feel, or steering torque feedback, is widely regarded as an important aspect of the handling quality of a vehicle. Despite this, there is little theoretical understanding of its role. This paper describes an initial attempt to model the role of steering torque feedback arising from lateral tyre forces. The path-following control of a nonlinear vehicle model is implemented using a time-varying model predictive controller. A series of Kalman filters are used to represent the driver's ability to generate estimates of the system states from noisy sensory measurements, including the steering torque. It is found that under constant road friction conditions, the steering torque feedback reduces path-following errors provided the friction is sufficiently high to prevent frequent saturation of the tyres. When the driver model is extended to allow identification of, and adaptation to, a varying friction condition, it is found that the steering torque assists in the accurate identification of the friction condition. The simulation results give insight into the role of steering torque feedback arising from lateral tyre forces. The paper concludes with recommendations for further work. © 2011 Taylor & Francis.

Removal of fungus and prevention of fungal reinfestation in stored dry salted fish

A simple and effective method is described for converting dry fish products infested with fungus and red halophilic bacteria to acceptable ones. Washing, drying and then smearing with a mixture of 3% sodium propionate in dry, refined salt in a ratio of 1 part mixture: 10 parts dry fish resulted in the fish having a shelf life of 5 months.