Contact Sensors for Dexterous Robotic Hands

This thesis examines a tactile sensor and a thermal sensor for use with the Utah-MIT dexterous four fingered hand. Sensory feedback is critical or full utilization of its advanced manipulatory capabilities. The hand itself provides tendon tensions and joint angles information. However, planned control algorithms require more information than these sources can provide. The tactile sensor utilizes capacitive transduction with a novel design based entirely on silicone elastomers. It provides an 8 x 8 array of force cells with 1.9 mm center-to-center spacing. A pressure resolution of 8 significant bits is available over a 0 to 200 grams per square mm range. The thermal sensor measures a material's heat conductivity by radiating heat into an object and measuring the resulting temperature variations. This sensor has a 4 x 4 array of temperature cells with 3.5 mm center-to-center spacing. Experiments show that the thermal sensor can discriminate among material by detecting differences in their thermal conduction properties. Both sensors meet the stringent mounting requirements posed by the Utah-MIT hand. Combining them together to form a sensor with both tactile and thermal capabilities will ultimately be possible. The computational requirements for controlling a sensor equipped dexterous hand are severe. Conventional single processor computers do not provide adequate performance. To overcome these difficulties, a computational architecture based on interconnecting high performance microcomputers and a set of software primitives tailored for sensor driven control has been proposed. The system has been implemented and tested on the Utah-MIT hand. The hand, equipped with tactile and thermal sensors and controlled by its computational architecture, is one of the most advanced robotic manipulatory devices available worldwide. Other ongoing projects will exploit these tools and allow the hand to perform tasks that exceed the capabilities of current generation robots.

Structure and properties of samarium overlayer and Sm/Rh surface alloy on Rh(100)

The structure and properties of Sm overlayer and Sm/Rh surface alloy have been investigated with Auger electron spectroscopy (AES), low energy electron diffraction (LEED), X-ray photoelectron spectroscopy (XPS), and temperature programmed desorption spectroscopy (TDS). The growth of Sm on Rh(100) at room temperature (RT) appears following the Stranski-Krastanov growth mode and only the trivalent state Sm is observed from XPS results. Thermal treatment of the Sm film at 900 K leads to the formation of ordered surface alloy which shows the c(5 root2 x root2)R45 degrees and c(2 x 2) LEED patterns. Annealing the Sm film at temperature above 400 K makes the binding energy (B.E.) of Sm 3d(5/2) shift to higher energy by 0.7 eV, which indicates charge transfer from Sm to Rh(100) substrate, causing the increase of CO desorption temperature.

Climatologia do estado de Alagoas.

A região Nordeste apresenta clima semiárido associado a uma vegetação xerófita em cerca de 50% do seu território. Estudos sobre o clima indicam que fenômenos do tipo El Niño - Oscilação Sul (ENOS) e circulação geral da atmosfera seriam os responsáveis pela ocorrência de baixos totais pluviométricos. O Estado de Alagoas, em função da sua localização na região Nordeste, tem como principais características climáticas as irregularidades da precipitação pluviométrica e a pouca variação sazonal da radiação solar, do fotoperíodo e da temperatura do ar. A proximidade da linha do Equador é um fator que condiciona um número elevado de horas de incidência de sol por ano e índices acentuados de evapotranspiração.O Estado de Alagoas, em função da sua localização na região Nordeste, tem como principais características climáticas as irregularidades da precipitação pluviométrica e a pouca variação sazonal da radiação solar, do fotoperíodo e da temperatura do ar. A proximidade da linha do Equador é um fator que condiciona um número elevado de horas de incidência de sol por ano e índices acentuados de evapotranspiração.Em todo o estado não há grandes oscilações da temperatura média do ar, variando, no litoral, entre 23°C e 28°C, e no sertão, entre 17°C e 33°C. As condições térmicas da região Nordeste, de forma geral, não possuem importantes variações no decorrer do ano. Nas áreas de altitudes mais elevadas, em contato com as encostas do Planalto da Borborema e mais expostas aos ventos de Sudeste, as temperaturas médias do ar são mais amenas, em torno de 21ºC a 23ºC.De acordo com a classificação de Köppen, toda a metade oriental do estado possui clima do tipo As?, ou seja, tropical e quente com chuvas de outono/ inverno, com precipitação pluviométrica média anual entre 1.000 mm a 1.500 mm. Porém, parte do leste alagoano, próximo à divisa com o Estado de Pernambuco, possui clima Ams?, tropical com chuvas de outono a inverno e médias pluviométricas anuais entre 1.500 mm a 2.200 mm. Por outro lado, a metade ocidental do estado, que corresponde ao agreste e sertão, apresenta condições semiáridas, com clima BSh, isto é, seco e quente, com precipitação pluviométrica média anual no Sertão entre 400 mm a 600 mm e no agreste de 600 mm a 900 mm.

Levantamento semidetalhado dos solos do Projeto Jaíba (etapa III), Estado de Minas Gerais.

Com o objetivo de prover informações dos recursos de solos da área de expansão do projeto de irrigação do Jaíba (Etapa III, que abrange 12.015 ha), a fim de possibilitar o adequado planejamento e monitoramento das atividades agrossilvipastoris e de preservação ambiental, foi realizado o levantamento de solos em nível de semidetalhe, na escala 1:50.000, conforme as normas preconizadas pela Embrapa. Predomina cobertura sedimentar cenozóica sobre rochas do Grupo Bambuí, dispostas em superfície aplainada, amplamente dominante, pontuada por dolinas e uvalas, além de um trecho de planície fluvial, ao longo do rio Ilha do Retiro. A região é caracterizada por temperaturas médias elevadas, precipitações médias abaixo dos 900 mm anuais e deficiência hídrica anual de 450 mm a 500 mm, evidenciando o curto período favorável ao crescimento das plantas em sequeiro, nas estações de primavera e verão. O ambiente seco também é evidenciado pela vegetação natural, dominada por florestas decíduas e caatingas, ou transição entre essas formações vegetais. A diferenciação de solos na área está bem condicionada ao nível topográfico relativo dos terrenos. Da superfície plana do topo da paisagem em direção às depressões semicirculares dispersas na área têm-se uma topossequência característica, com Latossolos Amarelos de caráter distrófico e textura média leve dominante na ampla área em nível topográfico superior; e solos dessa mesma classe, mas em geral com saturação por bases alta (eutróficos) e teores de argila ligeiramente mais elevados, localizados em depressões suavizadas, ou nas bordas ligeiramente inclinadas das dolinas; seguidos de Cambissolos Háplicos Tb Eutróficos (petroplínticos, endorredóxicos ou gleissólicos) de textura argilosa, em nível topográfico intermediário; aos quais se sucedem Planossolos e Gleissolos, que ocorrem associados nos fundos das dolinas e uvalas, mais rebaixadas. O vale do ribeirão Ilha do Retiro, por outro lado, apresenta um padrão de distribuição de solos distinto, com domínio de Neossolos Flúvicos, desenvolvidos de material de textura média ou argilosa de deposição aluvionar, ocorrendo nas partes topográficas inferiores, em associação com Chernossolos Rêndzicos, que tendem a predominar no segmento de nível topográfico um pouco mais alto, limitando-se no topo da encosta com a área de Latossolos Amarelos. A extensa área aplainada apresenta boas condições para agricultura intensiva com irrigação, porém com restrições decorrentes da baixa capacidade de água disponível, elevada taxa de infiltração e baixa fertilidade natural. Em direção aos níveis topográficos mais baixos, há uma tendência geral de aumentar as limitações à utilização agrícola, sobretudo em decorrência da deficiência de aeração, imposta pela dificuldade de drenagem e escoamento, assim como pela possibilidade de encharcamento por afluxo de água proveniente dos terrenos circundantes.

Molecular dynamics-based approach to study the anisotropic self-diffusion of molecules in porous materials with multiple cage types: Application to H-2 in losod

Van den Berg, A. W. C., Flikkema, E., Lems, S., Bromley, S. T., Jansen, J. C. (2006). Molecular dynamics-based approach to study the anisotropic self-diffusion of molecules in porous materials with multiple cage types: Application to H-2 in losod. Journal of physical chemistry b, 110 (1), 501-506. RAE2008

Surveillance during pregnancy: methods and response rates from a hospital based pilot study of the Pregnancy Risk Assessment Monitoring System in Ireland

Background: Many European countries including Ireland lack high quality, on-going, population based estimates of maternal behaviours and experiences during pregnancy. PRAMS is a CDC surveillance program which was established in the United States in 1987 to generate high quality, population based data to reduce infant mortality rates and improve maternal and infant health. PRAMS is the only on-going population based surveillance system of maternal behaviours and experiences that occur before, during and after pregnancy worldwide.Methods: The objective of this study was to adapt, test and evaluate a modified CDC PRAMS methodology in Ireland. The birth certificate file which is the standard approach to sampling for PRAMS in the United States was not available for the PRAMS Ireland study. Consequently, delivery record books for the period between 3 and 5 months before the study start date at a large urban obstetric hospital [8,900 births per year] were used to randomly sample 124 women. Name, address, maternal age, infant sex, gestational age at delivery, delivery method, APGAR score and birth weight were manually extracted from records. Stillbirths and early neonatal deaths were excluded using APGAR scores and hospital records. Women were sent a letter of invitation to participate including option to opt out, followed by a modified PRAMS survey, a reminder letter and a final survey.Results: The response rate for the pilot was 67%. Two per cent of women refused the survey, 7% opted out of the study and 24% did not respond. Survey items were at least 88% complete for all 82 respondents. Prevalence estimates of socially undesirable behaviours such as alcohol consumption during pregnancy were high [>50%] and comparable with international estimates.Conclusion: PRAMS is a feasible and valid method of collecting information on maternal experiences and behaviours during pregnancy in Ireland. PRAMS may offer a potential solution to data deficits in maternal health behaviour indicators in Ireland with further work. This study is important to researchers in Europe and elsewhere who may be interested in new ways of tailoring an established CDC methodology to their unique settings to resolve data deficits in maternal health.

Synthesis, characterisation and applications of group IV nanocrystals

Group IV materials such as silicon nanocrystals (Si NCs) and carbon quantum dots (CQDs) have received great attention as new functional materials with unique physical/chemical properties that are not found in the bulk material. This thesis reports the synthesis and characterisation of both types of nanocrystal and their application as fluorescence probes for the detection of metal ions. In chapter 2, a simple method is described for the size controlled synthesis of Si NCs within inverse micelles having well defined core diameters ranging from 2 to 6 nm using inert atmospheric synthetic methods. In addition, ligands with different molecular structures were utilised to reduce inter-nanocrystal attraction forces and improve the stability of the NC dispersions in water and a variety of organic solvents. Regulation of the Si NCs size is achieved by variation of the surfactants and addition rates, resulting high quality NCs with standard deviations (σ = Δd/d) of less than 10 %. Large scale production of highly mondisperse Si NC was also successfully demonstrated. In chapter 3, a simple solution phase synthesis of size monodisperse carbon quantum dots (CQDs) using a room temperature microemulsion strategy is demonstrated. The CQDs are synthesized in reverse micelles via the reduction of carbon tetrachloride using a hydride reducing agent. CQDs may be functionalised with covalently attached alkyl or amine monolayers, rendering the CQDs dispersible in wide range of polar or non-polar solvents. Regulation of the CQDs size was achieved by utilizing hydride reducing agents of different strengths. The CQDs possess a high photoluminescence quantum yield in the visible region and exhibit excellent photostability. In chapter 4, a simple and rapid assay for detection of Fe3+ ions was developed, based on quenching of the strong blue-green Si NC photoluminescence. The detection method showed a high selectivity, with only Fe3+ resulting in strong quenching of the fluorescence signal. No quenching of the fluorescence signal was induced by Fe2+ ions, allowing for solution phase discrimination between the same ion in different charge states. The optimised sensor system showed a sensitive detection range from 25- 900 μM and a limit of detection of 20.8 μM

An EORTC phase I study of capecitabine (Xeloda) in combination with fixed doses of cyclophosphamide and epirubicin (cex) as primary treatment for large operable or locally advanced/inflammatory breast cancer.

In breast cancer, chemotherapy regimens that include infusional 5-fluorouracil (5-FU) lead to high response rates, but require central venous access and pumps. To avoid these inconveniences, we substituted infusional 5-FU with capecitabine. The main objective of this study was to determine the maximum tolerated dose (MTD) of capecitabine when given in combination with fixed doses of epirubicin and cyclophosphamide (100 and 600 mg/m(2) day 1 every (q) 3 weeks) as primary treatment for large operable or locally advanced/inflammatory breast cancer without distant metastasis. Capecitabine was escalated from 750 mg/m(2) twice a day (bid) to 1250 mg/m(2) bid from day 1 to day 14 in four dose levels. Dose escalation was permitted if 0/3 or 1/6 patients experienced dose-limiting toxicity (DLT). A total of 23 patients were included and 117 courses were administered. At dose level 4, 2 of 2 patients presented DLTs defining the MTD. A high rate of capecitabine treatment modification was required with capecitabine 1050 mg/m(2) bid (dose level 3). 19 patients achieved an objective response (83%). In conclusion, we believe that capecitabine 900 mg/m(2) bid (dose level 2) is the recommended dose in combination with epirubicin 100 mg/m(2) and cyclophosphamide 600 mg/m(2). The acceptable toxicity profile and encouraging activity of this regimen warrant further evaluation.

A microwave metamaterial with integrated power harvesting functionality

We present the design and experimental implementation of a power harvesting metamaterial. A maximum of 36.8% of the incident power from a 900 MHz signal is experimentally rectified by an array of metamaterial unit cells. We demonstrate that the maximum harvested power occurs for a resistive load close to 70 Ω in both simulation and experiment. The power harvesting metamaterial is an example of a functional metamaterial that may be suitable for a wide variety of applications that require power delivery to any active components integrated into the metamaterial. © 2013 AIP Publishing LLC.

Canary grass : variations in grain yield and other agronomically important features in response to different plant densities

p.43-55

Canary grass : variations in grain yield and other agronomically important features in response to different plant densities

p.43-55

[Report] LMS 'Book of Presidents' Launch

Report of the London Mathematical Society meeting to launch "The Book of Presidents, 1865-1965, London Mathematical Society" by Susan Oakes, Alan Pears and Adrian Rice, London Mathematical Society, 2005, ISBN: 978-0950273419