Design and control of multi-finger haptic devices for dexterous manipulation

En la interacci��n con el entorno que nos rodea durante nuestra vida diaria (utilizar un cepillo de dientes, abrir puertas, utilizar el tel��fono m��vil, etc.) y en situaciones profesionales (intervenciones m��dicas, procesos de producci��n, etc.), t��picamente realizamos manipulaciones avanzadas que incluyen la utilizaci��n de los dedos de ambas manos. De esta forma el desarrollo de m��todos de interacci��n h��ptica multi-dedo dan lugar a interfaces hombre-m��quina m��s naturales y realistas. No obstante, la mayor��a de interfaces h��pticas disponibles en el mercado est��n basadas en interacciones con un solo punto de contacto; esto puede ser suficiente para la exploraci��n o palpaci��n del entorno pero no permite la realizaci��n de tareas m��s avanzadas como agarres. En esta tesis, se investiga el dise��o mec��nico, control y aplicaciones de dispositivos h��pticos modulares con capacidad de reflexi��n de fuerzas en los dedos ��ndice, coraz��n y pulgar del usuario. El dise��o mec��nico de la interfaz dise��ada, ha sido optimizado con funciones multi-objetivo para conseguir una baja inercia, un amplio espacio de trabajo, alta manipulabilidad y reflexi��n de fuerzas superiores a 3 N en el espacio de trabajo. El ancho de banda y la rigidez del dispositivo se han evaluado mediante simulaci��n y experimentaci��n real. Una de las ��reas m��s importantes en el dise��o de estos dispositivos es el efector final, ya que es la parte que est�� en contacto con el usuario. Durante este trabajo se ha dise��ado un dedal de bajo peso, adaptable a diferentes usuarios que, mediante la incorporaci��n de sensores de contacto, permite estimar fuerzas normales y tangenciales durante la interacci��n con entornos reales y virtuales. Para el dise��o de la arquitectura de control, se estudiaron los principales requisitos para estos dispositivos. Entre estos, cabe destacar la adquisici��n, procesado e intercambio a trav��s de internet de numerosas se��ales de control e instrumentaci��n; la computaci��n de equaciones matem��ticas incluyendo la cinem��tica directa e inversa, jacobiana, algoritmos de detecci��n de agarres, etc. Todos estos componentes deben calcularse en tiempo real garantizando una frecuencia m��nima de 1 KHz. Adem��s, se describen sistemas para manipulaci��n de precisi��n virtual y remota; as�� como el dise��o de un m��todo denominado "desacoplo cinem��tico iterativo" para computar la cinem��tica inversa de robots y la comparaci��n con otros m��todos actuales. Para entender la importancia de la interacci��n multimodal, se ha llevado a cabo un estudio para comprobar qu�� est��mulos sensoriales se correlacionan con tiempos de respuesta m��s r��pidos y de mayor precisi��n. Estos experimentos se desarrollaron en colaboraci��n con neurocient��ficos del instituto Technion Israel Institute of Technology. Comparando los tiempos de respuesta en la interacci��n unimodal (auditiva, visual y h��ptica) con combinaciones bimodales y trimodales de los mismos, se demuestra que el movimiento sincronizado de los dedos para generar respuestas de agarre se basa principalmente en la percepci��n h��ptica. La ventaja en el tiempo de procesamiento de los est��mulos h��pticos, sugiere que los entornos virtuales que incluyen esta componente sensorial generan mejores contingencias motoras y mejoran la credibilidad de los eventos. Se concluye que, los sistemas que incluyen percepci��n h��ptica dotan a los usuarios de m��s tiempo en las etapas cognitivas para rellenar informaci��n de forma creativa y formar una experiencia m��s rica. Una aplicaci��n interesante de los dispositivos h��pticos es el dise��o de nuevos simuladores que permitan entrenar habilidades manuales en el sector m��dico. En colaboraci��n con fisioterapeutas de Griffith University en Australia, se desarroll�� un simulador que permite realizar ejercicios de rehabilitaci��n de la mano. Las propiedades de rigidez no lineales de la articulaci��n metacarpofalange del dedo ��ndice se estimaron mediante la utilizaci��n del efector final dise��ado. Estos par��metros, se han implementado en un escenario que simula el comportamiento de la mano humana y que permite la interacci��n h��ptica a trav��s de esta interfaz. Las aplicaciones potenciales de este simulador est��n relacionadas con entrenamiento y educaci��n de estudiantes de fisioterapia. En esta tesis, se han desarrollado nuevos m��todos que permiten el control simult��neo de robots y manos rob��ticas en la interacci��n con entornos reales. El espacio de trabajo alcanzable por el dispositivo h��ptico, se extiende mediante el cambio de modo de control autom��tico entre posici��n y velocidad. Adem��s, estos m��todos permiten reconocer el gesto del usuario durante las primeras etapas de aproximaci��n al objeto para su agarre. Mediante experimentos de manipulaci��n avanzada de objetos con un manipulador y diferentes manos rob��ticas, se muestra que el tiempo en realizar una tarea se reduce y que el sistema permite la realizaci��n de la tarea con precisi��n. Este trabajo, es el resultado de una colaboraci��n con investigadores de Harvard BioRobotics Laboratory. ABSTRACT When we interact with the environment in our daily life (using a toothbrush, opening doors, using cell-phones, etc.), or in professional situations (medical interventions, manufacturing processes, etc.) we typically perform dexterous manipulations that involve multiple fingers and palm for both hands. Therefore, multi-Finger haptic methods can provide a realistic and natural human-machine interface to enhance immersion when interacting with simulated or remote environments. Most commercial devices allow haptic interaction with only one contact point, which may be sufficient for some exploration or palpation tasks but are not enough to perform advanced object manipulations such as grasping. In this thesis, I investigate the mechanical design, control and applications of a modular haptic device that can provide force feedback to the index, thumb and middle fingers of the user. The designed mechanical device is optimized with a multi-objective design function to achieve a low inertia, a large workspace, manipulability, and force-feedback of up to 3 N within the workspace; the bandwidth and rigidity for the device is assessed through simulation and real experimentation. One of the most important areas when designing haptic devices is the end-effector, since it is in contact with the user. In this thesis the design and evaluation of a thimble-like, lightweight, user-adaptable, and cost-effective device that incorporates four contact force sensors is described. This design allows estimation of the forces applied by a user during manipulation of virtual and real objects. The design of a real-time, modular control architecture for multi-finger haptic interaction is described. Requirements for control of multi-finger haptic devices are explored. Moreover, a large number of signals have to be acquired, processed, sent over the network and mathematical computations such as device direct and inverse kinematics, jacobian, grasp detection algorithms, etc. have to be calculated in Real Time to assure the required high fidelity for the haptic interaction. The Hardware control architecture has different modules and consists of an FPGA for the low-level controller and a RT controller for managing all the complex calculations (jacobian, kinematics, etc.); this provides a compact and scalable solution for the required high computation capabilities assuring a correct frequency rate for the control loop of 1 kHz. A set-up for dexterous virtual and real manipulation is described. Moreover, a new algorithm named the iterative kinematic decoupling method was implemented to solve the inverse kinematics of a robotic manipulator. In order to understand the importance of multi-modal interaction including haptics, a subject study was carried out to look for sensory stimuli that correlate with fast response time and enhanced accuracy. This experiment was carried out in collaboration with neuro-scientists from Technion Israel Institute of Technology. By comparing the grasping response times in unimodal (auditory, visual, and haptic) events with the response times in events with bimodal and trimodal combinations. It is concluded that in grasping tasks the synchronized motion of the fingers to generate the grasping response relies on haptic cues. This processing-speed advantage of haptic cues suggests that multimodalhaptic virtual environments are superior in generating motor contingencies, enhancing the plausibility of events. Applications that include haptics provide users with more time at the cognitive stages to fill in missing information creatively and form a richer experience. A major application of haptic devices is the design of new simulators to train manual skills for the medical sector. In collaboration with physical therapists from Griffith University in Australia, we developed a simulator to allow hand rehabilitation manipulations. First, the non-linear stiffness properties of the metacarpophalangeal joint of the index finger were estimated by using the designed end-effector; these parameters are implemented in a scenario that simulates the behavior of the human hand and that allows haptic interaction through the designed haptic device. The potential application of this work is related to educational and medical training purposes. In this thesis, new methods to simultaneously control the position and orientation of a robotic manipulator and the grasp of a robotic hand when interacting with large real environments are studied. The reachable workspace is extended by automatically switching between rate and position control modes. Moreover, the human hand gesture is recognized by reading the relative movements of the index, thumb and middle fingers of the user during the early stages of the approximation-to-the-object phase and then mapped to the robotic hand actuators. These methods are validated to perform dexterous manipulation of objects with a robotic manipulator, and different robotic hands. This work is the result of a research collaboration with researchers from the Harvard BioRobotics Laboratory. The developed experiments show that the overall task time is reduced and that the developed methods allow for full dexterity and correct completion of dexterous manipulations.

Speech features of the domain of the word in heterosexual twins during the second yeard of life

Speech is the major function, emergence and which development radically changes all course of formation of the identity of the child already in the early childhood. If language and speech development in solitary born children is investigated today quite well, at twin children this process practically is not studied. Our research was carried out for the purpose of studying of an originality of mastering by speech by heterosexual children of pair of twins within communicative and pragmatist approach (T.N. Ushakov,G. V. Chirkina). Application of this approach to the analysis of process of communication at twin children allowed us to allocate those peculiar receptions and means of communication which they functionally develop in a situation of pair of twins, as allows them to show the phenomena of the speech which are not meeting at solitary born contemporaries. In this work results of supervision and research of pair of heterosexual twins of the second year of the life, carried out by a technique developed by us under the scientific guide of G. V. Chirkina

Case study in failure analysis of accelerated life tests (ALT) on III-V commercial triple-junction concentrator solar cells

In this work the failure analysis carried out in III-V concentrator multijunction solar cells after a temperature accelerated life test is presented. All the failures appeared have been catastrophic since all the solar cells turned into low shunt resistances. A case study in failure analysis based on characterization by optical microscope, SEM, EDX, EQE and XPS is presented in this paper, revealing metal deterioration in the bus bar and fingers as well as cracks in the semiconductor structure beneath or next to the bus bar. In fact, in regions far from the bus bar the semiconductor structure seems not to be damaged. SEM images have dismissed the presence of metal spikes inside the solar cell structure. Therefore, we think that for these particular solar cells, failures appear mainly as a consequence of a deficient electrolytic growth of the front metallization which also results in failures in the semiconductor structure close to the bus bars.

Influence of proportion and particle size gradation of rubber from end-of-life tires on mechanical, thermal and acoustic properties of plaster-rubber mortars

This work presents the main experimental results obtained from the study of plaster test pieces and boards with addition of various volumetric rubber fractions from mechanical grinding of end-of-life tires (ELTs), in three different particle size gradations. It includes a description of the materials employed, and their proportions. The physical and mechanical properties, as well as the thermal conductivity and acoustic insulation properties are analyzed. Experimental results obtained for specimens with addition of recycled rubber are compared with similar ones, carried out on specimens of plaster of identical features without any addition, evaluating the influence of the particle size and mixture proportions. An improvement in thermal and acoustic performance has been obtained as well as a reduction in density, and as a result, some constructive applications for paving and slabs in rehabilitation works are proposed.

Is building renovation truly sustainable? The need for applying a multi-criteria assessment through life cycle approach

The aim of the present research is to characterise the international scene in the field of building refurbishment, by thoroughly reviewing the literature relating to building renovation and systematising the results according to the different aspects considered by the authors. Even though there is certain consensus with respect to the criteria for the selection of energy efficiency measures, the assessment criteria differ broadly and widely. The present work highlights the lack of consensus on the assessment criteria and the need of harmonization. A holistic view is required in order to identify the most sustainable strategies in each particular case, considering social, environmental and economic impacts from a life cycle perspective.

Methodology proposal for the life cycle sustainability assessment applied to retrofitting in a local context

In the European context of upgrading the housing stock energy performance, multiple barriers hinder the wide uptake of sustainable retrofitting practices. Moreover, some of these may imply negative effects often disregarded. Policy makers need to identify how to increase and improve retrofitting practices from the comprehensive point of view of sustainability. None of the existing assessment tools addresses all the issues relevant for sustainable development in a local situation from a life cycle perspective. Life cycle sustainability assessment methodology, or LCSA, analyzes environmental and socioeconomic impacts. The environmental part is quite developed, but the socioeconomic aspect is still challenging. This work proposes socioeconomic criteria to be included in a LCSA to assess retrofitting works in the specific context of Brussels-Capital Region. LCSA feasibility and challenging methodology aspects are discussed.

Comparative Life Cycle Assessment of the Conventional Fa��ade SOS Natura and the Natural Water Tank Fa��ade

The construction industry produces great environmental impacts to the planet. In order to tackle this problem, the European Union has put into effect Regulation No 305/2011, which compels the construction products manufacturers to carry out environmental performance studies of these products and thus make public the impact they cause on the environment. The aim of this research is to make known the environmental impacts of the SOS Natura Conventional Fa��ade (CF) solution, obtained within the research project "SOS Natura, Vegetal Architectural Solutions" developed by the Department of Construction and Technology in Architecture of the School of Architecture of the Technical University of Madrid (Spain). In addition, we report an environmental comparative with the Natural Water Tank Fa��ade (NWTF), studied previously by the same work group and included in the same research project.We present as well an uncertainty analysis for both fa��ades. Following the study conducted we conclude that the NWTF profile has a slightly better environmental behaviour when compared to the CF profile for the entire life cycle in most of the impact categories analysed in this study. However it should also be noted that, in detail and at stage level, the NWTF presents a higher environmental impact than the CF.

SANTIFICAR A JAV�� UM ESTUDO DE ISA��AS 8,11-15

Esta pesquisa visa analisar a mensagem de Jav�� transmitida atrav��s do profeta Isa��as em meio �� guerra siro-efraimita (734-732 a.C.), no tempo do rei Acaz. A primeira parte deste trabalho fornece uma panor��mica hist��rica da situa����o tanto internacional quanto nacional da na����o de Jud��. No meio de sinais de guerras, invas��es estrangeiras, desola����o e aumento de tributos que acarretam maior inseguran��a para os setores mais empobrecidos, Jav�� faz sua aposta pela vida de Israel. Atrav��s do or��culo prof��tico mo stra um caminho que pode chegar a subverter a ordem de um injusto sistema pol��tico advindo do pr��prio pecado da na����o de Israel. Neste texto, santificar a Jav�� �� a trilha que pode livrar-lhes da queda e da destrui����o. Santificar a Jav�� significa cuidar e preservar a vida, especialmente dos mais desprotegidos. Isto implica optar conscientemente por uma nova ordem que garanta uma exist��ncia digna para todos e todas. O objetivo desta pesquisa �� entender como o conceito de santifica����o salientado pelo profeta Isa��as, na per��cope (Is 8,11-15), pode ajudar-nos a superar os problemas cotidianos e fornecer-nos novas posturas ��ticas para enfrentar a vida, isto �� um conceito de santifica����o que requer do engajamento com o povo, fundamentalmente com a popula����o mais carente e necessitada atualmente. Por meio do trabalho exeg��tico tentamos encontrar respostas escondidas entre palavras, termos e frases, procurando entender o texto em di��logo com a vida cotidiana de seu tempo e do nosso. Este estudo pretende providenciar subs��dios para a leitura popular da B��blia que est�� sendo realizada por muitos grupos nas igrejas e comunidades crist��s, que buscam novos caminhos, horizontes, sonhos e utopias para continuar a viver em meio de sociedades em crises e de tempos dif��ceis.(AU)

SANTIFICAR A JAV�� UM ESTUDO DE ISA��AS 8,11-15

Esta pesquisa visa analisar a mensagem de Jav�� transmitida atrav��s do profeta Isa��as em meio �� guerra siro-efraimita (734-732 a.C.), no tempo do rei Acaz. A primeira parte deste trabalho fornece uma panor��mica hist��rica da situa����o tanto internacional quanto nacional da na����o de Jud��. No meio de sinais de guerras, invas��es estrangeiras, desola����o e aumento de tributos que acarretam maior inseguran��a para os setores mais empobrecidos, Jav�� faz sua aposta pela vida de Israel. Atrav��s do or��culo prof��tico mo stra um caminho que pode chegar a subverter a ordem de um injusto sistema pol��tico advindo do pr��prio pecado da na����o de Israel. Neste texto, santificar a Jav�� �� a trilha que pode livrar-lhes da queda e da destrui����o. Santificar a Jav�� significa cuidar e preservar a vida, especialmente dos mais desprotegidos. Isto implica optar conscientemente por uma nova ordem que garanta uma exist��ncia digna para todos e todas. O objetivo desta pesquisa �� entender como o conceito de santifica����o salientado pelo profeta Isa��as, na per��cope (Is 8,11-15), pode ajudar-nos a superar os problemas cotidianos e fornecer-nos novas posturas ��ticas para enfrentar a vida, isto �� um conceito de santifica����o que requer do engajamento com o povo, fundamentalmente com a popula����o mais carente e necessitada atualmente. Por meio do trabalho exeg��tico tentamos encontrar respostas escondidas entre palavras, termos e frases, procurando entender o texto em di��logo com a vida cotidiana de seu tempo e do nosso. Este estudo pretende providenciar subs��dios para a leitura popular da B��blia que est�� sendo realizada por muitos grupos nas igrejas e comunidades crist��s, que buscam novos caminhos, horizontes, sonhos e utopias para continuar a viver em meio de sociedades em crises e de tempos dif��ceis.(AU)

Maternal Obesity During Pregnancy Associates With Premature Mortality and Major Cardiovascular Events in Later Life

Acknowledgements We thank Ms Katie Wilde, Data Management Team, University of Aberdeen and Lynsey Waugh, Information and Services Division of NHS Scotland for their help with data extraction and linkage. Funding sources This work was supported by funding from the Chief Scientist Office, Scotland. We also acknowledge support from Tommy���s and the British Heart Foundation. The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript. None of the authors are related to any of the funders

Are pharmacological randomised controlled clinical trials relevant to real-life asthma populations? : A protocol for an UNLOCK study from the IPCRG

Funding The IPCRG provided funding for this research project as an UNLOCK Group study for which the funding was obtained through an unrestricted grant by Novartis AG, Basel, Switzerland. Novartis has no role in study design, data collection and analysis, decision to publish or preparation of the manuscript. This study will include data from the Optimum Patient Care Research Database and is undertaken in collaboration with Optimum Patient Care and the Respiratory Effectiveness Group.

Shift Work and the United States Female Workforce: The Relationship Between Shift-Work and Ill-Health Effects

The present study was designed to determine the magnitude of the relationship between amount, frequency, and length of shift work completed by female transportation employees and the number, degree, and extent of problems related to physical, menstrual and psychological health including depression. It was hypothesized that workers that are employed in areas such as transportation who are working shift work on a regular basis place themselves at higher risk for developing health or psychosocial related effects. These health related outcomes can have a profound impact on an employee���s job performance, daily functioning, and personal life. The present study sought to understand the potential relationship between working shift work and higher disturbances to the bodies��� natural functioning. The present study has the potential for explaining new ways to decrease the risk factors for those working shift work by contributing to the overall understanding of this multifaceted relationship. This study has many important findings and implications. This study has implications for explaining that the effects of disturbances to the circadian rhythm as a result of certain shift work schedules can result in ill-related health effects. Additionally, this study sought to challenge limitations to current research that has been conducted on the topic as the majority of studies have been performed on men. The overall purpose of the study was to gain a better understanding of the negative effects of shift work on females working within the transportation industry. This study sought to explain the health implications specifically for female workers as fewer studies have been conducted with gender as a main effect in the analysis. The present study suggests that due to the circadian rhythm controlling hormone secretion within the body, disturbances to its natural rhythm can have additional effects on female cycles such as menstruation. Overall, this study offers implications for further research on females working shift work and highlights the continued importance for further exploration into recent developments. These implications have the potential to further our current understanding of the relationship between shift work and ill-health effects, particularly the factors that women face.

The fashionable horse : Ute saddlebags and saddle blankets 1870-1925

This research paper examines the creation, design, and functions of ten Ute double saddlebags and four beaded Ute saddle blankets fabricated between 1870 and 1925. Based on this sample and comparison with additional Basin and Plains tribal dressings, it appears that Ute saddlebags and blankets possess a combination of characteristics that reflect Ute territory, lifestyle, and aesthetics. These attributes, including fabrication from hide; similar rectangular dimensions; simple geometric beadwork patterns that emphasize triangles; preference for blue, white, and yellow beads; largely solid colored backgrounds; and back entries into the bags, work together to create a style that is specifically Ute.

Spontaneous Abortions and Shift Work in a Cohort of Nurses in Norway

Background: An association between spontaneous abortions and shift work has been suggested, but present research results are conflicting. The aim of the study is to evaluate the relationship between spontaneous abortions among nurses, shift schedules, and nights worked. Methods: This is a longitudinal study where we identified 914 females from a cohort of nurses in Norway who had worked the same type of shift schedule 2008-2010; either permanent day shift, three-shift rotation or permanent night shift. Information on age, work and life-style factors, as well as spontaneous abortions during lifetime and the past three years (2008-2010) was obtained by annual questionnaires. Results: A higher prevalence of experienced spontaneous abortions before study start (2008) was found among nurses working permanent night shift compared to other nurses. In a linear regression analysis, a risk of 1.3 was found for experienced spontaneous abortions before study start among permanent night shift nurses, with day shift as reference, when adjusting for age, smoking, caffeine and job strain, but the finding was not statistical significant (95 per cent confidence interval 0.8-2.1). Permanent night shift workers had a risk of 1.5 experiencing spontaneous abortions in 2008-2010 compared to day shift nurses, although not statistical significant (95 per cent confidence interval 0.7-3.5). The number of night shifts the past three years was not associated with experiencing spontaneous abortions 2008-2010, but associated with a reduced risk of experiencing spontaneous abortions during lifetime. The results must be interpreted in the light of a possible selection bias; both selections into the occupation of nursing and into the different shift types of the more healthy persons may have occurred in this population. Conclusion: No significant increased risk of spontaneous abortion among permanent night shift nurses compared to day-time nurses was found in this study, and no association was found between spontaneous abortions and the number of worked night shifts.

Handling of Uncertainty in Life Cycle Inventory by Correlated Multivariate Lognormal Distributions: Application to the Design of Supply Chain Networks

Poster presented in the 24th European Symposium on Computer Aided Process Engineering (ESCAPE 24), Budapest, Hungary, June 15-18, 2014.