Development of Biomimetic Robots in the EPS Engineering Programme Capstone Project

This paper presents the development of a fish-like robot called Bro-Fish. Bro-Fish aims to be an educational toy dedicated to teaching mechanics, programming and the physics of floating objects to youngsters. The underlying intention is to awaken the interest of children for technology, especially biomimetic (biologically inspired) approaches, in order to promote sustainability and raise the level of ecological awareness. The main focus of this project was to create a robot with carangiform locomotion and controllable swimming, providing the opportunity to customize parts and experiment with the physics of floating objects. Therefore, the locomotion principles of fishes and mechanisms developed in related projects were analysed. Inspired by this background knowledge, a prototype was designed and implemented. The main achievement is the new tail mechanism that propels the robot. The tail resembles the undulation motion of fish bodies and is actuated in an innovative way, triggered by an elegant movement of a rotating helicoidal. First experimental tests revealed the potential of the proposed methodology to effectively generate forward propulsion.

The development of norm-based coding and category-specific face prototypes : an examination of 5- and 8-year-olds' face space

The present set of experiments was designed to investigate the organization and refmement of young children's face space. Past research has demonstrated that adults encode individual faces in reference to a distinct face prototype that represents the average of all faces ever encountered. The prototype is not a static abstracted norm but rather a malleable face average that is continuously updated by experience (Valentine, 1991); for example, following prolonged viewing of faces with compressed features (a technique referred to as adaptation), adults rate similarly distorted faces as more normal and more attractive (simple attractiveness aftereffects). Recent studies have shown that adults possess category-specific face prototypes (e.g., based on race, sex). After viewing faces from two categories (e.g., Caucasian/Chinese) that are distorted in opposite directions, adults' attractiveness ratings simultaneously shift in opposite directions (opposing aftereffects). The current series of studies used a child-friendly method to examine whether, like adults, 5- and 8-year-old children show evidence for category-contingent opposing aftereffects. Participants were shown a computerized storybook in which Caucasian and Chinese children's faces were distorted in opposite directions (expanded and compressed). Both before and after adaptation (i.e., reading the storybook), participants judged the normality/attractiveness of a small number of expanded, compressed, and undistorted Caucasian and Chinese faces. The method was first validated by testing adults (Experiment I ) and was then refined in order to test 8- (Experiment 2) and 5-yearold (Experiment 4a) children. Five-year-olds (our youngest age group) were also tested in a simple aftereffects paradigm (Experiment 3) and with male and female faces distorted in opposite directions (Experiment 4b). The current research is the first to demonstrate evidence for simple attractiveness aftereffects in children as young as 5, thereby indicating that similar to adults, 5-year-olds utilize norm-based coding. Furthermore, this research provides evidence for racecontingent opposing aftereffects in both 5- and 8-year-olds; however, the opposing aftereffects demonstrated by 5-year-olds were driven largely by simple aftereffects for Caucasian faces. The lack of simple aftereffects for Chinese faces in 5-year-olds may be reflective of young children's limited experience with other-race faces and suggests that children's face space undergoes a period of increasing differentiation over time with respect to race. Lastly, we found no evidence for sex -contingent opposing aftereffects in 5-year-olds, which suggests that young children do not rely on a fully adult-like face space even for highly salient face categories (i.e., male/female) with which they have comparable levels of experience.

Charles Saatchi, prototype du nouveau collectionneur : une analyse de l’influence du méga-collectionneur sur la production et la consommation des biens symboliques

Ce mémoire propose une analyse du rôle qu’exerce le collectionneur d’art, un acteur ayant une capacité accrue à agir concrètement sur une part importante du monde artistique. La capacité des collectionneurs à agir comme mécènes pour certains artistes, à acheter leurs œuvres, à les vendre, à les exposer, sont autant d’actions qui ont un impact direct sur la carrière des artistes. Plus le collectionneur est reconnu comme une instance capable de légitimer le travail d’un artiste, plus il peut voir sa sphère d’influence devenir importante. Pour adéquatement saisir les effets qu’ont ces actions sur l’entièreté du monde artistique, nous avons choisi de prendre comme objet d’étude une figure particulière qui exemplifie le méga-collectionneur, Charles Saatchi. En assumant lui-même, tour-à-tour, plusieurs rôles dans le monde de l’art, il est reconnu comme un agent apte à reconnaître la légitimité d'une proposition artistique. La première partie de ce mémoire nous permet d'observer l'élaboration d'une véritable tradition du collectionnement et ses principaux acteurs derrière celle-ci. Dans un deuxième temps, le mémoire présente les théories qui expliquent l'avènement du pouvoir prépondérant reconnu au méga-collectionneur. Sont ainsi observés les principes de coopération, propres aux « mondes de l'art », ainsi que les phénomènes de médiation. Finalement, nous étudions, décrivons et définissons les actions et les interactions des divers acteurs et agents qui participent au réseau dont Saatchi est le centre afin de cerner la place qu’il occupe dans le champ culturel, donc sa propre légitimité et sa capacité à reconnaître et à consacrer d’autres acteurs.

Seminar: Symbol Management systems to support democracy in development of an online Symbol Dictionary

Abstract This seminar will introduce an initial year of research exploring participation in the development of a bilingual symbol dictionary. Symbols can be a communication and literacy ‘lifeline’ for those unable to communicate through speech or writing. We will discuss how an online system has been built to overcome language, cultural and literacy skill issues for a country where 86% are expatriates but the target clients are Arabic born individuals with speech and language impairments. The symbols in use at present are inappropriate and yet there is no democratic way of providing a ‘user voice’ for making choices, let alone easy mechanisms for adapting and sharing newly developed symbols across the nation or extended Arabic world. This project aims to change this situation. Having sourced a series of symbols that could be adapted to suit user’s needs, the team needed to encourage those users, their carers and therapists to vote on whether the symbols would be appropriate and work with those already in use. The first prototype was developed and piloted during the WAISfest in 2013. The second phase needs further voting on the most suitably adapted symbols for use when communicating with others. There is a requirement to have mechanisms for evaluating the outcome of the votes, where symbols fail to represent accurate meanings, have inappropriate colours, representations and actions etc. There also remains the need to collect both quantitative and qualitative data. Not easy in a climate of acceptance of the expert view, a culture where to be critical can be a problem and time is not of the essence.

EDSS-maintenance prototype: an environmental decision support system to assess the definition of operation and maintenance protocols for horizontal subsurface constructed wetlands

Els Sistemes d'Aiguamolls Construïts (SAC) de Flux Subsuperficial Horitzontal (FSH) és una tecnologia apropiada pel sanejament d'aigües residuals procedents de nuclis de població petits. No obstant els SAC de FSH són considerats una tecnologia natural, l'operació i manteniment d'aquestes depuradores és crucial per a garantir el seu correcte funcionament. Aquestes necessitats d'operació i manteniment varien entre depuradores segons (1) les característiques de la comunitat, (2) la configuració de la depuradora i el disseny del SAC de FSH i (3) les característiques del medi receptor. En aquest sentit, en aquesta tesi es presenta el desenvolupament d'un Sistema d'Ajuda a la Decisió (SAD) per a la definició de protocols d'operació i manteniment per a SAC de FSH tenint en compte els factors que causen variabilitat entre aquest tipus de depuradores (1, 2 i 3).

Livestock and learning: evaluation of a prototype 3D virtual learning environment for livestock practitioners in India and Bolivia

Livestock are a key asset for the global poor. However, access to relevant information is a critical issue for both the poor and the practitioners who serve them. Therefore, the authors describe a web-based Virtual Learning Environment to disseminate educational materials on priority animal health constraints in Bolivia and India. The aim was to explore demand for 3D among development practitioners in the South. Two wider arguments from the ICT4D literature framed the analysis: the concept of 3D as a ‘lead technology’ and the relevance of Internet skills to the adoption of a 3D format. The results illustrated that neither construct influenced demand. Rather, study participants were ready adopters but desired greater levels of interaction and thereby, a more collaborative learning environment. Therefore, 3D has a number of potential benefits to enhance knowledge sharing among community practitioners in the Global South.

A review of existing building benchmarks and the development of a set of reference office buildings for England and Wales

The modern built environment has become more complex in terms of building types, environmental systems and use profiles. This complexity causes difficulties in terms of optimising buildings energy design. In this circumstance, introducing a set of prototype reference buildings, or so called benchmark buildings, that are able to represent all or majority parts of the UK building stock may be useful for the examination of the impact of national energy policies on building energy consumption. This study proposes a set of reference office buildings for England and Wales based on the information collected from the Non-Domestic Building Stock (NDBS) project and an intensive review of the existing building benchmarks. The proposed building benchmark comprises 10 prototypical reference buildings, which in relation to built form and size, represent 95% of office buildings in England and Wales. This building benchmark provides a platform for those involved in building energy simulations to evaluate energy-efficiency measures and for policy-makers to assess the influence of different building energy policies.

Development of a wearable assistive soft robotic device for elbow rehabilitation

The loss of motor function at the elbow joint can result as a consequence of stroke. Stroke is a clinical illness resulting in long lasting neurological deficits often affecting somatosensory and motor cortices. More than half of those that recover from a stroke survive with disability in their upper arm and need rehabilitation therapy to help in regaining functions of daily living. In this paper, we demonstrated a prototype of a low-cost, ultra-light and wearable soft robotic assistive device that could aid administration of elbow motion therapies to stroke patients. In order to assist the rotation of the elbow joint, the soft modules which consist of soft wedge-like cellular units was inflated by air to produce torque at the elbow joint. Highly compliant rotation can be naturally realised by the elastic property of soft silicone and pneumatic control of air. Based on the direct visual-actuation control, a higher control loop utilised visual processing to apply positional control, the lower control loop was implemented by an electronic circuit to achieve the desired pressure of the soft modules by Pulse Width Modulation. To examine the functionality of the proposed soft modular system, we used an anatomical model of the upper limb and performed the experiments with healthy participants.

JML- Based formal development of a Java card application for managing medical appointments

Although formal methods can dramatically increase the quality of software systems, they have not widely been adopted in software industry. Many software companies have the perception that formal methods are not cost-effective cause they are plenty of mathematical symbols that are difficult for non-experts to assimilate. The Java Modelling Language (short for JML) Section 3.3 is an academic initiative towards the development of a common formal specification language for Java programs, and the implementation of tools to check program correctness. This master thesis work shows how JML based formal methods can be used to formally develop a privacy sensitive Java application. This is a smart card application for managing medical appointments. The application is named HealthCard. We follow the software development strategy introduced by João Pestana, presented in Section 3.4. Our work influenced the development of this strategy by providing hands-on insight on challenges related to development of a privacy sensitive application in Java. Pestana’s strategy is based on a three-step evolution strategy of software specifications, from informal ones, through semiformal ones, to JML formal specifications. We further prove that this strategy can be automated by implementing a tool that generates JML formal specifications from a welldefined subset of informal software specifications. Hence, our work proves that JML-based formal methods techniques are cost-effective, and that they can be made popular in software industry. Although formal methods are not popular in many software development companies, we endeavour to integrate formal methods to general software practices. We hope our work can contribute to a better acceptance of mathematical based formalisms and tools used by software engineers. The structure of this document is as follows. In Section 2, we describe the preliminaries of this thesis work. We make an introduction to the application for managing medical applications we have implemented. We also describe the technologies used in the development of the application. This section further illustrates the Java Card Remote Method Invocation communication model used in the medical application for the client and server applications. Section 3 introduces software correctness, including the design by contract and the concept of contract in JML. Section 4 presents the design structure of the application. Section 5 shows the implementation of the HealthCard. Section 6 describes how the HealthCard is verified and validated using JML formal methods tools. Section 7 includes some metrics of the HealthCard implementation and specification. Section 8 presents a short example of how a client-side of a smart card application can be implemented while respecting formal specifications. Section 9 describes a prototype tools to generate JML formal specifications from informal specifications automatically. Section 10 describes some challenges and main ideas came acrorss during the development of the HealthCard. The full formal specification and implementation of the HealthCard smart card application presented in this document can be reached at https://sourceforge.net/projects/healthcard/.

A situation awareness interface for a bi-wheeled industrial hovercraft: design, development and evaluation

The intention of this thesis is to develop a prototype interface that enables an operator to control a bi-wheeled industrial hovercraft that will work within a fusion power plant if the automation system fails. This fusion power plant is part of the ITER project a conjoint effort of various industrialized countries to develop cleaner sources of energy. The development of the interface prototype will be based on situation awareness concepts, which provide a means to understand how human operators perceive the world around, then process that information and make decisions based on the knowledge that they already have and the projected knowledge of the reactions that will occur in the world in response to the actions the operator makes. Two major situation awareness methods will be used, GDTA as a means to discover the requirements the interface needs to solve, and SAGAT to conduct the evaluation on the three interfaces. This technique can isolate the differences an operator has in situation awareness when presented with relevant information given by each of the three interfaces that were built for this thesis. Where the first interface presents the information within the operator’s focal point of view in a pictorial style, the second interface shows the same information within the same point of view has the first interface but only shows it in a textual manner. While the third interface shows the relevant information in the operator’s peripheral field of view. Also SAGAT can provide insight on the question to know if providing the operator with feed-forward information about the stoppage distances of the bi-wheeled industrial hovercraft has any effect on the operator’s decision making.

Finite Element Modeling for Development and Optimization of a Bone Plate for Mandibular Fracture in Dogs

This study aimed to develop a plate to treat fractures of the mandibular body in dogs and to validate the project using finite elements and biomechanical essays. Mandible prototypes were produced with 10 oblique ventrorostral fractures (favorable) and 10 oblique ventrocaudal fractures (unfavorable). Three groups were established for each fracture type. Osteosynthesis with a pure titanium plate of double-arch geometry and blocked monocortical screws offree angulanon were used. The mechanical resistance of the prototype with unfavorable fracture was lower than that of the fcworable fracture. In both fractures, the deflection increased and the relative stiffness decreased proportionally to the diminishing screw number The finite element analysis validated this plate study, since the maximum tension concentration observed on the plate was lower than the resistance limit tension admitted by the titanium. In conclusion, the double-arch geometry plate fixed with blocked monocortical screws has sufficient resistance to stabilize oblique,fractures, without compromising mandibular dental or neurovascular structures. J Vet Dent 24 (7); 212 - 221, 2010

Design, construction, and performance of a real-time holographic refractometry prototype for liquid analysis

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Development of a low-cost mobile mapping system: A South American experience

This paper presents the prototype of a low-cost terrestrial mobile mapping system (MMS) composed of a van, two digital video cameras, two GPS receivers, a notebook computer, and a sound frame synchronisation system. The imaging sensors are mounted as a stereo video camera on top of the vehicle together with the GPS antennae. The GPS receivers and the notebook computer are configured to record data referred to the vehicle position at a planned time interval. This position is subsequently transferred to the road images. This set of equipment and methods provide the opportunity to merge distinct techniques to make topographic maps and also to build georeferenced road image databases. Both vector maps and raster image databases, when integrated appropriately, can give spatial researchers and engineers a new technique whose application may realise better planning and analysis related to the road environment. The experimental results proved that the MMS developed at the São Paulo State University is an effective approach to inspecting road pavements, to map road marks and traffic signs, electric power poles, telephone booths, drain pipes, and many other applications important to people's safety and welfare. A small number of wad images have already been captured by the prototype as a consequence of its application in distinct projects. An efficient organisation of those images and the prompt access to them justify the need for building a georeferenced image database. By expanding it, both at the hardware and software levels, it is possible for engineers to analyse the entire road environment on their office computers.

Dynamic voltage restorer development and testing

The growing use of sensitive loads in the electric power system, especially in industrial applications, increases voltage sags related production losses considerably, stimulating a demand for power electronics' based solutions to mitigate the effects of such problems. This paper shows the implementation and some industrial certification tests of a power equipment prototype designed to correct sags and swells, a dynamic voltage restorer, which is one of the many possible solutions for voltage sags and swells problems Experimental results of a 75kVA prototype are shown both in laboratory and full load conditions, in a certification institution (IEE-USP). © 2011 IEEE.

Design and development of a low-cost solar tracker

To become competitive, ultimately, photovoltaics should have its costs reduced and use photovoltaic systems of greater efficiency. The main steps in this direction are the use of new materials, the improvement in the manufacture of modules and the adoption of techniques of maximum power point tracking and of solar tracking. This article aims at presenting the project and development of an azimuth and elevation solar tracker, based on a new conception of the positioning sensor, composed of an array of four photoresistors. The two direct current motors that operate in the vertical and horizontal axes are controlled by a proportional-integral microcontroller. The conditions of the project were low cost, small energy consumption and versatility. The microcontroller can also incorporate a maximum power point tracking algorithm. The performance of solar tracker prototype in the initial phase of field tests can be considered appropriate. © Institution of Engineers Australia, 2013.