Fault tolerance operation of cooperative manipulators

Autonomous or teleoperation of critical tasks in space applications require fault tolerant robotic manipulators. These manipulators are able to maintain their tasks even if a joint fails. If it is presumed that the manipulator is fault tolerant on its trajectory, then the next step is to provide a fault tolerant force at the end-effector of the manipulator. The problem of cooperative fault tolerant force is addressed in this paper within the operation of two manipulators. The cooperative manipulators are used to compensate the force jump which occurs on the force of the end-effector of one manipulator due to a joint failure. To achieve fault tolerant operation, the contribution of the faulty joint for the force of the end-effector of the faulty manipulator is required to be optimally mapped into the torque of the faulty and healthy manipulators. The optimal joint torque reconfigurations of both manipulators for compensating this force jump are illustrated. The proposed frameworks are deployed for two cooperative PUMA560 manipulators. The results of the case studies validate the fault tolerant cooperation strategies.

Facilitating and integrating learning within sport studies cooperative education : exploring the pedagogies employed by students, academics and workplace supervisors

Using an interpretative case study methodology, the pedagogical approaches used to facilitate and integrate student learning in cooperative education programmes in sport studies were investigated. This research drew from two New Zealand university cohorts and involved six focus group interviews. Findings suggested there were limited direct explicit attempts to integrate on- and off-campus learning. Integration was implicitly or indirectly fostered, principally by reflection through assessments (e.g., journals, reports), and primarily consisted of reflection-on-action (Schön, 1991) after the learning activities. Significantly, the integration of learning also consisted of reflection on personal growth, rather than critical reflection on theory or organisational practice.

A cooperative cache architecture in support of caching multimedia objects in MANETs

This paper presents a cooperative caching architecture suitable for continuous media (CM) proxy caching in MANET environments. The proposed scheme introduces an application manager component, which is interposed between traditional Internet CM applications and the network layer. The application manager transparently performs data location and service migration of active CM streaming sessions so as to exploit nearby data sources based on the dynamic topology of a MANET. We propose two data location schemes - Cache-State - a link-state based scheme and Reactive - an on-demand scheme. Since service migration can occur frequently, the application manager uses soft-state signaling techniques to communicate between remote application managers by translating hard-state application signaling, such as Real Time Streaming Protocol (RTSP) into soft-state messages. The proposed schemes are evaluated through simulation studies using the NS simulator. Simulation studies show that both Cache-State and Reactive schemes demonstrate significant QoS improvements and reduced bandwidth consumption.

Graphene oxide nanoparticles as a nonbleaching optical probe for two-photon luminescence imaging and cell therapy

Lasting glow: Under femtosecond laser irradiation, graphene oxide nanoparticles (GONs) give strong two-photon luminescence (TPL; see picture). The presence of GONs also induces microbubbling, which causes cell death at an order of magnitude lower laser power than when cells are not labeled. The results show that GONs can be used for TPL-based imaging and photothermal cancer therapy.