Robot coordination for energy-balanced matching and sequence dispatch of robots to events

Given a set of events and a set of robots, the dispatch problem is to allocate one robot for each event to visit it. In a single round, each robot may be allowed to visit only one event (matching dispatch), or several events in a sequence (sequence dispatch). In a distributed setting, each event is discovered by a sensor and reported to a robot. Here, we present novel algorithms aimed at overcoming the shortcomings of several existing solutions. We propose pairwise distance based matching algorithm (PDM) to eliminate long edges by pairwise exchanges between matching pairs. Our sequence dispatch algorithm (SQD) iteratively finds the closest event-robot pair, includes the event in dispatch schedule of the selected robot and updates its position accordingly. When event-robot distances are multiplied by robot resistance (inverse of the remaining energy), the corresponding energy-balanced variants are obtained. We also present generalizations which handle multiple visits and timing constraints. Our localized algorithm MAD is based on information mesh infrastructure and local auctions within the robot network for obtaining the optimal dispatch schedule for each robot. The simulations conducted confirm the advantages of our algorithms over other existing solutions in terms of average robot-event distance and lifetime.

A framework for managing learning teams in engineering

BACKGROUND: Team learning is an integral part of engineering education today and teamwork knowledge, teamwork skills and teamwork product have been included as one of the major components of engineering graduate outcomes in undergraduate engineering course/program curriculum. In spite of enormous research advances in theoretical aspects of learning and working in teams, anecdotal evidence suggests that most engineering academic staff are inundated by student complaints of not being able to work in a learning team due to numerous reasons. In addition to student complaints, most engineering academic staff are non-expert in team learning theories and methodologies and hence are unsure of specific learning outcomes of a teamwork, approaches to achieve those learning outcomes, suitability of team learning in a particular unit/subject, planning required for implementing teamwork, implementation and monitoring teamwork and teamwork reflection. Too often engineering academic staff include teamwork, yet without adequate preparation and with little understanding about how to use their time to achieve the greatest gains for themselves or for their students. Hence, there is a clear need for a framework for managing learning teams in engineering units.
PURPOSE OR GOAL: This study develops a framework for managing learning teams in engineering units through extensive review of existing literature and anecdotal practices. The focus is to provide step-by-step procedure so that the problems of team learning in engineering can be reduced. Depending upon the time and resources available to academic staff, the framework would help to choose an optimal path and associated strategies.
APPROACH: This study uses evidence-based literature knowledge to develop a framework that help to manage engineering students’ learning teams. The literature information are discussed in reference to anecdotal practices from undergraduate engineering classrooms.
DISCUSSION: The literature review suggests that for better management of learning teams, engineering academic staff need to focus on specifying learning outcomes of a teamwork, identifying appropriate approaches to achieve these learning outcomes, judging the suitability of team learning in a particular learning context, developing a clear plan for implementing teamwork, implementing and monitoring teamwork and reflecting and re-evaluating teamwork. Elaborated discussions regarding these issues can help academic staff to manage learning teams effectively and efficiently.
RECOMMENDATIONS/IMPLICATIONS/CONCLUSION: Depending upon the availability of time and resources and the suitability of a particular educational context, managing engineering learning teams can be both simple as well as complex. The developed framework may assist engineering academic staff to manage teamwork in their engineering units. For further research, the framework need to implemented, monitored, evaluated and revised.

RSSI-based localization of a wireless sensor node with a flying robot

We consider the problem of navigating a ying robot to a specific sensor node within a wireless sensor network. This target sensor node periodically sends out beacons. The robot is capable of sensing the received signal strength of each received beacon (RSSI measurements). Existing approaches for solving the sensor spotting problem with RSSI measurements do not deal with noisy channel conditions and/or heavily depend on additional hardware capabilities. In this work we reduce RSSI uctuations due to noise by continuously sampling RSSI values and maintaining an exponential moving average (EMA). The EMA values enable us to detect significant decrease of the received signal strength. In this case it is reasoned that the robot is moving away from the sensor. We present two basic variants to decide a new moving direction when the robot moves away from the sensor. Our simulations show that our approaches outperform competing algorithms in terms of success rate and ight time. Infield experiments with real hardware, a ying robocopter successfully and quickly landed near a sensor placed in an outdoor test environment. Traces show robustness to additional environmental factors not accounted for in our simulations.

Transforming roles to support student development of academic literacies: a reflection on one team’s experience

Abstract: Social work is a discipline that attracts students from diverse academic backgrounds. Many are first in family to attend university, and come to university through alternative pathways such as vocational education. As a result, there are higher levels of attrition compared to other disciplines, especially in the first year. To address this, and in keeping with a commitment to provide accessible education, one school of social work undertook a project to embed academic literacies into the curriculum. This paper used Gibb’s reflective process to explore how this was experienced by team members. Data were collected via staff focus groups at two different points in time across the project and compared. The reflection unpacked a number of tensions experienced by team members, including concerns about potential loss of resources as a result of academics adopting new roles, and concerns about implementing what was seen as Westernised academic skills which may not fit with students’ ways of thinking and creating knowledge. Overfull curricula and constant change also appeared to be of concern. The reflection highlighted that to achieve effective and sustainable change, action was required at multiple levels.

An analysis of nursing students' decision-making in teams during simulations of acute patient deterioration

AIM: The aim of this study was to examine the decision-making of nursing students during team based simulations on patient deterioration to determine the sources of information, the types of decisions made and the influences underpinning their decisions.

BACKGROUND: Missed, misinterpreted or mismanaged physiological signs of deterioration in hospitalized patients lead to costly serious adverse events. Not surprisingly, an increased focus on clinical education and graduate nurse work readiness has resulted.

DESIGN: A descriptive exploratory design.

METHODS: Clinical simulation laboratories in three Australian universities were used to run team based simulations with a patient actor. A convenience sample of 97 final-year nursing students completed simulations, with three students forming a team. Four teams from each university were randomly selected for detailed analysis. Cued recall during video review of team based simulation exercises to elicit descriptions of individual and team based decision-making and reflections on performance were audio-recorded post simulation (2012) and transcribed.

RESULTS: Students recalled 11 types of decisions, including: information seeking; patient assessment; diagnostic; intervention/treatment; evaluation; escalation; prediction; planning; collaboration; communication and reflective. Patient distress, uncertainty and a lack of knowledge were frequently recalled influences on decisions.

CONCLUSIONS: Incomplete information, premature diagnosis and a failure to consider alternatives when caring for patients is likely to lead to poor quality decisions. All health professionals have a responsibility in recognizing and responding to clinical deterioration within their scope of practice. A typology of nursing students' decision-making in teams, in this context, highlights the importance of individual knowledge, leadership and communication.

Workspace and sensitivity analysis of a novel nonredundant parallel SCARA robot featuring infinite tool rotation

As demonstrated by the exceptionally successful Delta robot, parallel kinematics Schönflies motion generators (PKSMG) exhibit several advantages over their serial counterparts. Despite its success, the Delta robot suffers from several shortcomings, including a bulky framework and a small workspace-to-footprint ratio. Another drawback is that the kinematic chain generating tool rotation suffers from low torsional stiffness. This letter presents a novel architecture for a nonredundant PKSMG providing infinite tool rotation and an extensive positioning workspace. The workspace and kinematic performance of the proposed architecture are analysed in detail.

Robot-assisted laparoscopic prostatectomy versus open radical retropubic prostatectomy: early outcomes from a randomised controlled phase 3 study

BACKGROUND: The absence of trial data comparing robot-assisted laparoscopic prostatectomy and open radical retropubic prostatectomy is a crucial knowledge gap in uro-oncology. We aimed to compare these two approaches in terms of functional and oncological outcomes and report the early postoperative outcomes at 12 weeks. METHOD: In this randomised controlled phase 3 study, men who had newly diagnosed clinically localised prostate cancer and who had chosen surgery as their treatment approach, were able to read and speak English, had no previous history of head injury, dementia, or psychiatric illness or no other concurrent cancer, had an estimated life expectancy of 10 years or more, and were aged between 35 years and 70 years were eligible and recruited from the Royal Brisbane and Women's Hospital (Brisbane, QLD). Participants were randomly assigned (1:1) to receive either robot-assisted laparoscopic prostatectomy or radical retropubic prostatectomy. Randomisation was computer generated and occurred in blocks of ten. This was an open trial; however, study investigators involved in data analysis were masked to each patient's condition. Further, a masked central pathologist reviewed the biopsy and radical prostatectomy specimens. Primary outcomes were urinary function (urinary domain of EPIC) and sexual function (sexual domain of EPIC and IIEF) at 6 weeks, 12 weeks, and 24 months and oncological outcome (positive surgical margin status and biochemical and imaging evidence of progression at 24 months). The trial was powered to assess health-related and domain-specific quality of life outcomes over 24 months. We report here the early outcomes at 6 weeks and 12 weeks. The per-protocol populations were included in the primary and safety analyses. This trial was registered with the Australian New Zealand Clinical Trials Registry (ANZCTR), number ACTRN12611000661976. FINDINGS: Between Aug 23, 2010, and Nov 25, 2014, 326 men were enrolled, of whom 163 were randomly assigned to radical retropubic prostatectomy and 163 to robot-assisted laparoscopic prostatectomy. 18 withdrew (12 assigned to radical retropubic prostatectomy and six assigned to robot-assisted laparoscopic prostatectomy); thus, 151 in the radical retropubic prostatectomy group proceeded to surgery and 157 in the robot-assisted laparoscopic prostatectomy group. 121 assigned to radical retropubic prostatectomy completed the 12 week questionnaire versus 131 assigned to robot-assisted laparoscopic prostatectomy. Urinary function scores did not differ significantly between the radical retropubic prostatectomy group and robot-assisted laparoscopic prostatectomy group at 6 weeks post-surgery (74·50 vs 71·10; p=0·09) or 12 weeks post-surgery (83·80 vs 82·50; p=0·48). Sexual function scores did not differ significantly between the radical retropubic prostatectomy group and robot-assisted laparoscopic prostatectomy group at 6 weeks post-surgery (30·70 vs 32·70; p=0·45) or 12 weeks post-surgery (35·00 vs 38·90; p=0·18). Equivalence testing on the difference between the proportion of positive surgical margins between the two groups (15 [10%] in the radical retropubic prostatectomy group vs 23 [15%] in the robot-assisted laparoscopic prostatectomy group) showed that equality between the two techniques could not be established based on a 90% CI with a Δ of 10%. However, a superiority test showed that the two proportions were not significantly different (p=0·21). 14 patients (9%) in the radical retropubic prostatectomy group versus six (4%) in the robot-assisted laparoscopic prostatectomy group had postoperative complications (p=0·052). 12 (8%) men receiving radical retropubic prostatectomy and three (2%) men receiving robot-assisted laparoscopic prostatectomy experienced intraoperative adverse events. INTERPRETATION: These two techniques yield similar functional outcomes at 12 weeks. Longer term follow-up is needed. In the interim, we encourage patients to choose an experienced surgeon they trust and with whom they have rapport, rather than a specific surgical approach. FUNDING: Cancer Council Queensland.

An investigation into the perceived quality of communications in dispersed construction project teams

Construction project teams are increasingly operating in dispersed arrangements in which communications predominantly take place via information communication technology (ICT) with a dose of face-to-face interactions. However, a review of literature reflects a scarcity of research on how shifting to dispersed teams affects the perceived quality of communications in construction project teams. The present study attempts to address such a gap in the body of knowledge. To this end, 12 major indicators of quality of communications were identified through a review of literature. This was followed by conducting 17 semi-structured interviews with experts in the industry to customize the indicators for the construction context. Based on the identified indicators, a questionnaire survey was designed for elucidating the perceptions of construction practitioners about changes in quality of communications in dispersed teams in comparison to fully collocated ones. Drawing upon the data collated from 285 duly completed questionnaires, confirmatory factor analysis (CFA) was deployed to define the major areas of change in quality of communications in dispersed teams as perceived by the respondents. The findings showed that shifting towards dispersed working results in a change in perceived quality of communications in ten areas mainly reduction in completeness and reliability of communications. The present study contributes to the field by providing a list of indicators for assessing the quality of communications for construction project teams. Additionally, the findings provide an illuminating insight into the primary changes in perceived quality of communications in disperse team arrangements.

The role of serious games in robot exoskeleton-assisted rehabilitation of stroke patients

his chapter describes how serious games can be used to improve the rehabilitation of stroke patients. Determining ideal training conditions for rehabilitation is difficult, as no objective measures exist and the psychological state of patients during therapy is often neglected. What is missing is a way to vary the difficulty of the tasks during a therapy session in response to the patient needs, in order to adapt the training specifically to the individual. In this chapter, we describe such a method. A serious game is used to present challenges to the patient, including motor and cognitive tasks. The psychological state of the patient is inferred from measures computed from heart rate variability (HRV) as well as breathing frequency, skin conductance response, and skin temperature. Once the psychological state of the patient can be determined from these measures, it is possible to vary the tasks in real time by adjusting parameters of the game. The serious game aspect of the training allows the virtual environment to become adaptive in real time, leading to improved matching of the activity to the needs of the patient. This is likely to lead to improved training outcomes and has the potential to lead to faster and more complete recovery, as it enables training that is challenging yet does not overstress the patient.

Managing intragroup conflicts in construction project teams : case studies in Sri Lanka

Conflict is intrinsic to individuals, teams and organisations. Due to the unique and complex nature with various parties, conflict is inevitable in most construction projects. According to the general management literature, three distinct types of intragroup conflicts can be identified: task, process and relationship conflicts. However, very little consideration has been given in the literature addressing the three types individually in a construction project team setting. Therefore, this study has explored the existence of types of intragroup conflicts and their management in this context. This research was approached through case studies of six construction projects, which were operating under the traditional procurement method in Sri Lanka. Semi-structured interviews were conducted with three distinct participants from each team. The findings revealed that both process and relationship conflicts offer disruptive effects to construction projects and teams, while task conflicts offer positive effects when they exist at low levels. Based on the most critical sources identified within the cases, suggestions are offered here to construction project team managers on how to manage intergroup conflicts proactively. Since the research is based on six case studies on traditional procurement arrangement in Sri Lanka, further research is required to generalise the findings across different contexts.

Collaborative dance between robot and human

Dance is an inherently embodied activity. The dancer is attuned to the effects of the physical world on her own physicality and the relationship of her presence to other dancers. This research is an investigation into artificially intelligent performing agents and robots and how a human dancer can guide the learning and performance of a robot performer. Using Artificial Neural Networks as the bases for the agent’s computational intelligence, performing agents were created that can perform by collaborating with human dancers through robots.

Teaching teamwork in design: a framework for understanding effectiveness in student teams

This chapter proposes an Input-Process-Output framework for understanding what impacts the effectiveness of teamwork when higher education students are collaborating on design assignments. Theframework can help design educators integrate teamwork into their courses and better evaluate learning outcomes, and may also elucidate good practice for professional design teams. Explaining the genesis ofthe framework, the literature is assimilated on team effectiveness and predictors of team performance, including: definitions, dimensions and frameworks of team effectiveness in contexts far wider than designeducation. Informed by the challenges specific to teaching design, a 22-factor framework is proposed. The paper concludes with recommendations for teachers informed by the framework. The viability ofthe 22-factor model of team effectiveness is evidenced by national surveys across Australia, which are reported in summary here.

Conflict resolution in student teams: an exploration in the context of design education

This chapter examines conflict in student design teams. A review of literature is presented to understand conflict within student design teams and explore strategies to manage it. In addition, qualitative data on students’ experiences of team conflict is analysed from two surveys offered to design students in 18 Australian Higher Education Institutions. Analysis of the survey found that “ignoring or avoiding to acknowledge team conflict” is a strategy commonly adopted by students, followed by “trying to resolve team conflict through discussion and improving communication” and “seeking support from teachers.” Drawing upon these findings, the chapter makes recommendations on strategies to prepare students for conflict situations through a number of support models that design instructors might adopt, including both preventive and intervention strategies.

Control-oriented modeling of a polymeric soft robot

This article describes an efficient control-oriented model of a soft robot made of electroactive polymers. The proposed soft robot is constructed from two flexible links and has a multiphysics dynamic model consisting of both an electrochemical and electromechanical model. The electrochemical model is based on a distributed RC line approach, and the electromechanical model, considering the continuum vibration of the robot, is derived based on Hamilton's principle. The governing equation of the soft robot is solved by means of the Rayleigh-Ritz-Meirovitch substructure synthesis method, and the Laplace operator is used to obtain the transfer function of the soft robot as a 2 by 2 multiple-input multiple-output system.