Dextrous hands: issues relating to a four-finger articulated hand

Manipulation of an object by a multi-fingered robot hand requires task planning which involves computation of joint space vectors and fingertip forces. To implement a task as fast as possible, computations have to be carried out in minimum time. The state of the art in manipulation by multi-fingered robot hand designs has shown the possible use of remotely driven finger joints. Such remotely driven hands require computation of tendon displacement for evaluating joint space vectors before signals are sent to actuators. Alternatively, a direct drive hand is a mechanical hand in which the shafts of articulated joints are directly coupled to the rotors of motors with high output torques. This article has been divided into two main sections. The first section presents a brief view of manipulation using a direct drive approach. Meanwhile, the other section presents ongoing research which is being carried out to design a four-finger articulated hand in the Department of Cybernetics at the University of Reading.

Predicting microbial pollution concentrations in UK rivers in response to land use change

The Water Framework Directive has caused a paradigm shift towards the integrated management of recreational water quality through the development of drainage basin-wide programmes of measures. This has increased the need for a cost-effective diagnostic tool capable of accurately predicting riverine faecal indicator organism (FIO) concentrations. This paper outlines the application of models developed to fulfil this need, which represent the first transferrable generic FIO models to be developed for the UK to incorporate direct measures of key FIO sources (namely human and livestock population data) as predictor variables. We apply a recently developed transfer methodology, which enables the quantification of geometric mean presumptive faecal coliforms and presumptive intestinal enterococci concentrations for base- and high-flow during the summer bathing season in unmonitored UK watercourses, to predict FIO concentrations in the Humber river basin district. Because the FIO models incorporate explanatory variables which allow the effects of policy measures which influence livestock stocking rates to be assessed, we carry out empirical analysis of the differential effects of seven land use management and policy instruments (fiscal constraint, production constraint, cost intervention, area intervention, demand-side constraint, input constraint, and micro-level land use management) all of which can be used to reduce riverine FIO concentrations. This research provides insights into FIO source apportionment, explores a selection of pollution remediation strategies and the spatial differentiation of land use policies which could be implemented to deliver river quality improvements. All of the policy tools we model reduce FIO concentrations in rivers but our research suggests that the installation of streamside fencing in intensive milk producing areas may be the single most effective land management strategy to reduce riverine microbial pollution.

Quantitative evaluation of three reconfiguration strategies on FPGAs: a case study

Reconfigurable computing is becoming an important new alternative for implementing computations. Field programmable gate arrays (FPGAs) are the ideal integrated circuit technology to experiment with the potential benefits of using different strategies of circuit specialization by reconfiguration. The final form of the reconfiguration strategy is often non-trivial to determine. Consequently, in this paper, we examine strategies for reconfiguration and, based on our experience, propose general guidelines for the tradeoffs using an area-time metric called functional density. Three experiments are set up to explore different reconfiguration strategies for FPGAs applied to a systolic implementation of a scalar quantizer used as a case study. Quantitative results for each experiment are given. The regular nature of the example means that the results can be generalized to a wide class of industry-relevant problems based on arrays.

Efficiency and purity control in the preparation of pure and/or aluminum-doped barium ferrites by hydrothermal methods using ferrous ions as reactants

The synthesis of hexagonal barium ferrite (BaFe12O19) was studied under hydrothermal conditions by a method in which a significant amount of ferrous chloride was introduced along side ferric chloride among the starting materials. Though all of the Fe2+ ions in the starting material were converted to Fe3+ ions in the final product, Fe2+ was confirmed to participate differently from the Fe3+ used in the conventional method in the mechanism of forming barium ferrite. Indeed the efficiency of the synthesis and the quality of the product and the lack of impurities such as Fe2O3 and BaFe2O4 were improved when Fe2+ was included. However, the amount of ferrous ions that could be included to obtain the desired product was limited with an optimum ratio of 2:8 for FeCl2/FeCl3 when only 2h of reaction time were needed. It was also found that the role of trivalent Fe3+ could be successfully replaced by Al3+. Up to 50% of their on could be replaced by Al3+ in the reactants to produce Al- doped products. It was also found that the ratio of Fe2+/M3+ could be increased in the presence of Al3+ to produce high quality barium ferrite.

Caracterização clínico-epidemiológica do dengue grave em crianças e adolescentesRio de Janeiro, 2007-2008

Em 2007-2008, o Rio de Janeiro viveu uma epidemia de dengue com 80.404 notificações, com 109 óbitos, 42% em < 15 anos. Objetivos: 1. Descrever a distribuição espacial e o perfil clínico-epidemiológico da epidemia de dengue por faixa etária no município do Rio de Janeiro. 2. Avaliar os fatores clínicos e laboratoriais preditivos de dengue grave em uma coorte de crianças internadas. Métodos: Esta tese foi formatada com dois artigos: 1) Distribuição espacial e caracterização clínico-epidemiológico do dengue no município do Rio de Janeiro; 2) Sinais clínicos e laboratoriais associados ao dengue grave em crianças hospitalizadas. Artigo 1: estudo ecológico com base no Sistema de Informação de Agravos de Notificação do município do Rio de Janeiro (2007-2008). Foram incluídos todos os casos de dengue confirmados pelo critério clínico-laboratorial dos residentes do município do Rio de Janeiro. Foram descritas as variáveis sócio demográficas e clínicas (classificação do caso, hospitalização e evolução) segundo a idade. Foi utilizado o critério de classificação de caso do Ministério da Saúde de 2005 (febre do dengue, dengue com complicações e febre hemorrágica do dengue - FHD). Autocorrelação espacial das taxas de incidência, mortalidade e letalidade foi verificada pelos índices de Moran e de Geary Artigo 2: coorte retrospectiva das hospitalizações por dengue (até 18 anos) em uma unidade de referência (2007-2008). Dengue grave foi definido pelo uso de terapia de suporte avançado de vida ou óbito. Diferenças de medianas e de proporções foram avaliadas, respectivamente, pelo teste de Mann-Whitney e pelo exato de Fisher (p<0,05). Foram calculados os parâmetros de acurácia dos sinais e sintomas. Resultados: Artigo 1: De 159887 notificações, 151527 eram residentes do município do Rio de Janeiro, 38.808 preencheram os critérios de inclusão. Destes, 8897 (22,9%) tiveram complicações e 1051 (2,7%) FHD; 16.436 (42,4%) eram < 18 anos e 15.288 (39,4%) foram confirmados laboratorialmente. A letalidade foi maior em lactentes (1,4%) e nos casos de FHD (7,7%). Extravasamento plasmático foi mais comum de 2 a 11 anos. Houve autocorrelação espacial global quanto à mortalidade e letalidade e autocorrelação local para os três índices (p<0,05). Artigo 2: De 145 pacientes, 53,1% eram do sexo feminino, com mediana de idade de 8,7 anos (IIQ=7,2-11,5); 15,9% evoluíram para gravidade A duração da febre em dias foi menor no grupo grave (G: Mediana Md=3,0, IIQ= 2,0\20134,5; NG: Md=4,0, IIQ=3,0\20135,0; p=0.062). Letargia, irritabilidade, sangramento, dispneia, ausculta pulmonar alterada, derrame pleural, distensão abdominal e edema foram associados à evolução para gravidade (p<0,05). Níveis de hematócrito (p=008) e de albumina sérica (p<0,001) foram menores nos graves. Letargia apresentou Valor Preditivo Negativo (VPN) > 90%, com Valor Preditivo Positivo (VPP) de 80%. As demais variáveis com p-valor <0,05 apresentaram VPN próximo ou > 90%, com baixo VPP. Conclusão: Apesar da incidência de FHD ter sido maior entre escolares, os lactentes tiveram maior letalidade. Extravasamento plasmático foi mais frequente em escolares e pré-escolares. Sangramento, sonolência e irritabilidade na admissão hospitalar associaram-se à gravidade e o derrame cavitário obteve maior acurácia do que a hemoconcentração como sinal de extravasamento plasmático