Workspace comparisons of setup configurations for human-robot interaction

In virtual assembly verification or remote maintenance tasks, bimanual haptic interfaces play a crucial role in successful task completion. This paper proposes a method for objectively comparing how well a haptic interface covers the reachable workspace of human arms. Two system configurations are analyzed for a recently introduced haptic device that is based on two DLR-KUKA light weight robots: the standard configuration, where the device is opposite the human operator, and the ergonomic configuration, where the haptic device is mounted behind the human operator. The human operator directly controls the robotic arms using handles. The analysis is performed using a representation of the robot arm workspace. The merits of restricting the comparisons to the most significant regions of the human workspace are discussed. Using this method, a greater workspace correspondence for the ergonomic configuration was shown. ©2010 IEEE.

Automated 3D Structure Inference of Civil Infrastructure Using a Stereo Camera Set

The commercial far-range (>10m) infrastructure spatial data collection methods are not completely automated. They need significant amount of manual post-processing work and in some cases, the equipment costs are significant. This paper presents a method that is the first step of a stereo videogrammetric framework and holds the promise to address these issues. Under this method, video streams are initially collected from a calibrated set of two video cameras. For each pair of simultaneous video frames, visual feature points are detected and their spatial coordinates are then computed. The result, in the form of a sparse 3D point cloud, is the basis for the next steps in the framework (i.e., camera motion estimation and dense 3D reconstruction). A set of data, collected from an ongoing infrastructure project, is used to show the merits of the method. Comparison with existing tools is also shown, to indicate the performance differences of the proposed method in the level of automation and the accuracy of results.

Method for improving classification performance of neural network based on fuzzy input and network inversion

In order to effectively improve the classification performance of neural network, first architecture of fuzzy neural network with fuzzy input was proposed. Next a cost function of fuzzy outputs and non-fuzzy targets was defined. Then a learning algorithm from the cost function for adjusting weights was derived. And then the fuzzy neural network was inversed and fuzzified inversion algorithm was proposed. Finally, computer simulations on real-world pattern classification problems examine the effectives of the proposed approach. The experiment results show that the proposed approach has the merits of high learning efficiency, high classification accuracy and high generalization capability.

Keats, Cornwall and the 'Scent of Strong-Smelling Phrases'

Marggraf Turley, Richard, 'Keats, Cornwall and the 'Scent of Strong-Smelling Phrases,' Romanticism (2006) 12 (2), pp. 102-114 RAE2008

Association of candidate genes with flowering time and water-soluble carbohydrate content in Lolium perenne (L.)

Sk?t, L., Humphreys, J., Humphreys, M. O., Thorogood, D., Gallagher, J. A., Sanderson, R., Armstead, I. P., Thomas, I. D. (2007). Association of candidate genes with flowering time and water-soluble carbohydrate content in Lolium perenne (L.). Genetics, 177 (1), 535-547. Sponsorship: BBSRC RAE2008

Rambo's Interdisciplinary Approach to Religious Conversion: The Case of St. Augustine

This dissertation illustrates the merits of an interdisciplinary approach to religious conversion by employing Lewis Rambo’s systemic stage model to illumine the process of St. Augustine’s conversion. Previous studies of Augustine’s conversion have commonly explored his narrative of transformation from the perspective of one specific discipline, such as theology, history, or psychology. In doing so, they have necessarily restricted attention to a limited set of questions and problems. By bringing these disciplines into a structured, critical conversation, this study demonstrates how formulating and responding to the interplay among personal, social, cultural, and religious dimensions of Augustine’s conversion process may eventuate in the consideration of issues previously unarticulated and thus unaddressed. Rambo (1993) formulates a model of religious change that consists of what he calls context, crisis, quest, encounter, interaction, commitment, and consequences. Change is explained by drawing upon the research and scholarship of psychologists, sociologists, anthropologists, and religionists, in conjunction with the contributions of theologians. This study unfolds in the following chapters: I. Introduction; II. Literature review of scholarship about conversion, with emphasis on explication of Rambo’s model; III. A description of the case of Augustine, drawn from a close reading of the Confessions; IV. Literature review of scholarship about Augustine’s conversion; V. Interdisciplinary interpretation of Augustine’s conversion; and VI. Implications for scholars of conversion, and for pastoral caregivers, as well as recommendations for future research. This dissertation demonstrates how Augustine’s conversion experience was deeply influenced by 1) psychological distress and crisis; 2) the quest to know himself and the divine; 3) interactions with significant others; 4) participation in Christian communities; 5) philosophical and cultural changes; and 6) the encounter with the divine. As such, this study reveals the value of interpreting Augustine’s conversion as an evolving process constituted in multiple factors that can be differentiated from one another, yet clearly interact with one another. It examines the implications of constructing an interdisciplinary approach to Augustine’s conversion narrative for both the academy and the Christian community, and recommends the use of Rambo’s model in studies of other cases of religious change.

Usability-enhanced coordination design of geovisualisations to communicate coastal flood risk information

For at least two millennia and probably much longer, the traditional vehicle for communicating geographical information to end-users has been the map. With the advent of computers, the means of both producing and consuming maps have radically been transformed, while the inherent nature of the information product has also expanded and diversified rapidly. This has given rise in recent years to the new concept of geovisualisation (GVIS), which draws on the skills of the traditional cartographer, but extends them into three spatial dimensions and may also add temporality, photorealistic representations and/or interactivity. Demand for GVIS technologies and their applications has increased significantly in recent years, driven by the need to study complex geographical events and in particular their associated consequences and to communicate the results of these studies to a diversity of audiences and stakeholder groups. GVIS has data integration, multi-dimensional spatial display advanced modelling techniques, dynamic design and development environments and field-specific application needs. To meet with these needs, GVIS tools should be both powerful and inherently usable, in order to facilitate their role in helping interpret and communicate geographic problems. However no framework currently exists for ensuring this usability. The research presented here seeks to fill this gap, by addressing the challenges of incorporating user requirements in GVIS tool design. It starts from the premise that usability in GVIS should be incorporated and implemented throughout the whole design and development process. To facilitate this, Subject Technology Matching (STM) is proposed as a new approach to assessing and interpreting user requirements. Based on STM, a new design framework called Usability Enhanced Coordination Design (UECD) is ten presented with the purpose of leveraging overall usability of the design outputs. UECD places GVIS experts in a new key role in the design process, to form a more coordinated and integrated workflow and a more focused and interactive usability testing. To prove the concept, these theoretical elements of the framework have been implemented in two test projects: one is the creation of a coastal inundation simulation for Whitegate, Cork, Ireland; the other is a flooding mapping tool for Zhushan Town, Jiangsu, China. The two case studies successfully demonstrated the potential merits of the UECD approach when GVIS techniques are applied to geographic problem solving and decision making. The thesis delivers a comprehensive understanding of the development and challenges of GVIS technology, its usability concerns, usability and associated UCD; it explores the possibility of putting UCD framework in GVIS design; it constructs a new theoretical design framework called UECD which aims to make the whole design process usability driven; it develops the key concept of STM into a template set to improve the performance of a GVIS design. These key conceptual and procedural foundations can be built on future research, aimed at further refining and developing UECD as a useful design methodology for GVIS scholars and practitioners.

From the demise of theory to its resurgence. A retrospective on the postmodern turn to rethink the 'desire for narrative' and the sublime untimeliness of emancipation

Cultural Marxist Theory, commonly known as theory, enjoyed a moment of extraordinary success in the 1970s, when the works of leading post-war French philosophers were published in English. After relocating to Anglophone academia, however, theory disavowed its original concerns and lost its ambition to understand the world as a whole, becoming the play of heterogeneities associated with postcolonialism, multiculturalism and identity politics, commonly referred to as postmodern theory. This turn, which took place during a period that seemed to have spelt the death of Marxism, the 1990s, induced many of its supporters to engage in an ongoing funeral wake designating the merits of theory and dreaming its resurgence. According to them, had theory been resurrected in historical circumstances completely different from those which had led to its rise, it would have never reacquired the significance that had originally connoted it. This thesis demonstrates how theory has survived its demise and entirely regained its prominence in our socio-political context marked by the effects of the latest crisis of capitalism and by the global threat of terrorisms rooted in messianic eschatologies. In its current form theory does no longer need to show allegiance to certain intellectual stances or political groupings in order to produce important reformulations of the projects it once gave life to. Though less overtly radical and epistemologically bounded, theory remains a necessary form of enquiry justified by the political commitment which originated it in the first place. Its voice continues to speak to us about justice ‘where it is not yet, not yet there, where it is no longer’ (Derrida, 1993, XVIII).

Investigating the use of elevators for high-rise building evacuation through computer simulation

This paper presents a description of a new agent based elevator sub-model developed as part of the buildingEXODUS software intended for both evacuation and circulation applications. A description of each component of the newly developed model is presented, including the elevator kinematics and associated pedestrian behaviour. The elevator model is then used to investigate a series of full building evacuation scenarios based on a hypothetical 50 floor building with four staircases and a population of 7,840 agents. The analysis explores the relative merits of using up to 32 elevators (arranged in four banks) and various egress strategies to evacuate the entire building population. Findings from the investigation suggest that the most efficient evacuation strategy utilises a combination of elevators and stairs to empty the building and clear the upper half of the building in minimum time. Combined stair elevator evacuation times have been shown to be as much as 50% faster than stair only evacuation times.

A comparative study of the synthesis of 3-substituted catechols using an enzymatic and a chemoenzymatic method

A series of cis-dihydrodiol metabolites, available from the bacterial dioxygenase-catalysed oxidation of monosubstituted benzene substrates using Pseudomonas putida UV4, have been converted to the corresponding catechols using both a heterogeneous catalyst (Pd/C) and a naphthalene cis-diol dehydrogenase enzyme present in whole cells of the recombinant strain Escherichia coli DH5 alpha(pUC129: nar B). A comparative study of the merits of both routes to 3-substituted catechols has been carried out and the two methods have been found to be complementary. A similarity in mechanism for catechol formation under both enzymatic and chemoenzymatic conditions, involving regioselective oxidation of the hydroxyl group at C-1, has been found using deuterium labelled toluene cis-dihydrodiols. The potential, of combining a biocatalytic step (dioxygenase-catalysed cis-dihydroxylation) with a chemocatalytic step (Pd/C-catalysed dehydrogenation), into a one-pot route to catechols, from the parent substituted benzene substrates, has been realised.

Measuring the value to the public of pig welfare improvements: a contingent valuation approach

The welfare of farm animals is a policy area that has increased greatly in importance in recent years. When deciding whether a proposed policy should be implemented, it can be useful for policymakers to compare the costs of the proposed improvement with the perceived benefits. The costs are relatively straightforward to calculate but little is known about the benefits. The Contingent Valuation Method (CVM), a direct survey-based method, can be used to shed some light on this. This approach elicits the willingness-to-pay (WTP) for the provision of some public good or service. This paper reports the results of a contingent valuation study of the value of welfare improvements for growing pigs. Attitudes and opinions with regard to form animal welfare are explored and WTP elicited for various pig welfare improvements including increases in space allowance, environmental enrichment and research into improved pig housing design. The results reveal a positive WTP for these improvements. However, it is also noteworthy that a significant proportion of the general public is willing to pay nothing for these improvements. Overall, the study illustrates the usefulness of the CVM approach as a tool for policymakers in assessing the merits of possible policy initiatives affecting the welfare of animals.

Interactions of lead with sediments and meiofauna

Harpactacoid copepods and Turbellaria appear to be the most sensitive faunal groups in surface sand meiofauna when subjected to contamination by lead; in subsurface sand, nematodes are found to be the most sensitive group. Simple laboratory attempts to assess lead partitioning in littoral sand gave variable results and the problems and merits of such experimental approaches are discussed.

MEASUREMENT OF THE PHOTO-PUMP STRENGTH OF THE 3D-5F TRANSITIONS IN THE AUTOMATICALLY LINE MATCHED NI-LIKE SM PHOTOPUMPED X-RAY LASER

The photo-pump strengths of both the ((3 (d) over bar(4))(0)(3d(6))(0))(0)-(((3 (d) over bar(3))(3/2)(3d(6))(0))(3/2)(5 (f) over bar)(5/2))(1) and the ((3 (d) over bar(4))(0)(3d(6))0)0-(((3 (d) over bar(4))(0)(3d(5))(5/2))(5/2)(5f)(7/2))(1) transitions in Ni-like Sm34+ have been measured to be 2.0 x 10(-4) and 2.4 x 10(-4) photons/mode respectively. The implications of the measurement are briefly discussed in a comparison of the merits of automatically line matched photo-pump scheme to those of the collisional excitation Ni-like Sm+34 scheme.

Characterization of laser plasmas for interaction studies: Progress in time-resolved density mapping

Time-resolved probe interferometry was used to obtain complete density mapping of laser produced plasmas. The plasma was produced by symmetrical irradiation of thin targets, to be used for short pulse delayed interaction experiments. The progress in the plasma characterization due to the use of a picosecond pulse probe is reported, and the relative merits of different target designs are also discussed. The two-dimensional density maps obtained appear to be in substantial agreement with two-dimensional hydrodynamic code predictions.

Investigating the use of compliant webs in the damage-tolerant design of stiffener run-outs

In this work, the use of a compliant web design for improved damage tolerance in stiffener run-outs is investigated. Firstly, a numerical study that incorporates the possibility of debonding and delamination (using VCCT) is used to select a favourable compliant run-out configuration. Then, three different configurations are compared to establish the merits of the compliant design: a baseline configuration, a configuration with optimised tapering and the selected compliant configuration. The performance of these configurations, in terms of strength and damage tolerance, was compared numerically using a parametric finite element analysis. The energy release rates for debonding and delamination, for different crack lengths across the specimen width, were used for this comparison. The three configurations were subsequently manufactured and tested. In order to monitor the failure process, acoustic emission (AE) equipment was used and proved valuable in the detection and analysis of failure. The predicted failure loads, based on the energy release rates, showed good agreement with the experiments, particularly when the distribution of energy release rate across the width of the specimen was taken into account. As predicted numerically, the compliant configuration failed by debonding and showed improved damage tolerance compared to the baseline and tapered stiffener run-outs.