Multi-contact vertical ladder climbing with an HRP-2 humanoid

We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.     

Supporting the consumption and co-authoring of locative media experiences for a rural village community: design and field trial evaluation of the SHARC2.0 framework

Locative Media Experiences (LMEs) have significant potential in enabling visitors to engage with the places that they visit through an appreciation of local history. For example, a visitor to Berlin that is exploring remnants of the Berlin Wall may be encouraged to appreciate (or in part experience) the falling of the Berlin wall by consuming multimedia directly related to her current location such as listening to audio recordings of the assembled crowds on 10th November 1989. However, despite the growing popularity of enabling technologies (such as GPS-equipped smart phones and tablets), the availability of tools that support the authoring of LMEs is limited. In addition, mobile apps that support the consumption of LMEs typically adopt an approach that precludes users from being able to respond with their own multimedia contributions. In this article we describe the design and evaluation of the SHARC2.0 framework that has been developed as part of our long-term and participatory engagement with the rural village of Wray in the north of England. Wray has very limited cellular data coverage which has placed a requirement on the framework and associated tools to operate without reliance on network connectivity. A field study is presented which featured a LME relating to Wray’s local history and which contained multimedia content contributed by members of the community including historic photos (taken from an existing ‘Digital Noticeboard’ system), audio-clips (from a local historian and village residents) and video (contributed during a design workshop). The novelty of our approach relates to the ability of multiple authors to contribute to a LME in-situ, and the utilisation of personal cloud storage for storing the contents associated with a multi-authored LME.

     

The impact of map orientation and generalisation on congestion decisions: a comparison of schematic-egocentric and topographic-allocentric maps

Map information for drivers is usually presented in an allocentric-topographic form (as with printed maps) or in an egocentric-schematic form (as with road signs). The advent of new variable message boards on UK motorways raises the possibility of presenting road maps to reflect congestion ahead. Should these maps be allocentric-topographic or egocentric-schematic? This was assessed in an eye tracking study, with participants viewing maps of a motorway network in order to identify whether any congestion was relevant to their intended route. The schematic-egocentric maps were responded to most accurately with shorter fixation durations suggesting easier processing. In particular, the driver's entrance and intended exit from the map were attended to more in the allocentric maps. Individual differences in mental rotation ability also seem to contribute to poor performance on allocentric maps. The results favour schematic-egocentric maps for roadside congestion information, but also provide theoretical insights into map-rotation and individual differences. Statement of Relevance: This study informs designers and policy makers about optimum representations of traffic congestion on roadside variable message signs and, furthermore, demonstrates that individual differences contribute to problems with processing certain sign types. Schematic-egocentric representations of a motorway network produced the best results, as noted in behavioural and eye movement measures.     

Deriving engineering software from requirements

With the advent of intelligent computer aided design systems, companies such as Boeing are embarking on an era in which core competitive engineering knowledge and design rationale is being encoded in software systems. The promise of this technology is that this knowledge can be leveraged across many different designs, product families, and even different uses (e.g., generative process planning for manufacturing). The current state of the practice attempts to achieve this goal through the reuse of software components. A fundamental problem with this approach to knowledge sharing and reuse is that what we are trying to reuse is software—the end artifact in a long and complicated process that goes from requirement specifications, through a process of design, to implementations. Knowledge sharing and reuse can not easily and uniformly occur at the software level. So what can be done as an alternative? This paper describes a theory, methodology, language, and tool for the semi-automatic development and maintenance of engineering software from requirement specifications. In essence, this paradigm for software development and maintenance is one that explicitly captures requirement specifications, designs, implementations, and the refinement processes that lead from requirements all the way down to software. By recording this entire refinement history, we stand a better chance of leveraging knowledge for different uses.     

Adventure tourism and adventure sports injury: the New Zealand experience

The primary aims of this study were to establish a client injury baseline for the New Zealand adventure tourism and adventure sport sector, and to examine patterns and trends in claims for injury during participation in adventure activities. Content analysis of narrative text data for compensated injuries occurring in a place for recreation and sport over a 12-month period produced over 15,000 cases involving adventure tourism and adventure sport. As found in previous studies in New Zealand, highest claim counts were observed for activities that are often undertaken independently, rather than commercially. Horse riding, tramping, surfing and mountain biking were found to have highest claim counts, while hang gliding/paragliding/parasailing and jet boating injuries had highest claim costs, suggesting greatest injury severity. Highest claim incidence was observed for horse riding, with female claimants over-represented for this activity. Younger male claimants comprised the largest proportion of adventure injuries, and falls were the most common injury mechanism.     

Chirality of synergistic sex pheromone components of the western hemlock looperLambdina fiscellaria lugubrosa (HULST) (Lepidoptera: Geometridae)

Bakers' yeast reduction of (2E)-3-(2-furanyl)-2-methyl-2-propenal yielded the synthetic intermediate, (2S)-3-(2-furanyl)-2-methylpropanol, of high chiral purity (>97% ee) for the synthesis of the enantiomers of 2,5-dimethylheptadecane and 7-methylheptadecane, two synergistic sex pheromone components of the western hemlock looper (WHL),Lambdina fiscellaria lugubrosa Hulst. In electrophysiological bioassays, (7S)- but not (7R)-7-methylheptadecane elicited strong antennal responses by male WHL antennae. In field trapping experiments, addition of (7S)- but not (7R)-7-methylheptadecane to (5R,11S)-5,11-dimethylheptadecane, the major sex pheromone component of WHL, increased attraction. Attraction to (5R,11S)-5,11-dimethylheptadecane in combination with (7S)-7-methyiheptadecane was further enhanced by the addition of (5S)- but not (5R)-2,5-dimethylheptadecane. Similarly, attraction to (5R,11S)-5,11-dimethylheptadecane combined with (5S)-2,5-dimethylheptadecane increased when 7S- but not (7R)-7-methylheptadecane was added as a third component. We conclude that (7S)-7-methylheptadecane and (5S)-2,5-dimethylheptadecane are the synergistic sex pheromone components of WHL. The synthetic methodology described is applicable to the synthesis of chiral methyl-branched pheromones in other orders of the Insecta, particularly Coleoptera, Diptera and Orthoptera.