Robot-Assisted Bridge Inspection

The Center for Robot-Assisted Search and Rescue (CRASAR®) deployed a customized AEOS man-portable unmanned surface vehicle and two commercially available underwater vehicles (the autonomous YSI EcoMapper and the tethered VideoRay) for inspection of the Rollover Pass bridge in the Bolivar peninsula of Texas in the aftermath of Hurricane Ike. A preliminary domain analysis with the vehicles identified key tasks in subsurface bridge inspection (mapping of the debris field and inspecting the bridge footings for scour), control challenges (navigation under loss of GPS, underwater obstacle avoidance, and stable positioning in high currents without GPS), possible improvements to human-robot interaction (having additional display units so that mission specialists can view and operate on imagery independently of the operator control unit, incorporating 2-way audio to allow operator and field personnel to communicate while launching or recovering the vehicle, and increased state sensing for reliability), and discussed the cooperative use of surface, underwater, and aerial vehicles. The article posits seven milestones in the development of a fully functional UMV for bridge inspection: standardize mission payloads, add health monitoring, improve teleoperation through better human-robot interaction, add 3D obstacle avoidance, improve station-keeping, handle large data sets, and support cooperative sensing.     

<Emphasis Type="Italic">A Midsummer Night’s Dream</Emphasis> (with flying robots)

Seven flying robot “fairies” joined human actors in the Texas A&;M production of William Shakespeare’s A Midsummer Night’s Dream. The production was a collaboration between the departments of Computer Science and Engineering, Electrical and Computer Engineering, and Theater Arts. The collaboration was motivated by two assertions. First, that the performing arts have principles for creating believable agents that will transfer to robots. Second, the theater is a natural testbed for evaluating the response of untrained human groups (both actors and the audience) to robots interacting with humans in shared spaces, i.e., were believable agents created? The production used two types of unmanned aerial vehicles, an AirRobot 100-b quadrotor platform about the size of a large pizza pan, and six E-flite Blade MCX palm-sized toy helicopters. The robots were used as alter egos for fairies in the play; the robots did not replace any actors, instead they were paired with them. The insertion of robots into the production was not widely advertised so the audience was the typical theatergoing demographic, not one consisting of people solely interested technology. The use of radio-controlled unmanned aerial vehicles provides insights into what types of autonomy are needed to create appropriate affective interactions with untrained human groups. The observations from the four weeks of practice and eight performances contribute (1) a taxonomy and methods for creating affect exchanges between robots and untrained human groups, (2) the importance of improvisation within robot theater, (3) insights into how untrained human groups form expectations about robots, and (4) awareness of the importance of safety and reliability as a design constraint for public engagement with robot platforms. The taxonomy captures that apparent affect can be created without explicit affective behaviors by the robot, but requires talented actors to convey the situation or express reactions. The audience’s response to robot crashes was a function of whether they had the opportunity to observe how the actors reacted to robot crashes on stage, suggesting that pre-existing expectations must be taken into account in the design of autonomy. Furthermore, it appears that the public expect robots to be more reliable (an expectation of consumer product hardening) and safe (an expectation from product liability) than the current capabilities and this may be a major challenge or even legal barrier for introducing robots into shared public spaces. These contributions are expected to inform design strategies for increasing public engagement with robot platforms through affect, and shows the value of arts-based approaches to public encounters with robots both for generating design strategies and for evaluation.     

Using cross-layer metrics to improve the performance of end-to-end handover mechanisms

Network centric handover solutions for all IP wireless networks usually require modifications to network infrastructure which can stifle any potential rollout. This has led researchers to begin looking at alternative approaches. Endpoint centric handover solutions do not require network infrastructure modification, thereby alleviating a large barrier to deployment. Current endpoint centric solutions capable of meeting the delay requirements of Voice over Internet Protocol (VoIP) fail to consider the Quality of Service (QoS) that will be achieved after handoff. The main contribution of this paper is to demonstrate that QoS aware handover mechanisms which do not require network support are possible. This work proposes a Stream Control Transmission Protocol (SCTP) based handover solution for VoIP called Endpoint Centric Handover (ECHO). ECHO incorporates cross-layer metrics and the ITU-T E-Model for voice quality assessment to accurately estimate the QoS of candidate handover networks, thus facilitating a more intelligent handoff decision. An experimental testbed was developed to analyse the performance of the ECHO scheme. Results are presented showing both the accuracy of ECHO at estimating the QoS and that the addition of the QoS capabilities significantly improves the handover decisions that are made.     

An empirical investigation into the difficulties experienced by visually impaired Internet users

In this paper, an empirical based study is described which has been conducted to gain a deeper understanding of the challenges faced by the visually impaired community when accessing the Web. The study, involving 30 blind and partially sighted computer users, has identified navigation strategies, perceptions of page layout and graphics using assistive devices such as screen readers. Analysis of the data has revealed that current assistive technologies impose navigational constraints and provide limited information on web page layout. Conveying additional spatial information could enhance the exploration process for visually impaired Internet users. It could also assist the process of collaboration between blind and sighted users when performing web-based tasks. The findings from the survey have informed the development of a non-visual interface, which uses the benefits of multimodal technologies to present spatial and navigational cues to the user.     

Apparatus for measuring the finite load-deformation behavior of a sheet of epithelial cells cultured on a mesoscopic freestanding elastomer membrane

Details are given for the design, calibration, and operation of an apparatus for measuring the finite load-deformation behavior of a sheet of living epithelial cells cultured on a mesoscopic freestanding elastomer membrane, 10 microm thick and 5 mm in diameter. Although similar in concept to bulge tests used to investigate the mechanical properties of micromachined thin films, cell-elastomer composite diaphragm inflation tests pose a unique set of experimental challenges. Composite diaphragm (CD) specimens are extremely compliant (E<50 kPa), experience large displacements when subject to small inflation pressures (approximately 100 Pa), and must be continuously immersed in a bath of liquid culture medium during the acquisition of load-deformation measurements. Given these considerations, we have constructed an inflation apparatus consisting of an air-piston-cylinder pump integrated with a modular specimen mounting fixture that constitutes a horizontally semi-infinite reservoir of liquid culture medium. In a deformation-controlled inflation test, pressurized air is used to inflate a CD specimen into the liquid reservoir with minimum disturbance of the liquid-air interface. Piston displacements and absolute pump chamber air pressures are utilized as feedback to cycle the displaced (or inflated) CD volume V in a 0.05 Hz triangular or sinusoidal wave form (V(MIN)=0 microl, V(MAX)相似文献   

Experimental technique using FTIR to estimate IR optical properties at variable temperatures: application to PMDA-ODA polyimide thin films from 100 to 380 degrees C

An experimental technique is presented to measure reflectance at high sample temperature with respect to room temperature in the infrared using Fourier transform infrared fitted with a reflectometer. Sample temperature artifacts are accounted for by sequential measurements taken with the lamp source on and with the lamp source off. The sequential measurements are shown mathematically to correct for the modulation of sample and detector thermal emissions. Further, the technique is applied to a polyimide (PMDA-ODA) film on a layer of gold deposited on a thermally oxidized Si wafer. It is shown that the optical properties (index of refraction and extinction coefficient) remain relatively constant with temperature (from room temperature to 380 degrees C) in the 4000-6000 cm(-1) spectral region. The significant changes that occur with temperature are the change in thickness of the film and also the spectral properties in the 2000-4000 cm(-1) region. Also, by using a Lorentz oscillator model, it is shown that this method is able to discern that spectral features corresponding to the OH stretching bands at 3630 and 3470 cm(-1) show significant variation with increasing temperature.     

Screening of serum samples from Wegener's granulomatosis patients using antibody microarrays

Wegener's Granulomatosis (WG) is an idiopathic granulomatosis autoimmune vasculitis that primarily affects small vessels and is associated with glomerulonephritis and pulmonary granulomatous vasculitis. Anti‐neutrophil cytoplasmic auto‐antibodies (cANCA) against proteinase‐3 are used to identify WG, but ANCA titers are not present in some patients with the localized disease. The objective of this study was to develop an antibody array to help identify protein expression patterns in serum from patients with WG as compared to normals. The arrays were tested for limits of detection, background, and cross reactivity using standard proteins. The arrays were hybridized with either normal patient serum (n = 30) or with serum samples from a population of WG patients (n = 26) that were age and sex matched. Data analysis and curve fitting of the standard dilution series calculated r² values and determined a sensitivity of <50 pg/mL for the majority of proteins. A total of 24 proteins were assessed. Several statistically significant increases (p<0.05) were seen in the expression of: angiotensin converting enzyme‐I, IFN‐γ, IL‐8, s‐ICAM‐1 and s‐VCAM in WG patients as compared to controls. Utilizing the antibody microarray technology has led to the identification of potential biomarkers of vascular injury in the serum of WG patients.     

Structure-activity relationships for analogs of (+)-(E)-endo-Β-bergamoten-12-oic acid,an oviposition stimulant ofHelicoverpa zea (Boddie)

-Bergamotenoic acid, a compound previously shown to stimulate oviposition inH. zea, was converted into a set of bicyclic analogs and tested with a set of acyclic side chain analogs to ascertain the molecular structure that maximizes insect behavioral response. While changes in the bicyclic ring elicited no variation in response, alteration in the side chain structure of-bergamotenoic acid resulted in significant changes in moth preference. Free rotation about the C-C bond proximal to the carboxylic acid group appears to be an important structural factor, since saturation of the side chain double bond significantly increased activity. The carboxylic acid group seems to be required for strong oviposition stimulation, since analogs lacking the carboxylic acid group exhibited no significant oviposition activity. Oviposition preference ofH. zea was also influenced by the length of the hydrocarbon chain to which the carboxylic acid is attached. While hexanoic acid was found inactive, the ovipositional preference for the heptanoic and octanoic acids was greatest for the one 8-carbon tested. This and other work suggest that carboxylic acids of specific chain lengths influence the oviposition behavior of bothHelicoverpa andHeliothis species and may be associated with host-plant selection. The potential use of this information in designing integrated pest management strategies for control ofH. zea is discussed.     

Determinants of temperature in small coastal embayments of Lake Ontario

Along 25 km of the Lake Ontario shoreline near Toronto, Ontario, small coastal embayments (0.4–32 ha) have been constructed or modified by lake-infilling to restore warmwater fish habitat. The variation in thermal habitat quality for warmwater fishes among these embayments is very high; temperatures range from those found within a small pond to those of much cooler Lake Ontario. Since meteorological conditions and surface heat fluxes are almost identical, the temperature variation among embayments must be caused by differences in bathymetry or exchange with Lake Ontario. However, a previous study on these embayments found paradoxically that temperatures were not strongly associated with channel size or embayment bathymetry. This paper resolves the paradox by showing that flushing times for almost all of the constructed embayments were less than 1 day, and often less than 12 h. With so little time to warm within the embayments, water temperatures of almost all embayments remained very close to the temperatures of the adjacent lake waters. The coldest embayments connected directly to open Lake Ontario and warmer embayments connected to Lake Ontario through other embayments or protected harbors, where the inflowing water from Lake Ontario had already substantially warmed. To allow embayments along the exposed shoreline of Toronto to reach acceptable temperatures for warmwater fish, we use heat budgets to calculate that average summer flushing times must be increased from their current length of 1.5 to 5.5 h to approximately 30 h. Such changes could be achieved through large reductions in the channel cross section.