Generality and legibility in mobile manipulation

This article investigates methods for achieving more general manipulation capabilities for mobile manipulation platforms, which produce legible behavior in human living environments. To achieve generality and legibility, we combine two control mechanisms. First of all, experience- and observation-based learning of skills is applied to routine tasks, so that the repetitive and stereotypical character of everyday activity is exploited. Second, we use planning, reasoning, and search for novel tasks which have no stereotypical solution. We apply these ideas to the learning and use of action-related places, to the model-based visual recognition and localization of objects, and the learning and application of reaching strategies and motions from humans. We demonstrate the integration of these mechanisms into a single low-level control system for autonomous manipulation platforms.     

Influences of data filtering on human–computer interaction by gaze-contingent display and eye-tracking applications

We describe an interactive gaze-contingent display (GCD) applied to clinical applications; the system uses a simple texture hole to inhibit peripheral vision, to test and stress overt mechanisms of visual searching in normal subjects. The correct use of GCD in vision research is affected by tremor of the hole, due to system noise, nystagmus, eye blinking, calibration and subject reactivity. These issues compromise the execution of task. In order to obtain a stable GCD hole, we implemented a predictive gaze-contingent display (PGCD), fitting through dispersion of fixations and modulating a filter. The paper describes the PGCD and compare it with the common technique, providing evidence that humans fit exploration based on the characteristics of the computer system; in particular we found significant difference applying PGCD or a simple finite impulse response filter. We suggest that a correct human–computer interaction applied to neuropsychological context must be developed taking in consideration both technical point of view and human behavior.     

Removal of neutrophil gelatinase‐associated lipocalin by extracorporeal therapies

Neutrophil gelatinase‐associated lipocalin (NGAL) protein is an early biomarker for acute kidney injury (AKI). It is unknown if extracorporeal therapies (EC) have an effect on circulating NGAL levels. This study was designed to describe the kinetics of NGAL molecule in different EC techniques and to evaluate NGAL clearance in different operational conditions. A mock hemofiltration (HF) and hemoperfusion (HP) setup was used. NGAL was added to the blood reservoir and then measured at 30‐minute intervals from arterial, venous, and ultrafiltrate (UF) lines. Removal kinetics and NGAL sieving coefficient were calculated. In our experiments, baseline NGAL concentration averaged 452 μg/L. There was a consistent downward trend throughout the experiment. NGAL concentration in the UF was between 80 and 90 μg/L, though it showed a slight increase in the second hour. The sieving coefficient of NGAL ranged from 0.2 to 0.4 during HF and it appeared to increase with time, suggesting an initial effect of membrane adsorption. HP proved clearly that there was adsorption of NGAL by the membrane and the point of saturation occured at approximately 60 minutes from the start of circulation. Our evaluation demonstrates that NGAL can be adsorbed and ultrafiltrated with polysulfone membranes. This should be taken into consideration when using NGAL as an AKI biomarker in patients undergoing EC circulation.     

Hot metal pretreatment by powder injection of lime‐based reagents

A mathematical model earlier proposed has been improved to predict the kinetics of multicomponent reactions in the hot metal pretreatment through the injection of reactive fluxes. It is assumed that there are two reaction zones along the flux injection operation: a transitory reaction between the rising particles and the bulk metal, and the permanent reaction between the metal and the top slag. A criterion to estimate the fraction of solids which will react with molten iron in a three‐phase jet (gas‐solid‐liquid) was considered; this fraction of solids carries out the transitory reaction. The model also takes into account the thermodynamic changes produced in the metal and slag due to the chemical reactions. Calculated results of the model are in good agreement with experimental results for the desulfurization of hot metal through the injection of CaO‐SiO₂‐CaF₂‐FeO‐Na₂O reagents at 1400 ‐ 1450 °C. Two kinds of hot metal were tested, one with a low carbon mass content of 3 % and the other with a high carbon mass content of 4.5 %.     

Influence of mediator immobilization on the electrochemically assisted microbial dechlorination of trichloroethene (TCE) and cis‐dichloroethene (cis‐DCE)

BACKGROUND: A bioelectrochemical process for trichloroethene (TCE) dechlorination was developed. In this new process, a solid‐state electrode polarized to ?450 mV versus the standard hydrogen electrode (SHE), in combination with a redox mediator (i.e., methyl viologen, MV) is employed as an electron donor for the microbial reductive dechlorination of TCE. In this study we compared the performance of the process with the redox mediator immobilized at the surface of electrodes or dissolved in the bulk liquid, using both a culture highly enriched in Desulfitobacterium spp., capable of dechlorinating TCE to cis‐dichloroethene (cis‐DCE), and a culture highly enriched in Dehalococcoides spp. capable of dechlorinating cis‐DCE to ethene. RESULTS: Short‐term potentiostatic (?450 mV versus SHE) experiments showed that TCE or cis‐DCE was dechlorinated both in the presence of soluble (500 µmol L^?1) and immobilized MV. However, TCE or cis‐DCE dechlorination rates with MV‐modified electrodes were remarkably lower than with soluble MV. Both cultures produced significant amounts of H₂ in the presence of electrically reduced, soluble MV, whereas no H₂ was produced when the mediator was immobilized at the electrode surface, regardless of the potential applied to the electrode, in the range ?425 to ?500 mV versus SHE. CONCLUSIONS: The process, operated with modified electrodes, supports the microbial dechlorination of TCE to ethene. Immobilization not only allows retention of the mediator within the system, but also increases process efficiency by preventing bioelectrochemical H₂ formation. On the other hand, strategies to increase dechlorination rates with modified electrodes need to be developed. Copyright © 2009 Society of Chemical Industry     

Strain sensing fabric for hand posture and gesture monitoring.

In this paper, we report on a new technology used to implement strain sensors to be integrated in usual garments. A particular conductive mixture based on commercial products is realized and directly spread over a piece of fabric, which shows, after the treatment, piezoresistive properties, i.e., a change in resistance when it is strained. This property is exploited to realize sensorized garments such as gloves, leotards, and seat covers capable of reconstructing and monitoring body shape, posture, and gesture. In general, this technology is a good candidate for adherent wearable systems with excellent mechanical coupling with body surface. Here, we mainly focused on a sensorized glove able to detect posture and movements of the fingers. It could be used in several fields of application. We report on experimental results of a sensorized glove used as movements recorder for rehabilitation therapies and medicine. Furthermore, we describe a dedicated methodology used to read the output sensors which allowed to avoid using metallic wires for the connections. The price to be paid for all these advantages is a nonlinear electric response of the fabric sensor and a too long settling time, that in principle, make these sensors not suitable for real-time applications. Here we propose a hardware and computational solution to overcome this limitation.     

An energetic approach to the analysis of anisotropic hyperelastic materials

We demonstrate that for the class of anisotropic hyperelastic materials with stiffening behaviour (i.e., the stiffness increases for increasing strain), it is possible to find an approximation by means of the linear superposition of an anisotropic quadratic potential, generated by the true linear elasticity tensor of the target material, and a suitable correction potential that is isotropic and hyperelastic. The proposed method can be implemented into commercially available Finite Element software by use of featured options only. This approach is intended to provide the solution to a stress-strain problem, based entirely on energetic considerations, which ensures the convexity of the potentials, and provides a simple material characterisation procedure.     

The Influence of the Laser Energy on the Thermal Diffusivity Evaluation of TBC by Laser Flash

Laser Flash is considered the standard technique for measuring the thermal diffusivity of solids. The interaction between TBC and the laser energy is studied because very low thermal effusivity and thermal diffusivity of TBC can produce very high temperature increase on the surface and temperature gradient within the sample. In such a case, microstructural modifications of TBC can be generated. In this work, such phenomena are studied experimentally on free standing TBC samples.