Computer vision system R&D for EAST Articulated Maintenance Arm robot

Energy Technology Data Exchange (ETDEWEB)

Lin, Linglong, E-mail: linglonglin@ipp.ac.cn; Song, Yuntao, E-mail: songyt@ipp.ac.cn; Yang, Yang, E-mail: yangy@ipp.ac.cn; Feng, Hansheng, E-mail: hsfeng@ipp.ac.cn; Cheng, Yong, E-mail: chengyong@ipp.ac.cn; Pan, Hongtao, E-mail: panht@ipp.ac.cn

2015-11-15

Highlights: • We discussed the image preprocessing, object detection and pose estimation algorithms under poor light condition of inner vessel of EAST tokamak. • The main pipeline, including contours detection, contours filter, MER extracted, object location and pose estimation, was carried out in detail. • The technical issues encountered during the research were discussed. - Abstract: Experimental Advanced Superconducting Tokamak (EAST) is the first full superconducting tokamak device which was constructed at Institute of Plasma Physics Chinese Academy of Sciences (ASIPP). The EAST Articulated Maintenance Arm (EAMA) robot provides the means of the in-vessel maintenance such as inspection and picking up the fragments of first wall. This paper presents a method to identify and locate the fragments semi-automatically by using the computer vision. The use of computer vision in identification and location faces some difficult challenges such as shadows, poor contrast, low illumination level, less texture and so on. The method developed in this paper enables credible identification of objects with shadows through invariant image and edge detection. The proposed algorithms are validated through our ASIPP robotics and computer vision platform (ARVP). The results show that the method can provide a 3D pose with reference to robot base so that objects with different shapes and size can be picked up successfully.

Trajectory control of an articulated robot with a parallel drive arm based on splines under tension

Science.gov (United States)

Yi, Seung-Jong

Today's industrial robots controlled by mini/micro computers are basically simple positioning devices. The positioning accuracy depends on the mathematical description of the robot configuration to place the end-effector at the desired position and orientation within the workspace and on following the specified path which requires the trajectory planner. In addition, the consideration of joint velocity, acceleration, and jerk trajectories are essential for trajectory planning of industrial robots to obtain smooth operation. The newly designed 6 DOF articulated robot with a parallel drive arm mechanism which permits the joint actuators to be placed in the same horizontal line to reduce the arm inertia and to increase load capacity and stiffness is selected. First, the forward kinematic and inverse kinematic problems are examined. The forward kinematic equations are successfully derived based on Denavit-Hartenberg notation with independent joint angle constraints. The inverse kinematic problems are solved using the arm-wrist partitioned approach with independent joint angle constraints. Three types of curve fitting methods used in trajectory planning, i.e., certain degree polynomial functions, cubic spline functions, and cubic spline functions under tension, are compared to select the best possible method to satisfy both smooth joint trajectories and positioning accuracy for a robot trajectory planner. Cubic spline functions under tension is the method selected for the new trajectory planner. This method is implemented for a 6 DOF articulated robot with a parallel drive arm mechanism to improve the smoothness of the joint trajectories and the positioning accuracy of the manipulator. Also, this approach is compared with existing trajectory planners, 4-3-4 polynomials and cubic spline functions, via circular arc motion simulations. The new trajectory planner using cubic spline functions under tension is implemented into the microprocessor based robot controller and

A computed torque method based attitude control with optimal force distribution for articulated body mobile robots

International Nuclear Information System (INIS)

Fukushima, Edwardo F.; Hirose, Shigeo

2000-01-01

This paper introduces an attitude control scheme based in optimal force distribution using quadratic programming which minimizes joint energy consumption. This method shares similarities with force distribution for multifingered hands, multiple coordinated manipulators and legged walking robots. In particular, an attitude control scheme was introduced inside the force distribution problem, and successfully implemented for control of the articulated body mobile robot KR-II. This is an actual mobile robot composed of cylindrical segments linked in series by prismatic joints and has a long snake-like appearance. These prismatic joints are force controlled so that each segment's vertical motion can automatically follow the terrain irregularities. An attitude control is necessary because this system acts like a system of wheeled inverted pendulum carts connected in series, being unstable by nature. The validity and effectiveness of the proposed method is verified by computer simulation and experiments with the robot KR-II. (author)

ITER Articulated Inspection Arm (AIA): Geometric calibration issues of a long-reach flexible robot

International Nuclear Information System (INIS)

Arhur, D.; Perrot, Y.; Bidard, C.; Friconneau, J.P.; Palmer, J.D.; Semeraro, L.

2005-01-01

This paper is part of the Remote Handling (RH) activities for the future fusion reactor ITER. Specifically it relates to the possibility to carry out close inspection tasks of the Vacuum Vessel first wall using a long reach robot called the 'Articulated Inspection Arm' (AIA). Early studies for this device identified the need of improving the accuracy of the end-effector position in such robot structures. Therefore, the aim of this R and D program performed under the European Fusion Development Agreement (EFDA) work program is to develop a flexible parametric model with localised compliances of an AIA-like system, in order to compensate for its flexibilities. The geometric calibration is performed using a non-linear multivariable optimisation technique, which minimizes the average error between the simulated and real robot position. The optimised set of parameters, tested on the first segment of the robot, enables to divide by 3 the error on the end-effector position, in comparison to a rigid model. We expect better prediction after mechanical improvements to reduce the serious backlash in the joints. The prediction model applied to the whole arm will enable errors to be reduced from more than 1 m, in some configurations, to a final accuracy of a few centimetres

Tema 2: The NAO robot as a Persuasive Educational and Entertainment Robot (PEER – a case study on children’s articulation, categorization and interaction with a social robot for learning

Directory of Open Access Journals (Sweden)

Lykke Brogaard Bertel

2016-01-01

Full Text Available The application of social robots as motivational tools and companions in education is increasingly being explored from a theoretical and practical point of view. In this paper, we examine the social robot NAO as a Persuasive Educational and Entertainment Robot (PEER and present findings from a case study on the use of NAO to support learning environments in Danish primary schools. In the case study we focus on the children’s practice of articulation and embodied interaction with NAO and investigate the role of NAO as a ‘tool’, ‘social actor’ or ‘simulating medium’ in the learning designs. We examine whether this categorization is static or dynamic, i. e. develops and changes over the course of the interaction and explore how this relates to and affects the student’s motivation to engage in the NAO-supported learning activities.

Tema 2: The NAO robot as a Persuasive Educational and Entertainment Robot (PEER – a case study on children’s articulation, categorization and interaction with a social robot for learning

Directory of Open Access Journals (Sweden)

Lykke Brogaard Bertel

2015-12-01

Full Text Available The application of social robots as motivational tools and companions in education is increasingly being explored from a theoretical and practical point of view. In this paper, we examine the social robot NAO as a Persuasive Educational and Entertainment Robot (PEER and present findings from a case study on the use of NAO to support learning environments in Danish primary schools. In the case study we focus on the children’s practice of articulation and embodied interaction with NAO and investigate the role of NAO as a ‘tool’, ‘social actor’ or ‘simulating medium’ in the learning designs. We examine whether this categorization is static or dynamic, i. e. develops and changes over the course of the interaction and explore how this relates to and affects the student’s motivation to engage in the NAO-supported learning activities.

Robotics and general surgery.

Science.gov (United States)

Jacob, Brian P; Gagner, Michel

2003-12-01

Robotics are now being used in all surgical fields, including general surgery. By increasing intra-abdominal articulations while operating through small incisions, robotics are increasingly being used for a large number of visceral and solid organ operations, including those for the gallbladder, esophagus, stomach, intestines, colon, and rectum, as well as for the endocrine organs. Robotics and general surgery are blending for the first time in history and as a specialty field should continue to grow for many years to come. We continuously demand solutions to questions and limitations that are experienced in our daily work. Laparoscopy is laden with limitations such as fixed axis points at the trocar insertion sites, two-dimensional video monitors, limited dexterity at the instrument tips, lack of haptic sensation, and in some cases poor ergonomics. The creation of a surgical robot system with 3D visual capacity seems to deal with most of these limitations. Although some in the surgical community continue to test the feasibility of these surgical robots and to question the necessity of such an expensive venture, others are already postulating how to improve the next generation of telemanipulators, and in so doing are looking beyond today's horizon to find simpler solutions. As the robotic era enters the world of the general surgeon, more and more complex procedures will be able to be approached through small incisions. As technology catches up with our imaginations, robotic instruments (as opposed to robots) and 3D monitoring will become routine and continue to improve patient care by providing surgeons with the most precise, least traumatic ways of treating surgical disease.

Active cells for redundant and configurable articulated structures

International Nuclear Information System (INIS)

Swensen, John P; Nawroj, Ahsan I; Pounds, Paul E I; Dollar, Aaron M

2014-01-01

The proposed research effort explores the development of active cells—simple contractile electro-mechanical units that can be used as the material basis for larger articulable structures. Each cell, which might be considered a ‘muscle unit,’ consists of a contractile Nitinol Shape Memory Alloy (SMA) core with conductive terminals. Large numbers of these cells might be combined and externally powered to change phase, contracting to either articulate with a large strain or increase the stiffness of the ensemble, depending on the cell design. Unlike traditional work in modular robotics, the approach presented here focuses on cells that have a simplistic design and function, are inexpensive to fabricate, and are eventually scalable to sub-millimeter sizes, working toward our vision of articulated and robotic structures that can be custom-fabricated from large numbers of general cell units, similar to biological structures. In this paper, we present the design of the active cells and demonstrate their usage with three articulated structures built with them. (paper)

Calibration of a flexible measurement system based on industrial articulated robot and structured light sensor

Science.gov (United States)

Mu, Nan; Wang, Kun; Xie, Zexiao; Ren, Ping

2017-05-01

To realize online rapid measurement for complex workpieces, a flexible measurement system based on an articulated industrial robot with a structured light sensor mounted on the end-effector is developed. A method for calibrating the system parameters is proposed in which the hand-eye transformation parameters and the robot kinematic parameters are synthesized in the calibration process. An initial hand-eye calibration is first performed using a standard sphere as the calibration target. By applying the modified complete and parametrically continuous method, we establish a synthesized kinematic model that combines the initial hand-eye transformation and distal link parameters as a whole with the sensor coordinate system as the tool frame. According to the synthesized kinematic model, an error model is constructed based on spheres' center-to-center distance errors. Consequently, the error model parameters can be identified in a calibration experiment using a three-standard-sphere target. Furthermore, the redundancy of error model parameters is eliminated to ensure the accuracy and robustness of the parameter identification. Calibration and measurement experiments are carried out based on an ER3A-C60 robot. The experimental results show that the proposed calibration method enjoys high measurement accuracy, and this efficient and flexible system is suitable for online measurement in industrial scenes.

Genetic algorithm trajectory plan optimization for EAMA: EAST Articulated Maintenance Arm

Energy Technology Data Exchange (ETDEWEB)

Wu, Jing, E-mail: wujing@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd., Hefei, Anhui (China); Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland); Song, Yuntao; Cheng, Yong; Zhao, Wenglong [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd., Hefei, Anhui (China); Wang, Yongbo [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

2016-11-01

Highlights: • A redundant 10-DOF serial-articulated robot for EAST assembly and maintains is presented. • A trajectory optimization algorithm of the robot is developed. • A minimum jerk objective is presented to suppress machining vibration of the robot. - Abstract: EAMA (EAST Articulated Maintenance Arm) is an articulated serial manipulator with 7 degrees of freedom (DOF) articulated arm followed by 3-DOF gripper, total length is 8.867 m, works in experimental advanced superconductor tokamak (EAST) vacuum vessel (VV) to perform blanket inspection and remote maintenance tasks. This paper presents a trajectory optimization method which aims to pursue the 7-DOF articulated arm a stable movement, which keeps the mounted inspection camera anti-vibration. Based on dynamics analysis, trajectory optimization algorithm adopts multi-order polynomial interpolation in joint space and high order geometry Jacobian transform. The object of optimization algorithm is to suppress end-effector movement vibration by minimizing jerk RMS (root mean square) value. The proposed solution has such characteristics which can satisfy kinematic constraints of EAMA’s motion and ensure the arm running under the absolute values of velocity, acceleration and jerk boundaries. GA (genetic algorithm) is employed to find global and robust solution for this problem.

Contribution to the automatic command in robotics - Application to the command by microprocessors of the articulated systems; Contribution a la commande automatique en robotique. Application a la commande par microprocesseurs des manipulateurs articules

Energy Technology Data Exchange (ETDEWEB)

Al Mouhamed, Mayez

1982-01-29

The first part of the present paper deals with the main methods of changing the coordinates for a general articulated system. After a definition of the coordinates changing, we propose a coordination system designed for easy programming of the movements. Its characteristic is to permit the action anywhere on the manipulated object. The second part deals with the force regulation problem. For this purpose we have developed a general force sensor. The informations delivered by the sensor are used by force regulators which are intended for the automatic assembly of subsystems. In the third part the dynamic problem of the articulated systems is exposed. We present a new method which allows to determine dynamic parameters from appropriate motions of the robot. These parameters are then used to implement the dynamic control. Several applications, using the powerful microprocessor INTEL 8086 and its arithmetic coprocessor 8087, are presented, in order to demonstrate the performances gained. (author) [French] Dans la premiere partie de ce memoire, nous exposons les principales methodes de changement de coordonnees pour un systeme articule general. Apres une definition adequate de ce dernier, nous proposons un systeme de coordination permettant une programmation facile des mouvements. Sa caracteristique est de prendre comme centre d'action un point quelconque de l'objet manipule. Dans la deuxieme partie, nous etudions la regulation en effort. Pour cela nous avons developpe un capteur de forces general. Les informations que delivre ce dernier sont utilisees par des regulateurs d'effort adaptes au contexte de l'assemblage automatique des pieces. Dans la troisieme partie, nous exposons une nouvelle methode de commande dynamique des systemes articules. Nous obtenons des parametres dynamiques du robot a partir de mouvements appropries. Ces derniers sont ensuite utilises dans l'elaboration des commandes. Des applications utilisant le microprocesseur INTEL 8086 avec son

Open software architecture for east articulated maintenance arm

International Nuclear Information System (INIS)

Wu, Jing; Wu, Huapeng; Song, Yuntao; Li, Ming; Yang, Yang; Alcina, Daniel A.M.

2016-01-01

Highlights: • A software requirement of serial-articulated robot for EAST assembly and maintains is presented. • A open software architecture of the robot is developed. • A component-based model distribution system with real-time communication of the robot is constructed. - Abstract: For the inside inspection and the maintenance of vacuum vessel in the EAST, an articulated maintenance arm is developed. In this article, an open software architecture developed for the EAST articulated maintenance arm (EAMA) is described, which offers a robust and proper performance and easy-going experience based on standard open robotic platform OROCOS. The paper presents a component-based model software architecture using multi-layer structure: end layer, up layer, middle, and down layer. In the end layer the components are defined off-line in the task planner manner. The components in up layer complete the function of trajectory plan. The CORBA, as a communication framework, is adopted to exchange the data between the distributed components. The contributors use Real-Time Workshop from the MATLAB/Simulink to generate the components in the middle layer. Real-time Toolkit guarantees control applications running in the hard real-time mode. Ethernets and the CAN bus are used for data transfer in the down layer, where the components implement the hardware functions. The distributed architecture of control system associates each processing node with each joint, which is mapped to a component with all functioning features of the framework.

Open software architecture for east articulated maintenance arm

Energy Technology Data Exchange (ETDEWEB)

Wu, Jing, E-mail: wujing@ipp.ac.cn [Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd Hefei Anhui (China); Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland); Song, Yuntao [Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd Hefei Anhui (China); Li, Ming [Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland); Yang, Yang [Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd Hefei Anhui (China); Alcina, Daniel A.M. [Lappeenranta University of Technology, Skinnarilankatu 34 Lappeenranta (Finland)

2016-11-01

Highlights: • A software requirement of serial-articulated robot for EAST assembly and maintains is presented. • A open software architecture of the robot is developed. • A component-based model distribution system with real-time communication of the robot is constructed. - Abstract: For the inside inspection and the maintenance of vacuum vessel in the EAST, an articulated maintenance arm is developed. In this article, an open software architecture developed for the EAST articulated maintenance arm (EAMA) is described, which offers a robust and proper performance and easy-going experience based on standard open robotic platform OROCOS. The paper presents a component-based model software architecture using multi-layer structure: end layer, up layer, middle, and down layer. In the end layer the components are defined off-line in the task planner manner. The components in up layer complete the function of trajectory plan. The CORBA, as a communication framework, is adopted to exchange the data between the distributed components. The contributors use Real-Time Workshop from the MATLAB/Simulink to generate the components in the middle layer. Real-time Toolkit guarantees control applications running in the hard real-time mode. Ethernets and the CAN bus are used for data transfer in the down layer, where the components implement the hardware functions. The distributed architecture of control system associates each processing node with each joint, which is mapped to a component with all functioning features of the framework.

Contribution to the automatic command in robotics - Application to the command by microprocessors of the articulated systems

International Nuclear Information System (INIS)

Al Mouhamed, Mayez

1982-01-01

The first part of the present paper deals with the main methods of changing the coordinates for a general articulated system. After a definition of the coordinates changing, we propose a coordination system designed for easy programming of the movements. Its characteristic is to permit the action anywhere on the manipulated object. The second part deals with the force regulation problem. For this purpose we have developed a general force sensor. The informations delivered by the sensor are used by force regulators which are intended for the automatic assembly of subsystems. In the third part the dynamic problem of the articulated systems is exposed. We present a new method which allows to determine dynamic parameters from appropriate motions of the robot. These parameters are then used to implement the dynamic control. Several applications, using the powerful microprocessor INTEL 8086 and its arithmetic coprocessor 8087, are presented, in order to demonstrate the performances gained. (author) [fr

Two-Armed, Mobile, Sensate Research Robot

Science.gov (United States)

Engelberger, J. F.; Roberts, W. Nelson; Ryan, David J.; Silverthorne, Andrew

2004-01-01

The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid-size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and natural-language communication, so that the ART could emulate humans in many activities. The ART could be developed into a variety of highly capable robotic assistants for general or specific applications. There is especially great potential for the development of ART-based robots as substitutes for live-in health-care aides for home-bound persons who are aged, infirm, or physically handicapped; these robots could greatly reduce the cost of home health care and extend the term of independent living. The ART is a fully autonomous and untethered system. It includes a mobile base on which is mounted an extensible torso topped by a head, shoulders, and two arms. All subsystems of the ART are powered by a rechargeable, removable battery pack. The mobile base is a differentially- driven, nonholonomic vehicle capable of a speed >1 m/s and can handle a payload >100 kg. The base can be controlled manually, in forward/backward and/or simultaneous rotational motion, by use of a joystick. Alternatively, the motion of the base can be controlled autonomously by an onboard navigational computer. By retraction or extension of the torso, the head height of the ART can be adjusted from 5 ft (1.5 m) to 6 1/2 ft (2 m), so that the arms can reach either the floor or high shelves, or some ceilings. The arms are symmetrical. Each arm (including the wrist) has a total of six rotary axes like those of the human shoulder, elbow, and wrist joints. The arms are actuated by electric motors in combination with brakes and gas-spring assists on the shoulder and elbow joints. The arms are operated under closed-loop digital control. A receptacle for an end effector is mounted on the tip of the wrist and

Conceptual design main progress of EAST Articulated Maintenance Arm (EAMA) system

Energy Technology Data Exchange (ETDEWEB)

Shi, Shanshuang, E-mail: shiss@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Song, Yuntao; Cheng, Yong [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); Villedieu, Eric; Bruno, Vincent [CEA-IRFM, F-13108 Saint-Paul-Lez-Durance (France); Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China); Wu, Huapeng [Laboratory of Intelligent Machines, Lappeenranta University of Technology (Finland); Wang, Peng [State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000 (China); Hao, Zhiwei; Li, Yang; Wang, Kun; Pan, Hongtao [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031 (China)

2016-03-15

Highlights: • EAST Articulated Maintenance Arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM. • Conceptual design for a 3-DOF wrist end effector with gripper has been finished. • Kinematic design can reach 90% of the workspace inside EAST tokamak vessel. • A prototype of EAMA arm segment has been built to validate the design. - Abstract: EAST articulated maintenance arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM for the purpose of remote inspection and simple maintenance operations in EAST vacuum vessel during physical experiments without breaking the ultra-high vacuum condition. The EAMA system design is based on a similar articulated inspection arm robot successfully demonstrated in Tore Supra in 2008. In order to better meet EAST configurations and maintenance requirements, optimized mechanisms and dimensions are considered for EAMA robot as upgrades. Besides, the segmented arm is equipped with a 3-DOF wrist end effector and gripper for gripping operation as well as inspection. Some calculations and simulations on statics, kinematics and workspace of EAMA have been presented to validate the feasibility. This paper introduces the overall design of the EAMA robot and presents implementation progress.

Conceptual design main progress of EAST Articulated Maintenance Arm (EAMA) system

International Nuclear Information System (INIS)

Shi, Shanshuang; Song, Yuntao; Cheng, Yong; Villedieu, Eric; Bruno, Vincent; Feng, Hansheng; Wu, Huapeng; Wang, Peng; Hao, Zhiwei; Li, Yang; Wang, Kun; Pan, Hongtao

2016-01-01

Highlights: • EAST Articulated Maintenance Arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM. • Conceptual design for a 3-DOF wrist end effector with gripper has been finished. • Kinematic design can reach 90% of the workspace inside EAST tokamak vessel. • A prototype of EAMA arm segment has been built to validate the design. - Abstract: EAST articulated maintenance arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM for the purpose of remote inspection and simple maintenance operations in EAST vacuum vessel during physical experiments without breaking the ultra-high vacuum condition. The EAMA system design is based on a similar articulated inspection arm robot successfully demonstrated in Tore Supra in 2008. In order to better meet EAST configurations and maintenance requirements, optimized mechanisms and dimensions are considered for EAMA robot as upgrades. Besides, the segmented arm is equipped with a 3-DOF wrist end effector and gripper for gripping operation as well as inspection. Some calculations and simulations on statics, kinematics and workspace of EAMA have been presented to validate the feasibility. This paper introduces the overall design of the EAMA robot and presents implementation progress.

An Articulated Inspection Arm for fusion purposes

Energy Technology Data Exchange (ETDEWEB)

Villedieu, E., E-mail: eric.villedieu@cea.fr [CEA-IRFM, 13108 Saint Paul lez Durance (France); Bruno, V.; Pastor, P.; Gargiulo, L. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Song, Y.T.; Cheng, Y.; Feng, H. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Liu, C. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Shi, S.S. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)

2016-11-01

Highlights: • Requirements for in vacuum tokamak inspection are presented. • Development of a prototype of the Articulated Inspection Arm is described. • The upgrade of the prototype to convert it into a fully operational device is detailed. • Future applications of inspection robots in the new fusion reactors is discussed. - Abstract: Fusion Tokamaks are complex machines which require special conditions for their operation, in particular, high vacuum inside the vessel and high temperature of the vessel walls. During plasma phases, the first wall components are highly stressed and a control is necessary in case of doubt about their condition. To be able to make safely such an inspection in a short period of time is a great advantage. The Articulated Inspection Arm (AIA) developed by the CEA provides the capability for fast inspections of the first wall overall surface keeping the vacuum and temperature conditions of the vessel. The robot prototype was validated in Tore Supra in 2008. In the frame of a joint laboratory, CEA/IRFM and ASIPP have decided to upgrade the existing AIA prototype to use it routinely in the EAST and WEST tokamaks. The robot has followed an important upgrade program in 2013 and 2014. The document presents the various upgrades made on the mechanics, the sensors, the electronics, the control station and the integration adaptation for the operation on EAST. From the AIA experience, thoughts for future inspection robots are given.

An Articulated Inspection Arm for fusion purposes

International Nuclear Information System (INIS)

Villedieu, E.; Bruno, V.; Pastor, P.; Gargiulo, L.; Song, Y.T.; Cheng, Y.; Feng, H.; Liu, C.; Shi, S.S.

2016-01-01

Highlights: • Requirements for in vacuum tokamak inspection are presented. • Development of a prototype of the Articulated Inspection Arm is described. • The upgrade of the prototype to convert it into a fully operational device is detailed. • Future applications of inspection robots in the new fusion reactors is discussed. - Abstract: Fusion Tokamaks are complex machines which require special conditions for their operation, in particular, high vacuum inside the vessel and high temperature of the vessel walls. During plasma phases, the first wall components are highly stressed and a control is necessary in case of doubt about their condition. To be able to make safely such an inspection in a short period of time is a great advantage. The Articulated Inspection Arm (AIA) developed by the CEA provides the capability for fast inspections of the first wall overall surface keeping the vacuum and temperature conditions of the vessel. The robot prototype was validated in Tore Supra in 2008. In the frame of a joint laboratory, CEA/IRFM and ASIPP have decided to upgrade the existing AIA prototype to use it routinely in the EAST and WEST tokamaks. The robot has followed an important upgrade program in 2013 and 2014. The document presents the various upgrades made on the mechanics, the sensors, the electronics, the control station and the integration adaptation for the operation on EAST. From the AIA experience, thoughts for future inspection robots are given.

Simulated Energy Usage for a Novel 6 DOF Articulated Robot

International Nuclear Information System (INIS)

Shaik, A A; Tlale, N; Bright, G

2014-01-01

The serial robot architecture is widespread in modern day manufacturing, and over the last few decades the technology has matured and settled to its current state. One drawback from the architecture however is the location of motors and gearboxes which are either at the joint it controls or close by. A novel hybrid 6 DOF robot was designed to move all the actuators to the robot base, and to control the desired axis through a set of connected links and gears, while maintaining the same workspace and dexterity. This would reduce the inertia of the movable part of the robot and some of the moment arms on the 3 axes required for translation of the 3 DOF spherical wrist. Doing so would decrease the energy requirements when compared to a 6 DOF serial robot. This paper focuses on the mathematical modelling and simulation of the novel hybrid machine design and compares it to an equivalent serial robot

Major upgrade of the articulated inspection arm control system to fulfill daily operation requirements

Energy Technology Data Exchange (ETDEWEB)

Pastor, P., E-mail: patrick.pastor@cea.fr [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Villedieu, E.; Allegretti, L.; Vincent, B.; Barbuti, A.; Bruno, V.; Coquillat, P.; Dechelle, C.; Gargiulo, L.; Le, R.; Malard, P.; Martinez, A.; Nouailletas, R. [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Yuntao, Song; Yong, Cheng; Chen, Liu; Hansheng, Feng; Shanshuang, Shi [ASIPP, Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China)

2015-10-15

Highlights: • We propose an overview of the work which has been done to upgrade the control system of the AIA robot (articulated inspection arm) to fulfill daily operation requirements for tokamak inspection. • The control system is based on the use of new position sensors, new electronics design and new supervisor software. • Final tests are ongoing in the EAST scale 1 tokamak mock-up. Routine operation of the robot at EAST will start in the beginning of 2015. - Abstract: An articulated inspection arm (AIA) has been developed by CEA for visual inspection between pulses inside the Tore Supra tokamak vacuum vessel without breaking temperature and vacuum conditions. The eight meters length robot is composed of a shuttle and six articulated segments with a video camera at its end. A demonstration prototype has been achieved in 2008 at Tore Supra (Gargiulo, 2007; Houry, 2008; Perrot, 2003). A project to upgrade the AIA into a fully operational robot has been undertaken by IRFM and ASIPP in an Associated Laboratory. It will be in operation first in the EAST machine and afterwards in Tore Supra in its WEST (W/Tungsten Environment in Steady-state Tokamak) configuration where it is of paramount importance to survey possible degradation of W component surface. The control system of the robot has been extensively upgraded. The effort has been focused on three areas: (1) improvement of the arm position accuracy, (2) increase of the operational robustness, (3) use of a powerful graphical user interface including simulation of trajectories and robot deployment capabilities in a 3D viewer environment. The aim of this paper is to detail the architecture of the AIA control system.

Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

Energy Technology Data Exchange (ETDEWEB)

Maehata, K.; Mori, N. [Kayaba Industry Co. Ltd., Tokyo (Japan)

1999-05-15

Concerning a hydraulic bilateral construction robot, its system constitution, structures and functions of important components, and the results of some tests are explained, and the researches conducted at Gifu University are described. The construction robot in this report is a servo controlled system of a version developed from the mini-shovel now available in the market. It is equipped, in addition to an electrohydraulic servo control system, with various sensors for detecting the robot attitude, vibration, and load state, and with a camera for visualizing the surrounding landscape. It is also provided with a bilateral joy stick which is a remote control actuator capable of working sensation feedback and with a rocking unit that creates robot movements of rolling, pitching, and heaving. The construction robot discussed here, with output increased and response faster thanks to the employment of a hydraulic driving system for the aim of building a robot system superior in performance to the conventional model designed primarily for heavy duty, proves after tests to be a highly sophisticated remotely controlled robot control system. (NEDO)

Robotic radical perineal cystectomy and extended pelvic lymphadenectomy: initial investigation using a purpose-built single-port robotic system.

Science.gov (United States)

Maurice, Matthew J; Kaouk, Jihad H

2017-12-01

To assess the feasibility of radical perineal cystoprostatectomy using the latest generation purpose-built single-port robotic surgical system. In two male cadavers the da Vinci ® SP1098 Surgical System (Intuitive Surgical, Sunnyvale, CA, USA) was used to perform radical perineal cystoprostatectomy and bilateral extended pelvic lymph node dissection (ePLND). New features in this model include enhanced high-definition three-dimensional optics, improved instrument manoeuvrability, and a real-time instrument tracking and guidance system. The surgery was accomplished through a 3-cm perineal incision via a novel robotic single-port system, which accommodates three double-jointed articulating robotic instruments, an articulating camera, and an accessory laparoscopic instrument. The primary outcomes were technical feasibility, intraoperative complications, and total robotic operative time. The cases were completed successfully without conversion. There were no accidental punctures or lacerations. The robotic operative times were 197 and 202 min. In this preclinical model, robotic radical perineal cystoprostatectomy and ePLND was feasible using the SP1098 robotic platform. Further investigation is needed to assess the feasibility of urinary diversion using this novel approach and new technology. © 2017 The Authors BJU International © 2017 BJU International Published by John Wiley & Sons Ltd.

Control of articulated snake robot under dynamic active constraints.

Science.gov (United States)

Kwok, Ka-Wai; Vitiello, Valentina; Yang, Guang-Zhong

2010-01-01

Flexible, ergonomically enhanced surgical robots have important applications to transluminal endoscopic surgery, for which path-following and dynamic shape conformance are essential. In this paper, kinematic control of a snake robot for motion stabilisation under dynamic active constraints is addressed. The main objective is to enable the robot to track the visual target accurately and steadily on deforming tissue whilst conforming to pre-defined anatomical constraints. The motion tracking can also be augmented with manual control. By taking into account the physical limits in terms of maximum frequency response of the system (manifested as a delay between the input of the manipulator and the movement of the end-effector), we show the importance of visual-motor synchronisation for performing accurate smooth pursuit movements. Detailed user experiments are performed to demonstrate the practical value of the proposed control mechanism.

3D YAG laser cutting robot. 3 jigen YAG laser setsudan robot

Energy Technology Data Exchange (ETDEWEB)

Mukai, Y. (Matsushita Electric Industrial Co. Ltd., Osaka (Japan))

1991-11-01

The present status was introduced of three-dimensional processing by the YAG laser multi-articulation robot to introduce the focusing system. The lowering in locus accuracy of multi-articulation robot is caused by the accuracy and time of computation to interpolate the locus, response characteristics of servo system, and calibration problem of mechanical/structural system. Also as low in output power of laser, it has problem in focusing the energy in the radiating optical system. A focusing system, high in response velocity, is necessary in the processor to use the optical fiber in the optical transfer system. As processing and measuring at an identical spot, the present system can integrate the detection use electrode and nozzle so as to use an electrostatic capacity type sensor, high in response frequency. To avoid the interference with jig, etc., the nozzle of radiating unit was integrated with the detection use electrode so that development was made of height sensor, capable of executing the three-dimensional processing. The present robot is characterized by a standardized equipment of control system with a sliding shaft, independent of the operational shaft properly of robot in order to be exclusively used for the focusing. 9 figs.

Beyond speculative robot ethics: a vision assessment study on the future of the robotic caretaker.

Science.gov (United States)

van der Plas, Arjanna; Smits, Martijntje; Wehrmann, Caroline

2010-11-01

In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also led to some promising co-designed robot concepts in which jointly articulated moral guidelines are embedded. With our model, we think to have designed an interesting response on a recent call for a less speculative ethics of technology by encouraging discussions about the quality of positive and negative visions on the future of robotics.

Who’s Afraid of Robots?

DEFF Research Database (Denmark)

Di Nucci, Ezio; Santoni de Sio, Filippo

2014-01-01

We argue that lack of direct and conscious control is not, in principle, a reason to be afraid of machines in general and robots in particular: in order to articulate the ethical and political risks of increasing automation one must, therefore, tackle the difficult task of precisely delineating...... the theoretical and practical limits of sustainable delegation to robots....

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.

Science.gov (United States)

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju

2017-01-01

Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

Science.gov (United States)

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae

2017-01-01

Purpose Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site. PMID:27873506

Rugged Walking Robot

Science.gov (United States)

Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.

1990-01-01

Proposed walking-beam robot simpler and more rugged than articulated-leg walkers. Requires less data processing, and uses power more efficiently. Includes pair of tripods, one nested in other. Inner tripod holds power supplies, communication equipment, computers, instrumentation, sampling arms, and articulated sensor turrets. Outer tripod holds mast on which antennas for communication with remote control site and video cameras for viewing local and distant terrain mounted. Propels itself by raising, translating, and lowering tripods in alternation. Steers itself by rotating raised tripod on turntable.

Robotic hip arthroscopy in human anatomy.

Science.gov (United States)

Kather, Jens; Hagen, Monika E; Morel, Philippe; Fasel, Jean; Markar, Sheraz; Schueler, Michael

2010-09-01

Robotic technology offers technical advantages that might offer new solutions for hip arthroscopy. Two hip arthroscopies were performed in human cadavers using the da Vinci surgical system. During both surgeries, a robotic camera and 5 or 8 mm da Vinci trocars with instruments were inserted into the hip joint for manipulation. Introduction of cameras and working instruments, docking of the robotic system and instrument manipulation was successful in both cases. The long articulating area of 5 mm instruments limited movements inside the joint; an 8 mm instrument with a shorter area of articulation offered an improved range of motion. Hip arthroscopy using the da Vinci standard system appears a feasible alternative to standard arthroscopy. Instruments and method of application must be modified and improved before routine clinical application but further research in this area seems justified, considering the clinical value of such an approach. Copyright 2010 John Wiley & Sons, Ltd.

The robotic appendicovesicostomy and bladder augmentation: the next frontier in robotics, are we there?

Science.gov (United States)

Cohen, Andrew J; Pariser, Joseph J; Anderson, Blake B; Pearce, Shane M; Gundeti, Mohan S

2015-02-01

There is growing interest in applying robotic-assisted laparoscopic techniques to complex reconstructive pelvic surgery owing to inherent benefits of precision, tissue handling, and articulating instruments for suturing. This review examines preliminary experiences with robotic-assisted laparoscopic augmentation ileocystoplasty and Mitrofanoff appendicovesicostomy (RALIMA) as either an isolated or combined procedure. These series suggest RALIMA is feasible, with the benefit of early recovery and improved cosmetic results in selected patients. The robotic approach incurs functional outcomes and complication rates similar to those of open techniques. Given the steep learning curve, only surgeons with extensive robotic experience are currently adopting this technique. Copyright © 2015 Elsevier Inc. All rights reserved.

Trust me, I am Robot!

DEFF Research Database (Denmark)

Stoyanova, Angelina; Drefeld, Jonas; Tanev, Stoyan

of the emerging trust relationship is a key component of the use value of the robotic system and of the value proposition of the robotic system producers. The study is based on a qualitative research approach combining the phenomenological research paradigm with a grounded theory building approach based......The aim of this paper is to discuss some of the issues regarding the emergence of trust within the context of the interaction between human patients and medical rehabilitation technology based on robot system solutions. The starting assumption of the analysis is that the articulation...

Re: The Effect of Pelvic Organ Prolapse Repair on Vaginal Sensation

Directory of Open Access Journals (Sweden)

Lowenstein L

2016-03-01

Full Text Available The association between the pelvic organ prolapse (POP and sensory functioning of the genital region has not been studied well. It is not also obvious whether the changes occurring at the same time are the cause or the result. In this study, the authors investigated the quantitative sensory changes one day before and 6 months after the surgical repair of POP by robotic sacrocolpopexy. They also used the Pelvic Organ Prolapse Distress Inventory-6 which quantifies the bother and distress caused by the pelvic symptoms. By this method, the initial perception of a sensation of temperature (hot or cold and vibration was measured. After six months, sensitivity to thermal stimuli was found to be significantly improved, but there was no significant change in the vaginal and clitoral vibratory sensory thresholds. The value of reduced sensation in the genitals is not a well-known issue. We know that the thermal and vibratory sensations are diminished in female sexual dysfunction and they can be important in orgasmic function also. It is a well-designed study although it has some limitations. The anatomic correction in POP surgery could improve the genital sensation. Prevention or, at least, early correction of POP can provide serious advantages not only for urinary system but also for the genital functions of women.

Method of controlling innovative articulation for articulated vehicle

Directory of Open Access Journals (Sweden)

Szumilas Mateusz

2018-01-01

Full Text Available Operation of an articulated vehicle is dependent on an appropriate damping action taking place in its rotary articulation. In order to analyse an impact of the control of the articulation on the motion of the vehicle a model of the vehicle with a controllable hydraulic damping system has been developed. A 90 degree turn and lane change manoeuvres were simulated using LabVIEW software. Modification of the damping parameters of the articulation, according to the velocity and articulation angle of the vehicle, proved to have a significant impact on the vehicle motion stability. Moreover, the sensor layer necessary for the control algorithm as well as the diagnostic system is described.

Kinematics Control and Analysis of Industrial Robot

Science.gov (United States)

Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei

2018-03-01

The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.

Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.

Science.gov (United States)

Hirzinger, G; Brunner, B; Landzettel, K; Sporer, N; Butterfass, J; Schedl, M

2003-01-01

The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the space station.

Sensation Seeking in Street Violence

DEFF Research Database (Denmark)

Heinskou, Marie Bruvik; Liebst, Lasse Suonperä

Sensation seeking leads to violence—runs an influential hypothesis in the social scientific study of violent behavior. Although studies confirm that violence is sometimes structured by sensation-seeking motives, the literature seldom comments on the limits to this explanation of violence....... The present study examines the scale of violence motivated by sensation seeking and the degree to which there are several distinct forms of sensation seeking motives operative in violence, rather than a sensation-seeking motive in the singular. The study draws on a sample of situations from Copenhagen...... involving street violence, which are coded quantitatively and qualitatively. Our analysis shows that sensation seeking only seldom seems to play a role in the structuring of street violence. Moreover, the data indicate that sensation seeking finds expression in street violence situations in two different...

Sensation seeking and error processing.

Science.gov (United States)

Zheng, Ya; Sheng, Wenbin; Xu, Jing; Zhang, Yuanyuan

2014-09-01

Sensation seeking is defined by a strong need for varied, novel, complex, and intense stimulation, and a willingness to take risks for such experience. Several theories propose that the insensitivity to negative consequences incurred by risks is one of the hallmarks of sensation-seeking behaviors. In this study, we investigated the time course of error processing in sensation seeking by recording event-related potentials (ERPs) while high and low sensation seekers performed an Eriksen flanker task. Whereas there were no group differences in ERPs to correct trials, sensation seeking was associated with a blunted error-related negativity (ERN), which was female-specific. Further, different subdimensions of sensation seeking were related to ERN amplitude differently. These findings indicate that the relationship between sensation seeking and error processing is sex-specific. Copyright © 2014 Society for Psychophysiological Research.

A New Cancer Radiotherapy System Using Multi Robotic Manipulators

International Nuclear Information System (INIS)

Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok

2013-01-01

The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

A New Cancer Radiotherapy System Using Multi Robotic Manipulators

Energy Technology Data Exchange (ETDEWEB)

Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2013-10-15

The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

Sensation of Movement

DEFF Research Database (Denmark)

Sensation of Movement will discuss the role of sensation in the control of action, bodily self-recognition, and sense of agency. Sensing movement is dependent on a range of information received by the brain, from signalling in the peripheral sensory organs to the establishment of higher order goals....... This volume will question whether one type of information is more relevant for the ability to sense and control movements, and demonstrate the importance of integrating neuroscientific knowledge with philosophical perspectives, in order to arrive at new insights into how sensation of movement can be studied...

Differences in risk experience between sensation avoiders and sensation seekers

NARCIS (Netherlands)

Heino, A.; van der Molen, H.H.; Wilde, G.J S

The prime purpose of our study was to find out whether the need for stimulation has a systematic influence on perceived risk. While driving on a motorway, 21 male sensation avoiders and 21 male sensation seekers had to follow another car, once at a free following distance chosen by the subject

Removal of proprioception by BCI raises a stronger body ownership illusion in control of a humanlike robot

OpenAIRE

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2016-01-01

Body ownership illusions provide evidence that our sense of self is not coherent and can be extended to non-body objects. Studying about these illusions gives us practical tools to understand the brain mechanisms that underlie body recognition and the experience of self. We previously introduced an illusion of body ownership transfer (BOT) for operators of a very humanlike robot. This sensation of owning the robot?s body was confirmed when operators controlled the robot either by performing t...

Report on the actual situations of the commercially applied, industrial robots; Sangyoyo robot ni kansuru kigyo jittai chosa hokokusho

Energy Technology Data Exchange (ETDEWEB)

NONE

1991-08-01

Described herein are the actual situations of industrial robots as the FY 1991 questionnaire survey results. The questionnaires were sent to 541 factories, and 74% thereof were recovered. The major machine types fall into categories of manual manipulator, stationary sequence manipulator, remote controlling robot, sequence robot, playback robot, numerically controlling robot and intelligent robot. They are mainly driven by hydraulic, pneumatic, or electrical power. Their mechanism types cover polar coordinate, cylindrical coordinate, rectangular coordinate and articulation types, among others. They are mainly controlled by electronically, electrically (hydraulic or relay), or pneumatically. The major purposes for general works include casting, forging, resin processing, heat treatment, pressing, welding, coating, machining, cutting, assembling, reception/delivery of goods, and testing/inspection. The special works they are in service include those for power/gas/water services, construction works, and research and development. By work step, they are in service, e.g., for loading/unloading goods, palletising/packing goods, supporting, screening, welding, spraying/coating, grinding, clamping, assembling, and riveting. (NEDO)

Approaches to probabilistic model learning for mobile manipulation robots

CERN Document Server

Sturm, Jürgen

2013-01-01

Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

New Developments in Robotics and Single-site Gynecologic Surgery.

Science.gov (United States)

Matthews, Catherine A

2017-06-01

Within the last 10 years there have been significant advances in minimal-access surgery. Although no emerging technology has demonstrated improved outcomes or fewer complications than standard laparoscopy, the introduction of the robotic surgical platform has significantly lowered abdominal hysterectomy rates. While operative time and cost were higher in robotic-assisted procedures when the technology was first introduced, newer studies demonstrate equivalent or improved robotic surgical efficiency with increased experience. Single-port hysterectomy has not improved postoperative pain or subjective cosmetic results. Emerging platforms with flexible, articulating instruments may increase the uptake of single-port procedures including natural orifice transluminal endoscopic cases.

Social Sensations of Symptoms

DEFF Research Database (Denmark)

Meinert, Lotte; Whyte, Susan Reynolds

2017-01-01

The interpretation of sensations and the recognition of symptoms of a sickness, as well as the movement to seek treatment, have long been recognized in medical anthropology as inherently social processes. Based on cases of HIV and trauma (PTSD) in Uganda, we show that even the first signs....../symptoms; differential recognition of symptoms; and the embodied sociality of treatment....... and sensations of sickness can be radically social. The sensing body can be a ‘social body’ – a family, a couple, a network – a unit that transcends the individual body. In this article we focus on four aspects of the sociality of sensations and symptoms: mode of transmission; the shared experience of sensations...

Perancangan Lengan Robot 5 Derajat Kebebasan Dengan Pendekatan Kinematika

Directory of Open Access Journals (Sweden)

- Firmansyah

2014-10-01

Full Text Available This study discusses the design of arm robot model with 5 degree of freedom that is designed to be a small-scale model of the articulated robot industry to simulate the movement of the robots industry. The objective of this research is to build a real arm robot based on kinematic aspects with the movement of waist, shoulder, elbow, wrist pitch, wrist roll and gripper, and to analyze the robot movement. The design includes building the real arm robot based on Arduino Uno board controller and the movement of the robot using servo motor DC. The robot  can be controlled automatically from the computer with the RS-232 or USB port interface and it learns about the kinematic of the robot’s arm when an experiment on the forward kinematic is accomplished. The robot was running well, with the maximum distance that can be reached by the robot on the coordinate axis  x = 425 mm, y = 425 mm and  z = 480 mm.

University of Florida, University research program in robotics. Annual technical progress report

International Nuclear Information System (INIS)

Crane, C.D. III; Tulenko, J.S.

1994-05-01

Progress is reported in the areas of environmental hardening, database, world modeling, vision, man-machine interface, advanced liquid metal reactor inspection robot, and articulated transporter/manipulator system (ATMS) development

University of Florida, University research program in robotics. Annual technical progress report

Energy Technology Data Exchange (ETDEWEB)

Crane, C.D. III; Tulenko, J.S.

1994-05-01

Progress is reported in the areas of environmental hardening, database, world modeling, vision, man-machine interface, advanced liquid metal reactor inspection robot, and articulated transporter/manipulator system (ATMS) development.

Analysis on the workspace of palletizing robot based on AutoCAD

Science.gov (United States)

Li, Jin-quan; Zhang, Rui; Guan, Qi; Cui, Fang; Chen, Kuan

2017-10-01

In this paper, a four-degree-of-freedom articulated palletizing robot is used as the object of research. Based on the analysis of the overall configuration of the robot, the kinematic mathematical model is established by D-H method to figure out the workspace of the robot. In order to meet the needs of design and analysis, using AutoCAD secondary development technology and AutoLisp language to develop AutoCAD-based 2D and 3D workspace simulation interface program of palletizing robot. At last, using AutoCAD plugin, the influence of structural parameters on the shape and position of the working space is analyzed when the structure parameters of the robot are changed separately. This study laid the foundation for the design, control and planning of palletizing robots.

Review of surgical robotics user interface: what is the best way to control robotic surgery?

Science.gov (United States)

Simorov, Anton; Otte, R Stephen; Kopietz, Courtni M; Oleynikov, Dmitry

2012-08-01

As surgical robots begin to occupy a larger place in operating rooms around the world, continued innovation is necessary to improve our outcomes. A comprehensive review of current surgical robotic user interfaces was performed to describe the modern surgical platforms, identify the benefits, and address the issues of feedback and limitations of visualization. Most robots currently used in surgery employ a master/slave relationship, with the surgeon seated at a work-console, manipulating the master system and visualizing the operation on a video screen. Although enormous strides have been made to advance current technology to the point of clinical use, limitations still exist. A lack of haptic feedback to the surgeon and the inability of the surgeon to be stationed at the operating table are the most notable examples. The future of robotic surgery sees a marked increase in the visualization technologies used in the operating room, as well as in the robots' abilities to convey haptic feedback to the surgeon. This will allow unparalleled sensation for the surgeon and almost eliminate inadvertent tissue contact and injury. A novel design for a user interface will allow the surgeon to have access to the patient bedside, remaining sterile throughout the procedure, employ a head-mounted three-dimensional visualization system, and allow the most intuitive master manipulation of the slave robot to date.

Optimization-Based Controllers for Robotics Applications (OCRA: The Case of iCub’s Whole-Body Control

Directory of Open Access Journals (Sweden)

Jorhabib G. Eljaik

2018-03-01

Full Text Available OCRA stands for Optimization-based Control for Robotics Applications. It consists of a set of platform-independent libraries which facilitates the development of optimization-based controllers for articulated robots. Hierarchical, weighted, and hybrid control strategies can easily be implemented using these tools. The generic interfaces provided by OCRA allow different robots to use the exact same controllers. OCRA also allows users to specify high-level objectives via tasks. These tasks provide an intuitive way of generating complex behaviors and can be specified in XML format. To illustrate the use of OCRA, an implementation of interest to this research topic for the humanoid robot iCub is presented. OCRA stands for Optimization-based Control for Robotics Applications. It consists of a set of platform-independent libraries which facilitates the development of optimization-based controllers for articulated robots. Hierarchical, weighted, and hybrid control strategies can easily be implemented using these tools. The generic interfaces provided by OCRA allow different robots to use the exact same controllers. OCRA also allows users to specify high-level objectives via tasks. These tasks provide an intuitive way of generating complex behaviors and can be specified in XML format. To illustrate the use of OCRA, an implementation of interest to this research topic for the humanoid robot iCub is presented.

Design and Analysis of a Bio-Inspired Wire-Driven Multi-Section Flexible Robot

OpenAIRE

Li, Zheng; Du, Ruxu

2013-01-01

This paper presents a bio-inspired wire-driven multi-section flexible robot. It is inspired by the snake skeleton and octopus arm muscle arrangements. The robot consists of three sections and each section is made up of several identical vertebras, which are articulated by both spherical joints and a flexible backbone. Each section is driven by two groups of wires, controlling the bending motion in X and Y directions. This design integrates the serpentine robots' structure and the continuum ro...

Experiences of a Motivational Interview Delivered by a Robot: Qualitative Study

Science.gov (United States)

Galvão Gomes da Silva, Joana; Kavanagh, David J; Belpaeme, Tony; Taylor, Lloyd; Beeson, Konna

2018-01-01

Background Motivational interviewing is an effective intervention for supporting behavior change but traditionally depends on face-to-face dialogue with a human counselor. This study addressed a key challenge for the goal of developing social robotic motivational interviewers: creating an interview protocol, within the constraints of current artificial intelligence, which participants will find engaging and helpful. Objective The aim of this study was to explore participants’ qualitative experiences of a motivational interview delivered by a social robot, including their evaluation of usability of the robot during the interaction and its impact on their motivation. Methods NAO robots are humanoid, child-sized social robots. We programmed a NAO robot with Choregraphe software to deliver a scripted motivational interview focused on increasing physical activity. The interview was designed to be comprehensible even without an empathetic response from the robot. Robot breathing and face-tracking functions were used to give an impression of attentiveness. A total of 20 participants took part in the robot-delivered motivational interview and evaluated it after 1 week by responding to a series of written open-ended questions. Each participant was left alone to speak aloud with the robot, advancing through a series of questions by tapping the robot’s head sensor. Evaluations were content-analyzed utilizing Boyatzis’ steps: (1) sampling and design, (2) developing themes and codes, and (3) validating and applying the codes. Results Themes focused on interaction with the robot, motivation, change in physical activity, and overall evaluation of the intervention. Participants found the instructions clear and the navigation easy to use. Most enjoyed the interaction but also found it was restricted by the lack of individualized response from the robot. Many positively appraised the nonjudgmental aspect of the interview and how it gave space to articulate their motivation for

The Development of a Radiation Hardened Robot for Nuclear Facilities

Energy Technology Data Exchange (ETDEWEB)

Jung, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil (and others)

2007-04-15

We has been developed two remotely controlled robotic systems. One is a underwater vehicle for inspection of the internal structures of PWRs and retrieving foreign stubs in the reactor pressure vessels and reactor coolant pipes. The other robotic system consists of a articulated-type mobile robot capable of recovering the failure of the fuel exchange machine and a mini modular mobile robot for inspection of feeder pipes with ultrasonic array sensors in PHWRs. The underwater robot has been designed by considering radiation effect, underwater condition, and accessibility to the working area. The size of underwater robot is designed to enter the cold legs. A extendable manipulator is mounted on the mobile robot, which can restore nuclear fuel exchange machine. The mini modular mobile robot is composed of dual inch worm mechanisms, which are constructed by two gripper bodies that can fix the robot body on to the pipe and move along the longitudinal and to rotate in a circumferential direction to access all of the outer surfaces of the pipe.

ITER articulated inspection arm (AIA): R and D progress on vacuum and temperature technology for remote handling

Energy Technology Data Exchange (ETDEWEB)

Perrot, Y.; Friconneau, J.P. [Robotics and Interactive Systems Unit - CEA/LIST, 92 - Fontenay aux Roses (France); Cordier, J.J.; Gargiulo, L. [Association Euratom-CEA, Centre d' Etudes de Cadarache, 13 - Saint-Paul-lez-Durance (France). Dept. de Recherches sur la Fusion Controlee; Palmer, J.D. [EFDA CSU Garching (Germany); Martin, E. [ITER International Team, Garching (Germany); Tesini, A. [ITER International Team, ITER Naka Joint Work Site, Iberaki-ken (Japan)

2004-07-01

To perform an intervention a short time after plasma shutdown, the operation of the robot will have to be under ITER conditions which means: under high vacuum, pollution avoidance and a temperature ambience around 120 C. The feasibility studies have led to the design of a robot in the shape of a 8.2 meter long articulated arm made up of 5 modules with 11 articulated joints. A single module prototype has been manufactured to be tested. The prototype was set up in a specific vacuum vessel at Tore-Supra facility that can be baked up to 230 C under high-vacuum conditions. The first tests have shown that: -) the efficiency of the actuators at 120 C was the same than in air at room temperature, the speed was slightly lower, -) the monitoring of the temperature of the motor and of the power electronics components showed an increasing of only 40 C during 3 full pitch movements, and -) most of the greases was degassed during the 1 week long baking at 200 C except one which comes from an organic material in a component that has to be identified.

ITER articulated inspection arm (AIA): R and D progress on vacuum and temperature technology for remote handling

International Nuclear Information System (INIS)

Perrot, Y.; Friconneau, J.P.; Cordier, J.J.; Gargiulo, L.; Martin, E.; Tesini, A.

2004-01-01

To perform an intervention a short time after plasma shutdown, the operation of the robot will have to be under ITER conditions which means: under high vacuum, pollution avoidance and a temperature ambience around 120 C. The feasibility studies have led to the design of a robot in the shape of a 8.2 meter long articulated arm made up of 5 modules with 11 articulated joints. A single module prototype has been manufactured to be tested. The prototype was set up in a specific vacuum vessel at Tore-Supra facility that can be baked up to 230 C under high-vacuum conditions. The first tests have shown that: -) the efficiency of the actuators at 120 C was the same than in air at room temperature, the speed was slightly lower, -) the monitoring of the temperature of the motor and of the power electronics components showed an increasing of only 40 C during 3 full pitch movements, and -) most of the greases was degassed during the 1 week long baking at 200 C except one which comes from an organic material in a component that has to be identified

The CI-ROB project: real time monitoring for a robotic prostate curietherapy

International Nuclear Information System (INIS)

Liem, X.; Lartigau, E.; Coelen, V.; Merzouki, R.

2010-01-01

The authors present a project which is still at the proto-typing stage and for which hardware and software are still being developed, and which aims at developing a full line for a robotic curietherapy. It comprises an articulated robotic arm with six degree of freedom, and is based on an auto-regulated loop with real time monitoring and control. An echographic probe acquires the prostate images in real time. An adaptive detection defines the prostate contour. This is performed in a virtual environment which comprises the prostate phantom, the robot and the intervention table. The target is defined in the virtual environment (image coordinates) and coordinates are transmitted to the robot controller which defines the robot movements by using the inverse geometric model. Short communication

Acupuncture sensation during ultrasound guided acupuncture needling

Science.gov (United States)

Park, Jongbae J.; Akazawa, Margeaux; Ahn, Jaeki; Beckman-Harned, Selena; Lin, Feng-Chang; Lee, Kwangjae; Fine, Jason; Davis, Robert T; Langevin, Helene

2014-01-01

Background Although acupuncture sensation (also known as de qi) is a cornerstone of traditional acupuncture therapy, most research has accepted the traditional method of defining acupuncture sensation only through subjective patient reports rather than on any quantifiable physiological basis. Purpose To preliminarily investigate the frequency of key sensations experienced while needling to specific, quantifiable tissue levels (TLs) guided by ultrasound (US) imaging. Methods Five participants received needling at two acupuncture points and two control points at four TLs. US scans were used to determine when each TL was reached. Each volunteer completed 32 sets of modified Southampton Needle Sensation Questionnaires. Part one of the study tested sensations experienced at each TL and part two compared the effect of oscillation alone versus oscillation + rotation. Results In all volunteers, the frequency of pricking, sharp sensations was significantly greater in shallower TLs than deeper (p=0.007); the frequency of sensations described as deep, dull and heavy, as spreading, and as electric shocks was significantly greater in deeper TLs than shallower (p=0.002). Sensations experienced did not significantly differ between real and control points within each of three TLs (p>0.05) except TL 4 (p=0.006). The introduction of needle rotation significantly increased deep, dull, heavy sensations, but not pricking and sharp sensations; within each level, the spectrum of sensation experienced during both oscillation + rotation and oscillation alone did not significantly differ between acupuncture and control points. Conclusion The preliminary study indicates a strong connection between acupuncture sensation and both tissue depth and needle rotation. Furthermore, the new methodology has been proven feasible. A further study with an objective measurement is warranted. PMID:21642648

A MODULAR DESIGN OF A WALL-CLIMBING ROBOT AND ITS MECHATRONICS CONTROLLER

Directory of Open Access Journals (Sweden)

N.S. Tlale

2012-01-01

Full Text Available

ENGLISH ABSTRACT: The modular design of a wall-climbing robot, implementing two articulated legs per module (biped robotic modules, is presented in this paper. Modular design improves a wall-climbing robot’s manoeuvrability and flexibility during surface changes or while walking on uneven surfaces. The design of the articulated legs uses four motors to control the posture of the vacuum cups, achieving the best possible contact with the surface. Each leg can contain more than five sensors for effective feedback control, and additional sensors such as gyros, CCD sensors, etc, can be fitted on a module, depending on the robot’s application. As the number of modules used in the design of the robot is increased, the number of actuators and sensors increases exponentially. A distributed mechatronics controller of such systems is presented.

AFRIKAANSE OPSOMMING: Modulêre ontwerp van 'n muurklim-robot met twee geskarnierde bene per module (twee-benige robotmodules word in hierdie artikel weergegee. Modulêre ontwerp verbeter die muurklim-robot se beweeglikheid en aanpasbaarheid tydens veranderings in die loopvlak of terwyl dit loop op ongelyke oppervlaktes. Ontwerp van geskarnierde bene implementeer vier motors wat die oriëntasie van vakuumsuigdoppe beheer om die bes moontlike kontak met die loopvlak te handhaaf. Elke been kan meer as vyf sensors hê vir doeltreffende terugvoerbeheer, en bykomende sensors soos giroskope, CCD sensors, ens. kan by 'n module gevoeg word soos die toepassing van die robot dit mag vereis. Soos die aantal modules wat in die ontwerp van die robot gebruik word, toeneem, neem die aantal aktiveerders en sensors eksponensiëel toe. 'n Verdeelde megatroniese beheerder van sulke stelsels word aangebied.

Thermal sensation and comfort models for non-uniform and transient environments, part III: Whole-body sensation and comfort

Energy Technology Data Exchange (ETDEWEB)

Zhang, Hui; Arens, Edward; Huizenga, Charlie [Center for the Built Environment, UC Berkeley (United States); Han, Taeyoung [General Motors Company (United States)

2010-02-15

A three-part series presents the development of models for predicting the local thermal sensation (Part I) and local thermal comfort (Part II) of different parts of the human body, and also the whole-body sensation and comfort (Part III) that result from combinations of local sensation and comfort. The models apply to sedentary activities in a range of environments: uniform and non-uniform, stable and transient. They are based on diverse findings from the literature and from body-part-specific human subject tests in a climate chamber. They were validated against a test of automobile passengers. The series is intended to present the models' rationale, structure, and coefficients, so that others can test them and develop them further as additional empirical data becomes available. A) The whole-body (overall) sensation model has two forms, depending on whether all of the body's segments have sensations effectively in the same direction (e.g warm or cool), or whether some segments have sensations opposite to those of the rest of the body. For each, individual body parts have different weights for warm versus cool sensations, and strong local sensations dominate the overall sensation. If all sensations are near neutral, the overall sensation is close to the average of all body sensations. B) The overall comfort model also has two forms. Under stable conditions, people evaluate their overall comfort by a complaint-driven process, meaning that when two body parts are strongly uncomfortable, no matter how comfortable the other body parts might be, the overall comfort will be near the discomfort level of the two most uncomfortable parts. When the environmental conditions are transient, or people have control over their environments, overall comfort is better than that of the two most uncomfortable body parts. This can be accounted for by adding the most comfortable vote to the two most uncomfortable ones. (author)

Research of the master-slave robot surgical system with the function of force feedback.

Science.gov (United States)

Shi, Yunyong; Zhou, Chaozheng; Xie, Le; Chen, Yongjun; Jiang, Jun; Zhang, Zhenfeng; Deng, Ze

2017-12-01

Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master-slave surgical robot, which was designed with an integrated force sensor. The new structure designed for the master-slave robot employs a force feedback mechanism. A six-dimensional force sensor was mounted on the tip of the slave robot's actuator. Sliding model control was adopted to control the slave robot. According to the movement of the master system manipulated by the surgeon, the slave's movement and the force feedback function were validated. The motion was completed, the standard deviation was calculated, and the force data were detected. Hence, force feedback was realized in the experiment. The surgical robot can help surgeons to complete trajectory motions with haptic sensation. Copyright © 2017 John Wiley & Sons, Ltd.

Experiences of a Motivational Interview Delivered by a Robot: Qualitative Study.

Science.gov (United States)

Galvão Gomes da Silva, Joana; Kavanagh, David J; Belpaeme, Tony; Taylor, Lloyd; Beeson, Konna; Andrade, Jackie

2018-05-03

Motivational interviewing is an effective intervention for supporting behavior change but traditionally depends on face-to-face dialogue with a human counselor. This study addressed a key challenge for the goal of developing social robotic motivational interviewers: creating an interview protocol, within the constraints of current artificial intelligence, which participants will find engaging and helpful. The aim of this study was to explore participants' qualitative experiences of a motivational interview delivered by a social robot, including their evaluation of usability of the robot during the interaction and its impact on their motivation. NAO robots are humanoid, child-sized social robots. We programmed a NAO robot with Choregraphe software to deliver a scripted motivational interview focused on increasing physical activity. The interview was designed to be comprehensible even without an empathetic response from the robot. Robot breathing and face-tracking functions were used to give an impression of attentiveness. A total of 20 participants took part in the robot-delivered motivational interview and evaluated it after 1 week by responding to a series of written open-ended questions. Each participant was left alone to speak aloud with the robot, advancing through a series of questions by tapping the robot's head sensor. Evaluations were content-analyzed utilizing Boyatzis' steps: (1) sampling and design, (2) developing themes and codes, and (3) validating and applying the codes. Themes focused on interaction with the robot, motivation, change in physical activity, and overall evaluation of the intervention. Participants found the instructions clear and the navigation easy to use. Most enjoyed the interaction but also found it was restricted by the lack of individualized response from the robot. Many positively appraised the nonjudgmental aspect of the interview and how it gave space to articulate their motivation for change. Some participants felt that the

Oral sensations and secretions.

Science.gov (United States)

Running, Cordelia A

2018-04-10

Sensations experienced in the mouth influence food choices, both immediately and in the long term. Such sensations are themselves influenced by experience with flavors, the chemical environment of the mouth, genetics of receptors for flavors, and individual behavior in the chewing of food. Gustation, the sense of taste, yields information about nutrients, influences palatability, and feeds into the human body's preparation to receive those nutrients. Olfaction, the sense of smell, contributes enormously to defining and identifying food flavors (and is experienced even after placing food inside the mouth). Another vital component of food flavor is texture, which contributes to palatability, especially if a food's texture violates a person's expectations. Next, chemesthesis is the sense of chemically induced irritancy and temperature, for example spiciness and stinging. All of these sensations are potentially modified by saliva, the chemical and physical media of the mouth. As a person experiences the culmination of these oral sensations, modified through an individual's own unique saliva, the flavors in turn influence both what and how a person eats. Copyright © 2018 Elsevier Inc. All rights reserved.

Modeling, Simulation and Position Control of 3DOF Articulated Manipulator

Directory of Open Access Journals (Sweden)

Hossein Sadegh Lafmejani

2014-08-01

Full Text Available In this paper, the modeling, simulation and control of 3 degrees of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

Vision-based control of robotic arm with 6 degrees of freedom

OpenAIRE

Versleegers, Wim

2014-01-01

This paper studies the procedure to program a vertically articulated robot with six degrees of freedom, the Mitsubishi Melfa RV-2SD, with Matlab. A major drawback of the programming software provided by Mitsubishi is that it barely allows the use of vision-based programming. The amount of useable cameras is limited and moreover, the cameras are very expensive. Using Matlab, these limitations could be overcome. However there is no direct way to control the robot with Matlab. The goal of this p...

A remote telepresence robotic system for inspection and maintenance of a nuclear power plant

International Nuclear Information System (INIS)

Crane, C.D. III; Tulenko, J.S.

1993-01-01

Progress in reported in the areas of environmental hardening; database/world modeling; man-machine interface; development of the Advanced Liquid Metal Reactor (ALMR) maintenance inspection robot design; and Articulated Transporter/Manipulator System (ATMS) development

Review of the role of robotic surgery in male infertility

Directory of Open Access Journals (Sweden)

Mohamed Etafy

2018-03-01

Full Text Available Objectives: To present the current state of the art in various robot-assisted microsurgical procedures in male infertility and review the latest literature, as the technology in infertility procedures has substantially developed since the incorporation of the Vinci® robotic platform (Intuitive Surgical, Inc., Sunnyvale, CA, USA. Materials and methods: The search strategy in this review was conducted in accordance with Cochrane guidelines and the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA. A search strategy was conducted in MEDLINE, PubMed and the Cochrane electronic databases (from 2000 to present to identify studies that included both robotic and male infertility. Results: In all, 23 studies were found, 12 of which met our inclusion criteria. Articles were excluded if the study did not include both male infertility and robotics. Conclusions: Robotic assistance for microsurgical procedures in male infertility appears to be safe and feasible. It has several advantages including elimination of tremor, multi-view magnification, additional instrument arms, and enhanced dexterity with articulating instrument arms. It also has a short learning curve with a small skin incision. However, larger, prospective studies are needed to establish the clinical benefits over standard microsurgery. Keywords: Robotic testicular sperm extraction, Robotic varicocelectomy, Robotic vasectomy reversal, Robotic vasoepididymostomy (RAVE, Robotic vasovasostomy

Laryngeal Sensation Before and After Clearing Behaviors

Science.gov (United States)

Bonilha, Heather Shaw; Gerlach, Terri Treman; Sutton, Lori Ellen; Dawson, Amy Elizabeth; Nietert, Paul J

2013-01-01

Purpose People frequently present to voice clinics with complaints of irritating laryngeal sensations. Clinicians attempt to reduce the irritating sensations and their common sequela, coughing and throat clearing, by advocating for techniques that remove the irritation with less harm to the vocal fold tissue. Despite the prevalence of patients with these complaints, it is not known if the less harmful techniques recommended by clinicians are effective at clearing irritating laryngeal sensations or that irritating laryngeal sensations are, in fact, more frequent in people with voice disorders than people without voice disorders. Method Assessments of participant reported laryngeal sensation, pre- and post- clearing task, were obtained from 22 people with and 24 people without a voice disorder. Six clearing tasks were used to preliminarily evaluate the differing effects of tasks believed to be deleterious and ameliorative. Results People with and without voice disorders reported pre-clear laryngeal sensation at a similar rate. Post-clear sensation was less likely to be completely or partially removed in people with voice disorders than in the non-voice disordered group. Hard throat clear and swallow with water were the most effective techniques at removing laryngeal sensation. Conclusions The findings provide initial evidence for some of the clinical practices common to treating patients with voice disorders and chronic clearing such as advocating for swallowing a sip of water as a replacement behavior instead of coughing or throat clearing. However, the findings raise questions about other practices such as associating irritating laryngeal sensation with a voice disorder. PMID:22717491

Activating Articulation Skills through Theraplay.

Science.gov (United States)

Kupperman, Phyllis; And Others

1980-01-01

Speech theraplay, a method of remediation for children with articulation disorders, is described. The approach is based on parent-child interactions that are postulated to activate articulation acquistion. The results of a six-week study indicated improvement in the articulation abilities of six children (3 to 4 years old) with this method.…

Bladder sensation measures and overactive bladder.

Science.gov (United States)

Rapp, David E; Neil, Nancy J; Govier, Fred E; Kobashi, Kathleen C

2009-09-01

We performed a prospective multicomponent study to determine whether subjective and objective bladder sensation instruments may provide data on sensory dysfunction in patients with overactive bladder. We evaluated 70 prospectively enrolled patients with urodynamics and questionnaires on validated urgency (Urgency Perception Score), general overactive bladder (Urogenital Distress Inventory) and quality of life (Incontinence Impact Questionnaire). We first sought a correlation between sensory specific (Urgency Perception Score) and quality of life questionnaire scores. We then assessed a correlation between sensory questionnaire scores and urodynamic variables, exploring the hypothesis that certain urodynamic parameters may be bladder sensation measures. We evaluated 2 urodynamic derivatives (first sensation ratio and bladder urgency velocity) to increase sensory finding discrimination. We noted a moderate correlation between the Urgency Perception Score (0.56) and the Urogenital Distress Inventory (0.74) vs the Incontinence Impact Questionnaire (each p Perception Score and bladder capacity (-0.25, p sensation ratio and bladder urgency velocity statistically significantly correlated with the Urgency Perception Score despite the lesser or absent correlation associated with the individual components of these derivatives. Bladder sensation questionnaires may be valuable to identify patients with sensory dysfunction and provide additional data not obtained in generalized symptom questionnaires. Urodynamic variables correlated with bladder sensation questionnaire scores and may be an objective method to assess sensory dysfunction.

Challenging the assumptions for thermal sensation scales

DEFF Research Database (Denmark)

Schweiker, Marcel; Fuchs, Xaver; Becker, Susanne

2016-01-01

Scales are widely used to assess the personal experience of thermal conditions in built environments. Most commonly, thermal sensation is assessed, mainly to determine whether a particular thermal condition is comfortable for individuals. A seven-point thermal sensation scale has been used...... extensively, which is suitable for describing a one-dimensional relationship between physical parameters of indoor environments and subjective thermal sensation. However, human thermal comfort is not merely a physiological but also a psychological phenomenon. Thus, it should be investigated how scales for its...... assessment could benefit from a multidimensional conceptualization. The common assumptions related to the usage of thermal sensation scales are challenged, empirically supported by two analyses. These analyses show that the relationship between temperature and subjective thermal sensation is non...

Concept and Functional Structure of a Service Robot

Directory of Open Access Journals (Sweden)

Luis A. Pineda

2015-02-01

Full Text Available In this paper, we present a concept of service robot and a framework for its functional specification and implementation. The present discussion is grounded in Newell's system levels hierarchy which suggests organizing robotics research in three different layers, corresponding to Marr's computational, algorithmic and implementation levels, as follows: (1 the service robot proper, which is the subject of the present paper, (2 perception and action algorithms, and (3 the systems programming level. The concept of a service robot is articulated in practice through the introduction of a conceptual model for particular service robots; this consists of the specification of a set of basic robotic behaviours and a number of mechanisms for assembling such behaviours during the execution of complex tasks. The model involves an explicit representation of the task structure, allowing for deliberative reasoning and task management. The model also permits distinguishing between a robot's competence and performance, along the lines of Chomsky's corresponding distinction. We illustrate how this model can be realized in practice with two composition modes that we call static and dynamic; these are illustrated with the Restaurant Test and the General Purpose Service Robot Test of the RoboCup@Home competition, respectively. The present framework and methodology has been implemented in the robot Golem-II+, which is also described. The paper is concluded with an overall reflection upon the present concept of a service robot and its associated functional specifications, and the potential impact of such a conceptual model in the study, development and application of service robots in general.

A transcription factor for cold sensation!

OpenAIRE

Kim, Susan J; Qu, Zhican; Milbrandt, Jeffrey; Zhuo, Min

2005-01-01

Abstract The ability to feel hot and cold is critical for animals and human beings to survive in the natural environment. Unlike other sensations, the physiology of cold sensation is mostly unknown. In the present study, we use genetically modified mice that do not express nerve growth factor-inducible B (NGFIB) to investigate the possible role of NGFIB in cold sensation. We found that genetic deletion of NGFIB selectively affected behavioral responses to cold stimuli while behavioral respons...

Linearized motion estimation for articulated planes.

Science.gov (United States)

Datta, Ankur; Sheikh, Yaser; Kanade, Takeo

2011-04-01

In this paper, we describe the explicit application of articulation constraints for estimating the motion of a system of articulated planes. We relate articulations to the relative homography between planes and show that these articulations translate into linearized equality constraints on a linear least-squares system, which can be solved efficiently using a Karush-Kuhn-Tucker system. The articulation constraints can be applied for both gradient-based and feature-based motion estimation algorithms and to illustrate this, we describe a gradient-based motion estimation algorithm for an affine camera and a feature-based motion estimation algorithm for a projective camera that explicitly enforces articulation constraints. We show that explicit application of articulation constraints leads to numerically stable estimates of motion. The simultaneous computation of motion estimates for all of the articulated planes in a scene allows us to handle scene areas where there is limited texture information and areas that leave the field of view. Our results demonstrate the wide applicability of the algorithm in a variety of challenging real-world cases such as human body tracking, motion estimation of rigid, piecewise planar scenes, and motion estimation of triangulated meshes.

Remotely controlling of mobile robots using gesture captured by the Kinect and recognized by machine learning method

Science.gov (United States)

Hsu, Roy CHaoming; Jian, Jhih-Wei; Lin, Chih-Chuan; Lai, Chien-Hung; Liu, Cheng-Ting

2013-01-01

The main purpose of this paper is to use machine learning method and Kinect and its body sensation technology to design a simple, convenient, yet effective robot remote control system. In this study, a Kinect sensor is used to capture the human body skeleton with depth information, and a gesture training and identification method is designed using the back propagation neural network to remotely command a mobile robot for certain actions via the Bluetooth. The experimental results show that the designed mobile robots remote control system can achieve, on an average, more than 96% of accurate identification of 7 types of gestures and can effectively control a real e-puck robot for the designed commands.

INDUSTRIAL ROBOT REPEATABILITY TESTING WITH HIGH SPEED CAMERA PHANTOM V2511

Directory of Open Access Journals (Sweden)

Jerzy Józwik

2016-12-01

Full Text Available Apart from accuracy, one of the parameters describing industrial robots is positioning accuracy. The parameter in question, which is the subject of this paper, is often the decisive factor determining whether to apply a given robot to perform certain tasks or not. Articulated robots are predominantly used in such processes as: spot weld-ing, transport of materials and other welding applications, where high positioning repeatability is required. It is therefore essential to recognise the parameter in question and to control it throughout the operation of the robot. This paper presents methodology for robot positioning accuracy measurements based on vision technique. The measurements were conducted with Phantom v2511 high-speed camera and TEMA Motion software, for motion analysis. The object of the measurements was a 6-axis Yaskawa Motoman HP20F industrial robot. The results of measurements obtained in tests provided data for the calculation of positioning accuracy of the robot, which was then juxtaposed against robot specifications. Also analysed was the impact of the direction of displacement on the value of attained pose errors. Test results are given in a graphic form.

Humanlike robot hands controlled by brain activity arouse illusion of ownership in operators

Science.gov (United States)

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2013-08-01

Operators of a pair of robotic hands report ownership for those hands when they hold image of a grasp motion and watch the robot perform it. We present a novel body ownership illusion that is induced by merely watching and controlling robot's motions through a brain machine interface. In past studies, body ownership illusions were induced by correlation of such sensory inputs as vision, touch and proprioception. However, in the presented illusion none of the mentioned sensations are integrated except vision. Our results show that during BMI-operation of robotic hands, the interaction between motor commands and visual feedback of the intended motions is adequate to incorporate the non-body limbs into one's own body. Our discussion focuses on the role of proprioceptive information in the mechanism of agency-driven illusions. We believe that our findings will contribute to improvement of tele-presence systems in which operators incorporate BMI-operated robots into their body representations.

Use of a robotic manipulator in the simulation of the automation of a calibration process of dosemeters

International Nuclear Information System (INIS)

Benitez R, J.S.; Najera H, M.C.

2002-01-01

The development of a system based in a manipulative robot which simulates the operative sequence in a calibration process of dosemeters is presented. In this process it is performed the monitoring of the dosemeter positions and the calibrator by mean of an arm of articulated robot which develops the movement sequences and the taking a decision based on the information coming from the external sensors. (Author)

3D Visual Tracking of an Articulated Robot in Precision Automated Tasks.

Science.gov (United States)

Alzarok, Hamza; Fletcher, Simon; Longstaff, Andrew P

2017-01-07

The most compelling requirements for visual tracking systems are a high detection accuracy and an adequate processing speed. However, the combination between the two requirements in real world applications is very challenging due to the fact that more accurate tracking tasks often require longer processing times, while quicker responses for the tracking system are more prone to errors, therefore a trade-off between accuracy and speed, and vice versa is required. This paper aims to achieve the two requirements together by implementing an accurate and time efficient tracking system. In this paper, an eye-to-hand visual system that has the ability to automatically track a moving target is introduced. An enhanced Circular Hough Transform (CHT) is employed for estimating the trajectory of a spherical target in three dimensions, the colour feature of the target was carefully selected by using a new colour selection process, the process relies on the use of a colour segmentation method (Delta E) with the CHT algorithm for finding the proper colour of the tracked target, the target was attached to the six degree of freedom (DOF) robot end-effector that performs a pick-and-place task. A cooperation of two Eye-to Hand cameras with their image Averaging filters are used for obtaining clear and steady images. This paper also examines a new technique for generating and controlling the observation search window in order to increase the computational speed of the tracking system, the techniques is named Controllable Region of interest based on Circular Hough Transform (CRCHT). Moreover, a new mathematical formula is introduced for updating the depth information of the vision system during the object tracking process. For more reliable and accurate tracking, a simplex optimization technique was employed for the calculation of the parameters for camera to robotic transformation matrix. The results obtained show the applicability of the proposed approach to track the moving robot

Robots in P.W.R. nuclear powerplants

International Nuclear Information System (INIS)

Dubourg, M.

1987-01-01

The satisfactory operation of 37 900-MWe PWR powerplants in France, Belgium and South-Africa and the start-up of 1300 MWe powerplants allowed the development of a wide range of automatic units and robots for the periodic maintenance of nuclear plants, reducing the risk of ionizing radiation for the personnel. A large number of automated tools have been built. Among them: - inspection and maintenance systems for the tube bundle of steam generators, - robotized arms ROTETA and ROMEO for the heavy maintenance and delicate operations such as tube extraction or shot peening of tubes to improve their resistance to corrosion; - the versatile manipulator T.A.M. with electrically controlled articulations. The development of functionally versatile tools and robots and the integration of new technologies such as 3-D vision allowed the construction of the self-guided vehicle FRASTAR capable of moving within a nuclear building and in a cluttered environment. This vehicle includes means for avoiding isolated obstacles and can move on stairs [fr

Module-based structure design of wheeled mobile robot

Directory of Open Access Journals (Sweden)

Z. Luo

2018-02-01

Full Text Available This paper proposes an innovative and systematic approach for synthesizing mechanical structures of wheeled mobile robots. The principle and terminologies used for the proposed synthesis method are presented by adopting the concept of modular design, isomorphic and non-isomorphic, and set theory with its associated combinatorial mathematics. The modular-based innovative synthesis and design of wheeled robots were conducted at two levels. Firstly at the module level, by creative design and analysing the structures of classic wheeled robots, a wheel module set containing four types of wheel mechanisms, a suspension module set consisting of five types of suspension frames and a chassis module set composed of five types of rigid or articulated chassis were designed and generalized. Secondly at the synthesis level, two kinds of structure synthesis modes, namely the isomorphic-combination mode and the non-isomorphic combination mode were proposed to synthesize mechanical structures of wheeled robots; which led to 241 structures for wheeled mobile robots including 236 novel ones. Further, mathematical models and a software platform were developed to provide appropriate and intuitive tools for simulating and evaluating performance of the wheeled robots that were proposed in this paper. Eventually, physical prototypes of sample wheeled robots/rovers were developed and tested so as to prove and validate the principle and methodology presented in this paper.

Robotic general surgery: current practice, evidence, and perspective.

Science.gov (United States)

Jung, M; Morel, P; Buehler, L; Buchs, N C; Hagen, M E

2015-04-01

Robotic technology commenced to be adopted for the field of general surgery in the 1990s. Since then, the da Vinci surgical system (Intuitive Surgical Inc, Sunnyvale, CA, USA) has remained by far the most commonly used system in this domain. The da Vinci surgical system is a master-slave machine that offers three-dimensional vision, articulated instruments with seven degrees of freedom, and additional software features such as motion scaling and tremor filtration. The specific design allows hand-eye alignment with intuitive control of the minimally invasive instruments. As such, robotic surgery appears technologically superior when compared with laparoscopy by overcoming some of the technical limitations that are imposed on the surgeon by the conventional approach. This article reviews the current literature and the perspective of robotic general surgery. While robotics has been applied to a wide range of general surgery procedures, its precise role in this field remains a subject of further research. Until now, only limited clinical evidence that could establish the use of robotics as the gold standard for procedures of general surgery has been created. While surgical robotics is still in its infancy with multiple novel systems currently under development and clinical trials in progress, the opportunities for this technology appear endless, and robotics should have a lasting impact to the field of general surgery.

Development of a Remote Handling Robot for the Maintenance of an ITER-Like D-Shaped Vessel

Directory of Open Access Journals (Sweden)

Peihua Chen

2014-01-01

Full Text Available Robotic operation is one of the major challenges in the remote maintenance of ITER vacuum vessel (VV and future fusion reactors as inner operations of Tokamak have to be done by robots due to the internal adverse conditions. This paper introduces a novel remote handling robot (RHR for the maintenance of ITER-like D-shaped vessel. The modular designed RHR, which is an important part of the remote handling system for ITER, consists of three parts: an omnidirectional transfer vehicle (OTV, a planar articulated arm (PAA, and an articulated teleoperated manipulator (ATM. The task of RHR is to carry processing tools, such as the viewing system, leakage detector, and electric screwdriver, to inspect and maintain the components installed inside the D-shaped vessel. The kinematics of the OTV, as well as the kinematic analyses of the PAA and ATM, is studied in this paper. Because of its special length and heavy payload, the dynamics of the PAA is also investigated through a dynamic simulation system based on robot technology middleware (RTM. The results of the path planning, workspace simulations, and dynamic simulation indicate that the RHR has good mobility together with satisfying kinematic and dynamic performances and can well accomplish its maintenance tasks in the ITER-like D-shaped vessel.

Robonaut: a robot designed to work with humans in space

Science.gov (United States)

Bluethmann, William; Ambrose, Robert; Diftler, Myron; Askew, Scott; Huber, Eric; Goza, Michael; Rehnmark, Fredrik; Lovchik, Chris; Magruder, Darby

2003-01-01

The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform. In contrast to other space manipulator systems, Robonaut is designed to work within existing corridors and use the same tools as space walking astronauts. Robonaut is envisioned as working with astronauts, both autonomously and by teleoperation, performing a variety of tasks including, routine maintenance, setting up and breaking down worksites, assisting crew members while outside of spacecraft, and serving in a rapid response capacity.

Non-invasive characterization of real-time bladder sensation using accelerated hydration and a novel sensation meter: An initial experience.

Science.gov (United States)

Nagle, Anna S; Speich, John E; De Wachter, Stefan G; Ghamarian, Peter P; Le, David M; Colhoun, Andrew F; Ratz, Paul H; Barbee, Robert W; Klausner, Adam P

2017-06-01

The purpose of this investigation was to develop a non-invasive, objective, and unprompted method to characterize real-time bladder sensation. Volunteers with and without overactive bladder (OAB) were prospectively enrolled in a preliminary accelerated hydration study. Participants drank 2L Gatorade-G2® and recorded real-time sensation (0-100% scale) and standardized verbal sensory thresholds using a novel, touch-screen "sensation meter." 3D bladder ultrasound images were recorded throughout fillings for a subset of participants. Sensation data were recorded for two consecutive complete fill-void cycles. Data from 14 normal and 12 OAB participants were obtained (ICIq-OAB-5a = 0 vs. ≥3). Filling duration decreased in fill2 compared to fill1, but volume did not significantly change. In normals, adjacent verbal sensory thresholds (within fill) showed no overlap, and identical thresholds (between fill) were similar, demonstrating effective differentiation between degrees of %bladder capacity. In OAB, within-fill overlaps and between-fill differences were identified. Real-time %capacity-sensation curves left shifted from fill1 to fill2 in normals, consistent with expected viscoelastic behavior, but unexpectedly right shifted in OAB. 3D ultrasound volume data showed that fill rates started slowly and ramped up with variable end points. This study establishes a non-invasive means to evaluate real-time bladder sensation using a two-fill accelerated hydration protocol and a sensation meter. Verbal thresholds were inconsistent in OAB, and the right shift in OAB %capacity-sensation curve suggests potential biomechanical and/or sensitization changes. This methodology could be used to gain valuable information on different forms of OAB in a completely non-invasive way. © 2016 Wiley Periodicals, Inc.

Trajectories of Sensation Seeking Among Puerto-Rican Children and Youth

Science.gov (United States)

Martins, Silvia S.; Wall, Melanie M.; Eisenberg, Ruth; Blanco, Carlos; Santaella, Julian; Ramos-Olazagasti, Maria; Canino, Glorisa; Bird, Hector R.; Brown, Qiana; Duarte, Cristiane S.

2015-01-01

Objective To document the natural course of sensation seeking from childhood to adolescence, characterize distinct sensation-seeking trajectories, and examine how these trajectories vary according to selected predictors. Method Data were obtained from the Boricua Youth Study, a longitudinal study of 2,491 children and adolescents of Puerto Rican background (three assessments from 2000 to 2004). First, age-specific sensation-seeking levels were characterized. Then, age-adjusted residuals were analyzed using growth mixture models (GMM). Results On average, sensation seeking was stable in childhood (ages 5–10) and increased during adolescence (ages 11–17). Mean scores of sensation seeking were higher in the South Bronx vs. Puerto Rico and among males vs. females. Four classes of sensation-seeking trajectories were observed: most study participants had age-expected sensation-seeking trajectories following the average for their age (“normative,” 43.8%); others (37.2%) remained consistently lower than the expected average for their age (“low” sensation seeking); some (12.0%) had an “accelerated” sensation-seeking trajectory, increasing at a faster rate than expected, while a minority (7.0%) had a decreasing sensation-seeking trajectory that started high but decreased, reaching scores slightly higher than the age-average sensation-seeking scores (“stabilizers”). Site (South Bronx vs. Puerto Rico) and gender were predictors of membership in a specific class of sensation-seeking trajectory. Conclusion It is important to take a developmental approach when examining sensation seeking and to consider gender and the social environment when trying to understand how sensation seeking evolves during childhood and adolescence. PMID:26598479

Development of Articulated Competency-Based Curriculum in Automated Systems/Robotics Technology. Final Report.

Science.gov (United States)

Luzerne County Community Coll., Nanticoke, PA.

The project described in this report was conducted at the Community College of Luzerne County (Pennsylvania) to develop, in conjunction with area vocational-technical schools, the second year of a competency-based curriculum in automated systems/robotics technology. During the project, a task force of teachers from the area schools and the college…

Modeling, Simulation and Position Control of 3 Degree of Freedom Articulated Manipulator

Directory of Open Access Journals (Sweden)

Hossein Sadegh Lafmejani

2013-09-01

Full Text Available In this paper, the modeling, simulation and control of 3 degree of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

The Effect of Foot Structure on Locomotion of a Small Biped Robot

Directory of Open Access Journals (Sweden)

Nguyen Tinh

2017-01-01

Full Text Available This paper is a presentation of a work that consists of considering a novel foot structure for biped robot inspired by human foot. The specific objective is to develop a foot mechanism with human-like toes for a small biped robot. The chosen architecture to present the biped includes ten degrees of freedom (DoF on ten articulations between eleven links. Our study considers the effect of varying foot structure on a walking process of the robot in simulation by ADAMS (MSC software, USA through gait generation method. In toe mechanism, aiming to reduce the energy consumption, the passive joint was selected as the toe joint. The center of gravity (CoG point trajectories of the robot with varying toe is compared with each other in normal motion on flat terrain to determine the most consistent toe mechanism. The result shows that the selected foot structure enables the robot to walk stably and naturally.

Psychophysical properties of female genital sensation.

Science.gov (United States)

Farmer, Melissa A; Maykut, Caroline A; Huberman, Jackie S; Huang, Lejian; Khalifé, Samir; Binik, Yitzchak M; Apkarian, A Vania; Schweinhardt, Petra

2013-11-01

Provoked vestibulodynia (PVD) is characterized by the presence of vulvar touch and pain hypersensitivity. Pain with vaginal distension, which motivates treatment seeking and perpetuates distress, is frequently reported with PVD. However, the concordance between the perception of vulvar and vaginal sensation (ie, somatic and visceral genital sensations, respectively) remains unstudied in healthy women, as well as in clinical populations such as PVD. To evaluate the static and dynamic (time-varying) properties of somatic and visceral genital sensation, women with PVD (n=14) and age- and contraceptive-matched healthy controls (n=10) rated varying degrees of nonpainful and painful genital stimulation. Somatic (vulvar) mechanical sensitivity to nonpainul and painful degrees of force were compared to visceral (vaginal) sensitivity to nonpainful and painful distension volumes. Results indicated that healthy women showed substantial individual variation in and high discrimination of vulvar and vaginal sensation. In contrast, PVD was associated with vulvar allodynia and hyperalgesia, as well as vaginal allodynia. Modeling of dynamic perception revealed novel properties of abnormal PVD genital sensation, including temporal delays in vulvar touch perception and reduced perceptual thresholds for vaginal distension. The temporal properties and magnitude of PVD distension pain were indistinguishable from vaginal fullness in healthy controls. These results constitute the first empirical comparison of somatic and visceral genital sensation in healthy women. Findings provide novel insights into the sensory abnormalities that characterize PVD, including an experimental demonstration of visceral allodynia. This investigation challenges the prevailing diagnostic assessment of PVD and reconceptualizes PVD as a chronic somatic and visceral pain condition. Copyright © 2013. Published by Elsevier B.V.

Design and Analysis of a Bio-Inspired Wire-Driven Multi-Section Flexible Robot

Directory of Open Access Journals (Sweden)

Zheng Li

2013-04-01

Full Text Available This paper presents a bio-inspired wire-driven multi-section flexible robot. It is inspired by the snake skeleton and octopus arm muscle arrangements. The robot consists of three sections and each section is made up of several identical vertebras, which are articulated by both spherical joints and a flexible backbone. Each section is driven by two groups of wires, controlling the bending motion in X and Y directions. This design integrates the serpentine robots' structure and the continuum robots' actuation. As a result, it is more compact than traditional serpentine robots and has a higher positioning accuracy than typical continuum soft robots, such as OctArm V. A Kinematics model and a workspace model of the robot are developed based on the piece wise constant curvature assumption. To evaluate the design, a prototype is built and experiments are carried out. The average distal end positioning error is less than 4%. Characteristics of the wire-driven robot are also discussed, including the leverage effect and the manipulability under constraint. These features makes the proposed robot well suited to confined spaces, especially for working in minimally invasive surgery, nuclear reactor pipelines, disaster debris, etc.

Sex differences in sensation-seeking: a meta-analysis.

Science.gov (United States)

Cross, Catharine P; Cyrenne, De-Laine M; Brown, Gillian R

2013-01-01

Men score higher than women on measures of sensation-seeking, defined as a willingness to engage in novel or intense activities. This sex difference has been explained in terms of evolved psychological mechanisms or culturally transmitted social norms. We investigated whether sex differences in sensation-seeking have changed over recent years by conducting a meta-analysis of studies using Zuckerman's Sensation Seeking Scale, version V (SSS-V). We found that sex differences in total SSS-V scores have remained stable across years, as have sex differences in Disinhibition and Boredom Susceptibility. In contrast, the sex difference in Thrill and Adventure Seeking has declined, possibly due to changes in social norms or out-dated questions on this sub-scale. Our results support the view that men and women differ in their propensity to report sensation-seeking characteristics, while behavioural manifestations of sensation-seeking vary over time. Sex differences in sensation-seeking could reflect genetically influenced predispositions interacting with socially transmitted information.

21 CFR 872.6140 - Articulation paper.

Science.gov (United States)

2010-04-01

... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Articulation paper. 872.6140 Section 872.6140 Food... DEVICES DENTAL DEVICES Miscellaneous Devices § 872.6140 Articulation paper. (a) Identification. Articulation paper is a device composed of paper coated with an ink dye intended to be placed between the...

Trajectories of Sensation Seeking Among Puerto Rican Children and Youth.

Science.gov (United States)

Martins, Silvia S; Wall, Melanie M; Eisenberg, Ruth; Blanco, Carlos; Santaella, Julian; Ramos-Olazagasti, Maria; Canino, Glorisa; Bird, Hector R; Brown, Qiana; Duarte, Cristiane S

2015-12-01

To document the natural course of sensation seeking from childhood to adolescence, characterize distinct sensation seeking trajectories, and examine how these trajectories vary according to selected predictors. Data were obtained from the Boricua Youth Study, a longitudinal study of 2,491 children and adolescents of Puerto Rican background (3 assessments from 2000 to 2004). First, age-specific sensation seeking levels were characterized, and then age-adjusted residuals were analyzed using growth mixture models. On average, sensation seeking was stable in childhood (ages 5-10 years) and increased during adolescence (ages 11-17 years). Mean scores of sensation seeking were higher in the South Bronx versus Puerto Rico and among males versus females. Four classes of sensation seeking trajectories were observed: most study participants had age-expected sensation seeking trajectories following the average for their age ("normative," 43.8%); others (37.2%) remained consistently lower than the expected average for their age ("low" sensation seeking); some (12.0%) had an "accelerated" sensation seeking trajectory, increasing at a faster rate than expected; and a minority (7.0%) had a decreasing sensation seeking trajectory that started high but decreased, reaching scores slightly higher than the age-average sensation seeking scores ("stabilizers"). Site (South Bronx versus Puerto Rico) and gender were predictors of membership in a specific class of sensation seeking trajectory. It is important to take a developmental approach when examining sensation seeking and to consider gender and the social environment when trying to understand how sensation seeking evolves during childhood and adolescence. Copyright © 2015 American Academy of Child and Adolescent Psychiatry. Published by Elsevier Inc. All rights reserved.

3D Visual Tracking of an Articulated Robot in Precision Automated Tasks

Directory of Open Access Journals (Sweden)

Hamza Alzarok

2017-01-01

Full Text Available The most compelling requirements for visual tracking systems are a high detection accuracy and an adequate processing speed. However, the combination between the two requirements in real world applications is very challenging due to the fact that more accurate tracking tasks often require longer processing times, while quicker responses for the tracking system are more prone to errors, therefore a trade-off between accuracy and speed, and vice versa is required. This paper aims to achieve the two requirements together by implementing an accurate and time efficient tracking system. In this paper, an eye-to-hand visual system that has the ability to automatically track a moving target is introduced. An enhanced Circular Hough Transform (CHT is employed for estimating the trajectory of a spherical target in three dimensions, the colour feature of the target was carefully selected by using a new colour selection process, the process relies on the use of a colour segmentation method (Delta E with the CHT algorithm for finding the proper colour of the tracked target, the target was attached to the six degree of freedom (DOF robot end-effector that performs a pick-and-place task. A cooperation of two Eye-to Hand cameras with their image Averaging filters are used for obtaining clear and steady images. This paper also examines a new technique for generating and controlling the observation search window in order to increase the computational speed of the tracking system, the techniques is named Controllable Region of interest based on Circular Hough Transform (CRCHT. Moreover, a new mathematical formula is introduced for updating the depth information of the vision system during the object tracking process. For more reliable and accurate tracking, a simplex optimization technique was employed for the calculation of the parameters for camera to robotic transformation matrix. The results obtained show the applicability of the proposed approach to track the

Thermal sensation and comfort models for non-uniform and transient environments: Part III: whole-body sensation and comfort

OpenAIRE

Zhang, Hui; Arens, Edward; Huizenga, Charlie; Han, Taeyoung

2009-01-01

A three-part series presents the development of models for predicting the local thermal sensation (Part I) and local thermal comfort (Part II) of different parts of the human body, and also the whole-body sensation and comfort (Part III) that result from combinations of local sensation and comfort. The models apply to sedentary activities in a range of environments: uniform and non-uniform, stable and transient. They are based on diverse findings from the literature and from body-part-specifi...

Sensation Following Immediate Breast Reconstruction with Implants.

Science.gov (United States)

Lagergren, Jakob; Wickman, Marie; Hansson, Per

2010-01-01

Sensation is a neglected aspect of the outcome of breast reconstructions with implants. The aim of this prospective study was to evaluate the cutaneous somatosensory status in breasts following mastectomy and immediate reconstruction with permanent adjustable prostheses and to analyze the patients' subjective experience of the sensation. Twenty-four consecutive patients diagnosed with invasive or in situ breast carcinoma were examined preoperatively and 2 years after mastectomy and reconstruction, for assessment of perception thresholds for touch, cold, warmth, and heat pain above and below the areola. Von Frey filaments and a Peltier element-based thermode were used. The patients completed a questionnaire concerning their experienced sensation in the reconstructed breast. Using quantitative somato-sensory testing, the sensation to all the examined modalities was significantly impaired compared to preoperatively. Most affected was the area above the areola. Patients given postoperative radiotherapy (n = 9) did not differ from those without radiotherapy (n = 15) regarding any of the modalities. All patients reported reduced sensation in the reconstructed breast compared to that preoperatively. Twenty-three patients stated that the reconstructed breast felt different from the other breast; nevertheless 16 reported that the reconstructed breast felt like a real breast. The study revealed sensation impairment following mastectomy and immediate reconstruction with implants. Patients should be informed about this effect preoperatively to allow adequate expectations regarding the sensation outcome. However, two-thirds of the study patients considered that the reconstructed breast felt like a real breast, which must be one of the main purposes of a breast reconstruction.

The history of articulators: the "Articulator Wars" phenomenon with some circumstances leading up to it.

Science.gov (United States)

Starcke, Edgar N; Engelmeier, Robert L; Belles, Donald M

2010-06-01

At the dawn of the 20th century, all was not well with the practice of "plate prostheses." Removable prosthodontics had been degrading for several decades and was now generally in low esteem, even though there had been many significant advances. W. E. Walker had introduced adjustable condylar guides, George Snow, the facebow, and Carl Christensen, a method for clinically measuring the condylar inclines. Nevertheless, the average practicing dentist was still using simple hinge articulators and was apathetic to the deplorable state of the artificial teeth available; however, this was all going to change dramatically when two dentists, Alfred Gysi and J. Leon Williams, working together between 1910 and 1914, presented to the profession the "Trubyte Artificial Tooth System" that embodied both a typal system for selecting anterior teeth and new posterior occlusal carvings that made possible, for the first time, the articulation of artificial teeth. This incited many of prosthetic dentistry's elite to introduce their own theories of mandibular movement and the articulators that they designed to reflect those theories. The intense debates that ensued, both in the meeting halls and in the literature, were numerous and lasted for decades. At the time, the "Articulator Wars" had both positive and negative consequences. Today, with many of the "Articulator Wars" issues remaining as part of the practice of dentistry, the "Articulator Wars" can be considered a phenomenon of enlightenment.

Articulating feedstock delivery device

Science.gov (United States)

Jordan, Kevin

2013-11-05

A fully articulable feedstock delivery device that is designed to operate at pressure and temperature extremes. The device incorporates an articulating ball assembly which allows for more accurate delivery of the feedstock to a target location. The device is suitable for a variety of applications including, but not limited to, delivery of feedstock to a high-pressure reaction chamber or process zone.

Robotic right middle lobectomy with a subxiphoid utility port.

Science.gov (United States)

Jayakumar, Shruti; Nardini, Marco; Papoulidis, Pavlos; Dunning, Joel

2018-06-01

We present the case of a 74-year-old man with Stage IIa pulmonary adenocarcinoma, for which he underwent a robotic right middle lobectomy. A 4-armed, 5-port approach was used. Four intercostal ports were created above the ninth rib using the Cerfolio's technique. The subxiphoid port was created in the midline, 5 cm down from the xiphisternum. The robot offers higher image quality, depth perception and improved articulation of the instruments, allowing for more accurate dissection and stitching. The usage of a subxiphoid utility port reduces the clashing between instruments, offers a good angle for stapling and provides a direct view of the instruments entering into the chest. Specimen removal through the subxiphoid port may reduce postoperative pain and enhance patient recovery. The use of the subxiphoid approach as a utility port for robotic surgery is promising and may be a suitable replacement for the traditional utility port.

Quantifying and simulating human sensation

DEFF Research Database (Denmark)

Quantifying and simulating human sensation – relating science and technology of indoor climate research Abstract In his doctoral thesis from 1970 civil engineer Povl Ole Fanger proposed that the understanding of indoor climate should focus on the comfort of the individual rather than averaged...... this understanding of human sensation was adjusted to technology. I will look into the construction of the equipment, what it measures and the relationship between theory, equipment and tradition....

Principles of designing mobile robots for nuclear applications: Some Soviet development projects

International Nuclear Information System (INIS)

Adamov, E.O.; Ivanov, V.G.; Meieran, H.B.

1990-01-01

The I.V. Kurchatov Institute of Atomic Energy and the Research and Design Institute of Power Engineering, both designers of nuclear power plant systems and located in Moscow, USSR, have collectively recognized the positive merits of utilizing mobile robots in the nuclear industry. They have given authority to their subsidiary agency CENOTECH to mount an active campaign to program the development of new generations of mobile robots that will support routine and emergency situation operations in the nuclear industry. CENOTECH's rationale for design and performance requirements of mobile robot units to be utilized in the nuclear industry is presented in this paper. A description of design, performance requirements, and operational characteristics of four mobile robots that have been developed at CENOTECH within the past 3 yr is also presented: the 2-tracked KURSOR; the 4 hybrid-wheeled TELER; the 12-wheeled BUGGY with articulated platforms; and the 2-tracked SADKO

Testing haptic sensations for spinal anesthesia.

LENUS (Irish Health Repository)

2011-01-01

Having identified key determinants of teaching and learning spinal anesthesia, it was necessary to characterize and render the haptic sensations (feeling of touch) associated with needle insertion in the lower back. The approach used is to match recreated sensations (eg, "pop" through skin or dura mater) with experts\\' perceptions of the equivalent clinical events.

Thermal sensation models: a systematic comparison.

Science.gov (United States)

Koelblen, B; Psikuta, A; Bogdan, A; Annaheim, S; Rossi, R M

2017-05-01

Thermal sensation models, capable of predicting human's perception of thermal surroundings, are commonly used to assess given indoor conditions. These models differ in many aspects, such as the number and type of input conditions, the range of conditions in which the models can be applied, and the complexity of equations. Moreover, the models are associated with various thermal sensation scales. In this study, a systematic comparison of seven existing thermal sensation models has been performed with regard to exposures including various air temperatures, clothing thermal insulation, and metabolic rate values after a careful investigation of the models' range of applicability. Thermo-physiological data needed as input for some of the models were obtained from a mathematical model for human physiological responses. The comparison showed differences between models' predictions for the analyzed conditions, mostly higher than typical intersubject differences in votes. Therefore, it can be concluded that the choice of model strongly influences the assessment of indoor spaces. The issue of comparing different thermal sensation scales has also been discussed. © 2016 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Articulated inspection arm for ITER, a demonstration in the Tore Supra tokamak

Energy Technology Data Exchange (ETDEWEB)

Cordier, J.J.; Gargiulo, L.; Grisolia, C.; Samaille, F. [Association Euratom-CEA Cadarache, 13 - Saint-Paul-lez-Durance (France). Dept. de Recherches sur la Fusion Controlee; Friconneau, J.P.; Perrot, Y. [CEA Fontenay-aux-Roses, LIST Robotics and Interactive Systems Unit, 92 (France); Palmer, J.D. [Max-Planck-Institut fuer Plasmaphysik Boltzmannstr.2, Garching (Germany)

2003-07-01

The aim of this program is to demonstrate for ITER the feasibility of an in-vessel remote handling inspection using a long reach, limited payload carrier (1 to 10 kg) for penetration of the ITER chamber through the openings. This device is dedicated to close inspection of the Plasma Facing Components (PFC). An articulated demonstrator called articulated inspection arm (AIA) has been manufactured. A feasibility study of a full AIA operation in Tore Supra was performed, taking into account ITER reference requirements. A scale one demonstration of the AIA under ITER relevant condition is feasible on Tore Supra and would give significant improvement in research results for ITER remote Handling equipment. The test of the AIA demonstrator behaviour is foreseen in 2005 in real Tokamak conditions. The paper presents the full robot concept, the results of the first test campaign, the AIA new design and its integration on Tore Supra. Several potential uses of the AIA for the in vessel components inspection are being studied such as PFC visual inspection, water loop leak testing, laser ablation for wall detritiation and carbon dust and flakes removal are foreseen as utilities to be placed at the AIA head. These various systems are described in the paper.

Articulated inspection arm for ITER, a demonstration in the Tore Supra tokamak

International Nuclear Information System (INIS)

Cordier, J.J.; Gargiulo, L.; Grisolia, C.; Samaille, F.; Palmer, J.D.

2003-01-01

The aim of this program is to demonstrate for ITER the feasibility of an in-vessel remote handling inspection using a long reach, limited payload carrier (1 to 10 kg) for penetration of the ITER chamber through the openings. This device is dedicated to close inspection of the Plasma Facing Components (PFC). An articulated demonstrator called articulated inspection arm (AIA) has been manufactured. A feasibility study of a full AIA operation in Tore Supra was performed, taking into account ITER reference requirements. A scale one demonstration of the AIA under ITER relevant condition is feasible on Tore Supra and would give significant improvement in research results for ITER remote Handling equipment. The test of the AIA demonstrator behaviour is foreseen in 2005 in real Tokamak conditions. The paper presents the full robot concept, the results of the first test campaign, the AIA new design and its integration on Tore Supra. Several potential uses of the AIA for the in vessel components inspection are being studied such as PFC visual inspection, water loop leak testing, laser ablation for wall detritiation and carbon dust and flakes removal are foreseen as utilities to be placed at the AIA head. These various systems are described in the paper

Surface electrical stimulation to evoke referred sensation.

Science.gov (United States)

Forst, Johanna C; Blok, Derek C; Slopsema, Julia P; Boss, John M; Heyboer, Lane A; Tobias, Carson M; Polasek, Katharine H

2015-01-01

Surface electrical stimulation (SES) is being investigated as a noninvasive method to evoke natural sensations distal to electrode location. This may improve treatment for phantom limb pain as well as provide an alternative method to deliver sensory feedback. The median and/or ulnar nerves of 35 subjects were stimulated at the elbow using surface electrodes. Strength-duration curves of hand sensation were found for each subject. All subjects experienced sensation in their hand, which was mostly described as a paresthesia-like sensation. The rheobase and chronaxie values were found to be lower for the median nerve than the ulnar nerve, with no significant difference between sexes. Repeated sessions with the same subject resulted in sufficient variability to suggest that recalculating the strength-duration curve for each electrode placement is necessary. Most of the recruitment curves in this study were generated with 28 to 36 data points. To quickly reproduce these curves with limited increase in error, we recommend 10 data points. Future studies will focus on obtaining different sensations using SES with the strength-duration curve defining the threshold of the effective parameter space.

Advantages of robotics in benign gynecologic surgery.

Science.gov (United States)

Truong, Mireille; Kim, Jin Hee; Scheib, Stacey; Patzkowsky, Kristin

2016-08-01

The purpose of this article is to review the literature and discuss the advantages of robotics in benign gynecologic surgery. Minimally invasive surgery has become the preferred route over abdominal surgery. The laparoscopic or robotic approach is recommended when vaginal surgery is not feasible. Thus far, robotic gynecologic surgery data have demonstrated feasibility, safety, and equivalent clinical outcomes in comparison with laparoscopy and better clinical outcomes compared with laparotomy. Robotics was developed to overcome challenges of laparoscopy and has led to technological advantages such as improved ergonomics, visualization with three-dimensional capabilities, dexterity and range of motion with instrument articulation, and tremor filtration. To date, applications of robotics in benign gynecology include hysterectomy, myomectomy, endometriosis surgery, sacrocolpopexy, adnexal surgery, tubal reanastomosis, and cerclage. Though further data are needed, robotics may provide additional benefits over other approaches in the obese patient population and in higher complexity cases. Challenges that arose in the earlier adoption stage such as the steep learning curve, costs, and operative times are becoming more optimized with greater experience, with implementation of robotics in high-volume centers and with improved training of surgeons and robotic teams. Robotic laparoendoscopic single-site surgery, albeit still in its infancy where technical advantages compared with laparoscopic single-site surgery are still unclear, may provide a cost-reducing option compared with multiport robotics. The cost may even approach that of laparoscopy while still conferring similar perioperative outcomes. Advances in robotic technology such as the single-site platform and telesurgery, have the potential to revolutionize the field of minimally invasive gynecologic surgery. Higher quality evidence is needed to determine the advantages and disadvantages of robotic surgery in benign

Testing for and the role of anal and rectal sensation.

Science.gov (United States)

Rogers, J

1992-03-01

The rectum is insensitive to stimuli capable of causing pain and other sensations when applied to a somatic cutaneous surface. It is, however, sensitive to distension by an experimental balloon introduced through the anus, though it is not known whether it is the stretching or reflex contraction of the gut wall, or the distortion of the mesentery and adjacent structures which induces the sensation. No specific sensory receptors are seen on careful histological examination of the rectum in humans. However, myelinated and non-myelinated nerve fibres are seen adjacent to the rectal mucosa, but no intraepithelial fibres arise from these. The sensation of rectal distension travels with the parasympathetic system to S2, S3 and S4. The two main methods for quantifying rectal sensation are rectal balloon distension and mucosal electrosensitivity. The balloon is progressively distended until particular sensations are perceived by the patient. The volumes at which these sensations are perceived are recorded. Three sensory thresholds are usually defined: constant sensation of fullness, urge to defecate, and maximum tolerated volume. The modalities of anal sensation can be precisely defined. Touch, pain and temperature sensation exist in normal subjects. There is profuse innervation of the anal canal with a variety of specialized sensory nerve endings: Meissner's corpuscles which record touch sensation, Krause end-bulbs which respond to thermal stimuli, Golgi-Mazzoni bodies and pacinian corpuscles which respond to changes in tension and pressure, and genital corpuscles which respond to friction. In addition, there are large diameter free nerve endings within the epithelium. The nerve pathway for anal canal sensation is via the inferior haemorrhoidal branches of the pudendal nerve to the sacral roots of S2, S3 and S4. Anal sensation may be quantitatively measured in response to electrical stimulation. The technique involves the use of a specialized constant current generator

Epiglottic cyst as an etiological factor of globus sensation.

Science.gov (United States)

Polat, Bahtiyar; Karahatay, Serdar; Gerek, Mustafa

2015-09-01

Globus is a subjective complaint that describes a sensation of a lump or a foreign body in the throat. Despite being a well-known and common clinical condition, the etiological factors have not been definitely elucidated yet. The study was set up to ascertain the relationship between epiglottic cysts and globus sensation. All patients undergoing investigation and treatments for globus sensation were included in the study. Patients with epiglottic cysts but no other possible causes of globus sensation were constituted the series of patients. Patients were asked to assess the levels of complaint before and after the carbon dioxide (CO2) laser excisions of the cysts. Epiglottic cysts were found in 10 (5.4%) of the 182 patients. Three of these 10 patients who had concomitant diseases or conditions that may cause globus sensation and one patient who refused the surgery were excluded from the study. All the remaining six patients reported relief of the globus sensation after the CO2 laser excisions of the cysts. Our results, obtained from this limited series, indicated that epiglottic cysts may be considered as one of the etiological factors of globus sensation.

Loss of urinary voiding sensation due to herpes zoster.

Science.gov (United States)

Hiraga, Akiyuki; Nagumo, Kiyomi; Sakakibara, Ryuji; Kojima, Shigeyuki; Fujinawa, Naoto; Hashimoto, Tasuku

2003-01-01

A case of sacral herpes zoster infection in a 56-year-old man with the complication of loss of urinary voiding sensation is presented. He had typical herpes zoster eruption on the left S2 dermatome, hypalgesia of the S1-S4 dermatomes, and absence of urinary voiding sensation. There was no other urinary symptom at the first medical examination. Urinary complications associated with herpes zoster are uncommon, but two types, acute cystitis and acute retention, have been recognized. No cases of loss of urinary voiding sensation due to herpes zoster have been reported. In this case, hypalgesia of the sacral dermatomes was mild compared to the marked loss of urethral sensation. This inconsistency is explained by the hypothesis that the number of urethral fibers is very small as compared to that of cutaneous fibers, therefore, urethral sensation would be more severely disturbed than cutaneous sensation. Copyright 2003 Wiley-Liss, Inc.

Sensation of agency and perception of temporal order.

Science.gov (United States)

Timm, Jana; Schönwiesner, Marc; SanMiguel, Iria; Schröger, Erich

2014-01-01

After adaptation to a fixed temporal delay between actions and their sensory consequences, stimuli delivered during the delay are perceived to occur prior to actions. Temporal judgments are also influenced by the sensation of agency (experience of causing our own actions and their sensory consequences). Sensory consequences of voluntary actions are perceived to occur earlier in time than those of involuntary actions. However, it is unclear whether temporal order illusions influence the sensation of agency. Thus, we tested how the illusionary reversal of motor actions and sound events affect the sensation of agency. We observed an absence of the sensation of agency in the auditory modality in a condition in which sounds were falsely perceived as preceding motor acts relative to the perceived temporal order in the control condition. This finding suggests a strong association between the sensation of agency and the temporal order perception of actions and their consequences. Copyright © 2013 Elsevier Inc. All rights reserved.

Compensating Hand Function in Chronic Stroke Patients Through the Robotic Sixth Finger.

Science.gov (United States)

Salvietti, Gionata; Hussain, Irfan; Cioncoloni, David; Taddei, Sabrina; Rossi, Simone; Prattichizzo, Domenico

2017-02-01

A novel solution to compensate hand grasping abilities is proposed for chronic stroke patients. The goal is to provide the patients with a wearable robotic extra-finger that can be worn on the paretic forearm by means of an elastic band. The proposed prototype, the Robotic Sixth Finger, is a modular articulated device that can adapt its structure to the grasped object shape. The extra-finger and the paretic hand act like the two parts of a gripper cooperatively holding an object. We evaluated the feasibility of the approach with four chronic stroke patients performing a qualitative test, the Frenchay Arm Test. In this proof of concept study, the use of the Robotic Sixth Finger has increased the total score of the patients by two points in a five points scale. The subjects were able to perform the two grasping tasks included in the test that were not possible without the robotic extra-finger. Adding a robotic opposing finger is a very promising approach that can significantly improve the functional compensation of the chronic stroke patient during everyday life activities.

The Development of Control System Design for 5 DOF Nuclear Malaysia Robot Arm v2

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Rosli Darmawan; Mohd Arif Hamzah

2011-01-01

This paper describes a general design and implementation approach used for programming and controlling robotic systems such as remotely operated robotic manipulator systems. A hierarchical approach to control system design is adopted. The hierarchical design is translated into a component-based software design. A low-cost robotic arm and controller system is presented. The controller is a modular model of the robotic arm with the same degrees of freedom whose joints are equipped with sensors. The system takes advantage of the low cost and wide availability of control components and uses a low-cost, easy-to-program microprocessor. Furthermore, it presents the design and the construction of electronic systems for the control of an articulated robot developed for research and development related with instrumentation and control. The system is simple but it is designed the motor to move the robot arm to proper angular position according to the input controller. Limitations of the micro controller are discussed, and suggestions for further development of the robot arm and control are made. (author)

Aerial robot intelligent control method based on back-stepping

Science.gov (United States)

Zhou, Jian; Xue, Qian

2018-05-01

The aerial robot is characterized as strong nonlinearity, high coupling and parameter uncertainty, a self-adaptive back-stepping control method based on neural network is proposed in this paper. The uncertain part of the aerial robot model is compensated online by the neural network of Cerebellum Model Articulation Controller and robust control items are designed to overcome the uncertainty error of the system during online learning. At the same time, particle swarm algorithm is used to optimize and fix parameters so as to improve the dynamic performance, and control law is obtained by the recursion of back-stepping regression. Simulation results show that the designed control law has desired attitude tracking performance and good robustness in case of uncertainties and large errors in the model parameters.

Are online poker problem gamblers sensation seekers?

Science.gov (United States)

Bonnaire, Céline

2018-03-31

The purpose of this research was to examine the relationship between sensation seeking and online poker gambling in a community sample of adult online poker players, when controlling for age, gender, anxiety and depression. In total, 288 online poker gamblers were recruited. Sociodemographic data, gambling behavior (CPGI), sensation seeking (SSS), depression and anxiety (HADS) were evaluated. Problem online poker gamblers have higher sensation seeking scores (total, thrill and adventure, disinhibition and boredom susceptibility subscores) and depression scores than non-problem online poker gamblers. Being male, with total sensation seeking, disinhibition and depression scores are factors associated with online poker problem gambling. These findings are interesting in terms of harm reduction. For example, because disinhibition could lead to increased time and money spent, protective behavioral strategies like setting time and monetary limits should be encouraged in poker online gamblers. Copyright © 2018 Elsevier B.V. All rights reserved.

Breast sensation after breast reconstruction: a systematic review.

Science.gov (United States)

Shridharani, Sachin M; Magarakis, Michael; Stapleton, Sahael M; Basdag, Basak; Seal, Stella M; Rosson, Gedge D

2010-07-01

Studies show some return of breast sensation after breast reconstruction; however, recovery is variable and unpredictable. Efforts are being made to restore innervation by reattaching nerves (neurotization). We sought to systematically review the literature addressing breast sensation after reconstruction. The following databases were searched: EMBASE, Cochrane, and PubMed. Additionally, the PLASTIC AND RECONSTRUCTIVE SURGERY journal was hand searched from 1960 to 2009. Inclusion criteria included breast reconstruction for cancer, return of sensation with objective results, and patients aged 18 to 90 years. Studies with purely cosmetic procedures, case reports, studies with less than 10 patients, and studies involving male patients were excluded. The initial search yielded 109 studies, which was refined to 20 studies with a total pool of 638 patients. Innervated flaps have a greater magnitude of recovery, which occurs at an earlier stage compared with the noninnervated flaps. Overall, sensation to deep inferior epigastric artery perforator flaps may recover better sensation than transverse rectus abdominis myocutaneous flaps, followed by latissimus dorsi flaps, and finally implants. Women's needs and expectations for sensation have led plastic surgeons to investigate ways to facilitate its return. Studies, however, depict conflicting data. Larger series are needed to define the role of neurotization as a modality for improving sensory restoration. Thieme Medical Publishers.

Ambient Space and Ambient Sensation

DEFF Research Database (Denmark)

Schmidt, Ulrik

The ambient is the aesthetic production of the sensation of being surrounded. As a concept, 'ambient' is mostly used in relation to the music genre 'ambient music' and Brian Eno's idea of environmental background music. However, the production of ambient sensations must be regarded as a central...... aspect of the aesthetization of modern culture in general, from architecture, transport and urbanized lifeforms to film, sound art, installation art and digital environments. This presentation will discuss the key aspects of ambient aesthetization, including issues such as objectlessness...

Comparative Evaluation of Tactile Sensation by Electrical and Mechanical Stimulation.

Science.gov (United States)

Yem, Vibol; Kajimoto, Hiroyuki

2017-01-01

An electrotactile display is a tactile interface that provides tactile perception by passing electrical current through the surface of the skin. It is actively used instead of mechanical tactile displays for tactile feedback because of several advantages such as its small and thin size, light weight, and high responsiveness. However, the similarities and differences between these sensations is still not clear. This study directly compares the intensity sensation of electrotactile stimulation to that of mechanical stimulation, and investigates the characteristic sensation of anodic and cathodic stimulation. In the experiment, participants underwent a 30 pps electrotactile stimulus every one second to their middle finger, and were asked to match this intensity by adjusting the intensity of a mechanical tactile stimulus to an index finger. The results showed that anodic stimulation mainly produced vibration sensation, whereas cathodic sensation produced both vibration and pressure sensations. Relatively low pressure sensation was also observed for anodic stimulation but it remains low, regardless of the increasing of electrical intensity.

Articulating Atmospheres

DEFF Research Database (Denmark)

Kinch, Sofie

2011-01-01

This paper presents an architectural approach to designing computational interfaces by articulating the notion of atmosphere in the field of interaction design. It draws upon the concept of kinesthetic interaction and a philosophical notion on atmosphere emphasizing the importance of bodily...

Message sensation and cognition values: factors of competition or integration?

Science.gov (United States)

Xu, Jie

2015-01-01

Using the Activation Model of Information Exposure and Elaboration Likelihood Model as theoretical frameworks, this study explored the effects of message sensation value (MSV) and message cognition value (MCV) of antismoking public service announcements (PSAs) on ad processing and evaluation among young adults, and the difference between high sensation seekers and low sensation seekers in their perceptions and responses toward ads with different levels of sensation and cognition value. A 2 (MSV: high vs. low) × 2 (MCV: high vs. low) × 2 (need for sensation: high vs. low) mixed experimental design was conducted. Two physiological measures including skin conductance and heart rate were examined. Findings of this study show that MSV was not a distraction but a facilitator of message persuasiveness. These findings contribute to the activation model. In addition, need for sensation moderated the interaction effect of MSV and MCV on ad processing. Low sensation seekers were more likely to experience the interaction between MSV and MCV than high sensation seekers. Several observations related to the findings and implications for antismoking message designs are elaborated. Limitations and directions for future research are also outlined.

[Robot assisted Frykman-Goldberg procedure. Case report].

Science.gov (United States)

Zubieta-O'Farrill, Gregorio; Ramírez-Ramírez, Moisés; Villanueva-Sáenz, Eduardo

2017-12-01

Rectal prolapse is defined as the protrusion of the rectal wall through the anal canal; with a prevalence of less than 0.5%. The most frequent symptoms include pain, incomplete defecation sensation with blood and mucus, fecal incontinence and/or constipation. The surgical approach can be perineal or abdominal with the tendency for minimal invasion. Robot-assisted procedures are a novel option that offer technique advantages over open or laparoscopic approaches. 67 year-old female, who presented with rectal prolapse, posterior to an episode of constipation, that required manual reduction, associated with transanal hemorrhage during defecation and occasional fecal incontinence. A RMI defecography was performed that reported complete rectal and uterine prolapse, and cystocele. A robotic assisted Frykman-Goldberg procedure wass performed. There are more than 100 surgical procedures for rectal prolapse treatment. We report the first robot assisted procedure in Mexico. Robotic assisted surgery has the same safety rate as laparoscopic surgery, with the advantages of better instrument mobility, no human hand tremor, better vision, and access to complicated and narrow areas. Robotic surgery as the surgical treatment is a feasible, safe and effective option, there is no difference in recurrence and function compared with laparoscopy. It facilitates the technique, improves nerve preservation and bleeding. Further clinical, prospective and randomized studies to compare the different minimal invasive approaches, their functional and long term results for this pathology are needed. Copyright © 2016 Academia Mexicana de Cirugía A.C. Publicado por Masson Doyma México S.A. All rights reserved.

Attenuation of Self-Generated Tactile Sensations is Predictive, not Postdictive.

Directory of Open Access Journals (Sweden)

2006-01-01

Full Text Available When one finger touches the other, the resulting tactile sensation is perceived as weaker than the same stimulus externally imposed. This attenuation of sensation could result from a predictive process that subtracts the expected sensory consequences of the action, or from a postdictive process that alters the perception of sensations that are judged after the event to be self-generated. In this study we observe attenuation even when the fingers unexpectedly fail to make contact, supporting a predictive process. This predictive attenuation of self-generated sensation may have evolved to enhance the perception of sensations with an external cause.

Attenuation of self-generated tactile sensations is predictive, not postdictive.

Directory of Open Access Journals (Sweden)

Paul M Bays

2006-02-01

Full Text Available When one finger touches the other, the resulting tactile sensation is perceived as weaker than the same stimulus externally imposed. This attenuation of sensation could result from a predictive process that subtracts the expected sensory consequences of the action, or from a postdictive process that alters the perception of sensations that are judged after the event to be self-generated. In this study we observe attenuation even when the fingers unexpectedly fail to make contact, supporting a predictive process. This predictive attenuation of self-generated sensation may have evolved to enhance the perception of sensations with an external cause.

[The controversy of routine articulator mounting in orthodontics].

Science.gov (United States)

Wang, Li; Han, Xianglong; Bai, Ding

2013-06-01

Articulators have been widely used by clinicians of dentistry. But routine articulator mounting is still controversial in orthodontics. Orthodontists oriented by gnathology approve routine articulator mounting while nongnathologic orthodontists disapprove it. This article reviews the thoughts of orthodontist that they agree or disagree with routine articulator mounting based on the considerations of biting, temporomandibular disorder (TMD), periodontitis, and so on.

Combining the Vortex Particle-Mesh method with a Multi-Body System solver for the simulation of self-propelled articulated swimmers

Science.gov (United States)

Bernier, Caroline; Gazzola, Mattia; Ronsse, Renaud; Chatelain, Philippe

2017-11-01

We present a 2D fluid-structure interaction simulation method with a specific focus on articulated and actuated structures. The proposed algorithm combines a viscous Vortex Particle-Mesh (VPM) method based on a penalization technique and a Multi-Body System (MBS) solver. The hydrodynamic forces and moments acting on the structure parts are not computed explicitly from the surface stresses; they are rather recovered from the projection and penalization steps within the VPM method. The MBS solver accounts for the body dynamics via the Euler-Lagrange formalism. The deformations of the structure are dictated by the hydrodynamic efforts and actuation torques. Here, we focus on simplified swimming structures composed of neutrally buoyant ellipses connected by virtual joints. The joints are actuated through a simple controller in order to reproduce the swimming patterns of an eel-like swimmer. The method enables to recover the histories of torques applied on each hinge along the body. The method is verified on several benchmarks: an impulsively started elastically mounted cylinder and free swimming articulated fish-like structures. Validation will be performed by means of an experimental swimming robot that reproduces the 2D articulated ellipses.

A transcription factor for cold sensation!

Directory of Open Access Journals (Sweden)

Milbrandt Jeffrey

2005-03-01

Full Text Available Abstract The ability to feel hot and cold is critical for animals and human beings to survive in the natural environment. Unlike other sensations, the physiology of cold sensation is mostly unknown. In the present study, we use genetically modified mice that do not express nerve growth factor-inducible B (NGFIB to investigate the possible role of NGFIB in cold sensation. We found that genetic deletion of NGFIB selectively affected behavioral responses to cold stimuli while behavioral responses to noxious heat or mechanical stimuli were normal. Furthermore, behavioral responses remained reduced or blocked in NGFIB knockout mice even after repetitive application of cold stimuli. Our results provide strong evidence that the first transcription factor NGFIB determines the ability of animals to respond to cold stimulation.

Design and Development of a Mechanical Carrier for Mobile Robot (with rough surface/terrain movement features)- Extension of KINPOE Robot Project for Application at K-1

International Nuclear Information System (INIS)

Ahmad, H. W.

2012-01-01

During plant (KANUPP) operation, it is difficult or nearly impossible to access and monitor (high) radiation areas where some abnormal condition has to be detected or mitigated. Presence of a surveillance mobile robot will be very useful for such a scenario. This project work is an effort towards the development of a mobile robot that can be used for remote surveillance. A four DOF (degree of freedom) articulated robotic arm, and mobile base is developed. Manipulator is designed using Autodesk inventor, and then fabricated in PIEAS Fabrication Shop. All joints of the manipulator are revolute joints. Maxon DC motors have been used to empower the joints with the help of gears. Spur gear and planetary gear head have been used to increase the torque at joints and to reduce the speed. The report provides complete detail about mechanical design, moreover some casting procedures are also discussed at the end to cast main parts of robot, problems that were faced during the project and their solutions are also discussed in the report. (author)

On Autonomous Articulated Vehicles

OpenAIRE

Nayl, Thaker

2015-01-01

The objective of this thesis is to address the problems of modeling, path planning and path following for an articulated vehicle in a realistic environment and in the presence of multiple obstacles.In greater detail, the problem of the kinematic modeling of an articulated vehicle is revisited through the proposal of a proper model in which the dimensions and properties of the vehicle can be fully described, rather than considering it as a unit point. Based on this approach, nonlinear and line...

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Science.gov (United States)

Marzwell, Neville I.; Chen, Alexander Y. K.

1991-01-01

articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated.

Gender Issues and Language Articulation; a Brief Look at Pros of Gender Neutral Language Articulation

Science.gov (United States)

Ebrahimi, Pouria

2009-01-01

As with the language articulated by learners--in both oral and written form--the supremacy of a masculine language use is witnessed. This brings to light the fact that gender has been excessively an unobserved factor in the process of language teaching. Although learners are apparently used to forming masculine-centered articulation, non-sexist…

Sensation seeking in opium abusers compared to normal people

Directory of Open Access Journals (Sweden)

2004-05-01

Full Text Available Recent research shows that it is possible to identify people at risk of substance abuse using some personality variables. Identification of these people might help social planners to deal with these people specifically in their prevention attempts. The aim of this study was to compare the sensation seeking of opium addicted and non-addicted people using the sensation seeking scale. Such a comparison might help to identify personality variables that are effective in turning toward substance abuse. In order to measure the sensation seeking of subjects “Sensation Seeking Scale” (SSS were used. 31 opium abusers were matched to 31 normal controls according to the following variables: age, education, father and mother education. Results showed that opium abusers obtain higher scores on the total sensation seeking score ,“variety seeking” and “experience seeking” subscales.

Robotic Laparoendoscopic Single-site Retroperitioneal Renal Surgery: Initial Investigation of a Purpose-built Single-port Surgical System.

Science.gov (United States)

Maurice, Matthew J; Ramirez, Daniel; Kaouk, Jihad H

2017-04-01

Robotic single-site retroperitoneal renal surgery has the potential to minimize the morbidity of standard transperitoneal and multiport approaches. Traditionally, technological limitations of non-purpose-built robotic platforms have hindered the application of this approach. To assess the feasibility of retroperitoneal renal surgery using a new purpose-built robotic single-port surgical system. This was a preclinical study using three male cadavers to assess the feasibility of the da Vinci SP1098 surgical system for robotic laparoendoscopic single-site (R-LESS) retroperitoneal renal surgery. We used the SP1098 to perform retroperitoneal R-LESS radical nephrectomy (n=1) and bilateral partial nephrectomy (n=4) on the anterior and posterior surfaces of the kidney. Improvements unique to this system include enhanced optics and intelligent instrument arm control. Access was obtained 2cm anterior and inferior to the tip of the 12th rib using a novel 2.5-cm robotic single-port system that accommodates three double-jointed articulating robotic instruments, an articulating camera, and an assistant port. The primary outcome was the technical feasibility of the procedures, as measured by the need for conversion to standard techniques, intraoperative complications, and operative times. All cases were completed without the need for conversion. There were no intraoperative complications. The operative time was 100min for radical nephrectomy, and the mean operative time was 91.8±18.5min for partial nephrectomy. Limitations include the preclinical model, the small sample size, and the lack of a control group. Single-site retroperitoneal renal surgery is feasible using the latest-generation SP1098 robotic platform. While the potential of the SP1098 appears promising, further study is needed for clinical evaluation of this investigational technology. In an experimental model, we used a new robotic system to successfully perform major surgery on the kidney through a single small

On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

Energy Technology Data Exchange (ETDEWEB)

Asnafi, Alireza [Hydro-Aeronautical Research Center, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of); Mahzoon, Mojtaba [Department of Mechanical Engineering, School of Engineering, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)

2011-09-15

Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

International Nuclear Information System (INIS)

Asnafi, Alireza; Mahzoon, Mojtaba

2011-01-01

Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

Effect of wind speed on human thermal sensation and thermal comfort

Science.gov (United States)

Hou, Yuhan

2018-06-01

In this experiment, a method of questionnaire survey was adopted. By changing the air flow rate under the indoor and outdoor natural conditions, the subjective Thermal Sensation Vote (TSV) and the Thermal Comfort Vote (TCV) were recorded. The draft sensation can reduce the thermal sensation, but the draft sensation can cause discomfort, and the thermal comfort in a windy environment is lower than in a windless environment. When the temperature rises or the level of human metabolism increases, the person feels heat, the demand for draft sensation increases, and the uncomfortable feeling caused by the draft sensation may be reduced. Increasing the air flow within a certain range can be used to compensate for the increase in temperature.

Cryotherapy, Sensation, and Isometric-Force Variability

Science.gov (United States)

Denegar, Craig R.; Buckley, William E.; Newell, Karl M.

2003-01-01

Objective: To determine the changes in sensation of pressure, 2-point discrimination, and submaximal isometric-force production variability due to cryotherapy. Design and Setting: Sensation was assessed using a 2 × 2 × 2 × 3 repeated-measures factorial design, with treatment (ice immersion or control), limb (right or left), digit (finger or thumb), and sensation test time (baseline, posttreatment, or postisometric-force trials) as independent variables. Dependent variables were changes in sensation of pressure and 2-point discrimination. Isometric-force variability was tested with a 2 × 2 × 3 repeated-measures factorial design. Treatment condition (ice immersion or control), limb (right or left), and percentage (10, 25, or 40) of maximal voluntary isometric contraction (MVIC) were the independent variables. The dependent variables were the precision or variability (the standard deviation of mean isometric force) and the accuracy or targeting error (the root mean square error) of the isometric force for each percentage of MVIC. Subjects: Fifteen volunteer college students (8 men, 7 women; age = 22 ± 3 years; mass = 72 ± 21.9 kg; height = 183.4 ± 11.6 cm). Measurements: We measured sensation in the distal palmar aspect of the index finger and thumb. Sensation of pressure and 2-point discrimination were measured before treatment (baseline), after treatment (15 minutes of ice immersion or control), and at the completion of isometric testing (final). Variability (standard deviation of mean isometric force) of the submaximal isometric finger forces was measured by having the subjects exert a pinching force with the thumb and index finger for 30 seconds. Subjects performed the pinching task at the 3 submaximal levels of MVIC (10%, 25%, and 40%), with the order of trials assigned randomly. The subjects were given a target representing the submaximal percentage of MVIC and visual feedback of the force produced as they pinched the testing device. The force exerted

The Subjective Sensation of Synchrony: An Experimental Study

KAUST Repository

Llobera, Joan; Charbonnier, Caecilia; Chagué , Sylvain; Preissmann, Delphine; Antonietti, Jean-Philippe; Ansermet, Franç ois; Magistretti, Pierre J.

2016-01-01

People performing actions together have a natural tendency to synchronize their behavior. Consistently, people doing a task together build internal representations not only of their actions and goals, but also of the other people performing the task. However, little is known about which are the behavioral mechanisms and the psychological factors affecting the subjective sensation of synchrony, or “connecting” with someone else. In this work, we sought to find which factors induce the subjective sensation of synchrony, combining motion capture data and psychological measures. Our results show that the subjective sensation of synchrony is affected by performance quality together with task category, and time. Psychological factors such as empathy and negative subjective affects also correlate with the subjective sensation of synchrony. However, when people estimate synchrony as seen from a third person perspective, their psychological factors do not affect the accuracy of the estimation. We suggest that to feel this sensation it is necessary to, first, have a good joint performance and, second, to assume the existence of an attention monitoring mechanism that reports that the attention of both participants (self and other) is focused on the task.

The Subjective Sensation of Synchrony: An Experimental Study

KAUST Repository

Llobera, Joan

2016-02-12

People performing actions together have a natural tendency to synchronize their behavior. Consistently, people doing a task together build internal representations not only of their actions and goals, but also of the other people performing the task. However, little is known about which are the behavioral mechanisms and the psychological factors affecting the subjective sensation of synchrony, or “connecting” with someone else. In this work, we sought to find which factors induce the subjective sensation of synchrony, combining motion capture data and psychological measures. Our results show that the subjective sensation of synchrony is affected by performance quality together with task category, and time. Psychological factors such as empathy and negative subjective affects also correlate with the subjective sensation of synchrony. However, when people estimate synchrony as seen from a third person perspective, their psychological factors do not affect the accuracy of the estimation. We suggest that to feel this sensation it is necessary to, first, have a good joint performance and, second, to assume the existence of an attention monitoring mechanism that reports that the attention of both participants (self and other) is focused on the task.

How do different tests evaluate sensation in the lower urinary tract?

Science.gov (United States)

De Laet, Kevin; De Wachter, Stefan; Van Meel, Tom; Wyndaele, Jean-Jacques

2010-04-01

Different tests can be used to evaluate lower urinary tract (LUT) sensation. The purpose of this study is to compare sensory tests in patients with voiding disorders. Seventy patients with various functional disorders of the LUT were admitted for a cystometry and an electrical perception threshold test of the bladder (bEPT) and distal urethra (uEPT). A pudendal EPT (pEPT) and pudendal somatosensory evoked potentials (pSSEP) were also determined. Correlations were calculated for somatosensory (uEPT, pEPT and pSSEP latency) and viscerosensory tests (volumes at filling sensations and bEPT). Fifty of the 70 patients (71%) had normal bladder filling sensations, with abnormal bEPT in 21/50 (41%), including 11 (22%) with no sensation at maximal electrical stimulation. Twenty out of 70 (29%) had an abnormal pattern of filling sensation, with increased bEPT in 13/20 (65%) and no sensation at electrical stimulation in 8/13 (40%). No significant correlation exists between filling sensation and bladder electrical perception thresholds (r 0.243). pEPT correlated with uEPT and SSEP (r > 0.035, p sensation. No significant correlation exists between volumes of filling sensations and bEPT (r 0.243). Therefore, both tests provide complementary information. Somatosensory tests of the pudendal nerve are correlated, so performing SSEP, pEPT and uEPT provides poor additional information to one of these tests alone. Somatosensory pudendal tests cannot be used to quantify filling sensation.

ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

International Nuclear Information System (INIS)

Perrot, Y.; Cordier, J.J.; Friconneau, J.P.; Gargiulo, L.; Martin, E.; Palmer, J.D.; Tesini, A.

2005-01-01

This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 o C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module

ITER articulated inspection arm (AIA): R and d progress on vacuum and temperature technology for remote handling

Energy Technology Data Exchange (ETDEWEB)

Perrot, Y. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France)]. E-mail: yann.perrot@cea.fr; Cordier, J.J. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Friconneau, J.P. [Robotics and Interactive Systems Unit-CEA/LIST, BP6 F-92265 Fontenay aux Roses Cedex (France); Gargiulo, L. [DRFC-CEA Cadarache, 13108 Saint Paul Lez Durance Cedex (France); Martin, E. [ITER International Team, Boltzmannstrasse 2, 85748 Garching (Germany); Palmer, J.D. [EFDA CSU Garching, Boltzmannstrasse 2, 85748 Garching (Germany); Tesini, A. [ITER International Team, ITER Naka Joint Work Site, 801-1, Muouyama, Naka-machi, Naka-gun, Iberaki-ken 311-0193 (Japan)

2005-11-15

This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R and D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER. It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs. To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 {sup o}C). The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility. As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER's IVVS deployment system. This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module.

Visual sensations induced by relativistic pions

International Nuclear Information System (INIS)

McNulty, P.J.; Pease, V.P.; Bond, V.P.

1976-01-01

Visual sensations were experienced when bursts of high-energy pions passed through the dark-adapted right eyes of three human subjects. The threshold for a visual sensation was typically 1 to 3 μrad at the retina. Data are presented to show that the mechanism is Cerenkov radiation generated within the vitreous humor. Threshold measurements agree with published optical data. A comparison is made between our observations and the light flashes observed in deep space by Apollo astronauts

From Soft Sculpture to Soft Robotics: Retracing a Physical Aesthetics of Bio-Morphic Softness

DEFF Research Database (Denmark)

Jørgensen, Jonas

2017-01-01

Soft robotics has in the past decade emerged as a growing subfield of technical robotics research, distinguishable by its bio-inspired design strategies, interest in morphological computation, and interdisciplinary combination of insights from engineering, computer science, biology and material...... science. Recently, soft robotics technology has also started to make its way into art, design, and architecture. This paper attempts to think an aesthetics of softness and the life-like through an artistic tradition deeply imbricated with an interrogation of softness and its physical substrates, namely...... the soft sculpture that started proliferating in the late 1960s. Critical descriptions of these works, interestingly, frequently emphasize their similarities with living organisms and bodies as a central tenet of their aesthetics. The paper seeks to articulate aspects of a contiguity between softness...

Solifenacin objectively decreases urinary sensation in women with overactive bladder syndrome.

Science.gov (United States)

Lowenstein, Lior; Kenton, Kimberly; Mueller, Elizabeth R; Brubaker, Linda; Sabo, Edmond; Durazo-Arivzu, Ramón A; Fitzgerald, Mary P

2012-04-01

To evaluate the test-retest reliability of a device that measures urinary sensation during cystometry, and to use that device to determine whether treatment of overactive bladder syndrome (OAB) with solifenacin is associated with a change in urinary sensation. Overall 15 women were recruited for this study, ten women with OAB and urodynamically demonstrated detrusor overactivity and five controls without OAB underwent filling cystometry twice with contemporaneous, continuous recording of urinary sensation. Women with OAB received solifenacin 10 mg daily during the weeks between testing. We compared the areas under the initial and repeat sensation-volume curves. While taking solifenacin, the maximum cystometric capacity increased from 329 ± 168 ml to 464 ± 123 ml (P sensation curve decreased (P sensation during the treatment of OAB with solifenacin. If clinical correlations are confirmed by future study, such urinary sensation measures may prove useful as assessment, treatment predictor, or outcome measures in OAB research and/or clinical care.

Auditory and Visual Sensations

CERN Document Server

Ando, Yoichi

2010-01-01

Professor Yoichi Ando, acoustic architectural designer of the Kirishima International Concert Hall in Japan, presents a comprehensive rational-scientific approach to designing performance spaces. His theory is based on systematic psychoacoustical observations of spatial hearing and listener preferences, whose neuronal correlates are observed in the neurophysiology of the human brain. A correlation-based model of neuronal signal processing in the central auditory system is proposed in which temporal sensations (pitch, timbre, loudness, duration) are represented by an internal autocorrelation representation, and spatial sensations (sound location, size, diffuseness related to envelopment) are represented by an internal interaural crosscorrelation function. Together these two internal central auditory representations account for the basic auditory qualities that are relevant for listening to music and speech in indoor performance spaces. Observed psychological and neurophysiological commonalities between auditor...

Sensation seeking in males involved in recreational high risk sports

Directory of Open Access Journals (Sweden)

M Guszkowska

2010-09-01

Full Text Available The study examined sensation seeking intensity level in males involved in recreational high risk sports and investigated whether its level depends on type of sport practised. Additionally, in case of parachutists, sport experience of study participants were scrutinised with regard to its possible impact on the level of sensation seeking.The research involved 217 males aged 17 to 45, practising recreational high risk sports, namely: parachuting (n=98; wakeboarding (n=30; snowboarding (n=30; scuba diving (n=22; alpinism (n=20; paragliding (n=17. The control group included 54 men not involved in sports. Polish version of Sensation Seeking Scale (SSS-IV of Zuckerman was applied.Results show, that high risk sports males are featured by stronger need of sensations in comparison to control group and this concerned all but one aspect of sensation seeking variable. The only exception was the need of intellectual stimulation. Except from the thrill and adventure seeking dimension, type of sport may also be an important determinant of sensation seeking. Men practising snowboard and wakeboard presented stronger need for sensations, especially in the dimension of experience seeking, disinhibition and boredom susceptibility. Sport experience (number of jumps in parachuting did not differentiate the level of sensation seeking among investigated parachutists. Population of sport high risk male takers was not homogeneous, and therefore in future research one should analyse specific sports (or events in a certain sport separately.

Estimation of Thermal Sensation Based on Wrist Skin Temperatures

Science.gov (United States)

Sim, Soo Young; Koh, Myung Jun; Joo, Kwang Min; Noh, Seungwoo; Park, Sangyun; Kim, Youn Ho; Park, Kwang Suk

2016-01-01

Thermal comfort is an essential environmental factor related to quality of life and work effectiveness. We assessed the feasibility of wrist skin temperature monitoring for estimating subjective thermal sensation. We invented a wrist band that simultaneously monitors skin temperatures from the wrist (i.e., the radial artery and ulnar artery regions, and upper wrist) and the fingertip. Skin temperatures from eight healthy subjects were acquired while thermal sensation varied. To develop a thermal sensation estimation model, the mean skin temperature, temperature gradient, time differential of the temperatures, and average power of frequency band were calculated. A thermal sensation estimation model using temperatures of the fingertip and wrist showed the highest accuracy (mean root mean square error [RMSE]: 1.26 ± 0.31). An estimation model based on the three wrist skin temperatures showed a slightly better result to the model that used a single fingertip skin temperature (mean RMSE: 1.39 ± 0.18). When a personalized thermal sensation estimation model based on three wrist skin temperatures was used, the mean RMSE was 1.06 ± 0.29, and the correlation coefficient was 0.89. Thermal sensation estimation technology based on wrist skin temperatures, and combined with wearable devices may facilitate intelligent control of one’s thermal environment. PMID:27023538

Thirst sensation and oral dryness following alcohol intake

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Kiyotoshi Inenaga

2017-08-01

Full Text Available Substantial acute and chronic intakes of alcohol or ethanol (EtOH severely influence oral sensations, such as thirst and oral dryness (dry mouth, xerostomia. Thirst sensation and oral dryness are primarily caused by the activation of neurons in brain regions, including the circumventricular organs and hypothalamus, which are referred to as the dipsogenic center, and by a decrease in salivary secretion, respectively. The sensation of thirst experienced after heavy-alcohol drinking is widely regarded as a consequence of EtOH-induced diuresis; however, EtOH in high doses induces anti-diuresis. Recently, it has been proposed that the ethanol metabolite acetaldehyde induces thirst via two distinct processes in the central nervous system from EtOH-induced diuresis, based on the results of animal experiments. The present review describes new insights regarding the induction mechanism of thirst sensation and oral dryness after drinking alcohol.

Study on real-time force feedback for a master-slave interventional surgical robotic system.

Science.gov (United States)

Guo, Shuxiang; Wang, Yuan; Xiao, Nan; Li, Youxiang; Jiang, Yuhua

2018-04-13

In robot-assisted catheterization, haptic feedback is important, but is currently lacking. In addition, conventional interventional surgical robotic systems typically employ a master-slave architecture with an open-loop force feedback, which results in inaccurate control. We develop herein a novel real-time master-slave (RTMS) interventional surgical robotic system with a closed-loop force feedback that allows a surgeon to sense the true force during remote operation, provide adequate haptic feedback, and improve control accuracy in robot-assisted catheterization. As part of this system, we also design a unique master control handle that measures the true force felt by a surgeon, providing the basis for the closed-loop control of the entire system. We use theoretical and empirical methods to demonstrate that the proposed RTMS system provides a surgeon (using the master control handle) with a more accurate and realistic force sensation, which subsequently improves the precision of the master-slave manipulation. The experimental results show a substantial increase in the control accuracy of the force feedback and an increase in operational efficiency during surgery.

Neural Network Control for the Linear Motion of a Spherical Mobile Robot

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Yao Cai

2011-09-01

Full Text Available This paper discussed the stabilization and position tracking control of the linear motion of an underactuated spherical robot. By considering the actuator dynamics, a complete dynamic model of the robot is deduced, which is a complex third order, two variables nonlinear differential system and those two variables have strong coupling due to the mechanical structure of the robot. Different from traditional treatments, no linearization is applied to this system but a single‐input multiple‐output PID (SIMO_PID controller is designed by adopting a six‐input single‐ output CMAC_GBF (Cerebellar Model Articulation Controller with General Basis Function neural network to compensate the actuator nonlinearity and the credit assignment (CA learning method to obtain faster convergence of CMAC_GBF. The proposed controller is generalizable to other single‐input multiple‐output system with good real‐time capability. Simulations in Matlab are used to validate the control effects.

Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points

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ChangHyun Sung

2013-07-01

Full Text Available We design a framework about the planning of whole body motion for humanoid robots. Motion planning with various constraints is essential to success the task. In this research, we propose a motion planning method corresponding to various conditions for achieving the task. We specify some via-points to deal with the conditions for target achievement depending on various constraints. Together with certain constraints including task accomplishment, the via-point representation plays a crucial role in the optimization process of our method. Furthermore, the via-points as the optimization parameters are related to some physical conditions. We applied this method to generate the kicking motion of a humanoid robot HOAP-3. We have confirmed that the robot was able to complete the task of kicking a ball over an obstacle into a goal in addition to changing conditions of the location of a ball. These results show that the proposed motion planning method using via-point representation can increase articulation of the motion.

Authoritative Parenting and Sensation Seeking as Predictors of Adolescent Cigarette and Marijuana Use

Science.gov (United States)

Stephenson, Michael T.; Helme, Donald W.

2006-01-01

Adolescents with high sensation-seeking tendencies often seek out thrill seeking experiences to satisfy their need for stimulation and sensation. In many cases, sensation-seeking adolescents fulfill their need for stimulation and sensation by using illicit substances. However, not all high sensation seekers use drugs, although the factors that…

Robot performing heavy gymnastics. Kikai taiso wo suru robot

Energy Technology Data Exchange (ETDEWEB)

Takashima, S. (Hosei Univ., Tokyo (Japan). Faculty of Engineering)

1991-11-01

Methods of simulation of the motion of human bodies and the control of the motion of bobots are sdudied in order to realize robots to perform gymnastics on a horizontal bar. A model of the human body structure is presented by dividing the human body into 8 parts: right and left arms, the head, the trunk, the right and left thighs, and the right and left foot, and a system is constructed by combination of the links of the rigid partswith an assumption on each link for simplification. A method to enhance the swing motion is devised in order to produce a suspension motionaas a basic movement of horizontal bar gymnastics. The basic condition to control the horizontal bar gynnastics and the control system of an articulation angle are considered. Two algorithms are presented in order to enhance the swing motion and to maintain suspension swing: excitation of the swing by a vertical motion of the center of gravity and excitation by the use of natural frequency. Computer simulation of suspension swing is executed and the results are shown in a figure. A prototype robot to perform horizontal bar gymnastics is manufactured and performs suspension swing, starting of swing, kip motion and giant swing. The concept of optimization is not included concretely in the prototype. 22 refs., 8 figs.

The Neural Mechanisms of Re-Experiencing Mental Fatigue Sensation: A Magnetoencephalography Study

OpenAIRE

Ishii, Akira; Karasuyama, Takuma; Kikuchi, Taiki; Tanaka, Masaaki; Yamano, Emi; Watanabe, Yasuyoshi

2015-01-01

There have been several studies which have tried to clarify the neural mechanisms of fatigue sensation; however fatigue sensation has multiple aspects. We hypothesized that past experience related to fatigue sensation is an important factor which contributes to future formation of fatigue sensation through the transfer to memories that are located within specific brain structures. Therefore, we aimed to investigate the neural mechanisms of fatigue sensation related to memory. In the present s...

Multimodal mechanisms of food creaminess sensation.

Science.gov (United States)

Chen, Jianshe; Eaton, Louise

2012-12-01

In this work, the sensory creaminess of a set of four viscosity-matched fluid foods (single cream, evaporated milk, corn starch solution, and corn starch solution containing long chain free fatty acids) was tested by a panel of 16 assessors via controlled sensation mechanisms of smell only, taste only, taste and tactile, and integrated multimodal. It was found that all sensation channels were able to discriminate between creamy and non-creamy foods, but only the multimodal method gave creaminess ratings in agreement with the samples' fat content. Results from this study show that the presence of long chain free fatty acids has no influence on creaminess perception. It is certain that food creaminess is not a primary sensory property but an integrated sensory perception (or sensory experience) derived from combined sensations of visual, olfactory, gustatory, and tactile cues. Creamy colour, milky flavour, and smooth texture are probably the most important sensory features of food creaminess.

Self-Produced Tickle Sensation by Manipulating Visual Feedback

Directory of Open Access Journals (Sweden)

Hiroyuki Iizuka

2011-10-01

Full Text Available The aim of the present paper was to clarify how the distinction of self- (sense of agency, SOA and other-produced behavior can be synthesized and recognized in multisensory integration as our cognitive processes. To address this issue, we used tickling paradigm that it is hard for us to tickle ourselves. Previous studies show that tickle sensation by their own motion increases if more delay is given between self-motion of tickling and tactile stimulation (Blakemore et al. 1998, 1999. We introduced visual feedbacks to the tickling experiments. In our hypothesis, integration of vision, proprioception, and motor commands forms the SOA and disintegration causes the breakdown the SOA, which causes the feeling of others, producing tickling sensation even by tickling oneself. We used video-see-through HMD to suddenly delay the real-time images of their hand tickling motions. The tickle sensation was measured by subjective response in the following conditions; 1 tickling oneself without any visual modulation, 2 tickled by others, 3 tickling oneself with visual feedback manipulation. The statistical analysis of ranked evaluation of tickle sensations showed that the delay of visual feedback causes the increase of tickle sensation. The SOA was discussed with Blakemore's and our results.

Motion sickness history, food neophobia, and sensation seeking.

Science.gov (United States)

Alley, Thomas R; Willet, Kathleen A; Muth, Eric R

2006-06-01

Motion sickness is believed to be caused by conflicting sensory signals, a situation that mimics the effects of ingesting certain toxins. Thus, one might suspect that individuals who have experienced a relatively high frequency of motion sickness may be particularly vigilant about avoiding anything that produces nausea, induding potentially nauseating toxins. Consequently, they may be more resistant to trying new foods, i.e., be more food neophobic, since unfamiliar foods can have unexpected adverse effects due to toxins or allergens. Likewise, many highly stimulating experiences can trigger motion sickness, so individuals who are more susceptible may be more prone to avoid such experiences, i.e., be less sensation seeking. Finally, it was expected that food neophobia would be more frequent in individuals low on sensation seeking tendencies. Self-reported motion sickness history in 308 adults (M= 18.8 yr.; SD = 1.6) was correlated with scores on the Arnett Inventory of Sensation Seeking and the Food Neophobia Scale. As predicted, greater history of motion sickness was associated with lower Sensation Seeking scores. Food Neophobia was not correlated with motion sickness history but, as expected, was negatively correlated (r = -.42) with scores on Sensation Seeking. Further research is recommended that measures actual sensitivity to motion sickness.

Traces: making sense of urodynamics testing--Part 8: Evaluating sensations of bladder filling.

Science.gov (United States)

Gray, Mikel

2011-01-01

The "Traces" series discusses how the urodynamic clinician generates usable data from a filling cystometrogram (CMG). Part 8 focuses on the question, "What are the sensations of bladder filling?" Recent research suggests that sensations of bladder filling wax and wane from consciousness in healthy persons free of bothersome lower urinary tract symptoms. Because of its invasive and atypical nature when compared to daily life, multichannel urodynamics testing cannot reproduce the numerous and complex variables that influence bladder sensation in the healthy individual, making the evaluation of sensations of bladder filling a particularly challenging component of the filling CMG. Routine assessment of bladder sensations focuses on identification of three landmarks--first sensation of bladder filling, first desire to void, and a strong desire to void. A fourth sensation, bladder fullness or a compelling desire to void, is recommended. In addition to assessing these sensations, the urodynamic clinician must assess sensations indicating associated disease or disorders affecting lower urinary tract function, including urgency, pain, and atypical sensations. This assessment should be completed in the context of the results of one or more validated instruments used to measure bladder sensations.

Medial Orbitofrontal Cortex Is Associated with Fatigue Sensation

Directory of Open Access Journals (Sweden)

Seiki Tajima

2010-01-01

Full Text Available Fatigue is an indispensable bioalarm to avoid exhaustive state caused by overwork or stresses. It is necessary to elucidate the neural mechanism of fatigue sensation for managing fatigue properly. We performed H2O  15 positron emission tomography scans to indicate neural activations while subjects were performing 35-min fatigue-inducing task trials twice. During the positron emission tomography experiment, subjects performed advanced trail-making tests, touching the target circles in sequence located on the display of a touch-panel screen. In order to identify the brain regions associated with fatigue sensation, correlation analysis was performed using statistical parametric mapping method. The brain region exhibiting a positive correlation in activity with subjective sensation of fatigue, measured immediately after each positron emission tomography scan, was located in medial orbitofrontal cortex (Brodmann's area 10/11. Hence, the medial orbitofrontal cortex is a brain region associated with mental fatigue sensation. Our findings provide a new perspective on the neural basis of fatigue.

Sensation Seeking Predicting Growth in Adolescent Problem Behaviors

Science.gov (United States)

Byck, Gayle R.; Swann, Greg; Schalet, Benjamin; Bolland, John; Mustanski, Brian

2014-01-01

There is limited literature on the relationship between sensation seeking and adolescent risk behaviors, particularly among African Americans. We tested the association between psychometrically-derived subscales of the Zuckerman Sensation Seeking Scale and the intercepts and slopes of individual growth curves of conduct problems, sexual risk taking, and substance use from ages 13-18 years by sex. Boys and girls had different associations between sensation seeking and baseline levels and growth of risk behaviors. The Pleasure Seeking scale was associated with baseline levels of conduct problems in boys and girls, baseline substance use in boys, and growth in sexual risk taking and substance use by girls. Girls had the same pattern of associations with the Danger/Novelty scale as the Pleasure Seeking scale. Knowledge about the relationships between adolescent risk taking and sensation seeking can help in the targeted design of prevention and intervention programs for the understudied population of very low-income, African American adolescents. PMID:25112599

Jumping robots: a biomimetic solution to locomotion across rough terrain.

Science.gov (United States)

Armour, Rhodri; Paskins, Keith; Bowyer, Adrian; Vincent, Julian; Megill, William; Bomphrey, Richard

2007-09-01

This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.

Sensation seekers as a healthcare marketing metasegment.

Science.gov (United States)

Self, Donald R; Findley, Carolyn Sara

2010-01-01

This article discusses "sensation seekers" as a market segment for communication and prevention programs for various lifestyle and/or risk-related health problem areas such as alcohol abuse, drug abuse, suicide attempts, and sexually transmitted diseases. Although sensation seekers tend to be creative, artistic individuals, they are also prone to various negative health behaviors and many population-based prevention programs have over-looked these individuals as an important target. Various inputs to sensation-seeking causation are explored, including biological/chemical, psychological, and the impact of external characteristics. Using a combination for regulatory focus and risk homeostasis, propositions are provided for improving the effectiveness of the communications. Recommendations for prevention efforts focusing on reaching this subculture using television, along with other electronic media are proposed, including recommendations for message construction and presentation venues.

The CI-ROB project: real time monitoring for a robotic prostate curietherapy; Projet CI-ROB: surveillance en temps reel pour curietherapie robotisee de prostate

Energy Technology Data Exchange (ETDEWEB)

Liem, X.; Lartigau, E. [Centre Oscar-Lambret, 59 - Lille (France); Coelen, V.; Merzouki, R. [Polytech-Lille, 59 - Lille (France)

2010-10-15

The authors present a project which is still at the proto-typing stage and for which hardware and software are still being developed, and which aims at developing a full line for a robotic curietherapy. It comprises an articulated robotic arm with six degree of freedom, and is based on an auto-regulated loop with real time monitoring and control. An echographic probe acquires the prostate images in real time. An adaptive detection defines the prostate contour. This is performed in a virtual environment which comprises the prostate phantom, the robot and the intervention table. The target is defined in the virtual environment (image coordinates) and coordinates are transmitted to the robot controller which defines the robot movements by using the inverse geometric model. Short communication

Sensation seeking and visual selective attention in adults with HIV/AIDS.

Science.gov (United States)

Hardy, David J; Castellon, Steven A; Hinkin, Charles H; Levine, Andrew J; Lam, Mona N

2008-11-01

The association between sensation seeking and visual selective attention was examined in 31 adults with the Human Immunodeficiency Virus (HIV). Sensation seeking was measured with Zuckerman's Sensation Seeking Scale Form V (SSS-V). Selective attention was assessed with a perceptual span task, where a target letter-character must be identified in a quickly presented array of nontarget letter-characters. As predicted, sensation seeking was strongly associated (R(2) = .229) with perceptual span performance in the array size 12 condition, where selective attention demands were greatest, but not in the easier conditions. The Disinhibition, Boredom Susceptibility, and Experience Seeking subscales of the SSS-V were associated with span performance. It is argued that personality factors such as sensation seeking may play a significant role in selective attention and related cognitive abilities in HIV positive adults. Furthermore, sensation seeking differences might explain certain inconsistencies in the HIV neuropsychology literature.

Multi-arm multilateral haptics-based immersive tele-robotic system (HITS) for improvised explosive device disposal

Science.gov (United States)

Erickson, David; Lacheray, Hervé; Lai, Gilbert; Haddadi, Amir

2014-06-01

This paper presents the latest advancements of the Haptics-based Immersive Tele-robotic System (HITS) project, a next generation Improvised Explosive Device (IED) disposal (IEDD) robotic interface containing an immersive telepresence environment for a remotely-controlled three-articulated-robotic-arm system. While the haptic feedback enhances the operator's perception of the remote environment, a third teleoperated dexterous arm, equipped with multiple vision sensors and cameras, provides stereo vision with proper visual cues, and a 3D photo-realistic model of the potential IED. This decentralized system combines various capabilities including stable and scaled motion, singularity avoidance, cross-coupled hybrid control, active collision detection and avoidance, compliance control and constrained motion to provide a safe and intuitive control environment for the operators. Experimental results and validation of the current system are presented through various essential IEDD tasks. This project demonstrates that a two-armed anthropomorphic Explosive Ordnance Disposal (EOD) robot interface can achieve complex neutralization techniques against realistic IEDs without the operator approaching at any time.

Flavoured cigarettes, sensation seeking and adolescents' perceptions of cigarette brands.

Science.gov (United States)

Manning, K C; Kelly, K J; Comello, M L

2009-12-01

This study examined the interactive effects of cigarette package flavour descriptors and sensation seeking on adolescents' brand perceptions. High school students (n = 253) were randomly assigned to one of two experimental conditions and sequentially exposed to cigarette package illustrations for three different brands. In the flavour descriptor condition, the packages included a description of the cigarettes as "cherry", while in the traditional descriptor condition the cigarette brands were described with common phrases found on tobacco packages such as "domestic blend." Following exposure to each package participants' hedonic beliefs, brand attitudes and trial intentions were assessed. Sensation seeking was also measured, and participants were categorised as lower or higher sensation seekers. Across hedonic belief, brand attitude and trial intention measures, there were interactions between package descriptor condition and sensation seeking. These interactions revealed that among high (but not low) sensation seekers, exposure to cigarette packages including sweet flavour descriptors led to more favourable brand impressions than did exposure to packages with traditional descriptors. Among high sensation seeking youths, the appeal of cigarette brands is enhanced through the use of flavours and associated descriptions on product packaging.

Neighborhood Moderation of Sensation Seeking Effects on Adolescent Substance Use Initiation.

Science.gov (United States)

Jensen, Michaeline; Chassin, Laurie; Gonzales, Nancy A

2017-09-01

Adolescent substance use carries a considerable public health burden, and early initiation into use is especially problematic. Research has shown that trait sensation seeking increases risk for substance use initiation, but less is known about contextual factors that can potentially unmask this risk. This study utilized a diverse longitudinal subsample of youth (N = 454) from a larger study of familial alcoholism (53.1% female, 61% non-Hispanic Caucasian, 27.8% Hispanic, 11.2% other ethnicity). Study questions examined sensation seeking in early adolescence (mean age = 12.16) and its relations with later substance use initiation (mean age = 15.69), and tested whether neighborhood disadvantage moderated sensation seeking's effects on initiation of alcohol, tobacco, and marijuana use. Neighborhood disadvantage significantly moderated the relation between sensation seeking and all three forms of substance use. For the most part, sensation seeking effects were weakened as neighborhood disadvantage increased, with the most advantaged neighborhoods exhibiting the strongest link between sensation seeking and substance use initiation. These results highlight the importance of focusing on relatively advantaged areas as potentially risky environments for the sensation seeking pathway to substance use.

A fish-like robot: Mechanics of swimming due to constraints

Science.gov (United States)

Tallapragada, Phanindra; Malla, Rijan

2014-11-01

It is well known that due to reasons of symmetry, a body with one degree of actuation cannot swim in an ideal fluid. However certain velocity constraints arising in fluid-body interactions, such as the Kutta condition classically applied at the trailing cusp of a Joukowski hydrofoil break this symmetry through vortex shedding. Thus Joukowski foils that vary shape periodically can be shown to be able to swim through vortex shedding. In general it can be shown that vortex shedding due to the Kutta condition is equivalent to nonintegrable constraints arising in the mechanics of finite-dimensional mechanical systems. This equivalence allows hydrodynamic problems involving vortex shedding, especially those pertaining to swimming and related phenomena to be framed in the context of geometric mechanics on manifolds. This formal equivalence also allows the design of bio inspired robots that swim not due to shape change but due to internal moving masses and rotors. Such robots lacking articulated joints are easy to design, build and control. We present such a fish-like robot that swims due to the rotation of internal rotors.

A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems.

Science.gov (United States)

Hadavand, Mostafa; Mirbagheri, Alireza; Behzadipour, Saeed; Farahmand, Farzam

2014-06-01

An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia. A novel 4 + 1-DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests. With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand-inside surgery with minimal moving inertia. The target workspace was achieved with an acceptable manipulability. The trajectory tracking experiments revealed small errors, due to backlash at the joints. The proposed mechanism meets the basic requirements of an effective master robot for haptic tele-surgery applications. Copyright © 2013 John Wiley & Sons, Ltd.

Regional differences in temperature sensation and thermal comfort in humans.

Science.gov (United States)

Nakamura, Mayumi; Yoda, Tamae; Crawshaw, Larry I; Yasuhara, Saki; Saito, Yasuyo; Kasuga, Momoko; Nagashima, Kei; Kanosue, Kazuyuki

2008-12-01

Sensations evoked by thermal stimulation (temperature-related sensations) can be divided into two categories, "temperature sensation" and "thermal comfort." Although several studies have investigated regional differences in temperature sensation, less is known about the sensitivity differences in thermal comfort for the various body regions. In the present study, we examined regional differences in temperature-related sensations with special attention to thermal comfort. Healthy male subjects sitting in an environment of mild heat or cold were locally cooled or warmed with water-perfused stimulators. Areas stimulated were the face, chest, abdomen, and thigh. Temperature sensation and thermal comfort of the stimulated areas were reported by the subjects, as was whole body thermal comfort. During mild heat exposure, facial cooling was most comfortable and facial warming was most uncomfortable. On the other hand, during mild cold exposure, neither warming nor cooling of the face had a major effect. The chest and abdomen had characteristics opposite to those of the face. Local warming of the chest and abdomen did produce a strong comfort sensation during whole body cold exposure. The thermal comfort seen in this study suggests that if given the chance, humans would preferentially cool the head in the heat, and they would maintain the warmth of the trunk areas in the cold. The qualitative differences seen in thermal comfort for the various areas cannot be explained solely by the density or properties of the peripheral thermal receptors and thus must reflect processing mechanisms in the central nervous system.

Authoritative parenting and sensation seeking as predictors of adolescent cigarette and marijuana use.

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Stephenson, Michael T; Helme, Donald W

2006-01-01

Adolescents with high sensation-seeking tendencies often seek out thrill seeking experiences to satisfy their need for stimulation and sensation. In many cases, sensation-seeking adolescents fulfill their need for stimulation and sensation by using illicit substances. However, not all high sensation seekers use drugs, although the factors that prevent or buffer sensation seeking remain unexplored. This study fills this gap in extant research by examining the role of authoritative parenting as a protective factor that prevents or buffers cigarette and marijuana use by adolescents with high sensation-seeking tendencies. Data from 1461 adolescents attending 6th through 8th grades in central Colorado were gathered during a semester-long classroom-based intervention to prevent the onset or further use of cigarettes. Results indicate that authoritative parenting moderated the effect of sensation seeking on adolescent marijuana attitudes, intentions, and peer influence but not behaviors. Further, authoritative parenting was a stronger influence than sensation seeking on cigarette-related outcomes with just the opposite effect observed for marijuana-related outcomes.

Dopamine Regulates Approach-Avoidance in Human Sensation-Seeking.

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Norbury, Agnes; Kurth-Nelson, Zeb; Winston, Joel S; Roiser, Jonathan P; Husain, Masud

2015-04-09

Sensation-seeking is a trait that constitutes an important vulnerability factor for a variety of psychopathologies with high social cost. However, little is understood either about the mechanisms underlying motivation for intense sensory experiences or their neuropharmacological modulation in humans. Here, we first evaluate a novel paradigm to investigate sensation-seeking in humans. This test probes the extent to which participants choose either to avoid or self-administer an intense tactile stimulus (mild electric stimulation) orthogonal to performance on a simple economic decision-making task. Next we investigate in a different set of participants whether this behavior is sensitive to manipulation of dopamine D2 receptors using a within-subjects, placebo-controlled, double-blind design. In both samples, individuals with higher self-reported sensation-seeking chose a greater proportion of mild electric stimulation-associated stimuli, even when this involved sacrifice of monetary gain. Computational modelling analysis determined that people who assigned an additional positive economic value to mild electric stimulation-associated stimuli exhibited speeding of responses when choosing these stimuli. In contrast, those who assigned a negative value exhibited slowed responses. These findings are consistent with involvement of low-level, approach-avoidance processes. Furthermore, the D2 antagonist haloperidol selectively decreased the additional economic value assigned to mild electric stimulation-associated stimuli in individuals who showed approach reactions to these stimuli under normal conditions (behavioral high-sensation seekers). These findings provide the first direct evidence of sensation-seeking behavior being driven by an approach-avoidance-like mechanism, modulated by dopamine, in humans. They provide a framework for investigation of psychopathologies for which extreme sensation-seeking constitutes a vulnerability factor. © The Author 2015. Published by

Thermal sensation and thermophysiological responses with metabolic step-changes

DEFF Research Database (Denmark)

Goto, Tomonobu; Toftum, Jørn; deDear, Richard

2006-01-01

at sedentary activity. In a second experimental series, subjects alternated between rest and exercise as well as between exercise at different intensities at two temperature levels. Measurements comprised skin and oesophageal temperatures, heart rate and subjective responses. Thermal sensation started to rise....... The sensitivity of thermal sensation to changes in core temperature was higher for activity down-steps than for up-steps. A model was proposed that estimates transient thermal sensation after metabolic step-changes. Based on predictions by the model, weighting factors were suggested to estimate a representative...... average metabolic rate with varying activity levels, e.g. for the prediction of thermal sensation by steady-state comfort models. The activity during the most recent 5 min should be weighted 65%, during the prior 10-5 min 25% and during the prior 20-10 min 10%....

Does the effect of acupuncture depend on needling sensation and manipulation?

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Choi, Yu-Jin; Lee, Jae-Eun; Moon, Won-Kyung; Cho, Seung-Hun

2013-06-01

Acupuncture sensation and manipulation have been considered to be an important component of acupuncture in traditional Asian medicine. However, there has been limited research as to whether acupuncture sensation is associated with therapeutic benefit. This study investigated the relationship between acupuncture sensation and analgesic effect according to acupuncture manipulation. Fifty-three healthy volunteers received three different forms of acupuncture in a single-blinded crossover design: superficial needling (0.3 cm), deep needling (2 cm) and needling with bi-directional rotation. The effects of acupuncture were evaluated by using the pressure pain threshold. Acupuncture sensation measurement was done in two ways. Both total acupuncture sensation and increase of the pressure pain threshold were maximum in needling with rotation, followed by deep needling and superficial needling. Repeated-measure analysis of variance (ANOVA) analysis was carried out to assess whether there was a significant difference; both showed significant difference (p = 0.000, 0.003). A paired sample t-test was carried out, which revealed that needling with rotation showed significant difference from both superficial needling and deep needling. Further, the correlation between the total acupuncture sensation and changes in pressure pain threshold were calculated using Pearson correlation; there was a significant correlation (p = 0.002, p = 0.013). Acupuncture sensation and pressure pain threshold increase according to the depth and rotation of acupuncture. Especially, both display significant increase with needle rotation. Further, there is a significant correlation between acupuncture needling sensation and increase in pressure pain threshold. It seems that needle rotation and acupuncture sensation play an important role in verifying the effect of acupuncture. Copyright © 2013 Elsevier Ltd. All rights reserved.

The neural mechanisms of re-experiencing mental fatigue sensation: a magnetoencephalography study.

Directory of Open Access Journals (Sweden)

Akira Ishii

Full Text Available There have been several studies which have tried to clarify the neural mechanisms of fatigue sensation; however fatigue sensation has multiple aspects. We hypothesized that past experience related to fatigue sensation is an important factor which contributes to future formation of fatigue sensation through the transfer to memories that are located within specific brain structures. Therefore, we aimed to investigate the neural mechanisms of fatigue sensation related to memory. In the present study, we investigated the neural activity caused by re-experiencing the fatigue sensation that had been experienced during a fatigue-inducing session. Thirteen healthy volunteers participated in fatigue and non-fatigue experiments in a crossover fashion. In the fatigue experiment, they performed a 2-back test session for 40 min to induce fatigue sensation, a rest session for 15 min to recover from fatigue, and a magnetoencephalography (MEG session in which they were asked to re-experience the state of their body with fatigue that they had experienced in the 2-back test session. In the non-fatigue experiment, the participants performed a free session for 15 min, a rest session for 15 min, and an MEG session in which they were asked to re-experience the state of their body without fatigue that they had experienced in the free session. Spatial filtering analyses of oscillatory brain activity showed that the delta band power in the left Brodmann's area (BA 39, alpha band power in the right pulvinar nucleus and the left BA 40, and beta band power in the left BA 40 were lower when they re-experienced the fatigue sensation than when they re-experienced the fatigue-free sensation, indicating that these brain regions are related to re-experiencing the fatigue sensation. Our findings may help clarify the neural mechanisms underlying fatigue sensation.

The neural mechanisms of re-experiencing mental fatigue sensation: a magnetoencephalography study.

Science.gov (United States)

Ishii, Akira; Karasuyama, Takuma; Kikuchi, Taiki; Tanaka, Masaaki; Yamano, Emi; Watanabe, Yasuyoshi

2015-01-01

There have been several studies which have tried to clarify the neural mechanisms of fatigue sensation; however fatigue sensation has multiple aspects. We hypothesized that past experience related to fatigue sensation is an important factor which contributes to future formation of fatigue sensation through the transfer to memories that are located within specific brain structures. Therefore, we aimed to investigate the neural mechanisms of fatigue sensation related to memory. In the present study, we investigated the neural activity caused by re-experiencing the fatigue sensation that had been experienced during a fatigue-inducing session. Thirteen healthy volunteers participated in fatigue and non-fatigue experiments in a crossover fashion. In the fatigue experiment, they performed a 2-back test session for 40 min to induce fatigue sensation, a rest session for 15 min to recover from fatigue, and a magnetoencephalography (MEG) session in which they were asked to re-experience the state of their body with fatigue that they had experienced in the 2-back test session. In the non-fatigue experiment, the participants performed a free session for 15 min, a rest session for 15 min, and an MEG session in which they were asked to re-experience the state of their body without fatigue that they had experienced in the free session. Spatial filtering analyses of oscillatory brain activity showed that the delta band power in the left Brodmann's area (BA) 39, alpha band power in the right pulvinar nucleus and the left BA 40, and beta band power in the left BA 40 were lower when they re-experienced the fatigue sensation than when they re-experienced the fatigue-free sensation, indicating that these brain regions are related to re-experiencing the fatigue sensation. Our findings may help clarify the neural mechanisms underlying fatigue sensation.

Opponency of astringent and fat sensations.

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des Gachons, Catherine Peyrot; Mura, Emi; Speziale, Camille; Favreau, Charlotte J; Dubreuil, Guillaume F; Breslin, Paul A S

2012-10-09

In most cultures, people ingest a variety of astringent foods and beverages during meals, but the reasons for this practice are unclear. Many popular beliefs and heuristics, such as high tannin wines should be balanced with fatty foods, for example 'red wine with red meat', suggest that astringents such as pickles, sorbets, wines, and teas 'cleanse' the palate while eating. Oral astringents elicit 'dry, rough' sensations [1], in part, by breaking down mucinous lubricating proteins in saliva [2,3]. The introduction of oral lubricants, including fats, partially diminishes strong astringent sensations [4,5]. Thus, it appears that astringency and fattiness can oppose each other perceptually on an oral rheological spectrum. Most teas, wines, and 'palate cleansers', however, are only mildly astringent and an explanation of how they could oppose the fattiness of meals is lacking. Here, we demonstrate that weakly astringent stimuli can elicit strong sensations after repeated sampling. Astringency builds with exposures [6] to an asymptotic level determined by the structure and concentration of the compound. We also establish that multiple sips of a mild astringent solution, similar to a wine or tea, decrease oral fat sensations elicited by fatty food consumption when astringent and fatty stimuli alternate, mimicking the patterning that occurs during a real meal. Consequently, we reveal a principle underlying the international practice of 'palate cleansing'. Repeatedly alternating samples of astringent beverages with fatty foods yielded ratings of fattiness and astringency that were lower than if rinsing with water or if presented alone without alternation. Copyright © 2012 Elsevier Ltd. All rights reserved.

Vertical repositioning accuracy of magnetic mounting systems on 4 articulator models.

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Lee, Wonsup; Kwon, Ho-Beom

2018-03-01

Research of the ability of a cast mounted on an articulator on maintaining the identical position of a cast mounted on an articulator after repeated repositioning is lacking, despite the possible effects this may have on the occlusion of a mounted cast. The purpose of this in vitro study was to verify and compare the vertical repositioning accuracy of 4 different, commercially available articulator magnetic mounting plate systems. Four articulators and their associated magnetic mounting plates were selected for the study. These were the Artex AR articulator (Amann Girrbach AG), the Denar Mark II articulator (Whip Mix Corp), the Kavo Protar Evo articulator (Kavo Dental GmbH), and the SAM3 articulator (SAM Präzisionstechnik GmbH). Three new magnetic mounting plates were prepared for each articulator system. The repositioning accuracy of each mounting plate was evaluated by comparing the standard deviation of the vertical distances measured between the mounting plate and a laser displacement sensor. The lower arm of the articulator was secured, and the vertical distance was measured by positioning the laser displacement sensor positioned vertically above the mounting plate. Once the vertical distance was measured, the mounting plate was detached from the articulator and reattached manually to prepare for the next measurement. This procedure was repeated 30 times for each of the 3 magnetic mounting plates. Data were analyzed by ANOVA for 2-stage nested design and the Levene test (α=.05). Significant differences were detected among articulator systems and between magnetic mounting plates of the same type. The standard deviations of the measurements made with the Artex AR articulator, Denar Mark II articulator, Kavo Protar Evo articulator, and SAM3 articulator were 0.0027, 0.0308, 0.0214, and 0.0215 mm, respectively. Thus, the repositioning accuracy could be ranked in the order as follows: Artex AR, Kavo Protar Evo, SAM3, and Denar Mark II. The position of the

Nipple-Sparing Mastectomy Improves Long-Term Nipple But Not Skin Sensation After Breast Reconstruction: Quantification of Long-Term Sensation in Nipple Sparing Versus Non-nipple Sparing Mastectomy.

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Rodriguez-Unda, Nelson A; Bello, Ricardo J; Clarke-Pearson, Emily M; Sanyal, Abanti; Cooney, Carisa M; Manahan, Michele A; Rosson, Gedge D

2017-06-01

Changes in breast sensation after reconstruction are expected. Return of breast sensation after reconstruction and whether nipple-sparing mastectomy offers a substantial benefit in terms of sensation has been inconsistently documented in the literature. We conducted the current study using the pressure-specified sensory device to quantify postoperative breast sensation in patients undergoing nipple-sparing versus non-nipple-sparing mastectomy. Consecutive adult women who underwent nipple-sparing (NSM) and non-NSM (NNSM) and were at least 18 months postreconstruction were included. Breast measurements were taken in 4 quadrants (upper/lower lateral, upper/lower medial) and nipple. Averaged skin cutaneous thresholds [(UL+LL+UM+LM)/4] and nipple sensation between NSM and NNSM were compared as the primary outcome measure. A generalized estimating equations model was used; univariate and multivariate variable analyses were done when appropriate. Forty-four patients (74 breasts) were examined (53 NNSM vs 21 NSM). The groups were further subdivided into autologous versus implant-based reconstruction. Averaged cutaneous skin thresholds for quadrants were better for the NSM, 51.8(±24.5) g/mm versus NNSM, 56.5(±25.7) g/mm, although this difference was not statistically significant. However, NSM breasts measured higher nipple or nipple area sensitivity, 44.5(±30.8) g/mm versus NNSM, 83.8(±27.4) g/mm (P sensation was the number of revision surgeries, especially after third revision. Breast sensation is decreased after reconstruction in both NSM and NNSM, but nipple sensation or nipple area is better preserved in NSM breasts. Number of revision surgeries (>3) was a predictor of decreased sensation.

Phantom sensations in people with complete spinal cord lesions: a grounded theory perspective.

Science.gov (United States)

Drysdale, Daren G; Shem, Kazuko; Walbom, Agnes; Miner, Maureen D; Maclachlan, Malcolm

2009-01-01

Phantom sensations are somatic phenomena arising from denervated parts of the body. There is very little research, and much diagnostic confusion, regarding such experiences in people with spinal cord injuries. In the case of 'complete' spinal cord lesions, phantom experiences may challenge, and indeed, contradict, the understanding that both clinicians and patients have of such injuries. This paper seeks to provide a better understanding of such 'phantom' sensations in spinal cord injury. We used grounded theory methods to explore 'phantom' sensations as experienced by individuals with complete (ASIA A) spinal lesions. Eight people with complete lesions, who were selected through theoretical sampling, participated in a semi-structured interview. Emergent themes included injury context, sensations experienced, the meaning of sensations, body connectivity, attitude and communication about sensations. Our results provide an enhanced understanding of the embodied experience of phantom sensations, and important insights regarding self-construction and rehabilitative processes in people with spinal cord injury who experience such anomalous sensations.

Application of vibration to wrist and hand skin affects fingertip tactile sensation

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Lakshminarayanan, Kishor; Lauer, Abigail W; Ramakrishnan, Viswanathan; Webster, John G; Seo, Na Jin

2015-01-01

A recent study showed that fingertip pads’ tactile sensation can improve by applying imperceptible white-noise vibration to the skin at the wrist or dorsum of the hand in stroke patients. This study further examined this behavior by investigating the effect of both imperceptible and perceptible white-noise vibration applied to different locations within the distal upper extremity on the fingertip pads’ tactile sensation in healthy adults. In 12 healthy adults, white-noise vibration was applied to one of four locations (dorsum hand by the second knuckle, thenar and hypothenar areas, and volar wrist) at one of four intensities (zero, 60%, 80%, and 120% of the sensory threshold for each vibration location), while the fingertip sensation, the smallest vibratory signal that could be perceived on the thumb and index fingertip pads, was assessed. Vibration intensities significantly affected the fingertip sensation (P sensation (P sensation (P sensation (P > 0.01), all compared with the zero vibration condition. This effect with vibration intensity conforms to the stochastic resonance behavior. Nonspecificity to the vibration location suggests the white-noise vibration affects higher level neuronal processing for fingertip sensing. Further studies are needed to elucidate the neural pathways for distal upper extremity vibration to impact fingertip pad tactile sensation. PMID:26177959

Role of interoceptive accuracy in topographical changes in emotion-induced bodily sensations

Science.gov (United States)

Jung, Won-Mo; Ryu, Yeonhee; Lee, Ye-Seul; Wallraven, Christian; Chae, Younbyoung

2017-01-01

The emotion-associated bodily sensation map is composed of a specific topographical distribution of bodily sensations to categorical emotions. The present study investigated whether or not interoceptive accuracy was associated with topographical changes in this map following emotion-induced bodily sensations. This study included 31 participants who observed short video clips containing emotional stimuli and then reported their sensations on the body map. Interoceptive accuracy was evaluated with a heartbeat detection task and the spatial patterns of bodily sensations to specific emotions, including anger, fear, disgust, happiness, sadness, and neutral, were visualized using Statistical Parametric Mapping (SPM) analyses. Distinct patterns of bodily sensations were identified for different emotional states. In addition, positive correlations were found between the magnitude of sensation in emotion-specific regions and interoceptive accuracy across individuals. A greater degree of interoceptive accuracy was associated with more specific topographical changes after emotional stimuli. These results suggest that the awareness of one’s internal bodily states might play a crucial role as a required messenger of sensory information during the affective process. PMID:28877218

Prognostic value of thumb pain sensation in birth brachial plexopathy

Directory of Open Access Journals (Sweden)

Carlos O. Heise

2012-08-01

Full Text Available OBJECTIVE: To evaluate the prognostic value of absent thumb pain sensation in newborns and young infants with birth brachial plexopathy. METHODS: We evaluated 131 patients with birth brachial plexopathy with less than two months of age. Pain sensation was evoked by thumb nail bed compression to evaluate sensory fibers of the upper trunk (C6. The patients were followed-up monthly. Patients with less than antigravity elbow flexion at six months of age were considered to have a poor outcome. RESULTS: Thirty patients had absent thumb pain sensation, from which 26 showed a poor outcome. Sensitivity of the test was 65% and specificity was 96%. CONCLUSION: Evaluation of thumb pain sensation should be included in the clinical assessment of infants with birth brachial plexopathy.

Deqi sensations without cutaneous sensory input: results of an RCT

Directory of Open Access Journals (Sweden)

Simang Michael

2010-12-01

Full Text Available Abstract Background Deqi is defined in relation to acupuncture needling as a sensory perception of varying character. In a recently published sham laser validation study, we found that subjects in the verum and the sham laser group experienced deqi sensations. Therefore, we aim to further analyze whether the perceptions reported in the two study arms were distinguishable and whether expectancy effects exhibited considerable impact on our results. Methods A detailed re-analysis focusing on deqi sensations was performed from data collected in a previously published placebo-controlled, double-blind, clinical cross-over trial for a sham laser evaluation. Thirty-four healthy volunteers (28 ± 10.7 years; 16 women, 18 men received two laser acupuncture treatments at three acupuncture points LI4 (hégu, LU7 (liéque, and LR3 (táichong; once by verum laser and once using a sham device containing an inactive laser in randomized order. Outcome measures were frequency, intensity (evaluated by visual analogue scale; VAS, and quality of the subjects' sensations perceived during treatments (assessed with the "acupuncture sensation scale". Results Both, verum and the sham laser acupuncture result in similar deqi sensations with regard to frequency (p-value = 0.67, intensity (p-value = 0.71 and quality (p-values between 0.15 - 0.98. In both groups the most frequently used adjectives to describe these perceptions were "spreading", "radiating", "tingling", "tugging", "pulsing", "warm", "dull", and "electric". Sensations reported were consistent with the perception of deqi as previously defined in literature. Subjects' conviction regarding the effectiveness of laser acupuncture or the history of having received acupuncture treatments before did not correlate with the frequency or intensity of sensations reported. Conclusions Since deqi sensations, described as sensory perceptions, were elicited without any cutaneous sensory input, we assume that they are a

Sensation seeking as risk factor for suicidal ideation and suicide attempts in adolescence.

Science.gov (United States)

Ortin, Ana; Lake, Alison M; Kleinman, Marjorie; Gould, Madelyn S

2012-12-20

High sensation seeking in adolescence is associated with engagement in risk-taking behaviors, especially substance use. Although depressed adolescents are prone to increased risk-taking, and suicidal behavior can be considered within the spectrum of risk-taking behaviors, the relationships between sensation seeking, depression, and suicidal behavior have not been explored. A self-report questionnaire assessing sensation seeking, depression, substance use problems, and suicidal ideation and suicide attempts was completed by 9th- through 12th-grade students (n=2189) in six New York State high-schools from 2002 through 2004. Logistic regression analyses were conducted to examine main and interaction effects between sensation seeking and the four clinical variables. High sensation seeking was positively associated with depressive symptoms and substance use problems. The main effects of sensation seeking on suicidal ideation and suicide attempts remained significant after controlling for depression and substance use. The association between sensation seeking and suicide attempts was moderated by substance use problems. The schools were suburban and predominantly white, limiting the generalizability of the results. Other mental disorders with potential implications for sensation seeking and for suicidal behavior, such as bipolar disorders, were not assessed. The finding that sensation seeking makes an independent contribution to the risk of suicidal ideation and attempts is consistent with findings in literature on novelty seeking and impulsivity. The associations between sensation seeking, depressive symptoms and suicidal behavior may be compatible with the presence of an underlying temperamental dysregulation. Screening for sensation seeking may contribute to the reduction of adolescent suicide risk. Copyright © 2012 Elsevier B.V. All rights reserved.

Empowering Older Patients to Engage in Self Care: Designing an Interactive Robotic Device

Science.gov (United States)

Tiwari, Priyadarshi; Warren, Jim; Day, Karen

2011-01-01

Objectives: To develop and test an interactive robot mounted computing device to support medication management as an example of a complex self-care task in older adults. Method: A Grounded Theory (GT), Participatory Design (PD) approach was used within three Action Research (AR) cycles to understand design requirements and test the design configuration addressing the unique task requirements. Results: At the end of the first cycle a conceptual framework was evolved. The second cycle informed architecture and interface design. By the end of third cycle residents successfully interacted with the dialogue system and were generally satisfied with the robot. The results informed further refinement of the prototype. Conclusion: An interactive, touch screen based, robot-mounted information tool can be developed to support healthcare needs of older people. Qualitative methods such as the hybrid GT-PD-AR approach may be particularly helpful for innovating and articulating design requirements in challenging situations. PMID:22195203

Designing messages with high sensation value: when activation meets reactance.

Science.gov (United States)

Xu, Jie

2015-01-01

Based on two theoretical models--activation model of information exposure and psychological reactance theory--this study examined the individual and combined effects of message sensation value (MSV) and controlling language on young adults' information processing. Two experimental studies on anti-drunken driving and anti-smoking public service announcements were conducted that were conceptual replications of one another. The measures included perceived threat to freedom, sensation seeking, perceived ad effectiveness and state reactance (anger). Across the two studies, MSV was found to advance the perceived ad effectiveness, and controlling language contributed to anger. A consistent interaction was revealed, such that participants responded positively to the high sensation value messages when presented with low controlling language. The effect of high sensation value anti-smoking ads to advance persuasiveness particularly under the condition of low controlling language was more influential to low sensation seekers. This study suggests that increasing MSV coupled with high controlling language can backfire, especially when targeting young adults. The implications for persuasion in general are considered, as well as the specific findings for drunken driving and smoking.

Estimation of thermal sensation during varied air temperature conditions.

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Katsuura, T; Tabuchi, R; Iwanaga, K; Harada, H; Kikuchi, Y

1998-03-01

Seven male students were exposed to four varied air temperature environments: hot (37 degrees C) to neutral (27 degrees C) (HN), neutral to hot (NH), cool (17 degrees C) to neutral (CN), and neutral to cool (NC). The air temperature was maintained at the first condition for 20 min, then was changed to the second condition after 15 min and was held there for 20 min. Each subject wore a T-shirt, briefs, trunks, and socks. Each sat on a chair and was continuously evaluated for thermal sensation, thermal comfort, and air velocity sensation. Some physiological and thermal parameters were also measured every 5 s during the experiment. The correlation between thermal sensation and skin temperature at 15 sites was found to be poor. The subjects felt much warmer during the rising phase of the air temperature (CN, NH) than during the descending phase (HN, NC) at a given mean skin temperature. However, thermal sensation at the same heat flux or at the same value of the difference between skin and air temperature (delta(Tsk - Ta)) was not so different among the four experimental conditions, and the correlation between thermal sensation and heat flux or delta(Tsk - Ta) was fairly good. The multiple regression equation of the thermal sensation (TS) on 15 sites of skin temperature (Tsk; degrees C) was calculated and the coefficient of determination (R*2) was found to be 0.656. Higher coefficients of determination were found in the equations of thermal sensation for the heat flux (H; kcal.m-2.h-1) at the right and left thighs of the subjects and on delta(Tsk - Ta) (degrees C) at 4 sites. They were as follows: TS = 2.04 - 0.016 Hright - 0.036 Hleft; R*2 = 0.717, TS = 1.649 + 0.013 delta(Tsk - Ta)UpperArm - 0.036 delta(Tsk - Ta)Chest - 0.223 delta(Tsk - Ta)Thigh-0.083 delta(Tsk - Ta)LowerLeg; R*2 = 0.752, respectively.

Demonstration of transoral robotic supraglottic laryngectomy and total laryngectomy in cadaveric specimens using the Medrobotics Flex System.

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Funk, Emily; Goldenberg, David; Goyal, Neerav

2017-06-01

Current management of laryngeal malignancies is associated with significant morbidity. Application of minimally invasive transoral techniques may reduce the morbidity associated with traditional procedures. The purpose of this study was to present our investigation of the utility of a novel flexible robotic system for transoral supraglottic laryngectomy and total laryngectomy. Transoral total laryngectomy and transoral supraglottic laryngectomy were performed in cadaveric specimens using the Flex Robotic System (Medrobotics, Raynham, MA). All procedures were completed successfully in the cadaveric models. The articulated endoscope allowed for access to the desired surgical site. Flexible instruments enabled an atraumatic approach and allowed for precise surgical technique. Access to deep anatomic structures remains problematic using current minimally invasive robotic approaches. Improvements in visualization and access to the laryngopharyngeal complex offered by this system may improve surgical applications to the larynx. This study demonstrates the technical feasibility using the Flex Robotic System for transoral robotic supraglottic laryngectomy and total laryngectomy. © 2017 Wiley Periodicals, Inc. Head Neck 39: 1218-1225, 2017. © 2017 Wiley Periodicals, Inc.

The Oklahoma PN/ADN Articulation Project Report.

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Oklahoma State Regents for Higher Education, Oklahoma City.

In response to a critical nursing shortage in the state of Oklahoma, the Oklahoma Practical Nursing (PN)/Associate Degree Nursing (ADN) Articulation Project Coordinating Committee was formed in spring 1990 to develop a proposal for program articulation. A curriculum matrix was designed and adopted for use by five regional subcommittees which…

Combining motor imagery with selective sensation toward a hybrid-modality BCI.

Science.gov (United States)

Yao, Lin; Meng, Jianjun; Zhang, Dingguo; Sheng, Xinjun; Zhu, Xiangyang

2014-08-01

A hybrid modality brain-computer interface (BCI) is proposed in this paper, which combines motor imagery with selective sensation to enhance the discrimination between left and right mental tasks, e.g., the classification between left/ right stimulation sensation and right/ left motor imagery. In this paradigm, wearable vibrotactile rings are used to stimulate both the skin on both wrists. Subjects are required to perform the mental tasks according to the randomly presented cues (i.e., left hand motor imagery, right hand motor imagery, left stimulation sensation or right stimulation sensation). Two-way ANOVA statistical analysis showed a significant group effect (F (2,20) = 7.17, p = 0.0045), and the Benferroni-corrected multiple comparison test (with α = 0.05) showed that the hybrid modality group is 11.13% higher on average than the motor imagery group, and 10.45% higher than the selective sensation group. The hybrid modality experiment exhibits potentially wider spread usage within ten subjects crossed 70% accuracy, followed by four subjects in motor imagery and five subjects in selective sensation. Six subjects showed statistically significant improvement ( Benferroni-corrected) in hybrid modality in comparison with both motor imagery and selective sensation. Furthermore, among subjects having difficulties in both motor imagery and selective sensation, the hybrid modality improves their performance to 90% accuracy. The proposed hybrid modality BCI has demonstrated clear benefits for those poorly performing BCI users. Not only does the requirement of motor and sensory anticipation in this hybrid modality provide basic function of BCI for communication and control, it also has the potential for enhancing the rehabilitation during motor recovery.

Ultra light inspection robotic arm, design and modeling

International Nuclear Information System (INIS)

Voisembert, S.

2012-01-01

One of the major challenges in robotics is the improvement of inspections operations in confined and hazardous area using unmanned remote handling systems. Articulated arm are used in this case to carry some diagnostic tools for the inspection tasks. These long reach multi-link carriers should be characterized by a large workspace and reduced mass. Today, with about ten degrees of freedom and ten meters long they have reached their performance limit. Indeed, for long reach, the arm should have enough torque to carry its own weight plus the payload in cantilever mode and enough stiffness to minimize the deflection caused by the gravity. Despite the use of best materials and components, this kind of robot has reach its performance limit. Overcoming this limit needs a change in paradigm. Therefore a problem-solving, analysis and forecasting tool TRIZ (theory of inventive problem solving) is used. It leads naturally to identify the origin of the dilemma: the proper weight of the arm and so its mass under gravity. In particular, it proposes to postulate that a no-mass robot exists. An analysis of the properties of such a robot leads to the patented concept of an ultra light inflatable robot with unique and constant volume and constant diameter joints. This new object would benefit from advantages such as easy implementation, harmlessness toward its environment and so the ability to lean on it without damage. Therefore it could easily increase its range and its foreseen low-cost building would open a wide field of new applications. This thesis work, elaborates appropriate technical concepts and dimensioning methods for ultra light inflatable robots. The payload and length performances of an inflatable robot are analytically validated. Experimentations and a finite-element modeling are used for a pre-dimensioning of the joints and different modes of construction are prototyped in partnership with, specialized company in thigh-tech textile. The joints are also modeled with

The existence of propagated sensation along the meridian proved by neuroelectrophysiology

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Xu, Jinsen; Zheng, Shuxia; Pan, Xiaohua; Zhu, Xiaoxiang; Hu, Xianglong

2013-01-01

Propagated sensation along the meridian can occur when acupoints are stimulated by acupuncture or electrical impulses. In this study, participants with notable propagated sensation along the dian were given electro-acupuncture at the Jianyu (LI15) acupoint of the large intestine meridian. When participants stated that the sensation reached the back of their hand, regular nervous system action discharge was examined using a physiological recording electrode placed on the superficial branch of the radial nerve. The topographical maps of brain-evoked potential in the primary cortical somatosensory area were also detected. When Guangming (GB37) acupoint in the lower limb and Hegu (LI4) acupoint in the upper limb were stimulated, subjects without propagated sensation along the meridian exhibited a high potential reaction in the corresponding area of the brain cortical so-matosensory area. For subjects with a notable propagated sensation along the meridian, the tion area was larger and extended into the face representative area. These electrophysiological measures directly prove the existence of propagated sensation along the meridian, and the pheral stimulated site is consistent with the corresponding primary cortical somatosensory area, which presents a high potential reaction. PMID:25206574

Laparoscopic and robotic adrenal surgery: transperitoneal approach.

Science.gov (United States)

Okoh, Alexis K; Berber, Eren

2015-10-01

Recent advances in technology and the need to decrease surgical morbidity have led a rapid progress in laparoscopic adrenalectomy (LA) over the past decade. Robotics is attractive to the surgeon owing to the 3-dimensional image quality, articulating instruments, and stable surgical platform. The safety and efficacy of robotic adrenalectomy (RA) have been demonstrated by several reports. In addition, RA has been shown to provide similar outcomes compared to LA. Development of adrenal surgery has involved the description of several surgical approaches including the anterior transperitoneal, lateral transperitoneal (LT) and posterior retroperitoneal (PR). Among these, the most frequently preferred technique is LT adrenalectomy, primarily due to the surgeon's familiarity of the operative field, wider working space and visibility. The LT technique is suitable for the resection of larger, unilateral tumors and in scenarios where conversion to an open transperitoneal approach is warranted, it offers a lesser burden. Also, the larger view of the entire abdominal cavity and excellent exposure of both adrenal glands and surrounding structures provided by the LT technique render it safe and feasible in pediatric and pregnant individuals.

Development of an ITER relevant inspection robot

Energy Technology Data Exchange (ETDEWEB)

Gargiulo, L.; Bayetti, P.; Cordier, J.J.; Grisolia, C.; Hatchressian, J.C. [Association Euratom-CEA, Cadarache (France). Dept. de Recherche sur la Fusion Controlee; Friconneau, J.P.; Keller, D.; Perrot, Y. [CEA-LIST Robotics and Interactive Systems Unit, Fontenay aux Roses (France)

2007-07-01

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in vessel inspection operations without loss of conditioning could be very useful. Within this framework, the aim of the project called AIA (Articulated Inspection Arm) is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 11 degrees of freedom and a total range of 8 m. The project is currently developed by the CEA within the European workprogramme. Its first in situ tests are planned this summer on the Tore Supra tokamak at Cadarache (France). They will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for generic application. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is currently being manufactured and will allow for close visual inspection of the complex Plasma Facing Components (limiters, neutralisers, RF antennae, diagnostic windows, etc.). - In situ localisation of leakage based on helium sniffer is also studied to improve maintenance operations. - Finally the laser ablation system for PFC detritiation, also developed in CEA laboratories, is being fitted to be implanted into the robot and put into operation in Tore Supra. This paper deals with the integration of the robot in the Tore Supra tokamak and the advances in the development of the listed processes. It also introduces the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions. (orig.)

Development of an ITER relevant inspection robot

Energy Technology Data Exchange (ETDEWEB)

Gargiulo, Laurent [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France)], E-mail: laurent.gargiulo@cea.fr; Bayetti, Pascal; Bruno, Vincent; Cordier, Jean-Jacques [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France); Friconneau, Jean-Pierre [CEA-LIST Robotics and Interactive Systems Unit, CE Fontenay Aux Roses (France); Grisolia, Christian; Hatchressian, Jean-Claude; Houry, Michael [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France); Keller, Delphine; Perrot, Yann [CEA-LIST Robotics and Interactive Systems Unit, CE Fontenay Aux Roses (France)

2008-12-15

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in-vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) is currently developed by the CEA within the European work programme framework, which aims at demonstrating the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 8 degrees of freedom and a total range of 8 m. The first in situ tests will take place by the end of 2007 on the Tore Supra Tokamak at Cadarache (France). They will validate concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for various applications. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is already manufactured and will allow close visual inspection of the complex Plasma Facing Components (PFC) (limiters, neutralisers, RF antenna, diagnostic windows, etc.). - In situ localisation of water leakage based on a helium sniffing system is also being studied to improve and facilitate maintenance operations. - Finally a laser ablation system for PFC detritiation, developed in CEA laboratories, is being fitted to be implemented on the robot for future operation in Tore Supra. This paper deals with the integration of the robot into Tore Supra and the progress in the development of the processes listed above. It also describes the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions.

Development of an ITER relevant inspection robot

International Nuclear Information System (INIS)

Gargiulo, L.; Bayetti, P.; Cordier, J.J.; Grisolia, C.; Hatchressian, J.C.

2007-01-01

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in vessel inspection operations without loss of conditioning could be very useful. Within this framework, the aim of the project called AIA (Articulated Inspection Arm) is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 11 degrees of freedom and a total range of 8 m. The project is currently developed by the CEA within the European workprogramme. Its first in situ tests are planned this summer on the Tore Supra tokamak at Cadarache (France). They will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for generic application. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is currently being manufactured and will allow for close visual inspection of the complex Plasma Facing Components (limiters, neutralisers, RF antennae, diagnostic windows, etc.). - In situ localisation of leakage based on helium sniffer is also studied to improve maintenance operations. - Finally the laser ablation system for PFC detritiation, also developed in CEA laboratories, is being fitted to be implanted into the robot and put into operation in Tore Supra. This paper deals with the integration of the robot in the Tore Supra tokamak and the advances in the development of the listed processes. It also introduces the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions. (orig.)

Development of an ITER relevant inspection robot

International Nuclear Information System (INIS)

Gargiulo, Laurent; Bayetti, Pascal; Bruno, Vincent; Cordier, Jean-Jacques; Friconneau, Jean-Pierre; Grisolia, Christian; Hatchressian, Jean-Claude; Houry, Michael; Keller, Delphine; Perrot, Yann

2008-01-01

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in-vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) is currently developed by the CEA within the European work programme framework, which aims at demonstrating the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 8 degrees of freedom and a total range of 8 m. The first in situ tests will take place by the end of 2007 on the Tore Supra Tokamak at Cadarache (France). They will validate concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for various applications. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is already manufactured and will allow close visual inspection of the complex Plasma Facing Components (PFC) (limiters, neutralisers, RF antenna, diagnostic windows, etc.). - In situ localisation of water leakage based on a helium sniffing system is also being studied to improve and facilitate maintenance operations. - Finally a laser ablation system for PFC detritiation, developed in CEA laboratories, is being fitted to be implemented on the robot for future operation in Tore Supra. This paper deals with the integration of the robot into Tore Supra and the progress in the development of the processes listed above. It also describes the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions

Laryngeal sensation and pharyngeal delay time after (chemo)radiotherapy.

Science.gov (United States)

Maruo, Takashi; Fujimoto, Yasushi; Ozawa, Kikuko; Hiramatsu, Mariko; Suzuki, Atsushi; Nishio, Naoki; Nakashima, Tsutomu

2014-08-01

The objective of the study was to evaluate the association between changes in laryngeal sensation and initiation of swallowing reflex or swallowing function before and after (chemo)radiotherapy. A prospective study was conducted in a tertiary referral university hospital. Thirteen patients who received (chemo)radiotherapy for treatment of laryngeal or hypopharyngeal cancer were included. Laryngeal sensation was evaluated at the tip of the epiglottis before and 1, 3 months, and 1 year after (chemo)radiotherapy. Videofluoroscopy was performed at the same time. Quantitative determinations included changes in laryngeal sensation, computed analysis of pharyngeal delay time, the distance and velocity of hyoid bone movement during the phase of hyoid excursion, and pharyngeal residue rate (the proportion of the bolus that was left as residue in the pharynx at the first swallow). Laryngeal sensation significantly deteriorated 1 month after (chemo)radiotherapy, but there was a tendency to return to pretreatment levels 1 year after treatment. Neither pharyngeal delay time nor displacement of the hyoid bone changed significantly before and after (chemo)radiotherapy. In addition, there was no significant difference in the mean velocity of hyoid bone movement and the amount of stasis in the pharynx at the first swallow before and after (chemo)radiotherapy. After (chemo)radiotherapy, laryngeal sensation deteriorated. But, in this study, videofluoroscopy showed that swallowing reflex and function were maintained.

Robotic 3D SQUID imaging system for practical nondestructive evaluation applications

International Nuclear Information System (INIS)

Isawa, K.; Nakayama, S.; Ikeda, M.; Takagi, S.; Tosaka, S.; Kasai, N.

2005-01-01

A robotic three-dimensional (3D) scanning superconducting quantum interference device (SQUID) imaging system was developed for practical nondestructive evaluation (NDE) applications. The major feature of this SQUID-NDE system is that the SQUID sensor itself scans in 3D by traveling over the surface of an object during testing without the need for magnetic shielding. This imaging system consists of (i) DC-SQUID gradiometer for effective movement of the sensor, (ii) SQUID sensor manipulator utilizing an articulated-type robot used in industry, (iii) laser charge-coupled-device (CCD) displacement sensor to measure the 3D coordinates of points on the surface of the object, and (iv) computer-aided numerical interpolation scheme for 3D surface reconstruction of the object. The applicability of this system for NDE was demonstrated by successfully detecting artificial damage of cylindrical-shaped steel tubes

An advanced semiautonomous robotic system for hazardous response work for decontamination and decommissioning

International Nuclear Information System (INIS)

Crane, C.; Tulenko, J.F.

1990-01-01

The articulated transporter/manipulator system (ATMS) under development by the University of Florida (UF) with Odetics Corporation as lead subcontractor will be able to manipulate through obstructed areas. Since 1987, the Advanced Technology Division of the US Department of Energy has sponsored a university team composed of the UF, University of Michigan, University of Tennessee, and the University of Texas under the leadership of the Oak Ridge National Laboratory to pursue innovative robotics research leading to the development of advanced robotic systems. The UF has the task of developing the ATMS innovative transport system. As part of this task, UF has been focusing on developing horizontal and external navigation algorithms that carry out ongoing ATMS autonomous path planning. The flexibility of the ATMS is also being demonstrated as a surveillance/maintenance robot for the PRISM reactor. The ATMS has demonstrated that it can carry out autonomous planning responding both to obstacles and set operating levels. The ATMS also has demonstrated that it has sufficient flexibility to serve in a surveillance/maintenance mode. Work is progressing on developing the hardware to deliver the mechanical capabilities demonstrated by simulated robotic system

Altered Developmental Trajectories for Impulsivity and Sensation Seeking among Adolescent Substance Users

Science.gov (United States)

Charles, Nora E.; Ryan, Stacy R.; Bray, Bethany C.; Mathias, Charles W.; Acheson, Ashley; Dougherty, Donald M.

2016-01-01

A number of studies have associated impulsivity and sensation seeking with level of substance use and risk for developing a substance use disorder. These relationships may be particularly apparent during adolescence, when developmental changes in impulsivity and sensation seeking occur at the same time as increased opportunities for substance use. To examine this, the current study measured impulsivity and sensation seeking from pre-adolescence to mid-adolescence in a sample of youth, the majority of whom were identified as being at risk for developing a substance use disorder based on their family history of substance use disorders. Youth were separated into those who did (n = 117) and did not (n = 269) initiate substance use by mid-adolescence. Results showed that substance users were more impulsive and more sensation seeking during pre-adolescence, prior to any significant substance use, and that greater sensation seeking in pre-adolescence was related to heavier substance use by mid-adolescence. In addition, developmental trajectories for substance-using youth showed a greater increase in sensation seeking but a more modest decrease in impulsivity from pre-adolescence to mid-adolescence. Taken together, these results indicate that increased impulsivity and sensation seeking is apparent in adolescent substance users as early as pre-adolescence, that the difference between substance users and non-users becomes larger across early adolescence as their developmental trajectories diverge, and that greater sensation seeking in pre-adolescence may predict increased substance use by mid-adolescence. PMID:27174219

Design articulation for Aesthetics of Interaction

DEFF Research Database (Denmark)

Krogh, Peter; Graves Petersen, Marianne

2009-01-01

In this paper we present three categories of design articulations addressing the characteristic qualities of aesthetics of interaction. By aesthetics of interaction we point to the process in which interactive technology brings about aesthetic experience in the use of interactive technology......-designers. In this case the categories of design articulations frame intended aesthetic experiences. Our mission is that of using aesthetic theory to inform the design of interactive technology, which shapes aesthetic experiences in everyday use....

Approximate Dynamic Programming in Tracking Control of a Robotic Manipulator

Directory of Open Access Journals (Sweden)

Marcin Szuster

2016-02-01

Full Text Available This article focuses on the implementation of an approximate dynamic programming algorithm in the discrete tracking control system of the three-degrees of freedom Scorbot-ER 4pc robotic manipulator. The controlled system is included in an articulated robots group which uses rotary joints to access their work space. The main part of the control system is a dual heuristic dynamic programming algorithm that consists of two structures designed in the form of neural networks: an actor and a critic. The actor generates the suboptimal control law while the critic approximates the difference of the value function from Bellman's equation with respect to the state. The residual elements of the control system are the PD controller, the supervisory term and an additional control signal. The structure of the supervisory term derives from the stability analysis performed using the Lyapunov stability theorem. The control system works online, the neural networks' weights-adaptation procedure is performed in every iteration step, and the neural networks' preliminary learning process is not required. The performance of the control system was verified by a series of computer simulations and experiments performed using the Scorbot-ER 4pc robotic manipulator.

The association of hand preference and sensation seeking behavior.

Science.gov (United States)

Kuderer, Sonja; Kirchengast, Sylvia

Although the human body shows a superficial symmetry, the disparate functions and skills of both body halves lead to an asymmetrical use. As a result, lateral preferences are detectable, which also include the favoured use of one hand ('handedness'). The collection of questionnaire data on sensation seeking and the conduction of behavioral handedness tasks by 55 research participants enabled the investigation of the interaction of handedness and sensation seeking. For this procedure the age-homogeneous study population is divided according to the Handedness-Index (HI) - a calculated value, indicating the practical hand preference. The results reveal a stronger lateralization in right-handed participants as well as a difference in the mean value of hand use in the three handedness groups. Sensation seeking behavior shows significant negative correlations with age as well as with the HI. Higher scores of left-handers in Experience Seeking (ES), Sensation Seeking (SS) as well as in Thrill and Adventure Seeking (TAS) indicate a larger risk investment in this handedness group. Hence, the results of this study suggest that handedness is a strong indicator of risk behavior.

Controlling Flexible Robot Arms Using High Speed Dynamics Process

Science.gov (United States)

Jain, Abhinandan (Inventor)

1996-01-01

A robot manipulator controller for a flexible manipulator arm having plural bodies connected at respective movable hinges and flexible in plural deformation modes corresponding to respective modal spatial influence vectors relating deformations of plural spaced nodes of respective bodies to the plural deformation modes, operates by computing articulated body quantities for each of the bodies from respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables, and computing modal deformation accelerations and hinge accelerations is carried out for each one of the bodies beginning with the outermost body by computing a residual body force from a residual body force of a previous body and from the vector of deformation and hinge configuration variables, computing a resultant hinge acceleration from the body force, the residual body force and the articulated hinge inertia, and revising the residual body force modal body acceleration.

Different Types of Sensation Seeking: A Person-Oriented Approach in Sensation-Seeking Research

Science.gov (United States)

Suranyi, Zsuzsanna; Hitchcock, David B.; Hittner, James B.; Vargha, Andras; Urban, Robert

2013-01-01

Previous research on sensation seeking (SS) was dominated by a variable-oriented approach indicating that SS level has a linear relation with a host of problem behaviors. Our aim was to provide a person-oriented methodology--a probabilistic clustering--that enables examination of both inter- and intra-individual differences in not only the level,…

Comparison of thermal comfort and sensation scales : a case study

NARCIS (Netherlands)

Vesely, Michal; Zeiler, Wim; Li, Rongling; Loomans, M.G.L.C.; te Kulve, M.

2015-01-01

Thermal sensation is a conscious feeling that grades the thermal environment, while thermal comfort expresses satisfaction with this feeling. Multiple scales to quantify thermal sensation and comfort have been developed throughout the history of research on thermal comfort. In this paper, the most

FY 1999 achievement report on the R and D of a human cooperation/coexistence robot system. New development for the commercialization for the electric power generation technology; 1999 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Shinhatsuden gijutsu jitsuyoka kaihatsu

Energy Technology Data Exchange (ETDEWEB)

NONE

2000-03-01

The paper described the FY 1999 results of the development of a human cooperation/coexistence robot system and the development for commercialization for power plants. The support robot platform for maintenance, etc. was fabricated, connected with the remote operation system and verified of the integrated function. The operator controls the robot from the remote operation cockpit by HMD (head mounted display) which can present image following the head movement of the operator, extended virtual reality technology, and stereo-sound system. Hand/arm movement and instruction for movement were given to the robot, and at the same time, the robot was made a device which can present inner force sense and bodily sensation to the operator. The remote hand operating software was developed. A method was developed by which the information on visual sense, touch sense and somatic sense is presented in realtime to the operator so that he can obtain a feeling of attendance. A model for sensor simulator verification was also developed so that the developer of software can also make a verification experiment in the actual environment. Interface was developed so that library of basic movements can be used in the network environment. An investigational research on the promotion of robot was made. (NEDO)

Correlation Factors Describing Primary and Spatial Sensations of Sound Fields

Science.gov (United States)

ANDO, Y.

2002-11-01

The theory of subjective preference of the sound field in a concert hall is established based on the model of human auditory-brain system. The model consists of the autocorrelation function (ACF) mechanism and the interaural crosscorrelation function (IACF) mechanism for signals arriving at two ear entrances, and the specialization of human cerebral hemispheres. This theory can be developed to describe primary sensations such as pitch or missing fundamental, loudness, timbre and, in addition, duration sensation which is introduced here as a fourth. These four primary sensations may be formulated by the temporal factors extracted from the ACF associated with the left hemisphere and, spatial sensations such as localization in the horizontal plane, apparent source width and subjective diffuseness are described by the spatial factors extracted from the IACF associated with the right hemisphere. Any important subjective responses of sound fields may be described by both temporal and spatial factors.

Bodily illusions disrupt tactile sensations.

Science.gov (United States)

D'Amour, Sarah; Pritchett, Lisa M; Harris, Laurence R

2015-02-01

To accurately interpret tactile information, the brain needs to have an accurate representation of the body to which to refer the sensations. Despite this, body representation has only recently been incorporated into the study of tactile perception. Here, we investigate whether distortions of body representation affect tactile sensations. We perceptually altered the length of the arm and the width of the waist using a tendon vibration illusion and measured spatial acuity and sensitivity. Surprisingly, we found reduction in both tactile acuity and sensitivity thresholds when the arm or waist was perceptually altered, which indicates a general disruption of low-level tactile processing. We postulate that the disruptive changes correspond to the preliminary stage as the body representation starts to change and may give new insights into sensory processing in people with long-term or sudden abnormal body representation such as are found in eating disorders or following amputation.

The concept of peripheral modulation of bladder sensation.

Science.gov (United States)

Eastham, Jane E; Gillespie, James I

2013-01-01

It is recognized that, as the bladder fills, there is a corresponding increase in sensation. This awareness of the volume in the bladder is then used in a complex decision making process to determine if there is a need to void. It is also part of everyday experience that, when the bladder is full and sensations strong, these sensations can be suppressed and the desire to void postponed. The obvious explanation for such altered perceptions is that they occur centrally. However, this may not be the only mechanism. There are data to suggest that descending neural influences and local factors might regulate the sensitivity of the systems within the bladder wall generating afferent activity. Specifically, evidence is accumulating to suggest that the motor-sensory system within the bladder wall is influenced in this way. The motor-sensory system, first described over 100 years ago, appears to be a key component in the afferent outflow, the afferent "noise," generated within the bladder wall. However, the presence and possible importance of this complex system in the generation of bladder sensation has been overlooked in recent years. As the bladder fills the motor activity increases, driven by cholinergic inputs and modulated, possibly, by sympathetic inputs. In this way information on bladder volume can be transmitted to the CNS. It can be argued that the ability to alter the sensitivity of the mechanisms generating the motor component of this motor-sensory system represents a possible indirect way to influence afferent activity and so the perception of bladder volume centrally. Furthermore, it is emerging that the apparent modulation of sensation by drugs to alleviate the symptoms of overactive bladder (OAB), the anti-cholinergics and the new generation of drugs the β 3 sympathomimetics, may be the result of their ability to modulate the motor component of the motor sensory system. The possibility of controlling sensation, physiologically and pharmacologically, by

Robotic-assisted single-port donor nephrectomy using the da Vinci single-site platform.

Science.gov (United States)

LaMattina, John C; Alvarez-Casas, Josue; Lu, Irene; Powell, Jessica M; Sultan, Samuel; Phelan, Michael W; Barth, Rolf N

2018-02-01

Although single-port donor nephrectomy offers improved cosmetic outcomes, technical challenges have limited its application to selected centers. Our center has performed over 400 single-port donor nephrectomies. The da Vinci single-site robotic platform was utilized in an effort to overcome the steric, visualization, ergonomic, and other technical limitations associated with the single-port approach. Food and Drug Administration device exemption was obtained. Selection criteria for kidney donation included body mass index da Vinci single-site platform. Our experience supported the safety of this approach but found that the technology added cost and complexity without tangible benefit. Development of articulating instruments, energy, and stapling devices will be necessary for increased application of robotic single-site surgery for donor nephrectomy. Copyright © 2017 Elsevier Inc. All rights reserved.

Sensationalism in front page photographs : Content analysis of Dutch popular and quality newspapers

NARCIS (Netherlands)

Schaap, Gabi; Pleijter, Alexander

2012-01-01

GABI SCHAAP & ALEXANDER PLEIJTER Sensationalism in front page photographs: Content analysis of Dutch popular and quality newspapers Sensation in the news has been a longtime cause for social and scientific debate. Sensational news is thought to substitute 'serious' information needed for serious

Gait Planning Research for an Electrically Driven Large-Load-Ratio Six-Legged Robot

Directory of Open Access Journals (Sweden)

Hong-Chao Zhuang

2017-03-01

Full Text Available Gait planning is an important basis for the walking of a legged robot. To improve the walking stability of multi-legged robots and to reduce the impact force between the foot and the ground, gait planning strategies are presented for an electrically driven large-load-ratio six-legged robot. First, the configuration and walking gait of the electrically driven large-load-ratio six-legged robot are designed. The higher-stable swing sequences of legs and typical walking modes are respectively obtained. Based on the Denavit–Hartenberg (D–H method, the analyses of the forward and inverse kinematics are implemented. The mathematical models of the articulated rotation angles are respectively established. In view of the buffer device installed at the end of shin to decrease the impact force between the foot and the ground, an initial lift height of the leg is brought into gait planning when the support phase changes into the transfer phase. The mathematical models of foot trajectories are established. Finally, a prototype of the electrically driven large-load-ratio six-legged robot is developed. The experiments of the prototype are carried out regarding the aspects of the walking speed and surmounting obstacle. Then, the reasonableness of gait planning is verified based on the experimental results. The proposed strategies of gait planning lay the foundation for effectively reducing the foot–ground impact force and can provide a reference for other large-load-ratio multi-legged robots.

The Role of Body Sensations in Understanding One's Own Emotions

Directory of Open Access Journals (Sweden)

Balueva O.V.

2015-08-01

Full Text Available There are at least three different viewpoints among all theories of emotions that attempt to explain the role of body sensations in understanding one's own emotions. In order to compare the explanatory resources of these viewpoints we conducted a research in which the subjects (n=59 were shown a series of neutral and emotionally significant slides (taken from the IAPS database. During the slideshow we registered the subjects' pulse and galvanic skin response. The subjects were asked to assess the intensity of their emotional reactions and body sensations in response to the emotionally significant slides, and also filled in a questionnaire on emotional intelligence that enabled us to measure their ability to understand their own emotions as well as those of other people. The outcomes of our research show that sensations accompanying emotional experiences are not the result of interoception as they do not correspond with objective indicators of the changes in physiological arousal, whereas they do correspond in many ways with the subjects' emotional appraisal of the stimuli and selfassessment of sensations. These outcomes also revealed that subjective evaluations of body sensations correlate with emotional valence, while heart rate (the objective indicator of arousal correlates with modality of the emotion

Water Sensation During Passive Propulsion for Expert and Nonexpert Swimmers.

Science.gov (United States)

Kusanagi, Kenta; Sato, Daisuke; Hashimoto, Yasuhiro; Yamada, Norimasa

2017-06-01

This study determined whether expert swimmers, compared with nonexperts, have superior movement perception and physical sensations of propulsion in water. Expert (national level competitors, n = 10) and nonexpert (able to swim 50 m in > 3 styles, n = 10) swimmers estimated distance traveled in water with their eyes closed. Both groups indicated their subjective physical sensations in the water. For each of two trials, two-dimensional coordinates were obtained from video recordings using the two-dimensional direct linear transformation method for calculating changes in speed. The mean absolute error of the difference between the actual and estimated distance traveled in the water was significantly lower for expert swimmers (0.90 ± 0.71 meters) compared with nonexpert swimmers (3.85 ± 0.84 m). Expert swimmers described the sensation of propulsion in water in cutaneous terms as the "sense of flow" and sensation of "skin resistance." Therefore, expert swimmers appear to have a superior sense of distance during their movement in the water compared with that of nonexpert swimmers. In addition, expert swimmers may have a better perception of movement in water. We propose that expert swimmers integrate sensations and proprioceptive senses, enabling them to better perceive and estimate distance moved through water.

Instant messaging at the hospital: supporting articulation work?

Science.gov (United States)

Iversen, Tobias Buschmann; Melby, Line; Toussaint, Pieter

2013-09-01

Clinical work is increasingly fragmented and requires extensive articulation and coordination. Computer systems may support such work. In this study, we investigate how instant messaging functions as a tool for supporting articulation work at the hospital. This paper aims to describe the characteristics of instant messaging communication in terms of number and length of messages, distribution over time, and the number of participants included in conversations. We also aim to determine what kind of articulation work is supported by analysing message content. Analysis of one month's worth of instant messages sent through the perioperative coordination and communication system at a Danish hospital. Instant messaging was found to be used extensively for articulation work, mostly through short, simple conversational exchanges. It is used particularly often for communication concerning the patient, specifically, the coordination and logistics of patient care. Instant messaging is used by all actors involved in the perioperative domain. Articulation work and clinical work are hard to separate in a real clinical setting. Predefined messages and strict workflow design do not suffice when supporting communication in the context of collaborative clinical work. Flexibility is of vital importance, and this needs to be reflected in the design of supportive communication systems. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Placebo-induced somatic sensations: a multi-modal study of three different placebo interventions.

Directory of Open Access Journals (Sweden)

Florian Beissner

Full Text Available Somatic sensations induced by placebos are a frequent phenomenon whose etiology and clinical relevance remains unknown. In this study, we have evaluated the quantitative, qualitative, spatial, and temporal characteristics of placebo-induced somatic sensations in response to three different placebo interventions: (1 placebo irritant solution, (2 placebo laser stimulation, and (3 imagined laser stimulation. The quality and intensity of evoked sensations were assessed using the McGill pain questionnaire and visual analogue scales (VAS, while subjects' sensation drawings processed by a geographic information system (GIS were used to measure their spatial characteristics. We found that all three interventions are capable of producing robust sensations most frequently described as "tingling" and "warm" that can reach consider-able spatial extent (≤ 205 mm² and intensity (≤ 80/100 VAS. Sensations from placebo stimulation were often referred to areas remote from the stimulation site and exhibit considerable similarity with referred pain. Interestingly, there was considerable similarity of qualitative features as well as spatial patterns across subjects and placebos. However, placebo laser stimulation elicited significantly stronger and more widespread sensations than placebo irritant solution. Finally, novelty seeking, a character trait assessed by the Temperament and Character Inventory and associated with basal dopaminergic activity, was less pronounced in subjects susceptible to report placebo-induced sensations. Our study has shown that placebo-induced sensations are frequent and can reach considerable intensity and extent. As multiple somatosensory subsystems are involved despite the lack of peripheral stimulus, we propose a central etiology for this phenomenon.

The use of robotics in otolaryngology-head and neck surgery: a systematic review.

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Maan, Zeshaan N; Gibbins, Nick; Al-Jabri, Talal; D'Souza, Alwyn R

2012-01-01

Robotic surgery has become increasingly used due to its enhancement of visualization, precision, and articulation. It eliminates many of the problems encountered with conventional minimally invasive techniques and has been shown to result in reduced blood loss and complications. The rise in endoscopic procedures in otolaryngology-head and neck surgery, and associated difficulties, suggests that robotic surgery may have a role to play. To determine whether robotic surgery conveys any benefits compared to conventional minimally invasive approaches, specifically looking at precision, operative time, and visualization. A systematic review of the literature with a defined search strategy. Searches of MEDLINE, EMBASE and CENTRAL using strategy: ((robot* OR (robot*AND surgery)) AND (ent OR otolaryngology)) to November 2010. Articles reviewed by authors and data compiled in tables for analysis. There were 33 references included in the study. Access and visualization were regularly mentioned as key benefits, though no objective data has been recorded in any study. Once initial setup difficulties were overcome, operative time was shown to decrease with robotic surgery, except in one controlled series of thyroid surgeries. Precision was also highlighted as an advantage, particularly in otological and skull base surgery. Postoperative outcomes were considered equivalent to or better than conventional surgery. Cost was the biggest drawback. The evidence base to date suggests there are benefits to robotic surgery in OHNS, particularly with regards to access, precision, and operative time but there is a lack of controlled, prospective studies with objective outcome measures. In addition, economic feasibility studies must be carried out before a robotic OHNS service is established. Copyright © 2012 Elsevier Inc. All rights reserved.

The Remotely Controlled Robot System for Nuclear Power Plants

International Nuclear Information System (INIS)

Koh, Kwangill; Lee, Gwangnam; Lim, Kyeyoung

1993-01-01

The problem of radioactivity has been our major concern. So, it makes the needs of remotely controlled robot system necessary for maintenance and repair services. Up to now, several foreign companies have been contracted for the maintenance of the steam generators of nuclear power plants in Korea, to acquire its own capability of maintaining the steam generators of it impossible for Korea to acquire its own capability of maintaining the steam generators. In case of emergency, it is difficult to take appropriate steps on its own. In order to resolve the above problems, it seems inevitable to develop the robot system for the inspection and repair of steam generator. This project intends to acquire domestic capabilities of maintaining steam generators, so that this advanced skills could be applied to the related areas. As a result, it will save immense money in the future. the purposes of development of the remotely controlled robot system are : to perform the desired tasks at the polluted area without requiring entry of personnel. to closely inspect the steam generator U-tubes at high speed. to inspect the steam generator intelligently and efficiently under the extreme circumstances where radioactivity problem is very severe. to use for the repair of steam generator tube. Considering from the social and technical standpoint, we can say that the development of the remotely controlled robot system for nuclear power plants resulted in great achievements. From the social standpoint, it should be recognized that domestic robot for nuclear power plant was successfully developed and operator was protected against radioactivity. Also, we advanced our skills in the area of mechanical and control system design for an articulated robot. Using the robot controller in hierarchical structure, it was possible to control the robot remotely. In addition, resolver feedback typed A C servo drive was proven to be sturdy in hazardous environment. Now we are confident that our robot will

Thermal sensation during mild hyperthermia is modulated by acute postural change in humans.

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Takeda, Ryosuke; Imai, Daiki; Suzuki, Akina; Ota, Akemi; Naghavi, Nooshin; Yamashina, Yoshihiro; Hirasawa, Yoshikazu; Yokoyama, Hisayo; Miyagawa, Toshiaki; Okazaki, Kazunobu

2016-12-01

Thermal sensation represents the primary stimulus for behavioral and autonomic thermoregulation. We assessed whether the sensation of skin and core temperatures for the driving force of behavioral thermoregulation was modified by postural change from the supine (Sup) to sitting (Sit) during mild hyperthermia. Seventeen healthy young men underwent measurements of noticeable increase and decrease (±0.1 °C/s) of skin temperature (thresholds of warm and cold sensation on the skin, 6.25 cm 2 of area) at the forearm and chest and of the whole-body warm sensation in the Sup and Sit during normothermia (NT; esophageal temperature (T es ), ∼36.6 °C) and mild hyperthermia (HT; T es , ∼37.2 °C; lower legs immersion in 42 °C of water). The threshold for cold sensation on the skin at chest was lower during HT than NT in the Sit (P sensation on the skin at both sites remained unchanged with changes in body posture or temperature. The whole-body warm sensation was higher during HT than NT in both postures and higher in the Sit than Sup during both NT and HT (all, P sensation during mild hyperthermia is modulated by postural change from supine to sitting to sense lesser cold on the skin and more whole-body warmth.

Unscented Kalman filtering for articulated human tracking

DEFF Research Database (Denmark)

Boesen Lindbo Larsen, Anders; Hauberg, Søren; Pedersen, Kim Steenstrup

2011-01-01

We present an articulated tracking system working with data from a single narrow baseline stereo camera. The use of stereo data allows for some depth disambiguation, a common issue in articulated tracking, which in turn yields likelihoods that are practically unimodal. While current state...... with superior results. Tracking quality is measured by comparing with ground truth data from a marker-based motion capture system....

Neurocognitive determinants of novelty and sensation-seeking in individuals with alcoholism.

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Noël, Xavier; Brevers, Damien; Bechara, Antoine; Hanak, Catherine; Kornreich, Charles; Verbanck, Paul; Le Bon, Olivier

2011-01-01

Sober alcoholic abusers exhibit personality traits such as novelty-seeking (NS) and sensation-seeking, which overlap to a limited extent. In parallel, they also show impaired executive and decision-making processes. However, little is known about the specific and common cognitive processes associated with NS and sensation-seeking personality traits in detoxified sober alcoholic abusers. In these present studies, we have investigated the relationships between executive functioning/central executive of working memory (pre-potent response inhibition, manipulation stored in working memory), and decision-making under uncertainty and NS/sensation-seeking traits in such alcoholics. Compared with healthy controls (n = 30, mean age = 40.2), and in agreement with previous studies, alcoholics (n = 30, mean age = 40.4) showed higher levels of both NS and sensation-seeking traits. Alcoholics were also disadvantaged with respect to (a) gambling tasks, as reported previously, and (b) a poor ability to manipulate information stored in working memory and inhibit pre-potent responses. Most importantly, regression analyses and mediation analyses measures showed that poor response inhibition and decision-making were associated with high NS behaviour. In addition, impaired decision-making and manipulation of stored information in working memory were associated with a high sensation-seeking trait. Overall, these results support the existence of specific links between cognitive executive functioning, decision-making under uncertainty and NS/sensation-seeking personality traits in individuals with alcoholism.

Sensation seeking indirectly affects perceptions of risk for co-occurrent substance use.

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Hittner, James B; Warner, Margaret A; Swickert, Rhonda J

2016-02-01

High sensation seekers engage in more frequent substance use and perceive a host of potentially dangerous activities as less risky than do low sensation seekers. However, despite a plethora of research on these topics, no study has examined the extent to which personal substance use mediates the association between sensation seeking and perceived risk of substance use. To address this question, we recruited a sample of 79 young adults (mean age=19.1 years, standard deviation=1.4). Participants completed questionnaire measures of sensation seeking, substance use, and perceived risk of co-occurrent substance use. Results from path-analytic modeling indicated that both alcohol use and marijuana use mediated the influence of sensation seeking on perceptions of risk for moderately risky, but not highly risky, pairs of substances. Strengths and limitations of the present study were discussed and directions for future research were suggested.

POÉSIE, PAYSAGE ET SENSATION / Poetry, landscape and sensation

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Michel Collot

2016-01-01

Full Text Available Cet article effectue une refléxion téorique par rapport au paysage, question qui revêt un enjeuconsidérable dans le champ des sciences humaines et des pratiques sociales contemporaines, maisaussi, pour l’art et pour la poésie modernes. Il s’agit d’une notion qui se situe historiquement etstructurellement entre une pensée symbolique du Lieu qui a dominé l’Antiquité classique et leMoyen Âge, et une connaissance scientifique de l’espace qui se développe aux Temps modernes.À partir du Romantisme, notamment la poésie lyrique a fait du paysage un lieu d’expression de lasensibilité. En contrepartie, l’art et la littérature au XXème siècle ont eu tendance à se détournerde la représentation du monde extérieur pour explorer les ressources propres à leurs moyensd’expression. Ainsi, le paysage semble avoir perdu son endroit à la scène esthétique, c’est qui n’estpas vrai du tout, une fois que le thème continue à inspirer beaucoup d’artistes et d’écrivains.Controversée par nature, l’idée de paysage s’ouvre à plusiers interrogations, telques les conceptsde sensation et de de perception, cueillis chez Paul Valéry, lesquels sont amenés à ce text, commeune proposition de jouissance de la poésie entendue à la manière d’un endroit de réactivation dessensations et des affects. Mots-clés: Paysage, Sensation, Perception, Poésie, L’art.

Boulder Capture System Design Options for the Asteroid Robotic Redirect Mission Alternate Approach Trade Study

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Belbin, Scott P.; Merrill, Raymond G.

2014-01-01

This paper presents a boulder acquisition and asteroid surface interaction electromechanical concept developed for the Asteroid Robotic Redirect Mission (ARRM) option to capture a free standing boulder on the surface of a 100 m or larger Near Earth Asteroid (NEA). It details the down select process and ranking of potential boulder capture methods, the evolution of a simple yet elegant articulating spaceframe, and ongoing risk reduction and concept refinement efforts. The capture system configuration leverages the spaceframe, heritage manipulators, and a new microspine technology to enable the ARRM boulder capture. While at the NEA it enables attenuation of terminal descent velocity, ascent to escape velocity, boulder collection and restraint. After departure from the NEA it enables, robotic inspection, sample caching, and crew Extra Vehicular Activities (EVA).

Extensional Information Articulation from the Universe

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Yasufumi Saruwatari

2012-11-01

Full Text Available Information must have physical support and this physical universe comprisesphysical interactions. Hence actual information processes should have a description byinteractions alone, i.e., an extensional description. In this paper, such a model of the processof information articulation from the universe is developed by generalizing the extensivemeasurement theory in metrology. Moreover, a model of the attribute creation processis presented to exemplify a step of the informational articulation process. These modelsdemonstrate the valuableness of the extensional view and are expected to enhance theunderstanding of the extensional aspects of fundamentals of information.

Perceived Articulation Uniformity between Trumpet and Violin Performances

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Cooper, Shelly C.; Hamann, Donald L.

2010-01-01

Directors strive for a unified sound throughout their wind and orchestra ensembles. Articulation affects sound uniformity among winds and strings. This baseline study examined whether a trumpet player could better match a violin player's articulation, as perceived by participants listening to a recording of two performances, when: (a) performing…

Operation of an ITER relevant inspection robot on Tore Supra tokamak

Energy Technology Data Exchange (ETDEWEB)

Gargiulo, Laurent [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)], E-mail: laurent.gargiulo@cea.fr; Bayetti, Pascal; Bruno, Vincent; Hatchressian, Jean-Claude; Hernandez, Caroline; Houry, Michael [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Keller, Delphine [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Martins, Jean-Pierre [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Measson, Yvan; Perrot, Yann [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Samaille, Frank [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)

2009-06-15

Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. CEA has developed a multipurpose carrier able to realize deployments in the plasma vessel without breaking the Ultra High Vacuum (UHV) and temperature conditioning. A 6 years R and D programme was jointly conducted by CEA-LIST Interactive Robotics Unit and the Institute for Magnetic Fusion Research (IRFM) in order to demonstrate the feasibility and reliability of an in-vessel inspection robot relevant to ITER requirements. The Articulated Inspection Arm robot (AIA) is an 8-m long multilink carrier with a payload up to 10 kg operable between plasma under tokamak conditioning environment; its geometry allows a complete close inspection of Plasma Facing Components (PFCs) of the Tore Supra vessel. Different tools are being developed by CEA to be plugged at the front head of the carrier. The diagnostic presently in operation consists in a viewing system offering accurate visual inspection of PFCs. Leak detection of first wall based on helium sniffing and laser compact system for carbon co-deposited layers characterizations or treatments are also considered for demonstration. In April 2008, the AIA robot equipped with its vision diagnostic has realized a complete deployment into Tore Supra and the first closed inspection of the vessel under UHV conditions. During the upcoming experimental campaign, the same operation will be performed under relevant conditions (10{sup -6} Pa and 120 deg. C) after a conditioning phase at 200 deg. C to avoid outgassing pollution of the chamber. This paper describes the different steps of the project development, robot capabilities with the present operations conducted on Tore Supra and future requirements for making the robot a tool for tokamak routine operation.

Systematic Review and Meta-Analysis on Incidence of Altered Sensation of Mandibular Implant Surgery

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Lin, Chia-Shu; Wu, Shih-Yun; Huang, Hsin-Yi; Lai, Yu-Lin

2016-01-01

Altered sensation (including paresthesia, dysesthesia and hypoesthesia) after mandibular implant surgery may indicate transient or permanent injury of the inferior alveolar nerve and the mental branch, and considerably lower patients’ satisfaction about the therapy. Previous studies have shown a great degree of variability on the incidence of altered sensation. We here reported the incidence of altered sensation after mandibular implant surgery based on a meta-analysis of 26 articles published between 1990.1.1 and 2016.1.1. Study quality and risk of bias was assessed and the studies with a lower score were excluded in the meta-analysis. Data synthesis was performed using the logistic-normal random-effect model. The meta-analyses revealed that the short-term (10 days after implant placement) and long-term (1 year after implant placement) incidence was 13% (95% CI, 6%-25%) and 3% (95% CI, 1%-7%), respectively. (2) For the patients who initially reported altered sensation, 80% (95% CI, 52%-94%) of them would return to normal sensation within 6 months after surgery, and 91% (95% CI, 78%-96%) of them would return to normal sensation one year after surgery. We concluded that dentist-patient communication about the risk of altered sensation is critical to treatment planning, since the short-term incidence of altered sensation is substantial (13%). When a patient reports altered sensation, regular assessment for 6 months would help tracing the changes of symptoms. In terms of long-term follow-up (1 year after surgery), the incidence is much lower (3%) and most patients (91%) would return to normal sensation. PMID:27100832

Systematic Review and Meta-Analysis on Incidence of Altered Sensation of Mandibular Implant Surgery.

Directory of Open Access Journals (Sweden)

Chia-Shu Lin

Full Text Available Altered sensation (including paresthesia, dysesthesia and hypoesthesia after mandibular implant surgery may indicate transient or permanent injury of the inferior alveolar nerve and the mental branch, and considerably lower patients' satisfaction about the therapy. Previous studies have shown a great degree of variability on the incidence of altered sensation. We here reported the incidence of altered sensation after mandibular implant surgery based on a meta-analysis of 26 articles published between 1990.1.1 and 2016.1.1. Study quality and risk of bias was assessed and the studies with a lower score were excluded in the meta-analysis. Data synthesis was performed using the logistic-normal random-effect model. The meta-analyses revealed that the short-term (10 days after implant placement and long-term (1 year after implant placement incidence was 13% (95% CI, 6%-25% and 3% (95% CI, 1%-7%, respectively. (2 For the patients who initially reported altered sensation, 80% (95% CI, 52%-94% of them would return to normal sensation within 6 months after surgery, and 91% (95% CI, 78%-96% of them would return to normal sensation one year after surgery. We concluded that dentist-patient communication about the risk of altered sensation is critical to treatment planning, since the short-term incidence of altered sensation is substantial (13%. When a patient reports altered sensation, regular assessment for 6 months would help tracing the changes of symptoms. In terms of long-term follow-up (1 year after surgery, the incidence is much lower (3% and most patients (91% would return to normal sensation.

Self-Structured Organizing Single-Input CMAC Control for Robot Manipulator

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ThanhQuyen Ngo

2011-09-01

Full Text Available This paper represents a self-structured organizing single-input control system based on differentiable cerebellar model articulation controller (CMAC for an n-link robot manipulator to achieve the high-precision position tracking. In the proposed scheme, the single-input CMAC controller is solely used to control the plant, so the input space dimension of CMAC can be simplified and no conventional controller is needed. The structure of single-input CMAC will also be self-organized; that is, the layers of single-input CMAC will grow or prune systematically and their receptive functions can be automatically adjusted. The online tuning laws of single-input CMAC parameters are derived in gradient-descent learning method and the discrete-type Lyapunov function is applied to determine the learning rates of proposed control system so that the stability of the system can be guaranteed. The simulation results of robot manipulator are provided to verify the effectiveness of the proposed control methodology.

Use of a robotic manipulator in the simulation of the automation of a calibration process of dosemeters; Uso de un manipulador robotico en la simulacion de la automatizacion de un proceso de calibracion de dosimetros

Energy Technology Data Exchange (ETDEWEB)

Benitez R, J S; Najera H, M C [Instituto Nacional de Investigaciones Nucleares, A.P. 18-1027, 11801 Mexico D.F. (Mexico)

2002-07-01

The development of a system based in a manipulative robot which simulates the operative sequence in a calibration process of dosemeters is presented. In this process it is performed the monitoring of the dosemeter positions and the calibrator by mean of an arm of articulated robot which develops the movement sequences and the taking a decision based on the information coming from the external sensors. (Author)

A novel robotic system for single-port urologic surgery: first clinical investigation.

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Kaouk, Jihad H; Haber, Georges-Pascal; Autorino, Riccardo; Crouzet, Sebastien; Ouzzane, Adil; Flamand, Vincent; Villers, Arnauld

2014-12-01

The idea of performing a laparoscopic procedure through a single abdominal incision was conceived with the aim of expediting postoperative recovery. To determine the clinical feasibility and safety of single-port urologic procedures by using a novel robotic surgical system. This was a prospective institutional review board-approved, Innovation, Development, Exploration, Assessment, Long-term Study (IDEAL) phase 1 study. After enrollment, patients underwent a major urologic robotic single-port procedure over a 3-wk period in July 2010. The patients were followed for 3 yr postoperatively. Different types of urologic surgeries were performed using the da Vinci SP Surgical System. This system is intended to provide the same core clinical capabilities as the existing multiport da Vinci system, except that three articulating endoscopic instruments and an articulating endoscopic camera are inserted into the patient through a single robotic port. The main outcomes were the technical feasibility of the procedures (as measured by the rate of conversions) and the safety of the procedures (as measured by the incidence of perioperative complications). Secondary end points consisted of evaluating other key surgical perioperative outcomes as well as midterm functional and oncologic outcomes. A total of 19 patients were enrolled in the study. Eleven of them underwent radical prostatectomy; eight subjects underwent nephrectomy procedures (partial nephrectomy, four; radical nephrectomy, two; and simple nephrectomy, two). There were no conversions to alternative surgical approaches. Overall, two major (Clavien grade 3b) postoperative complications were observed in the radical prostatectomy group and none in the nephrectomy group. At 1-yr follow-up, one radical prostatectomy patient experienced biochemical recurrence, which was successfully treated with salvage radiation therapy. The median warm ischemia time for three of the partial nephrectomies was 38 min. At 3-yr follow-up all

Relationship between foot sensation and standing balance in patients with multiple sclerosis.

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Citaker, Seyit; Gunduz, Arzu Guclu; Guclu, Meral Bosnak; Nazliel, Bijen; Irkec, Ceyla; Kaya, Defne

2011-06-01

The aims of the present study were to investigate the relationship between the foot sensations and standing balance in patients with Multiple Sclerosis (MS) and find out the sensation, which best predicts balance. Twenty-seven patients with MS (Expanded Disability Status Scale 1-3.5) and 10 healthy volunteers were included. Threshold of light touch-pressure, duration of vibration, and distance of two-point discrimination of the foot sole were assessed. Duration of static one-leg standing balance was measured. Light touch-pressure, vibration, two-point discrimination sensations of the foot sole, and duration of one-leg standing balance were decreased in patients with MS compared with controls (pbalance in patients with MS. In the multiple regression analysis conducted in the 27 MS patients, 47.6% of the variance in the duration of one-leg standing balance was explained by two-point discrimination sensation of the heel (R(2)=0.359, p=0.001) and vibration sensation of the first metatarsal head (R(2)=0.118, p=0.029). As the cutaneous receptors sensitivity decreases in the foot sole the standing balance impairs in patients with MS. Two-point discrimination sensation of the heel and vibration sensation of the first metatarsal head region are the best predictors of the static standing balance in patients with MS. Other factors which could be possible to predict balance and effects of sensorial training of foot on balance should be investigated. Copyright © 2011 Elsevier B.V. All rights reserved.

CONSIDERATIONS UPON CONTACT STRESS MODELLING IN DENTAL ARTICULATOR PAIRS

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Carmen Ciornei

2012-05-01

Full Text Available A dental articulator is a mechanism which simulates the temporo-mandibular joint. The articulator is essential as it replicates the basic motions of the upper and lower mandibles, both revolve and translational motions. In the present paper the stresses from an articulator TMJ modelled as a bronze sphere into a cylindrical steel cavity are analyzed by two methods, first applying the Hertzian contact theory and then numerically, by means of finite element analysis using the simulation module in CATIA.

ARTICULATION DISORDERS IN SERBIAN LANGUAGE IN CHILDREN WITH SPEECH PATHOLOGY.

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Dmitrić, Tanja; Veselinović, Mila; Mitrović, Slobodan M

2015-01-01

Articulation is the result of speech organs and it means clean, clear and distinct pronunciation of voices in words. A prospective study included 24 children between 5 and 15 years of age, of both sexes. All children were monolingual, Serbian being their native language. The quality of articulation was tested with Triage articulation test. Neither omission nor distortion of plosives was observed in any of them, whereas substitution of plosives occurred in 12% of patients. Omission of affricates was not observed in any of the subjects, but substitution and distortion occurred in 29%, and 76% of subjects, respectively. Omission of fricatives was found in 29% subjects, substitution in 52%, and distortion in 82% of subjects. Omission and distortion of nasals was not recorded in any of the subjects, and substitution occurred in 6% of children. Omission of laterals was observed in 6%, substitution in 46% and distortion in 52% of subjects with articulation disorders. Discussion and Articulation disorders were observed not only in children diagnosed with dyslalia but in those with dysphasia and stuttering as well. Children with speech disorders articulate vowels best, then nasals and plosives. Articulation of fricatives and laterals was found to be most severely deviated, including all three disorders, i.e. substitution, omission and distortion. Spasms of speech muscles and vegetative reactions were also observed in this study, but only in children with stuttering.

Sensation Seeking and Internet Activities, Music Preference, and Personal Relationships among College Students.

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Weisskirch, Robert S.; Murphy, Laurel C.

Individuals vary in their need for excitement, involving a personality trait known as sensation seeking (SS). Previous research has found that a preference for rock music and participation in more self-disclosing behaviors are characteristic of high sensation seekers. This study examines if college student sensation seeking relates to the…

Robotic surgery for rectal cancer: current immediate clinical and oncological outcomes.

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Araujo, Sergio Eduardo Alonso; Seid, Victor Edmond; Klajner, Sidney

2014-10-21

Laparoscopic rectal surgery continues to be a challenging operation associated to a steep learning curve. Robotic surgical systems have dramatically changed minimally invasive surgery. Three-dimensional, magnified and stable view, articulated instruments, and reduction of physiologic tremors leading to superior dexterity and ergonomics. Therefore, robotic platforms could potentially address limitations of laparoscopic rectal surgery. It was aimed at reviewing current literature on short-term clinical and oncological (pathological) outcomes after robotic rectal cancer surgery in comparison with laparoscopic surgery. A systematic review was performed for the period 2002 to 2014. A total of 1776 patients with rectal cancer underwent minimally invasive robotic treatment in 32 studies. After robotic and laparoscopic approach to oncologic rectal surgery, respectively, mean operating time varied from 192-385 min, and from 158-297 min; mean estimated blood loss was between 33 and 283 mL, and between 127 and 300 mL; mean length of stay varied from 4-10 d; and from 6-15 d. Conversion after robotic rectal surgery varied from 0% to 9.4%, and from 0 to 22% after laparoscopy. There was no difference between robotic (0%-41.3%) and laparoscopic (5.5%-29.3%) surgery regarding morbidity and anastomotic complications (respectively, 0%-13.5%, and 0%-11.1%). Regarding immediate oncologic outcomes, respectively among robotic and laparoscopic cases, positive circumferential margins varied from 0% to 7.5%, and from 0% to 8.8%; the mean number of retrieved lymph nodes was between 10 and 20, and between 11 and 21; and the mean distal resection margin was from 0.8 to 4.7 cm, and from 1.9 to 4.5 cm. Robotic rectal cancer surgery is being undertaken by experienced surgeons. However, the quality of the assembled evidence does not support definite conclusions about most studies variables. Robotic rectal cancer surgery is associated to increased costs and operating time. It also seems to be

Depression, Sensation Seeking, and Maternal Smoking as Predictors of Adolescent Cigarette Smoking

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Judy van de Venne

2006-01-01

Full Text Available The purpose of this study was to examine maternal and adolescent depression, maternal and teen sensation seeking, and maternal smoking, and their associations with adolescent smoking. Data were collected from a sample of 47 male and 66 female adolescents (ages 11—18 years and their mothers from three different health clinics. The findings indicated that maternal sensation seeking was linked indirectly with adolescent smoking through teen sensation seeking, both of which were significantly associated with teen smoking (β = 0.29, p < 0.001 and β = 0.32, p < 0.001, respectively. Teen depression was associated positively with teen smoking (β = 0.24, p < 0.01 when controlling for sensation seeking behaviors. Maternal smoking was also directly linked to adolescent smoking (β = 0.20, p < 0.05. These findings underscore a potentially important role of sensation seeking in the origins of adolescent smoking, and clarify pathways of influence with regard to maternal attitudes and behaviors in subsequent teenage nicotine use.

Aggressive behavior: an alternative model of resting heart rate and sensation seeking.

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Wilson, Laura C; Scarpa, Angela

2014-01-01

Low resting heart rate is a well-replicated biological correlate of aggression, and sensation seeking is frequently cited as the underlying causal explanation. However, little empirical evidence supports this mediating relationship. Furthermore, the biosocial model of violence and social push theory suggest sensation seeking may moderate the relationship between heart rate and aggression. In a sample of 128 college students (82.0% White; 73.4% female), the current study tested a moderation model as an alternative relationship between resting heart rate and sensation seeking in regard to aggression. Overall, the findings partially supported an interaction effect, whereby the relationship between heart rate and aggression was moderated by sensation seeking. Specifically, the oft-noted relationship between low resting heart rate and increased aggression was found, but only for individuals with low levels of sensation seeking. If replication supports this finding, the results may better inform prevention and intervention work. © 2013 Wiley Periodicals, Inc.

Sensation-seeking and impulsivity as predictors of reactive and proactive aggression

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María Del Carmen Pérez Fuentes

2016-09-01

Full Text Available In adolescence, such matters as substance use and impulsiveness may give rise to problematic behavior repertoires. This study was therefore done to analyze the predictive value of sensation-seeking and impulsiveness dimensions related to the functions of aggression (reactive/proactive and types of expression (physical/relational. A total of 822 high school students in Almeria (Spain aged 13 to 18, were administered the Sensation-Seeking Scale, the State Impulsiveness Scale and Peer Conflict Scale. The results show the existence of a positive correlation of the majority of factors analyzed, both in impulsiveness and sensation-seeking, with respect to the different types of aggression. Furthermore, aggressive behavior is explained by the combination of a sensation-seeking factor (Disinhibition and two impulsiveness factors (Gratification and Automatism. This study shows the need to analyze aggression as a multidimensional construct.

Attachment, Social Value Orientation, Sensation Seeking, and Bullying in Early Adolescence

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Innamorati, Marco; Parolin, Laura; Tagini, Angela; Santona, Alessandra; Bosco, Andrea; De Carli, Pietro; Palmisano, Giovanni L.; Pergola, Filippo; Sarracino, Diego

2018-01-01

In this study, bullying is examined in light of the “prosocial security hypothesis”— i.e., the hypothesis that insecure attachment, with temperamental dispositions such as sensation seeking, may foster individualistic, competitive value orientations and problem behaviors. A group of 375 Italian students (53% female; Mean age = 12.58, SD = 1.08) completed anonymous questionnaires regarding attachment security, social values, sensation seeking, and bullying behaviors. Path analysis showed that attachment to mother was negatively associated with bullying of others, both directly and through the mediating role of conservative socially oriented values, while attachment to father was directly associated with victimization. Sensation seeking predicted bullying of others and victimization both directly and through the mediating role of conservative socially oriented values. Adolescents’ gender affected how attachment moderated the relationship between sensation seeking and problem behavior. PMID:29535668

Kinematics and Path Following Control of an Articulated Drum Roller

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BIAN, Yongming; YANG, Meng; FANG, Xiaojun; WANG, Xiahui

2017-07-01

Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work efficiency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state-feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What's more, to evaluate the performance of the proposed method, simulation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial displacement error (-1.5 m), heading error (-0.11 rad) and steering angle (-0.19 rad). Finally, simulation and experimental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articulated drum roller can lock into a desired path with the proposed method in uneven fields.

Articulating Business Education Curricula.

Science.gov (United States)

McEwen, Beryl C.

1998-01-01

Responses from 75 of 108 business educators indicated that most students took business courses to develop both job and personal-use skills; more than 50% were college bound. A substantial overlap between skills taught in secondary and postsecondary business shows a strong possibility for curriculum articulation. (SK)

The Role of Virtual Articulator in Prosthetic and Restorative Dentistry

Science.gov (United States)

Aljanakh, Mohammad

2014-01-01

Virtual reality is a computer based technology linked with the future of dentistry and dental practice. The virtual articulator is one such application in prosthetic and restorative dentistry based on virtual reality that will significantly reduce the limitations of the mechanical articulator, and by simulation of real patient data, allow analyses with regard to static and dynamic occlusion as well as to jaw relation. It is the purpose of this article to present the concepts and strategies for a future replacement of the mechanical articulator by a virtual one. Also, a brief note on virtual reality haptic system has been highlighted along with newly developed touch enabled virtual articulator. PMID:25177664

From Self-Assessment to Frustration, A Small Step Towards Autonomy in Robotic Navigation.

Directory of Open Access Journals (Sweden)

Adrien eJauffret

2013-10-01

Full Text Available Autonomy and self-improvement capabilities are still challenging in the fields of robotics and machine learning. Allowing a robot to autonomously navigate in wide and unknown environments not only requires a repertoire of robust strategies to cope with miscellaneous situations, but also needs mechanisms of self-assessment for guiding learning and for monitoring strategies. Monitoring strategies requires feedbacks on the behavior’s quality, from a given fitness system in order to take correct decisions.In this work, we focus on how a second-order controller can be used to (1 manage behaviors according to the situation and (2 seek for human interactions to improve skills. Following an incremental and constructivist approach, we present a generic neural architecture, based on an online novelty detection algorithm that may be able to self-evaluate any sensory-motor strategies. This architecture learns contingencies between sensations and actions, giving the expected sensation from the previous perception. Prediction error, coming from surprising events, provides a measure of the quality of the underlying sensory-motor contingencies. We show how a simple second-order controller (emotional system based on the prediction progress allows the system to regulate its behavior to solve complex navigation tasks and also succeeds in asking for help if it detects dead-lock situations.We propose that this model could be a key structure toward self-assessment and autonomy. We made several experiments that can account for such properties for two different strategies (road following and place cells based navigation in different situations.

'Errors of Judgment': The Case of Pain Sensations | Loonat | South ...

African Journals Online (AJOL)

Hill, in his paper 'Introspective Awareness of Sensations', argues that we do sometimes commit 'errors of judgment' and he draws on an example that involves the perception of pain to illustrate his point. I analyze Hill's example and draw on other examples of pain sensations to show how errors of judgment are not possible.

Selective sensation based brain-computer interface via mechanical vibrotactile stimulation.

Science.gov (United States)

Yao, Lin; Meng, Jianjun; Zhang, Dingguo; Sheng, Xinjun; Zhu, Xiangyang

2013-01-01

In this work, mechanical vibrotactile stimulation was applied to subjects' left and right wrist skins with equal intensity, and a selective sensation perception task was performed to achieve two types of selections similar to motor imagery Brain-Computer Interface. The proposed system was based on event-related desynchronization/synchronization (ERD/ERS), which had a correlation with processing of afferent inflow in human somatosensory system, and attentional effect which modulated the ERD/ERS. The experiments were carried out on nine subjects (without experience in selective sensation), and six of them showed a discrimination accuracy above 80%, three of them above 95%. Comparative experiments with motor imagery (with and without presence of stimulation) were also carried out, which further showed the feasibility of selective sensation as an alternative BCI task complementary to motor imagery. Specifically there was significant improvement ([Formula: see text]) from near 65% in motor imagery (with and without presence of stimulation) to above 80% in selective sensation on some subjects. The proposed BCI modality might well cooperate with existing BCI modalities in the literature in enlarging the widespread usage of BCI system.

Selective Sensation Based Brain-Computer Interface via Mechanical Vibrotactile Stimulation

Science.gov (United States)

Yao, Lin; Meng, Jianjun; Zhang, Dingguo; Sheng, Xinjun; Zhu, Xiangyang

2013-01-01

In this work, mechanical vibrotactile stimulation was applied to subjects’ left and right wrist skins with equal intensity, and a selective sensation perception task was performed to achieve two types of selections similar to motor imagery Brain-Computer Interface. The proposed system was based on event-related desynchronization/synchronization (ERD/ERS), which had a correlation with processing of afferent inflow in human somatosensory system, and attentional effect which modulated the ERD/ERS. The experiments were carried out on nine subjects (without experience in selective sensation), and six of them showed a discrimination accuracy above 80%, three of them above 95%. Comparative experiments with motor imagery (with and without presence of stimulation) were also carried out, which further showed the feasibility of selective sensation as an alternative BCI task complementary to motor imagery. Specifically there was significant improvement () from near 65% in motor imagery (with and without presence of stimulation) to above 80% in selective sensation on some subjects. The proposed BCI modality might well cooperate with existing BCI modalities in the literature in enlarging the widespread usage of BCI system. PMID:23762253

The precedence effect for lateralization at low sensation levels.

Science.gov (United States)

Goverts, S T; Houtgast, T; van Beek, H H

2000-10-01

Using dichotic signals presented by headphone, stimulus onset dominance (the precedence effect) for lateralization at low sensation levels was investigated for five normal hearing subjects. Stimuli were based on 2400-Hz low pass filtered 5-ms noise bursts. We used the paradigm, as described by Aoki and Houtgast (Hear. Res., 59 (1992) 25-30) and Houtgast and Aoki (Hear. Res., 72 (1994) 29-36), in which the stimulus is divided into a leading and a lagging part with opposite lateralization cues (i.e. an interaural time delay of 0.2 ms). The occurrence of onset dominance was investigated by measuring lateral perception of the stimulus, with fixed equal duration of leading and lagging part, while decreasing absolute signal level or adding a filtered white noise with the signal level set at 65 dBA. The dominance of the leading part was quantified by measuring the perceived lateral position of the stimulus as a function of the relative duration of the leading (and thus the lagging) part. This was done at about 45 dB SL without masking noise and also at a signal-to-noise ratio resulting in a sensation level of 10 dB. The occurrence and strength of the precedence effect was found to depend on sensation level, which was decreased either by lowering the signal level or by adding noise. With the present paradigm, besides a decreased lateralization accuracy, a decrease in the precedence effect was found for sensation levels below about 30-40 dB. In daily-life conditions, with a sensation level in noise of typically 10 dB, the onset dominance was still manifest, albeit degraded to some extent.

Step-by-Step robotic heminephrectomy for duplicated renal collecting system

Directory of Open Access Journals (Sweden)

Homayoun Zargar

2014-08-01

Full Text Available Introduction A duplicated renal collecting system is a relatively common congenital anomaly rarely presenting in adults. Aim In this video we demonstrate our step-by-step technique of Robotic heminephrectomy in a patient with non-functioning upper pole moiety. Materials and Methods Following cystoscopy and ureteral catheter insertion the patient was placed in 600 modified flank position with the ipsilateral arm positioned at the side of the patient. A straight-line, three arm robotic port configuration was employed. The robot was docked at a 90-degree angle, perpendicular to the patient. Following mobilization the colon and identifying both ureters of the duplicated system, the ureters were followed cephalically toward, hilar vessels where the hilar anatomy was identified. The nonfunctioning pole vasculature was ligated using hem-o-lok clips. The ureter was sharply divided and the proximal ureteral stump was passed posterior the renal hilum. Ureteral stump was used as for retraction and heminephrectomy is completed along the line demarcating the upper and lower pole moieties. Renorrhaphy was performed using 0-Vicryl suture with a CT-1 needle. The nonfunctioning pole ureter was then dissected caudally toward the bladder hiatus, ligated using clips, and transected. Results The operating time was 240 minutes and blood loss was 100 cc. There was no complication post-operatively. Conclusions Wrist articulation and degree of freedom offered by robotic platform facilitates successful performance of minimally invasive heminephrectomy in the setting of an atrophic and symptomatic renal segment.

Dopamine modulates risk-taking as a function of baseline sensation-seeking trait.

Science.gov (United States)

Norbury, Agnes; Manohar, Sanjay; Rogers, Robert D; Husain, Masud

2013-08-07

Trait sensation-seeking, defined as a need for varied, complex, and intense sensations, represents a relatively underexplored hedonic drive in human behavioral neuroscience research. It is related to increased risk for a range of behaviors including substance use, gambling, and risky sexual practice. Individual differences in self-reported sensation-seeking have been linked to brain dopamine function, particularly at D2-like receptors, but so far no causal evidence exists for a role of dopamine in sensation-seeking behavior in humans. Here, we investigated the effects of the selective D2/D3 agonist cabergoline on performance of a probabilistic risky choice task in healthy humans using a sensitive within-subject, placebo-controlled design. Cabergoline significantly influenced the way participants combined different explicit signals regarding probability and loss when choosing between response options associated with uncertain outcomes. Importantly, these effects were strongly dependent on baseline sensation-seeking score. Overall, cabergoline increased sensitivity of choice to information about probability of winning; while decreasing discrimination according to magnitude of potential losses associated with different options. The largest effects of the drug were observed in participants with lower sensation-seeking scores. These findings provide evidence that risk-taking behavior in humans can be directly manipulated by a dopaminergic drug, but that the effectiveness of such a manipulation depends on baseline differences in sensation-seeking trait. This emphasizes the importance of considering individual differences when investigating manipulation of risky decision-making, and may have relevance for the development of pharmacotherapies for disorders involving excessive risk-taking in humans, such as pathological gambling.

Sensation seeking and alcohol use by college students: examining multiple pathways of effects.

Science.gov (United States)

Yanovitzky, Itzhak

2006-01-01

This study tests the proposition that peer influence mediates the effect of sensation seeking, a personality trait, on alcohol use among college students. Cross-sectional data to test this proposition were collected from a representative sample of college students at a large public northeastern university (N = 427). Results of hierarchical regression analyses showed that, as hypothesized, sensation seeking influenced personal alcohol use both directly and indirectly, through its impact on students' frequency of association with alcohol-using peers and the size of their drinking norm misperception. The findings suggest that interventions that seek to limit the frequency in which high sensation seekers associate with peers whose alcohol use is extreme or, alternatively, seek to facilitate social interactions of high sensation seekers with normative peers, may supplement efforts to influence sensation seekers' alcohol and other drug use through tailored mass media advertisements.

Conscious sensation, conscious perception and sensorimotor theories of consciousness

OpenAIRE

Gamez, David

2014-01-01

This article explores the hypothesis that the differences between our conscious sensations (color, sound, smell, etc.) could be linked to the different ways in which our senses process and structure information. It is also proposed that the organization of our conscious sensations into a conscious perception of a three-dimensional world could be linked to our mastery of sensorimotor contingencies. These hypotheses are supported by a number of observations, including the appearance of consciou...

Sensation fiction, gender and identity

NARCIS (Netherlands)

MacDonald, T.; Mangham, A.

2013-01-01

The heroine of Wilkie Collins’s The Law and the Lady (1875), Valeria Macallan, is in many ways a typical sensation heroine. She is resilient, independent and determined to get what she wants. What she wants, however, is not to marry rich, hide her bigamous past or inherit a fortune that is

Three-Dimensional Static Articulation Accuracy of Virtual Models-Part II: Effect of Model Scanner-CAD Systems and Articulation Method.

Science.gov (United States)

Yee, Sophia Hui Xin; Esguerra, Roxanna Jean; Chew, Amelia Anya Qin'An; Wong, Keng Mun; Tan, Keson Beng Choon

2018-02-01

Accurate maxillomandibular relationship transfer is important for CAD/CAM prostheses. This study compared the 3D-accuracy of virtual model static articulation in three laboratory scanner-CAD systems (Ceramill Map400 [AG], inEos X5 [SIR], Scanner S600 Arti [ZKN]) using two virtual articulation methods: mounted models (MO), interocclusal record (IR). The master model simulated a single crown opposing a 3-unit fixed partial denture. Reference values were obtained by measuring interarch and interocclusal reference features with a coordinate measuring machine (CMM). MO group stone casts were articulator-mounted with acrylic resin bite registrations while IR group casts were hand-articulated with poly(vinyl siloxane) bite registrations. Five test model sets were scanned and articulated virtually with each system (6 test groups, 15 data sets). STL files of the virtual models were measured with CMM software. dR R , dR C , and dR L , represented interarch global distortions at right, central, and left sides, respectively, while dR M , dX M , dY M , and dZ M represented interocclusal global and linear distortions between preparations. Mean interarch 3D distortion ranged from -348.7 to 192.2 μm for dR R , -86.3 to 44.1 μm for dR C , and -168.1 to 4.4 μm for dR L . Mean interocclusal distortion ranged from -257.2 to -85.2 μm for dR M , -285.7 to 183.9 μm for dX M , -100.5 to 114.8 μm for dY M , and -269.1 to -50.6 μm for dZ M . ANOVA showed that articulation method had significant effect on dR R and dX M , while system had a significant effect on dR R , dR C , dR L , dR M , and dZ M . There were significant differences between 6 test groups for dR R, dR L dX M , and dZ M . dR R and dX M were significantly greater in AG-IR, and this was significantly different from SIR-IR, ZKN-IR, and all MO groups. Interarch and interocclusal distances increased in MO groups, while they decreased in IR groups. AG-IR had the greatest interarch distortion as well as interocclusal superior

Sensation Seeking as one of the Motivating Factors for Performing Skydiving

Directory of Open Access Journals (Sweden)

Bołdak Agnieszka

2016-06-01

Full Text Available Introduction. For some time, the issue of participating in high-risk sports, including skydiving, has been linked to the trait of sensation seeking, but skydivers do not constitute a homogeneous group in terms of this factor. The aim of the study was to determine the role of the need for sensation in performing skydiving and to examine whether the importance of this factor differs depending on gender. Material and methods. The study included a total of 143 skydivers (98 men and 45 women aged from 17 to 49 years with different levels of expertise in skydiving. In total, 73 respondents were categorised as novices, and 70 were considered experts. Novice skydivers were defined as having completed no more than 10 jumps in their lives. Expert skydivers were persons who had made at least 100 jumps in their lives and had a licence to perform skydiving independently, without instructor supervision. The need for stimulation was measured using the Sensation Seeking Scale IV by Zuckerman, in its Polish version by Oleszkiewicz-Zsurzs. Results. Since a high proportion of individuals with a strong need for sensation was found among both men and women, it can be concluded that it is an important factor in primary selection in skydiving (when the sport is undertaken, regardless of gender. Conclusions. The significance of sensation seeking as a factor in secondary selection in skydiving (when the sport is being performed differs depending on the particular dimension of sensation seeking and gender. Susceptibility to boredom is probably a significant factor in secondary selection in women.

Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

NARCIS (Netherlands)

Leenes, R.E.; Lucivero, F.

2015-01-01

Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of

[Joint diagnostic value of four temperature sensation tests in elderly patients with type 2 diabetic peripheral neuropathy].

Science.gov (United States)

Guo, Wei; Li, Yun-Ming; Ai, Zhi-Hua; You, Zhi-Qing; Wan, Yong; Cheng, Ying; Lang, Hong-Mei

2013-07-01

To explore the joint diagnostic value of four temperature sensation tests in elderly patients with type 2 diabetic peripheral neuropathy. Thermal sensory analyzer-II were applied to measure cool sensation (CS), warm sensation (WS), cold pain sensation (CP)and heat pain sensation (HP) of 308 elderly patients with type 2 diabetes. Logistic regression model was adopted to create the new variable Temp4 from four temperature sensation tests to diagnose type 2 diabetic peripheral neuropathy. The ROC curve analysis was used to determine the best cut-off points of the four temperature sensation and Temp4, and the diagnostic value of it was evaluated. The means of temperature sensation tests of the diabetic peripheral neuropathy (DPN) group were significantly different from those of the non-DPN group (P sensation tests to diagnose the DPN, the sensitivity of WS test was the highest, and the value was 0.710; but the specificity, positive predictive value, negative predictive value, Youden index, diagnostic accuracy and Kappa value of cold sensation test were the highest, and the values were 0.842, 0.746, 0.799, 0.528, 77.92% and 0.535, respectively; the Kappa values of the other three temperature sensation tests were all greater than 0.4 (P sensation tests (P sensation quantitative tests were in good agreementand could be applied to diagnose DPN; the new variable Temp4 could be used for diagnosis of DPN with a higher diagnostic accuracy.

Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped Robot

Directory of Open Access Journals (Sweden)

Hadi El Daou

2013-05-01

Full Text Available Abstract This paper presents a bio-mimetic approach to design and simulate a tortoise-like virtual robot. This study takes a multidisciplinary approach: from in vivo and in vitro experiments on animals, data are collected and used to design, control and simulate a bio-mimetic virtual robot using MD ADAMS platform. From the in vitro experiments, the geometrical and inertial properties of body limbs are measured, and a model of tortoise kinematics is derived. From the in vivo experiments the contact forces between each limb and the ground are measured. The contributions of hind and forelimbs in the generation of propelling and braking forces are studied. The motion of the joints between limb segments are recorded and used to solve the inverse kinematics problem. A virtual model of a tortoise-like robot is built; it is a linkage of 15 rigid bodies articulated by 22 degrees of freedom. This model is referred to as TATOR II. It has the inertial and geometrical properties measured during the in vitro experiments. TATOR II motion is achieved using a Proportional-Derivative controller copying the joint angle trajectories calculated from the in vivo experiments.

Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.

Science.gov (United States)

Isaac-Lowry, Oran Jacob; Okamoto, Steele; Pedram, Sahba Aghajani; Woo, Russell; Berkelman, Peter

2017-12-01

To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures. This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration. Trajectory following results from an optical motion tracker and sample task performance results are presented. Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost. Copyright © 2017 John Wiley & Sons, Ltd.

Report on the achievements in fiscal 1999 on research and development of a human cooperating and coexisting type robot system (Development of energy use rationalization technology); 1999 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Energy shiyo gorika gijutsu kaihatsu

Energy Technology Data Exchange (ETDEWEB)

NONE

2000-03-01

Research and development has been performed on a system technology for the human cooperating and coexisting type robot that can perform various types of works substituting human hands. This paper summarizes the achievements in fiscal 1999. In developing a high-function hand, development and fabrication were executed on a device to teach four finger holding actions that correspond to the enhancement in action stability and control responsiveness of the four finger hand and to positions and attitudes of objects. In fabricating the robot platforms, single platform tests and remotely controlled platform connection tests were performed, which demonstrated the functions as an integrated system. In developing libraries for topography adaptive three-dimensional basic walking actions, development was carried out on libraries that correspond to menus for direct advance on a flat land, slewing, and walking on staircases and irregular land. It was found that control closer to that for actually usable robot is possible by considering time delay in articulate control when simulation was performed using the testing robot body. In the study and survey of robot proliferation, development plans were presented that take into consideration the social influence, technological factors, and cost need adaptability. (NEDO)

Genetically Influenced Change in Sensation Seeking Drives the Rise of Delinquent Behavior during Adolescence

Science.gov (United States)

Harden, K. Paige; Quinn, Patrick D.; Tucker-Drob, Elliot M.

2012-01-01

Sensation seeking is associated with an increased propensity for delinquency, and emerging research on personality change suggests that mean levels of sensation seeking increase substantially from childhood to adolescence. The current study tested whether individual differences in the rate of change of sensation seeking predicted within-person…

Human roughness perception and possible factors effecting roughness sensation.

Science.gov (United States)

Aktar, Tugba; Chen, Jianshe; Ettelaie, Rammile; Holmes, Melvin; Henson, Brian

2017-06-01

Surface texture sensation is significant for business success, in particular for solid surfaces for most of the materials; including foods. Mechanisms of roughness perception are still unknown, especially under different conditions such as lubricants with varying viscosities, different temperatures, or under different force loads during the observation of the surface. This work aims to determine the effect of those unknown factors, with applied sensory tests on 62 healthy participants. Roughness sensation of fingertip was tested under different lubricants including water and diluted syrup solutions at room temperature (25C) and body temperature (37C) by using simple pair-wise comparison to observe the just noticeable difference threshold and perception levels. Additionally, in this research applied force load during roughness observation was tested with pair-wise ranking method to illustrate its possible effect on human sensation. Obtained results showed that human's capability of roughness discrimination reduces with increased viscosity of the lubricant, where the influence of the temperature was not found to be significant. Moreover, the increase in the applied force load showed an increase in the sensitivity of roughness discrimination. Observed effects of the applied factors were also used for estimating the oral sensation of texture during eating. These findings are significant for our fundamental understanding to texture perception, and for the development of new food products with controlled textural features. Texture discrimination ability, more specifically roughness discrimination capability, is a significant factor for preference and appreciation for a wide range of materials, including food, furniture, or fabric. To explore the mechanism of sensation capability through tactile senses, it is necessary to identify the relevant factors and define characteristics that dominate the process involved. The results that will be obtained under these principles

Thermal sensation during mild hyperthermia is modulated by acute postural change in humans

Science.gov (United States)

Takeda, Ryosuke; Imai, Daiki; Suzuki, Akina; Ota, Akemi; Naghavi, Nooshin; Yamashina, Yoshihiro; Hirasawa, Yoshikazu; Yokoyama, Hisayo; Miyagawa, Toshiaki; Okazaki, Kazunobu

2016-12-01

Thermal sensation represents the primary stimulus for behavioral and autonomic thermoregulation. We assessed whether the sensation of skin and core temperatures for the driving force of behavioral thermoregulation was modified by postural change from the supine (Sup) to sitting (Sit) during mild hyperthermia. Seventeen healthy young men underwent measurements of noticeable increase and decrease (±0.1 °C/s) of skin temperature (thresholds of warm and cold sensation on the skin, 6.25 cm2 of area) at the forearm and chest and of the whole-body warm sensation in the Sup and Sit during normothermia (NT; esophageal temperature (Tes), ˜36.6 °C) and mild hyperthermia (HT; Tes, ˜37.2 °C; lower legs immersion in 42 °C of water). The threshold for cold sensation on the skin at chest was lower during HT than NT in the Sit ( P body posture or temperature. The whole-body warm sensation was higher during HT than NT in both postures and higher in the Sit than Sup during both NT and HT (all, P cold on the skin and more whole-body warmth.

MyReDiary: Co-Designing for Collaborative Articulation in Physical Rehabilitation

DEFF Research Database (Denmark)

Bagalkot, Naveen L.; Sokoler, Tomas

2011-01-01

In this paper we present our exploration of co-designing for supporting a collaborative articulation of rehabilitation process. Based on our reading of key CSCW literature, we describe three facets of a collaboratively articulated rehab process: Interdependence, Distributed Process, and Interoper......In this paper we present our exploration of co-designing for supporting a collaborative articulation of rehabilitation process. Based on our reading of key CSCW literature, we describe three facets of a collaboratively articulated rehab process: Interdependence, Distributed Process......, and Interoperability. We highlight Magic-Mirror- Spiral, the design ideal guiding the co-designing of MyReDiary that is aimed to support the three facets as an example in this regard. We offer the conceptual understanding of Collaborative Articulation, the Magic-Mirror-Spiral and MyReDiary as a ‘compositional Whole...

Mass Media Strategies Targeting High Sensation Seekers: What Works and Why

Science.gov (United States)

Stephenson, Michael T.

2003-01-01

Objectives: To examine strategies for using the mass media effectively in drug prevention campaigns targeting high sensation seekers. Methods: Both experimental lab and field studies were used to develop a comprehensive audience segmentation strategy targeting high sensation seekers. Results: A 4-pronged targeting strategy employed in an…

Program Articulation: What It Is and What It Is Not.

Science.gov (United States)

Stevens, Barbara J.

1981-01-01

Discusses various elements of nursing education program articulation: politics, curriculum, core courses, philosophy, nursing theory, advantages and disadvantages of articulation, associate vs. baccalaureate degree programs, and program policies. (CT)

Variants in the dopamine-4-receptor gene promoter are not associated with sensation seeking in skiers.

Science.gov (United States)

Thomson, Cynthia J; Rajala, Amelia K; Carlson, Scott R; Rupert, Jim L

2014-01-01

Sensation seeking is a personality trait that has been associated with disinhibited behaviours including substance use and gambling, but also with high-risk sport practices including skydiving, paragliding, and downhill skiing. Twin studies have shown that sensation seeking is moderately heritable, and candidate genes encoding components involved in dopaminergic transmission have been investigated as contributing to this type of behaviour. To determine whether variants in the regulatory regions of the dopamine-4-receptor gene (DRD4) influenced sport-specific sensation seeking, we analyzed five polymorphisms (-1106T/C, -906T/C, -809G/A, -291C/T, 120-bp duplication) in the promoter region of the gene in a cohort of skiers and snowboarders (n = 599) that represented a broad range of sensation seeking behaviours. We grouped subjects by genotype at each of the five loci and compared impulsive sensation seeking and domain-specific (skiing) sensation seeking between groups. There were no significant associations between genotype(s) and general or domain-specific sensation seeking in the skiers and snowboarders, suggesting that while DRD4 has previously been implicated in sensation seeking, the promoter variants investigated in this study do not contribute to sensation seeking in this athlete population.

WARRIOR II, a high performance modular electric robot system

International Nuclear Information System (INIS)

Downton, G.C.

1996-01-01

A high performance electric robot, WARRIOR, was built for in-reactor welding at the Oldbury nuclear power plant in the United Kingdom in the mid 1980s. WARRIOR II has been developed as a lighter, smaller diameter articulated welding robot which can be deployed on its umbilical down a stand pipe for remote docking with the manipulator system which delivers it to its work site. A key feature of WARRIOR II has been the development of a prototype spherical modular joint. The module provides the drive torque necessary to motivate the robot arm, acts as the joint bearing, has standard mechanical interfaces for the limb sections, accurately measures the joint angle and has cable services running through the centre. It can act either as a bend or rotate joint and the interconnecting limb sections need only to be simple tubular sections. A wide range of manipulator configurations to suit the access constraints of particular problems can be achieved with a set of joint modules and limb sections. A general purpose motion controller has also been developed which is capable of kinematically controlling any configuration of WARRIOR II thus contributing to the realisation of the concept of a general purpose tool which can be used over and over again, at short notice, in any situation where a high precision, light weight, versatile manipulator is required. (UK)

The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand

Directory of Open Access Journals (Sweden)

Li Tian

2017-12-01

Full Text Available Dexterity robotic hands can (Cummings, 1996 greatly enhance the functionality of humanoid robots, but the making of such hands with not only human-like appearance but also the capability of performing the natural movement of social robots is a challenging problem. The first challenge is to create the hand’s articulated structure and the second challenge is to actuate it to move like a human hand. A robotic hand for humanoid robot should look and behave human like. At the same time, it also needs to be light and cheap for widely used purposes. We start with studying the biomechanical features of a human hand and propose a simplified mechanical model of robotic hands, which can achieve the important local motions of the hand. Then, we use 3D modeling techniques to create a single interlocked hand model that integrates pin and ball joints to our hand model. Compared to other robotic hands, our design saves the time required for assembling and adjusting, which makes our robotic hand ready-to-use right after the 3D printing is completed. Finally, the actuation of the hand is realized by cables and motors. Based on this approach, we have designed a cost-effective, 3D printable, compact, and lightweight robotic hand. Our robotic hand weighs 150 g, has 15 joints, which are similar to a real human hand, and 6 Degree of Freedom (DOFs. It is actuated by only six small size actuators. The wrist connecting part is also integrated into the hand model and could be customized for different robots such as Nadine robot (Magnenat Thalmann et al., 2017. The compact servo bed can be hidden inside the Nadine robot’s sleeve and the whole robotic hand platform will not cause extra load to her arm as the total weight (150 g robotic hand and 162 g artificial skin is almost the same as her previous unarticulated robotic hand which is 348 g. The paper also shows our test results with and without silicon artificial hand skin, and on Nadine robot.

Design of a stable fuzzy controller for an articulated vehicle.

Science.gov (United States)

Tanaka, K; Kosaki, T

1997-01-01

This paper presents a backward movement control of an articulated vehicle via a model-based fuzzy control technique. A nonlinear dynamic model of the articulated vehicle is represented by a Takagi-Sugeno fuzzy model. The concept of parallel distributed compensation is employed to design a fuzzy controller from the Takagi-Sugeno fuzzy model of the articulated vehicle. Stability of the designed fuzzy control system is guaranteed via Lyapunov approach. The stability conditions are characterized in terms of linear matrix inequalities since the stability analysis is reduced to a problem of finding a common Lyapunov function for a set of Lyapunov inequalities. Simulation results and experimental results show that the designed fuzzy controller effectively achieves the backward movement control of the articulated vehicle.

Sensation Seeking and Narrative Transportation: High Sensation Seeking Children's Interest in Reading outside of School

Science.gov (United States)

Jensen, Jakob; Imboden, Kristen; Ivic, Rebecca

2011-01-01

High sensation seekers (HSS) prefer messages that allow them to maintain an optimal level of arousal (i.e., highly arousing messages). Transportation theory suggests that narrative immersion in a story may moderate reader arousal, and thus HSS message selection. To test this idea, a survey was administered to 120 fourth and fifth graders. In…

Intraoperative perception and sensation in laser in situ keratomileusis (LASIK).

Science.gov (United States)

Srivannaboon, Sabong; Chansue, Ekktet

2004-04-01

To investigate intraoperative perception and sensation during Laser in situ Keratomileusis (LASIK). Sixty patients with uneventful LASIK were included. All procedures were performed by one surgeon with one technique. Any patient with intra-operative complications was excluded. The patients were asked to fill in the subjective evaluation form regarding their perception and sensation during the operation. Twenty-nine patients (48%) reported no pain and twenty-six patients (43%) reported no burning sensation during the surgery. Nineteen patients (32%) reported no light perception during the suction period of microkeratome. There was no correlation between duration of the suction and no light perception (R2 0.01). Thirty-four patients (56%) reported no trouble in maintaining visual fixation at the red light during the laser treatment. Ten patients (16%) reported they could clearly see the movement during the surgery and 5 out of 10 patients (50% of 16%) reported visual frightening. Fifty cases (84%) reported no visual frightening during the surgery after reassurance of the visual experience by the surgeon before the surgery. Patients undergoing LASIK may experience different visual perceptions. Reassurance of the intraoperative perception and sensation before the surgery can reduce the visual frightening.

Cultural Robotics: The Culture of Robotics and Robotics in Culture

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Hooman Samani

2013-12-01

Full Text Available In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

Visual recognition and tracking of objects for robot sensing

International Nuclear Information System (INIS)

Lowe, D.G.

1994-01-01

An overview is presented of a number of techniques used for recognition and motion tracking of articulated 3-D objects. With recent advances in robust methods for model-based vision and improved performance of computer systems, it will soon be possible to build low-cost, high-reliability systems for model-based motion tracking. Such systems can be expected to open up a wide range of applications in robotics by providing machines with real-time information about their environment. This paper describes a number of techniques for efficiently matching parameterized 3-D models to image features. The matching methods are robust with respect to missing and ambiguous features as well as measurement errors. Unlike most previous work on model-based motion tracking, this system provides for the integrated treatment of matching and measurement errors during motion tracking. The initial application is in a system for real-time motion tracking of articulated 3-D objects. With the future addition of an indexing component, these same techniques can also be used for general model-based recognition. The current real-time implementation is based on matching straight line segments, but some preliminary experiments on matching arbitrary curves are also described. (author)

Friendly network robotics; Friendly network robotics

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-03-01

This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

Physiological and psychological correlates of attention-related body sensations (tingling and warmth).

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Tihanyi, B T; Köteles, F

2017-09-01

Body sensations play an essential role in the subjective evaluation of our physical health, illness, and healing. They are impacted by peripheral somatic and external processes, but they are also heavily modulated by mental processes, e.g., attention, motor control, and emotion. Body sensations, such as tingling, numbness, pulse, and warmth, can emerge due to simply focusing attention on a body part. It is however an open question, if these sensations are connected with actual peripheral changes or happen "only in the mind." Here, we first tested whether the intensity of such attention-related body sensations is related to autonomic and somatomotor physiological processes and to psychological traits. In this study, attention-related body sensations were not significantly connected to changes in physiology, except warmth sensation, which was linked to decrease in muscle tension. Overall intensity of tingling significantly correlated with body awareness and tendentiously with body-mind practice. This strengthened the hypothesis that attention-related body sensations are more the result of top-down functions, and the connection with peripheral processes is weak. Here, we suggested a novel protocol to examine the effect of manipulating attention on body sensations, which together with our results and discussion can inspire future researches.

Electro-cutaneous stimulation on the palm elicits referred sensations on intact but not on amputated digits

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D'Alonzo, M.; Engels, L. F.; Controzzi, M.; Cipriani, C.

2018-02-01

Objective. Grasping and manipulation control critically depends on tactile feedback. Without this feedback, the ability for fine control of a prosthesis is limited in upper limb amputees. Early studies have shown that non-invasive electro-cutaneous stimulation (ES) can induce referred sensations that are spread to a wider and/or more distant area, with respect to the electrodes. Building on this, we sought to exploit this effect to provide somatotopically matched sensory feedback to people with partial hand (digital) amputations. Approach. For the first time, this work investigated the possibility of inducing referred sensations in the digits by activating the palmar nerves. Specifically, we electrically stimulated 18 sites on the palm of non-amputees to evaluate the effects of sites and stimulation parameters on modality, magnitude, and location of the evoked sensations. We performed similar tests with partial hand amputees by testing those sites that had most consistently elicited referred sensations in non-amputees. Main results. We demonstrated referred sensations in non-amputees from all stimulation sites in one form or another. Specifically, the stimulation of 16 of the 18 sites gave rise to reliable referred sensations. Amputees experienced referred sensations to unimpaired digits, just like non-amputees, but we were unable to evoke referred sensations in their missing digits: none of them reported sensations that extended beyond the tip of the stump. Significance. The possibility of eliciting referred sensations on the digits may be exploited in haptic systems for providing touch sensations without obstructing the fingertips or their movements. The study also suggests that the phenomenon of referred sensations through ES may not be exploited for partial hand prostheses, and it invites researchers to explore alternative approaches. Finally, the results seem to confirm previous studies suggesting that the stumps in partial hand amputees partially acquire the

Robot vision for nuclear advanced robot

International Nuclear Information System (INIS)

Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

1991-01-01

This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)

Person × Environment Interactions on Adolescent Delinquency: Sensation Seeking, Peer Deviance and Parental Monitoring.

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Mann, Frank D; Kretsch, Natalie; Tackett, Jennifer L; Harden, K Paige; Tucker-Drob, Elliot M

2015-04-01

Sensation seeking is a personality trait that is robustly correlated with delinquent behavior in adolescence. The current study tested specific contextual factors hypothesized to facilitate, exacerbate or attenuate this risk factor for adolescent delinquency. Individual differences in sensation seeking, peer deviance, parental monitoring and self-reported delinquent behavior were assessed in a sample of 470 adolescents. Peer deviance partially mediated the effects of sensation seeking and parental monitoring on adolescent delinquency. We also found evidence for a three-way interaction between sensation seeking, peer deviance and parental monitoring, such that the highest rates of delinquency occurred from the concurrence of high sensation seeking, high peer deviance, and low levels of parental monitoring. Results highlight the importance of considering peer- and family-level processes when evaluating personality risk and problematic adolescent behavior.

Mobile robot for power plant inspection and maintenance

International Nuclear Information System (INIS)

White, J.R.; Farnstrom, K.A.; Harvey, H.W.; Upton, R.G.; Walker, K.L.

1988-01-01

An all-terrain, mobile robot (called SURBOT-T) has been developed to perform remote visual, sound, and radiation surveillance within contaminated areas of nuclear power plants. The robot can be equipped with a two-armed, telerobotic manipulator system to perform remote maintenance work. The SURBOT-T vehicle has a double-articulating track base that is capable of climbing 45-deg slopes and stairs and over 16-in.-high obstacles. The overall size of SURBOT-T is 28 in. wide by 38 in. long with the front and rear tracks raised and 52 in. high with the camera lowered. With the tracks in a level position, the base provides a sturdy work platform and can ascend/descend stairs without fear of tipping over. The track can be pivoted straight down to elevate the base 14 in. and pass through water up to 24 in. deep. All motors, amplifiers, computer boards, and other electronic components are contained within a sealed housing. The color television camera, spotlight, and directional microphone are mounted on a pan/tilt, which is attached to an elevating mechanism that has 8 ft of vertical travel. An air sampler, radiation detector, and temperature/humidity probe are mounted on the vehicle. The slave manipulator arms on the vehicle can be teleoperated using master arms that are attached to a portable stand near the control console. They can also be taught to perform motions or tasks by computer control much like robot arms in the automated manufacturing industry

Saccadic Eye Movement Improves Plantar Sensation and Postural Balance in Elderly Women.

Science.gov (United States)

Bae, Youngsook

2016-06-01

Vision, proprioception and plantar sensation contribute to the control of postural balance (PB). Reduced plantar sensation alters postural response and is at an increased risk of fall, and eye movements reduce the postural sway. Therefore, the aim of this study was to study the improvement of plantar sensation and PB after saccadic eye movement (SEM) and pursuit eye movement (PEM) in community-dwelling elderly women. Participants (104 females; 75.11 ± 6.25 years) were randomly allocated into the SEM group (n = 52) and PEM groups (n = 52). The SEM group performed eye fixation and SEM for 5 minutes, and the PEM group performed eye fixation and PEM for 5 minutes. The plantar sensation was measured according to the plantar surface area of the feet in contact with the floor surface before and after the intervention. Before and after SEM and PEM with the eyes open and closed, PB was measured as the area (mm(2)), length (cm), and velocity (cm/s) of the fluctuation of the center of pressure (COP). The plantar sensation of both feet improved in both groups (p eye open and close in both groups (p < 0.01). The length and velocity of the COP significantly decreased in the SEM group compared to the PEM group (p < 0.05). In conclusion, SEM and PEM are effective interventions for improving plantar sensation and PB in elderly women, with greater PB improvement after SEM.

Variants in the dopamine-4-receptor gene promoter are not associated with sensation seeking in skiers.

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Cynthia J Thomson

Full Text Available Sensation seeking is a personality trait that has been associated with disinhibited behaviours including substance use and gambling, but also with high-risk sport practices including skydiving, paragliding, and downhill skiing. Twin studies have shown that sensation seeking is moderately heritable, and candidate genes encoding components involved in dopaminergic transmission have been investigated as contributing to this type of behaviour. To determine whether variants in the regulatory regions of the dopamine-4-receptor gene (DRD4 influenced sport-specific sensation seeking, we analyzed five polymorphisms (-1106T/C, -906T/C, -809G/A, -291C/T, 120-bp duplication in the promoter region of the gene in a cohort of skiers and snowboarders (n = 599 that represented a broad range of sensation seeking behaviours. We grouped subjects by genotype at each of the five loci and compared impulsive sensation seeking and domain-specific (skiing sensation seeking between groups. There were no significant associations between genotype(s and general or domain-specific sensation seeking in the skiers and snowboarders, suggesting that while DRD4 has previously been implicated in sensation seeking, the promoter variants investigated in this study do not contribute to sensation seeking in this athlete population.

Touched in sensation--moved by respiration: embodied narrative identity--a treatment process.

Science.gov (United States)

Sviland, Randi; Råheim, Målfrid; Martinsen, Kari

2012-12-01

The aim of this theoretical article is to elaborate on the underpinning of Norwegian psychomotor physiotherapy (NPMP). With a narrative and hermeneutic point of departure, we explore the unfolding of a 10-year-long treatment by analysing a particular narrative from this treatment context in relation to some foundational perspectives on movement, sensation and time. A woman in her late thirties suffering from muscular tensions and pain, depression, anxiety and anorexia, came for NPMP. The investigation of her treatment experience is based on the journal written by her physiotherapist and first author of this article. We suggest that new experiences in movement and sensation as well as changes in movement patterns can contribute to retuning in sensation and restructuring of narrative time. Feeding the fictional space and narrative fantasy with new experiences in movement and sensation can help counteracting delusional ideas and assist changes, supporting embodied narrative identity. Ingrid's experience is discussed in the light of Trygve Braatøy's understanding of muscular functions, Knud E Løgstrup's phenomenology of sensation and Paul Ricouer's narrative time. © 2012 The Authors. Scandinavian Journal of Caring Sciences © 2012 Nordic College of Caring Science.

Age-related changes in cutaneous sensation in the healthy human hand.

Science.gov (United States)

Bowden, Jocelyn L; McNulty, Penelope A

2013-08-01

Cutaneous sensation deteriorates with age. It is not known if this change is consistent over the entire hand or if sensation is affected by changes in skin mechanics. Cutaneous perceptual thresholds were tested at eight sites in the glabrous skin and two in the hairy skin of both hands in 70 subjects (20-88 years), five male and five female per decade, using calibrated von Frey filaments, two-point discrimination, and texture discrimination. Venous occlusion at the wrist (40 ± 10 mmHg) and moisturizer were used to alter skin mechanics. Cutaneous thresholds increased significantly with age (p sensation varied according to the site tested with smaller changes on the fingers compared to the palm. Two-point discrimination deteriorated with age (p = 0.046), but with no interaction between sex, handedness, or changes in skin mechanics. There were no significant differences for texture discrimination. Changes in skin mechanics improved cutaneous thresholds in the oldest males after moisturizing (p = 0.001) but not otherwise. These results emphasize the complex pattern of age-related deterioration in cutaneous sensation with differences between sexes, the hands, sites on the hand, and the mode of testing. As the index fingertip is not a sensitive indicator of sensory decline, the minimum assessment of age-related changes in cutaneous sensation should include both hands, and sites on the palm.

Investigation of Acupuncture Sensation Patterns under Sensory Deprivation Using a Geographic Information System

Science.gov (United States)

Beissner, Florian; Marzolff, Irene

2012-01-01

The study of acupuncture-related sensations, like deqi and propagated sensations along channels (PSCs), has a long tradition in acupuncture basic research. The phenomenon itself, however, remains poorly understood. To study the connection between PSC and classical meridians, we applied a geographic information system (GIS) to analyze sketches of acupuncture sensations from healthy volunteers after laser acupuncture. As PSC can be subtle, we aimed at reducing the confounding impact of external stimuli by carrying out the experiment in a floatation tank under restricted environmental stimulation. 82.4% of the subjects experienced PSC, that is, they had line-like or 2-dimensional sensations, although there were some doubts that these were related to the laser stimulation. Line-like sensations on the same limb were averaged to calculate sensation mean courses, which were then compared to classical meridians by measuring the mean distance between the two. Distances ranged from 0.83 cm in the case of the heart (HT) and spleen (SP) meridian to 6.27 cm in the case of the kidney (KI) meridian. Furthermore, PSC was observed to “jump” between adjacent meridians. In summary, GIS has proven to be a valuable tool to study PSC, and our results suggest a close connection between PSC and classical meridians. PMID:23243458

New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators

Directory of Open Access Journals (Sweden)

Dorin Copaci

2017-01-01

Full Text Available The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement and the proximal radioulnar articulation (for pronation-supination movement. During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis.

New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators

Science.gov (United States)

Cano, Enrique; Moreno, Luis; Blanco, Dolores

2017-01-01

The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis. PMID:29104424

New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators.

Science.gov (United States)

Copaci, Dorin; Cano, Enrique; Moreno, Luis; Blanco, Dolores

2017-01-01

The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project is to design and assemble a medical rehabilitation exoskeleton for the elbow with one degree of freedom for flexion-extension, using the rotation center for proper patient elbow joint articulation. Compared with the current solutions, which align the exoskeleton axis with the elbow axis, this offers an ergonomic physical human-robot interface with a comfortable interaction. The exoskeleton is actuated with shape memory alloy wire-based actuators having minimum rigid parts, for guiding the actuators. Thanks to this unusual actuation system, the proposed exoskeleton is lightweight and has low noise in operation with a simple design 3D-printed structure. Using this exoskeleton, these advantages will improve the medical rehabilitation process of patients that suffered stroke and will influence how their lifestyle will change to recover from these diseases and improve their ability with activities of daily living, thanks to brain plasticity. The exoskeleton can also be used to evaluate the real status of a patient, with stroke and even spinal cord injury, thanks to an elbow movement analysis.

Micro manipulators to handle micro machines. ; Aiming at developing clever and deft robots. Micro machine wo handling surutameno micro manipulator. ; Kashikoku kiyo na robot kaihatsu wo mezashite

Energy Technology Data Exchange (ETDEWEB)

Fujie, M [Hitachi, Ltd., Tokyo (Japan)

1991-11-15

The current state of micro manipulators (MM) to control micro machines is described. No MM can be realized with the conventional robots of which finger positions and attitudes are controlled by information on angles of each articulate. To solve this problem, such a system using the conception called a master slave manipulator with complex structure is proposed, in which human ways of manipulation are coupled with master arms with simple structure and slave arms facilitating works via a computer. The MM requires a flexible articulate chaining mechanism when the considerations on smallness of the arm structure and chaining of the multiple actuators are taken. To control the relative positions and attitudes, development of the control algorithm is required, which can learn the command signals given to a large number of actuators to drive mechanisms with ultra high freedoms and the relationship among changes in the end effector movements, rotation and directions, and can perform works according to precise relative positioning of objects to be handled. 8 refs., 4 figs.

Phonological Awareness Training with Articulation Promotes Early Reading Development

Science.gov (United States)

Fälth, Linda; Gustafson, S.; Svensson, I.

2017-01-01

In a longitudinal intervention study, the effects of phonological training with articulation for children in a preschool class were analyzed. In total, 69 students participated, divided into an experimental group of 39 and a comparison group of 30 students. The intervention consisted of phonological training with articulation and lasted throughout…

EXPERIMENTAL EVALUATION OF ARTICULATED WHEELED VEHICLES POSITION STABILITY

Directory of Open Access Journals (Sweden)

Ye. Dubinin

2015-07-01

Full Text Available With introducing a mobile measurement system with linear acceleration sensors there was experimentally determined the parameter of position stability of the articulated wheeled vehicle on the example of HTA-200 «Slobozhanets». It was determined that the position stability was provided within the entire range of operating speeds and accelerations. The obtained results can be used to enhance the traffic safety of articulated vehicles.

Fabrication, sensation and control of fluidic elastomer actuators and their application towards hand orthotics and prosthetics

Science.gov (United States)

Zhao, Huichan

Due to their continuous and natural motion, fluidic elastomer actuators (FEAs) have shown potential in a range of robotic applications including prosthetics and orthotics. Despite their advantages and rapid developments, robots using these actuators still have several challenging issues to be addressed. First, the reliable production of low cost and complex actuators that can apply high forces is necessary, yet none of existing fabrication methods are both easy to implement and of high force output. Next, compliant or stretchable sensors that can be embedded into their bodies for sophisticated functions are required, however, many of these sensors suffer from hysteresis, fabrication complexity, chemical safety and environmental instability, and material incompatibility with soft actuators. Finally, feedback control for FEAs is necessary to achieve better performance, but most soft robots are still "open-loop". In this dissertation, I intend to help solve the above issues and drive the applications of soft robotics towards hand orthotics and prosthetics. First, I adapt rotational casting as a new manufacturing method for soft actuators. I present a cuboid soft actuator that can generate a force of >25 N at its tip, a near ten-fold increase over similar actuators previously reported. Next, I propose a soft orthotic finger with position control enabled via embedded optical fiber. I monitor both the static and dynamic states via the optical sensor and achieve the prescribed curvatures accurately and with stability by a gain-scheduled proportional-integral-derivative controller. Then I develop the soft orthotic fingers into a low-cost, closed-loop controlled, soft orthotic glove that can be worn by a typical human hand and helpful for grasping light objects, while also providing finger position control. I achieve motion control with inexpensive, binary pneumatic switches controlled by a simple finite-state-machine. Finally, I report the first use of stretchable optical

da Vinci robot-assisted keyhole neurosurgery: a cadaver study on feasibility and safety.

Science.gov (United States)

Marcus, Hani J; Hughes-Hallett, Archie; Cundy, Thomas P; Yang, Guang-Zhong; Darzi, Ara; Nandi, Dipankar

2015-04-01

The goal of this cadaver study was to evaluate the feasibility and safety of da Vinci robot-assisted keyhole neurosurgery. Several keyhole craniotomies were fashioned including supraorbital subfrontal, retrosigmoid and supracerebellar infratentorial. In each case, a simple durotomy was performed, and the flap was retracted. The da Vinci surgical system was then used to perform arachnoid dissection towards the deep-seated intracranial cisterns. It was not possible to simultaneously pass the 12-mm endoscope and instruments through the keyhole craniotomy in any of the approaches performed, limiting visualization. The articulated instruments provided greater dexterity than existing tools, but the instrument arms could not be placed in parallel through the keyhole craniotomy and, therefore, could not be advanced to the deep cisterns without significant clashing. The da Vinci console offered considerable ergonomic advantages over the existing operating room arrangement, allowing the operating surgeon to remain non-sterile and seated comfortably throughout the procedure. However, the lack of haptic feedback was a notable limitation. In conclusion, while robotic platforms have the potential to greatly enhance the performance of transcranial approaches, there is strong justification for research into next-generation robots, better suited to keyhole neurosurgery.

How sudden is a compelling desire to void? An observational cystometric study on the suddenness of this sensation.

Science.gov (United States)

De Wachter, Stefan; Wyndaele, Jean-Jacques

2008-04-01

To evaluate whether a compelling desire to void (CDV) is always perceived suddenly, or whether it can result from the gradual build-up of bladder-filling sensations. The pattern of filling sensations was evaluated during standard cystometric bladder filling in 75 patients who complained of urgency and showed detrusor overactivity during cystometry. Cystometric filling ended when a CDV was reported. The 'warning volume' is defined as the difference in volume between the first perception of filling and the volume at CDV. Different patterns of bladder-filling sensations were reported. A CDV occurred suddenly, without a preceding sensation in 13% of the patients, whereas 66% reported at least two normal preceding filling sensations before a CDV. The bladder volume at the CDV was significantly smaller in patients that reported no or just one preceding sensation compared with those that reported the normal pattern of two or three sensations (P perception was reported was not different regardless of whether it was described as a first sensation of filling, a first desire or a CDV (P = 0.42). The warning volumes were not different between patients with one or no standardized filling sensations (P = 0.7), but they were significantly smaller than in patients with two or three filling sensations (P = 0.85). A CDV can occur suddenly if normal filling sensation is disturbed, but also gradually if normal filling sensation is preserved. In cases of disturbed filling sensation, the volume at CDV and the warning volume are significantly lower.

The prevalence and magnitude of impaired cutaneous sensation across the hand in the chronic period post-stroke.

Science.gov (United States)

Bowden, Jocelyn L; Lin, Gaven G; McNulty, Penelope A

2014-01-01

Sensation is commonly impaired immediately post-stroke but little is known about the long-term changes in cutaneous sensation that have the capacity to adversely impact independence and motor-function. We investigated cutaneous sensory thresholds across the hand in the chronic post-stroke period. Cutaneous sensation was assessed in 42 community-dwelling stroke patients and compared to 36 healthy subjects. Sensation was tested with calibrated monofilaments at 6 sites on the hand that covered the median, ulnar and radial innervation territories and included both glabrous (hairless) and hairy skin. The motor-function of stroke patients was assessed with the Wolf Motor Function Test and the upper-limb motor Fugl-Meyer Assessment. Impaired cutaneous sensation was defined as monofilament thresholds >3 SD above the mean of healthy subjects and good sensation was ≤ 3 SD. Cutaneous sensation was impaired for 33% of patients and was 40-84% worse on the more-affected side compared to healthy subjects depending on the site (psensation fell within the healthy range, although ∼ 1/3 of patients were classified with impaired sensation. Classification by motor-function revealed low levels of impaired sensation. The magnitude of sensory loss was only apparent when the sensory-function of stroke patients was classified as good or impaired. Sensation was most impaired on the dorsum of the hand where age-related changes in monofilament thresholds are minimal in healthy subjects. Although patients with both high and low motor-function had poor cutaneous sensation, overall patients with low motor-function had poorer cutaneous sensation than those with higher motor-function, and relationships were found between motor impairments and sensation at the fingertip and palm. These results emphasize the importance of identifying the presence and magnitude of cutaneous sensory impairments in the chronic period after stroke.

Sensation Seeking or Empathy? Physically Aggressive and Non-Aggressive Antisocial Behaviors (ASBs Amongst University Students

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Saima Eman

2015-12-01

Full Text Available Previous research has linked anti-social behavior (ASB to subtypes of empathy and also to sensation seeking, but there is limited research on the relative roles of empathy subtypes and sensation seeking traits in predicting ASB subtypes. The current study therefore investigated the relationship between sensation seeking, the three subtypes of empathy (emotional reactivity, cognitive empathy and social skills and the two subtypes of ASB (physically aggressive and non-aggressive. An online survey consisting of Demographic Variables Questionnaire, Brief Sensation Seeking Scale, Empathy Quotient and the Antisocial Behavior Measure was sent to student volunteers, leading to a total of 537 respondents. Empathy alone accounted for a relatively modest proportion of the total variance in the ASBs, with emotional reactivity being the only significant predictor. Adding sensation seeking to the regression led to a marked improvement in prediction for non-aggressive ASB and a slight but significant improvement for physically aggressive ASB. Sensation seeking, emotional reactivity and social skills (but not cognitive empathy contributed unique variance for both ASB subtypes. The greatest variance for physically aggressive and non-aggressive ASB were accounted for by emotional reactivity and sensation seeking, respectively. The results indicate that both sensation seeking and sub-types of empathy are important in predicting ASBs. This has theoretical implications for different personality models and has practical implications for the development of preventive measures to avoid such behaviors.

Sensation seeking predicts brain responses in the old-new task: converging multimodal neuroimaging evidence.

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Lawson, Adam L; Liu, Xun; Joseph, Jane; Vagnini, Victoria L; Kelly, Thomas H; Jiang, Yang

2012-06-01

Novel images and message content enhance visual attention and memory for high sensation seekers, but the neural mechanisms associated with this effect are unclear. To investigate the individual differences in brain responses to new and old (studied) visual stimuli, we utilized event-related potentials (ERP) and functional Magnetic Resonance Imaging (fMRI) measures to examine brain reactivity among high and low sensation seekers during a classic old-new memory recognition task. Twenty low and 20 high sensation seekers completed separate, but parallel, ERP and fMRI sessions. For each session, participants initially studied drawings of common images, and then performed an old-new recognition task during scanning. High sensation seekers showed greater ERP responses to new objects at the frontal N2 ERP component, compared to low sensation seekers. The ERP Novelty-N2 responses were correlated with fMRI responses in the orbitofrontal gyrus. Sensation seeking status also modulated the FN400 ERP component indexing familiarity and conceptual learning, along with fMRI responses in the caudate nucleus, which correlated with FN400 activity. No group differences were found in the late ERP positive components indexing classic old-new amplitude effects. Our combined ERP and fMRI results suggest that sensation-seeking personality affects the early brain responses to visual processing, but not the later stage of memory recognition. Copyright © 2012 Elsevier B.V. All rights reserved.

Reproducibility of urodynamic filling sensation at weekly interval in healthy volunteers and in women with detrusor overactivity.

Science.gov (United States)

Van Meel, Tom David; Wyndaele, Jean-Jacques

2011-11-01

To evaluate the reproducibility of bladder sensation during standardized filling cystometry in female volunteers and overactive bladder (OAB) patients, repeated with weekly interval. We recruited 13 female nulliparous volunteers (age 21-47) and 17 female patients with OAB between (age 18-72). They participated in three investigation periods, each separated by 7 days to assess reproducibility of sensation related to standardized cystometry. Subjects were asked to report all sensations they felt during bladder filling. The previously described pattern of sensation was reported during bladder filling in all. Consecutive sensations corresponded to statistically higher bladder volumes. Volumes, at which different sensations of bladder filling were reported, were significantly higher in controls than in OAB patients [first sensation of filling (FSF) P = 0.003, first desire to void (FDV) P sensation/volume ratios were significantly higher in patients with OAB than in the healthy volunteers: FSF occurred at mean 46% and FDV at mean 73% of SDV in OAB patients, compared to 36% and 64% in healthy volunteers. Sensations proved highly reproducible when determined with weekly interval. Our data demonstrate that cystometric filling sensation determined in a standardized way with weekly interval is highly reproducible in healthy and in OAB patients. This finding has, in our opinion, clinical importance as it shows that the technique is reliable both for a sensory evaluation of the LUT as to study influence of treatment aimed at changing this sensation. Copyright © 2011 Wiley Periodicals, Inc.

The Landscape of Mass Mediated Articulations of Biotechnology

DEFF Research Database (Denmark)

Horst, Maja

The objective of this paper is to explore the associations made in mass mediatedarticulations of biotechnology. It serves as the basis for further analyses of massmediated controversies and the purpose is to establish a map of the landscape ofmass mediated articulation of biotechnology. Which kinds...... of genetic researchand technology are articulated in what way? What can be associated to what inthe mass mediation and when is it portrayed as controversial? In short this is astudy of associations in the news production that serves as a way of establishingan empirical archive for further work. It is based...... on a relational ontologyinspired by French philosopher Bruno Latour, supplemented with the method ofcontent analysis developed within sociology of mass media. The aim is to studythe production of networks of articulation in mass media by looking at theoutcome (the articles), which they produce....

Facilitated Articulation of Implicit Knowledge in Textile Design

DEFF Research Database (Denmark)

Bang, Anne Louise

2009-01-01

This is a report from an ongoing research project and as such it is work in progress. The paper proposes an exploratory approach in order to enable end-users to contribute with their experiences of emotional values of fabrics in use. It is suggested that the textile designer with her repertoire...... of (experiential, implicit and tacit) textile design knowledge should facilitate the articulation process. The paper specifically draws on a series of workshops conducted within the collaborating company inviting all employees to participate. The series of workshops were based on a game-like setting and introduced...... - being a textile designer herself, who functioned as the facilitator. This paper uses two examples from the series of workshops to exemplify a facilitated articulation of implicit knowledge in textile design. From the examples the following themes are synthesised as being important for articulation...

Perineal Sensation Predictive of Spina Bifida Outcome

Directory of Open Access Journals (Sweden)

J Gordon Millichap

2007-01-01

Full Text Available Neurologic examination, including perineal sensation, was conducted in a prospective cohort study of 117 consecutive patients with open spina bifida at St George's, University of London, and Addenbrooke's Hospital, Cambridge, UK.

Camphor induces cold and warm sensations with increases in skin and muscle blood flow in human.

Science.gov (United States)

Kotaka, Tomohiko; Kimura, Shoji; Kashiwayanagi, Makoto; Iwamoto, Jun

2014-01-01

Application of camphor to the skin has been empirically thought to improve blood circulation. However, camphor's effects on blood circulation to the skin and on thermal sensation have not been well elucidated. In this study, we examined its effects on the quality of sensation as well as on skin and muscle blood flow in human. Nine adults (average age 37±9.4 years) participated in the study. Petroleum jelly containing 5%, 10%, 20% camphor, or 2% menthol was separately applied to the skin on the medial side of one forearm of each subject. Just after the application, camphor at each concentration induced a cold sensation in a dose-dependent manner. Within 10 min, each subject reported that the cold sensation had faded, after which it was replaced by a warm sensation. As reported previously, a cold sensation was induced by application of 2% menthol, but the subjects did not adapt to that sensation. In addition, menthol did not induce a warm sensation at all. Application of menthol has been shown to increase blood flow in the skin. Finally, we measured blood flow in skin and muscle after the application of camphor or menthol. Application of camphor or menthol separately induced increases in local blood flow in the skin and muscle. The present results indicate that camphor induces both cold and warm sensations and improves blood circulation.

Subjective thermal sensation and human body exergy consumption rate: analysis and correlation

DEFF Research Database (Denmark)

Simone, Angela; Dovjak, M.; Kolarik, Jakub

2011-01-01

, it is reasonable to consider both the exergy flows in building and those within the human body. There is a need to verify the human-body exergy model with the Thermal-Sensation (TS) response of subjects exposed to different combinations of indoor climate parameters (temperature, humidity, etc.). First results...... available on the relation between human-body exergy consumption rates and subjectively assessed thermal sensation showed that the minimum human body exergy consumption rate is associated with thermal sensation votes close to thermal neutrality, tending to slightly cool side of thermal sensation. By applying...... the exergy concept to the built indoor environment, additional results are going to be explored. By using the data available so far of operative temperature (to), the human body exergy consumption rates increase as to increases above 24°C or decreases below 22°C at relative humidity (RH) lower than 50...

Evaluation of articulation of Turkish phonemes after removable partial denture application

Directory of Open Access Journals (Sweden)

Özbeki Murat

2003-01-01

Full Text Available In this study, the adaptation of patients to removable partial dentures was evaluated related to articulation of Turkish phonemes. Articulation of /t,d,n,l,r/, /g,k/, /b,p,m/ and /s,z,Õ,v,f,y,j,h,c/ phonemes were evaluated by three speech pathologists, on records taken from 15 patients before the insertion of a removable partial denture, just after insertion, and one week later. The test consisted of evaluation of phoneme articulation of independent syllables in terms of distortion, omission, substitution, mass effect, hypernasality and hyponasality. Data were evaluated with Cochrane Q, McNemar and Kruskal-Wallis tests. The results showed that for some phonemes, problems in articulation occurred after the insertion of a removable partial denture while for others a significant amelioration was observed after the insertion of a removable partial denture. In general, problems in articulation of evaluated phonemes were resolved after one week of use.

Do sensation differences exist between dental implants and natural teeth?: a meta-analysis.

Science.gov (United States)

Higaki, Nobuaki; Goto, Takaharu; Ishida, Yuichi; Watanabe, Megumi; Tomotake, Yoritoki; Ichikawa, Tetsuo

2014-11-01

The purpose of this systematic review was to survey evidence pertaining to the sensation differences between natural teeth and osseointegrated dental implants. Using the MEDLINE (online PubMed) database, Cochrane Library, and Scientific Citation index, we performed a systematic search of articles. We used the following search terms: "perception or sensation and dental implant." The systematic review of the extracted articles was performed to see the sensation differences between natural teeth and dental implants. A total of six studies on oral sensation, "tactile sensibility," and "thickness discrimination" were included in the meta-analysis. As to the "tactile sensibility", all studies indicated the threshold levels of the implants were about 4-20 times higher than that of natural teeth. The tactile sensibility of an implant was significantly higher than that of a natural tooth, with an standardized mean difference (SMD) of 8.3619 (95% CI, 6.3920-10.3317) and a P sensation differences between dental implants and natural teeth exist. © 2013 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Validation of a Self-Report Questionnaire Assessing the Bodily and Physiological Sensations of Orgasm.

Science.gov (United States)

Dubray, Samantha; Gérard, Marina; Beaulieu-Prévost, Dominic; Courtois, Frédérique

2017-02-01

Despite a plethora of research on sexual functioning during the past decades, the field is still lacking standardized measurements specifically characterizing orgasm. Although several validated tools are available to assess sexual function in healthy and clinical populations, items on orgasm are limited to frequency or dichotomous responses. A neurophysiologic model of orgasm developed from previous research in able-bodied and spinally injured populations offers a promising framework for the construction of a new questionnaire. To develop and validate a brief self-report measurement of orgasm by the assessment of bodily and physiologic sensations perceived during climax by able-bodied individuals. Although the currently available tool focuses on the phenomenological sensations associated with climax, the goal of this questionnaire was to capture the more specific genital and extragenital sensations associated with orgasm. The current Bodily Sensations of Orgasm questionnaire and the Orgasm Rating Scale. Data from previous research conducted on individuals with spinal cord injury and the available empirical literature provided a pool of 45 items organized into four categories, which were reviewed by an expert panel. Upon review, a 28-item questionnaire was created and administered to a community sample of 227 participants, including men and women, 18 to 73 years old. Exploratory factor analyses supported the four-factor model, in which orgasm is comprised of extragenital sensations, genital sensations and spasms, nociceptive sensations, and sweating responses. Overall, a high degree of internal consistency was found for the final 22-item questionnaire (Cronbach α = 0.87), with individual reliability coefficients showing moderate to high internal consistency (r = 0.65-0.79) for each dimension. Overall temporal stability of the measurement was acceptable (r = 0.74). Using the Orgasm Rating Scale, satisfying convergent validity was confirmed, thereby indicating

Robotics

Science.gov (United States)

Popov, E. P.; Iurevich, E. I.

The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

Physical Self Perception and Sensation seeking tendency in gym gores

OpenAIRE

Schlegel, Petr

2016-01-01

Annotation: The work deals with the relationship between physical self-concept and experience of the search terms sensation seeking. It contains theoretical research of these areas, their position in the discourse of fitness and also presents a starting points for comparison. The research was conducted on a group of gym-goers and analyzed the relationship of concepts Physical Self Perception Profile and Sensation Seeking Scale version V including individual subscales. Comparison showed a weak...

Sensation seeking in males involved in recreational high risk sports

OpenAIRE

M Guszkowska; A Bołdak

2010-01-01

The study examined sensation seeking intensity level in males involved in recreational high risk sports and investigated whether its level depends on type of sport practised. Additionally, in case of parachutists, sport experience of study participants were scrutinised with regard to its possible impact on the level of sensation seeking.The research involved 217 males aged 17 to 45, practising recreational high risk sports, namely: parachuting (n=98); wakeboarding (n=30); snowboarding (n=30);...

Cognitive Appraisals Affect Both Embodiment of Thermal Sensation and Its Mapping to Thermal Evaluation.

Science.gov (United States)

Keeling, Trevor P; Roesch, Etienne B; Clements-Croome, Derek

2016-01-01

The physical environment leads to a thermal sensation that is perceived and appraised by occupants. The present study focuses on the relationship between sensation and evaluation. We asked 166 people to recall a thermal event from their recent past. They were then asked how they evaluated this experience in terms of 10 different emotions (frustrated, resigned, dislike, indifferent, angry, anxious, liking, joyful, regretful, proud). We tested whether four psychological factors (appraisal dimensions) could be used to predict the ensuing emotions, as well as comfort, acceptability, and sensation. The four dimensions were: the Conduciveness of the event, who/what caused the event (Causality), who had control (Agency), and whether the event was expected (Expectations). These dimensions, except for Expectations, were good predictors of the reported emotions. Expectations, however, predicted the reported thermal sensation, its acceptability, and ensuing comfort. The more expected an event was, the more uncomfortable a person felt, and the less likely they reported a neutral thermal sensation. Together, these results support an embodied view of how subjective appraisals affect thermal experience. Overall, we show that appraisal dimensions mediate occupants' evaluation of their thermal sensation, which suggests an additional method for understanding psychological adaption.

Kant and the magnitude of sensation: a neglected prologue to modern psychophysics.

Science.gov (United States)

Baumann, Christian

2008-01-01

Quantitative relations between the sensations and the stimuli that produce them are the domain of psychophysics, a branch of natural science not yet known at the time of Immanuel Kant (1724-1804). But Kant's philosophical doctrines of perception imply that sensations can be quantified. Accordingly, he proposed not only to consider the magnitude of both sensations and stimuli but also to work out an appropriate mathematics that would relate these magnitudes to each other. This part of Kant's work received almost no attention up to the present time although it contains some essential elements of modern psychophysics.

Is a pulling sensation in the anteroposterior direction associated with otolith dysfunction?

Science.gov (United States)

Saka, Naoki; Seo, Toru; Ohta, Shigeto; Sakagami, Masafumi

2014-03-01

A pulling sensation in the anteroposterior direction is suggested to originate from a dysfunction of the otolith organs. Previous study with vestibular evoked myogenic potential (VEMP) confirmed that a falling sensation (in an up or down direction) and a lateral tilt sensation (in a right or left direction) were caused by otolith lesions. The purpose of this study was to clarify whether a pulling sensation in the anteroposterior (forward or backward) direction originates from otolith dysfunction. The otolith function was assessed by cervical and ocular VEMPs (cVEMPs and oVEMPs) in 12 patients who complained of a forward or backward pulling sensation. cVEMPs were evaluated by the asymmetry ratio (AR) of the amplitude of the p13-n23 wave and the peak latencies of the p13 and n23 waves. oVEMPs were evaluated by the AR of the amplitude of the n1-p1 wave and the peak latency of the n1 and p1 waves. Abnormal ARs on cVEMP were observed in 7 of 12 patients. Nine of 12 patients had abnormal oVEMP results including 3 bilateral absent responses. Most (10 of 12) patients had abnormal cVEMP and/or oVEMP results. The latency of each detected wave was within the normal ranges.

The Impact of Tarsal Tunnel Syndrome on Cold Sensation in the Pedal Extremities.

Science.gov (United States)

Kokubo, Rinko; Kim, Kyongsong; Isu, Toyohiko; Morimoto, Daijiro; Iwamoto, Naotaka; Kobayashi, Shiro; Morita, Akio

2016-08-01

Tarsal tunnel syndrome (TTS) is an entrapment neuropathy of the posterior tibial nerve in the tarsal tunnel. It is not known whether vascular or neuropathic factors are implicated in the cause of a cold sensation experienced by patients. Therefore, we studied the cold sensation in the pedal extremities of patients who did or did not undergo TTS surgery. Our study population comprised 20 patients with TTS (38 feet); 1 foot was affected in 2 patients and both feet in 18 patients. We acquired the toe-brachial pressure index to evaluate perfusion of the sole and toe perfusion under 4 conditions: the at-rest position (condition 1); the at-rest position with compression of the foot dorsal artery (condition 2); the Kinoshita foot position (condition 3); and the Kinoshita foot position with foot dorsal artery compression (condition 4). Patients who reported abatement in the cold sensation during surgery underwent intraoperative reocclusion of the tibial artery to check for the return of the cold sensation. The toe-brachial pressure index for conditions 1 and 3 averaged 0.82 ± 0.09 and 0.81 ± 0.11, respectively; for conditions 2 and 4, it averaged 0.70 ± 0.11 and 0.71 ± 0.09, respectively. Among the 16 operated patients, the cold sensation in 7 feet improved intraoperatively; transient reocclusion of the tibial artery did not result in the reappearance of the cold sensation. Our findings suggest that the cold sensation in the feet of our patients with TTS was associated with neuropathic rather than vascular factors. Copyright © 2016 Elsevier Inc. All rights reserved.

Human thermal sensation and comfort in a non-uniform environment with personalized heating.

Science.gov (United States)

Deng, Qihong; Wang, Runhuai; Li, Yuguo; Miao, Yufeng; Zhao, Jinping

2017-02-01

Thermal comfort in traditionally uniform environment is apparent and can be improved by increasing energy expenses. To save energy, non-uniform environment implemented by personalized conditioning system attracts considerable attention, but human response in such environment is unclear. To investigate regional- and whole-body thermal sensation and comfort in a cool environment with personalized heating. In total 36 subjects (17 males and 19 females) including children, adults and the elderly, were involved in our experiment. Each subject was first asked to sit on a seat in an 18°C chamber (uniform environment) for 40min and then sit on a heating seat in a 16°C chamber (non-uniform environment) for another 40min after 10min break. Subjects' regional- and whole-body thermal sensation and comfort were surveyed by questionnaire and their skin temperatures were measured by wireless sensors. We statistically analyzed subjects' thermal sensation and comfort and their skin temperatures in different age and gender groups and compared them between the uniform and non-uniform environments. Overall thermal sensation and comfort votes were respectively neutral and just comfortable in 16°C chamber with personalized heating, which were significantly higher than those in 18°C chamber without heating (pthermal sensation and comfort was consistent in subjects of different age and gender. However, adults and the females were more sensitive to the effect of personalized heating and felt cooler and less comfort than children/elderly and the males respectively. Variations of the regional thermal sensation/comfort across human body were consistent with those of skin temperature. Personalized heating significantly improved human thermal sensation and comfort in non-uniform cooler environment, probably due to the fact that it increased skin temperature. However, the link between thermal sensation/comfort and variations of skin temperature is rather complex and warrant further

Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

CERN Document Server

Moreira, António; Lima, Pedro; Montano, Luis; Muñoz-Martinez, Victor

2016-01-01

This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – Sociedad Española para la Investigación y Desarrollo de la Robótica/ Spanish Society for Research and Development in Robotics and CEA-GTRob – Grupo Temático de Robótica/ Robotics Thematic Group. The conference organization had also the collaboration of several universities and research institutes, including: University of Minho, University of Porto, University of Lisbon, Polytechnic Institute of Porto, University of Aveiro, University of Zaragoza, University of Malaga, LIACC, INESC-TEC and LARSyS. Robot 2015 was focussed on the Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other...

[Clinical characteristics and speech therapy of lingua-apical articulation disorder].

Science.gov (United States)

Zhang, Feng-hua; Jin, Xing-ming; Zhang, Yi-wen; Wu, Hong; Jiang, Fan; Shen, Xiao-ming

2006-03-01

To explore the clinical characteristics and speech therapy of 62 children with lingua-apical articulation disorder. Peabody Picture Vocabulary Test (PPVT), Gesell development scales (Gesell), Wechsler Intelligence Scale for Preschool Children (WPPSI) and speech test were performed for 62 children at the ages of 3 to 8 years with lingua-apical articulation disorder. PPVT was used to measure receptive vocabulary skills. GESELL and WPPSI were utilized to represent cognitive and non-verbal ability. The speech test was adopted to assess the speech development. The children received speech therapy and auxiliary oral-motor functional training once or twice a week. Firstly the target sound was identified according to the speech development milestone, then the method of speech localization was used to clarify the correct articulation placement and manner. It was needed to change food character and administer oral-motor functional training for children with oral motor dysfunction. The 62 cases with the apical articulation disorder were classified into four groups. The combined pattern of the articulation disorder was the most common (40 cases, 64.5%), the next was apico-dental disorder (15 cases, 24.2%). The third was palatal disorder (4 cases, 6.5%) and the last one was the linguo-alveolar disorder (3 cases, 4.8%). The substitution errors of velar were the most common (95.2%), the next was omission errors (30.6%) and the last was absence of aspiration (12.9%). Oral motor dysfunction was found in some children with problems such as disordered joint movement of tongue and head, unstable jaw, weak tongue strength and poor coordination of tongue movement. Some children had feeding problems such as preference of eating soft food, keeping food in mouths, eating slowly, and poor chewing. After 5 to 18 times of therapy, the effective rate of speech therapy reached 82.3%. The lingua-apical articulation disorders can be classified into four groups. The combined pattern of the

Adolescent Egocentrism, Risk Perceptions, and Sensation Seeking among Smoking and Nonsmoking Youth

Science.gov (United States)

Frankenberger, Kristina D.

2004-01-01

A survey compared adolescents (ages 14 to 18) who have never tried smoking, smoke infrequently, or smoke regularly on three characteristics: adolescent egocentrism, risk perceptions, and sensation seeking. Sensation seeking exhibited the expected result by increasing with smoking experience. Contrary to past research findings, perceptions of…

Chronic cough management: dealing with a sensation of irritation in the throat.

Science.gov (United States)

Ogawa, Haruhiko; Fujimura, Masaki; Ohkura, Noriyuki; Makimura, Koichi

2013-11-01

Among the various types of laryngeal paraesthesia suffered by chronic cough patients, we often encounter 'a sensation of irritation in the throat (SIT)'. Our study indicated that capsaicin cough threshold was significantly (P sensation. © 2013 The Authors. Respirology © 2013 Asian Pacific Society of Respirology.

Planar articulated mechanism design by graph theoretical enumeration

DEFF Research Database (Denmark)

Kawamoto, A; Bendsøe, Martin P.; Sigmund, Ole

2004-01-01

This paper deals with design of articulated mechanisms using a truss-based ground-structure representation. By applying a graph theoretical enumeration approach we can perform an exhaustive analysis of all possible topologies for a test example for which we seek a symmetric mechanism. This guaran....... This guarantees that one can identify the global optimum solution. The result underlines the importance of mechanism topology and gives insight into the issues specific to articulated mechanism designs compared to compliant mechanism designs....

Rate of decay of auditory sensation

NARCIS (Netherlands)

Plomp, R.

1964-01-01

The rate of decay of auditory sensation was investigated by measuring the minimum silent interval that must be introduced between two noise pulses to be perceived. The value of this critical time Δt was determined for difierent intensity levels of both the first and the second pulse. It is shown

Visual sensations induced by Cherenkov radiation

International Nuclear Information System (INIS)

McNulty, P.J.; Pease, V.P.; Bond, V.P.

1975-01-01

Pulses of relativistic singly charged particles entering the eyeball induce a variety of visual phenomena by means of Cerenkov radiation generated during their passage through the vitreous. These phenomena are similar in appearance to many of the visual sensations experienced by Apollo astronauts exposed to the cosmic rays in deep space

[Discussion on needling sensation, arrival of qi and needling response (Deqi)].

Science.gov (United States)

Zhang, Fang; Wang, Hong-Du

2012-12-01

The current appointed teaching material of Science of Acupuncture and Moxibustion holds that there is no difference among the needling sensation, arrival of qi and needling response. However, the author has a different understanding. Therefore, Neijing (Internal Classic), its annotation, exposition and understandings of ancient and modern famous experts are cited to analyze their meanings. And the result indicates that the needling sensation is subjective feelings and perceived responses of doctors and patients. Arrival of qi is the healing process of the organ through activating the anti-pathogenic qi to expel the pathogens. The needling response is the final aim of acupuncture therapy. Thus, the meaning of needling sensation, arrival of qi, and needling response are different. And an accurate understanding can better guide acupuncture treatment.

The Japanese Version of the Massachusetts General Hospital Acupuncture Sensation Scale: A Validation Study

OpenAIRE

Masako Nishiwaki; Miho Takayama; Hiroyoshi Yajima; Morihiro Nasu; Jian Kong; Nobuari Takakura

2017-01-01

Acupuncture sensations are considered essential in producing the treatment effect of acupuncture. The Massachusetts General Hospital Acupuncture Sensation Scale (MASS) is a frequently used scale in acupuncture research to measure acupuncture sensations. We translated the MASS into Japanese (Japanese MASS) based on Beaton's guidelines. 30 acupuncturists evaluated the relevancy and meaning of the 12 descriptors included in the Japanese MASS. The content validity ratios for 10 of the 12 descript...

Cultural Robotics: The Culture of Robotics and Robotics in Culture

OpenAIRE

Hooman Samani; Elham Saadatian; Natalie Pang; Doros Polydorou; Owen Noel Newton Fernando; Ryohei Nakatsu; Jeffrey Tzu Kwan Valino Koh

2013-01-01

In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. Ac...

High Re-Operation Rates Using Conserve Metal-On-Metal Total Hip Articulations

DEFF Research Database (Denmark)

Mogensen, S L; Jakobsen, Thomas; Christoffersen, Hardy

2016-01-01

INTRODUCTION: Metal-on-metal hip articulations have been intensely debated after reports of adverse reactions and high failure rates. The aim of this study was to retrospectively evaluate the implant of a metal-on.metal total hip articulation (MOM THA) from a single manufacture in a two-center st......INTRODUCTION: Metal-on-metal hip articulations have been intensely debated after reports of adverse reactions and high failure rates. The aim of this study was to retrospectively evaluate the implant of a metal-on.metal total hip articulation (MOM THA) from a single manufacture in a two...

Robot Actors, Robot Dramaturgies

DEFF Research Database (Denmark)

Jochum, Elizabeth

This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

Presentation of Various Tactile Sensations Using Micro-Needle Electrotactile Display.

Directory of Open Access Journals (Sweden)

Mayuko Tezuka

Full Text Available Tactile displays provoke tactile sensations by artificially stimulating tactile receptors. While many types of tactile displays have been developed, electrotactile displays that exploit electric stimulation can be designed to be thin, light, flexible and thus, wearable. However, the high voltages required to stimulate tactile receptors and limited varieties of possible sensations pose problems. In our previous work, we developed an electrotactile display using a micro-needle electrode array that can drastically reduce the required voltage by penetrating through the high-impedance stratum corneum painlessly, but displaying various tactile sensations was still a challenge. In this work, we demonstrate presentation of tactile sensation of different roughness to the subjects, which is enabled by the arrangement of the electrodes; the needle electrodes are on the fingertip and the ground electrode is on the fingernail. With this arrangement, the display can stimulate the tactile receptors that are located not only in the shallow regions of the finger but also those in the deep regions. It was experimentally revealed that the required voltage was further reduced compared to previous devices and that the roughness presented by the display was controlled by the pulse frequency and the switching time, or the stimulation flow rate. The proposed electrotactile display is readily applicable as a new wearable haptic device for advanced information communication technology.

Design of Highly Articulated Mechanism for Surgical Applications

Science.gov (United States)

2016-08-31

cooperative control of an AGV and snake robot 2. Advanced our filtering estimation theory to handle highly non- linear spaces using Lie algebra tools 3... linear spaces using Lie algebra tools 3. Investigated novel means by which we can infer or sense force at the tip of the snake robot. We have since...most robots, the surgical snake robot is non- linear . We were, however, able to re-write the Kalman filter estimator in the Lie algebra of the position

Is Sensation Seeking a Stable Trait or Does It Change over Time?

Science.gov (United States)

Lynne-Landsman, Sarah D.; Graber, Julia A.; Nichols, Tracy R.; Botvin, Gilbert J.

2011-01-01

The theory of sensation seeking has conceptualized this construct as a stable personality trait associated with a variety of problem behaviors. Reckless behavior theory posits that increases in reckless behavior during adolescence can be attributed, in part, to increases in sensation seeking. This study evaluated patterns of stability and change…

Sensation of smell and taste during intravenous injection of iodinated contrast media in CT examinations

Science.gov (United States)

Yamaguchi, Naoto; Yamaguchi, Aiko; Nagasawa, Naoki; Taketomi-Takahashi, Ayako; Suto, Takayuki; Tsushima, Yoshito

2017-01-01

Objective: To assess the incidence and types of sensation of smell and taste during i.v. injection of five kinds of contrast media (CM) in CT examinations. Methods: 735 patients who underwent contrast-enhanced CT (CE-CT) between 14 March 2016 and 5 April 2016 were enrolled. Medical staff asked patients whether they felt heat sensation and sensation of smell and taste during i.v. injection of CM (one of the following: iopromide, iomeprol, iopamidol, iohexol and ioversol) after their CE-CT. If the patients stated having felt the sensation of smell or taste, they were also asked what kind of smell or taste they sensed. Next, 30 ml of each CM was poured into high-purity pet cups for radiological technologists to smell directly. Radiological technologists were asked whether or not each CM had any smell. Results: The sensations of smell and taste incidence for iopromide were 24.3% and 18.9%, respectively, which were significantly higher than those for other CM (p < 0.05). The highest incidence of the sensation of smell was medicine-ish, and the most frequently noted taste was bitterness. All radiological technologists could directly smell only iopromide, which has an ether group on a side chain and fewer hydroxyl groups. Conclusion: Iopromide showed a higher incidence of sensation of smell and taste than other CM. Advances in knowledge: This was the first investigation of sensation of smell and taste during i.v. injection of CM, and a specific CM showed a higher incidence, which is suspected to be due to its chemical structure. PMID:27805431

Descriptors of sensation confirm the multidimensional nature of desire to void.

Science.gov (United States)

Das, Rebekah; Buckley, Jonathan D; Williams, Marie T

2015-02-01

To collect and categorize descriptors of "desire to void" sensation, determine the reliability of descriptor categories and assess whether descriptor categories discriminate between people with and without symptoms of overactive bladder. This observational, repeated measures study involved 64 Australian volunteers (47 female), aged 50 years or more, with and without symptoms of overactive bladder. Descriptors of desire to void sensation were derived from a structured interview (conducted on two occasions, 1 week apart). Descriptors were recorded verbatim and categorized in a three-stage process. Overactive bladder status was determined by the Overactive Bladder Awareness Tool and the Overactive Bladder Symptom Score. McNemar's test assessed the reliability of descriptors volunteered between two occasions and Partial Least Squares Regression determined whether language categories discriminated according to overactive bladder status. Post hoc Chi squared analysis and relative risk calculation determined the size and direction of overactive bladder prediction. Thirteen language categories (Urgency, Fullness, Pressure, Tickle/tingle, Pain/ache, Heavy, Normal, Intense, Sudden, Annoying, Uncomfortable, Anxiety, and Unique somatic) encapsulated 344 descriptors of sensation. Descriptor categories were stable between two interviews. The categories "Urgency" and "Fullness" predicted overactive bladder status. Participants who volunteered "Urgency" descriptors were twice as likely to have overactive bladder and participants who volunteered "Fullness" descriptors were almost three times as likely not to have overactive bladder. The sensation of desire to void is reliably described over sessions separated by a week, the language used reflects multiple dimensions of sensation, and can predict overactive bladder status. © 2013 Wiley Periodicals, Inc.

Sensation-Seeking and Impulsivity as Predictors of Reactive and Proactive Aggression in Adolescents

Science.gov (United States)

Pérez Fuentes, María Del Carmen; Molero Jurado, Maria del Mar; Carrión Martínez, José J.; Mercader Rubio, Isabel; Gázquez, José J.

2016-01-01

In adolescence, such matters as substance use and impulsiveness may give rise to problematic behavior repertoires. This study was therefore done to analyze the predictive value of sensation-seeking and impulsiveness dimensions related to the functions of aggression (reactive/proactive) and types of expression (physical/relational). A total of 822 high school students in Almeria (Spain) aged 13–18, were administered the Sensation-Seeking Scale, the State Impulsiveness Scale and Peer Conflict Scale. The results show the existence of a positive correlation of the majority of factors analyzed, both in impulsiveness and sensation-seeking, with respect to the different types of aggression. Furthermore, aggressive behavior is explained by the combination of a sensation-seeking factor (Disinhibition) and two impulsiveness factors (Gratification and Automatism). This study shows the need to analyze aggression as a multidimensional construct. PMID:27729883

Body schema and midline sensation influenced by unilateral manual stimulation of lower extremity

DEFF Research Database (Denmark)

Læssøe, Uffe; Barth, Lasse; Skeie, Sindre

Relevance: Clinical experience advocates manual stimulation in order to increase the sensation of the body and adjust the body schema. Unilateral treatment may affect the midline sensation and weight distribution in a standing position, but little evidence is available to support this procedure...... alignment was seen as a response to unilateral massage. It may be suggested, that the manipulated midline sensation and weight distribution reflects a state in which the participant's attention to a greater extent has been directed towards a specific body part due to the manual sensory stimulation. Impact...

Odd sensation induced by moving-phantom which triggers subconscious motor program.

Science.gov (United States)

Fukui, Takao; Kimura, Toshitaka; Kadota, Koji; Shimojo, Shinsuke; Gomi, Hiroaki

2009-06-03

Our motor actions are sometimes not properly performed despite our having complete understanding of the environmental situation with a suitable action intention. In most cases, insufficient skill for motor control can explain the improper performance. A notable exception is the action of stepping onto a stopped escalator, which causes clumsy movements accompanied by an odd sensation. Previous studies have examined short-term sensorimotor adaptations to treadmills and moving sleds, but the relationship between the odd sensation and behavioral properties in a real stopped-escalator situation has never been examined. Understanding this unique action-perception linkage would help us to assess the brain function connecting automatic motor controls and the conscious awareness of action. Here we directly pose a question: Does the odd sensation emerge because of the unfamiliar motor behavior itself toward the irregular step-height of a stopped escalator or as a consequence of an automatic habitual motor program cued by the escalator itself. We compared the properties of motor behavior toward a stopped escalator (SE) with those toward moving escalator and toward a wooden stairs (WS) that mimicked the stopped escalator, and analyzed the subjective feeling of the odd sensation in the SE and WS conditions. The results show that moving escalator-specific motor actions emerged after participants had stepped onto the stopped escalator despite their full awareness that it was stopped, as if the motor behavior was guided by a "phantom" of a moving escalator. Additionally, statistical analysis reveals that postural forward sway that occurred after the stepping action is directly linked with the odd sensation. The results suggest a dissociation between conscious awareness and subconscious motor control: the former makes us perfectly aware of the current environmental situation, but the latter automatically emerges as a result of highly habituated visual input no matter how unsuitable

Dealing with Phrase Level Co-Articulation (PLC) in speech recognition: a first approach

NARCIS (Netherlands)

Ordelman, Roeland J.F.; van Hessen, Adrianus J.; van Leeuwen, David A.; Robinson, Tony; Renals, Steve

1999-01-01

Whereas nowadays within-word co-articulation effects are usually sufficiently dealt with in automatic speech recognition, this is not always the case with phrase level co-articulation effects (PLC). This paper describes a first approach in dealing with phrase level co-articulation by applying these

The (in)dependence of articulation and lexical planning during isolated word production.

Science.gov (United States)

Buz, Esteban; Jaeger, T Florian

The number of phonological neighbors to a word (PND) can affect its lexical planning and pronunciation. Similar parallel effects on planning and articulation have been observed for other lexical variables, such as a word's contextual predictability. Such parallelism is frequently taken to indicate that effects on articulation are mediated by effects on the time course of lexical planning. We test this mediation assumption for PND and find it unsupported. In a picture naming experiment, we measure speech onset latencies (planning), word durations, and vowel dispersion (articulation). We find that PND predicts both latencies and durations. Further, latencies predict durations. However, the effects of PND and latency on duration are independent: parallel effects do not imply mediation. We discuss the consequences for accounts of lexical planning, articulation, and the link between them. In particular, our results suggest that ease of planning does not explain effects of PND on articulation.

Body Image And Sensation Seeking In Gym-Goers

Directory of Open Access Journals (Sweden)

Schlegel Petr

2015-05-01

Full Text Available This research aimed to explore a relation between Body image (PSPP and Sensation Seeking (SSS-V and to determine gym-goers based on these entities. The research file (N = 182 consisted of gym-goers aged between 24 – 45. The comparison of the tests showed a weak relation (0.25 between PSPP and SST tests and also among the individual subscales. The comparison of men and women did not come up with any significant differences. In terms of Body image, the file showed above-average results, in the case of Sensation Seeking, its score was average. The outcome of our findings is that there is no marked relation between PSPP and SST and the same goes for men and women.

Innocuous cooling can produce nociceptive sensations that are inhibited during dynamic mechanical contact.

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Green, Barry G; Pope, Jennifer V

2003-02-01

In a previous study of the heat grill illusion, sensations of burning and stinging were sometimes reported when the skin was cooled by as little as 2 degrees C. Informal tests subsequently indicated that these nociceptive sensations were experienced if cooling occurred when the stimulating thermode rested on the skin, but not when the thermode was cooled and then touched to the skin. In experiment 1 subjects judged the intensity of thermal (cold/warm) and nociceptive (burning/stinging) sensations when the volar surface of the forearm was cooled to 25 degrees C (1) via a static thermode (Static condition), or (2) via a cold thermode touched to the skin (Dynamic condition). The total area of stimulation was varied from 2.6 to 10.4 cm(2) to determine if the occurrence of nociceptive sensations depended upon stimulus size. Burning/stinging was rated 10.3 times stronger in the Static condition than in the Dynamic condition, and this difference did not vary significantly with stimulus size. In experiment 2, thermal and nociceptive sensations were measured during cooling to just 31 degrees, 29 degrees or 27 degrees C, and data were obtained on the frequency at which different sensation qualities were experienced. Stinging was the most frequently reported nociceptive quality in the Static condition, and stinging and burning were both markedly reduced in the Dynamic condition. In experiment 3 we tested the possibility that dynamic contact might have inhibited burning and stinging not because of mechanical contact per se, but rather because dynamic contact caused higher rates of cooling. However, varying cooling rate over a tenfold range (-0.5 degrees to -5.0 degrees /s) had no appreciable effect on the frequency of stinging and burning. Overall, the data show that mild cooling can produce nociceptive sensations that are suppressed under conditions of dynamic mechanical contact. The latter observation suggests that cold is perceived differently during active contact with

Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.

NARCIS (Netherlands)

Coeckelbergh, Mark

2011-01-01

If we are doing ethics of robotics, what exactly is the object of our inquiry? This paper challenges 'individualist' robot ontology and 'individualist' social philosophy of robots. It is argued that ethics of robotics should not study and evaluate robotics exclusively in terms of individual

3D straight-stick laparoscopy versus 3D robotics for task performance in novice surgeons: a randomised crossover trial.

Science.gov (United States)

Shakir, Fevzi; Jan, Haider; Kent, Andrew

2016-12-01

The advent of three-dimensional passive stereoscopic imaging has led to the development of 3D laparoscopy. In simulation tasks, a reduction in error rate and performance time is seen with 3D compared to two-dimensional (2D) laparoscopy with both novice and expert surgeons. Robotics utilises 3D and instrument articulation through a console interface. Robotic trials have demonstrated that tasks performed in 3D produced fewer errors and quicker performance times compared with those in 2D. It was therefore perceived that the main advantage of robotic surgery was in fact 3D. Our aim was to compare 3D straight-stick laparoscopic task performance (3D) with robotic 3D (Robot), to determine whether robotic surgery confers additional benefit over and above 3D visualisation. We randomised 20 novice surgeons to perform four validated surgical tasks, either with straight-stick 3D laparoscopy followed by 3D robotic surgery or in the reverse order. The trial was conducted in two fully functional operating theatres. The primary outcome of the study was the error rate as defined for each task, and the secondary outcome was the time taken to complete each task. The participants were asked to perform the tasks as quickly and as accurately as possible. Data were analysed using SPSS version 21. The median error rate for completion of all four tasks with the robot was 2.75 and 5.25 for 3D with a P value performance time for completion of all four tasks with the robot was 157.1 and 342.5 s for 3D with a P value 3D robotic systems over 3D straight-stick laparoscopy, in terms of reduced error rate and quicker task performance time.

Design and fabrication of an articulated four axes microrobot arm

Science.gov (United States)

Zhang, Ruoshi; Yang, Zhong; Wei, Danming; Popa, Dan O.

2017-05-01

In order to carry out nanomanufacturing tasks, a microrobot requires both high precision and high reliability over prolonged periods of time. Articulated Four-Axis Microrobots (AFAM) have been introduced a decade ago as millimetric microrobots capable of carrying out nanoscale tasks. The original robot design relied on a Micro Electro Mechanical (MEMS) actuator bank positioned onto a Silicon substrate, and an assembled arm mechanically coupled to the actuators through a cable. Movement of two thermal actuator banks positions the AFAM's end effector in 3-Dimensional space with approximately 75 microns workspace and 50 nm repeatability. However, failure of the AFAM's cable mechanism was observed after less than 1 million cycles. In this paper, we propose a novel arm mechanism for AFAM that improve its performance. The design presented in this article substitutes the "wire-gluing" cable with an anchored electrostatic actuator, and therefore it simplifies assembly requirements, reduces overall footprint of the microrobot, and achieves higher operating frequency. Simulation results are presented for a rotary electrostatic comb drive as basis for the microrobot arm with overall dimensions of 2 mm × 2 mm. The AFAM arm cantilever is 1 mm long to achieve a workspace of dimension of 75 microns along the vertical axis. Experimental evaluation of the design was accomplished using a prototype fabricated on a silicon on insulator (SOI) wafer processed with the deep reactive ion etching (DRIE) process.

Association of Smoking Onset With R-Rated Movie Restrictions and Adolescent Sensation Seeking

Science.gov (United States)

Sargent, James D.; Stoolmiller, Mike; Scholte, Ron H. J.; Engels, Rutger C. M. E.; Tanski, Susanne E.

2011-01-01

OBJECTIVES: In this study, we examined how often US youths reported having complete parental restrictions on watching R-rated movies. In addition, we assessed the relationship between parental R-rated movie restrictions and adolescents' sensation seeking and how this interplay is related to smoking onset. METHODS: Data from a 4-wave longitudinal study of 6522 adolescents (10–14 years of age) who were recruited through a random-digit-dial telephone survey were used. At baseline, subjects were nationally representative of the US population. Subjects were monitored for 2 years and queried about their smoking status, their sensation-seeking propensity, and how often they were allowed to watch R-rated movies. A cross-lagged model combined with survival analysis was used to assess the relationships between parental R-rated movie restrictions, sensation-seeking propensity, and risk for smoking onset. RESULTS: Findings demonstrated that 32% of the US adolescents reported being completely restricted from watching R-rated movies by their parents. Model findings revealed that adolescents' sensation seeking was related to greater risk for smoking onset not only directly but also indirectly through their parents becoming more permissive of R-rated movie viewing. Parental R-rated movie restrictions were found to decrease the risk of smoking onset directly and indirectly by changing children's sensation seeking. CONCLUSIONS: These findings imply that, beyond direct influences, the relationship between adolescents' sensation seeking and parental R-rated movie restrictions in explaining smoking onset is bidirectional in nature. Finally, these findings highlight the relevance of motivating and supporting parents in limiting access to R-rated movies. PMID:21135004

Removal of proprioception by BCI raises a stronger body ownership illusion in control of a humanlike robot.

Science.gov (United States)

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2016-09-22

Body ownership illusions provide evidence that our sense of self is not coherent and can be extended to non-body objects. Studying about these illusions gives us practical tools to understand the brain mechanisms that underlie body recognition and the experience of self. We previously introduced an illusion of body ownership transfer (BOT) for operators of a very humanlike robot. This sensation of owning the robot's body was confirmed when operators controlled the robot either by performing the desired motion with their body (motion-control) or by employing a brain-computer interface (BCI) that translated motor imagery commands to robot movement (BCI-control). The interesting observation during BCI-control was that the illusion could be induced even with a noticeable delay in the BCI system. Temporal discrepancy has always shown critical weakening effects on body ownership illusions. However the delay-robustness of BOT during BCI-control raised a question about the interaction between the proprioceptive inputs and delayed visual feedback in agency-driven illusions. In this work, we compared the intensity of BOT illusion for operators in two conditions; motion-control and BCI-control. Our results revealed a significantly stronger BOT illusion for the case of BCI-control. This finding highlights BCI's potential in inducing stronger agency-driven illusions by building a direct communication between the brain and controlled body, and therefore removing awareness from the subject's own body.

Exploratorium: Robots.

Science.gov (United States)

Brand, Judith, Ed.

2002-01-01

This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

Humans can integrate force feedback to toes in their sensorimotor control of a robotic hand.

Science.gov (United States)

Panarese, Alessandro; Edin, Benoni B; Vecchi, Fabrizio; Carrozza, Maria C; Johansson, Roland S

2009-12-01

Tactile sensory feedback is essential for dexterous object manipulation. Users of hand myoelectric prostheses without tactile feedback must depend essentially on vision to control their device. Indeed, improved tactile feedback is one of their main priorities. Previous research has provided evidence that conveying tactile feedback can improve prostheses control, although additional effort is required to solve problems related to pattern recognition learning, unpleasant sensations, sensory adaptation, and low spatiotemporal resolution. Still, these studies have mainly focused on providing stimulation to hairy skin regions close to the amputation site, i.e., usually to the upper arm. Here, we explored the possibility to provide tactile feedback to the glabrous skin of toes, which have mechanical and neurophysiological properties similar to the fingertips. We explored this paradigm in a grasp-and-lift task, in which healthy participants controlled two opposing digits of a robotic hand by changing the spacing of their index finger and thumb. The normal forces applied by the robotic fingertips to a test object were fed back to the right big and second toe. We show that within a few lifting trials, all the participants incorporated the force feedback received by the foot in their sensorimotor control of the robotic hand.

Relation between anal electrosensitivity and rectal filling sensation and the influence of age

NARCIS (Netherlands)

Broens, PMA; Penninckx, FM

PURPOSE: The aim of this study was to assess the effect of age and sex on the rectal filling sensation and anal electrosensitivity and to explore the relation between anal electrosensitivity and the parameters of the rectal filling sensation. METHODS: Anal mucosal electrosensitivity and anorectal

Remote vibrotactile noise improves light touch sensation in stroke survivors' fingertips via stochastic resonance.

Science.gov (United States)

Enders, Leah R; Hur, Pilwon; Johnson, Michelle J; Seo, Na Jin

2013-10-11

Stroke rehabilitation does not often integrate both sensory and motor recovery. While subthreshold noise was shown to enhance sensory signal detection at the site of noise application, having a noise-generating device at the fingertip to enhance fingertip sensation and potentially enhance dexterity for stroke survivors is impractical, since the device would interfere with object manipulation. This study determined if remote application of subthreshold vibrotactile noise (away from the fingertips) improves fingertip tactile sensation with potential to enhance dexterity for stroke survivors. Index finger and thumb pad sensation was measured for ten stroke survivors with fingertip sensory deficit using the Semmes-Weinstein Monofilament and Two-Point Discrimination Tests. Sensation scores were measured with noise applied at one of three intensities (40%, 60%, 80% of the sensory threshold) to one of four locations of the paretic upper extremity (dorsal hand proximal to the index finger knuckle, dorsal hand proximal to the thumb knuckle, dorsal wrist, volar wrist) in a random order, as well as without noise at beginning (Pre) and end (Post) of the testing session. Vibrotactile noise of all intensities and locations instantaneously and significantly improved Monofilament scores of the index fingertip and thumb tip (p sensation, independent of noise location and intensity. Vibrotactile noise at the wrist and dorsal hand may have enhanced the fingertips' light touch sensation via stochastic resonance and interneuronal connections. While long-term benefits of noise in stroke patients warrants further investigation, this result demonstrates potential that a wearable device applying vibrotactile noise at the wrist could enhance sensation and grip ability without interfering with object manipulation in everyday tasks.

Relationship between touch sensation of the affected hand and performance of valued activities in individuals with chronic stroke.

Science.gov (United States)

Hill, Valerie A; Fisher, Thomas; Schmid, Arlene A; Crabtree, Jeffrey; Page, Stephen J

2014-01-01

To investigate the association between touch sensation of the affected hand and performance and satisfaction with performance of valued activities in individuals with chronic stroke. Using a cross-sectional study design, this study correlated factors related to hand sensation and activity performance in individuals with chronic stroke. The Touch Test Evaluators and Canadian Occupational Performance Measure (COPM) were used. Correlations were used to determine the relationships between touch sensation of the affected hand and individuals' performance and satisfaction with performance of valued activities. There was a good to excellent relationship between sensation and performance and satisfaction with performance of valued activities for individuals with intact touch sensation of the affected hand who scored higher on the COPM. There was little to no relationship between touch sensation of the affected hand and performance of valued activities for individuals with impaired sensation. This is the first study to relate touch sensation of the affected hand and performance and satisfaction with performance of valued activities in individuals with stroke. The findings suggest that rehabilitation therapists need to continue to address sensory function in evaluation and intervention as it relates to performance in valued activities. This study serves as a foundation for future research in sensation and performance of valued activities in individuals with chronic stroke.

Do people like to feel 'neutral'? Exploring the variation of the desired thermal sensation on the ASHRAE scale

Energy Technology Data Exchange (ETDEWEB)

Humphreys, Michael A; Hancock, Mary [Oxford Institute for Sustainable Development, Oxford Brookes University, Headington Campus, Gipsy Lane, Oxford OX3 0BP (United Kingdom)

2007-07-15

This analysis explores the pattern of variation of the desired thermal sensation on the ASHRAE scale, applying the method of direct enquiry. Data are from studies of thermal comfort at university lectures and in selected dwellings. Respondents reported both their thermal sensation and the sensation they would have desired at that time. The data contain 868 comparisons of the actual and the desired sensation. On 57% of occasions the desired sensation was other than 'neutral'. The respondents did not always desire the same sensation, and the mean desired sensation differed systematically among the respondents. The mean desired sensation depended to some extent on the actual sensation, there being a positive correlation in the region from 'neutral' and 'warm' and a negative correlation outside this region. Sensations on the ASHRAE scale are shown to have more than one meaning. Adjusting the ASHRAE scale to allow for the desired sensation yields different distributions of thermal comfort and different group-optimum temperatures. The adjustment should therefore be applied whenever the ASHRAE scale is used. The implications for thermal simulation and for energy use in buildings are considered. (author)

Functional brain imaging of gastrointestinal sensation in health and disease

Institute of Scientific and Technical Information of China (English)

Lukas Van Oudenhove; Steven J Coen; Qasim Aziz

2007-01-01

It has since long been known, from everyday experience as well as from animal and human studies, that psychological processes-both affective and cognitiveexert an influence on gastrointestinal sensorimotor function. More specifically, a link between psychological factors and visceral hypersensitivity has been suggested,mainly based on research in functional gastrointestinal disorder patients. However, until recently, the exact nature of this putative relationship remained unclear,mainly due to a lack of non-invasive methods to study the (neurobiological) mechanisms underlying this relationship in non-sleeping humans. As functional brain imaging, introduced in visceral sensory neuroscience some 10 years ago, does provide a method for in vivo study of brain-gut interactions, insight into the neurobiological mechanisms underlying visceral sensation in general and the influence of psychological factors more particularly,has rapidly grown. In this article, an overview of brain imaging evidence on gastrointestinal sensation will be given, with special emphasis on the brain mechanisms underlying the interaction between affective & cognitive processes and visceral sensation. First, the reciprocal neural pathways between the brain and the gut (braingut axis) will be briefly outlined, including brain imaging evidence in healthy volunteers. Second, functional brain imaging studies assessing the influence of psychological factors on brain processing of visceral sensation in healthy humans will be discussed in more detail.Finally, brain imaging work investigating differences in brain responses to visceral distension between healthy volunteers and functional gastrointestinal disorder patients will be highlighted.

Sensation seeking and smoking behaviors among adolescents in the Republic of Korea.

Science.gov (United States)

Hwang, Heejin; Park, Sunhee

2015-06-01

This study aimed to explore the relationship between the four components of sensation seeking (i.e., disinhibition, thrill and adventure seeking, experience seeking, and boredom susceptibility) and three types of smoking behavior (i.e., non-smoking, experimental smoking, and current smoking) among high school students in the Republic of Korea. Multivariate multinomial logistic regression analysis was performed using two models. In Model 1, the four subscales of sensation seeking were used as covariates, and in Model 2, other control factors (i.e., characteristics related to demographics, individuals, family, school, and friends) were added to Model 1 in order to adjust for their effects. In Model 1, the impact of disinhibition on experimental smoking and current smoking was statistically significant. In Model 2, the influence of disinhibition on both of these smoking behaviors remained statistically significant after controlling for all the other covariates. Also, the effect of thrill and adventure seeking on experimental smoking was statistically significant. The two statistically significant subscales of sensation seeking were positively associated with the risk of smoking behaviors. According to extant literature and current research, sensation seeking, particularly disinhibition, is strongly associated with smoking among youth. Therefore, sensation seeking should be measured among adolescents to identify those who are at greater risk of smoking and to develop more effective intervention strategies in order to curb the smoking epidemic among youth. Copyright © 2015 Elsevier Ltd. All rights reserved.

Fear versus humor: the impact of sensation seeking on physiological, cognitive, and emotional responses to antialcohol abuse messages.

Science.gov (United States)

Lee, Moon J; Shin, Mija

2011-01-01

This study investigates the differences in physiological, cognitive, and emotional responses to existing emotional antialcohol abuse advertisements (fear vs. humor appeal) between high and low sensation seekers. A 2 (Message Type) x 2 (Sensation-Seeking Tendency) x 4 (Message Repetition) mixed-model experiment with repeated measures was conducted with 71 college students. The results, based on self-reports, indicated that fear messages generated more interest and perceived danger of excessive drinking regardless of sensation-seeking tendency, whereas humorous messages were rated as more likeable than fear messages, and the difference was bigger among low sensation seekers than among high sensation seekers. One interesting finding was that for both fear and humor appeals, low sensation seekers showed greater emotional responses (greater corrugators activities and greater zygomatic activities) than high sensation seekers overall. The implications of the current study as well as suggestions for future study were discussed.

Information Transfer Capacity of Articulators in American Sign Language.

Science.gov (United States)

Malaia, Evie; Borneman, Joshua D; Wilbur, Ronnie B

2018-03-01

The ability to convey information is a fundamental property of communicative signals. For sign languages, which are overtly produced with multiple, completely visible articulators, the question arises as to how the various channels co-ordinate and interact with each other. We analyze motion capture data of American Sign Language (ASL) narratives, and show that the capacity of information throughput, mathematically defined, is highest on the dominant hand (DH). We further demonstrate that information transfer capacity is also significant for the non-dominant hand (NDH), and the head channel too, as compared to control channels (ankles). We discuss both redundancy and independence in articulator motion in sign language, and argue that the NDH and the head articulators contribute to the overall information transfer capacity, indicating that they are neither completely redundant to, nor completely independent of, the DH.

Demanding Dynamics - Demand articulation of intermediary organisations in emerging pharmaceutical innovations

NARCIS (Netherlands)

Boon, W.P.C.

2008-01-01

User involvement in emerging technological fields is carried by so-called demand articulation processes. These demand articulation processes are interactive learning processes in which stakeholders try to address what they perceive as important characteristics of, and to unravel preferences for an

Lip-Synching Using Speaker-Specific Articulation, Shape and Appearance Models

Directory of Open Access Journals (Sweden)

Gaspard Breton

2009-01-01

Full Text Available We describe here the control, shape and appearance models that are built using an original photogrammetric method to capture characteristics of speaker-specific facial articulation, anatomy, and texture. Two original contributions are put forward here: the trainable trajectory formation model that predicts articulatory trajectories of a talking face from phonetic input and the texture model that computes a texture for each 3D facial shape according to articulation. Using motion capture data from different speakers and module-specific evaluation procedures, we show here that this cloning system restores detailed idiosyncrasies and the global coherence of visible articulation. Results of a subjective evaluation of the global system with competing trajectory formation models are further presented and commented.

Robotics

International Nuclear Information System (INIS)

Scheide, A.W.

1983-01-01

This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

Accuracy of two face-bow/semi-adjustable articulator systems in transferring the maxillary occlusal cant.

Science.gov (United States)

Nazir, Nazia; Sujesh, M; Kumar, Ravi; Sreenivas, P

2012-01-01

The precision of an arbitrary face-bow in accurately transferring the orientation of the maxillary cast to the articulator has been questioned because the maxillary cast is mounted in relation to arbitrary measurements and anatomic landmarks that vary among individuals. This study was intended to evaluate the sagittal inclination of mounted maxillary casts on two semi-adjustable articulator/face-bow systems in comparison to the occlusal cant on lateral cephalograms. Maxillary casts were mounted on the Hanau and Girrbach semi-adjustable articulators following face-bow transfer with their respective face-bows. The sagittal inclination of these casts was measured in relation to the fixed horizontal reference plane using physical measurements. Occlusal cant was measured on lateral cephalograms. SPSS software (version 11.0, Chicago, IL, USA) was used for statistical analysis. Repeated measures analysis of variance and Tukey's tests were used to evaluate the results (P occlusal cant on the articulators and cephalogram revealed statistically significant differences. Occlusal plane was steeper on Girrbach Artex articulator in comparison to the Hanau articulator. Within the limitations of this study, it was found that the sagittal inclination of the mounted maxillary cast achieved with Hanau articulator was closer to the cephalometric occlusal cant as compared to that of the Girrbach articulator. Among the two articulators and face-bow systems, the steepness of sagittal inclination was greater on Girrbach semi-adjustable articulator. Different face-bow/articulator systems could result in different orientation of the maxillary cast, resulting in variation in stability, cuspal inclines and cuspal heights.

The role of tone sensation and musical stimuli in early experimental psychology.

Science.gov (United States)

Klempe, Sven Hroar

2011-01-01

In this article, the role of music in early experimental psychology is examined. Initially, the research of Wilhelm Wundt is considered, as tone sensation and musical elements appear as dominant factors in much of his work. It is hypothesized that this approach was motivated by an understanding of psychology that dates back to Christian Wolff 's focus on sensation in his empirical psychology of 1732. Wolff, however, had built his systematization of psychology on Gottfried Wilhelm von Leibniz, who combined perception with mathematics,and referred to music as the area in which sensation is united with numerical exactitude. Immanuel Kant refused to accept empirical psychology as a science, whereas Johann Friedrich Herbart reintroduced the scientific basis of empirical psychology by, among other things, referring to music.

Effects of 24 hours of tobacco withdrawal and subsequent tobacco smoking among low and high sensation seekers.

Science.gov (United States)

Lee, Dustin C; Perkins, Kenneth A; Zimmerman, Eli; Robbins, Glenn; Kelly, Thomas H

2011-10-01

Previous studies have indicated that high sensation seekers are more sensitive to the reinforcing effects of nicotine, initiate smoking at an earlier age, and smoke greater amounts of cigarettes. This study examined the influence of sensation-seeking status on tobacco smoking following deprivation in regular tobacco users. Twenty healthy tobacco-smoking volunteers with low or high impulsive sensation-seeking subscale scores completed 2 consecutive test days per week for 3 consecutive weeks. Each week, a range of self-report, performance, and cardiovascular assessments were completed during ad libitum smoking on Day 1 and before and after the paced smoking of a tobacco cigarette containing 0.05, 0.6, or 0.9 mg of nicotine following 24 hr of tobacco deprivation on Day 2. In addition, self-administration behavior was analyzed during a 2-hr free access period after the initial tobacco administration. In high sensation seekers, tobacco smoking independent of nicotine yield ameliorated deprivation effects, whereas amelioration of deprivation effects was dependent on nicotine yield among low sensation seekers. However, this effect was limited to a small subset of measures. Subsequent cigarette self-administration increased in a nicotine-dependent manner for high sensation seekers only. Compared with low sensation seekers, high sensation seekers were more sensitive to the withdrawal relieving effects of nonnicotine components of smoking following 24 hr of deprivation on selective measures and more sensitive to nicotine yield during subsequent tobacco self-administration. These results are consistent with studies suggesting that factors driving tobacco dependence may vary as a function of sensation-seeking status.

Scan-based volume animation driven by locally adaptive articulated registrations.

Science.gov (United States)

Rhee, Taehyun; Lewis, J P; Neumann, Ulrich; Nayak, Krishna S

2011-03-01

This paper describes a complete system to create anatomically accurate example-based volume deformation and animation of articulated body regions, starting from multiple in vivo volume scans of a specific individual. In order to solve the correspondence problem across volume scans, a template volume is registered to each sample. The wide range of pose variations is first approximated by volume blend deformation (VBD), providing proper initialization of the articulated subject in different poses. A novel registration method is presented to efficiently reduce the computation cost while avoiding strong local minima inherent in complex articulated body volume registration. The algorithm highly constrains the degrees of freedom and search space involved in the nonlinear optimization, using hierarchical volume structures and locally constrained deformation based on the biharmonic clamped spline. Our registration step establishes a correspondence across scans, allowing a data-driven deformation approach in the volume domain. The results provide an occlusion-free person-specific 3D human body model, asymptotically accurate inner tissue deformations, and realistic volume animation of articulated movements driven by standard joint control estimated from the actual skeleton. Our approach also addresses the practical issues arising in using scans from living subjects. The robustness of our algorithms is tested by their applications on the hand, probably the most complex articulated region in the body, and the knee, a frequent subject area for medical imaging due to injuries. © 2011 IEEE

Pathophysiology and treatment of patients with globus sensation ―from the viewpoint of esophageal motility dysfunction―

Science.gov (United States)

Manabe, Noriaki; Tsutsui, Hideaki; Kusunoki, Hiroaki; Hata, Jiro; Haruma, Ken

2014-01-01

"Globus sensation" is often described as the sensation of a lump in the throat associated with dry swallowing or the need for dry swallowing, which disappears completely during eating or drinking and for which no organic cause can be established. Due to the uncertain etiology of "globus sensation", it remains difficult to establish standard treatment strategies for affected patients. Lately most attention has been focused on gastroesophageal reflux disease and several reports have indicated that there is a close relationship between esophageal acid reflux and globus sensation. Nowadays, empirical therapy with a high dose of a proton pump inhibitor (PPI) is considered to be indicated for patients with globus sensation, after excluding organic diseases such as pharyngeal cancer, Zenker's diverticulum, or thyroid enlargement. If patients are nonresponsive to PPI therapy, evaluation of esophageal motility should be done. In our recent study, 47.9% had abnormal esophageal motility, with the most common esophageal motility abnormality being an ineffective esophageal motility in PPI-resistant patients with globus sensation. This suggests that prokinetics alone or adding prokinetics to PPI should be the treatment to be considered, although few studies have investigated the efficacy of prokinetics in the treatment of patients with globus sensation. If patients without any esophageal motility dysfunctions are nonresponsive to PPI therapy, either cognitive-behavioral therapy, anti-depressants, or gabapentin could be helpful, although further well-designed, randomized controlled large-scale studies will be necessary to determine the effectiveness of each treatment strategy on patients with globus sensation. PMID:26081369

More than a feeling: sensation from cortical stimulation

OpenAIRE

Nielsen, Kristina J; Callaway, Edward M

2008-01-01

Changes in neuronal firing underlie sensation, but how many neurons are needed to perceive these activity shifts? Two new studies in Nature suggest that the experimental modulation of only a few neurons can influence perception.

Influence of Nutrition Claims on Appetite Sensations according to Sex, Weight Status, and Restrained Eating

Science.gov (United States)

Doucet, Éric; Pomerleau, Sonia

2016-01-01

Nutrition claims may help people to adopt healthier eating habits, but little is known about the potential cognitive effects of such claims on appetite sensations. The main purpose of this study was to evaluate the impact of nutrition claims and individual factors on perceived appetite sensations. According to a three (“healthy” versus “diet” (i.e., satiating) versus “hedonic”) by two (restrained or not restrained) by two (normal-weight or overweight/obese) by two (men versus women) factorial design, 164 males and 188 females aged 18–65 were invited to taste an oatmeal-raisin snack in a blinded and ad libitum context. Visual analog scales (150 mm) were used to evaluate appetite sensations before and over 1 h after consumption period. BMI and Restraint Scale were used to categorize participants according to their weight and restraint status. No main condition effect was observed for any of the four appetite sensations. However, subgroups analysis revealed significant differences among specific subgroups. A main effect of sex was also observed for all appetite sensations with men reporting higher levels of desire to eat, hunger and prospective food consumption, and lower levels of fullness than women. These findings highlight the importance of considering individual characteristics in interaction when studying appetite sensations. PMID:27725885

Influence of Nutrition Claims on Appetite Sensations according to Sex, Weight Status, and Restrained Eating

Directory of Open Access Journals (Sweden)

Geneviève Painchaud Guérard

2016-01-01

Full Text Available Nutrition claims may help people to adopt healthier eating habits, but little is known about the potential cognitive effects of such claims on appetite sensations. The main purpose of this study was to evaluate the impact of nutrition claims and individual factors on perceived appetite sensations. According to a three (“healthy” versus “diet” (i.e., satiating versus “hedonic” by two (restrained or not restrained by two (normal-weight or overweight/obese by two (men versus women factorial design, 164 males and 188 females aged 18–65 were invited to taste an oatmeal-raisin snack in a blinded and ad libitum context. Visual analog scales (150 mm were used to evaluate appetite sensations before and over 1 h after consumption period. BMI and Restraint Scale were used to categorize participants according to their weight and restraint status. No main condition effect was observed for any of the four appetite sensations. However, subgroups analysis revealed significant differences among specific subgroups. A main effect of sex was also observed for all appetite sensations with men reporting higher levels of desire to eat, hunger and prospective food consumption, and lower levels of fullness than women. These findings highlight the importance of considering individual characteristics in interaction when studying appetite sensations.

Robotics as a resource to facilitate the learning and general skills development

Directory of Open Access Journals (Sweden)

Flor Ángela Bravo Sánchez

2012-07-01

Full Text Available Normal.dotm 0 0 1 127 729 Universidad de Salamanca 6 1 895 12.0 0 false 18 pt 18 pt 0 0 false false false /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin-top:0cm; mso-para-margin-right:0cm; mso-para-margin-bottom:10.0pt; mso-para-margin-left:0cm; line-height:115%; mso-pagination:widow-orphan; font-size:12.0pt; font-family:"Times New Roman"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-fareast-font-family:"Times New Roman"; mso-fareast-theme-font:minor-fareast; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin;} The growing importance of technology in the world today and its continuous development, makes the technology becomes an integral part of the formation process in childhood and youth. For this reason is important to develop proposals that are offered to children and young people to come into contact with new technologies, that is possible through the use of software and hardware tools, such as robotic prototypes and specialized programs for educational purposes This paper shows the importance of the use of robotics as a learning tool and presents the typical stages that must be confronted in implementing educational robotics projects in the classroom. It also presents an educational robotics project called "Mundo Robotica" which seeks to involve robotics in the classroom through practical activities and learning resources, all this is articulated from a virtual platform.

Premeditation moderates the relation between sensation seeking and risky substance use among young adults.

Science.gov (United States)

McCabe, Connor J; Louie, Kristine A; King, Kevin M

2015-09-01

Young adulthood is a peak period for externalizing behaviors such as substance abuse and antisocial conduct. Evidence from developmental neuroscience suggests that externalizing conduct within this time period may be associated with a "developmental asymmetry" characterized by an early peak in sensation seeking combined with a relatively immature impulse control system. Trait measures of impulsivity-sensation seeking and premeditation-are psychological manifestations of these respective systems, and multiple prior studies suggest that high sensation seeking and low premeditation independently confer risk for distinct forms of externalizing behaviors. The goal of the present study was to test this developmental asymmetry hypothesis, examining whether trait premeditation moderates the effect of sensation seeking on substance use and problems, aggression, and rule-breaking behavior. Using a cross-sectional sample of college-enrolled adults (n = 491), we applied zero-inflated modeling strategies to examine the likelihood and level of risky externalizing behaviors. Results indicated that lower premeditation enhanced the effect of higher sensation seeking on higher levels of positive and negative alcohol consequences, more frequent drug use, and more problematic drug use, but was unrelated to individual differences in antisocial behaviors. Our findings indicate that the developmental asymmetry between sensation seeking and a lack of premeditation is a risk factor for individual differences in problematic substance use among young adults, and may be less applicable for antisocial behaviors among high functioning individuals. (c) 2015 APA, all rights reserved).

The Genre of “Sensational Novel” in the Ukrainian Immigrant Literature

OpenAIRE

Wesselenyi, Olexandr

2013-01-01

The literary process of the Ukrainian immigration is a special segment of Ukrainian culture and shows an “alternative way” in the development of literature. The purpose of this article is to study the specifications of sensational novels in the Ukrainian immigrant literature.The literary genre “sensational novel” appeared in Great Britain in the second half of the XIX century. These novels typologically descend from another popular Victorian genre – gothic fiction. Later they transformed into...

NONLINEAR FORCE PROFILE USED TO INCREASE THE PERFORMANCE OF A HAPTIC USER INTERFACE FOR TELEOPERATING A ROBOTIC HAND

Energy Technology Data Exchange (ETDEWEB)

Anthony L. Crawford

2012-07-01

MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedom during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design input requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the

Phantom Sensations, Supernumerary Phantom Limbs and Apotemnophilia: Three Body Representation Disorders.

Science.gov (United States)

Tatu, Laurent; Bogousslavsky, Julien

2018-01-01

Body representation disorders continue to be mysterious and involve the anatomical substrate that underlies the mental representation of the body. These disorders sit on the boundaries of neurological and psychiatric diseases. We present the main characteristics of 3 examples of body representation disorders: phantom sensations, supernumerary phantom limb, and apotemnophilia. The dysfunction of anatomical circuits that regulate body representation can sometimes have paradoxical features. In the case of phantom sensations, the patient feels the painful subjective sensation of the existence of the lost part of the body after amputation, surgery or trauma. In case of apotemnophilia, now named body integrity identity disorder, the subject wishes for the disappearance of the existing and normal limb, which can occasionally lead to self-amputation. More rarely, a brain-damaged patient with 4 existing limbs can report the existence of a supernumerary phantom limb. © 2018 S. Karger AG, Basel.

[Distorted cognition of bodily sensations in subtypes of social anxiety].

Science.gov (United States)

Kanai, Yoshihiro; Sasaki, Shoko; Iwanaga, Makoto; Seiwa, Hidetoshi

2010-02-01

The purpose of this study was to investigate the relationship between subtypes of social anxiety and distorted cognition of bodily sensations. The package of questionnaires including the Social Phobia Scale (SPS) and the Social Interaction Anxiety Scale (SIAS) was administered to 582 undergraduate students. To identify subtypes of social anxiety, cluster analysis was conducted using scores of the SPS and SIAS. Five clusters were identified and labeled as follows: Generalized type characterized by intense anxiety in most social situations, Non-anxious type characterized by low anxiety levels in social situations, Averaged type whose anxiety levels are averaged, Interaction anxiety type who feels anxiety mainly in social interaction situations, and Performance anxiety type who feels anxiety mainly in performance situations. Results of an ANOVA indicated that individuals with interaction type fear the negative evaluation from others regarding their bodily sensations whereas individuals with performance type overestimate the visibility of their bodily sensations to others. Differences in salient aspects of cognitive distortion among social anxiety subtypes may show necessity to select intervention techniques in consideration of subtypes.

A relation between calculated human body exergy consumption rate and subjectively assessed thermal sensation

DEFF Research Database (Denmark)

Simone, Angela; Kolarik, Jakub; Iwamatsu, Toshiya

2011-01-01

occupants, it is reasonable to consider both the exergy flows in building and those within the human body. Until now, no data have been available on the relation between human-body exergy consumption rates and subjectively assessed thermal sensation. The objective of the present work was to relate thermal...... sensation data, from earlier thermal comfort studies, to calculated human-body exergy consumption rates. The results show that the minimum human body exergy consumption rate is associated with thermal sensation votes close to thermal neutrality, tending to the slightly cool side of thermal sensation....... Generally, the relationship between air temperature and the exergy consumption rate, as a first approximation, shows an increasing trend. Taking account of both convective and radiative heat exchange between the human body and the surrounding environment by using the calculated operative temperature, exergy...

Pulse Width Affects Scalp Sensation of Transcranial Magnetic Stimulation.

Science.gov (United States)

Peterchev, Angel V; Luber, Bruce; Westin, Gregory G; Lisanby, Sarah H

Scalp sensation and pain comprise the most common side effect of transcranial magnetic stimulation (TMS), which can reduce tolerability and complicate experimental blinding. We explored whether changing the width of single TMS pulses affects the quality and tolerability of the resultant somatic sensation. Using a controllable pulse parameter TMS device with a figure-8 coil, single monophasic magnetic pulses inducing electric field with initial phase width of 30, 60, and 120 µs were delivered in 23 healthy volunteers. Resting motor threshold of the right first dorsal interosseus was determined for each pulse width, as reported previously. Subsequently, pulses were delivered over the left dorsolateral prefrontal cortex at each of the three pulse widths at two amplitudes (100% and 120% of the pulse-width-specific motor threshold), with 20 repetitions per condition delivered in random order. After each pulse, subjects rated 0-to-10 visual analog scales for Discomfort, Sharpness, and Strength of the sensation. Briefer TMS pulses with amplitude normalized to the motor threshold were perceived as slightly more uncomfortable than longer pulses (with an average 0.89 point increase on the Discomfort scale for pulse width of 30 µs compared to 120 µs). The sensation of the briefer pulses was felt to be substantially sharper (2.95 points increase for 30 µs compared to 120 µs pulse width), but not stronger than longer pulses. As expected, higher amplitude pulses increased the perceived discomfort and strength, and, to a lesser degree the perceived sharpness. Our findings contradict a previously published hypothesis that briefer TMS pulses are more tolerable. We discovered that the opposite is true, which merits further study as a means of enhancing tolerability in the context of repetitive TMS. Copyright © 2016 Elsevier Inc. All rights reserved.

Dimensions of sensation assessed in urinary urgency: a systematic review.

Science.gov (United States)

Das, Rebekah; Buckley, Jonathan; Williams, Marie

2013-10-01

Urinary urgency is an adverse sensory experience. Confirmation of the multidimensional nature of other adverse sensory experiences such as pain and dyspnea has improved the understanding of neurophysiological and perceptual mechanisms leading to innovations in assessment and treatment. It has been suggested that the sensation of urgency may include multiple dimensions such as intensity, suddenness and unpleasantness. In this systematic review we determine which dimensions of sensation have been assessed by instruments used to measure urinary urgency. A systematic search was undertaken of MEDLINE, Embase, AMED, CINAHL, Ageline, Web of Science, InformIT Health and Scopus databases to identify studies that included assessments of urinary urge or urgency. Articles were included in the analysis if they were primary studies that described the method used to measure urge/urgency in adults and published in English in peer reviewed publications since January 1, 2000. Articles were excluded from study if urgency was measured only in conjunction with other symptoms (eg frequency or incontinence) or if there was no English version of the instrument. Secondary analyses and systematic reviews were retained to hand search references for additional primary studies. Data were extracted for the instruments used to measure urge/urgency. For each instrument the items specific to urinary urgency were reviewed using a prospectively developed categorization process for the sensory dimension and the measurement metric. Items used to assess urinary urgency were collated in a matrix (sensory dimensions vs assessment metric). The most frequently used dimensions, metrics and combinations were descriptively analyzed. After removal of duplicate articles 1,048 full text articles were screened and 411 were excluded, leaving 637 eligible articles from which data were extracted. A total of 216 instruments were identified which were 1 of 6 types, namely 1) wider symptom questionnaires, 2) urgency

Towards Versatile Robots Through Open Heterogeneous Modular Robots

DEFF Research Database (Denmark)

Lyder, Andreas

arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a modular robot to be a robot consisting of dynamically reconfigurable modules. The goal of this thesis......Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem...... is to increase the versatility and practical usability of modular robots by introducing new conceptual designs. Until now modular robots have been based on a pre-specified set of modules, and thus, their functionality is limited. We propose an open heterogeneous design concept, which allows a modular robot...

Accuracy of two face-bow/semi-adjustable articulator systems in transferring the maxillary occlusal cant

Directory of Open Access Journals (Sweden)

Nazia Nazir

2012-01-01

Full Text Available Context: The precision of an arbitrary face-bow in accurately transferring the orientation of the maxillary cast to the articulator has been questioned because the maxillary cast is mounted in relation to arbitrary measurements and anatomic landmarks that vary among individuals. Aim: This study was intended to evaluate the sagittal inclination of mounted maxillary casts on two semi-adjustable articulator/face-bow systems in comparison to the occlusal cant on lateral cephalograms. Materials and Methods: Maxillary casts were mounted on the Hanau and Girrbach semi-adjustable articulators following face-bow transfer with their respective face-bows. The sagittal inclination of these casts was measured in relation to the fixed horizontal reference plane using physical measurements. Occlusal cant was measured on lateral cephalograms. SPSS software (version 11.0, Chicago, IL, USA was used for statistical analysis. Repeated measures analysis of variance and Tukey′s tests were used to evaluate the results (P < 0.05. Results: Comparison of the occlusal cant on the articulators and cephalogram revealed statistically significant differences. Occlusal plane was steeper on Girrbach Artex articulator in comparison to the Hanau articulator. Conclusion: Within the limitations of this study, it was found that the sagittal inclination of the mounted maxillary cast achieved with Hanau articulator was closer to the cephalometric occlusal cant as compared to that of the Girrbach articulator. Among the two articulators and face-bow systems, the steepness of sagittal inclination was greater on Girrbach semi-adjustable articulator. Different face-bow/articulator systems could result in different orientation of the maxillary cast, resulting in variation in stability, cuspal inclines and cuspal heights.

Circadian typology and sensation seeking in adolescents.

Science.gov (United States)

Muro, Anna; Gomà-i-Freixanet, Montserrat; Adan, Ana

2012-12-01

The relationship of circadian typology with personality has been largely studied in adults, but there are few studies exploring such relationship in adolescents. Adolescence has been associated with a greater tendency to eveningness preference, sleeping problems, poorer academic achievement, earlier substance use, or risky behaviors, and it is suggested that this association might be mediated by personality factors. Given the relevance of identifying the behavioral outcomes of young evening types to detect and prevent health problems, the present study aimed to explore, for the first time, the relationship between sensation seeking and circadian typology in an adolescent sample of 688 students (51.45% boys) from 12 to 16 yrs old. They answered the Spanish versions of the Morningness-Eveningness Scale for Children (MESC) and the Junior Sensation Seeking Scale (J-SSS), which includes four subscales measuring Thrill and Adventure Seeking, Experience Seeking, Disinhibition, and Boredom Susceptibility. Analyses showed that boys obtained significantly higher scores than girls on J-SSS total score and all subscales except Boredom Susceptibility, whereas evening-type adolescents of both sexes scored significantly higher than neither types and than morning types on J-SSS total score. These results indicate that evening-type adolescents show a greater desire for varied, new, complex, and intense sensations, and they are ready for experiencing more risks than morning types. The implications of this study suggest the need of being aware of individual differences in the SS trait in evening-type adolescents, as well as taking into account the wide variety of behaviors associated with it, either prosocial or antisocial, to design better preventive health and academic programs.

Reduction glossectomy for macroglossia in children

African Journals Online (AJOL)

functions, especially taste sensation, were not affected by resection. Speech articulation errors were corrected ... problems such as perception of mental retardation, widened interdental spaces, and mandibular prognathism [3 ... sweets, to provide the appropriate sensation [19]. The aim of this study was to describe our initial ...

Different perception levels of histamine-induced itch sensation in young adult mice.

Science.gov (United States)

Ji, Yeounjung; Jang, Yongwoo; Lee, Wook Joo; Yang, Young Duk; Shim, Won-Sik

2018-05-01

Itch is an unpleasant sensation that evokes behavioral responses such as scratching the skin. Interestingly, it is conceived that the perception of itch sensation is influenced by age. Indeed, accumulating evidence supports the idea that even children or younger adults show distinctive itch sensation depending on age. This evidence implies the presence of a mechanism that regulates the perception of itch sensation in an age-dependent fashion. Therefore, the purpose of the present study was to investigate a putative mechanism for the age-dependent perception of itch sensation by comparing histamine-induced scratching behaviors in 45-day old (D45) and 75-day old male "young adult" mice. The results indicated that, following histamine administration, the D75 mice spent a longer time scratching than D45 mice. However, the intensity of the calcium influx induced by histamine in primary culture of dorsal root ganglia (DRG) neurons was not different between D45 and D75 mice. Moreover, no apparent difference was observed in mRNA levels of a characteristic His-related receptor and ion channel. In contrast, the mRNA levels of Toll-Like Receptor 4 (TLR4) were increased approximately by two-fold in D75 DRG compared with D45 DRG. Additionally, D75-derived DRG neurons exhibited enhanced intracellular calcium increase by lipopolysaccharide (LPS, a TLR4 agonist) than those of D45 mice. Furthermore, intensities of calcium influx induced by histamine were significantly potentiated when co-treated with LPS in D75 DRG neurons, but not in those of D45 mice. Thus, it appears that D75 mice showed enhanced histamine-induced scratching behaviors not by increased expression levels of histamine-related genes, but probably due to augmented TLR4 expression in DRG neurons. Consequently, the current study found that different perception levels of histamine-induced itch sensation are present in different age groups of young adult mice. Copyright © 2018 Elsevier Inc. All rights reserved.

Habituation of Premonitory Sensations during Exposure and Response Prevention Treatment in Tourette's Syndrome

Science.gov (United States)

Verdellen, Cara W. J.; Hoogduin, Cees A. L.; Kato, Bernet S.; Keijsers, Ger P. J.; Cath, Danielle C.; Hoijtink, Herbert B.

2008-01-01

Exposure to premonitory sensations and response prevention of tics (ER) has been shown to be a promising new treatment for Tourette's syndrome (TS). The present study tested the hypothesis that habituation to unpleasant premonitory sensations associated with the tic is an underlying mechanism of change in ER. Patients rated the severity of…

The Association between Sensation Seeking and Well-Being among College-Attending Emerging Adults

Science.gov (United States)

Ravert, Russell D.; Kim, Su Yeong; Schwartz, Seth J.; Weisskirch, Robert S.; Zamboanga, Byron L.; Ham, Lindsay S.; Donnellan, M. Brent; Bersamin, Melina M.

2013-01-01

Sensation seeking is a known risk factor for unsafe and reckless behavior among college students, but its association with well-being is unknown. Given that exploration plays an important psychosocial role during the transition to adulthood, we examined the possibility that sensation seeking is also associated with psychological well-being. In a…

A Study On The Psychometric Features Of The Turkish Version Of The Brief Sensation Seeking Scale (Bsss-8 For Young Adults And The Relation Between Sensation Seeking And Life Satisfaction

Directory of Open Access Journals (Sweden)

Eyup Celik

2016-01-01

Full Text Available The purpose of this study is to adapt the sensation seeking scale for young adults into Turkish and to investigate if the life satisfaction of university students differ significantly in terms of sensation seeking. In addition, it was investigated whether the life satisfaction levels of university students differ significantly in terms of gender. The data for this research was collected from 570 university students. The original form of BSSS-8 consist of 8 items and 4 factors. The scale was subjected to CFA in order to determine the structural validity of its Turkish version and it was found that this version had a single factor structure. The results of the CFA suggested acceptable levels of fit indices (χ2/df = 4.46, RMSEA = .07, GFI =96, CFI = .94, IFI = .94, NFI = .93, AGFI = .93, and NNFI = .91. The reliability coefficient of the scale was found at a level of .79. Furthermore, corrected item total correlation were found to be in a range between .22 and .59. The results suggest that the single factor structure of the scale produces valid and reliable results. In addition, it was found that the life satisfaction levels of university students differ significantly in terms of sensation seeking level, but life satisfaction levels of university students do not differ significantly in terms of gender. The results showed that the life satisfaction levels of students with lower sensation seeking are higher than of students with higher sensation seeking

Socially intelligent robots: dimensions of human-robot interaction.

Science.gov (United States)

Dautenhahn, Kerstin

2007-04-29

Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

Comparison of corneal sensation between small incision lenticule extraction (SMILE) and femtosecond laser-assisted LASIK for myopia.

Science.gov (United States)

Li, Meiyan; Zhou, Zimei; Shen, Yang; Knorz, Michael C; Gong, Lan; Zhou, Xingtao

2014-02-01

To compare the impact on corneal sensation after small incision lenticule extraction (SMILE) and femtosecond laser-assisted LASIK (femto-LASIK) in patients with myopia. In this prospective, nonrandomized comparative study, 71 subjects were enrolled. Thirty-eight eyes of 38 patients underwent SMILE and 33 eyes of 33 patients underwent femto-LASIK. Corneal sensation was tested with Cochet-Bonnet esthesiometry in five corneal areas preoperatively and at 1 week and 1, 3, and 6 months postoperatively. Comparison of corneal sensation was performed for the SMILE and femto-LASIK groups. Additionally, the correlations were evaluated between the postoperative corneal sensation, preoperative spherical equivalent, and ablation depth. All tested areas within the cap or flap demonstrated corneal hypoesthesia immediately after both surgeries. SMILE-treated eyes showed less compromised corneal sensation than femto-LASIK-treated eyes at all postoperative visits in the central, inferior, nasal, and temporal areas at the 1-week and 1-month visits. In the SMILE group, the inferior, nasal, and temporal quadrants recovered faster than other areas. In the femto-LASIK group, the sensation over the flap did not recover to preoperative levels by postoperative 6 months. There was no correlation between postoperative corneal sensation, preoperative spherical equivalent, and ablation depth in both groups. The impairment of corneal sensation was less significant in the SMILE group than in the femto-LASIK group and was independent of preoperative spherical equivalent or ablation depth. Copyright 2014, SLACK Incorporated.

Baseline heart rate, sensation seeking, and aggression in young adult women: a two-sample examination.

Science.gov (United States)

Wilson, Laura C; Scarpa, Angela

2013-01-01

Although substantial literature discusses sensation seeking as playing a role in the relationship between baseline heart rate and aggression, few published studies have tested the relationships among these variables. Furthermore, most prior studies have focused on risk factors of aggression in men and have largely ignored this issue in women. Two samples (n = 104; n = 99) of young adult women completed measures of resting heart rate, sensation seeking, and aggression. Across the two samples of females there was no evidence for the relationships of baseline heart rate with sensation seeking or with aggression that has been consistently shown in males. Boredom susceptibility and disinhibition subscales of sensation seeking were consistently significantly correlated with aggression. The lack of significance and the small effect sizes indicate that other mechanisms are also at work in affecting aggression in young adult women. Finally, it is important to consider the type of sensation seeking in relation to aggression, as only boredom susceptibility and disinhibition were consistently replicated across samples. © 2013 Wiley Periodicals, Inc.

From Mozart to MIDI : A Rule System for Expressive Articulation

OpenAIRE

Hähnel, Tilo

2010-01-01

The propriety of articulation, especially of notes that lackannotations, is influenced by the origin of the particularmusic. This paper presents a rule system for articulationderived from late Baroque and early Classic treatises on performance. Expressive articulation, in this respect, is understood as a combination of alterable tone features like duration, loudness, and timbre. The model differentiates globalcharacteristics and local particularities, provides a generalframework for human-lik...

Fatigue sensation induced by the sounds associated with mental fatigue and its related neural activities: revealed by magnetoencephalography

OpenAIRE

Ishii, Akira; Tanaka, Masaaki; Iwamae, Masayoshi; Kim, Chongsoo; Yamano, Emi; Watanabe, Yasuyoshi

2013-01-01

Background It has been proposed that an inappropriately conditioned fatigue sensation could be one cause of chronic fatigue. Although classical conditioning of the fatigue sensation has been reported in rats, there have been no reports in humans. Our aim was to examine whether classical conditioning of the mental fatigue sensation can take place in humans and to clarify the neural mechanisms of fatigue sensation using magnetoencephalography (MEG). Methods Ten and 9 healthy volunteers particip...

Sensation seeking, peer deviance, and genetic influences on adolescent delinquency: Evidence for person-environment correlation and interaction.

Science.gov (United States)

Mann, Frank D; Patterson, Megan W; Grotzinger, Andrew D; Kretsch, Natalie; Tackett, Jennifer L; Tucker-Drob, Elliot M; Harden, K Paige

2016-07-01

Both sensation seeking and affiliation with deviant peer groups are risk factors for delinquency in adolescence. In this study, we use a sample of adolescent twins (n = 549), 13 to 20 years old (M age = 15.8 years), in order to test the interactive effects of peer deviance and sensation seeking on delinquency in a genetically informative design. Consistent with a socialization effect, affiliation with deviant peers was associated with higher delinquency even after controlling for selection effects using a co-twin-control comparison. At the same time, there was evidence for person-environment correlation; adolescents with genetic dispositions toward higher sensation seeking were more likely to report having deviant peer groups. Genetic influences on sensation seeking substantially overlapped with genetic influences on adolescent delinquency. Finally, the environmentally mediated effect of peer deviance on adolescent delinquency was moderated by individual differences in sensation seeking. Adolescents reporting high levels of sensation seeking were more susceptible to deviant peers, a Person × Environment interaction. These results are consistent with both selection and socialization processes in adolescent peer relationships, and they highlight the role of sensation seeking as an intermediary phenotype for genetic risk for delinquency. (PsycINFO Database Record (c) 2016 APA, all rights reserved).

Robot engineering

Energy Technology Data Exchange (ETDEWEB)

Jung, Seul

2006-02-15

This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

Robot engineering

International Nuclear Information System (INIS)

Jung, Seul

2006-02-01

This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

Modification of booming level for higher correlation with booming sensation; Booming level no koseidoka

Energy Technology Data Exchange (ETDEWEB)

Hatano, S; Hashimoto, T [Seikei University, Tokyo (Japan)

1997-10-01

In our previous study, we proposed a objective measure, i.e., Booming Level for quantifying booming sensation caused by car interior noise. In this paper, Booming Level was modified with its weighting function and within the process of calculation 1/3 octave band level was modified for the best match with subjective result. These modifications were conducted through a subjective experiment rating booming sensation with sounds having much lower frequency contents below 63Hz. With this modified Booming Level, we have obtained higher correlation for rating booming sensation with sounds having prominent low frequency components. 1 ref., 10 figs.

Impulsivity, sensation-seeking, and part-time job status in relation to substance use and gambling in adolescents.

Science.gov (United States)

Leeman, Robert F; Hoff, Rani A; Krishnan-Sarin, Suchitra; Patock-Peckham, Julie A; Potenza, Marc N

2014-04-01

Although impulsivity, sensation-seeking, and part-time employment have each been linked to risky behaviors in adolescents, their inter-relationships are less well-understood. We examined data from adolescents to assess the following predictions: (1) sensation-seeking would relate closely to substance use and gambling; (2) impulsivity would relate closely to alcohol, drug, and gambling problems; and (3) these relationships would be particularly strong among those holding part-time jobs. High-school students (N = 3,106) were surveyed to provide data on impulsivity, sensation-seeking, and part-time job status. Bivariate and logistic regression analyses were conducted to examine relationships with gambling, substance use (i.e., alcohol, cigarettes, and marijuana) and related problems. Both impulsivity and sensation-seeking related significantly to substance use and impulsivity to gambling. Impulsivity had stronger associations with drug and gambling problems than sensation-seeking did. Students with paid part-time jobs were more likely to drink alcohol, binge drink, and use marijuana. Sensation-seeking had a particularly strong relationship to heavy cigarette smoking among students with part-time jobs. Conversely, there was little relationship between part-time job status and smoking among low sensation-seekers. These findings further support the relevance of sensation-seeking, impulsivity, and part-time job status to risky behaviors among adolescents. Sensation-seeking and impulsivity had unique relationships to risky behaviors, in accordance with theory and prior evidence. Impulsive adolescents may be in particular need for interventions to reduce drug use and gambling. Although part-time jobs can be beneficial, parents and caregivers should be mindful of potential negative ramifications of paid work outside the home. Copyright © 2014 Society for Adolescent Health and Medicine. Published by Elsevier Inc. All rights reserved.

Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

OpenAIRE

Cheng, Frank Shaopeng

2008-01-01

This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

A Novel Methodology to Validate the Accuracy of Extraoral Dental Scanners and Digital Articulation Systems.

Science.gov (United States)

Ellakwa, A; Elnajar, S; Littlefair, D; Sara, G

2018-05-03

The aim of the current study is to develop a novel method to investigate the accuracy of 3D scanners and digital articulation systems. An upper and a lower poured stone model were created by taking impression of fully dentate male (fifty years old) participant. Titanium spheres were added to the models to allow for an easily recognisable geometric shape for measurement after scanning and digital articulation. Measurements were obtained using a Coordinate Measuring Machine to record volumetric error, articulation error and clinical effect error. Three scanners were compared, including the Imetric 3D iScan d104i, Shining 3D AutoScan-DS100 and 3Shape D800, as well as their respective digital articulation software packages. Stoneglass Industries PDC digital articulation system was also applied to the Imetric scans for comparison with the CMM measurements. All the scans displayed low volumetric error (p⟩0.05), indicating that the scanners themselves had a minor contribution to the articulation and clinical effect errors. The PDC digital articulation system was found to deliver the lowest average errors, with good repeatability of results. The new measuring technique in the current study was able to assess the scanning and articulation accuracy of the four systems investigated. The PDC digital articulation system using Imetric scans was recommended as it displayed the lowest articulation error and clinical effect error with good repeatability. The low errors from the PDC system may have been due to its use of a 3D axis for alignment rather than the use of a best fit. Copyright© 2018 Dennis Barber Ltd.

The delayed reproduction of long time intervals defined by innocuous thermal sensation.

Science.gov (United States)

Khoshnejad, Mina; Martinu, Kristina; Grondin, Simon; Rainville, Pierre

2016-04-01

The presence of discrete events during an interval to be estimated generally causes a dilation of perceived duration (event-filling effect). Here, we investigated this phenomenon in the thermal modality using multi-seconds (19 s) innocuous cool stimuli that were either constant (continuous interval) or fluctuating to create three discrete sensory events (segmented interval). Moreover, we introduced a delay following stimulus offset, before the reproduction phase, to allow for a direct comparison with our recent study showing an underestimation of duration in a delayed reproduction task of heat pain sensations (Khoshnejad et al. in Pain 155:581-590, 2014. doi: 10.1016/j.pain.2013.12.015 ). The event-filling effect was tested by comparing the delayed reproduction of the segmented and the continuous stimuli in experimental conditions asking participants to (1) reproduce the dynamics of the sensation (i.e., changes in sensory intensity over time) or (2) reproduce only the interval duration (i.e., sensation onset-to-offset). A perceptual (control) condition required participants to report changes in sensation concurrently with the stimulus. Results of the dynamic task confirmed the underestimation of duration in the delayed reproduction task, but this effect was only found with the continuous and not with the segmented stimulus. This implies that the dilation of duration produced by segmentation might compensate for the underestimation of duration in this delayed reproduction task. However, this temporal dilation effect was only observed when participants were required to attend and reproduce the dynamics of sensation. These results suggest that the event-filling effect can be observed in the thermal sensory modality and that attention directed toward changes in sensory intensity might contribute to this effect.

Generation of Articulated Mechanisms by Optimization Techniques

DEFF Research Database (Denmark)

Kawamoto, Atsushi

2004-01-01

optimization [Paper 2] 3. Branch and bound global optimization [Paper 3] 4. Path-generation problems [Paper 4] In terms of the objective of the articulated mechanism design problems, the first to third papers deal with maximization of output displacement, while the fourth paper solves prescribed path...... generation problems. From a mathematical programming point of view, the methods proposed in the first and third papers are categorized as deterministic global optimization, while those of the second and fourth papers are categorized as gradient-based local optimization. With respect to design variables, only...... directly affects the result of the associated sensitivity analysis. Another critical issue for mechanism design is the concept of mechanical degrees of freedom and this should be also considered for obtaining a proper articulated mechanism. The thesis treats this inherently discrete criterion in some...

Articulation Workshop in Drafting. Final Report.

Science.gov (United States)

Catonsville Community Coll., MD.

Drafting students from vocational/technical and high schools frequently repeat the same experiences and courses and work with the same instructional materials when they enroll in college engineering drawing, and architecture programs. In order to minimize needless repetition and address the problem of articulation between such schools and the…

Brain responses to repeated visual experience among low and high sensation seekers: role of boredom susceptibility

OpenAIRE

Jiang, Yang; Lianekhammy, Joann; Lawson, Adam; Guo, Chunyan; ynam, Donald; Joseph, Jane E.; Gold, Brian T.; Kelly, Thomas H.

2009-01-01

To better understand individual differences in sensation seeking and its components, including boredom susceptibility and experience seeking, we examined brain responses of high and low sensation seekers during repeated visual experience. Individuals scoring in the top and bottom quartiles from a college-aged population on the Brief Sensation-Seeking Scale (BSSS) participated in an event-related potentials (ERPs) experiment. Line drawings of common objects were randomly intermixed and present...

Two cases of Chest Heating Sensation treated by Hwangryunhaedok-tang Herbal-Acupuncture

Directory of Open Access Journals (Sweden)

Gwon-Il Cho

2003-06-01

Full Text Available The purpose of this study is to evaluate the clinical effect of Hwangryunhaedok-tang Herbal-Acupuncture. Hwangryunhaedok-tang is used in all heating diseases. Chest Heating Sensation is a unique concept in Oriental Medicine. So we applied Hwangryunhaedok-tang Herbal-Acupuncture to treat the Chest Heating Sensation. We used DITI(Digital Infrared Thermographic Imaging to estimate the temperatures of chest surface for the outcome assessment. We came to know that the chest surface temperatures were all reduced in both cases after Herbal-Acupuncture treatment. The reduced average temperature was 1.5℃ in case 1 and 0.9℃ in case 2. The above result indicates that Hwangryunhaedok-tang Herbal-Acupuncture treatment has an effect on Chest Heating Sensation, thus continuous Hwangryunhaedok-tang Herbal-Acupuncture study will be needed for more clinical applications.

Design for thermal sensation and comfort states in vehicles cabins

International Nuclear Information System (INIS)

Alahmer, Ali; Abdelhamid, Mahmoud; Omar, Mohammed

2012-01-01

This manuscript investigates the analysis and modeling of vehicular thermal comfort parameters using a set of designed experiments aided by thermography measurements. The experiments are conducted using a full size climatic chamber to host the test vehicle, to accurately assess the transient and steady state temperature distributions of the test vehicle cabin. Further investigate the thermal sensation (overall and local) and the human comfort states under artificially created relative humidity scenarios. The thermal images are calibrated through a thermocouples network, while the outside temperature and relative humidity are manipulated through the climatic environmental chamber with controlled soaking periods to guarantee the steady state conditions for each test scenario. The relative humidity inside the passenger cabin is controlled using a Total Humidity Controller (THC). The simulation uses the experimentally extracted boundary conditions via a 3-D Berkeley model that is set to be fully transient to account for the interactions in the velocity and temperature fields in the passenger compartment, which included interactions from turbulent flow, thermal buoyancy and the three modes of heat transfer conduction, convection and radiation. The model investigates the human comfort by analyzing the effect of the in-cabin relative humidity from two specific perspectives; firstly its effect on the body temporal variation of temperature within the cabin. Secondly, the Local Sensation (LS) and Comfort (LC) are analyzed for the different body segments in addition to the Overall Sensation (OS) and the Overall Comfort (OC). Furthermore, the human sensation is computed using the Fanger model in terms of the Predicted Mean Value (PMV) and the Predicted Percentage Dissatisfied (PPD) indices. The experimental and simulation results show that controlling the RH levels during the heating and the cooling processes (winter and summer conditions respectively) aid the A/C system to

Thermal grill-evoked sensations of heat correlate with cold pain threshold and are enhanced by menthol and cinnamaldehyde.

Science.gov (United States)

Averbeck, B; Rucker, F; Laubender, R P; Carr, R W

2013-05-01

Thunberg's thermal grill produces a sensation of strong heat upon skin contact with spatially interlaced innocuous warm and cool stimuli. To examine the classes of peripheral axons that might contribute to this illusion, the effects of topical l-menthol, an activator of TRPM8, and cinnamaldehyde, a TRPA1 agonist, on the magnitude of thermal sensations were examined during grill stimulation in healthy volunteers. Under control conditions, cutaneous grill stimulation (interlaced 20/40 °C) evoked a sensation of heat, and for individual subjects, the magnitude of this heat sensation was positively correlated with cold pain threshold (CPT). Menthol increased the CPT and enhanced the magnitude of grill-evoked heat. Cinnamaldehyde intensified warm sensations, reduced heat pain threshold and also enhanced grill-evoked heat. Both TRPM8-expressing and TRPA1-expressing afferent axons can affect grill-evoked thermal sensations. The enhancement of grill-evoked sensations of temperature with menthol and cinnamaldehyde may provide an additional clinically relevant means of testing altered thermal sensitivity, which is often affected in neuropathic patient groups. © 2012 European Federation of International Association for the Study of Pain Chapters.

Swisstrolley 3 - An articulated trolley bus; SWISSTROLLEY 3. Gelenktrolleybus

Energy Technology Data Exchange (ETDEWEB)

Gisler, H.-J.

2006-07-01

This illustrated final report for the Swiss Federal Office of Energy (SFOE) takes a look at the Swisstrolley 3 low-floor, articulated trolley bus developed in Switzerland by the Hess AG company. Various features of the variants of the trolley bus, including single vehicle, single and double-articulated buses and bus trailers, are discussed. The reductions achieved in energy consumption, weight and noise are discussed. Typical values for power consumption are presented in graphical form. Economic viability and passenger-friendliness are examined, as are possibilities for further improvement.

Medico-legal aspects of altered sensation following endodontic treatment: a retrospective case series

DEFF Research Database (Denmark)

Givol, Navot; Rosen, Eyal; Bjørndal, Lars

2011-01-01

The objective of this study was to analyze cases of liability claims related to persistent altered sensation following endodontic treatments so as to characterize the medico-legal aspects of this complication.......The objective of this study was to analyze cases of liability claims related to persistent altered sensation following endodontic treatments so as to characterize the medico-legal aspects of this complication....

Audiovisual materials are effective for enhancing the correction of articulation disorders in children with cleft palate.

Science.gov (United States)

Pamplona, María Del Carmen; Ysunza, Pablo Antonio; Morales, Santiago

2017-02-01

Children with cleft palate frequently show speech disorders known as compensatory articulation. Compensatory articulation requires a prolonged period of speech intervention that should include reinforcement at home. However, frequently relatives do not know how to work with their children at home. To study whether the use of audiovisual materials especially designed for complementing speech pathology treatment in children with compensatory articulation can be effective for stimulating articulation practice at home and consequently enhancing speech normalization in children with cleft palate. Eighty-two patients with compensatory articulation were studied. Patients were randomly divided into two groups. Both groups received speech pathology treatment aimed to correct articulation placement. In addition, patients from the active group received a set of audiovisual materials to be used at home. Parents were instructed about strategies and ideas about how to use the materials with their children. Severity of compensatory articulation was compared at the onset and at the end of the speech intervention. After the speech therapy period, the group of patients using audiovisual materials at home demonstrated significantly greater improvement in articulation, as compared with the patients receiving speech pathology treatment on - site without audiovisual supporting materials. The results of this study suggest that audiovisual materials especially designed for practicing adequate articulation placement at home can be effective for reinforcing and enhancing speech pathology treatment of patients with cleft palate and compensatory articulation. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

A new method of liquid crystal thermometry excluding human color sensation

International Nuclear Information System (INIS)

Kunugi, Tomoaki; Akino, Norio; Ueda, Masaharu.

1987-01-01

Some choresteric liquid crystals can be used as a thermometer because of their color changes with varying temperatures. However, it is impossible to employ human color sensation for precise quantitative evaluation of temperature from their color. Therefore, a new method of liquid crystal thermometry is developed using narrow band optical filters and an image processor to exclude the employment of human color sensation. Relations between filter wavelength and temperature were determined by calibration tests. Two dimensional temperature distributions on a heated plate were successfully measured by the present method. (author)

Phantom sensation as experienced by people with a spinal cord injury

OpenAIRE

Drysdale, Daren

2012-01-01

All the approaches in this thesis are linked by a common query: What is the meaning, structure and essence of the lived experience for a person with a Spinal Cord Injury (SCI) who perceives phantom sensation and/or pain? (See Figure 1). The thesis will allow you to form an accurate impression of phantom sensation in the population of people with a spinal cord injury and it highlights some of the confusion surrounding the terms now in common use. As the thesis progresses, the review of the lit...

Sensation Seeking and Adolescent Alcohol Use: Exploring the Mediating Role of Unstructured Socializing With Peers.

Science.gov (United States)

Sznitman, Sharon; Engel-Yeger, Batya

2017-05-01

Researchers have theorized that adolescents high in sensation seeking are particularly sensitive to positive reinforcement and the rewarding outcomes of alcohol use, and thus that the personality vulnerability is a direct causal risk factor for alcohol use. In contrast, the routine activity perspective theorizes that part of the effect of sensation seeking on alcohol use goes through the propensity that sensation seekers have towards unstructured socializing with peers. The study tests a model with indirect and direct paths from sensation seeking and participation in unstructured peer socialization to adolescent alcohol use. Cross-sectional data were collected from 360 students in a state-secular Jewish high school (10th to 12th grade) in the center region of Israel. The sample was equally divided between boys (51.9%) and girls (48.1%), respondents' age ranged from 15 to 17 years (mean = 16.02 ± 0.85). Structural equation modeling was used to test the direct and indirect paths. While sensation seeking had a significant direct path to adolescent alcohol use, part of the association was mediated by unstructured socializing with peers. The mediated paths were similar for boys and girls alike. Sensation seeking is primarily biologically determined and prevention efforts are unlikely to modify this personality vulnerability. The results of this study suggest that a promising prevention avenue is to modify extracurricular participation patterns of vulnerable adolescents. © The Author 2017. Medical Council on Alcohol and Oxford University Press. All rights reserved.

Individual differences in temperature perception: evidence of common processing of sensation intensity of warmth and cold.

Science.gov (United States)

Green, Barry G; Akirav, Carol

2007-01-01

The longstanding question of whether temperature is sensed via separate sensory systems for warmth and cold was investigated by measuring individual differences in perception of nonpainful heating and cooling. Sixty-two subjects gave separate ratings of the intensity of thermal sensations (warmth, cold) and nociceptive sensations (burning/stinging/pricking) produced by cooling (29 degrees C) or heating (37 degrees C) local regions of the forearm. Stimuli were delivered via a 4 x 4 array of 8 mm x 8 mm Peltier thermoelectric modules that enabled test temperatures to be presented sequentially to individual modules or simultaneously to the full array. Stimulation of the full array showed that perception of warmth and cold were highly correlated (Pearson r = 0.83, p sensations produced by the two temperatures were also correlated, but to a lesser degree (r = 0.44), and the associations between nociceptive and thermal sensations (r = 0.35 and 0.22 for 37 and 29 degrees C, respectively) were not significant after correction for multiple statistical tests. Intensity ratings for individual modules indicated that the number of responsive sites out of 16 was a poor predictor of temperature sensations but a significant predictor of nociceptive sensations. The very high correlation between ratings of thermal sensations conflicts with the classical view that warmth and cold are mediated by separate thermal modalities and implies that warm-sensitive and cold-sensitive spinothalamic pathways converge and undergo joint modulation in the central nervous system. Integration of thermal stimulation from the skin and body core within the thermoregulatory system is suggested as the possible source of this convergence.

Phantom breast sensations are frequent after mastectomy

DEFF Research Database (Denmark)

Hansen, Dorthe Marie Helbo; Kehlet, Henrik; Gærtner, Rune

2011-01-01

Phantom breast sensation (PBS) following mastectomy has been recognized for many years. PBS is a feeling that the removed breast is still there. The reported prevalence and risk factors have not been established in large well-defined patient series. The purpose of this study was to examine...... the prevalence of PBS following mastectomy and associated risk factors....

Generic robot architecture

Science.gov (United States)

Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

2010-09-21

The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

Molecular Robots Obeying Asimov's Three Laws of Robotics.

Science.gov (United States)

Kaminka, Gal A; Spokoini-Stern, Rachel; Amir, Yaniv; Agmon, Noa; Bachelet, Ido

2017-01-01

Asimov's three laws of robotics, which were shaped in the literary work of Isaac Asimov (1920-1992) and others, define a crucial code of behavior that fictional autonomous robots must obey as a condition for their integration into human society. While, general implementation of these laws in robots is widely considered impractical, limited-scope versions have been demonstrated and have proven useful in spurring scientific debate on aspects of safety and autonomy in robots and intelligent systems. In this work, we use Asimov's laws to examine these notions in molecular robots fabricated from DNA origami. We successfully programmed these robots to obey, by means of interactions between individual robots in a large population, an appropriately scoped variant of Asimov's laws, and even emulate the key scenario from Asimov's story "Runaround," in which a fictional robot gets into trouble despite adhering to the laws. Our findings show that abstract, complex notions can be encoded and implemented at the molecular scale, when we understand robots on this scale on the basis of their interactions.

Enabling image fusion for a CT guided needle placement robot

Science.gov (United States)

Seifabadi, Reza; Xu, Sheng; Aalamifar, Fereshteh; Velusamy, Gnanasekar; Puhazhendi, Kaliyappan; Wood, Bradford J.

2017-03-01

Purpose: This study presents development and integration of hardware and software that enables ultrasound (US) and computer tomography (CT) fusion for a FDA-approved CT-guided needle placement robot. Having real-time US image registered to a priori-taken intraoperative CT image provides more anatomic information during needle insertion, in order to target hard-to-see lesions or avoid critical structures invisible to CT, track target motion, and to better monitor ablation treatment zone in relation to the tumor location. Method: A passive encoded mechanical arm is developed for the robot in order to hold and track an abdominal US transducer. This 4 degrees of freedom (DOF) arm is designed to attach to the robot end-effector. The arm is locked by default and is released by a press of button. The arm is designed such that the needle is always in plane with US image. The articulated arm is calibrated to improve its accuracy. Custom designed software (OncoNav, NIH) was developed to fuse real-time US image to a priori-taken CT. Results: The accuracy of the end effector before and after passive arm calibration was 7.07mm +/- 4.14mm and 1.74mm +/-1.60mm, respectively. The accuracy of the US image to the arm calibration was 5mm. The feasibility of US-CT fusion using the proposed hardware and software was demonstrated in an abdominal commercial phantom. Conclusions: Calibration significantly improved the accuracy of the arm in US image tracking. Fusion of US to CT using the proposed hardware and software was feasible.

Personality correlates of caffeine dependence: the role of sensation seeking, impulsivity, and risk taking.

Science.gov (United States)

Jones, Heather A; Lejuez, C W

2005-08-01

The consumption of caffeine has become a growing concern, partially because of the withdrawal properties of the drug. The current study examined personality correlates of caffeine consumption and dependence in 60 university students. Self-report and behavioral measures of sensation seeking, impulsivity, and risk taking were administered to 2 groups, identified as caffeine dependent-high consuming or caffeine nondependent-low consuming. Scores on self-report measures of sensation seeking and impulsivity were related to group status, and only sensation seeking evidenced a significant relationship with group status when both variables were considered in a regression analysis. Implications of these findings and future directions are discussed. ((c) 2005 APA, all rights reserved).

Colias: An Autonomous Micro Robot for Swarm Robotic Applications

Directory of Open Access Journals (Sweden)

Farshad Arvin

2014-07-01

Full Text Available Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control a large number of simple robots in order to solve common complex tasks. Due to the hardware complexities and cost of robot platforms, current research in swarm robotics is mostly performed by simulation software. The simulation of large numbers of these robots in robotic swarm applications is extremely complex and often inaccurate due to the poor modelling of external conditions. In this paper, we present the design of a low-cost, open-platform, autonomous micro-robot (Colias for robotic swarm applications. Colias employs a circular platform with a diameter of 4 cm. It has a maximum speed of 35 cm/s which enables it to be used in swarm scenarios very quickly over large arenas. Long-range infrared modules with an adjustable output power allow the robot to communicate with its direct neighbours at a range of 0.5 cm to 2 m. Colias has been designed as a complete platform with supporting software development tools for robotics education and research. It has been tested in both individual and swarm scenarios, and the observed results demonstrate its feasibility for use as a micro-sized mobile robot and as a low-cost platform for robot swarm applications.

The Effects of Sensation Seeking, Physical Attractiveness of Stimuli, and Exposure Frequency on Liking

Science.gov (United States)

Horai, Joann

1976-01-01

Males (N=54) and 46 females who scored high or low on a sensation seeking scale were exposed to slides of physically attractive or unattractive person stimuli. High sensation seekers both liked and expected to recognize the physically attractive persons in the future more than the physically unattractive persons. (Author)

Articulation of tacit and complex knowledge

DEFF Research Database (Denmark)

Kristiansen, Per; Hansen, Poul H. Kyvsgård; Nielsen, Louise Møller

2009-01-01

The paper focuses on the articulation of tacit and complex knowledge by taking outset in a specific methodology: LEGO® SERIOUS PLAYTM. In order to expand the methodology and to develop it further we propose to regard it as a language. By choosing a language view we are able to ably a language...

A relation between calculated human body exergy consumption rate and subjectively assessed thermal sensation

Energy Technology Data Exchange (ETDEWEB)

Simone, Angela; Kolarik, Jakub; Olesen, Bjarne W. [ICIEE/BYG, Technical University of Denmark (Denmark); Iwamatsu, Toshiya [Faculty of Urban Environmental Science, Tokyo Metropolitan University (Japan); Asada, Hideo [Architech Consulting Co., Tokyo (Japan); Dovjak, Mateja [Faculty of Civil and Geodetic Engineering, University of Ljubljana (Slovenia); Schellen, Lisje [Eindhoven University of Technology, Faculty of Architecture Building and Planning (Netherlands); Shukuya, Masanori [Laboratory of Building Environment, Tokyo City University, Yokohama (Japan)

2011-01-15

Application of the exergy concept to research on the built environment is a relatively new approach. It helps to optimize climate conditioning systems so that they meet the requirements of sustainable building design. As the building should provide a healthy and comfortable environment for its occupants, it is reasonable to consider both the exergy flows in building and those within the human body. Until now, no data have been available on the relation between human-body exergy consumption rates and subjectively assessed thermal sensation. The objective of the present work was to relate thermal sensation data, from earlier thermal comfort studies, to calculated human-body exergy consumption rates. The results show that the minimum human body exergy consumption rate is associated with thermal sensation votes close to thermal neutrality, tending to the slightly cool side of thermal sensation. Generally, the relationship between air temperature and the exergy consumption rate, as a first approximation, shows an increasing trend. Taking account of both convective and radiative heat exchange between the human body and the surrounding environment by using the calculated operative temperature, exergy consumption rates increase as the operative temperature increases above 24 C or decreases below 22 C. With the data available so far, a second-order polynomial relationship between thermal sensation and the exergy consumption rate was established. (author)

Varied definitions of risk related to sensation seeking trait

International Nuclear Information System (INIS)

Daastoel, P.Oe.U.; Drottz-Sjoeberg, B.M.

1999-01-01

This pilot study is based on the assumption and the knowledge that previous results show that the normal use of the word risk varies across subjects. The risk definitions the subjects use have also been shown to be related to various educational interests. A related field of research has developed measures for Sensation Seeking personality trait, with four facets. Three independent groups of first year psychology students reported their normal definition of the word risk using one of three measurement formats. The results showed, e.g. that the typical open-ended response to the personal definition of risk was danger. Subjects who defined risk as the combination of probability and consequences tended to score higher on the total Sensation Seeking Scale, as compared to those defining risk as the probability of an event

Varied definitions of risk related to sensation seeking trait

Energy Technology Data Exchange (ETDEWEB)

Daastoel, P.Oe.U.; Drottz-Sjoeberg, B.M. [Norwegian Univ. of Science and Technology, Trondheim (Norway). Dept. of Psychology

1999-12-01

This pilot study is based on the assumption and the knowledge that previous results show that the normal use of the word risk varies across subjects. The risk definitions the subjects use have also been shown to be related to various educational interests. A related field of research has developed measures for Sensation Seeking personality trait, with four facets. Three independent groups of first year psychology students reported their normal definition of the word risk using one of three measurement formats. The results showed, e.g. that the typical open-ended response to the personal definition of risk was danger. Subjects who defined risk as the combination of probability and consequences tended to score higher on the total Sensation Seeking Scale, as compared to those defining risk as the probability of an event.

Effect of friction on vibrotactile sensation of normal and dehydrated skin.

Science.gov (United States)

Chen, S; Ge, S; Tang, W; Zhang, J

2016-02-01

Vibrotactile sensation mediated is highly dependent on surface mechanical and frictional properties. Dehydration of skin could change these properties. To investigate the relationship between friction and vibrotactile sensation of normal and dehydrated skin. Vibrations were firstly measured during surface exploration using a biomimetic sensor. Piglet skin was used as human skin model to study frictional properties for both normal and dehydrated skin using an atomic force microscope on nanoscale and a pin-on-disk tribometer on macroscale. Effect of vibrational frequency on friction and vibrotactile perception was also observed on nano and macro scale for normal and dehydrated skin. The result indicated that dehydrated skin was less sensitive than normal skin. The coefficient of friction of dehydrated skin is smaller than that of normal skin on both nano and macro scale. The coefficient of friction increases as increasing scanning frequencies. There is a positive correlation between coefficient of friction and vibrotactile sensation on nanoscale and macroscale. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Sensation seeking and impulsive traits as personality endophenotypes for antisocial behavior: Evidence from two independent samples

Science.gov (United States)

Mann, Frank D.; Engelhardt, Laura; Briley, Daniel A.; Grotzinger, Andrew D.; Patterson, Megan W.; Tackett, Jennifer L.; Strathan, Dixie B.; Heath, Andrew; Lynskey, Michael; Slutske, Wendy; Martin, Nicholas G.; Tucker-Drob, Elliot M.; Harden, K. Paige

2017-01-01

Sensation seeking and impulsivity are personality traits that are correlated with risk for antisocial behavior (ASB). This paper uses two independent samples of twins to (a) test the extent to which sensation seeking and impulsivity statistically mediate genetic influence on ASB, and (b) compare this to genetic influences accounted for by other personality traits. In Sample 1, delinquent behavior, as well as impulsivity, sensation seeking and Big Five personality traits, were measured in adolescent twins from the Texas Twin Project. In Sample 2, adult twins from the Australian Twin Registry responded to questionnaires that assessed individual differences in Eysenck's and Cloninger's personality dimensions, and a structured telephone interview that asked participants to retrospectively report DSM-defined symptoms of conduct disorder. Bivariate quantitative genetic models were used to identify genetic overlap between personality traits and ASB. Across both samples, novelty/sensation seeking and impulsive traits accounted for larger portions of genetic variance in ASB than other personality traits. We discuss whether sensation seeking and impulsive personality are causal endophenotypes for ASB, or merely index genetic liability for ASB. PMID:28824215

Sensation seeking and impulsive traits as personality endophenotypes for antisocial behavior: Evidence from two independent samples.

Science.gov (United States)

Mann, Frank D; Engelhardt, Laura; Briley, Daniel A; Grotzinger, Andrew D; Patterson, Megan W; Tackett, Jennifer L; Strathan, Dixie B; Heath, Andrew; Lynskey, Michael; Slutske, Wendy; Martin, Nicholas G; Tucker-Drob, Elliot M; Harden, K Paige

2017-01-15

Sensation seeking and impulsivity are personality traits that are correlated with risk for antisocial behavior (ASB). This paper uses two independent samples of twins to (a) test the extent to which sensation seeking and impulsivity statistically mediate genetic influence on ASB, and (b) compare this to genetic influences accounted for by other personality traits. In Sample 1, delinquent behavior, as well as impulsivity, sensation seeking and Big Five personality traits, were measured in adolescent twins from the Texas Twin Project. In Sample 2, adult twins from the Australian Twin Registry responded to questionnaires that assessed individual differences in Eysenck's and Cloninger's personality dimensions, and a structured telephone interview that asked participants to retrospectively report DSM-defined symptoms of conduct disorder. Bivariate quantitative genetic models were used to identify genetic overlap between personality traits and ASB. Across both samples, novelty/sensation seeking and impulsive traits accounted for larger portions of genetic variance in ASB than other personality traits. We discuss whether sensation seeking and impulsive personality are causal endophenotypes for ASB, or merely index genetic liability for ASB.

Micro intelligence robot

International Nuclear Information System (INIS)

Jeon, Yon Ho

1991-07-01

This book gives descriptions of micro robot about conception of robots and micro robot, match rules of conference of micro robots, search methods of mazes, and future and prospect of robots. It also explains making and design of 8 beat robot like making technique, software, sensor board circuit, and stepping motor catalog, speedy 3, Mr. Black and Mr. White, making and design of 16 beat robot, such as micro robot artist, Jerry 2 and magic art of shortening distances algorithm of robot simulation.

A Tactile Sensor Network System Using a Multiple Sensor Platform with a Dedicated CMOS-LSI for Robot Applications.

Science.gov (United States)

Shao, Chenzhong; Tanaka, Shuji; Nakayama, Takahiro; Hata, Yoshiyuki; Bartley, Travis; Nonomura, Yutaka; Muroyama, Masanori

2017-08-28

Robot tactile sensation can enhance human-robot communication in terms of safety, reliability and accuracy. The final goal of our project is to widely cover a robot body with a large number of tactile sensors, which has significant advantages such as accurate object recognition, high sensitivity and high redundancy. In this study, we developed a multi-sensor system with dedicated Complementary Metal-Oxide-Semiconductor (CMOS) Large-Scale Integration (LSI) circuit chips (referred to as "sensor platform LSI") as a framework of a serial bus-based tactile sensor network system. The sensor platform LSI supports three types of sensors: an on-chip temperature sensor, off-chip capacitive and resistive tactile sensors, and communicates with a relay node via a bus line. The multi-sensor system was first constructed on a printed circuit board to evaluate basic functions of the sensor platform LSI, such as capacitance-to-digital and resistance-to-digital conversion. Then, two kinds of external sensors, nine sensors in total, were connected to two sensor platform LSIs, and temperature, capacitive and resistive sensing data were acquired simultaneously. Moreover, we fabricated flexible printed circuit cables to demonstrate the multi-sensor system with 15 sensor platform LSIs operating simultaneously, which showed a more realistic implementation in robots. In conclusion, the multi-sensor system with up to 15 sensor platform LSIs on a bus line supporting temperature, capacitive and resistive sensing was successfully demonstrated.

Generating high-speed dynamic running gaits in a quadruped robot using an evolutionary search.

Science.gov (United States)

Krasny, Darren P; Orin, David E

2004-08-01

Over the past several decades, there has been a considerable interest in investigating high-speed dynamic gaits for legged robots. While much research has been published, both in the biomechanics and engineering fields regarding the analysis of these gaits, no single study has adequately characterized the dynamics of high-speed running as can be achieved in a realistic, yet simple, robotic system. The goal of this paper is to find the most energy-efficient, natural, and unconstrained gallop that can be achieved using a simulated quadrupedal robot with articulated legs, asymmetric mass distribution, and compliant legs. For comparison purposes, we also implement the bound and canter. The model used here is planar, although we will show that it captures much of the predominant dynamic characteristics observed in animals. While it is not our goal to prove anything about biological locomotion, the dynamic similarities between the gaits we produce and those found in animals does indicate a similar underlying dynamic mechanism. Thus, we will show that achieving natural, efficient high-speed locomotion is possible even with a fairly simple robotic system. To generate the high-speed gaits, we use an efficient evolutionary algorithm called set-based stochastic optimization. This algorithm finds open-loop control parameters to generate periodic trajectories for the body. Several alternative methods are tested to generate periodic trajectories for the legs. The combined solutions found by the evolutionary search and the periodic-leg methods, over a range of speeds up to 10.0 m/s, reveal "biological" characteristics that are emergent properties of the underlying gaits.

Articulation Skills in Spanish-Speaking Children.

Science.gov (United States)

Linares, Thomas A.