National Research Council Canada - National Science Library
Likhachev, Maxim; Arkin, Ronald C
2006-01-01
.... A review of the existing study of human comfort, especially regarding its presence in infants, is conducted with the goal being to determine the relevant characteristics for mapping it onto the robotics domain...
The human thermoneutral and thermal comfort zones: Thermal comfort in your own skin blood flow.
Schlader, Zachary J
2015-01-01
Human thermoregulation is achieved via autonomic and behavioral responses. Autonomic responses involve 2 synchronous 'components'. One counteracts large thermal perturbations, eliciting robust heat loss or gain (i.e., sweating or shivering). The other fends off smaller insults, relying solely on changes in sensible heat exchange (i.e., skin blood flow). This sensible component occurs within the thermoneutral zone [i.e., the ambient temperature range in which temperature regulation is achieved only by sensible heat transfer, without regulatory increases in metabolic heat production (e.g., shivering) or evaporative heat loss (e.g., sweating)].(1) The combination of behavior and sensible heat exchange permits a range of conditions that are deemed thermally comfortable, which is defined as the thermal comfort zone.(1) Notably, we spend the majority of our lives within the thermoneutral and thermal comfort zones. It is only when we are unable to stay within these zones that deleterious health and safety outcomes can occur (i.e., hypo- or hyperthermia). Oddly, although the thermoneutral zone and thermal preference (a concept similar to the thermal comfort zone) has been extensively studied in non-human animals, our understanding of human thermoregulation within the thermoneutral and thermal comfort zones remains rather crude.
Beyond the classic thermoneutral zone: Including thermal comfort.
Kingma, Boris Rm; Frijns, Arjan Jh; Schellen, Lisje; van Marken Lichtenbelt, Wouter D
2014-01-01
The thermoneutral zone is defined as the range of ambient temperatures where the body can maintain its core temperature solely through regulating dry heat loss, i.e., skin blood flow. A living body can only maintain its core temperature when heat production and heat loss are balanced. That means that heat transport from body core to skin must equal heat transport from skin to the environment. This study focuses on what combinations of core and skin temperature satisfy the biophysical requirements of being in the thermoneutral zone for humans. Moreover, consequences are considered of changes in insulation and adding restrictions such as thermal comfort (i.e. driver for thermal behavior). A biophysical model was developed that calculates heat transport within a body, taking into account metabolic heat production, tissue insulation, and heat distribution by blood flow and equates that to heat loss to the environment, considering skin temperature, ambient temperature and other physical parameters. The biophysical analysis shows that the steady-state ambient temperature range associated with the thermoneutral zone does not guarantee that the body is in thermal balance at basal metabolic rate per se. Instead, depending on the combination of core temperature, mean skin temperature and ambient temperature, the body may require significant increases in heat production or heat loss to maintain stable core temperature. Therefore, the definition of the thermoneutral zone might need to be reformulated. Furthermore, after adding restrictions on skin temperature for thermal comfort, the ambient temperature range associated with thermal comfort is smaller than the thermoneutral zone. This, assuming animals seek thermal comfort, suggests that thermal behavior may be initiated already before the boundaries of the thermoneutral zone are reached.
Viewing Race in the Comfort Zone
Directory of Open Access Journals (Sweden)
Brenda L. Hughes
2014-08-01
Full Text Available Carter suggests the concept of a “comfort zone” to explain the inability of dramatic African American programs to be successful on television. He argues that a workable formula has been developed for successful African American series, “portray black people in a way that would be acceptable to the millions of potential purchasers (whites of advertised products. That is, non-threatening and willing to ‘stay in their place.’”. Using a data set constructed from television ratings and shares, this study examines “black-centeredness” within the context of program success and failure. The comfort zone concept argues Black-centered television series are only successful in a comedic genre because White audiences, who have the majority of the ratings power, will only watch Black-centered series with which they are comfortable. The findings suggest that, in general, race, that is Black-centeredness, did not negatively influence program ratings or shares.
Quantifying the relevance of adaptive thermal comfort models in moderate thermal climate zones
Energy Technology Data Exchange (ETDEWEB)
Hoof, Joost van; Hensen, Jan L.M. [Faculty of Architecture, Building and Planning, Technische Universiteit Eindhoven, Vertigo 6.18, P.O. Box 513, 5600 MB Eindhoven (Netherlands)
2007-01-15
Standards governing thermal comfort evaluation are on a constant cycle of revision and public review. One of the main topics being discussed in the latest round was the introduction of an adaptive thermal comfort model, which now forms an optional part of ASHRAE Standard 55. Also on a national level, adaptive thermal comfort guidelines come into being, such as in the Netherlands. This paper discusses two implementations of the adaptive comfort model in terms of usability and energy use for moderate maritime climate zones by means of literature study, a case study comprising temperature measurements, and building performance simulation. It is concluded that for moderate climate zones the adaptive model is only applicable during summer months, and can reduce energy for naturally conditioned buildings. However, the adaptive thermal comfort model has very limited application potential for such climates. Additionally we suggest a temperature parameter with a gradual course to replace the mean monthly outdoor air temperature to avoid step changes in optimum comfort temperatures. (author)
Regional thermal comfort zone in males and females.
Ciuha, Ursa; Mekjavic, Igor B
2016-07-01
Skin regions differ in their sensitivity to temperature stimuli. The present study examined whether such regional differences were also evident in the perception of thermal comfort. Regional thermal comfort was assessed in males (N=8) and females (N=8), by having them regulate the temperature of the water delivered to a water-perfused suit (WPS), within a temperature range considered thermally comfortable. In separate trials, subjects regulated the temperature of the WPS, or specific regions of the suit covering different skin areas (arms, legs, front torso and back torso). In the absence of subjective temperature regulation (TR), the temperature changed in a sinusoidal manner from 10°C to 50°C; by depressing a switch and reversing the direction of the temperature at the limits of the thermal comfort zone (TCZ), each subject defined TCZ for each body region investigated. The range of regulated temperatures did not differ between genders and skin regions. Local Tsk at the lower and upper limits of the TCZ was similar for both genders. Higher (pthermally comfortable conditions, the well-established regional differences in thermosensitivity are not reflected in the TCZ, with similar temperature preferences by both genders. Thermal comfort of different skin regions and overall body is not achieved at a single skin temperature, but at range of temperatures, defined as the TCZ. Copyright © 2016 Elsevier Inc. All rights reserved.
The zone of comfort: Predicting visual discomfort with stereo displays
Shibata, Takashi; Kim, Joohwan; Hoffman, David M.; Banks, Martin S.
2012-01-01
Recent increased usage of stereo displays has been accompanied by public concern about potential adverse effects associated with prolonged viewing of stereo imagery. There are numerous potential sources of adverse effects, but we focused on how vergence–accommodation conflicts in stereo displays affect visual discomfort and fatigue. In one experiment, we examined the effect of viewing distance on discomfort and fatigue. We found that conflicts of a given dioptric value were slightly less comfortable at far than at near distance. In a second experiment, we examined the effect of the sign of the vergence–accommodation conflict on discomfort and fatigue. We found that negative conflicts (stereo content behind the screen) are less comfortable at far distances and that positive conflicts (content in front of screen) are less comfortable at near distances. In a third experiment, we measured phoria and the zone of clear single binocular vision, which are clinical measurements commonly associated with correcting refractive error. Those measurements predicted susceptibility to discomfort in the first two experiments. We discuss the relevance of these findings for a wide variety of situations including the viewing of mobile devices, desktop displays, television, and cinema. PMID:21778252
"Sub Specie Boni": The Comfort Zone of Self-Belief--A Dimension in Counseling Offenders.
Church, James Lee
1996-01-01
Claims that self-defeating behavior is a rational attempt to satisfy early, introjected messages about the type of person one is, arising from a desire for things perceived as good--sub specie boni. Examines the notion of the comfort zone, toxic shame, and therapists' responsibility to nourish acceptable joy. (RJM)
Forty years of Fanger's model of thermal comfort: Comfort for all?
Hoof, van J.
2008-01-01
The predicted mean vote (PMV) model of thermal comfort, created by Fanger in the late 1960s, is used worldwide to assess thermal comfort. Fanger based his model on college-aged students for use in invariant environmental conditions in air-conditioned buildings in moderate thermal climate zones.
Forty years of Fanger's model of thermal comfort: comfort for all?
van Hoof, J
2008-06-01
The predicted mean vote (PMV) model of thermal comfort, created by Fanger in the late 1960s, is used worldwide to assess thermal comfort. Fanger based his model on college-aged students for use in invariant environmental conditions in air-conditioned buildings in moderate thermal climate zones. Environmental engineering practice calls for a predictive method that is applicable to all types of people in any kind of building in every climate zone. In this publication, existing support and criticism, as well as modifications to the PMV model are discussed in light of the requirements by environmental engineering practice in the 21st century in order to move from a predicted mean vote to comfort for all. Improved prediction of thermal comfort can be achieved through improving the validity of the PMV model, better specification of the model's input parameters, and accounting for outdoor thermal conditions and special groups. The application range of the PMV model can be enlarged, for instance, by using the model to assess the effects of the thermal environment on productivity and behavior, and interactions with other indoor environmental parameters, and the use of information and communication technologies. Even with such modifications to thermal comfort evaluation, thermal comfort for all can only be achieved when occupants have effective control over their own thermal environment. The paper treats the assessment of thermal comfort using the PMV model of Fanger, and deals with the strengths and limitations of this model. Readers are made familiar to some opportunities for use in the 21st-century information society.
Adaptive Human-Aware Robot Navigation in Close Proximity to Humans
DEFF Research Database (Denmark)
Svenstrup, Mikael; Hansen, Søren Tranberg; Andersen, Hans Jørgen
2011-01-01
For robots to be able coexist with people in future everyday human environments, they must be able to act in a safe, natural and comfortable way. This work addresses the motion of a mobile robot in an environment, where humans potentially want to interact with it. The designed system consists...... system that uses a potential field to derive motion that respects the personʹs social zones and perceived interest in interaction. The operation of the system is evaluated in a controlled scenario in an open hall environment. It is demonstrated that the robot is able to learn to estimate if a person...... wishes to interact, and that the system is capable of adapting to changing behaviours of the humans in the environment....
Effects of normobaric hypoxic bed rest on the thermal comfort zone.
Ciuha, Ursa; Eiken, Ola; Mekjavic, Igor B
2015-01-01
Future Lunar and Mars habitats will maintain a hypobaric hypoxic environment to minimise the risk of decompression sickness during the preparation for extra-vehicular activity. This study was part of a larger study investigating the separate and combined effects of inactivity associated with reduced gravity and hypoxia, on the cardiovascular, musculoskeletal, neurohumoural, and thermoregulatory systems. Eleven healthy normothermic young male subjects participated in three trials conducted on separate occasions: (1) Normobaric hypoxic ambulatory confinement, (2) Normobaric hypoxic bedrest and (3) Normobaric normoxic bedrest. Normobaric hypoxia was achieved by reduction of the oxygen fraction in the air (FiO2 = 0.141 ± 0.004) within the facility, while the effects of reduced gravity were simulated by confining the subjects to a horizontal position in bed, with all daily routines performed in this position for 21 days. The present study investigated the effect of the interventions on behavioural temperature regulation. The characteristics of the thermal comfort zone (TCZ) were assessed by a water-perfused suit, with the subjects instructed to regulate the sinusoidally varying temperature of the suit within a range considered as thermally comfortable. Measurements were performed 5 days prior to the intervention (D-5), and on days 10 (D10) and 20 (D20) of the intervention. no statistically significant differences were found in any of the characteristics of the TCZ between the interventions (HAMB, HBR and NBR), or between different measurement days (D-5, D10, D20) within each intervention. rectal temperature remained stable, whereas skin temperature (Tsk) increased during all interventions throughout the one hour trial. no difference in Tsk between D-5, D10 and D20, and between HAMB, HBR and NBR were revealed. subjects perceived the regulated temperature as thermally comfortable, and neutral or warm. we conclude that regulation of thermal comfort is not compromised by
Energy Technology Data Exchange (ETDEWEB)
Tiwari, G.N. (Indian Inst. of Tech., New Delhi (India). Centre for Energy Studies); Lugani, N. (Indian Inst. of Tech., New Delhi (India). Centre for Energy Studies); Singh, A.K. (Indian Inst. of Tech., New Delhi (India). Centre for Energy Studies)
1993-01-01
In this communication, a design of a cinema hall suitable for climatic conditions in an arid zone has been presented. The various cooling techniques, namely evaporative cooling, wind tower, ventilation/infiltration and natural cooling, have been incorporated in the design to achieve thermal comfort during the period of operation. The design parameters have been optimized on the basis of numerical computations after establishing an energy balance for each component of a cinema hall. It is observed that cooling treatment, i.e., a wind tower with a cooling pool on the roof provides reasonable thermal comfort inside the enclosure. (orig.)
A tracked robot with novel bio-inspired passive "legs".
Sun, Bo; Jing, Xingjian
2017-01-01
For track-based robots, an important aspect is the suppression design, which determines the trafficability and comfort of the whole system. The trafficability limits the robot's working capability, and the riding comfort limits the robot's working effectiveness, especially with some sensitive instruments mounted on or operated. To these aims, a track-based robot equipped with a novel passive bio-inspired suspension is designed and studied systematically in this paper. Animal or insects have very special leg or limb structures which are good for motion control and adaptable to different environments. Inspired by this, a new track-based robot is designed with novel "legs" for connecting the loading wheels to the robot body. Each leg is designed with passive structures and can achieve very high loading capacity but low dynamic stiffness such that the robot can move on rough ground similar to a multi-leg animal or insect. Therefore, the trafficability and riding comfort can be significantly improved without losing loading capacity. The new track-based robot can be well applied to various engineering tasks for providing a stable moving platform of high mobility, better trafficability and excellent loading capacity.
Rø stad, Anders; Kaartvedt, Stein; Aksnes, Dag L.
2016-01-01
We make a comparison of the mesopelagic sound scattering layers (SLs) in two contrasting optical environments; the clear Red Sea and in murkier coastal waters of Norway (Masfjorden). The depth distributions of the SL in Masfjorden are shallower and narrower than those of the Red Sea. This difference in depth distribution is consistent with the hypothesis that the organisms of the SL distribute according to similar light comfort zones (LCZ) in the two environments. Our study suggest that surface and underwater light measurements ranging more than10 orders of magnitude is required to assess the controlling effects of light on SL structure and dynamics.
Røstad, Anders
2016-03-31
We make a comparison of the mesopelagic sound scattering layers (SLs) in two contrasting optical environments; the clear Red Sea and in murkier coastal waters of Norway (Masfjorden). The depth distributions of the SL in Masfjorden are shallower and narrower than those of the Red Sea. This difference in depth distribution is consistent with the hypothesis that the organisms of the SL distribute according to similar light comfort zones (LCZ) in the two environments. Our study suggest that surface and underwater light measurements ranging more than10 orders of magnitude is required to assess the controlling effects of light on SL structure and dynamics.
Simulation of global warming effect on outdoor thermal comfort conditions
Energy Technology Data Exchange (ETDEWEB)
Roshan, G.R.; Ranjbar, F. [Univ. of Tehran (IR). Dept. of Physical Geography; Orosa, J.A. [Univ. of A Coruna (Spain). Dept. of Energy
2010-07-01
In the coming decades, global warming and increase in temperature, in different regions of the world, may change indoor and outdoor thermal comfort conditions and human health. The aim of this research was to study the effects of global warming on thermal comfort conditions in indoor ambiences in Iran. To study the increase in temperature, model for assessment of greenhouse-gas induced climate change scenario generator compound model has been used together with four scenarios and to estimate thermal comfort conditions, adaptive model of the American Society of Heating, Refrigerating and Air-Conditioning Engineers has been used. In this study, Iran was divided into 30 zones, outdoor conditions were obtained using meteorological data of 80 climatological stations and changes in neutral comfort conditions in 2025, 2050, 2075 and 2100 were predicted. In accordance with each scenario, findings from this study showed that temperature in the 30 zones will increase by 2100 to between 3.4 C and 5.6 C. In the coming decades and in the 30 studied zones, neutral comfort temperature will increase and be higher and more intense in the central and desert zones of Iran. The low increase in this temperature will be connected to the coastal areas of the Caspian and Oman Sea in southeast Iran. This increase in temperature will be followed by a change in thermal comfort and indoor energy consumption from 8.6 % to 13.1 % in air conditioning systems. As a result, passive methods as thermal inertia are proposed as a possible solution.
Thermal comfort in commercial kitchens (RP-1469)
DEFF Research Database (Denmark)
Simone, Angela; Olesen, Bjarne W.; Stoops, John L.
2013-01-01
The indoor climate in commercial kitchens is often unsatisfactory, and working conditions can have a significant effect on employees’ comfort and productivity. The type of establishment (fast food, casual, etc.) and climatic zone can influence thermal conditions in the kitchens. Moreover, the size...... and arrangement of the kitchen zones, appliances, etc., further complicate an evaluation of the indoor thermal environment in commercial kitchens. In general, comfort criteria are stipulated in international standards (e.g., ASHRAE 55 or ISO EN 7730), but are these standardized methods applicable...... dissatisfied (PMV/PPD) index is not directly appropriate for all thermal conditions in commercial kitchens....
Socially intelligent robots: dimensions of human-robot interaction.
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.
Thermal comfort zone of the hands, feet and head in males and females.
Ciuha, Urša; Mekjavic, Igor B
2017-10-01
The present study compared the thermal comfort zones (TCZ) of the hands, feet and head in eight male and eight female participants, assessed with water-perfused segments (WPS). On separate occasions, and separated by a minimum of one day, participants were requested to regulate the temperature of three distal skin regions (hands, feet and head) within their TCZ. On each occasion they donned a specific water-perfused segment (WPS), either gloves, socks or hood for assessing the TCZ of the hands, feet and head, respectively. In the absence of regulation, the temperature of the water perfusing the WPS changed in a saw-tooth manner from 10 to 50°C; by depressing a switch and reversing the direction of the temperature at the limits of the TCZ, each participant defined the TCZ for each skin region investigated. The range of regulated temperatures (upper and lower limits of the TCZ) did not differ between studied skin regions or between genders. Participants however maintained higher head (35.7±0.4°C; p˂0.001) skin temperature (Tsk) compared to hands (34.5±0.8°C) and feet (33.8±1.1°C). When exposed to normothermic conditions, distal skin regions do not differ in ranges of temperatures, perceived as thermally comfortable. Copyright © 2017. Published by Elsevier Inc.
[Robot-aided training in rehabilitation].
Hachisuka, Kenji
2010-02-01
Recently, new training techniques that involve the use of robots have been used in the rehabilitation of patients with hemiplegia and paraplegia. Robots used for training the arm include the MIT-MANUS, Arm Trainer, mirror-image motion enabler (MIME) robot, and the assisted rehabilitation and measurement (ARM) Guide. Robots that are used for lower-limb training are the Rehabot, Gait Trainer, Lokomat, LOPES Exoskeleton Robot, and Gait Assist Robot. Robot-aided therapy has enabled the functional training of the arm and the lower limbs in an effective, easy, and comfortable manner. Therefore, with this type of therapy, the patients can repeatedly undergo sufficient and accurate training for a prolonged period. However, evidence of the benefits of robot-aided training has not yet been established.
Child's recognition of emotions in robot's face and body
Cohen, I.; Looije, R.; Neerincx, M.A.
2011-01-01
Social robots can comfort and support children who have to cope with chronic diseases. In previous studies, a "facial robot", the iCat, proved to show well-recognized emotional expressions that are important in social interactions. The question is if a mobile robot without a face, the Nao, can
A simplified tool for building layout design based on thermal comfort simulations
Directory of Open Access Journals (Sweden)
Prashant Anand
2017-06-01
Full Text Available Thermal comfort aspects of indoor spaces are crucial during the design stages of building layout planning. This study presents a simplified tool based on thermal comfort using predicted mean vote (PMV index. Thermal comfort simulations were performed for 14 different possible room layouts based on window configurations. ECOTECT 12 was used to determine the PMV of these rooms for one full year, leading to 17,808 simulations. Simulations were performed for three different climatic zones in India and were validated using in-situ measurements from one of these climatic zones. For moderate climates, rooms with window openings on the south façade exhibited the best thermal comfort conditions for nights, with comfort conditions prevailing for approximately 79.25% of the time annually. For operation during the day, windows on the north façade are favored, with thermal comfort conditions prevailing for approximately 77.74% of the time annually. Similar results for day and night time operation for other two climatic zones are presented. Such an output is essential in deciding the layout of buildings on the basis of functionality of the different rooms (living room, bedroom, kitchen corresponding to different operation times of the day.
How I Left My Comfort Zone in Pure Mathematics
Directory of Open Access Journals (Sweden)
Şeyda UYSAL
2016-12-01
Full Text Available Why am I writing a diary? What did I gain by writing a diary? When I write randomly on a piece of paper, it gives me inspiration about my life and about my academic plans. I discovered my interests with writing practice, and I thought sharing my story with others might be a good idea. I studied mathematics as my major. When I was a senior, I already felt tired of abstract mathematics. Psychology of education could be better for me, or another field which has its concrete application in real life. However, at the same time, I did not want to move away from mathematics. Then I met the Department of Education, and I started to take some classes related to education to get ready for my teaching carrier. Because with some background in pedagogy, I knew that I would be able to be more helpful to my students in the future. Then I realized that some mathematical issues which my professors probably worked on for hours were quite barren and not useful for my purposes: teaching mathematics, I mean, usable mathematics that is lots of fun! When I started teaching after having my bachelor’s degree, the biggest challenge for me was to motivate my students. The classroom had good materials and I had the skills to solve the advanced problem sets in mathematics. But how could I find the opportunity to have good communication with my students? These years were worse than my college years. I loved mathematics and I did not understand why they did not! I pondered and made observations about it for almost a year, and I realized that there could be a bigger reason; not related to me personally or to math. I kept records of my teaching experience and wrote down my opinions daily. My husband and I discussed specific problematic situations in the classroom. Finally I happened to figure it out that I decided to leave my comfort zone. What was my comfort zone? It was where I felt safe and what I felt comfortable in doing. I was solving mathematics problems by myself, but
Human-robot collaboration for a shared mission
Karami , Abir-Beatrice; Jeanpierre , Laurent; Mouaddib , Abdel-Illah
2010-01-01
International audience; We are interested in collaboration domains between a robot and a human partner, the partners share a common mission without an explicit communication about their plans. The decision process of the robot agent should consider the presence of its human partner. Also, the robot planning should be flexible to human comfortability and all possible changes in the shared environment. To solve the problem of human-robot collaborationwith no communication, we present a model th...
Evaluating comfort with varying temperatures: a graphic design tool
Energy Technology Data Exchange (ETDEWEB)
Evans, J.M. [Research Centre Habitat and Energy, Faculty of Architecture, Design and Urbanism, University of Buenos Aires, Ciudad Universitaria (Argentina)
2002-07-01
This paper considers the need to define comfort of indoor and outdoor spaces in relation to the daily variations of temperature. A graphical tool is presented, which indicates the daily swings of temperature, shown as a single point on a graph representing the average temperature and the maximum temperature swing. This point can be compared with the comfort zones for different activity levels, such as sedentary activity, sleeping, indoor and outdoor circulation according to the design proposals for different spaces. The graph allows the representation of climatic variables, the definition of comfort zones, the selection of bio climatic design resources and the evaluation of indoor temperatures, measured in actual buildings or obtained from computer simulations. The development of the graph is explained and examples given with special emphasis on the use of thermal mass. (author)
The road to self-leadership development busting out of your comfort zone
Ross, Stanley C
2015-01-01
The primary purpose of The Road to Self-Leadership Development: Busting Out of Your Comfort Zone is to provide individuals who want to become a leader with a systematic approach for learning how to first learn to become a self-leader. Organizations can use the book for identifying leader types and within leadership development training programs. Individuals need help in understanding the logic of being a self-leader and the critical role of self-worth (encompasses self-esteem, self-concept and self-confidence) in the process of developing the self-leader as a preparatory step to leadership development. The book offers two important benefits to readers. First, readers learn that to lead others involves learning how to lead the self and self-leadership is all about improving feelings of self-worth. Second, the book provides a practical model for readers to follow in creating a personalized self-leadership development process or an organizations human resource leaders with a model to follow in designing and impl...
Analyzing the effects of human-aware motion planning on close-proximity human-robot collaboration.
Lasota, Przemyslaw A; Shah, Julie A
2015-02-01
The objective of this work was to examine human response to motion-level robot adaptation to determine its effect on team fluency, human satisfaction, and perceived safety and comfort. The evaluation of human response to adaptive robotic assistants has been limited, particularly in the realm of motion-level adaptation. The lack of true human-in-the-loop evaluation has made it impossible to determine whether such adaptation would lead to efficient and satisfying human-robot interaction. We conducted an experiment in which participants worked with a robot to perform a collaborative task. Participants worked with an adaptive robot incorporating human-aware motion planning and with a baseline robot using shortest-path motions. Team fluency was evaluated through a set of quantitative metrics, and human satisfaction and perceived safety and comfort were evaluated through questionnaires. When working with the adaptive robot, participants completed the task 5.57% faster, with 19.9% more concurrent motion, 2.96% less human idle time, 17.3% less robot idle time, and a 15.1% greater separation distance. Questionnaire responses indicated that participants felt safer and more comfortable when working with an adaptive robot and were more satisfied with it as a teammate than with the standard robot. People respond well to motion-level robot adaptation, and significant benefits can be achieved from its use in terms of both human-robot team fluency and human worker satisfaction. Our conclusion supports the development of technologies that could be used to implement human-aware motion planning in collaborative robots and the use of this technique for close-proximity human-robot collaboration.
MIT-Skywalker: Evaluating comfort of bicycle/saddle seat.
Goncalves, Rogerio S; Hamilton, Taya; Daher, Ali R; Hirai, Hiroaki; Krebs, Hermano I
2017-07-01
The MIT-Skywalker is a robotic device developed for the rehabilitation of gait and balance after a neurological injury. This device has been designed based on the concept of a passive walker and provides three distinct training modes: discrete movement, rhythmic movement, and balance training. In this paper, we present our efforts to evaluate the comfort of a bicycle/saddle seat design for the system's novel actuated body weight support device. We employed different bicycle and saddle seats and evaluated comfort using objective and subjective measures. Here we will summarize the results obtained from a study of fifteen healthy subjects and one stroke patient that led to the selection of a saddle seat design for the MIT-Skywalker.
Attitudes and reactions to a healthcare robot.
Broadbent, Elizabeth; Kuo, I Han; Lee, Yong In; Rabindran, Joel; Kerse, Ngaire; Stafford, Rebecca; MacDonald, Bruce A
2010-06-01
The use of robots in healthcare is a new concept. The public's perception and acceptance is not well understood. The objective was to investigate the perceptions and emotions toward the utilization of healthcare robots among individuals over 40 years of age, investigate factors contributing to acceptance, and evaluate differences in blood pressure checks taken by a robot and a medical student. Fifty-seven (n = 57) adults aged over 40 years and recruited from local general practitioner or gerontology group lists participated in two cross-sectional studies. The first was an open-ended questionnaire assessing perceptions of robots. In the second study, participants had their blood pressure taken by a medical student and by a robot. Patient comfort with each encounter, perceived accuracy of each measurement, and the quality of the patient interaction were studied in each case. Readings were compared by independent t-tests and regression analyses were conducted to predict quality ratings. Participants' perceptions about robots were influenced by their prior exposure to robots in literature or entertainment media. Participants saw many benefits and applications for healthcare robots, including simple medical procedures and physical assistance, but had some concerns about reliability, safety, and the loss of personal care. Blood pressure readings did not differ between the medical student and robot, but participants felt more comfortable with the medical student and saw the robot as less accurate. Although age and sex were not significant predictors, individuals who held more positive initial attitudes and emotions toward robots rated the robot interaction more favorably. Many people see robots as having benefits and applications in healthcare but some have concerns. Individual attitudes and emotions regarding robots in general are likely to influence future acceptance of their introduction into healthcare processes.
Analyzing the Effects of Human-Aware Motion Planning on Close-Proximity Human–Robot Collaboration
Shah, Julie A.
2015-01-01
Objective: The objective of this work was to examine human response to motion-level robot adaptation to determine its effect on team fluency, human satisfaction, and perceived safety and comfort. Background: The evaluation of human response to adaptive robotic assistants has been limited, particularly in the realm of motion-level adaptation. The lack of true human-in-the-loop evaluation has made it impossible to determine whether such adaptation would lead to efficient and satisfying human–robot interaction. Method: We conducted an experiment in which participants worked with a robot to perform a collaborative task. Participants worked with an adaptive robot incorporating human-aware motion planning and with a baseline robot using shortest-path motions. Team fluency was evaluated through a set of quantitative metrics, and human satisfaction and perceived safety and comfort were evaluated through questionnaires. Results: When working with the adaptive robot, participants completed the task 5.57% faster, with 19.9% more concurrent motion, 2.96% less human idle time, 17.3% less robot idle time, and a 15.1% greater separation distance. Questionnaire responses indicated that participants felt safer and more comfortable when working with an adaptive robot and were more satisfied with it as a teammate than with the standard robot. Conclusion: People respond well to motion-level robot adaptation, and significant benefits can be achieved from its use in terms of both human–robot team fluency and human worker satisfaction. Application: Our conclusion supports the development of technologies that could be used to implement human-aware motion planning in collaborative robots and the use of this technique for close-proximity human–robot collaboration. PMID:25790568
Hwang, Ruey-Lung; Lin, Tzu-Ping; Chen, Chen-Peng; Kuo, Nai-Jung
2009-03-01
Divergence in the acceptability to people in different regions of naturally ventilated thermal environments raises a concern over the extent to which the ASHRAE Standard 55 may be applied as a universal criterion of thermal comfort. In this study, the ASHRAE 55 adaptive model of thermal comfort was investigated for its applicability to a hot and humid climate through a long-term field survey performed in central Taiwan among local students attending 14 elementary and high schools during September to January. Adaptive behaviors, thermal neutrality, and thermal comfort zones are explored. A probit analysis of thermal acceptability responses from students was performed in place of the conventional linear regression of thermal sensation votes against operative temperature to investigate the limits of comfort zones for 90% and 80% acceptability; the corresponding comfort zones were found to occur at 20.1-28.4°C and 17.6-30.0°C, respectively. In comparison with the yearly comfort zones recommended by the adaptive model for naturally ventilated spaces in the ASHRAE Standard 55, those observed in this study differ in the lower limit for 80% acceptability, with the observed level being 1.7°C lower than the ASHRAE-recommended value. These findings can be generalized to the population of school children, thus providing information that can supplement ASHRAE Standard 55 in evaluating the thermal performance of naturally ventilated school buildings, particularly in hot-humid areas such as Taiwan.
Air humidity requirements for human comfort
DEFF Research Database (Denmark)
Toftum, Jørn; Fanger, Povl Ole
1999-01-01
level near 100% rh. For respiratory comfort are the requirements much more stringent and results in lower permissible indoor air humidities. Compared with the upper humidity limit specified in existing thermal comfort standards, e.g. ASHRAE Addendum 55a, the humidity limit based on skin humidity......Upper humidity limits for the comfort zone determined from two recently presented models for predicting discomfort due to skin humidity and insufficient respiratory cooling are proposed. The proposed limits are compared with the maximum permissible humidity level prescribed in existing standards...... for the thermal indoor environment. The skin humidity model predicts discomfort as a function of the relative humidity of the skin, which is determined by existing models for human heat and moisture transfer based on environmental parameters, clothing characteristics and activity level. The respiratory model...
The Design and Implementation of a Prototype Surf-Zone Robot for Waterborne Operations
2015-12-01
Measurement Unit IR Infrared MC Mission Complexity MONTe Mobility over Non-Trivial Terrain MOSART Mobile Surf-zone Amphibious Robot NIST... rubber coating (Plasti-Dip) and a liquid repellent treatment (Rust-Oleum Never Wet–multisurface). An FDM sparse part T5 was coated as depicted in Figure...Coating Process on FDM Part T5 Figure 15. (a) FDM part with two layers of black rubber coating (first coating), (b) FDM part with liquid repelling
Improvement of Thermal Comfort in a Naturally Ventilated Office
DEFF Research Database (Denmark)
Bjørn, Erik; Jensen, J.; Larsen, J.
The paper describes the results of laboratory investigations in a mock-up of an office space with the purpose of investigating the impact of different opening strategies on thermal comfort conditions in the occupied zone. The results show that different window opening strategies result in quite...... different airflow and thermal comfort conditions. The conditions are a result of a multivariable impact, and detailed descriptions of the flows involved are complex....
Integration of eaves and shading devices for improving the thermal comfort in a multi-zone building
Directory of Open Access Journals (Sweden)
Haddam Muhammad Abdalkhalaq Chuayb
2015-01-01
Full Text Available This paper introduces a new approach to the description and modelling of multi-zone buildings in Saharan climate. Therefore, nodal method was used to apprehend thermo-aeraulic behavior of air subjected to varied solicitations. A coupling was made between equations proposed by P. Rumianowski and some equations of a building thermal energy model found in the TRNSYS user manual. Runge-Kutta fourth order numerical method was used to solve the obtained system of differential equations. Theses results show that proper design of passive houses in an arid region is based on the control of direct solar gains, temperatures and specific humidities. According to the compactness index, the insersion of solar shading and eaves can provide improved thermo-aeraulic comfort.
Evaluating Thermal Comfort in a Naturally Conditioned Office in a Temperate Climate Zone
Directory of Open Access Journals (Sweden)
Andrés Gallardo
2016-07-01
Full Text Available This study aims to determine the optimal approach for evaluating thermal comfort in an office that uses natural ventilation as the main conditioning strategy; the office is located in Quito-Ecuador. The performance of the adaptive model included in CEN Standard EN15251 and the traditional PMV model are compared with reports of thermal environment satisfaction surveys presented simultaneously to all occupants of the office to determine which of the two comfort models is most suitable to evaluate the thermal environment. The results indicate that office occupants have developed some degree of adaptation to the climatic conditions of the city where the office is located (which only demands heating operation, and tend to accept and even prefer lower operative temperatures than those considered optimum by applying the PMV model. This is an indication that occupants of naturally conditioned buildings are usually able to match their comfort temperature to their normal environment. Therefore, the application of the adaptive model included in CEN Standard EN15251 seems like the optimal approach for evaluating thermal comfort in naturally conditioned buildings, because it takes into consideration the adaptive principle that indicates that if a change occurs such as to produce discomfort, people tend to react in ways which restore their comfort.
Quantifying the relevance of adaptive thermal comfort models in moderate thermal climate zones
Hoof, van J.; Hensen, J.L.M.
2007-01-01
Standards governing thermal comfort evaluation are on a constant cycle of revision and public review. One of the main topics being discussed in the latest round was the introduction of an adaptive thermal comfort model, which now forms an optional part of ASHRAE Standard 55. Also on a national
IMPLICATIONS OF CLIMATE CHANGE ON HUMAN COMFORT
African Journals Online (AJOL)
Prince Acheampong
industrial activities, electricity generation and transportation release more CO2 ... The relation of the four factors that determine the comfort zone is illustrated on the Bioclimatic chart, ... Architectural Consulting firms, Technical Experts of the Architectural and Engineering Services Limited ... touch to the walls by painting them.
Automatic Supervision of Temperature, Humidity, and Luminance with an Assistant Personal Robot
Directory of Open Access Journals (Sweden)
Jordi Palacín
2017-01-01
Full Text Available Smart environments and Ambient Intelligence (AmI technologies are defining the future society where energy optimization and intelligent management are essential for a sustainable advance. Mobile robotics is also making an important contribution to this advance with the integration of sensors and intelligent processing algorithms. This paper presents the application of an Assistant Personal Robot (APR as an autonomous agent for temperature, humidity, and luminance supervision in human-frequented areas. The robot multiagent capabilities allow gathering sensor information while exploring or performing specific tasks and then verifying human comfortability levels. The proposed methodology creates information maps with the distribution of temperature, humidity, and luminance and interprets such information in terms of comfort and warns about corrective actuations if required.
Egberts, J-H; Aselmann, H; Schafmayer, C; Jünemann, K-P; Becker, T
2014-02-01
Ivor Lewis oesophagectomy is one of the approaches used worldwide for treating oesophageal cancer. The adoption of minimally invasive oesophagectomy has increased worldwide since its first description more than 15 years ago. However, minimally invasive oesophagectomy with a chest anastomosis has advantages. By using a four-arm robotic platform, not only the preparation of the gastric tube and mobilisation of the oesophagus but also the intrathoracic anastomosis of the oesophagogastrostomy can be performed in a comfortable and safe way. The indication for oesophageal resection is oesophageal cancer. The operative procedure comprises robotic-assisted abdominothoracal oesophageal resection with reconstruction by a gastric tube and intrathoracic anastomosis (Ivor Lewis procedure). Robotic abdominal and thoracic minimally invasive esophagectomy is feasible, and safe with a complete lymph node dissection. Especially the intrathoracic anastomosis of the oesophagogastrostomy can be performed in a comfortable and safe way. Georg Thieme Verlag KG Stuttgart · New York.
Creating high performance buildings: Lower energy, better comfort
International Nuclear Information System (INIS)
Brager, Gail; Arens, Edward
2015-01-01
Buildings play a critical role in the challenge of mitigating and adapting to climate change. It is estimated that buildings contribute 39% of the total U.S. greenhouse gas (GHG) emissions [1] primarily due to their operational energy use, and about 80% of this building energy use is for heating, cooling, ventilating, and lighting. An important premise of this paper is about the connection between energy and comfort. They are inseparable when one talks about high performance buildings. Worldwide data suggests that we are significantly overcooling buildings in the summer, resulting in increased energy use and problems with thermal comfort. In contrast, in naturally ventilated buildings without mechanical cooling, people are comfortable in much warmer temperatures due to shifting expectations and preferences as a result of occupants having a greater degree of personal control over their thermal environment; they have also become more accustomed to variable conditions that closely reflect the natural rhythms of outdoor climate patterns. This has resulted in an adaptive comfort zone that offers significant potential for encouraging naturally ventilated buildings to improve both energy use and comfort. Research on other forms for providing individualized control through low-energy personal comfort systems (desktop fans, foot warmed, and heated and cooled chairs) have also demonstrated enormous potential for improving both energy and comfort performance. Studies have demonstrated high levels of comfort with these systems while ambient temperatures ranged from 64–84°F. Energy and indoor environmental quality are inextricably linked, and must both be important goals of a high performance building
Design for thermal sensation and comfort states in vehicles cabins
International Nuclear Information System (INIS)
Alahmer, Ali; Abdelhamid, Mahmoud; Omar, Mohammed
2012-01-01
achieve the human comfort zone faster than the case if the RH value is not controlled. Also, the measured and predicted transient temperatures are compared and found to be in good agreement. - Highlights: ► The vehicular comfort computed using the experiments by aid thermography measurements. ► Passenger thermal sensation and comfort states computed under RH scenarios. ► Controlling the RH will achieve the comfort zone faster than if is not controlled.
MONITORING OF LOWER LIMB COMFORT AND INJURY IN ELITE FOOTBALL
Directory of Open Access Journals (Sweden)
Michael Kinchington
2010-12-01
Full Text Available The aim of the study was to examine the relation between lower limb comfort scores and injury and to measure the responsiveness of a lower limb comfort index (LLCI to changes over time, in a cohort of professional footballers. Lower limb comfort was recorded for each individual using a comfort index which assessed the comfort status of five anatomical segments and footwear. Specifically we tested the extent to which comfort zones as measured by the LLCI were related to injury measured as time loss events. The hypothesis for the study was that poor lower limb comfort is related to time loss events (training or match day. A total of 3524 player weeks of data was collected from 182 professional athletes encompassing three codes of football (Australian Rules, Rugby league, Rugby Union. The study was conducted during football competition periods for the respective football leagues and included a period of pre- season training. The results of regression indicated that poor lower limb comfort was highly correlated to injury (R2 =0.77 and accounted for 43.5 time loss events/ 1000hrs football exposure. While poor comfort was predictive of injury 47% of all time loss events it was not statistically relevant (R2 =0.18. The results indicate lower limb comfort can be used to assess the well-being of the lower limb; poor comfort is associated with injury, and the LLCI has good face validity and high criterion-related validity for the relationship between comfort and injury
Comfort zone-design free stalls: do they influence the stall use behavior of lame cows?
Cook, N B; Marin, M J; Mentink, R L; Bennett, T B; Schaefer, M J
2008-12-01
The behavior of 59 cows in 4 herds, each with Comfort Zone-design free stalls with dimensions suitable for 700-kg, mature Holstein dairy cows, was filmed for a 48-h period. Comparison was made between nonlame, slightly lame, and moderately lame cows on either rubber-crumb-filled mattress stall surfaces bedded with a small amount of sawdust (2 herds) or a Pack Mat design, which consisted of a rubber-crumb-filled mattress pad installed 5 cm below a raised rear curb, bedded with 5 to 8 cm of sand bedding (2 herds). All other stall design components were similar. Despite adequate resting space and freedom to perform normal rising and lying movements, lame cows on mattresses stood in the stall for >2 h longer than nonlame cows. Although a significant increase in stall standing behavior was observed in lame cows on Pack Mat stalls, the mean (95% confidence interval) standing time in the stall was only 0.7 (0 to 3.0) h/d for nonlame cows and 1.6 (0 to 4.2) h/d for moderately lame cows, which was less than the 2.1 (0 to 4.4), 4.3 (1.6 to 6.9), and 4.9 (2.5 to 7.3) h/d spent standing in the stall for nonlame, slightly lame, and moderately lame cows on mattresses, respectively. This observation supports the hypothesis that it is the nature of the stall surface that dictates changes in stall standing behavior observed in lame cows, rather than other components of stall design. The finding that only 5 to 8 cm of sand over a mattress pad provides most of the benefits of deep sand-bedded stalls, along with other advantages related to stall maintenance and manure handling, gives farmers another useful housing alternative with which to improve cow comfort and well-being.
Waytz, Adam; Norton, Michael I
2014-04-01
Technological innovations have produced robots capable of jobs that, until recently, only humans could perform. The present research explores the psychology of "botsourcing"-the replacement of human jobs by robots-while examining how understanding botsourcing can inform the psychology of outsourcing-the replacement of jobs in one country by humans from other countries. We test four related hypotheses across six experiments: (1) Given people's lay theories about the capacities for cognition and emotion for robots and humans, workers will express more discomfort with botsourcing when they consider losing jobs that require emotion versus cognition; (2) people will express more comfort with botsourcing when jobs are framed as requiring cognition versus emotion; (3) people will express more comfort with botsourcing for jobs that do require emotion if robots appear to convey more emotion; and (4) people prefer to outsource cognition- versus emotion-oriented jobs to other humans who are perceived as more versus less robotic. These results have theoretical implications for understanding social cognition about both humans and nonhumans and practical implications for the increasingly botsourced and outsourced economy.
Sea-Shore Interface Robotic Design
2014-06-01
for various beachfront terrains. Robotics , Robot , Amphibious Vehicles, Mobility, Surf-Zone, Autonomous, Wheg, exoskeleton Unclassified Unclassified...controllers and to showcase the benefits of a modular construction. The result was an exoskeleton design with modular components, see Figure 2.1. Figure 2.1...NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA THESIS SEA-SHORE INTERFACE ROBOTIC DESIGN by Timothy L. Bell June 2014 Thesis Advisor: Richard Harkins
Giacomoni, Alessandro; Di Sandro, Stefano; Lauterio, Andrea; Concone, Giacomo; Mangoni, Iacopo; Mihaylov, Plamen; Tripepi, Matteo; De Carlis, Luciano
2014-09-01
The application of robotic-assisted surgery offers EndoWrist instruments and 3-D visualization of the operative field, which are improvements over traditional laparoscopy. The results of the few studies published so far have shown that living donor nephrectomy using the robot-assisted technique is safe, feasible, and offers advantages to patients. Since November 2009, 16 patients have undergone robotic-assisted living donor nephrectomy at our Institute. Patients were divided into two groups according to the surgical technique adopted for the procedure: Group A, hand-assisted robotic nephrectomy (eight patients); Group B, totally robotic nephrectomy (eight patients). Intra-operative bleeding was similar in the two groups (90 vs 100 mL for Group A and B, respectively). Median warm ischemia time was significantly shorter in Group A (2.3 vs 5.1 min for Group A and B, respectively, P-value = 0.05). Switching to the open procedure was never required. Median operative time was not significantly longer in Group A than Group B (275 min vs 250 min, respectively). Robotic assisted living kidney recovery is a safe and effective procedure. Considering the overall technical, clinical, and feasibility aspects of living kidney donation, we believe that the robotic assisted technique is the method of choice for surgeon's comfort and donors' safety. Copyright © 2014 John Wiley & Sons, Ltd.
The use of robotics in plastic and reconstructive surgery: A systematic review
Directory of Open Access Journals (Sweden)
Jean Nehme
2017-09-01
Conclusions: Robot-assisted plastic and reconstructive surgery provides clinical outcomes comparable to conventional techniques. Advantages include reported improved cosmesis, functional outcomes and greater surgeon comfort. Disadvantages included longer operating and set-up times, a learning curve, breaking of microneedles, high monetary costs and authors consistently recommended improved end-effectors. All authors were optimistic about the use of robotics in plastic and reconstructive surgery.
Iachini, Tina; Coello, Yann; Frassinetti, Francesca; Ruggiero, Gennaro
2014-01-01
Background Do peripersonal space for acting on objects and interpersonal space for interacting with con-specifics share common mechanisms and reflect the social valence of stimuli? To answer this question, we investigated whether these spaces refer to a similar or different physical distance. Methodology Participants provided reachability-distance (for potential action) and comfort-distance (for social processing) judgments towards human and non-human virtual stimuli while standing still (passive) or walking toward stimuli (active). Principal Findings Comfort-distance was larger than other conditions when participants were passive, but reachability and comfort distances were similar when participants were active. Both spaces were modulated by the social valence of stimuli (reduction with virtual females vs males, expansion with cylinder vs robot) and the gender of participants. Conclusions These findings reveal that peripersonal reaching and interpersonal comfort spaces share a common motor nature and are sensitive, at different degrees, to social modulation. Therefore, social processing seems embodied and grounded in the body acting in space. PMID:25405344
Use of robotics in colon and rectal surgery.
Pucci, Michael J; Beekley, Alec C
2013-03-01
The pace of innovation in the field of surgery continues to accelerate. As new technologies are developed in combination with industry and clinicians, specialized patient care improves. In the field of colon and rectal surgery, robotic systems offer clinicians many alternative ways to care for patients. From having the ability to round remotely to improved visualization and dissection in the operating room, robotic assistance can greatly benefit clinical outcomes. Although the field of robotics in surgery is still in its infancy, many groups are actively investigating technologies that will assist clinicians in caring for their patients. As these technologies evolve, surgeons will continue to find new and innovative ways to utilize the systems for improved patient care and comfort.
Anthropomorphism in Human-Robot Co-evolution.
Damiano, Luisa; Dumouchel, Paul
2018-01-01
Social robotics entertains a particular relationship with anthropomorphism, which it neither sees as a cognitive error, nor as a sign of immaturity. Rather it considers that this common human tendency, which is hypothesized to have evolved because it favored cooperation among early humans, can be used today to facilitate social interactions between humans and a new type of cooperative and interactive agents - social robots. This approach leads social robotics to focus research on the engineering of robots that activate anthropomorphic projections in users. The objective is to give robots "social presence" and "social behaviors" that are sufficiently credible for human users to engage in comfortable and potentially long-lasting relations with these machines. This choice of 'applied anthropomorphism' as a research methodology exposes the artifacts produced by social robotics to ethical condemnation: social robots are judged to be a "cheating" technology, as they generate in users the illusion of reciprocal social and affective relations. This article takes position in this debate, not only developing a series of arguments relevant to philosophy of mind, cognitive sciences, and robotic AI, but also asking what social robotics can teach us about anthropomorphism. On this basis, we propose a theoretical perspective that characterizes anthropomorphism as a basic mechanism of interaction, and rebuts the ethical reflections that a priori condemns "anthropomorphism-based" social robots. To address the relevant ethical issues, we promote a critical experimentally based ethical approach to social robotics, "synthetic ethics," which aims at allowing humans to use social robots for two main goals: self-knowledge and moral growth.
Intelligence for Human-Assistant Planetary Surface Robots
Hirsh, Robert; Graham, Jeffrey; Tyree, Kimberly; Sierhuis, Maarten; Clancey, William J.
2006-01-01
The central premise in developing effective human-assistant planetary surface robots is that robotic intelligence is needed. The exact type, method, forms and/or quantity of intelligence is an open issue being explored on the ERA project, as well as others. In addition to field testing, theoretical research into this area can help provide answers on how to design future planetary robots. Many fundamental intelligence issues are discussed by Murphy [2], including (a) learning, (b) planning, (c) reasoning, (d) problem solving, (e) knowledge representation, and (f) computer vision (stereo tracking, gestures). The new "social interaction/emotional" form of intelligence that some consider critical to Human Robot Interaction (HRI) can also be addressed by human assistant planetary surface robots, as human operators feel more comfortable working with a robot when the robot is verbally (or even physically) interacting with them. Arkin [3] and Murphy are both proponents of the hybrid deliberative-reasoning/reactive-execution architecture as the best general architecture for fully realizing robot potential, and the robots discussed herein implement a design continuously progressing toward this hybrid philosophy. The remainder of this chapter will describe the challenges associated with robotic assistance to astronauts, our general research approach, the intelligence incorporated into our robots, and the results and lessons learned from over six years of testing human-assistant mobile robots in field settings relevant to planetary exploration. The chapter concludes with some key considerations for future work in this area.
The field investigation on thermal comfort of tent in early autumn of Tianjin
Directory of Open Access Journals (Sweden)
Yang Hao
2016-01-01
Full Text Available In a university campus in Tianjin, four tents were set up to investigate the thermal environment and thermal comfort. Both the field investigation and questionnaires were adopted in this experiment. Two hundred people were investigated, and two hundred questionnaires were gotten. The results show that the thermal comfort zone of officers and soldiers is 24°C to 28°C in early fall, it is a wide range. There is a big error between the PMV index and the actual survey results, PMV calculation index is not accurate in tents environment. The results will have a significant effect on improving the thermal comfort of tents..
International Nuclear Information System (INIS)
Liang, J.; Du, R.
2008-01-01
This paper presents the design of an intelligent comfort control system by combining the human learning and minimum power control strategies for the heating, ventilating and air conditioning (HVAC) system. In the system, the predicted mean vote (PMV) is adopted as the control objective to improve indoor comfort level by considering six comfort related variables, whilst a direct neural network controller is designed to overcome the nonlinear feature of the PMV calculation for better performance. To achieve the highest comfort level for the specific user, a human learning strategy is designed to tune the user's comfort zone, and then, a VAV and minimum power control strategy is proposed to minimize the energy consumption further. In order to validate the system design, a series of computer simulations are performed based on a derived HVAC and thermal space model. The simulation results confirm the design of the intelligent comfort control system. In comparison to the conventional temperature controller, this system can provide a higher comfort level and better system performance, so it has great potential for HVAC applications in the future
Multi-Axis Force Sensor for Human-Robot Interaction Sensing in a Rehabilitation Robotic Device.
Grosu, Victor; Grosu, Svetlana; Vanderborght, Bram; Lefeber, Dirk; Rodriguez-Guerrero, Carlos
2017-06-05
Human-robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback between the user and rehabilitation device, high performance sensing units are demanded. This work introduces a novel design of a multi-axis force sensor dedicated for measuring pelvis interaction forces in a rehabilitation exoskeleton device. The sensor is conceived such that it has different sensitivity characteristics for the three axes of interest having also movable parts in order to allow free rotations and limit crosstalk errors. Integrated sensor electronics make it easy to acquire and process data for a real-time distributed system architecture. Two of the developed sensors are integrated and tested in a complex gait rehabilitation device for safe and compliant control.
Do laparoscopic skills transfer to robotic surgery?
Panait, Lucian; Shetty, Shohan; Shewokis, Patricia A; Sanchez, Juan A
2014-03-01
Identifying the set of skills that can transfer from laparoscopic to robotic surgery is an important consideration in designing optimal training curricula. We tested the degree to which laparoscopic skills transfer to a robotic platform. Fourteen medical students and 14 surgery residents with no previous robotic but varying degrees of laparoscopic experience were studied. Three fundamentals of laparoscopic surgery tasks were used on the laparoscopic box trainer and then the da Vinci robot: peg transfer (PT), circle cutting (CC), and intracorporeal suturing (IS). A questionnaire was administered for assessing subjects' comfort level with each task. Standard fundamentals of laparoscopic surgery scoring metric were used and higher scores indicate a superior performance. For the group, PT and CC scores were similar between robotic and laparoscopic modalities (90 versus 90 and 52 versus 47; P > 0.05). However, for the advanced IS task, robotic-IS scores were significantly higher than laparoscopic-IS (80 versus 53; P robotic-PT score when compared with laparoscopic-PT (92 versus 105; P 0.05). The robot was favored over laparoscopy for all drills (PT, 66.7%; CC, 88.9%; IS, 94.4%). For simple tasks, participants with preexisting skills perform worse with the robot. However, with increasing task difficulty, robotic performance is equal or better than laparoscopy. Laparoscopic skills appear to readily transfer to a robotic platform, and difficult tasks such as IS are actually enhanced, even in subjects naive to the technology. Copyright © 2014 Elsevier Inc. All rights reserved.
Energy Technology Data Exchange (ETDEWEB)
Kamphuis, I.G; Warmer, C.J.; Bakker, E.J. [ECN Duurzame Energie in de Gebouwde Omgeving DEGO, Petten (Netherlands)
2005-03-01
The Comfort-Box (or C-Box) project is an automatic and continuous control system for energy efficient and cost-effective thermal comfort in houses. In this article detailed information is given of the design and performance of the C-Box. [Dutch] De huidige regelsystemen voor het binnenklimaat in woningen zijn voor verbetering vatbaar. Met het Comfort-boxconcept is een regeling ontwikkeld die automatisch en continu het individuele comfortniveau regelt in woningen, waarbij afwegingen worden gemaakt tussen kosten en comfort. De Comfort-box blijkt in staat te zijn het binnencomfort op energie- en kostenefficiente wijze te beheren.
Anthropomorphism in Human–Robot Co-evolution
Directory of Open Access Journals (Sweden)
Luisa Damiano
2018-03-01
Full Text Available Social robotics entertains a particular relationship with anthropomorphism, which it neither sees as a cognitive error, nor as a sign of immaturity. Rather it considers that this common human tendency, which is hypothesized to have evolved because it favored cooperation among early humans, can be used today to facilitate social interactions between humans and a new type of cooperative and interactive agents – social robots. This approach leads social robotics to focus research on the engineering of robots that activate anthropomorphic projections in users. The objective is to give robots “social presence” and “social behaviors” that are sufficiently credible for human users to engage in comfortable and potentially long-lasting relations with these machines. This choice of ‘applied anthropomorphism’ as a research methodology exposes the artifacts produced by social robotics to ethical condemnation: social robots are judged to be a “cheating” technology, as they generate in users the illusion of reciprocal social and affective relations. This article takes position in this debate, not only developing a series of arguments relevant to philosophy of mind, cognitive sciences, and robotic AI, but also asking what social robotics can teach us about anthropomorphism. On this basis, we propose a theoretical perspective that characterizes anthropomorphism as a basic mechanism of interaction, and rebuts the ethical reflections that a priori condemns “anthropomorphism-based” social robots. To address the relevant ethical issues, we promote a critical experimentally based ethical approach to social robotics, “synthetic ethics,” which aims at allowing humans to use social robots for two main goals: self-knowledge and moral growth.
Anthropomorphism in Human–Robot Co-evolution
Damiano, Luisa; Dumouchel, Paul
2018-01-01
Social robotics entertains a particular relationship with anthropomorphism, which it neither sees as a cognitive error, nor as a sign of immaturity. Rather it considers that this common human tendency, which is hypothesized to have evolved because it favored cooperation among early humans, can be used today to facilitate social interactions between humans and a new type of cooperative and interactive agents – social robots. This approach leads social robotics to focus research on the engineering of robots that activate anthropomorphic projections in users. The objective is to give robots “social presence” and “social behaviors” that are sufficiently credible for human users to engage in comfortable and potentially long-lasting relations with these machines. This choice of ‘applied anthropomorphism’ as a research methodology exposes the artifacts produced by social robotics to ethical condemnation: social robots are judged to be a “cheating” technology, as they generate in users the illusion of reciprocal social and affective relations. This article takes position in this debate, not only developing a series of arguments relevant to philosophy of mind, cognitive sciences, and robotic AI, but also asking what social robotics can teach us about anthropomorphism. On this basis, we propose a theoretical perspective that characterizes anthropomorphism as a basic mechanism of interaction, and rebuts the ethical reflections that a priori condemns “anthropomorphism-based” social robots. To address the relevant ethical issues, we promote a critical experimentally based ethical approach to social robotics, “synthetic ethics,” which aims at allowing humans to use social robots for two main goals: self-knowledge and moral growth. PMID:29632507
Indoor Robot Positioning Using an Enhanced Trilateration Algorithm
Directory of Open Access Journals (Sweden)
Pablo Cotera
2016-06-01
Full Text Available This paper presents algorithms implemented for positioning a wheeled robot on a production floor inside a factory by means of radio-frequency distance measurement and trilateration techniques. A set of radio-frequency transceivers located on the columns of the factory (anchors create a grid with several triangular zones capable of measuring the line-of-sight distance between each anchor and the transceiver installed in the wheeled robot. After measuring only three of these distances (radii, an enhanced trilateration algorithm is applied to obtain X and Y coordinates in a Cartesian plane, i.e., the position of the robot on the factory floor. The embedded systems developed for the anchors and the robot are robust enough to establish communication, select the closest anchors for measuring radii, and identify in which of the grid zones the robot is located.
Real-time Stereoscopic 3D for E-Robotics Learning
Directory of Open Access Journals (Sweden)
Richard Y. Chiou
2011-02-01
Full Text Available Following the design and testing of a successful 3-Dimensional surveillance system, this 3D scheme has been implemented into online robotics learning at Drexel University. A real-time application, utilizing robot controllers, programmable logic controllers and sensors, has been developed in the “MET 205 Robotics and Mechatronics” class to provide the students with a better robotic education. The integration of the 3D system allows the students to precisely program the robot and execute functions remotely. Upon the students’ recommendation, polarization has been chosen to be the main platform behind the 3D robotic system. Stereoscopic calculations are carried out for calibration purposes to display the images with the highest possible comfort-level and 3D effect. The calculations are further validated by comparing the results with students’ evaluations. Due to the Internet-based feature, multiple clients have the opportunity to perform the online automation development. In the future, students, in different universities, will be able to cross-control robotic components of different types around the world. With the development of this 3D ERobotics interface, automation resources and robotic learning can be shared and enriched regardless of location.
Physiological and subjective evaluation of a human-robot object hand-over task.
Dehais, Frédéric; Sisbot, Emrah Akin; Alami, Rachid; Causse, Mickaël
2011-11-01
In the context of task sharing between a robot companion and its human partners, the notions of safe and compliant hardware are not enough. It is necessary to guarantee ergonomic robot motions. Therefore, we have developed Human Aware Manipulation Planner (Sisbot et al., 2010), a motion planner specifically designed for human-robot object transfer by explicitly taking into account the legibility, the safety and the physical comfort of robot motions. The main objective of this research was to define precise subjective metrics to assess our planner when a human interacts with a robot in an object hand-over task. A second objective was to obtain quantitative data to evaluate the effect of this interaction. Given the short duration, the "relative ease" of the object hand-over task and its qualitative component, classical behavioral measures based on accuracy or reaction time were unsuitable to compare our gestures. In this perspective, we selected three measurements based on the galvanic skin conductance response, the deltoid muscle activity and the ocular activity. To test our assumptions and validate our planner, an experimental set-up involving Jido, a mobile manipulator robot, and a seated human was proposed. For the purpose of the experiment, we have defined three motions that combine different levels of legibility, safety and physical comfort values. After each robot gesture the participants were asked to rate them on a three dimensional subjective scale. It has appeared that the subjective data were in favor of our reference motion. Eventually the three motions elicited different physiological and ocular responses that could be used to partially discriminate them. Copyright © 2011 Elsevier Ltd and the Ergonomics Society. All rights reserved.
Badalato, Gina M; Shapiro, Edan; Rothberg, Michael B; Bergman, Ari; RoyChoudhury, Arindam; Korets, Ruslan; Patel, Trushar; Badani, Ketan K
2014-01-01
Handedness, or the inherent dominance of one hand's dexterity over the other's, is a factor in open surgery but has an unknown importance in robot-assisted surgery. We sought to examine whether the robotic surgery platform could eliminate the effect of inherent hand preference. Residents from the Urology and Obstetrics/Gynecology departments were enrolled. Ambidextrous and left-handed subjects were excluded. After completing a questionnaire, subjects performed three tasks modified from the Fundamentals of Laparoscopic Surgery curriculum. Tasks were performed by hand and then with the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, California). Participants were randomized to begin with using either the left or the right hand, and then switch. Left:right ratios were calculated from scores based on time to task completion. Linear regression analysis was used to determine the significance of the impact of surgical technique on hand dominance. Ten subjects were enrolled. The mean difference in raw score performance between the right and left hands was 12.5 seconds for open tasks and 8 seconds for robotic tasks (Probot tasks, respectively (Probotic and open approaches for raw time scores (Phand, prior robotic experience, and comfort level. These findings remain to be validated in larger cohorts. The robotic technique reduces hand dominance in surgical trainees across all task domains. This finding contributes to the known advantages of robotic surgery.
Thermal comfort. Individual and time-dependent?; Thermisch comfort. Individueel en tijdafhankelijk?
Energy Technology Data Exchange (ETDEWEB)
Noom, P.; Zeiler, W.; Boxem, G. [Unit Building Physics and Systems, Faculteit Bouwkunde, Technische Universiteit Eindhoven TUE, Eindhoven (Netherlands); Haan, J.F.B.C.; Van der Velden, J. [Kropman Installatietechniek, Rijswijk (Netherlands)
2010-11-15
With respect to the perceived thermal comfort there are large individual differences, which also change during daytime. Therefore is worthwhile to determine the individual thermal comfort profiles during the day. The perceived thermal comfort level follows an individual day profile. By using these profiles as a leading principal to control the indoor temperatures an improvement of the perceived comfort is possible while at the same time it can reduce energy consumption. [Dutch] Nieuwe optimalisatiemogelijkheden voor energiegebruik voor het comfort zijn mogelijk door vanuit de actuele en toekomstige individuele behoefte aan comfort van de gebruiker de installatie optimaal aan te sturen. Dit artikel geeft inzicht in de efficiente afstemming van vraag en aanbod van energie voor thermisch comfort. In een kantoorgebouw zijn metingen gedaan, conform NEN-EN-ISO 7726 (Ergonomics of the thermal environment. Instruments for measuring physical quantities), en er is een enquete gehouden om het thermisch comfort individueel te kunnen bepalen gedurende de werkdag. Het doel van de metingen was de verschillen tussen de individuele beleving en de werkelijke klimaat omstandigheden te kunnen bepalen.
Energy Technology Data Exchange (ETDEWEB)
Speranza, A. [ENEA, Centro Ricerche `Ezio Clementel`, Bologna (Italy). Dip. Ambiente
1998-12-31
This study reports the results of the micro climatic measurements carried out in some ENEA work environments. The work conditions in the surveyed areas, have been evaluated following welfare indexes or thermical comfort: PMV= Predicted Mean Vote (ISO recommendation 7730); PPD= Predicted Percentage of Dissatisfied (ISO recommendation 7730). [Italiano] In questo studio sono riportati i risultati delle misure microclimatiche eseguite in alcuni ambienti di lavoro dei centri ENEA di Bologna. Le condizioni di lavoro (delle zone che sono state sottoposte ad indagine) sono state valutate mediante i seguenti indici di benessere o `comfort` termico: Voto Medio Previsto (PMV= Predicted Mean Vote) - raccomandazione ISO 7730; Percentuale Prevista di Insoddisfatti (PPD= Predicted Percentage of Dissatisfied) - raccomandazione ISO 7730.
Energy Technology Data Exchange (ETDEWEB)
Speranza, A [ENEA, Centro Ricerche ` Ezio Clementel` , Bologna (Italy). Dip. Ambiente
1999-12-31
This study reports the results of the micro climatic measurements carried out in some ENEA work environments. The work conditions in the surveyed areas, have been evaluated following welfare indexes or thermical comfort: PMV= Predicted Mean Vote (ISO recommendation 7730); PPD= Predicted Percentage of Dissatisfied (ISO recommendation 7730). [Italiano] In questo studio sono riportati i risultati delle misure microclimatiche eseguite in alcuni ambienti di lavoro dei centri ENEA di Bologna. Le condizioni di lavoro (delle zone che sono state sottoposte ad indagine) sono state valutate mediante i seguenti indici di benessere o `comfort` termico: Voto Medio Previsto (PMV= Predicted Mean Vote) - raccomandazione ISO 7730; Percentuale Prevista di Insoddisfatti (PPD= Predicted Percentage of Dissatisfied) - raccomandazione ISO 7730.
[Robotic assistance in gynaecological surgery: State-of-the-art].
Monsarrat, N; Collinet, P; Narducci, F; Leblanc, E; Vinatier, D
2009-05-01
From the Automated Endoscopic System for Optimal Positioning (AESOP), a robotic arm which operates the laparoscope, to the robots Zeus and da Vinci, robotic assistance in gynaecological endoscopic surgery has continuously evolved for the last fifteen years or so. It has brought about new technical advancements: the last generation robots offer a steady three-dimensional image, improved instrument dexterity and precision, higher ergonomics and comfort for the surgeon. The da Vinci robotic system has been used without evincing any specific morbidity in various cases, notably for tubal reanastomosis, myomectomy, hysterectomy, pelvic and para-aortic lymphadenectomy or sacrocolpopexy amongst others. Robotic assistance in gynaecology is thus feasible. Like conventional laparoscopic surgery, it allows decreased blood loss and morbidity as well as shorter hospital stay, as compared to laparotomy. It might indeed allow many surgical teams to perform minimally invasive surgical procedures which they were not used to performing by laparoscopy. Randomized prospective studies are needed to define its indications more precisely. Besides, its medico-financial impact should be evaluated too.
A review on the mechanical design elements of ankle rehabilitation robot.
Khalid, Yusuf M; Gouwanda, Darwin; Parasuraman, Subramanian
2015-06-01
Ankle rehabilitation robots are developed to enhance ankle strength, flexibility and proprioception after injury and to promote motor learning and ankle plasticity in patients with drop foot. This article reviews the design elements that have been incorporated into the existing robots, for example, backdrivability, safety measures and type of actuation. It also discusses numerous challenges faced by engineers in designing this robot, including robot stability and its dynamic characteristics, universal evaluation criteria to assess end-user comfort, safety and training performance and the scientific basis on the optimal rehabilitation strategies to improve ankle condition. This article can serve as a reference to design robot with better stability and dynamic characteristics and good safety measures against internal and external events. It can also serve as a guideline for the engineers to report their designs and findings. © IMechE 2015.
Coastal zone environment measurements at Sakhalin Island using autonomous mobile robotic system
Tyugin, Dmitry; Kurkin, Andrey; Zaytsev, Andrey; Zeziulin, Denis; Makarov, Vladimir
2017-04-01
To perform continuous complex measurements of environment characteristics in coastal zones autonomous mobile robotic system was built. The main advantage of such system in comparison to manual measurements is an ability to quickly change location of the equipment and start measurements. AMRS allows to transport a set of sensors and appropriate power source for long distances. The equipment installed on the AMRS includes: a modern high-tech ship's radar «Micran» for sea waves measurements, multiparameter platform WXT 520 for weather monitoring, high precision GPS/GLONASS receiver OS-203 for georeferencing, laser scanner platform based on two Sick LMS-511 scanners which can provide 3D distance measurements in up to 80 meters on the AMRS route and rugged designed quad-core fanless computer Matrix MXE-5400 for data collecting and recording. The equipment is controlled by high performance modular software developed specially for the AMRS. During the summer 2016 the experiment was conducted. Measurements took place at the coastal zone of Sakhalin Island (Russia). The measuring system of AMRS was started in automatic mode controlled by the software. As result a lot of data was collected and processed to database. It consists of continuous measurements of the coastal zone including different weather conditions. The most interesting for investigation is a period of three-point storm detected on June, 2, 2016. Further work will relate to data processing of measured environment characteristics and numerical models verification based on the collected data. The presented results of research obtained by the support of the Russian president's scholarship for young scientists and graduate students №SP-193.2015.5
DEFF Research Database (Denmark)
d’Ambrosio Alfano, Francesca Romana; Olesen, Bjarne W.; Palella, Boris Igor
2014-01-01
Thermal comfort is one of the most important aspects of the indoor environmental quality due to its effects on well-being, people's performance and building energy requirements. Its attainment is not an easy task requiring advanced design and operation of building and HVAC systems, taking...... into account all parameters involved. Even though thermal comfort fundamentals are consolidated topics for more than forty years, often designers seem to ignore or apply them in a wrong way. Design input values from standards are often considered as universal values rather than recommended values to be used...... under specific conditions. At operation level, only few variables are taken into account with unpredictable effects on the assessment of comfort indices. In this paper, the main criteria for the design and assessment of thermal comfort are discussed in order to help building and HVAC systems designers...
Directory of Open Access Journals (Sweden)
Hom B. Rijal
2014-08-01
Full Text Available In order to clarify the comfort temperature and to investigate the behavioral adaptation in Japanese houses, we have conducted a thermal comfort survey and occupant behavior survey in 30 living rooms during the hot and humid season in the Kanto region of Japan. We collected 3991 votes from 52 subjects. The comfort temperature was predicted by Griffiths’ method. They are analyzed according to humidity levels and compared with the adaptive model. The logistic regression analysis was conducted in order to understand occupant behavior. The mean comfort temperature in naturally ventilated mode is 27.6 °C which is within the acceptable zone of the adaptive model. The comfort temperature is related with skin moisture sensation. The results showed that the residents adapt to the hot and humid environments by increasing the air movement using behavioral adaptation such as window opening and fan use.
Carter, Stacey C; Chiang, Alexander; Shah, Galaxy; Kwan, Lorna; Montgomery, Jeffrey S; Karam, Amer; Tarnay, Christopher; Guru, Khurshid A; Hu, Jim C
2015-05-01
To examine the feasibility and outcomes of video-based peer feedback through social networking to facilitate robotic surgical skill acquisition. The acquisition of surgical skills may be challenging for novel techniques and/or those with prolonged learning curves. Randomized controlled trial involving 41 resident physicians performing the Tubes (Da Vinci Intuitive Surgical, Sunnyvale, CA) simulator exercise with versus without peer feedback of video-recorded performance through a social networking Web page. Data collected included simulator exercise score, time to completion, and comfort and satisfaction with robotic surgery simulation. There were no baseline differences between the intervention group (n = 20) and controls (n = 21). The intervention group showed improvement in mean scores from session 1 to sessions 2 and 3 (60.7 vs 75.5, P feedback subjects were more comfortable with robotic surgery than controls (90% vs 62%, P = 0.021) and expressed greater satisfaction with the learning experience (100% vs 67%, P = 0.014). Of the intervention subjects, 85% found that peer feedback was useful and 100% found it effective. Video-based peer feedback through social networking appears to be an effective paradigm for surgical education and accelerates the robotic surgery learning curve during simulation.
Energy Technology Data Exchange (ETDEWEB)
Kim, Byung Kook; Kim, Jae Kwon [Korea Advanced Institute of Science and Technology, Taejon (Korea)
2000-04-01
We designed and implemented a reliable hierarchical control system for hydraulic robots for nuclear power plant maintenance. In hazardous environments such as nuclear power plants, robot systems or automated equipment should be used instead of human being for maintenance and repair. Such robot should guarantee high reliability in hazardous environments such as high radiation or high temperature. The overall system is composed of three hierarchical subsystems: i) supervisory controller in safe zone for operator interaction with monitoring and commanding and graphic user interface, ii) master controller in semi-hazardous zone for control function, and iii) slave controller in hazardous zone for sensing and actuation. These subsystems are connected with suitable communication channels: a) master-slave communication channel implemented with CAN (Control Area Network) and b) supervisory-master communication with Ethernet. The master and the slave controllers construct a feedback closed-loop control system. In order to improve reliability, the slave controller is duplicated using cold-standby scheme, and master-slave communication channel is also duplicated. The overall system is implemented harmonically, and we obtained fast control interval of 1msec, which is sufficient for high-performance real-time control. 12 refs., 58 figs., 13 tabs. (Author)
CSIR Research Space (South Africa)
Osburn, L
2010-01-01
Full Text Available Thermal comfort is influenced by environmental parameters as well as other influences including asymmetric heating and cooling conditions. Additionally, some aspects of thermal comfort may be exploited so as to enable a building to operate within a...
Nikolopoulou, Marialena
2011-06-01
A review of the various approaches in understanding outdoor thermal comfort is presented. The emphasis on field surveys from around the world, particularly across Europe, enables us to understand thermal perception and evaluate outdoor thermal comfort conditions. The consistent low correlations between objective microclimatic variables, subjective thermal sensation and comfort outdoors, internationally, suggest that thermophysiology alone does not adequate describe these relationships. Focusing on the concept of adaptation, it tries to explain how this influences outdoor comfort, enabling us to inhabit and get satisfaction from outdoor spaces throughout the year. Beyond acclimatization and behavioral adaptation, through adjustments in clothing and changes to the metabolic heat, psychological adaptation plays a critical role to ensure thermal comfort and satisfaction with the outdoor environment. Such parameters include recent experiences and expectations; personal choice and perceived control, more important than whether that control is actually exercised; and the need for positive environmental stimulation suggesting that thermal neutrality is not a pre-requisite for thermal comfort. Ultimately, enhancing environmental diversity can influence thermal perception and experience of open spaces.
A flexible, computer-integrated robotic transfer system
International Nuclear Information System (INIS)
Lewis, W.I. III; Taylor, R.M.
1987-01-01
This paper reviews a robotic system used to transport materials across a radiation control zone and into a row of shielded cells. The robot used is a five-axis GCA 600 industrial robot mounted on a 50-ft ESAB welding track. Custom software incorporates the track as the sixth axis of motion. An IBM-PC integrates robot control, force sensing, and the operator interface. Multiple end-effectors and a quick exchange mechanism are used to handle a variety of materials and tasks. Automatic error detection and recovery is a key aspect of this system
Development of a remote tank inspection robotic system
International Nuclear Information System (INIS)
Knape, B.P.; Bares, L.C.
1990-01-01
RedZone Robotics is currently developing a remote tank inspection (RTI) robotic system for Westinghouse Idaho Nuclear Company (WINCO). WINCO intends to use the RTI robotic system at the Idaho Chemical Processing Plant, a facility that contains a tank farm of several 1,135,500-ell (300,000-gal), 15.2-m (50-ft)-diam, high-level liquid waste storage tanks. The primary purpose of the RTI robotic system is to inspect the interior of these tanks for corrosion that may have been caused by the combined effects of radiation, high temperature, and caustic by the combined effects of radiation, high temperature, and caustic chemicals present inside the tanks. The RTI robotic system features a vertical deployment unit, a robotic arm, and a remote control console and computer [located up to 30.5 m (100 ft) away from the tank site]. All actuators are high torque, electric dc brush motors that are servocontrolled with absolute position feedback. The control system uses RedZone's standardized intelligent controller for enhanced telerobotics, which provides a high speed, multitasking environment on a VME bus. Currently, the robot is controlled in a manual, job-button, control mode; however, control capability is available to develop preprogrammed, automated modes of operation
Designing and Implementing an Interactive Social Robot from Off-the-shelf Components
DEFF Research Database (Denmark)
Tan, Zheng-Hua; Thomsen, Nicolai Bæk; Duan, Xiaodong
2015-01-01
people feel comfortable in its presence. All electrical components are standard off-the-shelf commercial products making a replication possible. Furthermore, the software is based on Robot Operating Software (ROS) and is made freely available.We present our experience with the design and discuss possible...
Comfort measures: a concept analysis.
Oliveira, Irene
2013-01-01
Reference to the concept of comfort measures is growing in the nursing and medical literature; however, the concept of comfort measures is rarely defined. For the comfort work of nurses to be recognized, nurses must be able to identify and delineate the key attributes of comfort measures. A concept analysis using Rodgers' evolutionary method (2000) was undertaken with the goal of identifying the core attributes of comfort measures and thereby clarifying this concept. Health care literature was accessed from the CINAHL and PubMed databases. No restrictions were placed on publication dates. Four main themes of attributes for comfort measures were identified during the analysis. Comfort measures involve an active, strategic process including elements of "stepping in" and "stepping back," are both simple and complex, move from a physical to a holistic perspective and are a part of supportive care. The antecedents to comfort measures are comfort needs and the most common consequence of comfort measures is enhanced comfort. Although the concept of comfort measures is often associated with end-of-life care, this analysis suggests that comfort measures are appropriate for nursing care in all settings and should be increasingly considered in the clinical management of patients who are living with multiple, chronic comorbidities.
How to get the best from robotic thoracic surgery.
Ricciardi, Sara; Zirafa, Carmelina Cristina; Davini, Federico; Melfi, Franca
2018-04-01
The application of Robotic technology in thoracic surgery has become widespread in the last decades. Thanks to its advanced features, the robotic system allows to perform a broad range of complex operations safely and in a comfortable way, with valuable advantages related to low invasiveness. Regarding lung tumours, several studies have shown the benefits of robotic surgery including lower blood loss and improved lymph node removal when compared with other minimally invasive techniques. Moreover, the robotic instruments allow to reach deep and narrow spaces permitting safe and precise removal of tumours located in remote areas, such as retrosternal and posterior mediastinal spaces with outstanding postoperative and oncological results. One controversial finding about the application of robotic system is its high capital and running costs. For this reason, a limited number of centres worldwide are able to employ this groundbreaking technology and there are limited possibilities for the trainees to acquire the necessary skills in robotic surgery. Therefore, a training programme based on three steps of learning, associated with a solid surgical background and a consistent operating activity, are required to obtain effective results. Putting this highest technological innovation in the hand of expert surgeons we can assure safe and effective procedures getting the best from robotic thoracic surgery.
Energy Technology Data Exchange (ETDEWEB)
Noom, P.; Zeiler, W.; Boxem, G. [Unit Building Physics and Systems, Faculteit Bouwkunde, Technische Universiteit Eindhoven TUE, Eindhoven (Netherlands); Haan, J.F.B.C.; Van der Velden, J. [Kropman Installatietechniek, Rijswijk (Netherlands)
2010-11-15
In a normal office building measurements according to NEN-EN-ISO 7726 (Ergonomics of the thermal environment. Instruments for measuring physical quantities) have been carried out and a survey was held to determine the perceived thermal comfort of individuals. A comparison between the objective determined thermal comfort and the perceived thermal comfort shows quite a difference. This result was also reached in earlier research by others in laboratories. Therefore it is necessary to take care of the differences when designing a specific comfort level and try to determine the perceived comfort level of the individual occupants. [Dutch] Nieuwe optimalisatiemogelijkheden voor energiegebruik voor het comfort zijn mogelijk door vanuit de actuele en toekomstige individuele behoefte aan comfort van de gebruiker de installatie optimaal aan te sturen. Dit artikel geeft inzicht in de efficiente afstemming van vraag en aanbod van energie voor thermisch comfort. In een kantoorgebouw zijn metingen gedaan, conform NEN-EN-ISO 7726 (Ergonomics of the thermal environment. Instruments for measuring physical quantities), en er is een enquete gehouden om het thermisch comfort individueel te kunnen bepalen gedurende de werkdag. Het doel van de metingen was de verschillen tussen de individuele beleving en de werkelijke klimaat omstandigheden te kunnen bepalen.
Wu, Zhibin; Li, Nianping; Cui, Haijiao; Peng, Jinqing; Chen, Haowen; Liu, Penglong
2017-09-21
Existing thermal comfort field studies are mainly focused on the relationship between the indoor physical environment and the thermal comfort. In numerous chamber experiments, physiological parameters were adopted to assess thermal comfort, but the experiments' conclusions may not represent a realistic thermal environment due to the highly controlled thermal environment and few occupants. This paper focuses on determining the relationships between upper extremity skin temperatures (i.e., finger, wrist, hand and forearm) and the indoor thermal comfort. Also, the applicability of predicting thermal comfort by using upper extremity skin temperatures was explored. Field studies were performed in office buildings equipped with split air-conditioning (SAC) located in the hot summer and cold winter (HSCW) climate zone of China during the summer of 2016. Psychological responses of occupants were recorded and physical and physiological factors were measured simultaneously. Standard effective temperature (SET*) was used to incorporate the effect of humidity and air velocity on thermal comfort. The results indicate that upper extremity skin temperatures are good indicators for predicting thermal sensation, and could be used to assess the thermal comfort in terms of physiological mechanism. In addition, the neutral temperature was 24.7 °C and the upper limit for 80% acceptability was 28.2 °C in SET*.
Directory of Open Access Journals (Sweden)
Zhibin Wu
2017-09-01
Full Text Available Existing thermal comfort field studies are mainly focused on the relationship between the indoor physical environment and the thermal comfort. In numerous chamber experiments, physiological parameters were adopted to assess thermal comfort, but the experiments’ conclusions may not represent a realistic thermal environment due to the highly controlled thermal environment and few occupants. This paper focuses on determining the relationships between upper extremity skin temperatures (i.e., finger, wrist, hand and forearm and the indoor thermal comfort. Also, the applicability of predicting thermal comfort by using upper extremity skin temperatures was explored. Field studies were performed in office buildings equipped with split air-conditioning (SAC located in the hot summer and cold winter (HSCW climate zone of China during the summer of 2016. Psychological responses of occupants were recorded and physical and physiological factors were measured simultaneously. Standard effective temperature (SET* was used to incorporate the effect of humidity and air velocity on thermal comfort. The results indicate that upper extremity skin temperatures are good indicators for predicting thermal sensation, and could be used to assess the thermal comfort in terms of physiological mechanism. In addition, the neutral temperature was 24.7 °C and the upper limit for 80% acceptability was 28.2 °C in SET*.
Effect of warm air supplied facially on occupants' comfort
DEFF Research Database (Denmark)
Kaczmarczyk, J.; Melikov, Arsen Krikor; Sliva,, D.
2010-01-01
was supplied with a constant velocity of 0.4 m/s by means of personalized ventilation towards the face of the subjects. The airflow at 21 °C decreased the subjects' thermal sensation and increased draught discomfort, but improved slightly the perceived air quality. Heating of the supplied air by 6 K...... (temperature increase by 4 K at the target area) above the room air temperature decreased the draught discomfort, improved subjects' thermal comfort and only slightly decreased the perceived air quality. Elevated velocity and temperature of the localized airflow caused an increase of nose dryness intensity...... and number of eye irritation reports. Results suggest that increasing the temperature of the air locally supplied to the breathing zone by only a few degrees above the room air temperature will improve occupants' thermal comfort and will diminish draught discomfort. This strategy will extend...
Integration of advanced teleoperation technologies for control of space robots
Stagnaro, Michael J.
1993-01-01
Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.
Energy-Efficient and Comfortable Buildings through Multivariate Integrated Control (ECoMIC)
Energy Technology Data Exchange (ETDEWEB)
Birru, Dagnachew [Philips Electronics North America Corporation, Andover, MA (United States); Wen, Yao-Jung [Philips Electronics North America Corporation, Andover, MA (United States); Rubinstein, Francis M. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Clear, Robert D. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)
2013-10-28
This project aims to develop an integrated control solution for enhanced energy efficiency and user comfort in commercial buildings. The developed technology is a zone-based control framework that minimizes energy usage while maintaining occupants’ visual and thermal comfort through control of electric lights, motorized venetian blinds and thermostats. The control framework is designed following a modular, scalable and flexible architecture to facilitate easy integration with exiting building management systems. The control framework contains two key algorithms: 1) the lighting load balancing algorithm and 2) the thermostat control algorithm. The lighting load balancing algorithm adopts a model-based closed-loop control approach to determine the optimal electric light and venetian blind settings. It is formulated into an optimization problem with minimizing lighting-related energy consumptions as the objective and delivering adequate task light and preventing daylight glare as the constraints. The thermostat control algorithm is based on a well-established thermal comfort model and formulated as a root-finding problem to dynamically determine the optimal thermostat setpoint for both energy savings and improved thermal comfort. To address building-wide scalability, a system architecture was developed for the zone-based control technology. Three levels of services are defined in the architecture: external services, facility level services and zone level services. The zone-level service includes the control algorithms described above as well as the corresponding interfaces, profiles, sensors and actuators to realize the zone controller. The facility level services connect to the zones through a backbone network, handle supervisory level information and controls, and thus facilitate building-wide scalability. The external services provide communication capability to entities outside of the building for grid interaction and remote access. Various aspects of the
In good company? Perception of movement synchrony of a non-anthropomorphic robot.
Lehmann, Hagen; Saez-Pons, Joan; Syrdal, Dag Sverre; Dautenhahn, Kerstin
2015-01-01
Recent technological developments like cheap sensors and the decreasing costs of computational power have brought the possibility of robotic home companions within reach. In order to be accepted it is vital for these robots to be able to participate meaningfully in social interactions with their users and to make them feel comfortable during these interactions. In this study we investigated how people respond to a situation where a companion robot is watching its user. Specifically, we tested the effect of robotic behaviours that are synchronised with the actions of a human. We evaluated the effects of these behaviours on the robot's likeability and perceived intelligence using an online video survey. The robot used was Care-O-bot3, a non-anthropomorphic robot with a limited range of expressive motions. We found that even minimal, positively synchronised movements during an object-oriented task were interpreted by participants as engagement and created a positive disposition towards the robot. However, even negatively synchronised movements of the robot led to more positive perceptions of the robot, as compared to a robot that does not move at all. The results emphasise a) the powerful role that robot movements in general can have on participants' perception of the robot, and b) that synchronisation of body movements can be a powerful means to enhance the positive attitude towards a non-anthropomorphic robot.
In good company? Perception of movement synchrony of a non-anthropomorphic robot.
Directory of Open Access Journals (Sweden)
Hagen Lehmann
Full Text Available Recent technological developments like cheap sensors and the decreasing costs of computational power have brought the possibility of robotic home companions within reach. In order to be accepted it is vital for these robots to be able to participate meaningfully in social interactions with their users and to make them feel comfortable during these interactions. In this study we investigated how people respond to a situation where a companion robot is watching its user. Specifically, we tested the effect of robotic behaviours that are synchronised with the actions of a human. We evaluated the effects of these behaviours on the robot's likeability and perceived intelligence using an online video survey. The robot used was Care-O-bot3, a non-anthropomorphic robot with a limited range of expressive motions. We found that even minimal, positively synchronised movements during an object-oriented task were interpreted by participants as engagement and created a positive disposition towards the robot. However, even negatively synchronised movements of the robot led to more positive perceptions of the robot, as compared to a robot that does not move at all. The results emphasise a the powerful role that robot movements in general can have on participants' perception of the robot, and b that synchronisation of body movements can be a powerful means to enhance the positive attitude towards a non-anthropomorphic robot.
Özcan, Alpay; Christoforou, Eftychios; Brown, Daniel; Tsekos, Nikolaos
2011-01-01
The graphical user interface for an MR compatible robotic device has the capability of displaying oblique MR slices in 2D and a 3D virtual environment along with the representation of the robotic arm in order to swiftly complete the intervention. Using the advantages of the MR modality the device saves time and effort, is safer for the medical staff and is more comfortable for the patient. PMID:17946067
Improving thermal comfort in office practice: biomimetic comfort profiles
Zeiler, W.; Houten, van M.A.; Boxem, G.; Noom, P.; Velden, van der J.A.J.
2009-01-01
In the office building of Kropman in Utrecht a number of measurements were done, by means of NEN-EN-ISO 7726, to determine thermal comfort in the office building. Also two enquiries were held to determine the thermal comfort perception of the employees. The evaluation of the measurements and
Thermal comfort in residential buildings: Comfort values and scales for building energy simulation
Peeters, L.F.R.; Dear, de R.; Hensen, J.L.M.; D'Haeseleer, W.
2009-01-01
Building Energy Simulation (BES) programmes often use conventional thermal comfort theories to make decisions, whilst recent research in the field of thermal comfort clearly shows that important effects are not incorporated. The conventional theories of thermal comfort were set up based on steady
Design and real-time control of a robotic system for fracture manipulation.
Dagnino, G; Georgilas, I; Tarassoli, P; Atkins, R; Dogramadzi, S
2015-08-01
This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).
Thermal comfort in residential buildings: Comfort values and scales for building energy simulation
Energy Technology Data Exchange (ETDEWEB)
Peeters, Leen; D' haeseleer, William [Division of Applied Mechanics and Energy Conversion, University of Leuven (K.U.Leuven), Celestijnenlaan 300 A, B-3001 Leuven (Belgium); Dear, Richard de [Division of Environmental and Life Sciences, Macquarie University, Sydney (Australia); Hensen, Jan [Faculty of Architecture, Building and Planning, Technische Universiteit Eindhoven, Vertigo 6.18, P.O. Box 513, 5600 MB Eindhoven (Netherlands)
2009-05-15
Building Energy Simulation (BES) programmes often use conventional thermal comfort theories to make decisions, whilst recent research in the field of thermal comfort clearly shows that important effects are not incorporated. The conventional theories of thermal comfort were set up based on steady state laboratory experiments. This, however, is not representing the real situation in buildings, especially not when focusing on residential buildings. Therefore, in present analysis, recent reviews and adaptations are considered to extract acceptable temperature ranges and comfort scales. They will be defined in an algorithm, easily implementable in any BES code. The focus is on comfortable temperature levels in the room, more than on the detailed temperature distribution within that room. (author)
Smart grid for comfort; Smart grid voor comfort
Energy Technology Data Exchange (ETDEWEB)
Zeiler, W.; Van der Velden, J.A.J. [Kropman, Rijswijk (Netherlands); Vissers, D.R.; Maaijen, H.N. [Faculteit Bouwkunde, Technische Universiteit Eindhoven TUE, Eindhoven (Netherlands); Kling, W.L. [Faculteit Electrical Engineering, Technische Universiteit Eindhoven TUE, Eindhoven (Netherlands); Larsen, J.P. [Sense Observation Systems, Rotterdam (Netherlands)
2012-04-15
A new control strategy was developed based on the application of wireless sensor network with the connection to a smart grid to investigate if it is possible to save energy on the level of the user under the condition of maintaining the same or even improved level of individual comfort. By using different scenarios, for individual comfort and energy consumption, agents provide the steering of the process control This forms the basis of a new approach to optimize the energy consumption, after which the effect of it can be used on the level of residential building to optimize the interaction with the electrical infrastructure, the smart grid. [Dutch] Er vindt onderzoek plaats naar een nieuwe regelstrategie gebaseerd op de toepassing van een draadloos sensor netwerk dat is gekoppeld aan het smart grid. Doel van deze regelstrategie is om op gebruikersniveau energie te kunnen besparen met behoud of zelfs verbetering van het individueel comfort. Er zijn verschillende scenario's voor individueel comfort en energiegebruik van apparatuur met behulp van agents die voor de aansturing kunnen zorgen. Zo wordt de kern van de energievraag geoptimaliseerd. De doorwerking hiervan tot op het niveau van woninggebouw en de koppeling met het externe elektriciteitsnet kan vervolgens worden geoptimaliseerd.
Alders, E.E.; Kurvers, S.R.; Van den Ham, E.R.
2011-01-01
Many theories on thermal comfort exist and there are many ways to deliver this in an energy efficient way. Both aspects are often studied in a static way and most of these studies only regard one of the aspects, seldom investigating what influence the way of delivering thermal comfort has on the actual perceived thermal comfort. This paper analyses the knowledge of the different disciplines and integrates it to get a holistic image of comfort and its delivery systems as well as opportunities ...
Guide to Setting Thermal Comfort Criteria and Minimizing Energy Use in Delivering Thermal Comfort
Energy Technology Data Exchange (ETDEWEB)
Regnier, Cindy [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)
2012-08-01
Historically thermal comfort in buildings has been controlled by simple dry bulb temperature settings. As we move into more sophisticated low energy building systems that make use of alternate systems such as natural ventilation, mixed mode system and radiant thermal conditioning strategies, a more complete understanding of human comfort is needed for both design and control. This guide will support building designers, owners, operators and other stakeholders in defining quantifiable thermal comfort parameters?these can be used to support design, energy analysis and the evaluation of the thermal comfort benefits of design strategies. This guide also contains information that building owners and operators will find helpful for understanding the core concepts of thermal comfort. Whether for one building, or for a portfolio of buildings, this guide will also assist owners and designers in how to identify the mechanisms of thermal comfort and space conditioning strategies most important for their building and climate, and provide guidance towards low energy design options and operations that can successfully address thermal comfort. An example of low energy design options for thermal comfort is presented in some detail for cooling, while the fundamentals to follow a similar approach for heating are presented.
Thermal comfort following immersion.
Guéritée, Julien; Redortier, Bernard; House, James R; Tipton, Michael J
2015-02-01
Unlike thermal comfort in air, little research has been undertaken exploring thermal comfort around water sports. We investigated the impact of swimming and cooling in air after swimming on thermal comfort. After 10 min of swimming-and-resting cycles in 28°C water, volunteers wearing two types of garments or in swim briefs, faced winds in 24°C air, at rest or when stepping. Thermal comfort was significantly higher during swimming than resting. Post-immersion, following maximum discomfort, in 45 of 65 tests thermal comfort improved although mean skin temperature was still cooling (0.26 [SD 0.19] °C·min(-1) - max was 0.89°C·min(-1)). When thermal comfort was re-established mean skin temperature was lower than at maximal discomfort in 39 of 54 tests (0.81 [SD 0.58] °C - max difference was 2.68°C). The reduction in thermal discomfort in this scenario could be due to the adaptation of thermoreceptors, or to reductions in cooling rates to levels where discomfort was less stimulated. The relief from the recent discomfort may explain why, later, thermal comfort returned to initial levels in spite of poorer thermal profiles. Copyright © 2014 Elsevier Inc. All rights reserved.
DEFF Research Database (Denmark)
Suvei, Stefan-Daniel; Vroon, Jered; Somoza Sanchez, Vella Veronica
2018-01-01
participants (n=83), with/without personal space invasion, and with/without a social gaze cue. With a questionnaire, we measured subjective perception of warmth, competence, and comfort after such an interaction. In addition, we used on-board sensors and a tracking system to measure the dynamics of social......How can a social robot get physically close to the people it needs to interact with? We investigated the effect of a social gaze cue by a human-sized mobile robot on the effects of personal space invasion by that robot. In our 2x2 between-subject experiment, our robot would approach our...
Wagner, Heather Scherschel; Ahlstrom, Britt; Redden, Joseph P; Vickers, Zata; Mann, Traci
2014-12-01
People seek out their own idiosyncratic comfort foods when in negative moods, and they believe that these foods rapidly improve their mood. The purpose of these studies is to investigate whether comfort foods actually provide psychological benefits, and if so, whether they improve mood better than comparison foods or no food. Participants first completed an online questionnaire to indicate their comfort foods and a variety of comparison foods. During two lab sessions a week apart from each other (and at least a week after the online questionnaire, counterbalanced in order), participants watched films that induced negative affect. In one session, participants were then served their comfort food. In the other, participants were served an equally liked noncomfort food (Study 1), a neutral food (Study 2), or no food (Studies 3 and 4). Short-term mood changes were measured so that we could seek out psychological effects of these foods, rather than biochemical effects on mood from particular food components (e.g., sugars or vitamins). Comfort foods led to significant improvements in mood, but no more than other foods or no food. Although people believe that comfort foods provide them with mood benefits, comfort foods do not provide comfort beyond that of other foods (or no food). These results are likely not due to a floor effect because participants' moods did not return to baseline levels. Individuals may be giving comfort food "credit" for mood effects that would have occurred even in the absence of the comfort food.
Acoustic comfort in eating establishments
DEFF Research Database (Denmark)
Svensson, David; Jeong, Cheol-Ho; Brunskog, Jonas
2014-01-01
The subjective concept of acoustic comfort in eating establishments has been investigated in this study. The goal was to develop a predictive model for the acoustic comfort, by means of simple objective parameters, while also examining which other subjective acoustic parameters could help explain...... the feeling of acoustic comfort. Through several layers of anal ysis, acoustic comfort was found to be rather complex, and could not be explained entirely by common subjective parameters such as annoyance, intelligibility or privacy. A predictive model for the mean acoustic comfort for an eating establishment...
Advantages of robotics in benign gynecologic surgery.
Truong, Mireille; Kim, Jin Hee; Scheib, Stacey; Patzkowsky, Kristin
2016-08-01
gynecologic surgery. Conclusions on the benefits and risks of robotic surgery should be made with caution given limited data, especially when compared with other routes. Route of surgery selection should take into consideration the surgeons' skill and comfort level that allows for the highest level of safety and efficiency. Ultimately, the robotic device is an additional minimally invasive surgical tool that can further the goal of minimizing laparotomy in gynecology.
Dalvi, Ambalika Rajendra
Improving the conditions of schools in many parts of the world is gradually acquiring importance. The Green School movement is an integral part of this effort since it aims at improving indoor environmental conditions. This would in turn, enhance student- learning while minimizing adverse environmental impact through energy efficiency of comfort-related HVAC and lighting systems. This research, which is a part of a larger research project, aims at evaluating different school building designs in Albania in terms of energy use and indoor thermal comfort, and identify energy efficient options of existing schools. We start by identifying three different climate zones in Albania; Coastal (Durres), Hill/Pre-mountainous (Tirana), mountainous (Korca). Next, two prototypical school building designs are identified from the existing stock. Numerous scenarios are then identified for analysis which consists of combinations of climate zone, building type, building orientation, building upgrade levels, presence of renewable energy systems (solar photovoltaic and solar water heater). The existing building layouts, initially outlined in CAD software and then imported into a detailed building energy software program (eQuest) to perform annual simulations for all scenarios. The research also predicted indoor thermal comfort conditions of the various scenarios on the premise that windows could be opened to provide natural ventilation cooling when appropriate. This study also estimated the energy generated from solar photovoltaic systems and solar water heater systems when placed on the available roof area to determine the extent to which they are able to meet the required electric loads (plug and lights) and building heating loads respectively. The results showed that there is adequate indoor comfort without the need for mechanical cooling for the three climate zones, and that only heating is needed during the winter months.
Redfern, Andrew; Koplow, Michael; Wright, Paul
2007-01-01
Most residential heating, ventilating, and air-conditioning (HVAC) systems utilize a single zone for conditioning air throughout the entire house. While inexpensive, these systems lead to wide temperature distributions and inefficient cooling due to the difference in thermal loads in different rooms. The end result is additional cost to the end user because the house is over conditioned. To reduce the total amount of energy used in a home and to increase occupant comfort there is a need for a better control system using multiple temperature zones. Typical multi-zone systems are costly and require extensive infrastructure to function. Recent advances in wireless sensor networks (WSNs) have enabled a low cost drop-in wireless vent register control system. The register control system is controlled by a master controller unit, which collects sensor data from a distributed wireless sensor network. Each sensor node samples local settings (occupancy, light, humidity and temperature) and reports the data back to the master control unit. The master control unit compiles the incoming data and then actuates the vent resisters to control the airflow throughout the house. The control system also utilizes a smart thermostat with a movable set point to enable the user to define their given comfort levels. The new system can reduce the run time of the HVAC system and thus decreasing the amount of energy used and increasing the comfort of the home occupations.
A Comparison Study on the Assessment of Ride Comfort for LRT Passengers
Tengku Munawir, Tengku Imran; Abqari Abu Samah, Ahmad; Afiq Akmal Rosle, Muhammad; Azlis-Sani, Jalil; Hasnan, Khalid; Sabri, S. M.; Ismail, S. M.; Yunos, Muhammad Nur Annuar Mohd; Yen Bin, Teo
2017-08-01
Ride comfort in railway transportation is very mind boggling and it relies on different dynamic performance criteria as well as subjective observation from the train passengers. Vibration discomfort from different elements such as vehicle condition, track area condition and working condition can prompt poor ride comfort. However, there are no universal applicable standards to analyse the ride comfort. There are several factors including local condition, vehicle condition and the track condition. In this current work, level of ride comfort by previous Adtranz-Walker light rapid transit (LRT) passengers at Ampang line were analysed. A comparison was done via two possible methods which are BS EN 12299 (2009) and Sperling’s Ride Index equation. BS EN 12299 standard is used to measure and evaluate the ride comfort of seating (Nvd) and standing (Nva) of train passenger in three different routes. Next, Sperling’s ride comfort equation is used to conduct validation and comparison between the obtained data. The result indicates a higher extent of vibration in the vertical axis which impacts the overall result. The standing position demonstrates a higher exposure of vibration in all the three tested routes. Comparison of the ride comfort assessment of passenger in sitting and standing position for both methods indicates that all the track sections exceeds “pronounced but not unpleasant (medium)” limit range. Nevertheless, the seating position at track section AU did not exceed the limit and stayed at the comfortable zone. The highest discomfort level achieved for both methods for seating position are 3.34 m/s2 for Nva and 2.63 m/s2 respectively, which is at route C uptrack that is from Chan Sow Lin station to Sri Petaling station. Meanwhile, the highest discomfort level achieved for both methods for standing are 3.80 m/s2 for Nvd and 2.88 m/s2 for Wz respectively, at uptrack section which is from Sri Petaling station to Chan Sow Lin station. Thus, the highest
Thermal comfort in urban transitional spaces
Energy Technology Data Exchange (ETDEWEB)
Chungyoon Chun [Yonsei University, Seoul (Korea). College of Human Ecology, Department of Housing and Interior Design; Tamura, A. [Yokohama National University (Japan). Department of Architecture and Building Science
2005-05-15
This paper deals with thermal comfort in urban transitional spaces. This topic investigates thermal comfort during walking activities through transitional spaces-urban corridors, shopping streets, and open-ended passageways. The study involves a field study and a laboratory study with a sequenced walk through an environmental control chamber. Subjects in both studies wore the same clothing ensembles, walked the same speed, and evaluated their thermal comfort at 20 designated point in the field and in specific rooms in the control chamber. Air temperature, relative humidity, and air velocity were measured concurrently as the thermal comfort votes completed. Findings revealed that the previously experienced temperatures determined thermal comfort at the following point in the sequence. Because thermal comfort at a point can be influenced widely by relative placement of temperatures in sequence, thermal comfort in transitional spaces can be adapted very widely compared to comfort inside of buildings. Thermal comfort along the experimental courses was evaluated by averaging the temperature of a course. (author)
Lin, Tzu-Ping; Hwang, Ruey-Lung; Huang, Kuo-Tsang; Sun, Chen-Yi; Huang, Ying-Che
2010-05-01
While thermal comfort in mass transportation vehicles is relevant to service quality and energy consumption, benchmarks for such comfort that reflect the thermal adaptations of passengers are currently lacking. This study reports a field experiment involving simultaneous physical measurements and a questionnaire survey, collecting data from 2,129 respondents, that evaluated thermal comfort in short- and long-haul buses and trains. Experimental results indicate that high air temperature, strong solar radiation, and low air movement explain why passengers feel thermally uncomfortable. The overall insulation of clothing worn by passengers and thermal adaptive behaviour in vehicles differ from those in their living and working spaces. Passengers in short-haul vehicles habitually adjust the air outlets to increase thermal comfort, while passengers in long-haul vehicles prefer to draw the drapes to reduce discomfort from extended exposure to solar radiation. The neutral temperatures for short- and long-haul vehicles are 26.2 degrees C and 27.4 degrees C, while the comfort zones are 22.4-28.9 degrees C and 22.4-30.1 degrees C, respectively. The results of this study provide a valuable reference for practitioners involved in determining the adequate control and management of in-vehicle thermal environments, as well as facilitating design of buses and trains, ultimately contributing to efforts to achieve a balance between the thermal comfort satisfaction of passengers and energy conserving measures for air-conditioning in mass transportation vehicles.
Comfort in times if climatic change; Comfort in tijden van klimaatverandering
Energy Technology Data Exchange (ETDEWEB)
Imsirovic, F.; Molenaar, R. [Techniplan Adviseurs, Rotterdam (Netherlands)
2011-10-15
A study with calculation software Vabi 114 shows that choosing a different climate year and comfort level requirements according to the Dutch standard NEN 5060 can lead to an increased cooling capacity of over 60%. When determining the climate year and comfort level in the program of requirements, it will have to be weighed if the increasing cost at the expense of the additional cooling capacity outweighs the increased level in comfort. [Dutch] Het is de laatste jaren een trend om andere klimaatjaren of andere comforteisen te hanteren. Het oude klimaatjaar1964-1965 wordt steeds vaker vervangen door jaren zoals 1995,1998 of nieuwe klimaatreferentiejaren conform de NEN 5060:2008. Ook de comforteisen veranderen. De eis van 150 gewogen overschrijdingsuren die de Rijksgebouwendienst jarenlang hanteerde, wordt steeds vaker vervangen door een eis met een maximale binnentemperatuur van 25C of adaptieve temperatuurgrenswaarden (ATG), zoals omschreven in ISSO-publicatie 74. Wat is de invloed van gewijzigde klimaatjaren en comforteisen op het comfort en het op te stellen koelvermogen?.
Rodrigues, Nelson J O; Oliveira, Ricardo F; Teixeira, Senhorinha F C F; Miguel, Alberto Sérgio; Teixeira, José Carlos; Baptista, João S
2015-01-01
Studies concerning indoor thermal conditions are very important in defining the satisfactory comfort range in health care facilities. This study focuses on the evaluation of the thermal comfort sensation felt by surgeons and nurses, in an orthopaedic surgical room of a Portuguese hospital. Two cases are assessed, with and without the presence of a person. Computational fluid dynamic (CFD) tools were applied for evaluating the predicted mean vote (PMV) index locally. Using average ventilation values to calculate the PMV index does not provide a correct and enough descriptive evaluation of the surgical room thermal environment. As studied for both cases, surgeons feel the environment slightly hotter than nurses. The nurses feel a slightly cold sensation under the air supply diffuser and their neutral comfort zone is located in the air stagnation zones close to the walls, while the surgeons feel the opposite. It was observed that the presence of a person in the room leads to an increase of the PMV index for surgeons and nurses. That goes in line with the empirical knowledge that more persons in a room lead to an increased heat sensation. The clothing used by both classes, as well as the ventilation conditions, should be revised accordingly to the amount of persons in the room and the type of activity performed.
International Nuclear Information System (INIS)
Salvalai, Graziano; Pfafferott, Jens; Sesana, Marta Maria
2013-01-01
Highlights: • Impact of five cooling technologies are simulated in six European climate zones with Trnsys 17. • The ventilation strategies reduce the cooling energy need even in South Europe climate. • Constant ventilation controller can lead to a poor cooling performance. • Comparing radiant strategies with air conditioning scenario, the energy saving is predicted to within 5–35%. - Abstract: Energy consumption for cooling is growing dramatically. In the last years, electricity peak consumption grew significantly, switching from winter to summer in many EU countries. This is endangering the stability of electricity grids. This article outlines a comprehensive analysis of an office building performances in terms of energy consumption and thermal comfort (in accordance with static – ISO 7730:2005 – and adaptive thermal comfort criteria – EN 15251:2007 –) related to different cooling concepts in six different European climate zones. The work is based on a series of dynamic simulations carried out in the Trnsys 17 environment for a typical office building. The simulation study was accomplished for five cooling technologies: natural ventilation (NV), mechanical night ventilation (MV), fan-coils (FC), suspended ceiling panels (SCP), and concrete core conditioning (CCC) applied in Stockholm, Hamburg, Stuttgart, Milan, Rome, and Palermo. Under this premise, the authors propose a methodology for the evaluation of the cooling concepts taking into account both, thermal comfort and energy consumption
Ambulatory movements, team dynamics and interactions during robot-assisted surgery.
Ahmad, Nabeeha; Hussein, Ahmed A; Cavuoto, Lora; Sharif, Mohamed; Allers, Jenna C; Hinata, Nobuyuki; Ahmad, Basel; Kozlowski, Justen D; Hashmi, Zishan; Bisantz, Ann; Guru, Khurshid A
2016-07-01
To analyse ambulatory movements and team dynamics during robot-assisted surgery (RAS), and to investigate whether congestion of the physical space associated with robotic technology led to workflow challenges or predisposed to errors and adverse events. With institutional review board approval, we retrospectively reviewed 10 recorded robot-assisted radical prostatectomies in a single operating room (OR). The OR was divided into eight zones, and all movements were tracked and described in terms of start and end zones, duration, personnel and purpose. Movements were further classified into avoidable (can be eliminated/improved) and unavoidable (necessary for completion of the procedure). The mean operating time was 166 min, of which ambulation constituted 27 min (16%). A total of 2 896 ambulatory movements were identified (mean: 290 ambulatory movements/procedure). Most of the movements were procedure-related (31%), and were performed by the circulating nurse. We identified 11 main pathways in the OR; the heaviest traffic was between the circulating nurse zone, transit zone and supply-1 zone. A total of 50% of ambulatory movements were found to be avoidable. More than half of the movements during RAS can be eliminated with an improved OR setting. More studies are needed to design an evidence-based OR layout that enhances access, workflow and patient safety. © 2016 The Authors BJU International © 2016 BJU International Published by John Wiley & Sons Ltd.
Annual Energy Savings and Thermal Comfort of Autonomously Heated and Cooled Office Chairs
Energy Technology Data Exchange (ETDEWEB)
Carmichael, Scott [National Renewable Energy Lab. (NREL), Golden, CO (United States); Booten, Chuck [National Renewable Energy Lab. (NREL), Golden, CO (United States); Robertson, Joseph [National Renewable Energy Lab. (NREL), Golden, CO (United States); Chin, Justin [National Renewable Energy Lab. (NREL), Golden, CO (United States); Christensen, Dane [National Renewable Energy Lab. (NREL), Golden, CO (United States); Pless, Jacquelyn [National Renewable Energy Lab. (NREL), Golden, CO (United States); Arent, Doug [National Renewable Energy Lab. (NREL), Golden, CO (United States)
2016-07-01
Energy use in offices buildings is largely driven by air conditioning demands. But the optimal temperature is not the same for all building occupants, leading to the infamous thermostat war. And many occupants have independently overcome building comfort weaknesses with their own space heaters or fans. NREL tested is a customized office chair that automatically heats and cools the occupant along the seat and chair back according to the occupants' personal preferences. This product is shown to deliver markedly better comfort at room temperatures well above typical office cooling setpoints. Experimental subjects reported satisfaction in these elevated air temperatures, partly because the chair's cooling effect was tuned to their own individual needs. Simulation of the chair in office buildings around the U.S. shows that energy can be saved everywhere, with impacts varying due to the climate. Total building HVAC energy savings exceeded 10% in hot-dry climate zones. Due to high product cost, simple payback for the chair we studied is beyond the expected chair life. We then understood the need to establish cost-performance targets for comfort delivery packages. NREL derived several hypothetical energy/cost/comfort targets for personal comfort product systems. In some climate regions around the U.S., these show the potential for office building HVAC energy savings in excess of 20%. This report documents this research, providing an overview of the research team's methods and results while also identifying areas for future research building upon the findings.
The Comfortable Home and Energy Consumption
DEFF Research Database (Denmark)
Madsen, Line Valdorff
2017-01-01
This paper investigates relations between notions of comfort and notions of home, aiming at a better understanding of residential comfort and the related energy consumption. Residential comfort is examined through a practice-theoretical lens and as something that appears in between the social...... and material structures of a home. The approach considers different elements of comfort in homemaking practices, such as the body, materials and social meanings. The paper examines how conceptions of comfort and homeliness interrelate through homemaking practices and thereby redefine comfort within a framework...... of the home and social practices. This implies focus on “the comfortable home” as made up of homemaking practices that include knowhow, sensations and social norms. The empirical basis comprises interviews and visual data from a field study on detached housing on the outskirts of a Danish city. The paper...
The decisive role of the patient-side surgeon in robotic surgery.
Sgarbura, Olivia; Vasilescu, Catalin
2010-12-01
Minimally invasive technology literature is mainly concerned about the feasibility of the robotic procedures and the performance of the console surgeon. However, few of these technologies could be applied without a well-trained team. Our goal was to demonstrate that robotic surgery depends more on the patient-side assistant surgeon's abilities than has been previously reported. In our department, 280 interventions in digestive, thoracic, and gynecological surgery were performed since the acquisition of the robotic equipment. There are three teams trained in robotic surgery with three console surgeons and four certified patient-side surgeons. Four more patient-side assistants were trained at our center. Trocar placement, docking and undocking of the robot, insertion of the laparoscopic instruments, and hemostatic maneuvers with various devices were quantified and compared. Assistants trained by using animal or cadaver surgery are more comfortable with the robotic instruments handling and with docking and undocking of the robot. Assistants who finalized their residency or attend their final year are more accurate with the insertion of the laparoscopic instrument to the targeted organ and more skillful with LigaSure or clip applier devices. Interventions that require vivid participation of the assistants have shorter assistant-depending time intervals at the end of the learning curve than at the beginning. Robotic surgery is a team effort and is greatly dependant on the performance of assistant surgeons. Interventions that have the benefit of a trained team are more rapid and secure.
6-REXOS: Upper Limb Exoskeleton Robot with Improved pHRI
Directory of Open Access Journals (Sweden)
Malin Gunasekara
2015-04-01
Full Text Available Close interaction can be observed between an exoskeleton robot and its wearer. Therefore, appropriate physical human-robot interaction (pHRI should be considered when designing an exoskeleton robot to provide safe and comfortable motion assistance. Different features have been used in recent studies to enhance the pHRI in upper-limb exoskeleton robots. However, less attention has been given to integrating kinematic redundancy into upper-limb exoskeleton robots to improve the pHRI. In this context, this paper proposes a six-degrees-of-freedom (DoF upper-limb exoskeleton robot (6-REXOS for the motion assistance of physically weak individuals. The 6-REXOS uses a kinematically different structure to that of the human lower arm, where the exoskeleton robot is worn. The 6-REXOS has four active DoFs to generate the motion of the human lower arm. Furthermore, two flexible bellow couplings are attached to the wrist and elbow joints to generate two passive DoFs. These couplings not only allow translational motion in wrist and elbow joints but also a redundancy in the robot. Furthermore, the compliance of the flexible coupling contributes to avoiding misalignments between human and robot joint axes. The redundancy in the 6-REXOS is verified based on manipulability index, minimum singular value, condition number and manipulability ellipsoids. The 6-REXOS and a four-DoF exoskeleton robot are compared to verify the manipulation advantage due to the redundancy. The four-DoF exoskeleton robot is designed by excluding the two passive DoFs of the 6-REXOS. In addition, a kinematic model is proposed for the human lower arm to validate the performance of the 6-REXOS. Kinematic analysis and simulations are carried out to validate the 6-REXOS and human-lower-arm model.
International Nuclear Information System (INIS)
Alahmer, A.; Omar, M.A.; Mayyas, A.; Dongri, Shan
2011-01-01
This manuscript discusses the effect of manipulating the Relative Humidity RH of in-cabin environment on the thermal comfort and human occupants' thermal sensation. The study uses thermodynamic and psychometric analyses, to incorporate the effect of changing RH along with the dry bulb temperature on human comfort. Specifically, the study computes the effect of changing the relative humidity on the amount of heat rejected from the passenger compartment and the effect of relative humidity on occupants comfort zone. A practical system implementation is also discussed in terms of an evaporative cooler design. The results show that changing the RH along with dry bulb temperature inside vehicular cabins can improve the air conditioning efficiency by reducing the heat removed while improving the Human comfort sensations as measured by the Predicted Mean Value PMV and the Predicted Percentage Dissatisfied PPD indices. - Highlights: → Investigates the effect of controlling the RH and dry bulb temperature on in-cabin thermal comfort and sensation. → Conducts the thermodynamic and psychometric analyses for changing the RH and temperature for in-cabin air conditioning. → Discusses a possible system implementation through an evaporative cooler design.
Thermal comfort: research and practice.
van Hoof, Joost; Mazej, Mitja; Hensen, Jan L M
2010-01-01
Thermal comfort--the state of mind, which expresses satisfaction with the thermal environment--is an important aspect of the building design process as modern man spends most of the day indoors. This paper reviews the developments in indoor thermal comfort research and practice since the second half of the 1990s, and groups these developments around two main themes; (i) thermal comfort models and standards, and (ii) advances in computerization. Within the first theme, the PMV-model (Predicted Mean Vote), created by Fanger in the late 1960s is discussed in the light of the emergence of models of adaptive thermal comfort. The adaptive models are based on adaptive opportunities of occupants and are related to options of personal control of the indoor climate and psychology and performance. Both models have been considered in the latest round of thermal comfort standard revisions. The second theme focuses on the ever increasing role played by computerization in thermal comfort research and practice, including sophisticated multi-segmental modeling and building performance simulation, transient thermal conditions and interactions, thermal manikins.
Zones of comfortable living of habitants on Mercury
Steklov, A. F.; Vidmachenko, A. P.
2018-05-01
Temperature in the sunflower point on Mercury +480 °C; before sunrise, the temperature at the equator drops to-183 °C. In this regard, after arrival on the surface of Mercury, a person immediately needs to protect himself from extreme temperatures and radiation, hiding, for example, under the surface. Temperature fluctuations observed on the surface of the Earth too, very slowly propagate into the depth of the soil. 228 years ago by the French scientist Antoine Lavoisier proved that the temperature in the mine under the surface at a depth of 28 m in the territory of the Paris Observatory year-round is constant and equal to +11.7 C. For Kiev this constant temperature is always + 9°Ð¡. Solving a similar problem for Mercury, we obtained at latitudes |70-90 deg.| that the temperature below the surface at depths of 3-30 m will be guaranteed constant in range of +15-25 C. The area of settlements with comfort temperatures for the biological life form at subsurface subpolar regions is more than three million km2. Thus, under the surface (endo) of Mercury at depths of 3-30 m tens of endo-settlements can be located. It remains only to provide people in these settlements - water and specialized spacesuits. This will enable people to live there for a long time, and will allow them to extract mineral resources on Mercury. Therefore, now it is necessary to work on the creation of special symbiotic "cocoons", which can themselves be buried. This will ensure the long-term existence of endoplanetary stations on Mercury.
Surveillance robot for nuclear power plants
International Nuclear Information System (INIS)
White, J.R.; Harvey, H.W.; Satterlee, P.E. Jr.
1985-01-01
A demonstration project to determine the feasibility and cost-effectiveness of mobile surveillance robots in nuclear power plants is being conducted by the Remote Technology Corporation (REMOTEC) for the US Nuclear Regulatory Commission. Phase I of the project was completed in March 1984 and included a survey of currently used robotic equipment and the development of a robotics application methodology. Three Tennessee Valley Authority plants were analyzed to identify specific plant areas with a high potential for surveillance robotics. Based on these results, a number of robotic system applications were prepared and evaluated for cost-effectiveness. The system with the highest potential, a mobile surveillance robot, was selected for fabrication and in-plant demonstration testing in a phase II effort. The design, fabrication, and assembly of SURBOT has been completed and cold testing is in process. It will be installed at the Browns Ferry Nuclear Plant early in 1986 for demonstration testing. Current projections are that SURBOT can be used in approx.40 rooms within the auxiliary building and will have annual savings of over 100 person-rem exposure, 1000 sets of C-zone clothing, and 1000 person-hours of labor
Optimizing a mobile robot control system using GPU acceleration
Tuck, Nat; McGuinness, Michael; Martin, Fred
2012-01-01
This paper describes our attempt to optimize a robot control program for the Intelligent Ground Vehicle Competition (IGVC) by running computationally intensive portions of the system on a commodity graphics processing unit (GPU). The IGVC Autonomous Challenge requires a control program that performs a number of different computationally intensive tasks ranging from computer vision to path planning. For the 2011 competition our Robot Operating System (ROS) based control system would not run comfortably on the multicore CPU on our custom robot platform. The process of profiling the ROS control program and selecting appropriate modules for porting to run on a GPU is described. A GPU-targeting compiler, Bacon, is used to speed up development and help optimize the ported modules. The impact of the ported modules on overall performance is discussed. We conclude that GPU optimization can free a significant amount of CPU resources with minimal effort for expensive user-written code, but that replacing heavily-optimized library functions is more difficult, and a much less efficient use of time.
Affect asymmetry and comfort food consumption.
Dubé, Laurette; LeBel, Jordan L; Lu, Ji
2005-11-15
It is proposed that the emotional triggers of comfort food consumption can reliably be predicted by factors tied to affect asymmetry whereby negative affects dominate one's experience, decision making and behaviors in some instances while positive emotions prevail in others. Specifically, we relate three of these factors (age, gender, and culture) to differences in the emotional triggers of comfort food consumption and we further explore the possibility that the type of food eaten during comfort-seeking episodes can also be tied to affect asymmetry. Two hundred and seventy-seven participants completed a web-based survey conducted to assess the emotional antecedents and consequences of comfort food consumption. Consistent with expectations, results indicate that men's comfort food consumption was motivated by positive emotions whereas women's consumption was triggered by negative affects. Consumption of comfort foods alleviated women's negative emotions but also produced guilt. Positive affect was a particularly powerful trigger of comfort food consumption for older participants and for participants with French cultural background. Younger participants and participants with English background reported more intense negative emotions prior to consuming comfort foods. Foods high in sugar and fat content were more efficient in alleviating negative affects whereas low-calorie foods were more efficient in increasing positive emotions.
How "Does" the Comforting Process Work? An Empirical Test of an Appraisal-Based Model of Comforting
Jones, Susanne M.; Wirtz, John G.
2006-01-01
Burleson and Goldsmith's (1998) comforting model suggests an appraisal-based mechanism through which comforting messages can bring about a positive change in emotional states. This study is a first empirical test of three causal linkages implied by the appraisal-based comforting model. Participants (N=258) talked about an upsetting event with a…
Human Thermal Comfort and Heat Stress in an Outdoor Urban Arid Environment: A Case Study
Directory of Open Access Journals (Sweden)
A. M. Abdel-Ghany
2013-01-01
Full Text Available To protect humans from heat stress risks, thermal comfort and heat stress potential were evaluated under arid environment, which had never been made for such climate. The thermal indices THI, WBGT, PET, and UTCI were used to evaluate thermal comfort and heat stress. RayMan software model was used to estimate the PET, and the UTCI calculator was used for UTCI. Dry and wet bulb temperatures (Td, Tw, natural wet bulb temperature (Tnw, and globe temperature (Tg were measured in a summer day to be used in the calculation. The results showed the following. (i The thermal sensation and heat stress levels can be evaluated by either the PET or UTCI scales, and both are valid for extremely high temperature in the arid environment. (ii In the comfort zone, around 75% of individuals would be satisfied with the surrounding environment and feel comfortable during the whole day. (iii Persons are exposed to strong heat stress and would feel uncomfortable most of the daytime in summer. (iv Heat fatigue is expected with prolonged exposure to sun light and activity. (v During the daytime, humans should schedule their activities according to the highest permissible values of the WBGT to avoid thermal shock.
Robots are stalling in Fukushima
International Nuclear Information System (INIS)
Anon.
2012-01-01
Whereas robots were expected to be the heroes of the cleaning up of radioactive zones of the Fukushima power station, they fall, lack of autonomy, or stay prisoners of debris. After having briefly described how these robots look like (the characteristics of four models are given, two Japanese and two American robots), this article outlines that they resist quite well to radioactivity, but are rather slow and are not used all at the same time: some are being maintained, some are trapped in debris. Thus, they perform a mission once a week, with finally less than hundred hours of operation for each of them. They are often trapped by debris, their movements are often difficult (notably in front of stairs or of debris), their battery lacks autonomy, and they did not significantly reduce the exposure of humans to radioactivity, but they open perspectives for new devices
Alders, E.E.; Kurvers, S.R.; Van den Ham, E.R.
2011-01-01
Many theories on thermal comfort exist and there are many ways to deliver this in an energy efficient way. Both aspects are often studied in a static way and most of these studies only regard one of the aspects, seldom investigating what influence the way of delivering thermal comfort has on the
A soft wearable robot for the shoulder: Design, characterization, and preliminary testing.
O'Neill, Ciaran T; Phipps, Nathan S; Cappello, Leonardo; Paganoni, Sabrina; Walsh, Conor J
2017-07-01
In this paper, we present a soft wearable robot for the shoulder which has the potential to assist individuals suffering from a range of neuromuscular conditions affecting the shoulder to perform activities of daily living. This wearable robot combines two types of soft textile pneumatic actuators which were custom developed for this particular application to support the upper arm through shoulder abduction and horizontal flexion/extension. The advantage of a textile-based approach is that the robot can be lightweight, low-profile, comfortable and non-restrictive to the wearer, and easy to don like an item of clothing. The actuator's ability to fold flat when not in use allows the robot to be almost invisible under clothing, potentially allowing the user to avoid any stigma associated with using assistive devices in public. To abduct the arm, a textilebased pneumatic actuator was developed to fit within the axilla to push the arm upwards, while a pair of smaller actuators pivot the abduction actuator to allow for horizontal extension and flexion. The individual textile actuators were experimentally evaluated before being integrated into a wearable garment. Human subject testing was performed to evaluate the ability of the robot to assist the arm by monitoring changes in biological muscle activity when comparing the robot powered on and off. Preliminary results show large reductions in muscular effort in targeted muscles, demonstrating the feasibility and promise of such a soft wearable robot for the shoulder.
Neurosurgical robotic arm drilling navigation system.
Lin, Chung-Chih; Lin, Hsin-Cheng; Lee, Wen-Yo; Lee, Shih-Tseng; Wu, Chieh-Tsai
2017-09-01
The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process. The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through. Three kinds of experiment were designed. The average positioning error deduced from 3D images of the robotic arm was 0.502 ± 0.069 mm. The correlation between automatically and manually planned paths was 0.975. The average distance error between automatically planned paths and risky zones was 0.279 ± 0.401 mm. The drilling auto-stopping algorithm had 0.00% unstopped cases (26.32% in control group 1) and 70.53% non-drilled-through cases (8.42% and 4.21% in control groups 1 and 2). The system may be useful for neurosurgical robotic arm drilling navigation. Copyright © 2016 John Wiley & Sons, Ltd.
Directory of Open Access Journals (Sweden)
Rong Chen
2013-01-01
Full Text Available A human life demand set to emerge in the future is the achievement of sustainability by maintaining a comfortable indoor environment without excessive reliance on energy-consuming air conditioners. The major research processes in this study are: (1 measuring indoor air quality and thermal comfort to evaluate the comfort of an indoor environment; (2 implementing questionnaire survey analysis to explore people’s environmental self-perceptions and conducting a meta-analysis of the measurement results for air quality and physical aspects; and (3 constructing an indoor monitoring and management system. The experimental and analysis results of this research reveal that most of the office occupants preferred a cooler environment with a lower temperature. Additionally, because the summers in Taiwan are humid and hot, the occupants of an indoor space tend to feel uncomfortable because of the high humidity and poor indoor air quality. Therefore, Variable Air Volume (VAV, two air intakes, and exhaust plant are installed to improve indoor environment. After improvement, a lower temperature (approximately 21.2–23.9°C indirectly reduces humidity, thereby making the occupants comfortable. Increasing air velocity to 0.1~0.15 m/s, the carbon dioxide concentrations decrease below the requirement of the WHO. Ninety-five percent of the workers corresponded to the standard comfort zone after this improvement.
Chen, Rong; Sung, Wen-Pei; Chang, Hung-Chang; Chi, Yi-Rou
2013-01-01
A human life demand set to emerge in the future is the achievement of sustainability by maintaining a comfortable indoor environment without excessive reliance on energy-consuming air conditioners. The major research processes in this study are: (1) measuring indoor air quality and thermal comfort to evaluate the comfort of an indoor environment; (2) implementing questionnaire survey analysis to explore people's environmental self-perceptions and conducting a meta-analysis of the measurement results for air quality and physical aspects; and (3) constructing an indoor monitoring and management system. The experimental and analysis results of this research reveal that most of the office occupants preferred a cooler environment with a lower temperature. Additionally, because the summers in Taiwan are humid and hot, the occupants of an indoor space tend to feel uncomfortable because of the high humidity and poor indoor air quality. Therefore, Variable Air Volume (VAV), two air intakes, and exhaust plant are installed to improve indoor environment. After improvement, a lower temperature (approximately 21.2–23.9°C) indirectly reduces humidity, thereby making the occupants comfortable. Increasing air velocity to 0.1 ~ 0.15 m/s, the carbon dioxide concentrations decrease below the requirement of the WHO. Ninety-five percent of the workers corresponded to the standard comfort zone after this improvement. PMID:24311976
Improving the comfort of garments
CSIR Research Space (South Africa)
Hunter, L
2014-11-01
Full Text Available refers to the human body’s ability to maintain life. Psychological comfort refers to the mind’s ability to keep functioning satisfactorily without external help. Physical comfort refers to the effects of the external environment on the body’s...
Energy Technology Data Exchange (ETDEWEB)
Hwang, Ruey-Lung; Shu, Shiu-Ya [Department of Architecture, National United University, 1, Lien-Da, Kung-Ching Li, Miaoli, 36003 (China)
2011-04-15
This paper presents an investigation of the effect of building envelope regulation on thermal comfort and on the energy-saving potential for PMV-based comfort control in glass facade buildings. Occurrences and severity of overheating, based on the PMV-PPD model contained in ISO 7730, were used for the thermal comfort assessment. Parametric study simulations for an actual building with a large glass facade were carried out to predict the changes in thermal comfort levels in a space due to different glazing types, depths of overhang and glazing areas, which are the key parameters of the building envelope regulation index, named ENVLOAD, in Taiwan. The result demonstrates that the ENVLOAD has significant effect on thermal comfort. Additionally, comparative simulations between PMV-based comfort control and conventional thermostatic control were performed to investigate the changes in the energy-saving potential of a thermal comfort-controlled space due to changes of its ENVLOAD. The results demonstrate that the energy-saving potential in a PMV-based controlled space increases with low ENVLOAD conditions. (author)
Space suit glove design with advanced metacarpal phalangeal joints and robotic hand evaluation.
Southern, Theodore; Roberts, Dustyn P; Moiseev, Nikolay; Ross, Amy; Kim, Joo H
2013-06-01
One area of space suits that is ripe for innovation is the glove. Existing models allow for some fine motor control, but the power grip--the act of grasping a bar--is cumbersome due to high torque requirements at the knuckle or metacarpal phalangeal joint (MCP). This area in particular is also a major source of complaints of pain and injury as reported by astronauts. This paper explores a novel fabrication and patterning technique that allows for more freedom of movement and less pain at this crucial joint in the manned space suit glove. The improvements are evaluated through unmanned testing, manned testing while depressurized in a vacuum glove box, and pressurized testing with a robotic hand. MCP joint flex score improved from 6 to 6.75 (out of 10) in the final glove relative to the baseline glove, and torque required for flexion decreased an average of 17% across all fingers. Qualitative assessments during unpressurized and depressurized manned testing also indicated the final glove was more comfortable than the baseline glove. The quantitative results from both human subject questionnaires and robotic torque evaluation suggest that the final iteration of the glove design enables flexion at the MCP joint with less torque and more comfort than the baseline glove.
Thermal comfort: research and practice
Hoof, van J.; Mazej, M.; Hensen, J.L.M.
2010-01-01
Thermal comfort -the state of mind, which expresses satisfaction with the thermal environment- is an important aspect of the building design process as modern man spends most of the day indoors. This paper reviews the developments in indoor thermal comfort research and practice since the second half
Ioannou, A.; Itard, L.C.M.; Agarwal, Tushar
2018-01-01
Indoor thermal comfort is generally assessed using the PMV or the adaptive model. This research presents the results obtained by in-situ real time measurements of thermal comfort and thermal comfort perception in 17 residential dwellings in the Netherlands. The study demonstrates the new
Factors that affecting mothers’ postnatal comfort
Directory of Open Access Journals (Sweden)
Gül Pınar
2009-01-01
Full Text Available Aim: The comfort is defined as; “an expected result of a complex conformation of providing peace and help about individual’s needs in a physical, psycho-spiritual, social and environmental entity to overcome the problems”. The aim of this study was to determine the mother’s postnatal comfort and the affecting factors of it.Materials and Methods: This is a sectional and descriptive study. The study was performed on the mothers (n=150 who applied to the delivery service of the Başkent University Ankara Hospital between the date of 30.07.2008 to 31.12.2008. A questionnaire was developed by the investigators to collect data and determine patients’ postnatal comfort scores. Results: The mean age of women was 26.4±3.5 years, the majority of patients had an educational level of high school (68.7% and were multipara (66.0%. It was determined that the mothers had problems and needed help with the fatigue, pain, in standing up, the adverse effect of anesthesia, personal and perineal hygiene that affect their postnatal comfort. The comfort score of the mothers who had spontaneous vaginal birth was higher than those of underwent cesarean delivery (p<0.05.Conclusion: The mothers’ needs and expectations about themselves and their babies were generally supplied by midwifes and the nurses in the postnatal period. Opinion of the mothers about their comfort were influenced to a positive view and the comfort scores increased while the mothers’ satisfaction were augmented (p<0.05.
Houdini: Reconfigurable in-tank robot
Energy Technology Data Exchange (ETDEWEB)
White, D.W.; Slifko, A.D.; Thompson, B.R. [RedZone Robotics, Inc., Pittsburgh, PA (United States)] [and others
1995-10-01
RedZone Robotics, Inc. and Carnegie Mellon University (CMU) are developing a tethered mobile robot, Houdini, to work inside waste storage tanks in support of the Department of Energy`s Environmental Restoration and Waste Management (EM) Program. This project is funded by the DOE`s Environmental Management Office of Technology Development through the Morgantown Energy Technology Center (METC). Our goal is to develop technology that is useful for in-tank operations throughout the DOE`s EM program. The first application of the Houdini system is to support the waste retrieval action planned for the final remediation of the Fernald site`s waste silos. RedZone and CMU have discussed potential applications for the system with personnel from several other DOE sites, and have found that the system would be widely useful in the DOE complex for tasks both inside and outside of waste storage tanks. We are tailoring the first implementation of the Houdini system to the specific needs of the Fernald silo remediation. The Fernald application-specific design constraints are primarily interface issues and should not interfere with the utility of the system at other sites.
Thermal comfort and older adults
Hoof, van J.; Hensen, J.L.M.
2006-01-01
The majority of the increasing number of older adults wishes to age-in-place. Appropriate and comfortable housing is of great importance to facilitate this desire. One of the aspects of concern is thermal comfort. This is normally assessed using the model of Fanger, however, one might ask if this
Dynamic thermal environment and thermal comfort.
Zhu, Y; Ouyang, Q; Cao, B; Zhou, X; Yu, J
2016-02-01
Research has shown that a stable thermal environment with tight temperature control cannot bring occupants more thermal comfort. Instead, such an environment will incur higher energy costs and produce greater CO2 emissions. Furthermore, this may lead to the degeneration of occupants' inherent ability to combat thermal stress, thereby weakening thermal adaptability. Measured data from many field investigations have shown that the human body has a higher acceptance to the thermal environment in free-running buildings than to that in air-conditioned buildings with similar average parameters. In naturally ventilated environments, occupants have reported superior thermal comfort votes and much greater thermal comfort temperature ranges compared to air-conditioned environments. This phenomenon is an integral part of the adaptive thermal comfort model. In addition, climate chamber experiments have proven that people prefer natural wind to mechanical wind in warm conditions; in other words, dynamic airflow can provide a superior cooling effect. However, these findings also indicate that significant questions related to thermal comfort remain unanswered. For example, what is the cause of these phenomena? How we can build a comfortable and healthy indoor environment for human beings? This article summarizes a series of research achievements in recent decades, tries to address some of these unanswered questions, and attempts to summarize certain problems for future research. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
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)
Lunar surface exploration using mobile robots
Nishida, Shin-Ichiro; Wakabayashi, Sachiko
2012-06-01
A lunar exploration architecture study is being carried out by space agencies. JAXA is carrying out research and development of a mobile robot (rover) to be deployed on the lunar surface for exploration and outpost construction. The main target areas for outpost construction and lunar exploration are mountainous zones. The moon's surface is covered by regolith. Achieving a steady traversal of such irregular terrain constitutes the major technical problem for rovers. A newly developed lightweight crawler mechanism can effectively traverse such irregular terrain because of its low contact force with the ground. This fact was determined on the basis of the mass and expected payload of the rover. This paper describes a plan for Japanese lunar surface exploration using mobile robots, and presents the results of testing and analysis needed in their development. This paper also gives an overview of the lunar exploration robot to be deployed in the SELENE follow-on mission, and the composition of its mobility, navigation, and control systems.
Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design
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
Visual comfort evaluated by opponent colors
Sagawa, Ken
2002-06-01
This study aimed to evaluate psychological impression of visual comfort when we see an image of ordinary colored scene presented in a color display. Effects of opponent colors, i.e. red, green, yellow and blue component, on the subjective judgement on visual comfort to the image were investigated. Three kinds of psychological experiment were designed to see the effects and the results indicated that the red/green opponent color component was more affecting than the yellow-blue one, and red color in particular was the most affecting factor on visual comfort.
Entropy generation method to quantify thermal comfort
Boregowda, S. C.; Tiwari, S. N.; Chaturvedi, S. K.
2001-01-01
The present paper presents a thermodynamic approach to assess the quality of human-thermal environment interaction and quantify thermal comfort. The approach involves development of entropy generation term by applying second law of thermodynamics to the combined human-environment system. The entropy generation term combines both human thermal physiological responses and thermal environmental variables to provide an objective measure of thermal comfort. The original concepts and definitions form the basis for establishing the mathematical relationship between thermal comfort and entropy generation term. As a result of logic and deterministic approach, an Objective Thermal Comfort Index (OTCI) is defined and established as a function of entropy generation. In order to verify the entropy-based thermal comfort model, human thermal physiological responses due to changes in ambient conditions are simulated using a well established and validated human thermal model developed at the Institute of Environmental Research of Kansas State University (KSU). The finite element based KSU human thermal computer model is being utilized as a "Computational Environmental Chamber" to conduct series of simulations to examine the human thermal responses to different environmental conditions. The output from the simulation, which include human thermal responses and input data consisting of environmental conditions are fed into the thermal comfort model. Continuous monitoring of thermal comfort in comfortable and extreme environmental conditions is demonstrated. The Objective Thermal Comfort values obtained from the entropy-based model are validated against regression based Predicted Mean Vote (PMV) values. Using the corresponding air temperatures and vapor pressures that were used in the computer simulation in the regression equation generates the PMV values. The preliminary results indicate that the OTCI and PMV values correlate well under ideal conditions. However, an experimental study
Directory of Open Access Journals (Sweden)
Hirokazu Kumazaki
2018-02-01
Full Text Available Research suggests that many individuals with autism spectrum disorder (ASD often demonstrate challenges providing appropriate levels of information during conversational interchanges. Considering the preference of individuals with ASD, and recent rapid technological advances, robotic systems may yield promise in promoting certain aspects of conversation and interaction such as self-disclosure of appropriate personal information. In the current work, we evaluated personal disclosures of events with specific emotional content across two differing robotic systems (android and simplistic humanoid and human interactions. Nineteen participants were enrolled in this study: 11 (2 women and 9 men adolescents with ASD and 8 (4 women and 4 men adolescents with TD. Each participant completed a sequence of three interactions in a random order. Results indicated differences regarding comfort level and length of disclosures between adolescents with ASD and typically developing (TD controls in relation to system interactions. Specifically, adolescents with ASD showed a preference for interacting with the robotic systems compared to TD controls and demonstrated lengthier disclosures when interacting with the visually simple humanoid robot compared to interacting with human interviewer. The findings suggest that robotic systems may be useful in eliciting and promoting aspects of social communication such as self-disclosure for some individuals with ASD.
Possibilities to improve the aircraft interior comfort experience.
Vink, P; Bazley, C; Kamp, I; Blok, M
2012-03-01
Comfort plays an increasingly important role in the interior design of airplanes. Although ample research has been conducted on airplane design technology, only a small amount of public scientific information is available addressing the passenger's opinion. In this study, more than 10,000 internet trip reports and 153 passenger interviews were used to gather opinions about aspects which need to be improved in order to design a more comfortable aircraft interior. The results show clear relationships between comfort and legroom, hygiene, crew attention and seat/personal space. Passengers rate the newer planes significantly better than older ones, indicating that attention to design for comfort has proven effective. The study also shows that rude flight attendants and bad hygiene reduce the comfort experience drastically and that a high comfort rating is related to higher "fly again" values. Copyright © 2011 Elsevier Ltd and The Ergonomics Society. All rights reserved.
Estimation of Physical Human-Robot Interaction Using Cost-Effective Pneumatic Padding
Directory of Open Access Journals (Sweden)
André Wilkening
2016-08-01
Full Text Available The idea to use a cost-effective pneumatic padding for sensing of physical interaction between a user and wearable rehabilitation robots is not new, but until now there has not been any practical relevant realization. In this paper, we present a novel method to estimate physical human-robot interaction using a pneumatic padding based on artificial neural networks (ANNs. This estimation can serve as rough indicator of applied forces/torques by the user and can be applied for visual feedback about the user’s participation or as additional information for interaction controllers. Unlike common mostly very expensive 6-axis force/torque sensors (FTS, the proposed sensor system can be easily integrated in the design of physical human-robot interfaces of rehabilitation robots and adapts itself to the shape of the individual patient’s extremity by pressure changing in pneumatic chambers, in order to provide a safe physical interaction with high user’s comfort. This paper describes a concept of using ANNs for estimation of interaction forces/torques based on pressure variations of eight customized air-pad chambers. The ANNs were trained one-time offline using signals of a high precision FTS which is also used as reference sensor for experimental validation. Experiments with three different subjects confirm the functionality of the concept and the estimation algorithm.
Understanding the adaptive approach to thermal comfort
Energy Technology Data Exchange (ETDEWEB)
Humphreys, M.A. [Oxford Univ. (United Kingdom). Centre for the Study of Christianity and Culture; Nicol, J.F. [Oxford Brookes Univ. (United Kingdom). School of Architecture
1998-10-01
This paper explains the adaptive approach to thermal comfort, and an adaptive model for thermal comfort is presented. The model is an example of a complex adaptive system (Casti 1996) whose equilibria are determined by the restrictions acting upon it. People`s adaptive actions are generally effective in securing comfort, which occurs at a wide variety of indoor temperatures. These comfort temperatures depend upon the circumstances in which people live, such as the climate and the heating or cooling regime. The temperatures may be estimated from the mean outdoor temperature and the availability of a heating or cooling plant. The evaluation of the parameters of the adaptive model requires cross-sectional surveys to establish current norms and sequential surveys (with and without intervention) to evaluate the rapidity of people`s adaptive actions. Standards for thermal comfort will need revision in the light of the adaptive approach. Implications of the adaptive model for the HVAC industry are noted.
Cultural Robotics: The Culture of Robotics and Robotics in Culture
Directory of Open Access Journals (Sweden)
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.
Effect of Set-point Variation on Thermal Comfort and Energy Use in a Plus-energy Dwelling
DEFF Research Database (Denmark)
Toftum, Jørn; Kazanci, Ongun Berk; Olesen, Bjarne W.
2016-01-01
When designing buildings and space conditioning systems, the occupant thermal comfort, health, and productivity are the main criteria to satisfy. However, this should be achieved with the most energy-efficient space conditioning systems (heating, cooling, and ventilation). Control strategy, set......-points, and control dead-bands have a direct effect on the thermal environment in and the energy use of a building. The thermal environment in and the energy use of a building are associated with the thermal mass of the building and the control strategy, including set-points and control dead-bands. With thermally...... active building systems (TABS), temperatures are allowed to drift within the comfort zone, while in spaces with air-conditioning, temperatures in a narrower interval typically are aimed at. This behavior of radiant systems provides certain advantages regarding energy use, since the temperatures...
A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD.
Zorn, Lucile; Nageotte, Florent; Zanne, Philippe; Legner, Andras; Dallemagne, Bernard; Marescaux, Jacques; de Mathelin, Michel
2018-04-01
Minimally invasive surgical interventions in the gastrointestinal tract, such as endoscopic submucosal dissection (ESD), are very difficult for surgeons when performed with standard flexible endoscopes. Robotic flexible systems have been identified as a solution to improve manipulation. However, only a few such systems have been brought to preclinical trials as of now. As a result, novel robotic tools are required. We developed a telemanipulated robotic device, called STRAS, which aims to assist surgeons during intraluminal surgical endoscopy. This is a modular system, based on a flexible endoscope and flexible instruments, which provides 10 degrees of freedom (DoFs). The modularity allows the user to easily set up the robot and to navigate toward the operating area. The robot can then be teleoperated using master interfaces specifically designed to intuitively control all available DoFs. STRAS capabilities have been tested in laboratory conditions and during preclinical experiments. We report 12 colorectal ESDs performed in pigs, in which large lesions were successfully removed. Dissection speeds are compared with those obtained in similar conditions with the manual Anubiscope platform from Karl Storz. We show significant improvements ( ). These experiments show that STRAS (v2) provides sufficient DoFs, workspace, and force to perform ESD, that it allows a single surgeon to perform all the surgical tasks and those performances are improved with respect to manual systems. The concepts developed for STRAS are validated and could bring new tools for surgeons to improve comfort, ease, and performances for intraluminal surgical endoscopy.
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.
A new AS-display as part of the MIRO lightweight robot for surgical applications
Grossmann, Christoph M.
2010-02-01
The DLR MIRO is the second generation of versatile robot arms for surgical applications, developed at the Institute for Robotics and Mechatronics at Deutsche Zentrum für Luft- und Raumfahrt (DLR) in Oberpfaffenhofen, Germany. With its low weight of 10 kg and dimensions similar to those of the human arm, the MIRO robot can assist the surgeon directly at the operating table where space is scarce. The planned scope of applications of this robot arm ranges from guiding a laser unit for the precise separation of bone tissue in orthopedics to positioning holes for bone screws, robot assisted endoscope guidance and on to the multi-robot concept for endoscopic minimally invasive surgery. A stereo-endoscope delivers two full HD video streams that can even be augmented with information, e.g vectors indicating the forces that act on the surgical tool at any given moment. SeeFront's new autostereoscopic 3D display SF 2223, being a part of the MIRO assembly, will let the surgeon view the stereo video stream in excellent quality, in real time and without the need for any viewing aids. The presentation is meant to provide an insight into the principles at the basis of the SeeFront 3D technology and how they allow the creation of autostereoscopic display solutions ranging from smallest "stamp-sized" displays to 30" desktop versions, which all provide comfortable freedom of movement for the viewer along with excellent 3D image quality.
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)
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...
Kadivar, Zahra; Beck, Christopher E.; Rovekamp, Roger N.; O'Malley, Marcia K.; Joyce, Charles A.
2016-01-01
Treatment intensity has a profound effect on motor recovery following neurological injury. The use of robotics has potential to automate these labor-intensive therapy procedures that are typically performed by physical therapists. Further, the use of wearable robotics offers an aspect of portability that may allow for rehabilitation outside the clinic. The authors have developed a soft, portable, lightweight upper extremity wearable robotic device to provide motor rehabilitation of patients with affected upper limbs due to traumatic brain injury (TBI). A key feature of the device demonstrated in this paper is the isolation of shoulder and elbow movements necessary for effective rehabilitation interventions. Herein is presented a feasibility study with one subject and demonstration of the device's ability to provide safe, comfortable, and controlled upper extremity movements. Moreover, it is shown that by decoupling shoulder and elbow motions, desired isolated joint actuation can be achieved.
Using renewable energy to create comfort in the first Romanian passive house suited for offices
Directory of Open Access Journals (Sweden)
Ivan Gabriel
2016-01-01
Full Text Available Using renewable energy is becoming more profitable nowadays because of applying advanced technology. The paper, presented by the authors, analyses the case of using solar and geothermal energy to create comfort in homes with low energy consumption. In this situation, the performance of the systems that take energy from low-heat renewable sources and convert it into useful energy is growing. The characteristics of the buildings with low power consumption, of passive houses in particular, can cause the development of a new generation of devices to create comfort. The energy used to create comfort in the first passive house built in Romania, which was designed for offices, analyzed by the authors, is using both geothermal and solar power. The authors present the energy performance of the building correlated with the performance of the air-conditioning system that uses ground-water heat pumps. The thermodynamic analysis presented, highlights how the performance of geothermal energy systems increased, their variation depending on the climate zone variation parameter values. The authors make a detailed analysis, in the presented paper, about the influence of the working conditions of the installation elements, on the heat pump energy consumption and the methods adopted to reduce losses and increase system performance.
HUMAN COMFORT AND THE MICROCLIMATIC DRIVERS ...
African Journals Online (AJOL)
Osondu
mean heat stress (poor human comfort), followed by high density residential areas. A major attribute ... Key words: Heat stress, human comfort, microclimate, land use, urban, vegetation. Introduction ... defined by the meteorological Glossary as the physical state of .... which is the focus of the study is characterized by. Human ...
Wu, Wei; Skye, Harrison M; Domanski, Piotr A
2018-02-15
HVAC is responsible for the largest share of energy use in residential buildings and plays an important role in broader implementation of net-zero energy building (NZEB). This study investigated the energy, comfort and economic performance of commercially-available HVAC technologies for a residential NZEB. An experimentally-validated model was used to evaluate ventilation, dehumidification, and heat pump options for the NZEB in the mixed-humid climate zone. Ventilation options were compared to mechanical ventilation without recovery; a heat recovery ventilator (HRV) and energy recovery ventilator (ERV) respectively reduced the HVAC energy by 13.5 % and 17.4 % and reduced the building energy by 7.5 % and 9.7 %. There was no significant difference in thermal comfort between the ventilation options. Dehumidification options were compared to an air-source heat pump (ASHP) with a separate dehumidifier; the ASHP with dedicated dehumidification reduced the HVAC energy by 7.3 % and the building energy by 3.9 %. The ASHP-only option (without dedicated dehumidification) reduced the initial investment but provided the worst comfort due to high humidity levels. Finally, ground-source heat pump (GSHP) alternatives were compared to the ASHP; the GSHP with two and three boreholes reduced the HVAC energy by 26.0 % and 29.2 % and the building energy by 13.1 % and 14.7 %. The economics of each HVAC configuration was analyzed using installation cost data and two electricity price structures. The GSHPs with the ERV and dedicated dehumidification provided the highest energy savings and good comfort, but were the most expensive. The ASHP with dedicated dehumidification and the ERV (or HRV) provided reasonable payback periods.
Comfort Indicators for the Assessment of Indoor Environmental Building Performance
DEFF Research Database (Denmark)
Brohus, Henrik; Bendtsen, A.; Sørensen, M.
2006-01-01
Indoor environmental building performance assessment requires efficient indicators of the indoor comfort. In order to be effective and useful the comfort indicators must be able to include the temporal variation of indoor comfort as well as the degree of discomfort perceived by the occupants....... This paper discusses and presents a number of comfort indicators that includes both the temporal variation and the degree of discomfort in the calculations. A test case comprising a ventilated office building is used to show the application of the various comfort indices. It is found that the new comfort...
DEFF Research Database (Denmark)
Jaffari, Svenja
engineering praxis only, in order to address these issues. The empirical work is based on a user-driven innovation project (Indoor Climate & Quality of Life), where engineers, designers, sociologists and anthropologists met in order to exchange their different perspectives and collaboratively form new ideas...... the outdoor. This can be seen, for instance, in 'tight' low-energy buildings that host indoor climate products, which are often controlled by automated systems, to deliver optimal comfort conditions (i.e. temperature, humidity, air quality, noise, and light) to occupants. Buildings' indoor climate is designed......, engineering scientists and practitioners still seem to struggle with the kinds of alternative processes and products that are needed to achieve sustainable comfort. This dissertation applies everyday practice-oriented design ethnography to a field that has traditionally been investigated by scientific...
Design of outdoor urban spaces for thermal comfort
Harriet J. Plumley
1977-01-01
Microclimates in outdoor urban spaces may be modified by controlling the wind and radiant environments in these spaces. Design guidelines were developed to specify how radiant environments may be selected or modified to provide conditions for thermal comfort. Fanger's human-thermal-comfort model was used to determine comfortable levels of radiant-heat exchange for...
Robotic thoracic surgery: The state of the art
Kumar, Arvind; Asaf, Belal Bin
2015-01-01
Minimally invasive thoracic surgery has come a long way. It has rapidly progressed to complex procedures such as lobectomy, pneumonectomy, esophagectomy, and resection of mediastinal tumors. Video-assisted thoracic surgery (VATS) offered perceptible benefits over thoracotomy in terms of less postoperative pain and narcotic utilization, shorter ICU and hospital stay, decreased incidence of postoperative complications combined with quicker return to work, and better cosmesis. However, despite its obvious advantages, the General Thoracic Surgical Community has been relatively slow in adapting VATS more widely. The introduction of da Vinci surgical system has helped overcome certain inherent limitations of VATS such as two-dimensional (2D) vision and counter intuitive movement using long rigid instruments allowing thoracic surgeons to perform a plethora of minimally invasive thoracic procedures more efficiently. Although the cumulative experience worldwide is still limited and evolving, Robotic Thoracic Surgery is an evolution over VATS. There is however a lot of concern among established high-volume VATS centers regarding the superiority of the robotic technique. We have over 7 years experience and believe that any new technology designed to make minimal invasive surgery easier and more comfortable for the surgeon is most likely to have better and safer outcomes in the long run. Our only concern is its cost effectiveness and we believe that if the cost factor is removed more and more surgeons will use the technology and it will increase the spectrum and the reach of minimally invasive thoracic surgery. This article reviews worldwide experience with robotic thoracic surgery and addresses the potential benefits and limitations of using the robotic platform for the performance of thoracic surgical procedures. PMID:25598601
Neural computing thermal comfort index for HVAC systems
International Nuclear Information System (INIS)
Atthajariyakul, S.; Leephakpreeda, T.
2005-01-01
The primary purpose of a heating, ventilating and air conditioning (HVAC) system within a building is to make occupants comfortable. Without real time determination of human thermal comfort, it is not feasible for the HVAC system to yield controlled conditions of the air for human comfort all the time. This paper presents a practical approach to determine human thermal comfort quantitatively via neural computing. The neural network model allows real time determination of the thermal comfort index, where it is not practical to compute the conventional predicted mean vote (PMV) index itself in real time. The feed forward neural network model is proposed as an explicit function of the relation of the PMV index to accessible variables, i.e. the air temperature, wet bulb temperature, globe temperature, air velocity, clothing insulation and human activity. An experiment in an air conditioned office room was done to demonstrate the effectiveness of the proposed methodology. The results show good agreement between the thermal comfort index calculated from the neural network model in real time and those calculated from the conventional PMV model
Thermal comfort assessment in civil aircraft cabins
Pang Liping; Qin Yue; Liu Dong; Liu Meng
2014-01-01
Aircraft passengers are more and demanding in terms of thermal comfort. But it is not yet easy for aircraft crew to control the environment control system (ECS) that satisfies the thermal comfort for most passengers due to a number of causes. This paper adopts a corrected predicted mean vote (PMV) model and an adaptive model to assess the thermal comfort conditions for 31 investigated flights and draws the conclusion that there does exist an uncomfortable thermal phenomenon in civil aircraft ...
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.
International Nuclear Information System (INIS)
Hussain, Shafqat; Oosthuizen, Patrick H.
2013-01-01
The numerical investigations of buoyancy-driven natural ventilation and thermal comfort evaluation in a simple three-storey atrium building as a part of the passive ventilation strategy was undertaken using a validated Computational Fluid Dynamic (CFD) model. The Reynolds Averaged Navier–Stokes (RANS) modeling approach with the SST-k–ω turbulence model and the discrete transfer radiation model (DTRM) was used for the numerical investigations. The steady-state governing equations were solved using a commercial solver FLUENT©. Various flow situations of the buoyancy-driven natural ventilation in the building during day and night time were examined. The numerical results obtained for the airflow rates, airflow patterns and temperature distributions inside the building are presented in this paper. Using the numerical results, the well-known thermal comfort indices PMV (predicted mean vote) and PPD (predicted percentage of dissatisfied) were calculated for the evaluation of the thermal comfort conditions in the occupied regions of the building. It was noticed that thermal conditions prevailing in the occupied areas of the building as a result of using the buoyancy-driven ventilation were mostly in comfort zone. From the study of the night time ventilation, it was found that hot water (80 °C) circulation (heated by solar collectors during daytime) along the chimney walls during night time and heat sources present in the building can be useful in inducing night ventilation airflows in the building as a part of the passive ventilation strategy. -- Highlights: • A simple three-storey atrium building. • Numerical modeling of buoyancy-driven ventilation flow in the building. • Effect of solar intensity and geographical location on ventilation. • CFD predictions were used to calculate thermal comfort indices. • Evaluation of thermal comfort conditions for the occupants
Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics
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...
THERMAL COMFORT IN VERNACULAR COURTYARD HOUSES: CASE STUDY -CHHATTISGARH
Swasti Sthapak*1, Dr. Abir Bandyopadhyay2
2017-01-01
The paper firstly introduces vernacular architecture and defines thermal comfort. The second section of this paper gives an account of the way vernacular houses respond to climate and achieve thermal comfort. Vernacular houses of Chhattisgarh, a central state of India are selected for this study to find the evidence that vernacular architecture is likely to be passively comfortable. Courtyards play a vital role in creating thermal comfort along with other social and cultural roles. Vernacular...
Elevator ride comfort monitoring and evaluation using smartphones
Zhang, Yang; Sun, Xiaowei; Zhao, Xuefeng; Su, Wensheng
2018-05-01
With rapid urbanization, the demand for elevators is increasing, and their level of safety and ride comfort under vibrating conditions has also aroused interest. It is therefore essential to monitor the ride comfort level of elevators. The traditional method for such monitoring depends significantly on regular professional inspections, and requires expensive equipment and professional skill. With this regard, a new method for elevator ride comfort monitoring using a smartphone is demonstrated herein in detail. A variety of high-precision sensors are installed in a smartphone with strong data processing and telecommunication capabilities. A series of validation tests were designed and completed, and the international organization for standardization ISO2631-1997 was applied to evaluate the level of elevator ride comfort. Experimental results indicate that the proposed method is stable and reliable, its precision meets the engineering requirements, and the elevator ride comfort level can be accurately monitored under various situations. The method is very economical and convenient, and provides the possibility for the public to participate in elevator ride comfort monitoring. In addition, the method can both provide a wide range of data support and eliminate data errors to a certain extent.
Cultural Robotics: The Culture of Robotics and Robotics in Culture
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...
From occupying to inhabiting - a change in conceptualising comfort
International Nuclear Information System (INIS)
Jaffari, Svenja D; Matthews, Ben
2009-01-01
The concept of 'comfort' has been influential in shaping aspects of our built environment. For the construction industry, comfort is predominantly understood in terms of the balance between an ideal human physiological state and a finite number of measurable environmental parameters that can be controlled (temperature, humidity, air quality, daylighting, noise). It is such a notion of comfort that has informed the establishment of universally applied comfort standards and guidelines for the built environment. When buildings rigidly conform to these standards, they consume vast quantities of energy and are responsible for higher levels of GHG emissions. Recent researchers have challenged such instrumental definitions of comfort on moral and environmental grounds. In this paper, we address this issue from two different standpoints: one empirical, one related to the design of technology. Empirically, we present an analysis of ethnographic field material that has examined how, in what circumstances, and at what times ordinary users employ energy-intensive indoor climate technologies in their daily lives. We argue that when comfort is viewed as an achievement, rather than as a reified and static ideal homeostasis between humans and their environmental conditions, it becomes easier to appreciate the extent to which comfort is, for ordinary people, personally idiosyncratic, culturally relative, socially influenced and highly dependent on temporality, sequence and activity. With respect to design, we introduce a set of provocative designed prototypes that embody alternative conceptions of 'comfort' than those to which the building industry typically subscribes. Our discussion has critical implications for the types of technologies that result from a 'comfort standards' conception. Firstly, we show that comfort is not simply a homeostatic equilibrium-such a view is overly narrow, inflexible and ultimately an inaccurate conception of what comfort is for ordinary people
From occupying to inhabiting - a change in conceptualising comfort
Jaffari, Svenja D.; Matthews, Ben
2009-11-01
The concept of 'comfort' has been influential in shaping aspects of our built environment. For the construction industry, comfort is predominantly understood in terms of the balance between an ideal human physiological state and a finite number of measurable environmental parameters that can be controlled (temperature, humidity, air quality, daylighting, noise). It is such a notion of comfort that has informed the establishment of universally applied comfort standards and guidelines for the built environment. When buildings rigidly conform to these standards, they consume vast quantities of energy and are responsible for higher levels of GHG emissions. Recent researchers have challenged such instrumental definitions of comfort on moral and environmental grounds. In this paper, we address this issue from two different standpoints: one empirical, one related to the design of technology. Empirically, we present an analysis of ethnographic field material that has examined how, in what circumstances, and at what times ordinary users employ energy-intensive indoor climate technologies in their daily lives. We argue that when comfort is viewed as an achievement, rather than as a reified and static ideal homeostasis between humans and their environmental conditions, it becomes easier to appreciate the extent to which comfort is, for ordinary people, personally idiosyncratic, culturally relative, socially influenced and highly dependent on temporality, sequence and activity. With respect to design, we introduce a set of provocative designed prototypes that embody alternative conceptions of 'comfort' than those to which the building industry typically subscribes. Our discussion has critical implications for the types of technologies that result from a 'comfort standards' conception. Firstly, we show that comfort is not simply a homeostatic equilibrium-such a view is overly narrow, inflexible and ultimately an inaccurate conception of what comfort is for ordinary people
Estremera, Joaquín; Cobano, José A.; González de Santos, Pablo
2010-01-01
Autonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with legged robots; however, most of the algorithms devised for hexapods have been tested under laboratory conditions. This paper presents the development of crab and turning gaits for hexapod robots on ...
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...
[Comfort and noise level in infants with helmet interface].
Medina, A; Alvarez Fernández, P; Rey Galán, C; Álvarez Mendiola, P; Álvarez Blanco, S; Vivanco Allende, A
2015-10-01
To evaluate comfort and noise intensity using the COMFORT scale in infants who receive respiratory support with a helmet interface. An observational descriptive study was conducted on all infants (1 to 12 months of age) admitted to a PICU from November 1st 2013 to March 31st 2014 and who received non-invasive ventilation with a helmet interface. Tolerance to the interface was assessed by use of the COMFORT scale. The intensity of the noise to which the infants were exposed was measured with a TES1350A HIBOK 412 sound-level meter. Three measurements were made every day. Twenty seven patients with bronchiolitis (median age: 54 days; range: 10 to 256) were included. Median COMFORT score in the first day was 21 points (14 - 28). An increase in patient comfort was found with a gradual decrease in the scores, with a maximum reduction of 22% from the first hours (score of 22) to the fifth day (score of 18). The minimum sound intensity registered was 42dB, and the maximum was 78dB. Background noise intensity was associated with noise intensity in the helmet. No differences were observed in COMFORT score and noise intensity between ventilator devices. Helmet interface was well tolerated by infants. COMFORT score results are an indicator that infants were comfortable or very comfortable. The measured noise intensity was in the safe range permitted by World Health Organization. Copyright © 2014 Asociación Española de Pediatría. Published by Elsevier España, S.L.U. All rights reserved.
Thermal Comfort and Strategies for Energy Conservation.
Rohles, Frederick H., Jr.
1981-01-01
Discusses studies in thermal comfort which served as the basis for the comfort standard. Examines seven variables in the human response to the thermal environment in terms of the ways in which they can be modified to conserve energy. (Author/MK)
Human-Inspired Eigenmovement Concept Provides Coupling-Free Sensorimotor Control in Humanoid Robot.
Alexandrov, Alexei V; Lippi, Vittorio; Mergner, Thomas; Frolov, Alexander A; Hettich, Georg; Husek, Dusan
2017-01-01
Control of a multi-body system in both robots and humans may face the problem of destabilizing dynamic coupling effects arising between linked body segments. The state of the art solutions in robotics are full state feedback controllers. For human hip-ankle coordination, a more parsimonious and theoretically stable alternative to the robotics solution has been suggested in terms of the Eigenmovement (EM) control. Eigenmovements are kinematic synergies designed to describe the multi DoF system, and its control, with a set of independent, and hence coupling-free , scalar equations. This paper investigates whether the EM alternative shows "real-world robustness" against noisy and inaccurate sensors, mechanical non-linearities such as dead zones, and human-like feedback time delays when controlling hip-ankle movements of a balancing humanoid robot. The EM concept and the EM controller are introduced, the robot's dynamics are identified using a biomechanical approach, and robot tests are performed in a human posture control laboratory. The tests show that the EM controller provides stable control of the robot with proactive ("voluntary") movements and reactive balancing of stance during support surface tilts and translations. Although a preliminary robot-human comparison reveals similarities and differences, we conclude (i) the Eigenmovement concept is a valid candidate when different concepts of human sensorimotor control are considered, and (ii) that human-inspired robot experiments may help to decide in future the choice among the candidates and to improve the design of humanoid robots and robotic rehabilitation devices.
Energy Technology Data Exchange (ETDEWEB)
Boerstra, A.C.; Haans, L. [BBA Boerstra Binnenmilieu Advies, Rotterdam (Netherlands)
2004-08-01
Sometimes engineers lose sight of why both the private and business sectors are willing to spend so much money on heating and ventilation systems. The main drive for the average Dutch person's day-to-day investment in his or her indoor environment resides in the trinity of comfort, health and productivity. This article present an update on current ideas about the three unique selling points of HVAC systems. [Dutch] Soms wordt uit het oog verloren waarom zowel de particuliere als de zakelijke markt zoveel geld over heeft voor installaties. De grootste drijfveer die de gemiddelde Nederlander heeft voor zijn of haar dagelijkse binnenmilieu-investering, is te vinden in de drie-eenheid: comfort, gezondheid en productiviteit. In dit artikel wordt een overzicht gegeven van de laatste inzichten waar het deze drie aspecten van klimaatinstallaties betreft.
Robonaut 2 - The First Humanoid Robot in Space
Diftler, M. A.; Radford, N. A.; Mehling, J. S.; Abdallah, M. E.; Bridgwater, L. B.; Sanders, A. M.; Askew, R. S.; Linn, D. M.; Yamokoski, J. D.; Permenter, F. A.;
2010-01-01
NASA and General Motors have developed the second generation Robonaut, Robonaut 2 or R2, and it is scheduled to arrive on the International Space Station in late 2010 and undergo initial testing in early 2011. This state of the art, dexterous, anthropomorphic robotic torso has significant technical improvements over its predecessor making it a far more valuable tool for astronauts. Upgrades include: increased force sensing, greater range of motion, higher bandwidth and improved dexterity. R2 s integrated mechatronics design results in a more compact and robust distributed control system with a faction of the wiring of the original Robonaut. Modularity is prevalent throughout the hardware and software along with innovative and layered approaches for sensing and control. The most important aspects of the Robonaut philosophy are clearly present in this latest model s ability to allow comfortable human interaction and in its design to perform significant work using the same hardware and interfaces used by people. The following describes the mechanisms, integrated electronics, control strategies and user interface that make R2 a promising addition to the Space Station and other environments where humanoid robots can assist people.
da Vinci robot-assisted keyhole neurosurgery: a cadaver study on feasibility and safety.
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.
Robotic assisted laparoscopic adrenalectomy: Initial experience from a tertiary care centre in India
Directory of Open Access Journals (Sweden)
Mrinal Pahwa
2015-01-01
Full Text Available Introduction: Laparoscopic adrenalectomy (LA is now considered the standard for treatment of surgically correctable adrenal disorders. Robotic adrenalectomy has been performed worldwide and has established itself as safe, feasible and effective approach. We hereby present the first study in robotic transperitoneal LA from Indian subcontinent. Materials and Methods: We conducted a retrospective evaluation of 25 patients who had undergone robotic assisted LA at a tertiary health centre by a single surgeon. Demographic, clinical, histopathological and perioperative outcome data were collected and analysed. Results: Mean age of the patients was 45 years (range: 27-65 years. Eleven male and 14 female patients were operated. Mean operative time was 139 min ± 30 min (range: 110-232 min and mean blood loss was 85 ml ± 12 ml (range: 34-313 ml. Mean hospital stay was 2.5 ± 1.05 days (range: 2-6 days. Mean visual analogue scale score was 3.2 (range: 1-6 mean analgesic requirement was 50 mg diclofenac daily (range: 0-150 mg. Histopathological evaluation revealed 11 adenomas, eight phaeochromocytomas, two adrenocortical carcinomas, and four myelolipomas. According to Clavien-Dindo classification, three patients developed Grade I post-operative complications namely hypotension and pleural effusion. Conclusion: Robotic adrenalectomy is safe, technically feasible and comfortable to the surgeon. It is easier to perform with a short learning curve.
Influence of Attachment Pressure and Kinematic Configuration on pHRI with Wearable Robots
Directory of Open Access Journals (Sweden)
André Schiele
2009-01-01
Full Text Available The goal of this paper is to show the influence of exoskeleton attachment, such as the pressure on the fixation cuffs and alignment of the robot joint to the human joint, on subjective and objective performance metrics (i.e. comfort, mental load, interface forces, tracking error and available workspace during a typical physical human-robot interaction (pHRI experiment. A mathematical model of a single degree of freedom interaction between humans and a wearable robot is presented and used to explain the causes and characteristics of interface forces between the two. The pHRI model parameters (real joint offsets, attachment stiffness are estimated from experimental interface force measurements acquired during tests with 14 subjects. Insights gained by the model allow optimisation of the exoskeleton kinematics. This paper shows that offsets of more than ±10 cm exist between human and robot axes of rotation, even if a well-designed exoskeleton is aligned properly before motion. Such offsets can create interface loads of up to 200 N and 1.5 Nm in the absence of actuation. The optimal attachment pressure is determined to be 20 mmHg and the attachment stiffness is about 300 N/m. Inclusion of passive compensation joints in the exoskeleton is shown to lower the interaction forces significantly, which enables a more ergonomic pHRI.
Potential energy savings and thermal comfort
DEFF Research Database (Denmark)
Jensen, Karsten Ingerslev; Rudbeck, Claus Christian; Schultz, Jørgen Munthe
1996-01-01
The simulation results on the energy saving potential and influence on indoor thermal comfort by replacement of common windows with aerogel windows as well as commercial low-energy windows are described and analysed.......The simulation results on the energy saving potential and influence on indoor thermal comfort by replacement of common windows with aerogel windows as well as commercial low-energy windows are described and analysed....
Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.
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
From occupying to inhabiting - a change in conceptualising comfort
Energy Technology Data Exchange (ETDEWEB)
Jaffari, Svenja D; Matthews, Ben, E-mail: svenja@mci.sdu.d, E-mail: matthews@mci.sdu.d [SPIRE Center for Participatory Innovation Research, Mads Clausen Institute, University of Southern Denmark, Alsion 2, 6400 Soenderborg, DK (Denmark)
2009-11-01
The concept of 'comfort' has been influential in shaping aspects of our built environment. For the construction industry, comfort is predominantly understood in terms of the balance between an ideal human physiological state and a finite number of measurable environmental parameters that can be controlled (temperature, humidity, air quality, daylighting, noise). It is such a notion of comfort that has informed the establishment of universally applied comfort standards and guidelines for the built environment. When buildings rigidly conform to these standards, they consume vast quantities of energy and are responsible for higher levels of GHG emissions. Recent researchers have challenged such instrumental definitions of comfort on moral and environmental grounds. In this paper, we address this issue from two different standpoints: one empirical, one related to the design of technology. Empirically, we present an analysis of ethnographic field material that has examined how, in what circumstances, and at what times ordinary users employ energy-intensive indoor climate technologies in their daily lives. We argue that when comfort is viewed as an achievement, rather than as a reified and static ideal homeostasis between humans and their environmental conditions, it becomes easier to appreciate the extent to which comfort is, for ordinary people, personally idiosyncratic, culturally relative, socially influenced and highly dependent on temporality, sequence and activity. With respect to design, we introduce a set of provocative designed prototypes that embody alternative conceptions of 'comfort' than those to which the building industry typically subscribes. Our discussion has critical implications for the types of technologies that result from a 'comfort standards' conception. Firstly, we show that comfort is not simply a homeostatic equilibrium-such a view is overly narrow, inflexible and ultimately an inaccurate conception of what
Pedestrian crossing situations: quantification of comfort boundaries to guide intervention timing.
Lubbe, Nils; Rosén, Erik
2014-10-01
Technical systems that warn or brake for vehicle-pedestrian encounters reduce injuries more effectively the earlier an intervention is initiated. However, premature intervention can irritate drivers, leading to system deactivation and, consequently, no injury reduction whatsoever. It has been proposed that no intervention should be initiated as long as attentive drivers are within their comfort zones. This study aims at quantifying driver comfort boundaries for pedestrian crossing situations to offer guidance for the appropriate timing of interventions. Sixty two volunteers drove through an intersection on a test track at 30 and 50km/h. A pedestrian dummy was launched from behind an obstruction towards the driving path of the approaching car. Brake onset indicated discomfort. Time to collision (TTC), longitudinal and lateral distance were measured at brake onset. TTC was independent of driving speed ranging from 2.1 to 4.3s with a median of 3.2s. Longitudinal distance ranged from 19 to 48 meters with an apparent difference between driving speeds. Lateral distances differed slightly, but significantly between driving speeds. The median was 3.1m (3.2m for 30km/h and 2.9m for 50km/h) and values ranged from 1.9 to 4.1m. Lateral distance in seconds ranged from 1.9 to 4.3s with a median value of 3.1s (3.2s for 30km/h and 3.0s for 50km/h). TTC was independent of driving speed, trial order and volunteer age. It might be considered suitable to intervene in situations where, for example, 90% of drivers have exceeded their comfort boundary, i.e. when drivers have already initiated braking. This percentile value translates to intervention at a TTC of 2.5s (95% confidence 2.4-2.7s). The study was limited to Swedish nationals, fully aware drivers, and two driving speeds, but did not investigate behavioural changes due to system interaction. This study showed that TTC at brake onset was a suitable measure for the quantification of driver comfort boundaries in pedestrian crossing
Progress in thermal comfort research over the last twenty years.
de Dear, R J; Akimoto, T; Arens, E A; Brager, G; Candido, C; Cheong, K W D; Li, B; Nishihara, N; Sekhar, S C; Tanabe, S; Toftum, J; Zhang, H; Zhu, Y
2013-12-01
Climate change and the urgency of decarbonizing the built environment are driving technological innovation in the way we deliver thermal comfort to occupants. These changes, in turn, seem to be setting the directions for contemporary thermal comfort research. This article presents a literature review of major changes, developments, and trends in the field of thermal comfort research over the last 20 years. One of the main paradigm shift was the fundamental conceptual reorientation that has taken place in thermal comfort thinking over the last 20 years; a shift away from the physically based determinism of Fanger's comfort model toward the mainstream and acceptance of the adaptive comfort model. Another noticeable shift has been from the undesirable toward the desirable qualities of air movement. Additionally, sophisticated models covering the physics and physiology of the human body were developed, driven by the continuous challenge to model thermal comfort at the same anatomical resolution and to combine these localized signals into a coherent, global thermal perception. Finally, the demand for ever increasing building energy efficiency is pushing technological innovation in the way we deliver comfortable indoor environments. These trends, in turn, continue setting the directions for contemporary thermal comfort research for the next decades. © 2013 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
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…
International Nuclear Information System (INIS)
Djongyang, Noel; Tchinda, Rene
2010-01-01
Investigations on thermal comfort have attracted authors for years throughout the world and the most important findings are now the basis of international thermal comfort standards. There is little information available concerning occupant comfort and residential thermal environment in the intertropical sub-Saharan Africa. Thus the purpose for this study is to conduct a field study on comfort and residential thermal environments in a typical intertropical climatic region. A field survey has been conducted during the Harmattan season in two cities from the two climatic regions of Cameroon concerned by that wind. Specific study objectives were to evaluate and characterize some thermal perceptions of occupants in their residence, compare observed and predicted percent of dissatisfied, and discern differences between the study area and other climate zones where similar studies have been performed. It was found that the thermoneutral temperatures in both climatic regions range from 24.69 deg. C to 27.32 deg. C and, in traditional living room, it differs from that of modern living room with approximately 1 deg. C.
Thermal Comfort in a Naturally-Ventilated Educational Building
David Mwale Ogoli
2012-01-01
A comprehensive study of thermal comfort in a naturally ventilated education building (88,000 ft2) in a Chicago suburb will be conducted with 120 student subjects in 2007. This paper discusses some recent trends in worldwide thermal comfort studies and presents a proposal of research for this building through a series of questionnaire tables. Two research methods used inthermal comfort studies are field studies and laboratory experiments in climate-chambers. The various elements that constitu...
Towards frameless maskless SRS through real-time 6DoF robotic motion compensation
Belcher, Andrew H.; Liu, Xinmin; Chmura, Steven; Yenice, Kamil; Wiersma, Rodney D.
2017-12-01
Stereotactic radiosurgery (SRS) uses precise dose placement to treat conditions of the CNS. Frame-based SRS uses a metal head ring fixed to the patient’s skull to provide high treatment accuracy, but patient comfort and clinical workflow may suffer. Frameless SRS, while potentially more convenient, may increase uncertainty of treatment accuracy and be physiologically confining to some patients. By incorporating highly precise robotics and advanced software algorithms into frameless treatments, we present a novel frameless and maskless SRS system where a robot provides real-time 6DoF head motion stabilization allowing positional accuracies to match or exceed those of traditional frame-based SRS. A 6DoF parallel kinematics robot was developed and integrated with a real-time infrared camera in a closed loop configuration. A novel compensation algorithm was developed based on an iterative closest-path correction approach. The robotic SRS system was tested on six volunteers, whose motion was monitored and compensated for in real-time over 15 min simulated treatments. The system’s effectiveness in maintaining the target’s 6DoF position within preset thresholds was determined by comparing volunteer head motion with and without compensation. Comparing corrected and uncorrected motion, the 6DoF robotic system showed an overall improvement factor of 21 in terms of maintaining target position within 0.5 mm and 0.5 degree thresholds. Although the system’s effectiveness varied among the volunteers examined, for all volunteers tested the target position remained within the preset tolerances 99.0% of the time when robotic stabilization was used, compared to 4.7% without robotic stabilization. The pre-clinical robotic SRS compensation system was found to be effective at responding to sub-millimeter and sub-degree cranial motions for all volunteers examined. The system’s success with volunteers has demonstrated its capability for implementation with frameless and
Towards frameless maskless SRS through real-time 6DoF robotic motion compensation.
Belcher, Andrew H; Liu, Xinmin; Chmura, Steven; Yenice, Kamil; Wiersma, Rodney D
2017-11-13
Stereotactic radiosurgery (SRS) uses precise dose placement to treat conditions of the CNS. Frame-based SRS uses a metal head ring fixed to the patient's skull to provide high treatment accuracy, but patient comfort and clinical workflow may suffer. Frameless SRS, while potentially more convenient, may increase uncertainty of treatment accuracy and be physiologically confining to some patients. By incorporating highly precise robotics and advanced software algorithms into frameless treatments, we present a novel frameless and maskless SRS system where a robot provides real-time 6DoF head motion stabilization allowing positional accuracies to match or exceed those of traditional frame-based SRS. A 6DoF parallel kinematics robot was developed and integrated with a real-time infrared camera in a closed loop configuration. A novel compensation algorithm was developed based on an iterative closest-path correction approach. The robotic SRS system was tested on six volunteers, whose motion was monitored and compensated for in real-time over 15 min simulated treatments. The system's effectiveness in maintaining the target's 6DoF position within preset thresholds was determined by comparing volunteer head motion with and without compensation. Comparing corrected and uncorrected motion, the 6DoF robotic system showed an overall improvement factor of 21 in terms of maintaining target position within 0.5 mm and 0.5 degree thresholds. Although the system's effectiveness varied among the volunteers examined, for all volunteers tested the target position remained within the preset tolerances 99.0% of the time when robotic stabilization was used, compared to 4.7% without robotic stabilization. The pre-clinical robotic SRS compensation system was found to be effective at responding to sub-millimeter and sub-degree cranial motions for all volunteers examined. The system's success with volunteers has demonstrated its capability for implementation with frameless and maskless SRS
Human-Inspired Eigenmovement Concept Provides Coupling-Free Sensorimotor Control in Humanoid Robot
Directory of Open Access Journals (Sweden)
Thomas Mergner
2017-04-01
Full Text Available Control of a multi-body system in both robots and humans may face the problem of destabilizing dynamic coupling effects arising between linked body segments. The state of the art solutions in robotics are full state feedback controllers. For human hip-ankle coordination, a more parsimonious and theoretically stable alternative to the robotics solution has been suggested in terms of the Eigenmovement (EM control. Eigenmovements are kinematic synergies designed to describe the multi DoF system, and its control, with a set of independent, and hence coupling-free, scalar equations. This paper investigates whether the EM alternative shows “real-world robustness” against noisy and inaccurate sensors, mechanical non-linearities such as dead zones, and human-like feedback time delays when controlling hip-ankle movements of a balancing humanoid robot. The EM concept and the EM controller are introduced, the robot's dynamics are identified using a biomechanical approach, and robot tests are performed in a human posture control laboratory. The tests show that the EM controller provides stable control of the robot with proactive (“voluntary” movements and reactive balancing of stance during support surface tilts and translations. Although a preliminary robot-human comparison reveals similarities and differences, we conclude (i the Eigenmovement concept is a valid candidate when different concepts of human sensorimotor control are considered, and (ii that human-inspired robot experiments may help to decide in future the choice among the candidates and to improve the design of humanoid robots and robotic rehabilitation devices.
Multimodal interaction for human-robot teams
Burke, Dustin; Schurr, Nathan; Ayers, Jeanine; Rousseau, Jeff; Fertitta, John; Carlin, Alan; Dumond, Danielle
2013-05-01
Unmanned ground vehicles have the potential for supporting small dismounted teams in mapping facilities, maintaining security in cleared buildings, and extending the team's reconnaissance and persistent surveillance capability. In order for such autonomous systems to integrate with the team, we must move beyond current interaction methods using heads-down teleoperation which require intensive human attention and affect the human operator's ability to maintain local situational awareness and ensure their own safety. This paper focuses on the design, development and demonstration of a multimodal interaction system that incorporates naturalistic human gestures, voice commands, and a tablet interface. By providing multiple, partially redundant interaction modes, our system degrades gracefully in complex environments and enables the human operator to robustly select the most suitable interaction method given the situational demands. For instance, the human can silently use arm and hand gestures for commanding a team of robots when it is important to maintain stealth. The tablet interface provides an overhead situational map allowing waypoint-based navigation for multiple ground robots in beyond-line-of-sight conditions. Using lightweight, wearable motion sensing hardware either worn comfortably beneath the operator's clothing or integrated within their uniform, our non-vision-based approach enables an accurate, continuous gesture recognition capability without line-of-sight constraints. To reduce the training necessary to operate the system, we designed the interactions around familiar arm and hand gestures.
International Nuclear Information System (INIS)
Piotrowski, L.; Trouville, B.; Halbach, M.; Sidorkin, N.
1996-12-01
The primary objective of the IMPACT project is to develop a light-weight and inexpensive mobile robot that can be used for rapid inspection missions within nuclear power plants. These interventions are to cover normal, incident and accident situations and aim at primary reconnaissance (or 'data collecting') missions. The IMPACT robot was demonstrated (April 1996) in a realistic mission at the Russian nuclear plant SMOLENSK. The demonstration, composed of 2 independent but consecutive missions, was held in a radioactive zone near turbine ≠ 4 of Unit 2: remote radiation mapping with localisation of radioactive sources by the IMPACT robot equipped with a (Russian) gamma-radiation sensor; deployment of a Russian intervention robot for the construction of a protective lead shield around one of the identified sources and verification that the ambient radiation level has been reduce. This mission was executed remotely by 2 mobile robots working in collaboration: a NIKIMT robot equipped with a manipulator arm and carrying leads bricks and the IMPACT robot of mission I (radiation measurements and 'side-observer'). This manuscript describes (a) the technical characteristics of the IMPACT reconnaissance robot (3-segmented, caterpillar-tracked body; 6 video cameras placed around the mobile platform with simultaneous presentation of up to 4 video images at the control post; ability to detach remotely one of the robot's segments (i.e. the robot can divide itself into 2 separate mobile robots)) and (b) the SMOLENSK demonstration. (author)
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
Thermal comfort study of hospital workers in Malaysia.
Yau, Y H; Chew, B T
2009-12-01
This article presents findings of the thermal comfort study in hospitals. A field survey was conducted to investigate the temperature range for thermal comfort in hospitals in the tropics. Thermal acceptability assessment was conducted to examine whether the hospitals in the tropics met the ASHRAE Standard-55 80% acceptability criteria. A total of 114 occupants in four hospitals were involved in the study. The results of the field study revealed that only 44% of the examined locations met the comfort criteria specified in ASHRAE Standard 55. The survey also examined the predicted percentage of dissatisfied in the hospitals. The results showed that 49% of the occupants were satisfied with the thermal environments in the hospitals. The field survey analysis revealed that the neutral temperature for Malaysian hospitals was 26.4 degrees C. The comfort temperature range that satisfied 90% of the occupants in the space was in the range of 25.3-28.2 degrees C. The results from the field study suggested that a higher comfort temperature was required for Malaysians in hospital environments compared with the temperature criteria specified in ASHRAE Standard (2003). In addition, the significant deviation between actual mean vote and predicted mean vote (PMV) strongly implied that PMV could not be applied without errors in hospitals in the tropics. The new findings on thermal comfort temperature range in hospitals in the tropics could be used as an important guide for building services engineers and researchers who are intending to minimize energy usage in heating, ventilating and air conditioning systems in hospitals operating in the tropics with acceptable thermal comfort level and to improve the performance and well-being of its workers.
Braking Control for Improving Ride Comfort
Directory of Open Access Journals (Sweden)
Lee Jonghyup
2018-01-01
Full Text Available While many vehicle control systems focus on vehicle safety and vehicle performance at high speeds, most driving conditions are very low risk situations. In such a driving situation, the ride comfort of the vehicle is the most important performance index of the vehicle. Electro mechanical brake (EMB and other brake-by-wire (BBW systems have been actively researched. As a result, braking actuators in vehicles are more freely controllable, and research on improving ride comfort is also possible. In this study, we develop a control algorithm that dramatically improves ride comfort in low risk braking situations. A method for minimizing the inconvenience of a passenger due to a suddenly changing acceleration at the moment when the vehicle is stopped is presented. For this purpose, an acceleration trajectory is generated that minimizes the discomfort index defined by the change in acceleration, jerk. A controller is also designed to track this trajectory. The algorithm that updates the trajectory is designed considering the error due to the phase lag occurring in the controller and the plant. In order to verify the performance of this controller, simulation verification is completed using a car simulator, Carsim. As a result, it is confirmed that the ride comfort is dramatically improved.
Directory of Open Access Journals (Sweden)
Zijing Tan
2017-09-01
Full Text Available In this study, the natural ventilation potential of residential buildings was numerically investigated based on a typical single-story house in the three most populous climate zones in Australia. Simulations using the commercial simulation software TRNSYS (Transient System Simulation Tool were performed for all seasons in three representative cities, i.e., Darwin for the hot humid summer and warm winter zone, Sydney for the mild temperate zone, and Melbourne for the cool temperate zone. A natural ventilation control strategy was generated by the rule-based decision-tree method based on the local climates. Natural ventilation hour (NVH and satisfied natural ventilation hour (SNVH were employed to evaluate the potential of natural ventilation in each city considering local climate and local indoor thermal comfort requirements, respectively. The numerical results revealed that natural ventilation potential was related to the local climate. The greatest natural ventilation potential for the case study building was observed in Darwin with an annual 4141 SNVH out of 4728 NVH, while the least natural ventilation potential was found in the Melbourne case. Moreover, summer and transition seasons (spring and autumn were found to be the optimal periods to sustain indoor thermal comfort by utilising natural ventilation in Sydney and Melbourne. By contrast, natural ventilation was found applicable over the whole year in Darwin. In addition, the indoor operative temperature results demonstrated that indoor thermal comfort can be maintained only by utilising natural ventilation for all cases during the whole year, except for the non-natural ventilation periods in summer in Darwin and winter in Melbourne. These findings could improve the understanding of natural ventilation potential in different climates, and are beneficial for the climate-conscious design of residential buildings in Australia.
Directory of Open Access Journals (Sweden)
Li Mantian
2017-01-01
Full Text Available To make heavy-duty six-legged robots without environment reconstruction system negotiate obstacles after the earthquake successfully, an obstacle negotiation strategy is described in this paper. The reflection strategy is generated by the information of plantar force sensors and Bezier Curve is used to plan trajectory. As the heavy-duty six-legged robot has a large inertia, force controller is necessary to ensure the robot not to lose stability while negotiating obstacles. Impedance control is applied to reduce the impact of collision and active force control is applied to adjust the pose of the robot. The robot can walk through zones that are filled with obstacles automatically because of force control. Finally, the algorithm is verified in a simulation environment.
Regional differences in temperature sensation and thermal comfort in humans.
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.
Environmental Comfort Indicators for School Buildings in Sustainability Assessment Tools
Directory of Open Access Journals (Sweden)
Tatiana Santos Saraiva
2018-06-01
Full Text Available Decades ago, the only requirement to construct a building was to give men the right conditions for the execution of their work or leisure activities. With the development of knowledge about the internal and external environments of buildings, other requirements have been added such as the issue of user comfort. New construction techniques have been incorporated and new products have been created to improve internal environment comfort. This research addressed the importance of using indicators related to environmental comfort in sustainability assessment tools applied to school buildings. It also considered the importance of environmental issues for the good performance of human beings, and the harmonious coexistence of the comfort indicators indoor air quality, thermal comfort, visual comfort, acoustic comfort and ergonomic comfort based on data gathered in research carried out with users of high schools (only students. This research was carried out in two different cities of different countries, Guimarães (Portugal and Juiz de Fora (Brazil, that have similar characteristics of teaching standards and climate conditions (temperature and air humidity. In this study, interviews were made through questionnaires and, later, the information collected was analyzed. This study demonstrates the need to include an ergonomic indicator for school buildings in sustainability assessment tools.
Measurement of air velocity in animal occupied zones using an ultrasonic anemometer
Wagenberg, van A.V.; Leeuw, de M.T.J.
2003-01-01
The air velocity in the animal occupied zone (AOZ) of a pig facility influences the thermal comfort of pigs and is affected by the ventilation system in the building. Little is known about the relationship between the air velocity in the AOZ and the ventilation system design. This article describes
Domotics. Comfortable and energy efficient?; Domotica. Comfortabel en energiezuinig?
Energy Technology Data Exchange (ETDEWEB)
Van Wolferen, H.; Hendriksen, L.; Traversari, R. [TNO Milieu, Energie en Procesinnovatie TNO-MEP, Apeldoorn (Netherlands)
2003-02-01
Insight is given into the added value of domotics (home automation) in the handling and control of comfort installations, focusing on comfort and energy consumption. Costs are indicated. [Dutch] Een overzicht wordt gegeven van de toegevoegde waarde van domotica bij de bediening en regeling van comfortinstallaties. Hierbij wordt de meeste aandacht gegeven aan comfort en energiegebruik. De kosten worden alleen indicatief besproken.
Modeling and Simulation for a Surf Zone Robot
2012-12-14
Figure 1.6: A picture Carmel River State Beach near Monterey, California showing a typical surf zone enviroment . Features include submerged and exposed...picture of the enviroment [34]. Another benefit that will be gained from the use of ROS for navigation is the direct integration of Gazebo and the
Kinematics study and workspace analysis of an articulated robotic arm of a rpar
International Nuclear Information System (INIS)
Zeb, J.; Rashid, F.; Iqbal, N.
2007-01-01
An itinerant RPAR (Radiation Protection Assistant Robot) has been constructed to assist radiation workers in radiation area which are radiologically hazardous and beyond tile safe approach of radiation workers. The RPAR comprises of a cubicle tri- wheeled platform and a 4-DOF (Four Degree of Freedom) serial type articulated robotic arm. The movement of the platform is controlled by two differential wheeled driving systems. The Kinematics and Manipulator Jacobian of the end-effector (gripper) of the articulated robotic arm mounted on the RPAR were evaluated. The work space analyses of the articulated robotic arm have been carried out. The RPAR is helpful for surveillance of radiation zones, to pick and carry dropdown radioactive samples and sources, in routine radiological operations as well as during an emergency response to a radiological accident. The performance of the RPAR was found satisfactory. (author)
Cao, Enguo; Inoue, Yoshio; Liu, Tao; Shibata, Kyoko
In many countries in which the phenomenon of population aging is being experienced, motor function recovery activities have aroused much interest. In this paper, a sit-to-stand rehabilitation robot utilizing a double-rope system was developed, and the performance of the robot was evaluated by analyzing the dynamic parameters of human lower limbs. For the robot control program, an impedance control method with a training game was developed to increase the effectiveness and frequency of rehabilitation activities, and a calculation method was developed for evaluating the joint moments of hip, knee, and ankle. Test experiments were designed, and four subjects were requested to stand up from a chair with assistance from the rehabilitation robot. In the experiments, body segment rotational angles, trunk movement trajectories, rope tensile forces, ground reaction forces (GRF) and centers of pressure (COP) were measured by sensors, and the moments of ankle, knee and hip joint were real-time calculated using the sensor-measured data. The experiment results showed that the sit-to-stand rehabilitation robot with impedance control method could maintain the comfortable training postures of users, decrease the moments of limb joints, and enhance training effectiveness. Furthermore, the game control method could encourage collaboration between the brain and limbs, and allow for an increase in the frequency and intensity of rehabilitation activities.
Effect of warm air supplied facially on occupants' comfort
Energy Technology Data Exchange (ETDEWEB)
Kaczmarczyk, J. [Department of Heating, Ventilation and Dust Removal Technology, Silesian University of Technology, Konarskiego 20, PL-44-101 Gliwice (Poland); Melikov, A.; Sliva, D. [Department of Civil Engineering, Technical University of Denmark, International Centre for Indoor Environment and Energy, Nils Koppels Alle, DTU, Building 402, 2800 Lyngby (Denmark)
2010-04-15
Human response to air movement supplied locally towards the face was studied in a room with an air temperature of 20 C and a relative humidity of 30%. Thirty-two human subjects were exposed to three conditions: calm environment and facially supplied airflow at 21 C and at 26 C. The air was supplied with a constant velocity of 0.4 m/s by means of personalized ventilation towards the face of the subjects. The airflow at 21 C decreased the subjects' thermal sensation and increased draught discomfort, but improved slightly the perceived air quality. Heating of the supplied air by 6 K (temperature increase by 4 K at the target area) above the room air temperature decreased the draught discomfort, improved subjects' thermal comfort and only slightly decreased the perceived air quality. Elevated velocity and temperature of the localized airflow caused an increase of nose dryness intensity and number of eye irritation reports. Results suggest that increasing the temperature of the air locally supplied to the breathing zone by only a few degrees above the room air temperature will improve occupants' thermal comfort and will diminish draught discomfort. This strategy will extend the applicability of personalized ventilation aiming to supply clean air for breathing at the lower end of the temperature range recommended in the standards. Providing individual control is essential in order to avoid discomfort for the most sensitive occupants. (author)
Comparison of thermal comfort and sensation scales : a case study
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
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...
Development of climatic zones and passive solar design in Madagascar
International Nuclear Information System (INIS)
Rakoto-Joseph, O.; Garde, F.; David, M.; Adelard, L.; Randriamanantany, Z.A.
2009-01-01
Climate classification is extremely useful to design buildings for thermal comfort purposes. This paper presents the first work for a climate classification of Madagascar Island. This classification is based on the meteorological data measured in different cities of this country. Three major climatic zones are identified. Psychometric charts for the six urban areas of Madagascar are proposed, and suited passive solar designs related to each climate are briefly discussed. Finally, a total of three passive design zones have been identified and appropriate design strategies such as solar heating, natural ventilation, thermal mass are suggested for each zone. The specificity of this work is that: it is the first published survey on the climate classification and the passive solar designs for this developing country
Physical Environment Comfort Impacts on Office Employee’s Performance
Directory of Open Access Journals (Sweden)
Chua Shirley Jin Lin
2016-01-01
Full Text Available Office workplaces today is now no longer only consisting of passive and fixed activity but also towards a more flexible environment activity. The number of office workplaces is hiking from day to day which leads to the increase of the office workers. The productivity will be improved by providing optimum physical environment. The physical environment comfort in a workplace is claimed to be vital as it will encourages healthier, more productive and lower absenteeism rate among employees. The physical environment comfort encompassed optimum room temperature, relative humidity and illuminance level. This research intend to investigate the importance of physical environment comfort by evaluating the comfort based on the existing workplace and determine its effect on employee’s performance. Evaluation between the selected case studies are made in the aspects of employee’s comfort perceive health and absenteeism rate by wielding the elements of physical comfort consisting room temperature, relative humidity and illuminance level. Field study was carried out for 3 institutional building particularly management department. High correlations are found between room temperature, lighting and relative humidity with health related issue such as stuffy, easily tired and difficulty in concentration which affect employees’ productivity and work performances.
The impact of temperature on mean local air age and thermal comfort in a stratum ventilated office
Energy Technology Data Exchange (ETDEWEB)
Tian, Lin; Lin, Zhang; Yao, Ting [Building Energy and Environmental Technology Research Unit, School of Energy and Environment and Division of Building Science and Technology, City University of Hong Kong, Hong Kong SAR (China); Liu, Jing; Wang, Qiuwang [State Key Lab of Multiphase Flow in Power Engineering, Xi' an Jiaotong University, Xi' an, 710049 (China)
2011-02-15
The influence of the supply air temperature on the mean local air age and thermal comfort of a typical individual office under stratum ventilation is investigated by a numerical method, which is validated by an experiment carried out by the authors. The results show that for an office, when the supply air temperature is increased from 19 C to 21 C, the corresponding mean occupied zone temperature rises from 24.5 C to 26.5 C. The inhaled air quality for the occupant is improved when supply air temperature rises from 19 C to 21 C. Also, the thermal comfort indices (predicted mean vote or PMV, predicted percentage of dissatisfied or PPD and predicted dissatisfied or PD) fulfill the requirements of ISO 7730 and CR 175 1998. For summer cooling operation, stratum ventilation may offer a feasible solution to elevated indoor temperatures, which are recommended by several governments in East Asia. (author)
Houdini: Reconfigurable in-tank robot
International Nuclear Information System (INIS)
White, D.W.; Slifko, A.D.; Thompson, B.R.; Fisher, C.G.
1995-01-01
RedZone Robotics, Inc. and Carnegie Mellon University (CMU) are developing a tethered mobile robot, Houdini, to work inside waste storage tanks in support of the Department of Energy's Environmental Restoration and Waste Management (EM) Program. This project is funded by the DOE's Environmental Management Office of Technology Development through the Morgantown Energy Technology Center (METC). Our goal is to develop technology that is useful for in-tank operations throughout the DOE's EM program. The first application of the Houdini system is to support the waste retrieval action planned for the final remediation of the Fernald site's waste silos. RedZone and CMU have discussed potential applications for the system with personnel from several other DOE sites, and have found that the system would be widely useful in the DOE complex for tasks both inside and outside of waste storage tanks. We are tailoring the first implementation of the Houdini system to the specific needs of the Fernald silo remediation. The Fernald application-specific design constraints are primarily interface issues and should not interfere with the utility of the system at other sites. In addition, DOE personnel at the Oak Ridge National Laboratories (ORNL) have expressed a strong interest in the Houdini system. They have a target application scheduled for mid-1996. This program represents a unique opportunity to develop a new technology that has immediate application in two CERCLA cleanup actions; the proposed applications at Fernald and ORNL support Federal Facility compliance agreements
Intelligent multi-objective optimization for building energy and comfort management
Directory of Open Access Journals (Sweden)
Pervez Hameed Shaikh
2018-04-01
Full Text Available The rapid economic and population growth in developing countries, effective and efficient energy usage has turned out to be crucial due to the rising concern of depleting fossil fuels, of which, one-third of primary energy is consumed in buildings and expected to rise by 53% up to 2030. This roaring sector posing a challenge, due to 90% of people spend most of their time in buildings, requires enhanced well-being of indoor environment and living standards. Therefore, building operations require more energy because most of the energy is consumed to make the indoor environment comfortable. Consequently, there is the need of improved energy efficiency to decrease energy consumption in buildings. In relation to this, the primary challenge of building control systems is the energy consumption and comfort level are generally conflicting to each other. Therefore, an important problem of sustainable smart buildings is to effectively manage the energy consumption and comfort and attain the trade-off between the two. Thus, smart buildings are becoming a trend of future construction that facilitates intelligent control in buildings for the fulfillment of occupant’s comfort level. In this study, an intelligent multi-objective system has been developed with evolutionary multi-objective genetic algorithm (MOGA optimization method. The corresponding case study simulation results for the effective management of users’ comfort and energy efficiency have been carried out. The case study results show the management of energy supply for each comfort parameter and maintain high comfort index achieving balance between the energy consumption and comfort level. Keywords: Energy, Buildings, Comfort, Management, Optimization, Trade-off
the comfort, measured by means of a sweating manikin (waltertm)
African Journals Online (AJOL)
user
With the growing importance of clothing comfort in South African and overseas markets for locally produced clothing, the Council for. Scientific Industrial Research (CSIR) acquired an advanced sweating fabric manikin for measuring clothing comfort. This preliminary investigation covers the comfort related properties, as ...
Thermal Comfort in a Naturally-Ventilated Educational Building
Directory of Open Access Journals (Sweden)
David Mwale Ogoli
2012-11-01
Full Text Available A comprehensive study of thermal comfort in a naturally ventilated education building (88,000 ft2 in a Chicago suburb will be conducted with 120 student subjects in 2007. This paper discusses some recent trends in worldwide thermal comfort studies and presents a proposal of research for this building through a series of questionnaire tables. Two research methods used inthermal comfort studies are field studies and laboratory experiments in climate-chambers. The various elements that constitute a “comfortable” thermal environment include physical factors (ambient air temperature, mean radiant temperature, air movement and humidity, personal factors(activity and clothing, classifications (gender, age, education, etc. and psychological expectations (knowledge, experience, psychological effect of visual warmth by, say, a fireplace. Comparisons are made using data gathered from Nairobi, Kenya.Keywords: Comfort, temperature, humidity and ventilation
Individual thermal profiles as a basis for comfort improvement in space and other environments
Koscheyev, V. S.; Coca, A.; Leon, G. R.; Dancisak, M. J.
2002-01-01
BACKGROUND: The development of individualized countermeasures to address problems in thermoregulation is of considerable importance for humans in space and other extreme environments. A methodology is presented for evaluating minimal/maximal heat flux from the total human body and specific body zones, and for assessing individual differences in the efficiency of heat exchange from these body areas. The goal is to apply this information to the design of individualized protective equipment. METHODS: A multi-compartment conductive plastic tubing liquid cooling/warming garment (LCWG) was developed. Inlet water temperatures of 8-45 degrees C were imposed sequentially to specific body areas while the remainder of the garment was maintained at 33 degrees C. RESULTS: There were significant differences in heat exchange level among body zones in both the 8 degrees and 45 degrees C temperature conditions (p thermal profiles is feasible for better comfort of astronauts on long-duration missions and personnel in other extreme environments.
Directory of Open Access Journals (Sweden)
Noortje Alders
2016-08-01
Full Text Available The aim of the research presented in this thesis is to design the characteristics of an Adaptive Thermal Comfort System for Dwellings to achieve a significantly better energy performance whilst not compromising the thermal comfort perception of the occupants. An Adaptive Thermal Comfort System is defined as the whole of passive and active comfort components of the dwelling that dynamically adapts its settings to varying user comfort demands and weather conditions (seasonal, diurnal and hourly depending on the aspects adapted, thus providing comfort only where, when and at the level needed by the user, to improve possibilities of harvesting the environmental energy (e.g. solar gain and outdoor air when available and storing it when abundant. In order to be able to create an Adaptive Thermal Comfort System to save energy knowledge is needed as to where, when, what kind and how much energy is needed to provide the thermal comfort. Therefore, this research aimed to gain insight in the dynamic behaviour of the weather and the occupant and the opportunities to design the characteristics of an Adaptive Thermal Comfort System for Dwellings to achieve a significantly better energy performance whilst not compromising the thermal comfort perception of the occupants answering the main research question; What are the most efficient strategies for delivering thermal comfort in the residential sector with respect to better energy performances and an increasing demand for flexibility in use and comfort conditions? To answer the main research question three steps were taken, which also represent the three parts of the research: 1. The dynamic information of the factors influencing the thermal heat balance of the dwelling was gathered in order to determine their opportunities for adaptivity. A multidisciplinary approach to Thermal Comfort Systems is followed taking into account the dynamic of occupancy profiles, weather, building physics, HVAC and controls. A
Odométrie visuelle en milieu naturel pour les robots mobiles
Duperal, B.
2013-01-01
/ Dans le cadre de ce stage, l'objectif est d'étudier les performances de la vision artificielle, pour permettre à un robot mobile de se localiser, en utilisant soit une caméra, soit un système de stéréovision, dans un environnement naturel (arbres, cultures, champs agricoles, bâtiments,...), suite à des pertes de signal GPS. La localisation de robots par vision artificielle nécessite de réaliser des opérations d'appariement de points invariants (détection d'amers, zones particulières sur ...
Morris, Norma; Balmer, Brian
2006-01-01
In a study of volunteers in medical research, we found contrasting readings of "being comfortable" by the volunteer research subjects and the researchers. Although the experimental process (testing a new kind of diagnostic technology) involved some physical discomfort--and the researchers focused on this--the volunteers' concerns centred on feeling socially comfortable and managing feelings of embarrassment or isolation, and they generally made light of the physical aspects. The bias of volunteer concerns, which is understandable in terms of the different situations of researchers and volunteers and the different tensions they create, has potential implications for the engagement of researchers with their research subjects and prevailing standards for the ethical and accountable conduct of research.
Generation IV SFR Nuclear Reactors: Under Sodium Robotics for ASTRID
International Nuclear Information System (INIS)
Jouan-de-Kervenoael, T.; Rey, F.; Baque, F.
2013-06-01
these robots, three main configurations have been considered, depending on the adopted solution for robot component seclusion: Zone 1: Tight surrounding shell cooled by argon gas flow. Constraints: irradiation and 70 deg. C temperature, Zone 2: Tight surrounding shell (not cooled). Constraints: irradiation and 180 deg. C-200 deg. C temperature, Zone 3: No tight surrounding shell. Constraints: irradiation and 180 deg. C-200 deg. C temperature and immersion within liquid sodium. It appears that some technical solutions do exist for future in sodium carriers, using available trade components. Qualification tests will be necessary in order to confirm some specific components (such as polymers, greases, sensors, reducers, motors, bearings). For bearings, a specific test program has to be performed in order to check their capability for static and dynamic loadings during in sodium operation (without lubricant). Electrical motor development for 200 deg. C operation seems possible and R and D work is being done in 2013 with already available components. (authors)
Towards Real-Time Distributed Planning in Multi-Robot Systems
Abdelkader, Mohamed
2018-04-01
Recently, there has been an increasing interest in robotics related to multi-robot applications. Such systems can be involved in several tasks such as collaborative search and rescue, aerial transportation, surveillance, and monitoring, to name a few. There are two possible architectures for the autonomous control of multi-robot systems. In the centralized architecture, a master controller communicates with all the robots to collect information. It uses this information to make decisions for the entire system and then sends commands to each robot. In contrast, in the distributed architecture, each robot makes its own decision independent from a central authority. While distributed architecture is a more portable solution, it comes at the expense of extensive information exchange (communication). The extensive communication between robots can result in decision delays because of which distributed architecture is often impractical for systems with strict real-time constraints, e.g. when decisions have to be taken in the order of milliseconds. In this thesis, we propose a distributed framework that strikes a balance between limited communicated information and reasonable system-wide performance while running in real-time. We implement the proposed approach in a game setting of two competing teams of drones, defenders and attackers. Defending drones execute a proposed linear program algorithm (using only onboard computing modules) to obstruct attackers from infiltrating a defense zone while having minimal local message passing. Another main contribution is that we developed a realistic simulation environment as well as lab and outdoor hardware setups of customized drones for testing the system in realistic scenarios. Our software is completely open-source and fully integrated with the well-known Robot Operating System (ROS) in hopes to make our work easily reproducible and for rapid future improvements.
International Nuclear Information System (INIS)
Webb, S.
1999-01-01
In this paper it is proposed that intensity-modulated radiotherapy (IMRT) could be delivered optimally by a short-length linac mounted on a robotic arm. The robot would allow the linac to 'plant' narrow pencils of photon radiation with any orientation (excluding zones within which the linac and couch might collide) relative to the planning target volume (PTV). The treatment is specified by the trajectory of the robot and by the number of monitor units (MUs) delivered at each robotic orientation. An inverse-planning method to determine the optimum robotic trajectory is presented. It is shown that for complex PTVs, specifically those with concavities in their outline, the conformality of the treatment is improved by the use of a complex trajectory in comparison with a less complex constrained trajectory and this improvement is quantified. It is concluded that robotic linac delivery would lead to a great flexibility in those IMRT treatments requiring very complicated dose distributions with complex 3D shapes. However, even using very fast computers, the goal of determining whether robotic linac delivery is the ultimate IMRT cannot be conclusively reached at present. (author)
The role of clothing in thermal comfort: how people dress in a temperate and humid climate in Brazil
Directory of Open Access Journals (Sweden)
Renata De Vecchi
Full Text Available Abstract Thermal insulation from clothing is one of the most important input variables used to predict the thermal comfort of a building's occupants. This paper investigates the clothing pattern in buildings with different configurations located in a temperate and humid climate in Brazil. Occupants of two kinds of buildings (three offices and two university classrooms assessed their thermal environment through 'right-here-right-now' questionnaires, while at the same time indoor climatic measurements were carried out in situ (air temperature and radiant temperature, air speed and humidity. A total of 5,036 votes from 1,161 occupants were collected. Results suggest that the clothing values adopted by occupants inside buildings were influenced by: 1 climate and seasons of the year; 2 different configurations and indoor thermal conditions; and 3 occupants' age and gender. Significant intergenerational and gender differences were found, which might be explained by differences in metabolic rates and fashion. The results also indicate that there is a great opportunity to exceed the clothing interval of the thermal comfort zones proposed by international standards such as ASHRAE 55 (2013 - 0.5 to 1.0 clo - and thereby save energy from cooling and heating systems, without compromising the occupants' indoor thermal comfort.
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.
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.
Impact of measurable physical phenomena on contact thermal comfort
Fojtlín, Miloš; Pokorný, Jan; Fišer, Jan; Toma, Róbert; Tuhovčák, Ján
Cabin HVAC (Heating Ventilation and Air-conditioning) systems have become an essential part of personal vehicles as demands for comfortable transport are still rising. In fact, 85 % of the car trips in Europe are shorter than 18 km and last only up to 30 minutes. Under such conditions, the HVAC unit cannot often ensure desired cabin environment and passengers are prone to experience thermal stress. For this reason, additional comfort systems, such as heated or ventilated seats, are available on the market. However, there is no straightforward method to evaluate thermal comfort at the contact surfaces nowadays. The aim of this work is to summarise information about heated and ventilated seats. These technologies use electrical heating and fan driven air to contact area in order to achieve enhanced comfort. It is also expected, that such measures may contribute to lower energy consumption. Yet, in real conditions it is almost impossible to measure the airflow through the ventilated seat directly. Therefore, there is a need for an approach that would correlate measurable physical phenomena with thermal comfort. For this reason, a method that exploits a measurement of temperatures and humidity at the contact area is proposed. Preliminary results that correlate comfort with measurable physical phenomena are demonstrated.
Impact of measurable physical phenomena on contact thermal comfort
Directory of Open Access Journals (Sweden)
Fojtlín Miloš
2017-01-01
Full Text Available Cabin HVAC (Heating Ventilation and Air-conditioning systems have become an essential part of personal vehicles as demands for comfortable transport are still rising. In fact, 85 % of the car trips in Europe are shorter than 18 km and last only up to 30 minutes. Under such conditions, the HVAC unit cannot often ensure desired cabin environment and passengers are prone to experience thermal stress. For this reason, additional comfort systems, such as heated or ventilated seats, are available on the market. However, there is no straightforward method to evaluate thermal comfort at the contact surfaces nowadays. The aim of this work is to summarise information about heated and ventilated seats. These technologies use electrical heating and fan driven air to contact area in order to achieve enhanced comfort. It is also expected, that such measures may contribute to lower energy consumption. Yet, in real conditions it is almost impossible to measure the airflow through the ventilated seat directly. Therefore, there is a need for an approach that would correlate measurable physical phenomena with thermal comfort. For this reason, a method that exploits a measurement of temperatures and humidity at the contact area is proposed. Preliminary results that correlate comfort with measurable physical phenomena are demonstrated.
Robotically-adjustable microstereotactic frames for image-guided neurosurgery
Kratchman, Louis B.; Fitzpatrick, J. Michael
2013-03-01
Stereotactic frames are a standard tool for neurosurgical targeting, but are uncomfortable for patients and obstruct the surgical field. Microstereotactic frames are more comfortable for patients, provide better access to the surgical site, and have grown in popularity as an alternative to traditional stereotactic devices. However, clinically available microstereotactic frames require either lengthy manufacturing delays or expensive image guidance systems. We introduce a robotically-adjusted, disposable microstereotactic frame for deep brain stimulation surgery that eliminates the drawbacks of existing microstereotactic frames. Our frame can be automatically adjusted in the operating room using a preoperative plan in less than five minutes. A validation study on phantoms shows that our approach provides a target positioning error of 0.14 mm, which exceeds the required accuracy for deep brain stimulation surgery.
Comfort and hope in the preanesthesia stage in patients undergoing surgery.
Seyedfatemi, Naima; Rafii, Forough; Rezaei, Mahboubeh; Kolcaba, Katharine
2014-06-01
Comfort and hope have been identified as important components in the care of perianesthesia patients. The purpose of this study was to explore the relationship between comfort and hope in the preanesthesia stage in patients undergoing surgery. A descriptive cross-sectional survey was conducted with 191 surgical patients. Data were collected using the Perianesthesia Comfort Questionnaire and Herth Hope Index. Direct and significant relationships were observed between comfort and hope (P≤.001, r=0.65). Also, significant relationships were observed between educational level and marital status with comfort (P≤.01). The relationship between educational level and hope was significant (P≤.001). Significant relationships were also observed between gender and marital status with hope (P≤.01). Overall, this study showed that a significant relationship exists between comfort and hope. Additionally, some demographic characteristics influenced comfort and hope in these patients. Health care providers should arrange the environment in a way that allows the surgical patients to experience comfort and hope and recognize the impact of personal characteristics when caring for surgical patients, particularly in the preanesthesia stage. Copyright © 2014 American Society of PeriAnesthesia Nurses. Published by Elsevier Inc. All rights reserved.
Exploring Holistic Comfort in Children Who Experience a Clinical Venipuncture Procedure.
Bice, April A; Hall, Joanne; Devereaux, Matthew J
2018-06-01
Children often experience the uncomfortable effects of invasive procedures as a part of primary care and during times of illness. Holistic comfort has been well documented in adult literature but little research exists on the understanding of holistic procedural comfort from the child's perspective. In this study, holistic comfort related to an invasive venipuncture procedure was explored in children age 5 to 7 years and their caregivers of all ages. A qualitative descriptive design described by Sandelowski was used. The philosophical underpinnings of naturalistic inquiry of Guba and Lincoln were used. Semistructured interviews were conducted with 13 child and 15 caregiver participants. Children also drew pictures to help describe their perceptions. Traditional thematic content analysis described by Hsieh and Shannon yielded four overarching themes of holistic comfort related to venipuncture procedures in children: Body Comfort, Cognitive and Emotional Comfort, Comfort in the Procedure Surroundings, and Comfort Play. Numerous recommendations for future research are included. Implications for nursing and related health sciences, organizational and administrative policy, invasive procedures, theory, and methods were found and are discussed. Findings from this study will assist nurses in providing procedure management for children from a holistic care perspective.
Detecting Biological Motion for Human–Robot Interaction: A Link between Perception and Action
Directory of Open Access Journals (Sweden)
Alessia Vignolo
2017-06-01
Full Text Available One of the fundamental skills supporting safe and comfortable interaction between humans is their capability to understand intuitively each other’s actions and intentions. At the basis of this ability is a special-purpose visual processing that human brain has developed to comprehend human motion. Among the first “building blocks” enabling the bootstrapping of such visual processing is the ability to detect movements performed by biological agents in the scene, a skill mastered by human babies in the first days of their life. In this paper, we present a computational model based on the assumption that such visual ability must be based on local low-level visual motion features, which are independent of shape, such as the configuration of the body and perspective. Moreover, we implement it on the humanoid robot iCub, embedding it into a software architecture that leverages the regularities of biological motion also to control robot attention and oculomotor behaviors. In essence, we put forth a model in which the regularities of biological motion link perception and action enabling a robotic agent to follow a human-inspired sensory-motor behavior. We posit that this choice facilitates mutual understanding and goal prediction during collaboration, increasing the pleasantness and safety of the interaction.
Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy
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...
Robust Control of a Cable-Driven Soft Exoskeleton Joint for Intrinsic Human-Robot Interaction.
Jarrett, C; McDaid, A J
2017-07-01
A novel, cable-driven soft joint is presented for use in robotic rehabilitation exoskeletons to provide intrinsic, comfortable human-robot interaction. The torque-displacement characteristics of the soft elastomeric core contained within the joint are modeled. This knowledge is used in conjunction with a dynamic system model to derive a sliding mode controller (SMC) to implement low-level torque control of the joint. The SMC controller is experimentally compared with a baseline feedback-linearised proportional-derivative controller across a range of conditions and shown to be robust to un-modeled disturbances. The torque controller is then tested with six healthy subjects while they perform a selection of activities of daily living, which has validated its range of performance. Finally, a case study with a participant with spastic cerebral palsy is presented to illustrate the potential of both the joint and controller to be used in a physiotherapy setting to assist clinical populations.
Monitoring and assessment of the outdoor thermal comfort in Bucharest (Romania)
Cheval, Sorin; Ciobotaru, Ana-Maria; Andronache, Ion; Dumitrescu, Alexandru
2017-04-01
Bucharest is one of the European cities most at risk of being affected by meteorological hazards. Heat or cold waves, extreme temperature events, heavy rains or prolonged precipitation deficits are all-season phenomena, triggering damages, discomfort or even casualties. Temperature hazards may occur annually and challenge equally the public, local business and administration to find adequate solutions for securing the thermal comfort in the outdoor environment of the city. The accurate and fine resolution monitoring of the air temperature pledges for the comprehensive assessment of the thermal comfort in order to capture as much as possible the urban influence. This study uses sub-hourly temperature data (10-min temporal resolution) retrieved over the period November 2014 - November 2016 collected from nine sensors placed either in plain urban conditions or within the three meteorological stations of the national network which are currently monitoring the climate of Bucharest (Băneasa, Filaret, Afumați). The relative humidity was estimated based on the data available at the three stations placed in WMO standard conditions, and the 10-min values of 8 Thermal Comfort Indices were computed, namely: Heat Index, Humidex, Relative Strain Index, Scharlau, Summer Simmer Index, Physiological Equivalent Index, Temperature-Humidity Index, Thom Discomfort Index. The indices were analysed statistically, both individually and combined. Despite the short range of the available data, this study emphasizes clear spatial differentiations of the thermal comfort, in a very good agreement with the land cover and built zones of the city, while important variations were found in the temporal regime, due to large variations of the temperature values (e.g. >4 centigrade between consecutive hours or >15 centigrade between consecutive days). Ultimately, this study has revealed that the continuous monitoring of the urban climate, at fine temporal and spatial resolution, may deliver
Development of passive design zones in China using bioclimatic approach
International Nuclear Information System (INIS)
Lam, Joseph C.; Yang Liu; Liu Jiaping
2006-01-01
This paper presents the work on development of passive design zones for different climates in China. A total of 18 cities representing the five major climatic types, namely severe cold, cold, hot summer and cold winter, mild and hot summer and warm winter were selected for climatic analysis. Measured weather data were gathered and analysed. A bioclimatic approach was adopted in which the comfort zone and 12 monthly climatic lines were determined and plotted on the psychrometric chart for each city. From these bioclimatic charts, the potential use of passive design strategies such as solar heating, natural ventilation, thermal mass with/without night ventilation and evaporative cooling was assessed. A total of nine passive design strategy zones were identified, and appropriate design strategies suggested for both summer and winter consideration
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.
Enthalpy estimation for thermal comfort and energy saving in air conditioning system
International Nuclear Information System (INIS)
Chu, C.-M.; Jong, T.-L.
2008-01-01
The thermal comfort control of a room must consider not only the thermal comfort level but also energy saving. This paper proposes an enthalpy estimation that is conducive for thermal comfort control and energy saving. The least enthalpy estimator (LEE) combines the concept of human thermal comfort with the theory of enthalpy to predict the load for a suitable setting pair in order to maintain more precisely the thermal comfort level and save energy in the air conditioning system
Molecular Robots Obeying Asimov's Three Laws of Robotics.
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.
Thermal comfort in office buildings: Two case studies commented
Energy Technology Data Exchange (ETDEWEB)
Hens, Hugo S.L.C. [Laboratory of Building Physics, Department of Civil Engineering, K.U. Leuven, Kasteelpark Arenberg 40, B-3001 Leuven (Heverlee) (Belgium)
2009-07-15
Air conditioning in offices has become a current practice in North Western Europe. The main reasons for that are high internal loads, solar gains and increased comfort expectations. Hence, the move away from the naturally ventilated cellular office increased thermal comfort complaints. The paper presents two cases. In both the results of a comfort enquiry are compared with measurements. The enquiries gave numbers of dissatisfied at a PMV zero that were much higher than the standard PMV/PPD curve does. Measurements instead showed that in one of the two offices only comfort complaints could be expected in summer. But even then, the enquired severity of complaints could not be related to the measured data. Several hypotheses are forwarded to explain the results. Individuals interpret the -3 to +3 scale for thermal sensation differently, which has a direct impact on the number of dissatisfied. The standard curve further-on is a most significant mean of thousands of steady state comfort votes under well-controlled conditions while an on site enquiry involves much smaller numbers of people. These have a clear expectation: an improvement of comfort condition, thanks to the study. For that reason they may exaggerate their complaints when enquired. And finally, an alternative PMV versus PPD curve, published in literature, shows more people complaining at a given PMV than the standard curve forwards. (author)
Progress in thermal comfort research over the last twenty years
DEFF Research Database (Denmark)
Dear, R. J. de; Akimoto, T.; Arens, E. A.
2013-01-01
Climate change and the urgency of decarbonizing the built environment are driving technological innovation in the way we deliver thermal comfort to occupants. These changes, in turn, seem to be setting the directions for contemporary thermal comfort research. This article presents a literature...... review of major changes, developments, and trends in the field of thermal comfort research over the last 20 years. One of the main paradigm shift was the fundamental conceptual reorientation that has taken place in thermal comfort thinking over the last 20 years; a shift away from the physically based...... developed, driven by the continuous challenge to model thermal comfort at the same anatomical resolution and to combine these localized signals into a coherent, global thermal perception. Finally, the demand for ever increasing building energy efficiency is pushing technological innovation in the way we...
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.
Hwang, R-L; Chen, C-P
2010-06-01
comfort zone is attempted in a household of members consisting of different age groups.
Understanding comfort and senses in social practices: Insights from a Danish field study
DEFF Research Database (Denmark)
Madsen, Line Valdorff; Gram-Hanssen, Kirsten
2017-01-01
Thermal comfort is central to energy consumption in housing and one of the main drivers behind worldwide GHG emissions. Research on residential energy consumption has therefore addressed comfort in relation to indoor temperatures. This paper argues that by widening the focus of comfort to include...... other aspects such as air, light and materials, more sustainable ideas of residential comfort might be developed. The paper takes a practice theoretical perspective but argues that the senses should be better incorporated into the approach to understand different aspects of comfort. The paper...... investigates how comfort can be understood as sensorial within theories of practice. This implies understanding how the senses are incorporated in embodied and routinised social practices, through which comfort is sensed and interpreted. Comfort is related to a range of everyday practices in the home...
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.
Lubricant effects on low Dk and silicone hydrogel lens comfort.
Ozkan, Jerome; Papas, Eric
2008-08-01
To investigate the influence of three lubricants of varying viscosity, on postinsertion and 6 h comfort with contact lens wear. Comfort and associated symptoms of dryness were assessed in 15 experienced contact lens wearers. Subjects wore a low Dk lens in one eye and a silicone hydrogel in the other and participated in four separate trials involving no lubricant (baseline), saline, and two commercially available lubricants of differing viscosity. The in-eye lubricants were used immediately following lens insertion and every 2 h postinsertion for a 6 h wear period. Postlens insertion comfort was significantly better for both lens types when lubricants or saline were used compared with no lubricant use. After 6 h lens wear, comfort was influenced by lens type and not by in-eye lubricant or saline use. Also after 6 h lens wear, less dryness sensation was reported for silicone hydrogel lenses when using lubricants but not saline. Although lubricant use does help reduce dryness symptoms with silicone hydrogel lens wear, there appears to be minimal longer-term benefit to comfort. Furthermore, increased lubricant viscosity did not lead to improved longer-term comfort.
Prototype of Remote Controlled Robot Vehicle to Scan Radioactive Contaminated Areas
International Nuclear Information System (INIS)
Ratongasoandrazana, J.B.; Raoelina Andriambololona; Rambolamanana, G.; Andrianiaina, H.; Rajaobelison, J.
2016-01-01
The ionizing radiations are not directly audible by the organs of sense of the human being. Maintenance and handling of sources of such ionizing radiations present some risks of very serious and often irreversible accident for human organism. The works of experimentation and maintenance in such zone also present the risks requiring some minimum of precaution. Thus, the main objective of this work is to design and develop (hard- and software) a prototype of educational semi-autonomous Radio Frequency controlled robot-vehicle based on 8-bit AVR-RISC Flash microcontroller system (ATmega128L) able to detect, identify and map the radioactive contaminated area. An integrated video camera coupled with a UHF video transmitter module, placed in front of the robot, will be used as visual feedback control to well direct it toward a precise place to reach. The navigation information and the data collected are transmitted from the robot toward the Computer via 02 Radio Frequency Transceivers for peer-to-peer serial data transfer in half-duplex mode. A Joystick module which is connected to the Computer parallel port allows full motion control of the platform. Robot-vehicle user interface program for the PC has been designed to allow full control of all functions of the robot vehicles.
Thermal comfort assessment in a Dutch hospital setting – model applicability
Ottenheijm, E.M.M.; Loomans, M.G.L.C.; Kort, H.S.M.; Trip, A.
2016-01-01
SUMMARY Limited information is available on thermal comfort performance of the indoor environment in health care facilities both for staff and patients. Thermal comfort models such as Predicted Mean Vote (PMV) and Adaptive Thermal Comfort (ATC), have not been applied extensively for this setting. In
A literature review of comfort in the paediatric critical care patient.
Bosch-Alcaraz, Alejandro; Falcó-Pegueroles, Anna; Jordan, Iolanda
2018-03-08
To investigate the meaning of comfort and to contextualise it within the framework of paediatric critical care. The concept of comfort is closely linked to care in all health contexts. However, in specific settings such as the paediatric critical care unit, it takes on particular importance. A literature review was conducted. A literature search was performed of articles in English and Spanish in international health science databases, from 1992-March 2017, applying the quality standards established by the PRISMA methodology and the Joanna Briggs Institute. A total of 1,203 publications were identified in the databases. Finally, 59 articles which met the inclusion criteria were entered in this literature review. Almost all were descriptive studies written in English and published in Europe. The concept of comfort was defined as the immediate condition of being strengthened through having the three types of needs (relief, ease and transcendence) addressed in the four contexts of experience (physical, psychospiritual, social and environmental). Only two valid and reliable tools for assessing comfort were found: the Comfort Scale and the Comfort Behavior Scale. Comfort is subjective and difficult to assess. It has four facets: physical, emotional, social and environmental. High levels of noise and light are the inputs that cause the most discomfort. Comfort is a holistic, universal concept and an important component of quality nursing care. © 2018 John Wiley & Sons Ltd.
Modelling of industrial robot in LabView Robotics
Banas, W.; Cwikła, G.; Foit, K.; Gwiazda, A.; Monica, Z.; Sekala, A.
2017-08-01
Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It’s enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.
Energy Technology Data Exchange (ETDEWEB)
Fransson, Niklas; Skoog, Jennie [Building Services Engineering, Department of Energy and Environment, Chalmers University of Technology, Gothenburg (Sweden); Vaestfjaell, Daniel [Department of Psychology, Goeteborg University (Sweden)
2007-05-15
Today, many procedures for assessing the indoor environment rely on both subjective and objective indicators (e.g. ANSI/ASHRAE 55-2004; ISO 10551). It is however unclear how these two types of measurements are related to perceived comfort. This article aims at assessing the relative utility of subjective (rating scale measures) and objective indicators of perceived comfort of indoor environments. In a hospital setting, physical environmental variables (e.g. temperature, relative humidity and noise level) were simultaneously measured as respondents (both patients and staff) rated their perception of the indoor environment. Regression analyses indicated that the subjective sensory ratings were significantly better than objective indicators at predicting overall rated indoor comfort. These results are discussed in relation to existing measurement procedures and standards. (author)
Improving comfort while hiking in a sailing boat
Jansen, A.J.; Van Abbema, A.; Howe, C.
2012-01-01
The paper presents the changes in perceived comfort while hiking in a sailing boat (in this case the Laser, a single-handed Olympic dinghy) due to a new design of hiking pads. The project used a ‘research by design method’. The aim was to improve sailing comfort which leads to lower fatigue and
DEFF Research Database (Denmark)
Ngo, Trung Dung
This thesis studies aspects of self-sufficient energy (energy autonomy) for truly autonomous robots and towards sociable robots. Over sixty years of history of robotics through three developmental ages containing single robot, multi-robot systems, and social (sociable) robots, the main objective...... of roboticists mostly focuses on how to make a robotic system function autonomously and further, socially. However, such approaches mostly emphasize behavioural autonomy, rather than energy autonomy which is the key factor for not only any living machine, but for life on the earth. Consequently, self......-sufficient energy is one of the challenges for not only single robot or multi-robot systems, but also social and sociable robots. This thesis is to deal with energy autonomy for multi-robot systems through energy sharing (trophallaxis) in which each robot is equipped with two capabilities: self-refueling energy...
Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot
Energy Technology Data Exchange (ETDEWEB)
Van den Brandt, M. [Office for Science and Technology, Embassy of the Kingdom of the Netherlands, Washington (United States)
2009-09-15
This brief article addresses the EATR robot (Energetically Autonomous Tactical Robot) that was developed by Cyclone Power and uses biomass as primary source of energy for propulsion. [Dutch] Een kort artikel over de door Cyclone Power ontwikkelde EATR-robot (Energetically Autonomous Tactical Robot) die voor de voortdrijving biomassa gebruikt als primaire energiebron.
Yao, Y; Lian, Z; Liu, W; Jiang, C; Liu, Y; Lu, H
2009-04-01
Human thermal comfort researches mainly focus on the relation between the environmental factors (e.g. ambient temperature, air humidity, and air velocity, etc.) and the thermal comfort sensation based on a large amount of subjective field investigations. Although some physiological factors, such as skin temperature and metabolism were used in many thermal comfort models,they are not enough to establish a perfect thermal comfort model. In this paper,another two physiological factors, i.e. heart rate variation (HRV) and electroencephalograph (EEG), are explored for the thermal comfort study. Experiments were performed to investigate how these physiological factors respond to the environmental temperatures, and what is the relationship between HRV and EEG and thermal comfort. The experimental results indicate that HRV and EEG may be related to thermal comfort, and they may be useful to understand the mechanism of thermal comfort.
DEFF Research Database (Denmark)
Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann
Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....
Rossiter, Jonathan; Iida, Fumiya; Cianchetti, Matteo; Margheri, Laura
2017-01-01
This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.
Towards Versatile Robots Through Open Heterogeneous Modular Robots
Lyder, Andreas
2010-01-01
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 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 ...
International Nuclear Information System (INIS)
Hussain, Shafqat; Oosthuizen, Patrick H.
2012-01-01
In the present study use of solar-assisted buoyancy-driven natural ventilation in a simple atrium building is explored numerically with particular emphasis on the thermal comfort conditions in the building. Initially various geometric configurations of the atrium space were considered in order to investigate airflows and temperature distributions in the building using a validated computational fluid dynamics (CFD) model. The Reynolds Averaged Navier–Stokes (RANS) modelling approach with the SST-k–ω turbulence model and the Discrete Transfer Radiation Model (DTRM) was used for the investigations. The steady-state governing equations were solved using a commercial CFD solver FLUENT © . From the numerical results obtained, it was noted that an atrium space integrated with a solar chimney would be a relatively better option to be used in an atrium building. In the geometry selected, the performance of the building in response to various changes in design parameters was investigated. The produced airflows and temperature distributions were then used to evaluate indoor thermal comfort conditions in terms of the thermal comfort indices, i.e. the well-known predicted mean vote (PMV) index, its modifications especially for natural ventilation, predicted percent dissatisfied (PPD) index and Percent dissatisfied (PD) factor due to draft. It was found that the thermal conditions in the occupied areas of the building developed as a result of the use of solar-assisted buoyancy-driven ventilation for the particular values of the design parameters selected are mostly in the comfortable zone. Finally, it is demonstrated that the proposed methodology leads to reliable thermal comfort predictions, while the effect of various design variables on the performance of the building is easily recognized. - Highlights: ► Numerical investigations were carried for the use of buoyancy-driven displacement ventilation in a simple atrium building. ► Effect of various atrium
CSIR Research Space (South Africa)
Mtshali, M
2010-01-01
Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...
Effect of comfort pads and incubator design on neonatal radiography
Energy Technology Data Exchange (ETDEWEB)
Jiang, Xia; Baad, Michael; Reiser, Ingrid; Feinstein, Kate A.; Lu, Zhengfeng [University of Chicago Medicine, Department of Radiology, Chicago, IL (United States)
2016-01-15
There has been increasing interest in patient dose reduction in neonatal intensive care units. Removing comfort pads for radiography has been identified as a potential means to decrease patient dose. To assess the effect of comfort pads and support trays on detector entrance exposure (DEE) and image quality for neonatal radiography, and its implication for patient dose. Comfort pads and support trays from three incubator and warmer systems were examined. The attenuation of the primary beam by these structures was measured using a narrow beam geometry. Their effect on DEE and image quality was then assessed using typical neonatal chest radiography techniques with three configurations: (1) both the comfort pad and support included in the beam, (2) only the support tray included and (3) both the comfort pad and support tray removed. Comfort pads and support trays were found to attenuate the primary beam by 6-15%. Eliminating these structures from the X-ray beam's path was found to increase the detector entrance exposure by 28-36% and increase contrast-to-noise ratio by more than 21%, suggesting room for patient dose reduction when the same image quality is maintained. Comfort pads and tray support devices can have a considerable effect on DEE and image quality, with large variations among different incubator designs. Positioning the image detector directly underneath neonatal patients for radiography is a potential means for patient dose reduction. However, such benefit should be weighed against the risks of moving the patient. (orig.)
Effect of comfort pads and incubator design on neonatal radiography
International Nuclear Information System (INIS)
Jiang, Xia; Baad, Michael; Reiser, Ingrid; Feinstein, Kate A.; Lu, Zhengfeng
2016-01-01
There has been increasing interest in patient dose reduction in neonatal intensive care units. Removing comfort pads for radiography has been identified as a potential means to decrease patient dose. To assess the effect of comfort pads and support trays on detector entrance exposure (DEE) and image quality for neonatal radiography, and its implication for patient dose. Comfort pads and support trays from three incubator and warmer systems were examined. The attenuation of the primary beam by these structures was measured using a narrow beam geometry. Their effect on DEE and image quality was then assessed using typical neonatal chest radiography techniques with three configurations: (1) both the comfort pad and support included in the beam, (2) only the support tray included and (3) both the comfort pad and support tray removed. Comfort pads and support trays were found to attenuate the primary beam by 6-15%. Eliminating these structures from the X-ray beam's path was found to increase the detector entrance exposure by 28-36% and increase contrast-to-noise ratio by more than 21%, suggesting room for patient dose reduction when the same image quality is maintained. Comfort pads and tray support devices can have a considerable effect on DEE and image quality, with large variations among different incubator designs. Positioning the image detector directly underneath neonatal patients for radiography is a potential means for patient dose reduction. However, such benefit should be weighed against the risks of moving the patient. (orig.)
Zeiler, W.; Vissers, D.R.; Maaijen, H.N.; Kling, W.L.; Velden, van der J.A.J.; Larsen, J.P.
2012-01-01
Er vindt onderzoek plaats naar een nieuwe regelstrategie gebaseerd op de toepassing van een draadloos sensor netwerk dat is gekoppeld aan het smart grid. Doel van deze regelstrategie is om op gebruikersniveau energie te kunnen besparen met behoud of zelfs verbetering van het individueel comfort. Er
Influences of Carbody Vertical Flexibility on Ride Comfort of Railway Vehicles
Directory of Open Access Journals (Sweden)
Dumitriu Mădălina
2017-06-01
Full Text Available The article investigates the influence of the carbody vertical flexibility on the ride comfort of the railway vehicles. The ride comfort is evaluated via the comfort index calculated in three reference points of the carbody. The results of the numerical simulations bring attention to the importance of the carbody symmetrical vertical bending upon the dynamic response of the vehicle, mainly at high velocities. Another conclusion is that the ride comfort can be significantly affected as a function of the symmetrical bending frequency of the carbody. Similarly, there are improvement possibilities for the ride comfort when the best selection of the stiffness in the longitudinal traction system between the carbody and bogie and the vertical suspension damping is made.
Perceived health and comfort in relation to energy use and building characteristics
Energy Technology Data Exchange (ETDEWEB)
Roulet, C.-A.; Johner, N. [Ecole Polytechnique Federale, Lausanne (Switzerland); Foradini, F. [E4Tech S., Lausanne (Switzerland); Bluyssen, P.; Cox, C. [TNO Built Environment and Geosciences, Delft (Netherlands); Oliveira Fernandes, E. De [IDMEC-FUEP, Porto (Portugal); Mueller, B. [Technical University of Berlin, Berlin (Germany); Aizlewood, C. [Building Research Establishment, Watford (United Kingdom)
2006-09-15
Within the European research project Health Optimisation Protocol for Energy-efficient Building (HOPE), 96 apartment buildings and 64 office buildings (of which approximately 75% have been designed to be energy-efficient) were investigated. The building characteristics were assessed according to a checklist during a walk-through survey. Occupant questionnaires were used to determine satisfaction about comfort (thermal visual, acoustical and indoor air quality (IAQ)) and their health (Sick Building Syndrome and allergies). Building-averaged collected data are compared, looking for correlations between building characteristics on one hand, and perceived comfort and health on the other hand. Strong correlations are found between perceived IAQ, thermal, acoustic and lighting comfort, confirming results from other studies. Significant correlations between the perceived comfort and building related symptoms were also found, comfortable and healthier buildings being well distinct from uncomfortable ones. Differences of perceived comfort or health between low- and high-energy buildings show that it is possible to design buildings that are healthy, comfortable and energy efficient. (author)
Explorative study on management model of tourism business zone at Kuta, Bali
Astawa, I. K.; Suardani, A. A. P.; Harmini, A. A. A. N.
2018-01-01
Business activities through asset management of indigenous village of Kuta provide an opportunity for the community to participate in improving their welfare. This study aims to analyze the management model of Kuta’s tourism business zone, the involvement of stakeholders in the management of Kuta’s tourism business zone in indigenous village of Kuta and the implications of each business tourism zone in indigenous village of Kuta in the level of community welfare in each zone. Data collection was done by observation, interview, questionnaire, and documentation. The main instrument of this study is the researchers themselves assisted with interview guideline. The results showed that the management model has been arranged in 5 tourism business zones in indigenous village of Kuta. The involvement of all stakeholders in the management of the tourism business zone follows the procedure of execution of duties and provides security, comfort and certainty of doing business activities at each zone. The implications of the tourism business in the level of community welfare in each zone in indigenous village of Kuta have been able to bring happiness in business and all community are satisfied with the income they earned from work in each business zone.
Evolution of perceived footwear comfort over a prolonged running session.
Hintzy, F; Cavagna, J; Horvais, N
2015-12-01
The purpose of this study was to investigate the subjective perception of overall footwear comfort over a prolonged running session. Ten runners performed two similar sessions consisting of a 13-km trail run (5 laps of 2.6 km) as fast as possible. The overall footwear comfort was evaluated before running and at the end of each lap with a 150-mm visual analogic scale, as well as speed, heart rate and rate of perceived exertion. The results showed that both overall footwear comfort and speed decreased consistently during the run session, and significantly after 44 min of running (i.e. the 3rd lap). It could be hypothesized that the deterioration of overall footwear comfort was explained by mechanical and energetical parameter changes with time and/or fatigue occurring at the whole body, foot and footwear levels. These results justify the use of a prolonged running test for running footwear comfort evaluation. Copyright © 2015 Elsevier Ltd. All rights reserved.
Whitesides, George M
2018-04-09
This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.
Measuring comfort in caregivers and patients during late end-of-life care.
Novak, B; Kolcaba, K; Steiner, R; Dowd, T
2001-01-01
The purpose of this study was to test several formats of end-of-life comfort instruments for patients and closely involved caregivers. Kolcaba's Comfort Theory was the theoretical framework utilized. Different response formats for two end-of-life (EOL) comfort questionnaires (for patients and caregivers, respectively), and horizontal and vertical visual analog scales for total comfort (TC) lines were compared in two phases. Evaluable data were collected from both members of 38 patient-caregiver dyads in each phase. Suitable dyads were recruited from two hospice agencies in northeastern Ohio. Cronbach's alpha for the EOL comfort questionnaire (six response Likert-type format) tested during phase I for patients was .98 and for caregivers was .97. Test-retest reliability for the vertical TC line tested during phase I for patients was .64 and for caregivers was .79. The implications of this study for nursing practice and research are derived from the American Nursing Association (ANA) position statement about EOL care, which states that comfort is the goal of nursing for this population. These instruments will be useful for assessing comfort in actively dying patients and comfort of their caregivers as well as for developing evidence-based practice for this population.
Determination of thermal and acoustic comfort inside a vehicle's cabin
Ene, Alexandra; Catalina, Tiberiu; Vartires, Andreea
2018-02-01
Thermal and acoustic comfort, inside a vehicle's cabin, are highly interconnected and can greatly influence the health of the passengers. On one hand, the H.V.A.C. system brings the interior air parameters to a comfortable value while on the other hand, it is the main source of noise. It is an intriguing task to find a balance between the two. In this paper, several types of air diffusers were used in order to optimize the ratio between thermal and acoustic interior comfort. Using complex measurements of noise and thermal comfort parameters we have determined for each type of air diffuser the sound pressure level and its impact on air temperature and air velocity.
Effects of Drains on Pain, Comfort and Anxiety in Patients Undergone Surgery
Directory of Open Access Journals (Sweden)
Ummu Yildiz Findik
2013-01-01
Full Text Available Backround: Surgical drains negatively affect patients’ comfort, cause anxiety along with pain, as they are used to promote healing after surgery.Purpose: This study aimed to determine pain, comfort and anxiety levels of patients with drains postoperatively.Methodology: Research was performed with 192 patients undergone abdominal, neck, breast and open heart surgery and had surgical and underwater chest drains at the postoperative period. Patient Information Form, Numerical Pain Scale, General Comfort Questionnaire and Trait Anxiety Scale was used for collection of data. In evaluating the data, we used the t-test, variance and correlation analysis, mean, percentage and frequency.Results: The patients’ mean score of pain was 4.67±2.93, comfort was 2.75±0.29 and anxiety was 39.31±9.21. It was found statistically significant that the comfort level decreases as the pain level increases and that the patients undergone open heart surgery and with underwater chest drains have higher pain levels. It was found statistically significant that, comfort level in patients undergone abdominal or cardiac surgery is lower than patients undergone breast or neck surgery, and that the comfort level decreases as the duration of drains increases. The increasing state anxiety while pain increases and comfort decreases was found statistically significant.Conclusions: Surgeries and drains applied after these procedures decrease the comfort level of the patients as increases the pain level. Also, pain and discomfort increase the patients’ anxiety. Nurses who providing care to these patients are suggested to improve measures about pain and anxiety reduction for maintaining of comfort.
Control system for a multi-joint inspection robot
International Nuclear Information System (INIS)
Asano, K.
1984-01-01
Remote systems, in which a human operator in a safe zone determines pertinent circumstances and makes decisions on work procedures, while a robot does direct work in hazardous environments, have been becoming more and more important in accordance with the increase in nuclear facilities. In such remote systems, to perform tasks which are merely ambiguously defined beforehand, it is very important that the systems have the ability to execute desired tasks easily and immediately without any programming or teaching work on the spot. A control system, named Self Approach System (SAS), for a multi-joint inspection robot has been developed as a key component in a remote inspection system for use in physically difficult or dangerous environments. It has 8 joints and 17 degrees-of-freedom and was designed taking many of the above points into account. This paper describes SAS details
An analysis of influential factors on outdoor thermal comfort in summer
Yin, JiFu; Zheng, YouFei; Wu, RongJun; Tan, JianGuo; Ye, DianXiu; Wang, Wei
2012-09-01
A variety of research has linked high temperature to outdoor thermal comfort in summer, but it remains unclear how outdoor meteorological environments influence people's thermal sensation in subtropical monsoon climate areas, especially in China. In order to explain the process, and to better understand the related influential factors, we conducted an extensive survey of thermally comfortable conditions in open outdoor spaces. The goal of this study was to gain an insight into the subjects' perspectives on weather variables and comfort levels, and determine the factors responsible for the varying human thermal comfort response in summer. These perceptions were then compared to actual ambient conditions. The database consists of surveys rated by 205 students trained from 6:00 am to 8:00 pm outdoors from 21 to 25 August 2009, at Nanjing University of Information Science & Technology (NUIST), Nanjing, China. The multiple regression approach and simple factor analysis of variance were used to investigate the relationships between thermal comfort and meteorological environment, taking into consideration individual mood, gender, level of regular exercise, and previous environmental experiences. It was found that males and females have similar perceptions of maximum temperature; in the most comfortable environment, mood appears to have a significant influence on thermal comfort, but the influence of mood diminishes as the meteorological environment becomes increasingly uncomfortable. In addition, the study confirms the strong relationship between thermal comfort and microclimatic conditions, including solar radiation, atmospheric pressure, maximum temperature, wind speed and relative humidity, ranked by importance. There are also strong effects of illness, clothing and exercise, all of which influence thermal comfort. We also find that their former place of residence influences people's thermal comfort substantially by setting expectations. Finally, some relationships
An analysis of influential factors on outdoor thermal comfort in summer.
Yin, JiFu; Zheng, YouFei; Wu, RongJun; Tan, JianGuo; Ye, DianXiu; Wang, Wei
2012-09-01
A variety of research has linked high temperature to outdoor thermal comfort in summer, but it remains unclear how outdoor meteorological environments influence people's thermal sensation in subtropical monsoon climate areas, especially in China. In order to explain the process, and to better understand the related influential factors, we conducted an extensive survey of thermally comfortable conditions in open outdoor spaces. The goal of this study was to gain an insight into the subjects' perspectives on weather variables and comfort levels, and determine the factors responsible for the varying human thermal comfort response in summer. These perceptions were then compared to actual ambient conditions. The database consists of surveys rated by 205 students trained from 6:00 am to 8:00 pm outdoors from 21 to 25 August 2009, at Nanjing University of Information Science & Technology (NUIST), Nanjing, China. The multiple regression approach and simple factor analysis of variance were used to investigate the relationships between thermal comfort and meteorological environment, taking into consideration individual mood, gender, level of regular exercise, and previous environmental experiences. It was found that males and females have similar perceptions of maximum temperature; in the most comfortable environment, mood appears to have a significant influence on thermal comfort, but the influence of mood diminishes as the meteorological environment becomes increasingly uncomfortable. In addition, the study confirms the strong relationship between thermal comfort and microclimatic conditions, including solar radiation, atmospheric pressure, maximum temperature, wind speed and relative humidity, ranked by importance. There are also strong effects of illness, clothing and exercise, all of which influence thermal comfort. We also find that their former place of residence influences people's thermal comfort substantially by setting expectations. Finally, some relationships
Exploiting Child-Robot Aesthetic Interaction for a Social Robot
Lee, Jae-Joon; Kim, Dae-Won; Kang, Bo-Yeong
2012-01-01
A social robot interacts and communicates with humans by using the embodied knowledge gained from interactions with its social environment. In recent years, emotion has emerged as a popular concept for designing social robots. Several studies on social robots reported an increase in robot sociability through emotional imitative interactions between the robot and humans. In this paper conventional emotional interactions are extended by exploiting the aesthetic theories that the sociability of ...
Ångström-Brännström, Charlotte; Norberg, Astrid
2014-01-01
Children with cancer often undergo a long course of treatment, described as painful, and associated with feelings of discomfort and need of comfort. The aim of this descriptive interview study was to investigate how children, aged 3 to 9 years, undergoing cancer treatment describe their experience of comfort. The children were interviewed and asked to make drawings. Data were content analyzed and four themes were constructed--enduring discomfort, expressing discomfort, finding comfort, and comforting others. The findings show that the children endured discomfort during treatment, and were sometimes able to express it. They found comfort especially from their family and from hospital staff. The children also described that they comforted family members. The findings are in accordance with previous research about children's and adults' accounts of comfort. An incidental finding is that parents were surprised when they listened to the children's accounts of their experience of discomfort and comfort and achieved a better understanding of their children.
The role of respondents’ comfort for variance in stated choice surveys
DEFF Research Database (Denmark)
Emang, Diana; Lundhede, Thomas; Thorsen, Bo Jellesmark
2017-01-01
they complete surveys correlates with the error variance in stated choice models of their responses. Comfort-related variables are included in the scale functions of the scaled multinomial logit models. The hypothesis was that higher comfort reduces error variance in answers, as revealed by a higher scale...... parameter and vice versa. Information on, e.g., sleep and time since eating (higher comfort) correlated with scale heterogeneity, and produced lower error variance when controlled for in the model. That respondents’ comfort may influence choice behavior suggests that knowledge of the respondents’ activity......Preference elicitation among outdoor recreational users is subject to measurement errors that depend, in part, on survey planning. This study uses data from a choice experiment survey on recreational SCUBA diving to investigate whether self-reported information on respondents’ comfort when...
Indian Academy of Sciences (India)
In evolutionary robotics, a suitable robot control system is developed automatically through evolution due to the interactions between the robot and its environment. It is a complicated task, as the robot and the environment constitute a highly dynamical system. Several methods have been tried by various investigators to ...
Interactive Exploration Robots: Human-Robotic Collaboration and Interactions
Fong, Terry
2017-01-01
For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.
The effect of human-mattress interface's temperature on perceived thermal comfort.
Califano, R; Naddeo, A; Vink, P
2017-01-01
In recent years, methods that allow for an objective evaluation of perceived comfort, in terms of postural, physiological, cognitive and environmental comfort, have received a great deal of attention from researchers. This paper focuses on one of the factors that influences physiological comfort perception: the temperature difference between users and the objects with which they interact. The first aim is to create a measuring system that does not affect the perceived comfort during the temperatures' acquisition. The main aim is to evaluate how the temperature at the human-mattress interface can affect the level of perceived comfort. A foam mattress has been used for testing in order to take into account the entire back part of the human body. The temperature at the interface was registered by fourteen 100 Ohm Platinum RTDs (Resistance Temperature Detectors) placed on the mattress under the trunk, the shoulders, the buttocks, the legs, the thighs, the arms and the forearms of the test subject. 29 subjects participated in a comfort test in a humidity controlled environment. The test protocol involved: dress-code, anthropometric-based positioning on mattress, environment temperature measuring and an acclimatization time before the test. At the end of each test, each of the test subject's thermal sensations and the level of comfort perception were evaluated using the ASHRAE (American Society of Heating, Refrigerating and Air-Conditioning Engineers) scale. The data analyses concerned, in the first instance, correlations between the temperature at the interface and comfort levels of the different parts of the body. Then the same analyses were performed independently of the body parts being considered. The results demonstrated that there was no strong correlation among the studied variables and that the total increase of temperature at interface is associated with a reduction in comfort. Copyright © 2016 Elsevier Ltd. All rights reserved.
Quality and satisfaction of thermal comfort in Dutch offices
Brink, Henk Willem; Mobach, Mark P.; Balslev Nielsen, S.; Jensen, P.A.
2016-01-01
Purpose: This field study analyses the quality of the actual thermal comfort and indoor air quality in Dutch office buildings. A linear regression analysis was used to determine how much these variables and demographic variables influenced the perceived thermal comfort of office workers. Approach:
Potentialities of robots in major accident situations
International Nuclear Information System (INIS)
Chevallier, M.
2013-01-01
The INTRA group was founded in 1988, 2 years after the Chernobyl accident with the purpose of a cooperation between EDF, Cogema and CEA in order to develop and operate a fleet of robots able to intervene and replace man in a nuclear facility in case of major accident. Now INTRA disposes of 5 types of equipment: first, robots for the inside of buildings (they can overcome 40 cm high obstacles, open doors, go upstairs) they are wire-guided and enjoy a battery life of 6 to 8 hours. Secondly, robots for the open air that are able to move in very degraded grounds, they are remote controlled through radio-waves and their autonomy range nears 5 km. Thirdly, public works vehicles, INTRA has developed an excavator and a dump truck, both are remote controlled, they allow the making of any earth work. Fourthly, INTRA has developed 2 systems of contamination measurement: Skylink and Helinuc. Skylink is a system of 20 radiation monitors that can be dispatched on the contaminated zone, their data is collected through radio waves. Helinuc is a kind of gamma spectrometer that is helicopter-borne and can draw a map of the contamination around the installation. Fifthly, 2 drones are being tested, they will be fitted with radiation monitors. (A.C.)
Ride comfort analysis with physiological parameters for an e-health train.
Lee, Youngbum; Shin, Kwangsoo; Lee, Sangjoon; Song, Yongsoo; Han, Sungho; Lee, Myoungho
2009-12-01
Transportation by train has numerous advantages over road transportation, especially with regard to energy efficiency, ecological features, safety, and punctuality. However, the contrast in ride comfort between standard road transportation and train travel has become a competitive issue. The ride comfort enhancement technology of tilting trains (TTX) is a particularly important issue in the development of the Korean high-speed railroad business. Ride comfort is now defined in international standards such as UIC13 and ISO2631. The Korean standards such as KSR9216 mainly address physical parameters such as vibration and noise. In the area of ride comfort, living quality parameter techniques have recently been considered in Korea, Japan, and Europe. This study introduces biological parameters, particularly variations in heart rate, as a more direct measure of comfort. Biological parameters are based on physiological responses rather than on purely external mechanical parameters. Variability of heart rate and other physiological parameters of passengers are measured in a simulation involving changes in the tilting angle of the TTX. This research is a preliminary study for the implementation of an e-health train, which would provide passengers with optimized ride comfort. The e-health train would also provide feedback on altered ride comfort situations that can improve a passenger's experience and provide a healthcare service on the train. The aim of this research was to develop a ride comfort evaluation system for the railway industry, the automobile industry, and the air industry. The degree of tilt correlated with heart rate, fatigue, and unrelieved alertness.
Outdoor thermal comfort and behaviour in urban area
Inavonna, I.; Hardiman, G.; Purnomo, A. B.
2018-01-01
Outdoor comfort is important due to the public spaces functions. Open spaces provide thermal comfort and a pleasant experience to improve the city life quality effectively. The influence of thermal comfort in outdoor activities is a complex problem. This paper presents a literature review and discussion of aspects of physical, psychology, and social behaviour toward outdoor thermal comfort. The valuation is determined not only by the “physical state” but also by the “state of mind”. The assessment is static and objective (i.e., physical and physiological characteristics) that it should be measured. Furthermore, an effective model to provide the knowledge of climatic conditions, as well as the dynamic and subjective aspects (i.e., psychological and social characteristics and behaviour), requires a comprehensive interview and observation. The model will be examined to describe the behaviour that is a reflection of perception and behaviour toward the environment. The adaptation process will constantly evolve so that it becomes a continuous cause between human behaviour and the spatial setting of the formation, which is eventually known as places and not just spaces. This evolutionary process is a civic art form.
Progress in thermal comfort research over the last twenty years
de Dear, R; Akimoto, T; Arens, E; Brager, G; Candido, C; Cheong, K.W.; Li, B; Nishihara, N; Sekhar, S.C.; Tanabe, S; Toftum, J; Zhang, H; Zhu, Y
2013-01-01
Climate change and the urgency of decarbonizing the built environment are driving technological innovation in the way we deliver thermal comfort to occupants. These changes, in turn, seem to be setting the directions for contemporary thermal comfort research. This article presents a literature review of major changes, developments, and trends in the field of thermal comfort research over the last 20 years. One of the main paradigm shift was the fundamental conceptual reorientation that has ta...
ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS
Directory of Open Access Journals (Sweden)
Hidetsugu Suto
2013-12-01
Full Text Available A novel concept of media education called “robot literacy” is proposed. Here, robot literacy refers to the means of forming an appropriate relationship with intelligent robots. It can be considered a kind of media literacy. People who were born after the Internet age can be considered “digital natives” who have new morals and values and behave differently than previous generations in Internet societies. This can cause various problems among different generations. Thus, the necessity of media literacy education is increasing. Internet technologies, as well as robotics technologies are growing rapidly, and people who are born after the “home robot age,” whom the author calls “robot natives,” will be expected to have a certain degree of “robot literacy.” In this paper, the concept of robot literacy is defined and an approach to robot literacy education is discussed.
The aircraft interior comfort experience of 10,032 passengers
Vink, P.; Mastrigt, S. van
2011-01-01
One airline strategy aimed at selling more tickets is to provide a superior comfort experience. However, only a small amount of public scientific information is available addressing the passenger’s opinion on comfort. In this study, 10,032 internet trip reports were used to gather opinions about
Bier, H.H.
2014-01-01
Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically
The evaluation of (social-)psychological comfort in clothing, a possible approach
Matté, L. L.; Broega, A. C.
2017-10-01
This paper presents the first results of a PhD research on psychological comfort of clothing. In order to understand and conceptualize the psychological aspects of clothing comfort, a variation of the Delphi Method was used to seek opinions from experts. This method was chosen because of its consensus-building features. The results were obtained from a qualitative text analysis, conducted over the experts’ responses to the first round of questions. The analytic process shed some light on the formation of the psychological comfort concept as well as the potential attributes to be evaluated when assessing this comfort dimension.
Directory of Open Access Journals (Sweden)
Busra Koken
2015-01-01
Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.
Distributed Robotics Education
DEFF Research Database (Denmark)
Lund, Henrik Hautop; Pagliarini, Luigi
2011-01-01
Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept of a distribu......Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept...... to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education – such as parallel programming, distribution, communication protocols, master dependency, connectivity...
Relationship between comfort and attenuation measurements for two types of earplugs
Directory of Open Access Journals (Sweden)
David C Byrne
2011-01-01
Full Text Available Noise-induced hearing loss is almost always preventable if properly fitted hearing protectors are worn to reduce exposure. Many individuals choose not to wear hearing protection because it may interfere with effective communication in the workplace or it may be uncomfortable. Hearing protector comfort has not received the same amount of attention as noise reduction capability. The present study was conducted to evaluate the comfort level of two different types of insert earplugs as well as the attenuation levels achieved by the earplugs. Attenuation levels were obtained with a commercially available earplug fit-test system, and the comfort ratings were obtained by questionnaire. The primary research objective was to determine whether hearing protector comfort was related to measured attenuation values. A linear mixed effects model provided evidence for an inverse relationship between comfort and attenuation.
CFD modeling of airflow for indoor comfort in the tropics
International Nuclear Information System (INIS)
Aynsley, R.; Su, B.
2006-01-01
In humid tropical environments air movement is a common means to achieving indoor thermal comfort. In many locations closer to the equator, breezes are weaker and less reliable. Whatever the source of air movement it is important to quantity its potential in terms of the percentage of time the air movement will be available and the likely speed of the air movement in occupied zone of a building. It is also important to establish appropriate thermal comfort criteria with respect to air temperature, humidity and air movement. There are a number of techniques for modeling air movement inside naturally ventilated buildings. Boundary layer wind tunnels provide an opportunity to both measure and visually observe such airflow through model building. It is important to model adjacent buildings and any significant landscaping features that will influence outdoor airflow patterns. Such studies are relatively expensive. The recent availability of computational fluid dynamics (CFD) software for personal computers offers an alternative method for modeling air movement inside naturally ventilated buildings. Very expensive versions of this software have been available for large computers and work stations for many years but they have only recently become available for smaller computers. There are some features of such software that should be compared before purchasing a copy or a license. This paper discusses such features in detail. It is important in the case of natural ventilation that adjacent buildings and any significant landscaping features that will influence outdoor airflow patterns are included in the modeling. This paper also stresses the importance of calibrating the CFD software output against some physical measurements or wind tunnel modeling to ensure that the CFD results are realistic
Lenarcic, Jadran; Stanišić, Michael M
2013-01-01
This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.
Directory of Open Access Journals (Sweden)
Rafael Aracil
2008-04-01
Full Text Available Resumen: El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año 2000 las áreas de aplicación de los Robots de Servicios, que se pueden dividir en dos grandes grupos: 1 sectores productivos no manufactureros tales como edificación, agricultura, naval, minería, medicina, etc. y 2 sectores de servicios propiamente dichos: asistencia personal, limpieza, vigilancia, educación, entretenimiento, etc. En este trabajo se hace una breve revisión de los principales conceptos y aplicaciones de los robots de servicio. Palabras clave: Robots de servicio, robots autónomos, robots de exteriores, robots de educación y entretenimiento, robots caminantes y escaladores, robots humanoides
DEFF Research Database (Denmark)
Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben
2016-01-01
Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture.......Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....
Thermal comfort and building energy consumption implications – A review
International Nuclear Information System (INIS)
Yang, Liu; Yan, Haiyan; Lam, Joseph C.
2014-01-01
Highlights: • We review studies of thermal comfort and discuss building energy use implications. • Adaptive comfort models tend to have a wider comfort temperature range. • Higher indoor temperatures would lead to fewer cooling systems and less energy use. • Socio-economic study and post-occupancy evaluation of built environment is desirable. • Important to consider future climate scenarios in heating, cooling and power schemes. - Abstract: Buildings account for about 40% of the global energy consumption and contribute over 30% of the CO 2 emissions. A large proportion of this energy is used for thermal comfort in buildings. This paper reviews thermal comfort research work and discusses the implications for building energy efficiency. Predicted mean vote works well in air-conditioned spaces but not naturally ventilated buildings, whereas adaptive models tend to have a broader comfort temperature ranges. Higher indoor temperatures in summertime conditions would lead to less prevalence of cooling systems as well as less cooling requirements. Raising summer set point temperature has good energy saving potential, in that it can be applied to both new and existing buildings. Further research and development work conducive to a better understanding of thermal comfort and energy conservation in buildings have been identified and discussed. These include (i) social-economic and cultural studies in general and post-occupancy evaluation of the built environment and the corresponding energy use in particular, and (ii) consideration of future climate scenarios in the analysis of co- and tri-generation schemes for HVAC applications, fuel mix and the associated energy planning/distribution systems in response to the expected changes in heating and cooling requirements due to climate change
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)
International Nuclear Information System (INIS)
Benton, O.
1984-01-01
Robotics education courses are rapidly spreading throughout the nation's colleges and universities. Engineering schools are offering robotics courses as part of their mechanical or manufacturing engineering degree program. Two year colleges are developing an Associate Degree in robotics. In addition to regular courses, colleges are offering seminars in robotics and related fields. These seminars draw excellent participation at costs running up to $200 per day for each participant. The last one drew 275 people from Texas to Virginia. Seminars are also offered by trade associations, private consulting firms, and robot vendors. IBM, for example, has the Robotic Assembly Institute in Boca Raton and charges about $1,000 per week for course. This is basically for owners of IBM robots. Education (and training) can be as short as one day or as long as two years. Here is the educational pattern that is developing now
Variations of wave energy power in shoaling zone of Benin coastal zone
Directory of Open Access Journals (Sweden)
Mathias A. Houekpoheha
2015-02-01
Full Text Available Today, we observe at the population level, that the improvement in comfort is accompanied by an increase in the electrical energy required. The predicted exhaustion of fossil energy resources maintains some speculation. Their unequal geographical distribution justifies the energy dependence of Benin overlooked from outside. So it is urgent to explore the various sources of renewable energy available to Benin. In this work, using measurements made by the Millennium Challenge Account (MCA-Benin as part of the extension of the port of Cotonou, with Boussinesq equations (Peregrine and Stokes waves dispersion relation, we characterized the variations of various swell parameters (height, wavelength, velocities in the shoaling zone on the study site and proceeded to estimate variations in wave energy power from deep waters to the bathymetric breaking point. Finally, the zone with high energy power (where the conversion of this energy into electrical energy would be profitable of these waves is highlighted on the site, the local water depth at the point of breaking waves is evaluated and results obtained allowed to justify the very energetic character take by these swells on this coast when they are close to the beach.
A correct enthalpy relationship as thermal comfort index for livestock.
Rodrigues, Valéria Cristina; da Silva, Iran José Oliveira; Vieira, Frederico Márcio Corrêa; Nascimento, Sheila Tavares
2011-05-01
Researchers working with thermal comfort have been using enthalpy to measure thermal energy inside rural facilities, establishing indicator values for many situations of thermal comfort and heat stress. This variable turned out to be helpful in analyzing thermal exchange in livestock systems. The animals are exposed to an environment which is decisive for the thermoregulatory process, and, consequently, the reactions reflect states of thermal comfort or heat stress, the last being responsable for problems of sanity, behavior and productivity. There are researchers using enthalpy as a qualitative indicator of thermal environment of livestock such as poultry, cattle and hogs in tropical regions. This preliminary work intends to check different enthalpy equations using information from classical thermodynamics, and proposes a direct equation as thermal comfort index for livestock systems.
Importance of thermal comfort for library building in Kuching, Sarawak
Energy Technology Data Exchange (ETDEWEB)
Ibrahim, S.H.; Baharun, A.; Abdul Mannan, M.D.; Abang Adenan, D.A. [Department of Civil Engineering, Faculty of Engineering, University Malaysia Sarawak (UNIMAS), 94300 Kota Samarahan, Sarawak (Malaysia)
2013-07-01
Malaysian Government takes an initiative to provide library in housing areas to improve the quality of human capital. However, the government has to evaluate every aspect of their provision to ensure the services provided meet the demands of the users, including the aspect of thermal comfort in the building. For this study, a library constructed using Industrialised Building System (IBS) are selected for thermal comfort evaluation. The data were analyzed using Corrected Effective Temperature (CET) index. From the data analysis, it shows that thermal comfort in the library could not be achieved most of the time unless when the mechanical cooling is used. A series of technical design improvements are then recommended to improve the thermal comfort inside the library by incorporating construction details without increasing the cost.
Operating Comfort Prediction Model of Human-Machine Interface Layout for Cabin Based on GEP
Directory of Open Access Journals (Sweden)
Li Deng
2015-01-01
Full Text Available In view of the evaluation and decision-making problem of human-machine interface layout design for cabin, the operating comfort prediction model is proposed based on GEP (Gene Expression Programming, using operating comfort to evaluate layout scheme. Through joint angles to describe operating posture of upper limb, the joint angles are taken as independent variables to establish the comfort model of operating posture. Factor analysis is adopted to decrease the variable dimension; the model’s input variables are reduced from 16 joint angles to 4 comfort impact factors, and the output variable is operating comfort score. The Chinese virtual human body model is built by CATIA software, which will be used to simulate and evaluate the operators’ operating comfort. With 22 groups of evaluation data as training sample and validation sample, GEP algorithm is used to obtain the best fitting function between the joint angles and the operating comfort; then, operating comfort can be predicted quantitatively. The operating comfort prediction result of human-machine interface layout of driller control room shows that operating comfort prediction model based on GEP is fast and efficient, it has good prediction effect, and it can improve the design efficiency.
Operating Comfort Prediction Model of Human-Machine Interface Layout for Cabin Based on GEP.
Deng, Li; Wang, Guohua; Chen, Bo
2015-01-01
In view of the evaluation and decision-making problem of human-machine interface layout design for cabin, the operating comfort prediction model is proposed based on GEP (Gene Expression Programming), using operating comfort to evaluate layout scheme. Through joint angles to describe operating posture of upper limb, the joint angles are taken as independent variables to establish the comfort model of operating posture. Factor analysis is adopted to decrease the variable dimension; the model's input variables are reduced from 16 joint angles to 4 comfort impact factors, and the output variable is operating comfort score. The Chinese virtual human body model is built by CATIA software, which will be used to simulate and evaluate the operators' operating comfort. With 22 groups of evaluation data as training sample and validation sample, GEP algorithm is used to obtain the best fitting function between the joint angles and the operating comfort; then, operating comfort can be predicted quantitatively. The operating comfort prediction result of human-machine interface layout of driller control room shows that operating comfort prediction model based on GEP is fast and efficient, it has good prediction effect, and it can improve the design efficiency.
Whole-arm tactile sensing for beneficial and acceptable contact during robotic assistance.
Grice, Phillip M; Killpack, Marc D; Jain, Advait; Vaish, Sarvagya; Hawke, Jeffrey; Kemp, Charles C
2013-06-01
Many assistive tasks involve manipulation near the care-receiver's body, including self-care tasks such as dressing, feeding, and personal hygiene. A robot can provide assistance with these tasks by moving its end effector to poses near the care-receiver's body. However, perceiving and maneuvering around the care-receiver's body can be challenging due to a variety of issues, including convoluted geometry, compliant materials, body motion, hidden surfaces, and the object upon which the body is resting (e.g., a wheelchair or bed). Using geometric simulations, we first show that an assistive robot can achieve a much larger percentage of end-effector poses near the care-receiver's body if its arm is allowed to make contact. Second, we present a novel system with a custom controller and whole-arm tactile sensor array that enables a Willow Garage PR2 to regulate contact forces across its entire arm while moving its end effector to a commanded pose. We then describe tests with two people with motor impairments, one of whom used the system to grasp and pull a blanket over himself and to grab a cloth and wipe his face, all while in bed at his home. Finally, we describe a study with eight able-bodied users in which they used the system to place objects near their bodies. On average, users perceived the system to be safe and comfortable, even though substantial contact occurred between the robot's arm and the user's body.
DEFF Research Database (Denmark)
Jochum, Elizabeth Ann; Putnam, Lance Jonathan
This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....
Robots: l'embarras de richesses [:survey of robots available
International Nuclear Information System (INIS)
Meieran, H.; Brittain, K.; Sturkey, R.
1989-01-01
A survey of robots available for use in the nuclear industry is presented. Two new categories of mobile robots have been introduced since the last survey (April 1987): pipe crawlers and underwater robots. The number of robots available has risen to double what it was two years ago and four times what it was in 1986. (U.K.)
Robots Social Embodiment in Autonomous Mobile Robotics
Directory of Open Access Journals (Sweden)
Brian Duffy
2008-11-01
Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.
Bruemmer, David J [Idaho Falls, ID
2009-11-17
A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.
Improving comfort and health with personalized ventilation
DEFF Research Database (Denmark)
Melikov, Arsen Krikor
2004-01-01
The thermal environment and air quality in buildings affects occupants¿ health, comfort and performance. The heating, ventilating and air-conditioning (HVAC) of buildings today is designed to provide a uniform room environment. However, large individual differences exist between occupants in regard...... existing knowledge on performance of personalized ventilation (PV) and on human response to it. The airflow interaction in the vicinity of the human body is analysed and its impact on thermal comfort and inhaled air quality is discussed together with control strategies and the application of PV in practice...
An Intelligent Robot Programing
Energy Technology Data Exchange (ETDEWEB)
Hong, Seong Yong
2012-01-15
This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.
An Intelligent Robot Programing
International Nuclear Information System (INIS)
Hong, Seong Yong
2012-01-01
This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.
THERMAL COMFORT STUDY OF TEACHERS' ROOM AT SEKOLAH BINA MULIA PONTIANAK
Directory of Open Access Journals (Sweden)
Albert Suryajaya
2014-01-01
Full Text Available Thermal comfort is one of the important aspects to ensure the comfort of a building. School building, e.g. Sekolah Bina Mulia, Pontianak is used for education activities for about eight hours a day. The teachersfourth floor and still applies the natural air ventilation system while other rooms use mechanical ventilation system. It is interesting to see thermal comfort condition in the ort of the room depends on the environment. Because of its position on the fourth floor, the wind circulation can flow freely and the application of air ventilation is possible. The average temperature is 29.599ºC, 71.216% for relative humidity and 0.143 m/s for wind speed, and 29.482ºC for MRT. The average value of PMV is 1.615. The thermal comfort value, based on the average of PPS*(PMV calculation for three days observation is 0.130 and it is the neutral condition. This means the room is comfort for the users and it is mainly because of the windows, sun shading, and the building materials which support the natural air ventilation of the school Kenyamanan termal merupakan salah satu aspek penting untuk memastikan suatu bangunan dapat memberikan kenyamanan bagi penggunanya. Bangunan sekolah, seperti Sekolah Bina Mulia Pontianak merupakan bangunan pendidikan yang digunakan kurang lebih delapan jam dalam satu hari. Ruang guru pada sekolah Bina Mulia, yang terletak pada lantai empat masih menggunakan sistem ventilasi udara alami sementara ruangan lain menggunakan sistem penghawaan mekanikal. Kenyamanan termal pada ruangan tentu sangat tergantung pada Keadaan lingkungan. Karena posisinya yang cukup tinggi, pergerakan udara pada ruangan juga lebih bebas. Artinya, aplikasi ventilasi udara alami sangat memungkinkan. Nilai temperatur udara rata-rata pada ruangan adalah 29,599 ºC, kelembaban 71,216%, kecepatan udara 0,143 m/det dan nilai temperatur radiasi 29,482ºC. Nilai PMV rata-rata pada ruangan adalah 1,615. Nilai PPS*(PMV rata-rata pada ruangan
Nadler, Robert B; Perry, Kent T; Smith, Norm D
2009-07-01
To describe a clampless approach made possible by creating an avascular plane of tissue with radiofrequency ablation. Laparoscopic partial nephrectomy is slowly gaining acceptance as a method to treat small (generator. Typically, we used a power setting of 50 W but have found settings as low as 25 W necessary to provide hemostasis for larger vessels. The tumor was then sharply excised with a negative margin using robotic scissors and electrocautery to facilitate tissue cutting. Retrograde injection of methylthioninium chloride and saline through an externalized ureteral catheter allowed for precise sutured closure of the collecting system. FloSeal and BioGlue were then applied, making surgical bolsters or parenchymal sutures unnecessary. Intraoperative histologic evaluation of the surgical margin and repeat resection of the tumor bed was possible because the renal hilum was not clamped, and no warm ischemia was used. This technique, which combines the improving technologies of robotic surgery, intraoperative laparoscopic ultrasonography, and radiofrequency ablation, might make more surgeons comfortable with the intricacies of laparoscopic suturing and eliminate prolonged warm ischemia times. Overall, this method should result in more patients being able to undergo minimally invasive laparoscopic partial nephrectomy.
Neuro-robotics from brain machine interfaces to rehabilitation robotics
Artemiadis
2014-01-01
Neuro-robotics is one of the most multidisciplinary fields of the last decades, fusing information and knowledge from neuroscience, engineering and computer science. This book focuses on the results from the strategic alliance between Neuroscience and Robotics that help the scientific community to better understand the brain as well as design robotic devices and algorithms for interfacing humans and robots. The first part of the book introduces the idea of neuro-robotics, by presenting state-of-the-art bio-inspired devices. The second part of the book focuses on human-machine interfaces for pe
Arain, Nabeel A; Dulan, Genevieve; Hogg, Deborah C; Rege, Robert V; Powers, Cathryn E; Tesfay, Seifu T; Hynan, Linda S; Scott, Daniel J
2012-10-01
We previously developed a comprehensive proficiency-based robotic training curriculum demonstrating construct, content, and face validity. This study aimed to assess reliability, feasibility, and educational benefit associated with curricular implementation. Over an 11-month period, 55 residents, fellows, and faculty (robotic novices) from general surgery, urology, and gynecology were enrolled in a 2-month curriculum: online didactics, half-day hands-on tutorial, and self-practice using nine inanimate exercises. Each trainee completed a questionnaire and performed a single proctored repetition of each task before (pretest) and after (post-test) training. Tasks were scored for time and errors using modified FLS metrics. For inter-rater reliability (IRR), three trainees were scored by two raters and analyzed using intraclass correlation coefficients (ICC). Data from eight experts were analyzed using ICC and Cronbach's α to determine test-retest reliability and internal consistency, respectively. Educational benefit was assessed by comparing baseline (pretest) and final (post-test) trainee performance; comparisons used Wilcoxon signed-rank test. Of the 55 trainees that pretested, 53 (96 %) completed all curricular components in 9-17 h and reached proficiency after completing an average of 72 ± 28 repetitions over 5 ± 1 h. Trainees indicated minimal prior robotic experience and "poor comfort" with robotic skills at baseline (1.8 ± 0.9) compared to final testing (3.1 ± 0.8, p reliability was 0.91 (p training for all nine tasks and according to composite scores (548 ± 176 vs. 914 ± 81, p reliability measures, demonstrated feasibility for a large cohort of trainees, and yielded significant educational benefit. Further studies and adoption of this curriculum are encouraged.
The evaluation of the overall thermal comfort inside a vehicle
Neacsu, Catalin; Tabacu, Ion; Ivanescu, Mariana; Vieru, Ionel
2017-10-01
The thermal comfort is one of the most important aspects of the modern vehicles that can influence the safety, the fuel consumption and the pollutions regulation. The objective of this paper is to compare the global and absolute thermal comfort indexes for two vehicles with different distribution air systems inside the car cockpit, one using only front air vents, and the other using both front and rear air vents. The methodology of calculus consists in using the 3D model of the interior vehicle, generally in a CAD format. Then, using a meshing software to create the finite element model of the interior surfaces inside the cockpit and the volume of internal air. Using the obtained finite element geometry, there will be conducted a Theseus FE calculus using the given boundary conditions. The results of the numerical simulation are presented in terms of graphs and figures and also PMV, PPD and DTS thermal comfort indexes. With the obtained results, we will then create the graphs that allows us to evaluate the global and absolute thermal comfort indexes. The results of the evaluation show us that the use of the method allow us to evaluate with a greater accuracy the thermal comfort for the whole vehicle, not only for each passenger, like the standard methods. This shows us that in terms of general and absolute thermal comfort, the vehicle that use front and rear systems is better than the version that use only a front system. The thermal comfort is an important aspect to be taken into account from the beginning of the design stage of a vehicle, by choosing the right air conditioning system. In addition, by using the numerical simulation, we are able to reduce the time needed for preliminary tests and be able to provide the vehicle to the market earlier, at a lower development cost.
Mester, Gyula
2015-01-01
Cloud Robotics was born from the merger of service robotics and cloud technologies. It allows robots to benefit from the powerful computational, storage, and communications resources of modern data centres. Cloud robotics allows robots to take advantage of the rapid increase in data transfer rates to offload tasks without hard real time requirements. Cloud Robotics has rapidly gained momentum with initiatives by companies such as Google, Willow Garage and Gostai as well as more than a dozen a...
National Aeronautics and Space Administration — The Space Robotics Challenge seeks to infuse robot autonomy from the best and brightest research groups in the robotics community into NASA robots for future...
Are Sex Robots as Bad as Killing Robots
Richardson, Kathleen
2016-01-01
In 2015 the Campaign Against Sex Robots was launched to draw attention to the technological production of new kinds of objects: sex robots of women and children. The campaign was launched shortly after the Future of Life Institute published an online petition: “Autonomous Weapons: An Open Letter From AI and Robotics Researchers” which was signed by leading luminaries in the field of AI and Robotics. In response to the Campaign, an academic at Oxford University opened an ethics thread “Are sex...
Predicting Comfort Temperature in Indonesia, an Initial Step to Reduce Cooling Energy Consumption
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Tri Harso Karyono
2015-07-01
Full Text Available Indonesia has no reliable thermal comfort standard that is based on research works. The current national standard (SNI 6390:2011 states only a single range of comfort temperature that is 25.5 °C Ta, with a range of +1.5 °C Ta. Previous thermal studies in a number of different buildings in Indonesia showed that the neutral (comfort temperatures of subjects were about 27 to 28 °C, which is higher than the values stated in the standard. As a big country with various ambient temperatures, Indonesian needs a better and more reliable thermal comfort predictor which can be applied properly across the country. This study is an attempt to propose an initial Indonesian thermal predictor, in the form of a simple equation, which could predict comfort temperatures properly across the country. Reanalysing the previous comfort studies in Indonesia, a simple regression equation is constructed as to be used as the initial Indonesian comfort predictor. Using this predictor, the comfort temperatures in a lowland or coastal cities like Jakarta is found to be higher than the current comfort standard. It is expected that this predictor would help to provide a better indoor thermal environment and at the same reduce the cooling energy in air conditioning (AC building, thus reducing a building’s carbon emissions.
Energy Technology Data Exchange (ETDEWEB)
Ambriz Garcia, Juan Jose; Garcia Chavez, Jose Roberto; Paredes Rubio, Hernando Romero [Universidad Autonoma Metropolitana (Mexico)]. E-mail: agj@xanum.uam.mx; jgc@correo.azc.uam.mx; hrp@xanum.uam.mx
2006-04-15
This paper analyzes the thermal comfort importance in a building. And the influence it exerts on quality of life as well as the efficiency of people work activities. There are comments about some models which better help to estimate the recommended temperature levels. The experimental evaluation results from a Mexico City population sampler are presented. This work was done in a Controlled Environment Laboratory; the obtained outcomes proved the preferences occupants exceed the comfort zone greatest limit accepted in the reference international standards. The meaning of this conclusion is thermal comfort can be reached with higher temperatures and consequently an energy consumption and an environment impact decrease. [Spanish] En este trabajo se analiza la importancia que tiene el confort termico en la calidad de vida de las personas que ocupan una edificacion y en la eficiencia de sus actividades. Se comentan algunos modelos con los cuales se estiman los niveles de temperatura recomendados y se presentan los resultados de una evaluacion experimental realizada en un Laboratorio de Ambiente Controlado con una muestra de la poblacion del Distrito Federal. Los resultados que se obtuvieron demuestran que los ocupantes tienen preferencias que rebasan el limite superior de la zona de confort comunmente aceptada en los estandares internacionales de referencia. Esto quiere decir que el confort puede lograrse con mayores temperaturas, lo que se traduce en menor consumo de energia y menor impacto en el ambiente.
Materialities shape practices and notions of comfort in everyday life
DEFF Research Database (Denmark)
Madsen, Line Valdorff
2018-01-01
The development of residential energy technologies aims to ensure thermal comfort in an increasingly energy-efficient manner. This development influences everyday practices related to comfort in everyday life in dwellings. Therefore, an empirical analysis of interviews with residents in three types...... in heating systems between the housing types and shows how changes in technologies and material structures shape the practices of heating and airing. A shift in technology from radiators to underfloor heating was found to make a clear difference in both how houses are heated and thermal comfort is perceived...... of Danish detached houses, related to the building age, is used to understand how changes in technologies influence residents’ practices and notions of comfort. Detached houses are the most widespread type of housing in Denmark, constituting 44% of the housing stock. The analysis focuses on differences...
Assessing Thermal Comfort Due to a Ventilated Double Window
Carlos, Jorge S.; Corvacho, Helena
2017-10-01
Building design and its components are the result of a complex process, which should provide pleasant conditions to its inhabitants. Therefore, indoor acceptable comfort is influenced by the architectural design. ISO and ASHRAE standards define thermal comfort as the condition of mind that expresses satisfaction with the thermal environment. The energy demand for heating, beside the building’s physical properties, also depend on human behaviour, like opening or closing windows. Generally, windows are the weakest façade element concerning to thermal performance. A lower thermal resistance allows higher thermal conduction through it. When a window is very hot or cold, and the occupant is very close to it, it may result in thermal discomfort. The functionality of a ventilated double window introduces new physical considerations to a traditional window. In consequence, it is necessary to study the local effect on human comfort in function of the boundary conditions. Wind, solar availability, air temperature and therefore heating and indoor air quality conditions will affect the relationship between this passive system and the indoor environment. In the present paper, the influence of thermal performance and ventilation on human comfort resulting from the construction and geometry solutions is shown, helping to choose the best solution. The presented approach shows that in order to save energy it is possible to reduce the air changes of a room to the minimum, without compromising air quality, enhancing simultaneously local thermal performance and comfort. The results of the study on the effect of two parallel windows with a ventilated channel in the same fenestration on comfort conditions for several different room dimensions, are also presented. As the room dimensions’ rate changes so does the window to floor rate; therefore, under the same climatic conditions and same construction solution, different results are obtained.
2011-06-01
effective way- point navigation algorithm that interfaced with a Java based graphical user interface (GUI), written by Uzun, for a robot named Bender [2...the angular acceleration, θ̈, or angular rate, θ̇. When considering a joint driven by an electric motor, the inertia and friction can be divided into...interactive simulations that can receive input from user controls, scripts , and other applications, such as Excel and MATLAB. One drawback is that the
Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID
2011-12-06
Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.
Testing thermal comfort of trekking boots: an objective and subjective evaluation.
Arezes, P M; Neves, M M; Teixeira, S F; Leão, C P; Cunha, J L
2013-07-01
The study of the thermal comfort of the feet when using a specific type of shoe is of paramount importance, in particular if the main goal of the study is to attend to the needs of users. The main aim of this study was to propose a test battery for thermal comfort analysis and to apply it to the analysis of trekking boots. Methodologically, the project involves both objective and subjective evaluations. An objective evaluation of the thermal properties of the fabrics used in the boots was developed and applied. In addition, the thermal comfort provided when using the boots was also assessed both subjective and objectively. The evaluation of the thermal comfort during use, which was simulated in a laboratory environment, included the measurement of the temperature and moisture of the feet. The subjective assessment was performed using a questionnaire. From the results obtained, it was possible to define an optimal combination of fabrics to apply to trekking boots by considering the provided thermal insulation, air permeability and wicking. The results also revealed that the subjective perception of thermal comfort appears to be more related to the increase in temperature of the feet than to the moisture retention inside the boot. Although the evaluation of knits used in the boots indicated that a particular combination of fibres was optimal for use in the inner layer, the subjective and objective evaluation of thermal comfort revealed that the evaluation provided by users did not necessarily match the technical assessment data. No correlation was observed between the general comfort and specific thermal comfort assessments. Finally, the identification of thermal discomfort by specific foot areas would be useful in the process of designing and developing boots. Copyright © 2012 Elsevier Ltd and The Ergonomics Society. All rights reserved.
Thermal comfort in naturally ventilated buildings in Maceio, Brazil
Djamila, Harimi
2017-11-01
This article presents the results from thermal comfort survey carried out in classrooms over two different seasons in Maceio, Brazil. The secondary data were collected from thermal comfort field study conducted in naturally ventilated classrooms. Objective and subjective parameters were explored to evaluate thermal comfort conditions. The potential effect of air movement on subjects' vote under neutrality was evaluated. Overall, the indoor climate of the surveyed location was classified warm and humid. Conflicting results were depicted when analyzing the effect of air movements on subjects' vote. The mean air temperature for subjects feeling hot was found to be lower than those feeling warm. A reasonable approach to tackle these two unpredictable results was suggested. Correlation matrix between selected thermal comfort variables was developed. Globe temperature recorded the highest correlation with subjects' response on ASHRAE seven-point scale. The correlation was significant at the 0.01 level. On the other hand, the correlation between air movement and subjects' response on ASHRAE seven-point scale was weak but significant. Further field studies on the current topic were recommended.
The spatial comfort study of shophouse at Kampung Madras
Ginting, Y. U. U.; Ginting, N.; Zahrah, W.
2018-03-01
This Research comes from the increasing quantity of shophouse in downtown Medan and the suburban area. The condition of shophouse tend to have narrowly spaced rooms, the middle area of the house are poorly lighted, and lots of space left unused. This research is supported by many spatial issues from previous studies. This study is conducted to determine the level of comfort of shophouse as a function of living space and focused on the spatial aspect namely anthropometry, indoor space circulation, space requirement and function, spatial design and indoor visual. This study uses the descriptive method with the qualitative and quantitative approach. Data collection technique is done by field observation, questionnaire method is also used to get the respondent perception of the spatial comfort of a shophouse. The result indicates that the level of spatial comfort of the shophouse is an uncomfort. So the improvements in the circulation of access to the building, spatial design, lighting, and aeration are needed to improve the spatial comfort of a shophouse.
Perceived Competence and Comfort in Respiratory Protection
Burgel, Barbara J.; Novak, Debra; Burns, Candace M.; Byrd, Annette; Carpenter, Holly; Gruden, MaryAnn; Lachat, Ann; Taormina, Deborah
2015-01-01
In response to the Institute of Medicine (2011) report Occupational Health Nurses and Respiratory Protection: Improving Education and Training, a nationwide survey was conducted in May 2012 to assess occupational health nurses’ educational preparation, roles, responsibilities, and training needs in respiratory protection. More than 2,000 occupational health nurses responded; 83% perceived themselves as competent, proficient, or expert in respiratory protection, reporting moderate comfort with 12 respiratory program elements. If occupational health nurses had primary responsibility for the respiratory protection program, they were more likely to perceive higher competence and more comfort in respiratory protection, after controlling for occupational health nursing experience, highest education, occupational health nursing certification, industry sector, Association of Occupational Health Professionals in Healthcare membership, taking a National Institute for Occupational Safety and Health spirometry course in the prior 5 years, and perceiving a positive safety culture at work. These survey results document high perceived competence and comfort in respiratory protection. These findings support the development of targeted educational programs and interprofessional competencies for respiratory protection. PMID:23429638
Energy Technology Data Exchange (ETDEWEB)
Lorino, P; Altwegg, J M
1985-05-01
This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.
Determination of thermal and acoustic comfort inside a vehicle’s cabin
Directory of Open Access Journals (Sweden)
2018-01-01
Full Text Available Thermal and acoustic comfort, inside a vehicle’s cabin, are highly interconnected and can greatly influence the health of the passengers. On one hand, the H.V.A.C. system brings the interior air parameters to a comfortable value while on the other hand, it is the main source of noise. It is an intriguing task to find a balance between the two. In this paper, several types of air diffusers were used in order to optimize the ratio between thermal and acoustic interior comfort. Using complex measurements of noise and thermal comfort parameters we have determined for each type of air diffuser the sound pressure level and its impact on air temperature and air velocity.
FPGA for Robotic Applications: from Android/Humanoid Robots to Artificial Men
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Tole Sutikno
2011-12-01
Full Text Available Researches on home robots have been increasing enormously. There has always existed a continuous research effort on problems of anthropomorphic robots which is now called humanoid robots. Currently, robotics has evolved to the point that different branches have reached a remarkable level of maturity, that neural network and fuzzy logic are the main artificial intelligence as intelligent control on the robotics. Despite all this progress, while aiming at accomplishing work-tasks originally charged only to humans, robotic science has perhaps quite naturally turned into the attempt to create artificial men. It is true that artificial men or android humanoid robots open certainly very broad prospects. This “robot” may be viewed as a personal helper, and it will be called a home-robot, or personal robot. This is main reason why the two special sections are issued in the TELKOMNIKA sequentially.
A decision-tree-based model for evaluating the thermal comfort of horses
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Ana Paula de Assis Maia
2013-12-01
Full Text Available Thermal comfort is of great importance in preserving body temperature homeostasis during thermal stress conditions. Although the thermal comfort of horses has been widely studied, there is no report of its relationship with surface temperature (T S. This study aimed to assess the potential of data mining techniques as a tool to associate surface temperature with thermal comfort of horses. T S was obtained using infrared thermography image processing. Physiological and environmental variables were used to define the predicted class, which classified thermal comfort as "comfort" and "discomfort". The variables of armpit, croup, breast and groin T S of horses and the predicted classes were then subjected to a machine learning process. All variables in the dataset were considered relevant for the classification problem and the decision-tree model yielded an accuracy rate of 74 %. The feature selection methods used to reduce computational cost and simplify predictive learning decreased model accuracy to 70 %; however, the model became simpler with easily interpretable rules. For both these selection methods and for the classification using all attributes, armpit and breast T S had a higher power rating for predicting thermal comfort. Data mining techniques show promise in the discovery of new variables associated with the thermal comfort of horses.
An Adaptive Multi-Objective Particle Swarm Optimization Algorithm for Multi-Robot Path Planning
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Nizar Hadi Abbas
2016-07-01
Full Text Available This paper discusses an optimal path planning algorithm based on an Adaptive Multi-Objective Particle Swarm Optimization Algorithm (AMOPSO for two case studies. First case, single robot wants to reach a goal in the static environment that contain two obstacles and two danger source. The second one, is improving the ability for five robots to reach the shortest way. The proposed algorithm solves the optimization problems for the first case by finding the minimum distance from initial to goal position and also ensuring that the generated path has a maximum distance from the danger zones. And for the second case, finding the shortest path for every robot and without any collision between them with the shortest time. In order to evaluate the proposed algorithm in term of finding the best solution, six benchmark test functions are used to make a comparison between AMOPSO and the standard MOPSO. The results show that the AMOPSO has a better ability to get away from local optimums with a quickest convergence than the MOPSO. The simulation results using Matlab 2014a, indicate that this methodology is extremely valuable for every robot in multi-robot framework to discover its own particular proper path from the start to the destination position with minimum distance and time.
Teaching Joint-Level Robot Programming with a New Robotics Software Tool
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Fernando Gonzalez
2017-12-01
Full Text Available With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming, the task of writing a program that directly controls the robot’s joint motors, is an activity that involves robot kinematics, dynamics, and trajectory planning. In this paper, we introduce a new educational robotics tool developed for teaching joint programming. The tool allows the student to write a program in a modified C language that controls the movement of the arm by controlling the velocity of each joint motor. This is a very important activity in the robotics course and leads the student to gain knowledge of how to build a robotic arm controller. Sample assignments are presented for different levels of difficulty.
Influence of humidification on comfort during noninvasive ventilation with a helmet.
Ueta, Kazuyoshi; Tomita, Toshiji; Uchiyama, Akinori; Ohta, Noriyuki; Iguchi, Naoya; Goto, Yukiko; Fujino, Yuji
2013-05-01
To evaluate optimal humidifier water temperature when using a helmet for noninvasive ventilation. Twenty-eight healthy individuals underwent 8 cm H2O CPAP ventilation with FIO2 of 0.21 and 0.5. Each was sequentially tested in the following order: using the helmet without humidification at ambient temperature; with humidification with unheated chamber water; and with humidification with the chamber water at 31°C, 34°C, and 37°C. At each setting, after a 20 min stabilization period, measurements were taken. Comfort level at each setting was evaluated using a visual analog scale rated zero (least comfortable) to 10 (most comfortable). Temperature and relative and absolute humidity inside the helmet increased; however, the comfort scores significantly decreased as the humidification chamber water temperature increased. Regardless of the FIO2, statistically significantly highest comfort scores were obtained when humidification water, with and without active humidification, was at ambient temperature. Unacceptable absolute humidity was obtained only without humidification at room temperature when FIO2 was 0.5. With the clinical use of a helmet, for patient comfort and mucosal humidification during CPAP, the most desirable conditions are likely to be obtained by humidifying without heating, that is by leaving the water in the humidifier chamber at room temperature.
Eye cosmetic usage and associated ocular comfort.
Ng, Alison; Evans, Katharine; North, Rachel; Purslow, Christine
2012-11-01
Eye cosmetics usage is commonplace and whilst some products such as eyeliner are applied with close proximity to the ocular surface, there is little knowledge of the short- and long-term ocular effects of eye cosmetic formulations. This study aimed to investigate the use of eye cosmetics and identify any relationships between ocular comfort and cosmetic usage. Results were collated from an online survey comprising 23 questions that recorded demographics, Ocular Surface Disease Index (OSDI) score, extent and range of eye cosmetic use and perceived comfort differences with and without eye cosmetics. The 1360 female respondents (median age 25, interquartile range 20-34 years) completed the survey; 83% reported using eye cosmetics regularly (≥ 3 times per week) with mascara being most commonly used. Fifty three per cent used at least three different eye cosmetics products regularly. OSDI scores of cosmetics users were similar to non-users (p = 0.083), but perceived comfort was greater when cosmetics were not used (p cosmetics users (use of products cosmetics were used. Median OSDI scores suggested a trend towards reduced comfort amongst eyeliner users (p = 0.07) although frequency and type of cosmetic products used did not appear to influence OSDI scores. This study shows the use of multiple eye cosmetics is extensive and associated with the perception of ocular discomfort. With such widespread use of these products, more research is required to assess the effect on the ocular surface and tear film, which may be underestimated. Ophthalmic & Physiological Optics © 2012 The College of Optometrists.
THERMAL COMFORT STUDY OF AN AIR-CONDITIONED DESIGN STUDIO IN TROPICAL SURABAYA
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Agus Dwi Hariyanto
2005-01-01
Full Text Available This paper evaluates the current thermal comfort condition in an air-conditioned design studio using objective measurement and subjective assessment. Objective measurement is mainly to quantify the air temperature, MRT, relative humidity, and air velocity. Subjective assessment is conducted using a questionnaire to determine the occupants thermal comfort sensations and investigate their perception of the thermal comfort level. A design studio in an academic institution in Surabaya was chosen for the study. Results show that more than 80% of the occupants accepted the indoor thermal conditions even though both the environmental and comfort indices exceeded the limit of the standard (ASHRAE Standard 55 and ISO 7730. In addition, non-uniformity of spatial temperature was present in this studio. Some practical recommendations were made to improve the thermal comfort in the design studio.
Literature survey on how different factors influence human comfort in indoor environments
DEFF Research Database (Denmark)
Frontczak, Monika Joanna; Wargocki, Pawel
2011-01-01
examined the extent to which other factors unrelated to the indoor environment, such as individual characteristics of building occupants, building-related factors and outdoor climate including seasonal changes, influence whether the indoor environment is evaluated as comfortable or not. The results suggest...... environmental conditions influencing comfort in the built environment were surveyed: thermal, visual and acoustic, as well as air quality. The literature was surveyed to determine which of these conditions were ranked by building users as being the most important determinants of comfort. The survey also...... quality. Thermal comfort is ranked by building occupants to be of greater importance compared with visual and acoustic comfort and good air quality. It also seems to influence to a higher degree the overall satisfaction with indoor environmental quality compared with the impact of other indoor...
Timing of Multimodal Robot Behaviors during Human-Robot Collaboration
DEFF Research Database (Denmark)
Jensen, Lars Christian; Fischer, Kerstin; Suvei, Stefan-Daniel
2017-01-01
In this paper, we address issues of timing between robot behaviors in multimodal human-robot interaction. In particular, we study what effects sequential order and simultaneity of robot arm and body movement and verbal behavior have on the fluency of interactions. In a study with the Care-O-bot, ...... output plays a special role because participants carry their expectations from human verbal interaction into the interactions with robots....
Reliability of an instrument to determine lower limb comfort in professional football
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Michael Kinchington
2010-06-01
Full Text Available Michael Kinchington1, Kevin Ball1, Geraldine Naughton21School of Human Movement, Recreation and Performance, Victoria University, Melbourne, Australia; 2The Centre of Physical Activity Across the Lifespan (COPAAL, Australian Catholic University, Victoria, AustraliaAims and Objectives: This study extends previous work in the field of injury awareness using a novel lower limb comfort index (LLCI, which was developed to assess comfort in professional football. Participants rated comfort for designated anatomical segments of the lower limb utilizing a seven point Likert scale. The aims of the study were (i to assess the reliability of the LLCI in a competitive football environment (Australian Rules and Rugby League, and (ii to assess whether LLCI measurements were responsive to changes in lower limb comfort over time.Methods and Results: The reliability of the LLCI was observed in two professional football environments: Training Week (mean difference 0.1 point, intra-class correlation coefficient, ICC 0.99 for n = 41 participants; and Match Day (mean difference 0.2 points, ICC 0.97 for n = 22 players. Measurements of lower limb comfort were responsive to changes in comfort over time. Within-player differences were not significant for periods 0–8 hrs (P > 0.05 but, generally, significant for time periods 0–24 hrs (P < 0.05, and significant between 24–96 hrs (P < 0.01. The results indicate that the LLCI was reliable when tested for repeated measures and indicated how the index measures lower limb comfort changes over time.Conclusion: This study shows that the use of a lower limb comfort index, when used in a competitive football environment, is both reliable and responsive to change during both a training week and under match day conditions.Keywords: lower limb comfort, musculoskeletal, football, injury
Comfort of workers in office buildings: The European HOPE project
Bluyssen, P.M.; Aries, M.; Dommelen, P. van
2011-01-01
Previous studies have shown that building, social and personal factors can influence one's perceived health and comfort. The aim of the underlying study was to get a better understanding of the relationships between these factors and perceived comfort. Self-administered questionnaires from 5732
Stress-induced endocrine response and anxiety: the effects of comfort food in rats.
Ortolani, Daniela; Garcia, Márcia Carvalho; Melo-Thomas, Liana; Spadari-Bratfisch, Regina Celia
2014-05-01
The long-term effects of comfort food in an anxiogenic model of stress have yet to be analyzed. Here, we evaluated behavioral, endocrine and metabolic parameters in rats submitted or not to chronic unpredictable mild stress (CUMS), with access to commercial chow alone or to commercial chow and comfort food. Stress did not alter the preference for comfort food but decreased food intake. In the elevated plus-maze (EPM) test, stressed rats were less likely to enter/remain in the open arms, as well as being more likely to enter/remain in the closed arms, than were control rats, both conditions being more pronounced in the rats given access to comfort food. In the open field test, stress decreased the time spent in the centre, independent of diet; neither stress nor diet affected the number of crossing, rearing or grooming episodes. The stress-induced increase in serum corticosterone was attenuated in rats given access to comfort food. Serum concentration of triglycerides were unaffected by stress or diet, although access to comfort food increased total cholesterol and glucose. It is concluded that CUMS has an anorexigenic effect. Chronic stress and comfort food ingestion induced an anxiogenic profile although comfort food attenuated the endocrine stress response. The present data indicate that the combination of stress and access to comfort food, common aspects of modern life, may constitute a link among stress, feeding behavior and anxiety.
Outdoor thermal comfort in public space in warm-humid Guayaquil, Ecuador
Johansson, Erik; Yahia, Moohammed Wasim; Arroyo, Ivette; Bengs, Christer
2018-03-01
The thermal environment outdoors affects human comfort and health. Mental and physical performance is reduced at high levels of air temperature being a problem especially in tropical climates. This paper deals with human comfort in the warm-humid city of Guayaquil, Ecuador. The main aim was to examine the influence of urban micrometeorological conditions on people's subjective thermal perception and to compare it with two thermal comfort indices: the physiologically equivalent temperature (PET) and the standard effective temperature (SET*). The outdoor thermal comfort was assessed through micrometeorological measurements of air temperature, humidity, mean radiant temperature and wind speed together with a questionnaire survey consisting of 544 interviews conducted in five public places of the city during both the dry and rainy seasons. The neutral and preferred values as well as the upper comfort limits of PET and SET* were determined. For both indices, the neutral values and upper thermal comfort limits were lower during the rainy season, whereas the preferred values were higher during the rainy season. Regardless of season, the neutral values of PET and SET* are above the theoretical neutral value of each index. The results show that local people accept thermal conditions which are above acceptable comfort limits in temperate climates and that the subjective thermal perception varies within a wide range. It is clear, however, that the majority of the people in Guayaquil experience the outdoor thermal environment during daytime as too warm, and therefore, it is important to promote an urban design which creates shade and ventilation.
Research on optimization of test cycles for comfort to the special vehicles
Mitroi, Marian; Chiru, Anghel
2017-10-01
The comfort of vehicles, regardless of their type is represent a requirement to by fulfilled in the context of current technological developments special vehicles generally move under different soil, time, or season conditions, and the land in which the vehicles move is complex and varied in the physical structure. Due to the high level of involvement in the driveability, safety and comfort of automotive, suspension system is a key factor with major implications for vibration and noise, affecting the human body. The objective of the research is related to determining the test cycles of special vehicles that are approaching real situations, to determine the level of comfort. The evaluate of the degree of comfort will be realized on acceleration values recorded, especially the vertical ones that have the highest influence on the human body. Thus, in this way the tests can be established needed to determine the level of comfort required for each particular type of special vehicle. The utility of the test cycles to optimize comfort is given to the accurate identification of the specific test needs, depending on the each vehicle.
Directory of Open Access Journals (Sweden)
Jordi Lucero
2009-01-01
Full Text Available This problem was to calculate the path a robot would take to navigate an obstacle field and get to its goal. Three obstacles were given as negative potential fields which the robot avoided, and a goal was given a positive potential field that attracted the robot. The robot decided each step based on its distance, angle, and influence from every object. After each step, the robot recalculated and determined its next step until it reached its goal. The robot's calculations and steps were simulated with Microsoft Excel.
The effects of vegetation on indoor thermal comfort
DEFF Research Database (Denmark)
Pastore, Luisa; Corrao, Rossella; Heiselberg, Per Kvols
2017-01-01
Highlights •A multi-scale simulation methodology to assess the effects of vegetation on thermal comfort is used. •It application is shown on a case of urban and building retrofit intervention. •The effect of plants on the microclimate and indoor environment is assessed. •A decrease of up to 4.8 °C...... in indoor temperature is registered. •The final impact on the indoor thermal comfort based on the adaptive model is determined....
Robotics in the nuclear environment-inspection and repairs inside the primary coolant system
International Nuclear Information System (INIS)
Guillet, J.; Marcel Tortolano
2005-01-01
The increase in the lifetime of the power plants and the ageing of materials require the intervention inside the components to carry out controls and possibly repairs in the event of discovered defects. Within this framework, EDF is investigating the feasibility of robotized repairs of the components and pipes of the main primary coolant system of a nuclear power plant. For several years, EDF R and D has engaged projects whose subject of study is the possibility of repairing components such as the main vessel; the pressurizer or the primary coolant pipes with the help of robots and dedicated tools. INTERVENTIONS INSIDE PRIMARY COOLANT PIPES: Studies undertaken by EDF highlighted that certain zones, particularly in pipe connections, can be affected by thermal fatigue which causes crackling defects or crackings. In anticipation of this phenomenon which would affect primary pipes and to avoid their replacements, EDF R and D has been studying the feasibility of examining and repairing these zones using robots. Robotized repair consists in introducing into the pipe while passing by the vessel, a 6 degrees of freedom manipulator mounted on a mobile carrier. This robot implements and carries out the trajectories of the different processes of repair: - Precise localization of the defects, - Elimination (possibly sampling) of the defects by machining, - Control that the defects were eliminated, - Weld metal buildup if the repair cavity is too deep, - Grinding followed by a new control of the surface. These studies and tests were conducted in the laboratory of EDF R and D in Chatou. The sequence of operations included machining by grinding and milling, profilometric control, dye penetrant testing, TIG welding and ultrasonic examinations. The results of the tests, executed on full scale models of components, are satisfactory and show the advantages of robotics compared with classical methods. ROBOTIZED INTERVENTIONS IN THE REACTOR VESSEL: Another difficult issue is the
Health and thermal comfort: From WHO guidance to housing strategies
International Nuclear Information System (INIS)
Ormandy, David; Ezratty, Véronique
2012-01-01
There are many references to the WHO guidance on thermal comfort in housing, but not to the original source material. Based on archive material, this paper gives the evidential basis for the WHO guidance. It then reports on evidence that some groups may be more susceptible to high or low indoor temperatures than others. It examines different methods for measuring thermal comfort, such as air temperature measurement, assessing residents' perception, and predicting satisfaction. Resident's perception was used effectively in the WHO LARES project, showing that self-reported poor health was significantly associated with poor thermal comfort. Tools to inform strategies directed at dealing with cold homes and fuel poverty are considered, including Energy Performance Certificates, Fuel Poverty Indicators, and the English Housing Health and Safety Rating System. Conclusions from a WHO Workshop on Housing, Energy and Thermal Comfort are also summarised. The WHO view of thermal comfort, which is driven by protecting health from both high and low indoor temperatures, should be recognised in energy efficiency, fuel poverty and climate change strategies. While this is a major challenge, it could provide both health gains for individuals, and economic benefits for society. - Highlights: ► WHO guidance on thermal comfort is directed to protecting health in the home environment. ► In particular, the WHO guidance aims to protect the health of the most susceptible and fragile. ► Housing energy efficiency strategies protect health, and attack inequities. ► Housing energy efficiency strategies also have economic benefits for society.
Riek, Laurel D.
2017-01-01
Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial that both the research and industrial communities work together to establish a strong evidence-base for healthcare robotics, and surmount likely adoption barriers. This article presents a broad contextualization of robots in healthcare by identifying key sta...
Data-driven public transport ridership prediction approach including comfort aspects
Van Oort, N.; Drost, M.; Brands, T.; Yap, M.
2015-01-01
The most important aspects on which passengers base their choice whether to travel by public transport are the perceived travel time, costs, reliability and comfort. Despite its importance, comfort is often not explicitly considered when predicting demand for public transport. In this paper, we
RIPE [robot independent programming environment]: A robot independent programming environment
International Nuclear Information System (INIS)
Miller, D.J.; Lennox, R.C.
1990-01-01
Remote manual operations in radiation environments are typically performed very slowly. Sensor-based computer-controlled robots hold great promise for increasing the speed and safety of remote operations; however, the programming of robotic systems has proven to be expensive and difficult. Generalized approaches to robot programming that reuse available software modules and employ programming languages which are independent of the specific robotic and sensory devices being used are needed to speed software development and increase overall system reliability. This paper discusses the robot independent programming environment (RIPE) developed at Sandia National Laboratories (SNL). The RIPE is an object-oriented approach to robot system architectures; it is a software environment that facilitates rapid design and implementation of complex robot systems for diverse applications. An architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models applications using software objects. These objects are designed to support model-based automated programming of robotic and machining devices, real-time sensor-based control, error handling, and robust communication
Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.
Vujovic, Vuk; Rosendo, Andre; Brodbeck, Luzius; Iida, Fumiya
2017-01-01
Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.
International Nuclear Information System (INIS)
Beni, G.; Hackwood, S.
1984-01-01
Featuring 10 contributions, this volume offers a state-of-the-art report on robotic science and technology. It covers robots in modern industry, robotic control to help the disabled, kinematics and dynamics, six-legged walking robots, a vector analysis of robot manipulators, tactile sensing in robots, and more
Comfort in High-Performance Homes in a Hot-Humid Climate
Energy Technology Data Exchange (ETDEWEB)
Poerschke, A. [IBACOS, Inc., Pittsburgh, PA (United States); Beach, R. [IBACOS, Inc., Pittsburgh, PA (United States)
2016-01-22
"9IBACOS monitored 37 homes during the late summer and early fall of 2014 in a hot and humid climate to better understand indoor comfort conditions. These homes were constructed in the last several years by four home builders that offered a comfort and performance guarantee for the homes. The homes were located in one of four cities: Tampa, Florida; Orlando, Florida; Houston, Texas; and San Antonio, Texas. Temperature and humidity data were collected from the thermostat and each room of the house using small, battery-powered data loggers. To understand system runtime and its impact on comfort, supply air temperature also was measured on a 1-minute interval. Overall, the group of homes only exceeded a room-to-room temperature difference of 6 degrees F for 5% of the time. For 80% of the time, the rooms in each house were within 4 degrees F of each other. Additionally, the impact of system runtime on comfort is discussed. Finally, measurements made at the thermostat were used to better understand the occupant operation of each cooling system's thermostat setpoint. Builders were questioned on their perceived impact of offering a comfort and performance guarantee. Their feedback, which generally indicates a positive perception, has been summarized in the report.
Evaluation of Bus Vibration Comfort Based on Passenger Crowdsourcing Mode
Directory of Open Access Journals (Sweden)
Hong Zhao
2016-01-01
Full Text Available Vibration comfort is an important factor affecting the quality of service (QoS of bus. In order to make people involved in supervising bus’s vibration comfort and improve passengers’ riding experience, a novel mode of passenger crowdsourcing is introduced. In this paper, comfort degree of bus vibration is calculated from bus’s vibration signals collected by passengers’ smartphones and sent through WiFi to the Boa web server which shows the vibration comfort on the LCD deployed in bus and maybe trigger alarm lamp when the vibration is beyond the threshold. Three challenges here have been overcome: firstly, space coordinate transformation algorithm is used to solve the constant drift of signals collected; secondly, a low-pass filter is designed to isolate gravity from signals real-timely via limited computing resources; thirdly, an embedded evaluation system is developed according to the calculation procedure specified by criterion ISO 2631-1997. Meanwhile, the model proposed is tested in a practical running environment, the vibration data in whole travel are recorded and analyzed offline. The results show that comfort degree of vibration obtained from the experimental system is identical with the truth, and this mode is proved to be effective.
Coupling of the Models of Human Physiology and Thermal Comfort
Pokorny, J.; Jicha, M.
2013-04-01
A coupled model of human physiology and thermal comfort was developed in Dymola/Modelica. A coupling combines a modified Tanabe model of human physiology and thermal comfort model developed by Zhang. The Coupled model allows predicting the thermal sensation and comfort of both local and overall from local boundary conditions representing ambient and personal factors. The aim of this study was to compare prediction of the Coupled model with the Fiala model prediction and experimental data. Validation data were taken from the literature, mainly from the validation manual of software Theseus-FE [1]. In the paper validation of the model for very light physical activities (1 met) indoor environment with temperatures from 12 °C up to 48 °C is presented. The Coupled model predicts mean skin temperature for cold, neutral and warm environment well. However prediction of core temperature in cold environment is inaccurate and very affected by ambient temperature. Evaluation of thermal comfort in warm environment is supplemented by skin wettedness prediction. The Coupled model is designed for non-uniform and transient environmental conditions; it is also suitable simulation of thermal comfort in vehicles cabins. The usage of the model is limited for very light physical activities up to 1.2 met only.
Coupling of the Models of Human Physiology and Thermal Comfort
Directory of Open Access Journals (Sweden)
Jicha M.
2013-04-01
Full Text Available A coupled model of human physiology and thermal comfort was developed in Dymola/Modelica. A coupling combines a modified Tanabe model of human physiology and thermal comfort model developed by Zhang. The Coupled model allows predicting the thermal sensation and comfort of both local and overall from local boundary conditions representing ambient and personal factors. The aim of this study was to compare prediction of the Coupled model with the Fiala model prediction and experimental data. Validation data were taken from the literature, mainly from the validation manual of software Theseus–FE [1]. In the paper validation of the model for very light physical activities (1 met indoor environment with temperatures from 12 °C up to 48 °C is presented. The Coupled model predicts mean skin temperature for cold, neutral and warm environment well. However prediction of core temperature in cold environment is inaccurate and very affected by ambient temperature. Evaluation of thermal comfort in warm environment is supplemented by skin wettedness prediction. The Coupled model is designed for non-uniform and transient environmental conditions; it is also suitable simulation of thermal comfort in vehicles cabins. The usage of the model is limited for very light physical activities up to 1.2 met only.
FACT : forgiving agent comfort technology
Zeiler, W.; Wortel, W.; Kamphuis, I.G.; Akkermans, Hans; Jelsma, J.; Bakker, L.
2005-01-01
To further reduce energy consumption of office buildings, a new control technology is needed in which the end-user behaviour is integrated. Improvement of the energy consumption is offered by agent-based systems for energy management in buildings, as well as possibilities for enhancing the comfort
Human thermal sensation and comfort in a non-uniform environment with personalized heating.
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
Thermal comfort assessment of buildings
Carlucci, Salvatore
2013-01-01
A number of metrics for assessing human thermal response to climatic conditions have been proposed in scientific literature over the last decades. They aim at describing human thermal perception of the thermal environment to which an individual or a group of people is exposed. More recently, a new type of “discomfort index” has been proposed for describing, in a synthetic way, long-term phenomena. Starting from a systematic review of a number of long-term global discomfort indices, they are then contrasted and compared on a reference case study in order to identify their similarities and differences and strengths and weaknesses. Based on this analysis, a new short-term local discomfort index is proposed for the American Adaptive comfort model. Finally, a new and reliable long-term general discomfort index is presented. It is delivered in three versions and each of them is suitable to be respectively coupled with the Fanger, the European Adaptive and the American Adaptive comfort models.
Put Your Robot In, Put Your Robot Out: Sequencing through Programming Robots in Early Childhood
Kazakoff, Elizabeth R.; Bers, Marina Umaschi
2014-01-01
This article examines the impact of programming robots on sequencing ability in early childhood. Thirty-four children (ages 4.5-6.5 years) participated in computer programming activities with a developmentally appropriate tool, CHERP, specifically designed to program a robot's behaviors. The children learned to build and program robots over three…
Energy and indoor temperature consequences of adative thermal comfort standards
Centnerova, L.; Hensen, J.L.M.
2001-01-01
The intent of the presented study was to quantify the implications for energy demand of indoor temperature requirements based on a proposed adaptive thermal comfort standard (7) relative to a more traditional thermal comfort approach. The study focuses on a typical office situation in a moderate
Thermal comfort in hospital and healthcare facilities : a literature review
Sadrizadeh, S.; Loomans, M.G.L.C.
2016-01-01
Hospital and healthcare facilities need to provide a variety of indoor environments due to the diverse comfort and health needs of their patients and staff. Thermal comfort is an essential part of indoor environmental quality in the hospital work environment that affects both the patient’s own
A Series of Computational Neuroscience Labs Increases Comfort with MATLAB.
Nichols, David F
2015-01-01
Computational simulations allow for a low-cost, reliable means to demonstrate complex and often times inaccessible concepts to undergraduates. However, students without prior computer programming training may find working with code-based simulations to be intimidating and distracting. A series of computational neuroscience labs involving the Hodgkin-Huxley equations, an Integrate-and-Fire model, and a Hopfield Memory network were used in an undergraduate neuroscience laboratory component of an introductory level course. Using short focused surveys before and after each lab, student comfort levels were shown to increase drastically from a majority of students being uncomfortable or with neutral feelings about working in the MATLAB environment to a vast majority of students being comfortable working in the environment. Though change was reported within each lab, a series of labs was necessary in order to establish a lasting high level of comfort. Comfort working with code is important as a first step in acquiring computational skills that are required to address many questions within neuroscience.
Human Robot Interaction for Hybrid Collision Avoidance System for Indoor Mobile Robots
Directory of Open Access Journals (Sweden)
Mazen Ghandour
2017-06-01
Full Text Available In this paper, a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction is realized. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when the robots navigate in crowded and dynamic environments, which include humans. Traditional collision avoidance methods deal with the human as a dynamic obstacle, without taking into consideration that the human will also try to avoid the robot, and this causes the people and the robot to get confused, especially in crowded social places such as restaurants, hospitals, and laboratories. To avoid such scenarios, a reactive-supervised collision avoidance system for mobile robots based on human-robot interaction is implemented. In this method, both the robot and the human will collaborate in generating the collision avoidance via interaction. The person will notify the robot about the avoidance direction via interaction, and the robot will search for the optimal collision-free path on the selected direction. In case that no people interacted with the robot, it will select the navigation path autonomously and select the path that is closest to the goal location. The humans will interact with the robot using gesture recognition and Kinect sensor. To build the gesture recognition system, two models were used to classify these gestures, the first model is Back-Propagation Neural Network (BPNN, and the second model is Support Vector Machine (SVM. Furthermore, a novel collision avoidance system for avoiding the obstacles is implemented and integrated with the HRI system. The system is tested on H20 robot from DrRobot Company (Canada and a set of experiments were implemented to report the performance of the system in interacting with the human and avoiding
Beyond Comfort in Built Environments
Bazley, C.M.
2015-01-01
Every person on the planet lives a significant portion of his or her life in a built indoor environment. Ideally, the built environment serves as protection from the extremes of the outdoor environment and is preferably comfortable. The first ‘built environment’ was a painted cave. The cave served
Adamatzky, Andrew
2015-01-01
The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are...
International Nuclear Information System (INIS)
Hall, E.L.
1984-01-01
Almost all industrial robots use internal sensors such as shaft encoders which measure rotary position, or tachometers which measure velocity, to control their motions. Most controllers also provide interface capabilities so that signals from conveyors, machine tools, and the robot itself may be used to accomplish a task. However, advanced external sensors, such as visual sensors, can provide a much greater degree of adaptability for robot control as well as add automatic inspection capabilities to the industrial robot. Visual and other sensors are now being used in fundamental operations such as material processing with immediate inspection, material handling with adaption, arc welding, and complex assembly tasks. A new industry of robot vision has emerged. The application of these systems is an area of great potential
Nurses' comfort with touch and workplace well-being.
Pedrazza, Monica; Minuzzo, Stefania; Berlanda, Sabrina; Trifiletti, Elena
2015-06-01
Touch is an essential part of caregiving and has been proved to be useful to reduce pain. Nevertheless, little attention has been paid to nurses' perceptions of touch. The aim of this article was to examine the relationship between nurses' feelings of comfort with touch and their well-being at work. A sample of 241 nurses attending a pain management training course completed a questionnaire, including the following measures: Comfort with Touch (CT) scale (task-oriented contact, touch promoting physical comfort, touch providing emotional containment), Maslach Burnout Inventory (MBI; emotional exhaustion, cynicism), and Job Satisfaction. Results of structural equation models showed that touch providing emotional containment was the main predictor of emotional exhaustion. Emotional exhaustion, in turn, was positively related to cynicism and negatively related to job satisfaction. In addition, the direct path from touch providing emotional containment to cynicism was significant. Practical implications of the findings are discussed. © The Author(s) 2014.
Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics
Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi
2012-01-01
Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as...
Thermal comfort assessment in civil aircraft cabins
Directory of Open Access Journals (Sweden)
Pang Liping
2014-04-01
Full Text Available Aircraft passengers are more and demanding in terms of thermal comfort. But it is not yet easy for aircraft crew to control the environment control system (ECS that satisfies the thermal comfort for most passengers due to a number of causes. This paper adopts a corrected predicted mean vote (PMV model and an adaptive model to assess the thermal comfort conditions for 31 investigated flights and draws the conclusion that there does exist an uncomfortable thermal phenomenon in civil aircraft cabins, especially in some short-haul continental flights. It is necessary to develop an easy way to predict the thermal sensation of passengers and to direct the crew to control ECS. Due to the assessment consistency of the corrected PMV model and the adaptive model, the adaptive model of thermal neutrality temperature can be used as a method to predict the cabin optimal operative temperature. Because only the mean outdoor effective temperature ET∗ of a departure city is an input variable for the adaptive model, this method can be easily understood and implemented by the crew and can satisfy 80–90% of the thermal acceptability levels of passengers.
Impact of Demand-Side Management on Thermal Comfort and Energy Costs in a Residential nZEB
Directory of Open Access Journals (Sweden)
Thibault Q. Péan
2017-05-01
Full Text Available In this study, simulation work has been carried out to investigate the impact of a demand-side management control strategy in a residential nZEB. A refurbished apartment within a multi-family dwelling representative of Mediterranean building habits was chosen as a study case and modelled within a simulation framework. A flexibility strategy based on set-point modulation depending on the energy price was applied to the building. The impact of the control strategy on thermal comfort was studied in detail with several methods retrieved from the standards or other literature, differentiating the effects on day and night living zones. It revealed a slight decrease of comfort when implementing flexibility, although this was not prejudicial. In addition, the applied strategy caused a simultaneous increase of the electricity used for heating by up to 7% and a reduction of the corresponding energy costs by up to around 20%. The proposed control thereby constitutes a promising solution for shifting heating loads towards periods of lower prices and is able to provide benefits for both the user and the grid sides. Beyond that, the activation of energy flexibility in buildings (nZEB in the present case will participate in a more successful integration of renewable energy sources (RES in the energy mix.
Robot Wars: US Empire and geopolitics in the robotic age
Shaw, Ian GR
2017-01-01
How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots – driven by leaps in artificial intelligence and swarming – are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence – revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy. PMID:29081605
Design and comfort in office space
Directory of Open Access Journals (Sweden)
Michele M. Lepore
2017-12-01
Full Text Available The theme of office space is of particular interest because it is a sector strongly involved by technological development. The high concentration of plant engineering systems makes it essential to the attention to environmental parameters and to research on the quality of the relationship which binds man to artificial dimension of built space. In the design of office spaces, the general objective must be to be able to achieve a new working environment relationship. A ratio in which optimal balance is always sought in terms of igrothermal, acoustic and luminous comfort conditions, without noting that the psychological and sociological component plays an important role among the environmental factors, and this significantly interferes with the conditions of physiological comfort. The following work is an essay on the subject.
Robotic vision system for random bin picking with dual-arm robots
Directory of Open Access Journals (Sweden)
Kang Sangseung
2016-01-01
Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.
DEFF Research Database (Denmark)
Lund, Henrik Hautop; Pagliarini, Luigi
2009-01-01
In this concept paper we trace the contours and define a new approach to robotic systems, composed of interactive robotic modules which are somehow worn on the body. We label such a field as Modular Robotic Wearable (MRW). We describe how, by using modular robotics for creating wearable....... Finally, by focusing on the intersection of the combination modular robotic systems, wearability, and bodymind we attempt to explore the theoretical characteristics of such approach and exploit the possible playware application fields....
2013-01-01
Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required. Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy. This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.
Agent-based modelling to improve comfort and save energy in the built environment
Zeiler, W.; Boxem, G.; Houten, van M.A.; Velden, van der J.A.J.; Wortel, W.; Kamphuis, I.G.; Rangan, R; Proctor, F
2008-01-01
In Europe comfort in buildings needs 40% of the total energy. With effects of Global warming becoming more and more apparent there is a need to reduce this energy demand by comfort within the built environment. In comfort control strategy there is an exciting development based on inclusive design:
Reed, Dean; Harden, Thomas K.
Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…
Special Report - USNS Comfort Underway
region. The Navy hospital ship will provide medical, dental, veterinary and engineering assistance in medical clinic set up during Continuing Promise 2009. Story» Air Force Band Member Enjoys Audience Alexis arrived at a medical clinic set up by the crew of USNS Comfort wearing her Sunday best in
Directory of Open Access Journals (Sweden)
Iacopo Golasi
2016-07-01
Full Text Available Outdoor thermal comfort is an essential factor of people’s everyday life and deeply affects the habitability of outdoor spaces. However the indices used for its evaluation were usually developed for indoor environments assuming still air conditions and absence of solar radiation and were only later adapted to outdoor spaces. For this reason, in a previous study the Mediterranean Outdoor Comfort Index (MOCI was developed, which is an empirical index able to estimate the thermal perception of people living in the Mediterranean area. In this study it was compared numerically (by using the data obtained through a field survey with other selected thermal indices. This comparison, performed in terms of Spearman’s rho correlation coefficient, association Gamma, percentage of correct predictions and cross-tabulation analysis, led to identify the MOCI as the most suitable index to examine outdoor thermal comfort in the interested area. As a matter of fact it showed a total percentage of correct predictions of 35.5%. Good performances were reported even in thermophysiological indices as the Physiological Equivalent Temperature (PET and Predicted Mean Vote (PMV. Moreover it was revealed that adaptation and acclimatization phenomena tend to have a certain influence as well.
DEFF Research Database (Denmark)
Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us as indiv......Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us...... as individuals seems to be limited by our technical limitations and phantasy alone. This collection contributes to the field of social robotics by exploring its boundaries from a philosophically informed standpoint. It constructively outlines central potentials and challenges and thereby also provides a stable...
Non-manufacturing applications of robotics
International Nuclear Information System (INIS)
Dauchez, P.
2000-12-01
This book presents the different non-manufacturing sectors of activity where robotics can have useful or necessary applications: underwater robotics, agriculture robotics, road work robotics, nuclear robotics, medical-surgery robotics, aids to disabled people, entertainment robotics. Service robotics has been voluntarily excluded because this developing sector is not mature yet. (J.S.)
Geriatric care: ways and means of providing comfort.
Ribeiro, Patricia Cruz Pontifice Sousa Valente; Marques, Rita Margarida Dourado; Ribeiro, Marta Pontifice
2017-01-01
To know the ways and means of comfort perceived by the older adults hospitalized in a medical service. Ethnographic study with a qualitative approach. We conducted semi-structured interviews with 22 older adults and participant observation of care situations. The ways and means of providing comfort are centered on strategies for promoting care mobilized by nurses and recognized by patients(clarifying/informing, positive interaction/communication, music therapy, touch, smile, unconditional presence, empathy/proximity relationship, integrating the older adult or the family as partner in the care, relief of discomfort through massage/mobilization/therapy) and on particular moments of comfort (the first contact, the moment of personal hygiene, and the visit of the family), which constitute the foundation of care/comfort. Geriatric care is built on the relationship that is established and complete with meaning, and is based on the meeting/interaction between the actors under the influence of the context in which they are inserted. The different ways and means of providing comfort aim to facilitate/increase care, relieve discomfort and/or invest in potential comfort. Conhecer os modos e formas de confortar percecionadas pelos idosos hospitalizados num serviço de medicina. Estudo etnográfico com abordagem qualitativa. Realizamos entrevistas semiestruturadas com 22 doentes idosos e observação participante nas situações de cuidados. Os modos e formas de confortar centram-se em estratégias promotoras de conforto mobilizadas pelo enfermeiro e reconhecidas pelos doentes (informação/esclarecimento, interação/comunicação positiva, toque, sorriso, presença incondicional, integração do idoso/família nos cuidados e o alívio de desconfortos através da massagem/mobilização/terapêutica) e em momentos particulares de conforto (contato inaugural, visita da família., cuidados de higiene e arranjo pessoal), que se constituem como alicerces do cuidar
Encinas Pino, Felipe; De Herde, André; Aguirre Núñez, Carlos; Marmolejo Duarte, Carlos
2009-01-01
Almost a decade has passed since Chile begins to implement a Thermal Regulation for dwellings, which established a minimum requirement for each building component, according to different climatic zones. This article proposes a series of dynamic simulations, in order to assess the thermal comfort (during winter and summer) of apartments in Santiago de Chile for lower and upper middle class. Some building typologies were defined by means of the two stage clustering methodology. These were built...
Indoor temperatures for optimum thermal comfort and human performance
DEFF Research Database (Denmark)
de Dear, R.; Arens, E. A.; Candido, C.
2014-01-01
A response by R. J. de Dear et al to a letter to the editor in response to their article "Progress in thermal comfort research over the last 20 years," published in a 2013 issue.......A response by R. J. de Dear et al to a letter to the editor in response to their article "Progress in thermal comfort research over the last 20 years," published in a 2013 issue....
End-state comfort trumps handedness in object manipulation.
Coelho, Chase J; Studenka, Breanna E; Rosenbaum, David A
2014-04-01
A goal of research on human perception and performance is to explore the relative importance of constraints shaping action selection. The present study concerned the relative importance of two constraints that have not been directly contrasted: (1) the tendency to grasp objects in ways that afford comfortable or easy-to-control final postures; and (2) the tendency to grasp objects with the dominant rather than the nondominant hand. We asked participants to reach out and grasp a horizontal rod whose left or right end was to be placed into a target after a 90° rotation. In one condition, we told participants which hand to use and let them choose an overhand or underhand initial grasp. In another condition, we told participants which grasp to use and let them choose either hand. Participants sacrificed hand preference to perform the task in a way that ensured a comfortable or easy to control thumb-up posture at the time of object placement, indicating that comfort trumped handedness. A second experiment confirmed that comfort was indeed higher for thumb-down postures than thumb-up postures. A third experiment confirmed that the choice data could be linked to objective performance differences. The results point to the importance of identifying constraint weightings for action selection and support an account of hand selection that ascribes hand preference to sensitivity to performance differences. The results do not support the hypothesis that hand preference simply reflects a bias to use the dominant hand.
Robotic milking: Technology, farm design, and effects on work flow.
Rodenburg, Jack
2017-09-01
Robotic milking reduces labor demands on dairy farms of all sizes and offers a more flexible lifestyle for farm families milking up to 250 cows. Because milking is voluntary, barn layouts that encourage low-stress access by providing adequate open space near the milking stations and escape routes for waiting cows improve milking frequency and reduce fetching. Because lame cows attend less often, preventing lameness with comfortable stalls, clean alley floors, and effective foot bathing warrants special emphasis in robotic dairies. Variable milking intervals create challenges for foot bathing, sorting and handling, and dealing with special-needs cows. Appropriate cow routing and separation options at the milking stations are needed to address these challenges and ensure that the expected labor savings are realized. Protocols and layout and gating should make it possible for a herd worker to complete all handling tasks alone. Free traffic and guided traffic systems yield similar results when excellent management is applied or when the number of cows is well below capacity. In less ideal circumstances, guided traffic and the use of commitment pens result in longer standing times and stress, particularly for lower ranking cows, and poor management with free traffic results in more labor for fetching. Copyright © 2017 American Dairy Science Association. Published by Elsevier Inc. All rights reserved.
Monitoring indices of cow comfort in free-stall-housed dairy herds.
Cook, N B; Bennett, T B; Nordlund, K V
2005-11-01
Indices of cow comfort are used widely by consultants in the dairy industry, with a general understanding that they are representative of lying behavior. This study examines the influence of stall base type (sand or a geotextile mattress filled with rubber crumbs) and time of measurement on 4 indices of comfort collected at hourly intervals in 12 herds, aligned by morning and afternoon milking. Stall base type significantly influenced all indices of comfort. For example, the least squares mean (SE) cow comfort index (proportion of cows touching a stall that are lying down) was 0.76 (0.015) in herds with mattresses compared with 0.86 (0.015) in herds with sand stalls. Significant hourly variation was also identified suggesting that timing of measurement is important. None of the indices of cow comfort derived from the high-yielding group pen was associated with the mean 24-h lying time of 10 sentinel cows whose time budgets were known in each herd. However, the cow comfort index was associated with the herd mean 24-h stall standing time, with the strongest relationships occurring 2 h before the morning and afternoon milking, when stall base type did not significantly influence the association. When measured at these times, we recommend use of the stall standing index (proportion of cows touching a stall that are standing), with values greater than 0.20 being associated with abnormally long herd mean stall standing times greater than 2 h/d.
Exploring the design of a lightweight, sustainable and comfortable aircraft seat.
Kokorikou, A; Vink, P; de Pauw, I C; Braca, A
2016-07-19
Making a lightweight seat that is also comfortable can be contradictory because usually comfort improvement means adding a feature (e.g. headrest, adjustable lumbar support, movable armrests, integrated massage systems, etc.), which makes seats heavier. This paper explores the design of an economy class aircraft seat that aims to be lightweight, comfortable and sustainable. Theory about comfort in seats, ergonomics, lightweight design, Biomimicry and Cradle to cradle was studied and resulted in a list of requirements that the new seat should satisfy. The design process resulted in a new seat that is 36% lighter than the reference seat, which showed that a significant weight reduction can be achieved. This was completed by re-designing the backrest and seat pan and integrating their functions into a reduced number of parts. Apart from the weight reduction that helps in reducing the airplane's environmental impact, the seat also satisfies most of the other sustainability requirements such as the use of recyclable materials, design for disassembly, easy to repair. A user test compared the new seat with a premium economy class aircraft seat and the level of comfort was similar. Strong points of the new design were identified such as the lumbar support and the cushioning material, as well as shortcomings on which the seat needs to be improved, like the seat pan length and the first impression. Long term comfort tests are still needed as the seat is meant for long-haul flights.
Dynamic indoor thermal comfort model identification based on neural computing PMV index
International Nuclear Information System (INIS)
Sahari, K S Mohamed; Jalal, M F Abdul; Homod, R Z; Eng, Y K
2013-01-01
This paper focuses on modelling and simulation of building dynamic thermal comfort control for non-linear HVAC system. Thermal comfort in general refers to temperature and also humidity. However in reality, temperature or humidity is just one of the factors affecting the thermal comfort but not the main measures. Besides, as HVAC control system has the characteristic of time delay, large inertia, and highly nonlinear behaviour, it is difficult to determine the thermal comfort sensation accurately if we use traditional Fanger's PMV index. Hence, Artificial Neural Network (ANN) has been introduced due to its ability to approximate any nonlinear mapping. Using ANN to train, we can get the input-output mapping of HVAC control system or in other word; we can propose a practical approach to identify thermal comfort of a building. Simulations were carried out to validate and verify the proposed method. Results show that the proposed ANN method can track down the desired thermal sensation for a specified condition space.
Energy Technology Data Exchange (ETDEWEB)
Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.
2007-01-01
This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.
How to improve the comfort of Kesawan Heritage Corridor, Medan City
Tegar; Ginting, Nurlisa; Suwantoro, H.
2018-03-01
Comfort is indispensable to make a friendly neighborhood or city. Especially the comfort of the infrastructure in the corridor. People must be able to feel comfortable to act rationally in their physical environment. Existing infrastructure must able to support Kesawan as a historic district. Kesawan is an area that is filled with so many unique buildings. Without comfort, how good the existing buildings’ architecture cannot be enjoyed. It will also affect the identity of a region or city. The aim of this research is to re-design the public facilities from Kesawan corridor’s comfort aspect: orientation, traffic calming, vegetation, signage, public facilities (toilet, seating place, bus station, bins), information center, parking and pedestrian path. It will translate the design concept in the form of design criteria. This research uses qualitative methods. Some facilities in this corridor are unsuitable even some of them are not available. So, we need some improvements and additions to the existing facilities. It is expected that by upgrading the existing facilities, visitors who come to Kesawan will be able to enjoy more and able to make Medan city more friendly.
Effects of climate change process on comfort climate of Shiraz station
Energy Technology Data Exchange (ETDEWEB)
Shakoor, A.; Roshan, G.R.; Khoshakhlagh, F.; Hejazizadeh, Z. [Islamic Azad Univ., Larestan (Iran)
2008-09-30
Dwelling in cities and city development together with quick increase of population and development of industrial activites with unplanned consumption of fossil fuels have intensively increased pollution with consequences whcih will cause different diseases in short periods, and will lead to some climatic oscillations and its environmental effects such as the change of desirable periods in view of comfort climate in long period. The objective point of view of this reasearch was to study the climate in Shiraz and its effect on comfort conditions for human physiology. In this research, using 55-year cliamtic data (1952-2006), the relative humidity and temperature through the application of Guni comfort climatic model, the desirable months for the comfort of human physiology have been determined in the five 11-year periods and the linear process of these changes have been estimated for the next 11 years. The results of this research show that the temperature trend in Shiraz station is increasing and most months have heating process in a way that it is expected in the future the cold months will have more favorable conditions for physiological comfort of residents and correspondingly in the warm months, heating tension will have remarkable increase.
Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots
2010-04-01
you are performing the low crawl 4.25 5.00 Drive the robot while you are negotiating the hill 6.00 5.00 Drive the robot while you are climbing the... stairs 4.67 5.00 Drive the robot while you are walking 5.70 5.27 HMD It was fairly doable. 1 When you’re looking through the lens, it’s not...Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots by Elizabeth S. Redden, Rodger A. Pettitt
THERMAL COMFORT STUDY OF AN AIR-CONDITIONED DESIGN STUDIO IN TROPICAL SURABAYA
Agus Dwi Hariyanto
2005-01-01
This paper evaluates the current thermal comfort condition in an air-conditioned design studio using objective measurement and subjective assessment. Objective measurement is mainly to quantify the air temperature, MRT, relative humidity, and air velocity. Subjective assessment is conducted using a questionnaire to determine the occupants thermal comfort sensations and investigate their perception of the thermal comfort level. A design studio in an academic institution in Surabaya was chosen ...
Analysis of bus passenger comfort perception based on passenger load factor and in-vehicle time.
Shen, Xianghao; Feng, Shumin; Li, Zhenning; Hu, Baoyu
2016-01-01
Although bus comfort is a crucial indicator of service quality, existing studies tend to focus on passenger load and ignore in-vehicle time, which can also affect passengers' comfort perception. Therefore, by conducting surveys, this study examines passengers' comfort perception while accounting for both factors. Then, using the survey data, it performs a two-way analysis of variance and shows that both in-vehicle time and passenger load significantly affect passenger comfort. Then, a bus comfort model is proposed to evaluate comfort level, followed by a sensitivity analysis. The method introduced in this study has theoretical implications for bus operators attempting to improve bus service quality.
Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee
2015-01-01
Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera
Analysis of relative displacement between the HX wearable robotic exoskeleton and the user's hand.
Cempini, Marco; Marzegan, Alberto; Rabuffetti, Marco; Cortese, Mario; Vitiello, Nicola; Ferrarin, Maurizio
2014-10-18
Advances in technology are allowing for the production of several viable wearable robotic devices to assist with activities of daily living and with rehabilitation. One of the most pressing limitations to user satisfaction is the lack of consistency in motion between the user and the robotic device. The displacement between the robot and the body segment may not correspond because of differences in skin and tissue compliance, mechanical backlash, and/or incorrect fit. This report presents the results of an analysis of relative displacement between the user's hand and a wearable exoskeleton, the HX. HX has been designed to maximize comfort, wearability and user safety, exploiting chains with multiple degrees-of-freedom with a modular architecture. These appealing features may introduce several uncertainties in the kinematic performances, especially when considering the anthropometry, morphology and degree of mobility of the human hand. The small relative displacements between the hand and the exoskeleton were measured with a video-based motion capture system, while the user executed several different grips in different exoskeleton modes. The analysis furnished quantitative results about the device performance, differentiated among device modules and test conditions. In general, the global relative displacement for the distal part of the device was in the range 0.5-1.5 mm, while within 3 mm (worse but still acceptable) for displacements nearest to the hand dorsum. Conclusions over the HX design principles have been drawn, as well as guidelines for future developments.
DEFF Research Database (Denmark)
Villangca, Mark Jayson; Palima, Darwin; Banas, Andrew Rafael
2017-01-01
-assisted surgery imbibes surgeons with superhuman abilities and gives the expression “surgical precision” a whole new meaning. Still in its infancy, much remains to be done to improve human-robot collaboration both in realizing robots that can operate safely with humans and in training personnel that can work......Conventional robotics provides machines and robots that can replace and surpass human performance in repetitive, difficult, and even dangerous tasks at industrial assembly lines, hazardous environments, or even at remote planets. A new class of robotic systems no longer aims to replace humans...... with so-called automatons but, rather, to create robots that can work alongside human operators. These new robots are intended to collaborate with humans—extending their abilities—from assisting workers on the factory floor to rehabilitating patients in their homes. In medical robotics, robot...
Directory of Open Access Journals (Sweden)
Kristel Knaepen
Full Text Available In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support. Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.
Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain
2015-01-01
In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.
Comfort and experience with online learning: trends over nine years and associations with knowledge.
Cook, David A; Thompson, Warren G
2014-07-01
Some evidence suggests that attitude toward computer-based instruction is an important determinant of success in online learning. We sought to determine how comfort using computers and perceptions of prior online learning experiences have changed over the past decade, and how these associate with learning outcomes. Each year from 2003-2011 we conducted a prospective trial of online learning. As part of each year's study, we asked medicine residents about their comfort using computers and if their previous experiences with online learning were favorable. We assessed knowledge using a multiple-choice test. We used regression to analyze associations and changes over time. 371 internal medicine and family medicine residents participated. Neither comfort with computers nor perceptions of prior online learning experiences showed a significant change across years (p > 0.61), with mean comfort rating 3.96 (maximum 5 = very comfortable) and mean experience rating 4.42 (maximum 6 = strongly agree [favorable]). Comfort showed no significant association with knowledge scores (p = 0.39) but perceptions of prior experiences did, with a 1.56% rise in knowledge score for a 1-point rise in experience score (p = 0.02). Correlations among comfort, perceptions of prior experiences, and number of prior experiences were all small and not statistically significant. Comfort with computers and perceptions of prior experience with online learning remained stable over nine years. Prior good experiences (but not comfort with computers) demonstrated a modest association with knowledge outcomes, suggesting that prior course satisfaction may influence subsequent learning.
Thermal Comfort Level Assessment in Urban Area of Petrolina-PE County, Brazil
Directory of Open Access Journals (Sweden)
Pedro Vieira de Azevedo
Full Text Available Abstract This study evaluated the thermal conditions of urban areas in Petrolina-PE, from continuous data collected in urban and rural areas for the year of 2012. The results characterized urban heat islands (UHI with varying intensity in urban areas, especially UHI = 5.3 °C (high intensity occurred on April 28, 2012. It was evident that the constituent elements of urban areas contribute to the formation and expansion of UHI bringing thermal discomfort for its inhabitants. An adaptation to Thom’s equation for calculating the Thermal Discomfort Index (DIT, was used to obtain the maximum (DITx and minimum (DITm thermal discomfort. In the urban area, the DITm indicated thermal comfort in 23.0% of the days and partial comfort in 77.0% of days surveyed. Already, the DITx characterized 71.6% of days with partial comfort and 28.4% of days with thermal discomfort. In the rural area, The DITm indicated that 41.5% of days were thermally comfortable and 58.5% of days had partial comfort. However, the DITx pointed 87.7% of the days of this environment with partial thermal comfort and 12.3% of thermally uncomfortable days. Finally, the results showed that afforestation of urban area constitutes to an effective and efficient way to mitigate thermal discomfort.
Roles and Self-Reconfigurable Robots
DEFF Research Database (Denmark)
Dvinge, Nicolai; Schultz, Ulrik Pagh; Christensen, David Johan
2007-01-01
A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape......., significantly simplifying the task of programming self-reconfigurable robots. Our language fully supports programming the ATRON self-reconfigurable robot, and has been used to implement several controllers running both on the physical modules and in simulation.......A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape....... Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essentially a real-time, distributed embedded system, where control and communication paths often are tightly coupled to the current physical configuration of the robot. To facilitate the task of programming modular...
A Novel Exercise Thermophysiology Comfort Prediction Model with Fuzzy Logic
Directory of Open Access Journals (Sweden)
Nan Jia
2016-01-01
Full Text Available Participation in a regular exercise program can improve health status and contribute to an increase in life expectancy. However, exercise accidents like dehydration, exertional heatstroke, syncope, and even sudden death exist. If these accidents can be analyzed or predicted before they happen, it will be beneficial to alleviate or avoid uncomfortable or unacceptable human disease. Therefore, an exercise thermophysiology comfort prediction model is needed. In this paper, coupling the thermal interactions among human body, clothing, and environment (HCE as well as the human body physiological properties, a human thermophysiology regulatory model is designed to enhance the human thermophysiology simulation in the HCE system. Some important thermal and physiological performances can be simulated. According to the simulation results, a human exercise thermophysiology comfort prediction method based on fuzzy inference system is proposed. The experiment results show that there is the same prediction trend between the experiment result and simulation result about thermophysiology comfort. At last, a mobile application platform for human exercise comfort prediction is designed and implemented.
DEFF Research Database (Denmark)
Nørgård, Rikke Toft; Ess, Charles Melvin; Bhroin, Niamh Ni
The world's first robot teacher, Saya, was introduced to a classroom in Japan in 2009. Saya, had the appearance of a young female teacher. She could express six basic emotions, take the register and shout orders like 'be quiet' (The Guardian, 2009). Since 2009, humanoid robot technologies have...... developed. It is now suggested that robot teachers may become regular features in educational settings, and may even 'take over' from human teachers in ten to fifteen years (cf. Amundsen, 2017 online; Gohd, 2017 online). Designed to look and act like a particular kind of human; robot teachers mediate human...... existence and roles, while also aiming to support education through sophisticated, automated, human-like interaction. Our paper explores the design and existential implications of ARTIE, a robot teacher at Oxford Brookes University (2017, online). Drawing on an initial empirical exploration we propose...
Accelerating Robot Development through Integral Analysis of Human-Robot Interaction
Kooijmans, T.; Kanda, T.; Bartneck, C.; Ishiguro, H.; Hagita, N.
2007-01-01
The development of interactive robots is a complicated process, involving a plethora of psychological, technical, and contextual influences. To design a robot capable of operating "intelligently" in everyday situations, one needs a profound understanding of human-robot interaction (HRI). We propose
Lam, Cho Kwong Charlie; Lau, Kevin Ka-Lun
2018-04-01
The Universal Thermal Climate Index (UTCI) is an index for assessing outdoor thermal environment which aims to be applicable universally to different climates. However, the scale of UTCI thermal stress classification can be interpreted depending on the context. Previous studies validated the UTCI in individual cities, but comparative studies between different cities are scarce. This study examines the differences in thermal perception and clothing choices between residents from two climate zones over similar UTCI ranges in summer. We compared summer thermal comfort survey data from Melbourne (n = 2162, January-February 2014) and Hong Kong (n = 414, July-August 2007). We calculated the UTCI from outdoor weather station data and used t tests to compare the differences in thermal sensation and clothing between Hong Kong and Melbourne residents. When the UTCI was between 23.0 and 45.9 °C, Melbourne residents wore significantly more clothing (0.1 clo) than Hong Kong residents. Hong Kong residents reported neutral to warm sensation at a higher UTCI range compared with the dynamic thermal sensation (DTS) model. Moreover, Melbourne residents reported warm and hot sensation at a higher UTCI range than the DTS model. Respondents in Melbourne also exhibited different responses to the mean radiant temperature under shaded and sunny conditions, while such a trend was not observed in Hong Kong. It would be advisable to define different thermal sensation thresholds for the UTCI scale according to different climate zones for better prediction of the outdoor thermal comfort of different urban populations.
Lam, Cho Kwong Charlie; Lau, Kevin Ka-Lun
2018-04-12
The Universal Thermal Climate Index (UTCI) is an index for assessing outdoor thermal environment which aims to be applicable universally to different climates. However, the scale of UTCI thermal stress classification can be interpreted depending on the context. Previous studies validated the UTCI in individual cities, but comparative studies between different cities are scarce. This study examines the differences in thermal perception and clothing choices between residents from two climate zones over similar UTCI ranges in summer. We compared summer thermal comfort survey data from Melbourne (n = 2162, January-February 2014) and Hong Kong (n = 414, July-August 2007). We calculated the UTCI from outdoor weather station data and used t tests to compare the differences in thermal sensation and clothing between Hong Kong and Melbourne residents. When the UTCI was between 23.0 and 45.9 °C, Melbourne residents wore significantly more clothing (0.1 clo) than Hong Kong residents. Hong Kong residents reported neutral to warm sensation at a higher UTCI range compared with the dynamic thermal sensation (DTS) model. Moreover, Melbourne residents reported warm and hot sensation at a higher UTCI range than the DTS model. Respondents in Melbourne also exhibited different responses to the mean radiant temperature under shaded and sunny conditions, while such a trend was not observed in Hong Kong. It would be advisable to define different thermal sensation thresholds for the UTCI scale according to different climate zones for better prediction of the outdoor thermal comfort of different urban populations.
Federal Laboratory Consortium — Our research is focused on the challenges of engineering robotic systems down to sub-millimeter size scales. We work both on small mobile robots (robotic insects for...
The issue of thermal comfort of medical clothing in the operating room
Abreu, Isabel; Ribeiro, Patrícia; Abreu, Maria José
2017-01-01
Abstract Medical clothes have the primary function of protection. However this function must be correlated with a good comfort experience to the user. The comfort is a very important issue, since professionals are exposed to stress situations that can influence, negatively, their performance work. More specific, thermal comfort plays a crucial role for the best performance of OR medical clothing, involving heat regulation and mass transfer between a clothed body and the environment, once clot...
Robot fish bio-inspired fishlike underwater robots
Li, Zheng; Youcef-Toumi, Kamal; Alvarado, Pablo
2015-01-01
This book provides a comprehensive coverage on robot fish including design, modeling and optimization, control, autonomous control and applications. It gathers contributions by the leading researchers in the area. Readers will find the book very useful for designing and building robot fish, not only in theory but also in practice. Moreover, the book discusses various important issues for future research and development, including design methodology, control methodology, and autonomous control strategy. This book is intended for researchers and graduate students in the fields of robotics, ocean engineering and related areas.
Klibansky, David; Rothstein, Richard I
2012-09-01
The increasing complexity of intralumenal and emerging translumenal endoscopic procedures has created an opportunity to apply robotics in endoscopy. Computer-assisted or direct-drive robotic technology allows the triangulation of flexible tools through telemanipulation. The creation of new flexible operative platforms, along with other emerging technology such as nanobots and steerable capsules, can be transformational for endoscopic procedures. In this review, we cover some background information on the use of robotics in surgery and endoscopy, and review the emerging literature on platforms, capsules, and mini-robotic units. The development of techniques in advanced intralumenal endoscopy (endoscopic mucosal resection and endoscopic submucosal dissection) and translumenal endoscopic procedures (NOTES) has generated a number of novel platforms, flexible tools, and devices that can apply robotic principles to endoscopy. The development of a fully flexible endoscopic surgical toolkit will enable increasingly advanced procedures to be performed through natural orifices. The application of platforms and new flexible tools to the areas of advanced endoscopy and NOTES heralds the opportunity to employ useful robotic technology. Following the examples of the utility of robotics from the field of laparoscopic surgery, we can anticipate the emerging role of robotic technology in endoscopy.
Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot
Directory of Open Access Journals (Sweden)
Addythia Saphala
2015-10-01
Full Text Available Robotic Operation System (ROS is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR, which can be considered as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM.
Use of modular amphibious vehicles for conducting research in coastal zone
Zeziulin, Denis; Makarov, Vladimir; Belyaev, Alexander; Beresnev, Pavel; Kurkin, Andrey
2016-04-01
The project aims to create workable running systems of research complexes, moving along the bottom of coastal areas (in shallow waters) for investigation of waves, currents, sediment transport; investigation of ecosystems and biodiversity assessment of organisms; inspection and monitoring environmental conditions and anthropogenic load on nature; bathymetric studies. With all the variety of functional capabilities of modern robotic systems, possibilities of their application in the context of the study of coastal zones are extremely limited. Conducting research using aerial vehicles is limited to safety conditions of flight. Use of floating robotic systems in environmental monitoring and ecosystem research is only possible in conditions of relatively «soft» wave climate of the coastal zone. For these purposes, there are special amphibians such as remote-controlled vehicle Surf Rover [Daily, William R., Mark A. Johnson, and Daniel A. Oslecki. «Initial Development of an Amphibious ROV for Use in Big Surf.» Marine Technology Society 28.1 (1994): 3-10. Print.], mobile system MARC-1 [«The SPROV'er.» Florida Institute of Technology: Department of Marine and. Environmental Systems. Web. 05 May 2010.]. The paper describes methodological approaches to the selection of the design parameters of a new system.
Comfort as a determiner of treatment position in radiotherapy of the male pelvis
International Nuclear Information System (INIS)
Cox, J.; Davison, A.
2005-01-01
Purpose: A comfortable treatment position in radiotherapy may promote patient stability and contribute to the best possible patient experience. Patients receiving radical radiotherapy for prostate cancer lie supine or prone, but little evaluation has been made of the comfort of these positions. The purpose of this research was to evaluate the comfort of the prone and supine positions and to assess any influence of feelings of anxiety. Methods: Self-reported comfort and anxiety levels were measured using visual analogue scales in the first and last weeks of treatment for patients receiving radical prostatic radiotherapy. The subjects were from two hospitals, 23 routinely treated lying prone and 21 routinely treated lying supine. Six subjects from each group were interviewed in the first week of treatment. Results: Comfort levels were high and no significant difference was found between treatment positions or between the first and last weeks of treatment. Anxiety levels were low with no significant variation according to position or week of treatment. Little correlation was seen between reported anxiety and comfort levels. Interview data supported the quantitative findings. Supine subjects indicated the need for lateral elbow support to improve feelings of stability. Conclusions: For radiotherapy of male patients without pain or other complicating factors, selection between the prone and supine positions may be made without considering comfort. Supine patients should be provided with lateral elbow support. Further research is indicated into the comfort of these positions for females and the phenomenon of low reported anxiety in male cancer patients
Dinato, Roberto C; Ribeiro, Ana P; Butugan, Marco K; Pereira, Ivye L R; Onodera, Andrea N; Sacco, Isabel C N
2015-01-01
To investigate the relationships between the perception of comfort and biomechanical parameters (plantar pressure and ground reaction force) during running with four different types of cushioning technology in running shoes. Randomized repeated measures. Twenty-two men, recreational runners (18-45 years) ran 12km/h with running shoes with four different cushioning systems. Outcome measures included nine items related to perception of comfort and 12 biomechanical measures related to the ground reaction forces and plantar pressures. Repeated measure ANOVAs, Pearson correlation coefficients, and step-wise multiple regression analyses were employed (p≤0.05). No significant correlations were found between the perception of comfort and the biomechanical parameters for the four types of investigated shoes. Regression analysis revealed that 56% of the perceived general comfort can be explained by the variables push-off rate and pressure integral over the forefoot (p=0.015) and that 33% of the perception of comfort over the forefoot can be explained by second peak force and push-off rate (p=0.016). The results did not demonstrate significant relationships between the perception of comfort and the biomechanical parameters for the three types of shoes investigated (Gel, Air, and ethylene-vinyl acetate). Only the shoe with Adiprene+ technology had its general comfort and cushioning perception predicted by the loads over the forefoot. Thus, in general, one cannot predict the perception of comfort of a running shoe through impact and plantar pressure received. Copyright © 2013 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.
Energy Technology Data Exchange (ETDEWEB)
Kim, Seong Jong; Han, Min Su; Woo, Yong Bin [Mokpo Maritime Univ., Mokpo (Korea, Republic of)
2013-05-15
In this study, mechanical and electrochemical characteristics with welding material in MIG welded with ROBOT for dissimilar Al alloys were investigated using various experiment methods. The MIG welding by ROBOT with ER5183 and ER5556 for the 5456-H116 and 6061-T6 Al alloy were carried out. The hardness of welding zone was lower than that of base metal. In electrochemical experiment, ER5183 welding material presented excellent characteristics. The yield strength and maximum tensile strength in welding with welding material of ER5183 presented lower value than those of ER5556. The elongation and time-to-fracture showed the opposite results.
Numerical Analysis of Thermal Comfort at Urban Environment
Papakonstantinou, K.; Belias, C.
2009-08-01
The present paper refers to the numerical simulation of air velocity at open air spaces and the conducting thermal comfort after the evaluation of the examined space using CFD methods, taking into account bioclimatic principles at the architectural design. More specially, the paper draws attention to the physical procedures governing air movement at an open environment area in Athens (athletic park), named "Serafeio Athletic and Cultural Centre," trying to form them in such way that will lead to the thermal comfort of the area's visitors. The study presents a mathematical model, implemented in a general computer code that can provide detailed information on velocity, prevailing in three-dimensional spaces of any geometrical complexity. Turbulent flow is simulated and buoyancy effects are taken into account. This modelling procedure is intended to contribute to the effort towards designing open areas, such as parks, squares or outdoor building environments, using thermal comfort criteria at the bioclimatic design. A computer model of this kind will provide the architects or the environmental engineers with powerful and economical means of evaluating alternative spaces' designs.
Czech Academy of Sciences Publication Activity Database
Krejsa, Jiří; Věchet, Stanislav; Hrbáček, J.; Ripel, T.; Ondroušek, V.; Hrbáček, R.; Schreiber, P.
2012-01-01
Roč. 18, 5/6 (2012), s. 307-322 ISSN 1802-1484 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot * human - robot interface * localization Subject RIV: JD - Computer Applications, Robot ics
DEFF Research Database (Denmark)
Guo, Jingjing; Jensen, Christian D.; Ma, Jianfeng
2016-01-01
Mobile devices have become more powerful and are increasingly integrated in the everyday life of people; from playing games, taking pictures and interacting with social media to replacing credit cards in payment solutions. Some actions may only be appropriate in some situations, so the security...... of a mobile device is therefore increasingly linked to its context, such as its location, surroundings (e.g. objects in the immediate environment) and so on. However, situational awareness and context are not captured by traditional security models. In this paper, we examine the notion of Device Comfort......, which captures a device's ability to secure and reason about its environment. Specifically, we study the feasibility of two device comfort calculation methods we proposed in previous work. We do trace driven simulations based on a large body of sensed data from mobile devices in the real world...
Jacobsen, G; Elli, F; Horgan, S
2004-08-01
Minimally invasive surgical techniques have revolutionized the field of surgery. Telesurgical manipulators (robots) and new information technologies strive to improve upon currently available minimally invasive techniques and create new possibilities. A retrospective review of all robotic cases at a single academic medical center from August 2000 until November 2002 was conducted. A comprehensive literature evaluation on robotic surgical technology was also performed. Robotic technology is safely and effectively being applied at our institution. Robotic and information technologies have improved upon minimally invasive surgical techniques and created new opportunities not attainable in open surgery. Robotic technology offers many benefits over traditional minimal access techniques and has been proven safe and effective. Further research is needed to better define the optimal application of this technology. Credentialing and educational requirements also need to be delineated.
International Nuclear Information System (INIS)
Akeel, H.A.
1987-01-01
A robot-laser system is described for providing a laser beam at a desired location, the system comprising: a laser beam source; a robot including a plurality of movable parts including a hollow robot arm having a central axis along which the laser source directs the laser beam; at least one mirror for reflecting the laser beam from the source to the desired location, the mirror being mounted within the robot arm to move therewith and relative thereto to about a transverse axis that extends angularly to the central axis of the robot arm; and an automatic programmable control system for automatically moving the mirror about the transverse axis relative to and in synchronization with movement of the robot arm to thereby direct the laser beam to the desired location as the arm is moved
A comfort-based, energy-aware HVAC agent and its applications in the smart grid
Auffenberg, Frederik
2017-01-01
In this thesis, we introduce a novel heating, ventilation and air conditioning (HVAC) agent that maintains a comfortable thermal environmant for its users while minimising energy consumption of the HVAC system and incorporating demand side management (DSM) signals to shift HVAC loads towards achieving more desirable overall load profiles. To do so, the agent needs to be able to accurately predict user comfort, for example by using a thermal comfort model. Existing thermal comfort models are u...
Effects of Robot Facial Characteristics and Gender in Persuasive Human-Robot Interaction
Directory of Open Access Journals (Sweden)
Aimi S. Ghazali
2018-06-01
Full Text Available The growing interest in social robotics makes it relevant to examine the potential of robots as persuasive agents and, more specifically, to examine how robot characteristics influence the way people experience such interactions and comply with the persuasive attempts by robots. The purpose of this research is to identify how the (ostensible gender and the facial characteristics of a robot influence the extent to which people trust it and the psychological reactance they experience from its persuasive attempts. This paper reports a laboratory study where SociBot™, a robot capable of displaying different faces and dynamic social cues, delivered persuasive messages to participants while playing a game. In-game choice behavior was logged, and trust and reactance toward the advisor were measured using questionnaires. Results show that a robotic advisor with upturned eyebrows and lips (features that people tend to trust more in humans is more persuasive, evokes more trust, and less psychological reactance compared to one displaying eyebrows pointing down and lips curled downwards at the edges (facial characteristics typically not trusted in humans. Gender of the robot did not affect trust, but participants experienced higher psychological reactance when interacting with a robot of the opposite gender. Remarkably, mediation analysis showed that liking of the robot fully mediates the influence of facial characteristics on trusting beliefs and psychological reactance. Also, psychological reactance was a strong and reliable predictor of trusting beliefs but not of trusting behavior. These results suggest robots that are intended to influence human behavior should be designed to have facial characteristics we trust in humans and could be personalized to have the same gender as the user. Furthermore, personalization and adaptation techniques designed to make people like the robot more may help ensure they will also trust the robot.
Psychiatrists' Comfort Using Computers and Other Electronic Devices in Clinical Practice.
Duffy, Farifteh F; Fochtmann, Laura J; Clarke, Diana E; Barber, Keila; Hong, Seung-Hee; Yager, Joel; Mościcki, Eve K; Plovnick, Robert M
2016-09-01
This report highlights findings from the Study of Psychiatrists' Use of Informational Resources in Clinical Practice, a cross-sectional Web- and paper-based survey that examined psychiatrists' comfort using computers and other electronic devices in clinical practice. One-thousand psychiatrists were randomly selected from the American Medical Association Physician Masterfile and asked to complete the survey between May and August, 2012. A total of 152 eligible psychiatrists completed the questionnaire (response rate 22.2 %). The majority of psychiatrists reported comfort using computers for educational and personal purposes. However, 26 % of psychiatrists reported not using or not being comfortable using computers for clinical functions. Psychiatrists under age 50 were more likely to report comfort using computers for all purposes than their older counterparts. Clinical tasks for which computers were reportedly used comfortably, specifically by psychiatrists younger than 50, included documenting clinical encounters, prescribing, ordering laboratory tests, accessing read-only patient information (e.g., test results), conducting internet searches for general clinical information, accessing online patient educational materials, and communicating with patients or other clinicians. Psychiatrists generally reported comfort using computers for personal and educational purposes. However, use of computers in clinical care was less common, particularly among psychiatrists 50 and older. Information and educational resources need to be available in a variety of accessible, user-friendly, computer and non-computer-based formats, to support use across all ages. Moreover, ongoing training and technical assistance with use of electronic and mobile device technologies in clinical practice is needed. Research on barriers to clinical use of computers is warranted.
Psychiatrists’ Comfort Using Computers and Other Electronic Devices in Clinical Practice
Fochtmann, Laura J.; Clarke, Diana E.; Barber, Keila; Hong, Seung-Hee; Yager, Joel; Mościcki, Eve K.; Plovnick, Robert M.
2015-01-01
This report highlights findings from the Study of Psychiatrists’ Use of Informational Resources in Clinical Practice, a cross-sectional Web- and paper-based survey that examined psychiatrists’ comfort using computers and other electronic devices in clinical practice. One-thousand psychiatrists were randomly selected from the American Medical Association Physician Masterfile and asked to complete the survey between May and August, 2012. A total of 152 eligible psychiatrists completed the questionnaire (response rate 22.2 %). The majority of psychiatrists reported comfort using computers for educational and personal purposes. However, 26 % of psychiatrists reported not using or not being comfortable using computers for clinical functions. Psychiatrists under age 50 were more likely to report comfort using computers for all purposes than their older counterparts. Clinical tasks for which computers were reportedly used comfortably, specifically by psychiatrists younger than 50, included documenting clinical encounters, prescribing, ordering laboratory tests, accessing read-only patient information (e.g., test results), conducting internet searches for general clinical information, accessing online patient educational materials, and communicating with patients or other clinicians. Psychiatrists generally reported comfort using computers for personal and educational purposes. However, use of computers in clinical care was less common, particularly among psychiatrists 50 and older. Information and educational resources need to be available in a variety of accessible, user-friendly, computer and non-computer-based formats, to support use across all ages. Moreover, ongoing training and technical assistance with use of electronic and mobile device technologies in clinical practice is needed. Research on barriers to clinical use of computers is warranted. PMID:26667248
DEFF Research Database (Denmark)
Pedersen, Søren Marcus; Fountas, Spyros; Sørensen, Claus Aage Grøn
2017-01-01
Agricultural robotics has received attention for approximately 20 years, but today there are only a few examples of the application of robots in agricultural practice. The lack of uptake may be (at least partly) because in many cases there is either no compelling economic benefit......, or there is a benefit but it is not recognized. The aim of this chapter is to quantify the economic benefits from the application of agricultural robots under a specific condition where such a benefit is assumed to exist, namely the case of early seeding and re-seeding in sugar beet. With some predefined assumptions...... with regard to speed, capacity and seed mapping, we found that among these two technical systems both early seeding with a small robot and re-seeding using a robot for a smaller part of the field appear to be financially viable solutions in sugar beet production....
DEFF Research Database (Denmark)
Hansen, Søren Tranberg; Svenstrup, Mikael; Dalgaard, Lars
2010-01-01
The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal is to im......The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal...... is to improve the mental and physical state of the user by playing a physical game with the robot. Ideally, a robot game should be simple to learn but difficult to master, providing an appropriate degree of challenge for players with different skills. In order to achieve that, the robot should be able to adapt...
Facilitating Programming of Vision-Equipped Robots through Robotic Skills and Projection Mapping
DEFF Research Database (Denmark)
Andersen, Rasmus Skovgaard
The field of collaborative industrial robots is currently developing fast both in the industry and in the scientific community. Companies such as Rethink Robotics and Universal Robots are redefining the concept of an industrial robot and entire new markets and use cases are becoming relevant for ...
Sakellaris, Ioannis A; Saraga, Dikaia E; Mandin, Corinne; Roda, Célina; Fossati, Serena; de Kluizenaar, Yvonne; Carrer, Paolo; Dimitroulopoulou, Sani; Mihucz, Victor G; Szigeti, Tamás; Hänninen, Otto; de Oliveira Fernandes, Eduardo; Bartzis, John G; Bluyssen, Philomena M
2016-04-25
Indoor environmental conditions (thermal, noise, light, and indoor air quality) may affect workers' comfort, and consequently their health and well-being, as well as their productivity. This study aimed to assess the relations between perceived indoor environment and occupants' comfort, and to examine the modifying effects of both personal and building characteristics. Within the framework of the European project OFFICAIR, a questionnaire survey was administered to 7441 workers in 167 "modern" office buildings in eight European countries (Finland, France, Greece, Hungary, Italy, The Netherlands, Portugal, and Spain). Occupants assessed indoor environmental quality (IEQ) using both crude IEQ items (satisfaction with thermal comfort, noise, light, and indoor air quality), and detailed items related to indoor environmental parameters (e.g., too hot/cold temperature, humid/dry air, noise inside/outside, natural/artificial light, odor) of their office environment. Ordinal logistic regression analyses were performed to assess the relations between perceived IEQ and occupants' comfort. The highest association with occupants' overall comfort was found for "noise", followed by "air quality", "light" and "thermal" satisfaction. Analysis of detailed parameters revealed that "noise inside the buildings" was highly associated with occupants' overall comfort. "Layout of the offices" was the next parameter highly associated with overall comfort. The relations between IEQ and comfort differed by personal characteristics (gender, age, and the Effort Reward Imbalance index), and building characteristics (office type and building's location). Workplace design should take into account both occupant and the building characteristics in order to provide healthier and more comfortable conditions to their occupants.
Moran, Michael E
2007-01-01
The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.
Advanced mechanics in robotic systems
Nava Rodríguez, Nestor Eduardo
2011-01-01
Illustrates original and ambitious mechanical designs and techniques for the development of new robot prototypes Includes numerous figures, tables and flow charts Discusses relevant applications in robotics fields such as humanoid robots, robotic hands, mobile robots, parallel manipulators and human-centred robots
Design and Implementation of Fire Extinguisher Robot with Robotic Arm
Directory of Open Access Journals (Sweden)
Memon Abdul Waris
2018-01-01
Full Text Available Robot is a device, which performs human task or behave like a human-being. It needs expertise skills and complex programming to design. For designing a fire fighter robot, many sensors and motors were used. User firstly send robot to an affected area, to get live image of the field with the help of mobile camera via Wi-Fi using IP camera application to laptop. If any signs of fire shown in image, user direct robot in that particular direction for confirmation. Fire sensor and temperature sensor detects and measures the reading, after confirmation robot sprinkle water on affected field. During extinguish process if any obstacle comes in between the prototype and the affected area the ultrasonic sensor detects the obstacle, in response the robotic arm moves to pick and place that obstacle to another location for clearing the path. Meanwhile if any poisonous gas is present, the gas sensor detects and indicates by making alarm.
The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction.
Arnold, Thomas; Scheutz, Matthias
2017-06-01
Soft robots promise an exciting design trajectory in the field of robotics and human-robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice.
Guidelines on Thermal Comfort of Air Conditioned Indoor Environment
Miura, Toyohiko
The thermal comfort of air conditioned indoor environment for workers depended, of course, on metabolic rate of work, race, sex, age, clothing, climate of the district and state of acclimatization. The attention of the author was directed to the seasonal variation and the sexual difference of comfortable temperature and a survey through a year was conducted on the thermal comfort, and health conditions of workers engaged in light work in a precision machine factory, in some office workers. Besides, a series of experiments were conducted for purpose of determinning the optimum temperature of cooling in summer time in relation to the outdoor temperature. It seemed that many of workers at present would prefer somewhat higher temperature than those before the World War II. Forty years ago the average homes and offices were not so well heated as today, and clothing worn on the average was considerably heavier.
Robot-assisted general surgery.
Hazey, Jeffrey W; Melvin, W Scott
2004-06-01
With the initiation of laparoscopic techniques in general surgery, we have seen a significant expansion of minimally invasive techniques in the last 16 years. More recently, robotic-assisted laparoscopy has moved into the general surgeon's armamentarium to address some of the shortcomings of laparoscopic surgery. AESOP (Computer Motion, Goleta, CA) addressed the issue of visualization as a robotic camera holder. With the introduction of the ZEUS robotic surgical system (Computer Motion), the ability to remotely operate laparoscopic instruments became a reality. US Food and Drug Administration approval in July 2000 of the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, CA) further defined the ability of a robotic-assist device to address limitations in laparoscopy. This includes a significant improvement in instrument dexterity, dampening of natural hand tremors, three-dimensional visualization, ergonomics, and camera stability. As experience with robotic technology increased and its applications to advanced laparoscopic procedures have become more understood, more procedures have been performed with robotic assistance. Numerous studies have shown equivalent or improved patient outcomes when robotic-assist devices are used. Initially, robotic-assisted laparoscopic cholecystectomy was deemed safe, and now robotics has been shown to be safe in foregut procedures, including Nissen fundoplication, Heller myotomy, gastric banding procedures, and Roux-en-Y gastric bypass. These techniques have been extrapolated to solid-organ procedures (splenectomy, adrenalectomy, and pancreatic surgery) as well as robotic-assisted laparoscopic colectomy. In this chapter, we review the evolution of robotic technology and its applications in general surgical procedures.
Experimental investigation of radiation effect on human thermal comfort by Taguchi method
International Nuclear Information System (INIS)
Arslanoglu, Nurullah; Yigit, Abdulvahap
2016-01-01
Highlights: • Radiation heat flux from lighting lamps on human thermal comfort is studied. • The effect of posture position on thermal comfort is investigated. • The effect of clothing color on thermal comfort is examined. • Radiation heat flux from halogen reflector lamp increase skin temperature more. • Posture position effect on thermal comfort is less than the other parameters. - Abstract: In this study, the effect of radiation heat flux of lighting lamps on human thermal comfort was investigated by using Taguchi method. In addition, at indoor conditions, clothing color and posture position under the radiation effect on thermal comfort were also investigated. For this purpose, experiments were performed in an air conditioned laboratory room in summer and autumn seasons. The amount of temperature rise on the back was considered as performance parameter. An L8 orthogonal array was selected as an experimental plan for the third parameters mentioned above for summer and autumn seasons. The results were analyzed for the optimum conditions using signal-to-noise (S/N) ratio and ANOVA method. The optimum results were found to be clear halogen lamp as lighting lamp, white as t-shirt color, standing as posture position, in summer season. The optimum levels of the lighting lamp, t-shirt color and posture position were found to be clear halogen lamp, white, sitting in autumn season, respectively.
Analysis of Thermal Comfort in an Intelligent Building
Majewski, Grzegorz; Telejko, Marek; Orman, Łukasz J.
2017-06-01
Analysis of thermal comfort in the ENERGIS Building, an intelligent building in the campus of the Kielce University of Technology, Poland is the focus of this paper. For this purpose, air temperature, air relative humidity, air flow rate and carbon dioxide concentration were measured and the mean radiant temperature was determined. Thermal sensations of the students occupying the rooms of the building were evaluated with the use of a questionnaire. The students used a seven-point scale of thermal comfort. The microclimate measurement results were used to determine the Predicted Mean Vote and the Predicted Percentage Dissatisfied indices.
2013-01-01
Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture). The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...
Heartwarming memories: Nostalgia maintains physiological comfort.
Zhou, Xinyue; Wildschut, Tim; Sedikides, Constantine; Chen, Xiaoxi; Vingerhoets, Ad J J M
2012-08-01
Nostalgia, a sentimental longing or wistful affection for the past, is a predominantly positive and social emotion. Recent evidence suggests that nostalgia maintains psychological comfort. Here, we propose, and document in five methodologically diverse studies, a broader homeostatic function for nostalgia that also encompasses the maintenance of physiological comfort. We show that nostalgia--an emotion with a strong connotation of warmth--is triggered by coldness. Participants reported stronger nostalgia on colder (vs. warmer) days and in a cold (vs. neutral or warm) room. Nostalgia, in turn, modulates the interoceptive feeling of temperature. Higher levels of music-evoked nostalgia predicted increased physical warmth, and participants who recalled a nostalgic (vs. ordinary autobiographical) event perceived ambient temperature as higher. Finally, and consistent with the close central nervous system integration of temperature and pain sensations, participants who recalled a nostalgic (vs. ordinary autobiographical) event evinced greater tolerance to noxious cold.
Towards predicting the (dis)comfort performance by modelling: methods and findings
Naddeo, A.
2017-01-01
The research work underlying this thesis starts from a societal issue: A comfortable artefact helps people to improve their well-being and can be sold easier.
In order to fulfil these two requirements (wellbeing and companies’ profit) a comfort-driven human-centred design method is
Designing Emotionally Expressive Robots
DEFF Research Database (Denmark)
Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna
2017-01-01
Socially assistive agents, be it virtual avatars or robots, need to engage in social interactions with humans and express their internal emotional states, goals, and desires. In this work, we conducted a comparative study to investigate how humans perceive emotional cues expressed by humanoid...... robots through five communication modalities (face, head, body, voice, locomotion) and examined whether the degree of a robot's human-like embodiment affects this perception. In an online survey, we asked people to identify emotions communicated by Pepper -a highly human-like robot and Hobbit – a robot...... for robots....
A comparison of suit dresses and summer clothes in the terms of thermal comfort.
Ekici, Can; Atilgan, Ibrahim
2013-12-19
Fanger's PMV equation is the result of the combined quantitative effects of the air temperature, mean radiant temperature, relative air velocity, humidity, activity level and clothing insulation. This paper contains a comparison of suit dresses and summer clothes in terms of thermal comfort, Fanger's PMV equation. Studies were processed in the winter for an office, which locates in Ankara, Turkey. The office was partitioned to fifty square cells. Humidity, relative air velocity, air temperature and mean radiant temperature were measured on the centre points of these cells. Thermal comfort analyses were processed for suit dressing (Icl = 1 clo) and summer clothing (Icl = 0.5 clo). Discomfort/comfort in an environment for different clothing types can be seen in this study. The relationship between indoor thermal comfort distribution and clothing type was discussed. Graphics about thermal comfort were sketched according to cells. Conclusions about the thermal comfort of occupants were given by PMV graphics.
An evaluation method on seat comfort based on optical motion capture
Directory of Open Access Journals (Sweden)
Qing TAO
2015-10-01
Full Text Available To research the sitting posture comfort evaluation method, through the example of comfort evaluation of the ergonomic seat and standard office seat, a methodology is introduced to evaluate the sitting posture comfort combining ergonomics theory. The proposed method is based on optical motion capture system, pressure sensor and JACK software, and TRC file is acquired by using EVART real-time capture software for identifying the spatial motion trail of human body. Then MATLAB software is used to analyze the human body motion data, and the sitting posture angle difference data for human body in different seats is acquired. TRC file is loaded into JACK software, and with the TAT REPORTER of JACK software, muscle force, moment of force and fatigue data, etc. are output, which are compared with the actual measured data from experiments, and ergonomics method is used for the evaluation. The result shows that the method of considering joint angles combining JACK software for data output is effective for evaluating sitting comfort.
Fundamentals of soft robot locomotion.
Calisti, M; Picardi, G; Laschi, C
2017-05-01
Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).
Liang, Yuhua Jake; Lee, Seungcheol Austin
2016-09-01
Human-robot interaction (HRI) will soon transform and shift the communication landscape such that people exchange messages with robots. However, successful HRI requires people to trust robots, and, in turn, the trust affects the interaction. Although prior research has examined the determinants of human-robot trust (HRT) during HRI, no research has examined the messages that people received before interacting with robots and their effect on HRT. We conceptualize these messages as SMART (Strategic Messages Affecting Robot Trust). Moreover, we posit that SMART can ultimately affect actual HRI outcomes (i.e., robot evaluations, robot credibility, participant mood) by affording the persuasive influences from user-generated content (UGC) on participatory Web sites. In Study 1, participants were assigned to one of two conditions (UGC/control) in an original experiment of HRT. Compared with the control (descriptive information only), results showed that UGC moderated the correlation between HRT and interaction outcomes in a positive direction (average Δr = +0.39) for robots as media and robots as tools. In Study 2, we explored the effect of robot-generated content but did not find similar moderation effects. These findings point to an important empirical potential to employ SMART in future robot deployment.
Next-generation robotic surgery--from the aspect of surgical robots developed by industry.
Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto
2015-02-01
At present, much of the research conducted worldwide focuses on extending the ability of surgical robots. One approach is to extend robotic dexterity. For instance, accessibility and dexterity of the surgical instruments remains the largest issue for reduced port surgery such as single port surgery or natural orifice surgery. To solve this problem, a great deal of research is currently conducted in the field of robotics. Enhancing the surgeon's perception is an approach that uses advanced sensor technology. The real-time data acquired through the robotic system combined with the data stored in the robot (such as the robot's location) provide a major advantage. This paper aims at introducing state-of-the-art products and pre-market products in this technological advancement, namely the robotic challenge in extending dexterity and hopefully providing the path to robotic surgery in the near future.
Three experiments to support the design of lightweight comfortable vehicle seats
Vink, P.; Franz, M.; Kampa, I.; Zenk, R.
2012-01-01
Seats need to be more lightweight for airplanes, cars, busses and even trains to contribute to a better environment and to reduce energy consumption. However, a reduction in comfort due to weight reduction is not preferable, which opens a new area of research: improving comfort with a minimum of
Humanlike Robots - The Upcoming Revolution in Robotics
Bar-Cohen, Yoseph
2009-01-01
Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.
Humanlike robots: the upcoming revolution in robotics
Bar-Cohen, Yoseph
2009-08-01
Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.
Inverse kinematic solution for near-simple robots and its application to robot calibration
Hayati, Samad A.; Roston, Gerald P.
1986-01-01
This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.
Directory of Open Access Journals (Sweden)
Christian Wiegel
2017-10-01
Full Text Available Preparation for fossil fuel substitution in the building sector persists as an essential subject in architectural engineering. Since the building sector still remains as one of the three major global end energy consumer – climate change is closely related to construction and design. We have developed the archetype sun space to what it is today : a simple but effective predominant naturally ventilated sun trap and as well as living space enlargement. With the invention of industrial glass orangery’s more and more changed from frost protecting envelopes to living spaces from which we meantime expect thermal comfort in high quality. But what level of thermal comfort provide sun spaces? And to what extend may sun spaces manage autarkic operation profiting from passive solar gains and, beyond that, surplus energy generation for energy neutral conditioning of aligned spaces? We deliver detailed information for this detected gap of knowledge. We know about limited thermal comfort in sun spaces winter times. This reasons the inspection of manifold collector technologies, which enable to be embedded in facades and specifically in sun space envelopes. Nonetheless, effective façade integrated collectors are ineffective in seasons with poor irradiation. Hence, the mismatch of offer and demand we have experienced with renewable energies ignites thinking about appropriate seasonal energy storages, which enlarges the research scope of this work. This PhD thesis project investigates on both, a yearly empirical test set up analysis and a virtual simulation of different oriented and located sun spaces abroad Germany. Both empirical and theoretical evaluation result in a holistic research focusing on a preferred occupation time in terms of cumulative frequencies of operational temperature and decided local discomfort, of potential autarkic sun space operation and prospective surplus exergy for alternative heating of aligned buildings. The results are mapped
Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion.
Marras, Stefano; Porfiri, Maurizio
2012-08-07
The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its 'engineered' member. Here, we analyse a robotic fish and individual golden shiners (Notemigonus crysoleucas) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a 'dummy'. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot's wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot-animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour.
Comfort in using hand tools : theory, design and evaluation
Kuijt-Evers, L.F.M.
2007-01-01
Everyone uses hand tools in their daily life, like knife and fork. Moreover, many people use hand tools in their profession as well as during leisure time. It is important that they can work with hand tools that provide comfort. Until now, the avoidance of discomfort was emphasized during the design process of hand tools, like screwdrivers, hand saws and paint brushes. In the near future, the focus will shift towards providing comfort. However, some questions need to be answered to make this ...
International Nuclear Information System (INIS)
Yoon, Jin Yeong
2000-08-01
This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.
Energy Technology Data Exchange (ETDEWEB)
Yoon, Jin Yeong
2000-08-15
This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.
Graetz, Georg; Michaels, Guy
2015-01-01
Despite ubiquitous discussions of robots' potential impact, there is almost no systematic empirical evidence on their economic effects. In this paper we analyze for the first time the economic impact of industrial robots, using new data on a panel of industries in 17 countries from 1993-2007. We find that industrial robots increased both labor productivity and value added. Our panel identification is robust to numerous controls, and we find similar results instrumenting increased robot use wi...
In-situ Study of Seating Static Comfort in Passenger Vehicles
Directory of Open Access Journals (Sweden)
Seraj Umi Salmah
2018-01-01
Full Text Available In today’s automotive market, comfort is huge selling point of a vehicle. Priority is given by buyers to how comfortable a seat feels during purchase decisions. The measure of comfort is harmonious mix of many aspects such as human ergonomics and physiological factors. However, a gap still exists between objective and subjective measures due to lack of emphasis by past researchers. This is particularly obvious in the lumbar support feature that has still not been able to address the health problems related to driving. This project focuses on bridging the gap by giving users the ability to define true preferred posture in realistic settings. This is done by the creation of a apparatus that allows users to individually manipulate the seat contour for optimum support in more segments than just lumbar area. The experiment is performed in 3 parts, where in each part different segments of the apparatus are manipulatable (lumbar segment, sacral & thoracic segment, and all segments. Sixty human subjects’ statistics are recorded (gender, age, BMI and height and the subjects are palpated to locate internal joints. These joints are marked and postural angles between them are measured using a goniometer. In each seat configuration, the angles are measured and a comfort rating is taken to be compared. It was found that the posture angles are different among the 3 experiments, and there is a change in comfort felt. Some human factors have also been proven to contribute heavily to angles chosen by occupants.
Negotiating comfort in low energy housing: The politics of intermediation
International Nuclear Information System (INIS)
Grandclément, Catherine; Karvonen, Andrew; Guy, Simon
2015-01-01
Optimising the energy performance of buildings is technically and economically challenging but it also has significant social implications. Maintaining comfortable indoor conditions while reducing energy consumption involves careful design, construction, and management of the built environment and its inhabitants. In this paper, we present findings from the study of a new low energy building for older people in Grenoble, France where conflicts emerged over the simultaneous pursuit of energy efficiency and comfort. The findings contribute to the contemporary literature on the sociotechnical study of buildings and energy use by focusing on intermediation, those activities that associate a technology to end users. Intermediation activities take many forms, and in some cases, can result in the harmonisation or alignment of energy efficiency goals and comfort goals. In other cases, intermediation is unsuccessful, leading to the conventional dichotomy between optimising technical performance and meeting occupant preferences. By highlighting the multiple ways that comfort and energy efficiency is negotiated, we conclude that buildings are provisional achievements that are constantly being intermediated. This suggests that building energy efficiency policies and programmes need to provide opportunities for intermediaries to negotiate the desires and preferences of the multiple stakeholders that are implicated in low energy buildings. -- Highlights: •Energy efficiency and comfort are two possibly contradictory aims of buildings. •We study the pursuit of these aims at the occupation stage of a new building. •Aligning these aims involve negotiating them with occupants. •Intermediation processes are key to such negotiations. •Intermediation processes involve both actors and technical devices
To Err Is Robot: How Humans Assess and Act toward an Erroneous Social Robot
Directory of Open Access Journals (Sweden)
Nicole Mirnig
2017-05-01
Full Text Available We conducted a user study for which we purposefully programmed faulty behavior into a robot’s routine. It was our aim to explore if participants rate the faulty robot different from an error-free robot and which reactions people show in interaction with a faulty robot. The study was based on our previous research on robot errors where we detected typical error situations and the resulting social signals of our participants during social human–robot interaction. In contrast to our previous work, where we studied video material in which robot errors occurred unintentionally, in the herein reported user study, we purposefully elicited robot errors to further explore the human interaction partners’ social signals following a robot error. Our participants interacted with a human-like NAO, and the robot either performed faulty or free from error. First, the robot asked the participants a set of predefined questions and then it asked them to complete a couple of LEGO building tasks. After the interaction, we asked the participants to rate the robot’s anthropomorphism, likability, and perceived intelligence. We also interviewed the participants on their opinion about the interaction. Additionally, we video-coded the social signals the participants showed during their interaction with the robot as well as the answers they provided the robot with. Our results show that participants liked the faulty robot significantly better than the robot that interacted flawlessly. We did not find significant differences in people’s ratings of the robot’s anthropomorphism and perceived intelligence. The qualitative data confirmed the questionnaire results in showing that although the participants recognized the robot’s mistakes, they did not necessarily reject the erroneous robot. The annotations of the video data further showed that gaze shifts (e.g., from an object to the robot or vice versa and laughter are typical reactions to unexpected robot behavior
ROILA : RObot Interaction LAnguage
Mubin, O.
2011-01-01
The number of robots in our society is increasing rapidly. The number of service robots that interact with everyday people already outnumbers industrial robots. The easiest way to communicate with these service robots, such as Roomba or Nao, would be natural speech. However, the limitations
Floor heating maximizes residents` comfort
Energy Technology Data Exchange (ETDEWEB)
Tirkkanen, P.; Wikstroem, T.
1996-11-01
Storing heat in floors by using economical night-time electricity does not increase the specific consumption of heating. According to studies done by IVO, the optimum housing comfort is achieved if the room is heated mainly by means of floor heating that is evened out by window or ceiling heating, or by a combination of all three forms of heating. (orig.)
Data on the interaction between thermal comfort and building control research.
Park, June Young; Nagy, Zoltan
2018-04-01
This dataset contains bibliography information regarding thermal comfort and building control research. In addition, the instruction of a data-driven literature survey method guides readers to reproduce their own literature survey on related bibliography datasets. Based on specific search terms, all relevant bibliographic datasets are downloaded. We explain the keyword co-occurrences of historical developments and recent trends, and the citation network which represents the interaction between thermal comfort and building control research. Results and discussions are described in the research article entitled "Comprehensive analysis of the relationship between thermal comfort and building control research - A data-driven literature review" (Park and Nagy, 2018).
Shenoy, Ravikiran; Nathwani, Dinesh
2017-01-01
Robots have been successfully used in commercial industry and have enabled humans to perform tasks which are repetitive, dangerous and requiring extreme force. Their role has evolved and now includes many aspects of surgery to improve safety and precision. Orthopaedic surgery is largely performed on bones which are rigid immobile structures which can easily be performed by robots with great precision. Robots have been designed for use in orthopaedic surgery including joint arthroplasty and spine surgery. Experimental studies have been published evaluating the role of robots in arthroscopy and trauma surgery. In this article, we will review the incorporation of robots in orthopaedic surgery looking into the evidence in their use. © The Authors, published by EDP Sciences, 2017.
Preliminary research on virtual thermal comfort of automobile occupants
Horobet, Tiberiu; Danca, Paul; Nastase, Ilinca; Bode, Florin
2018-02-01
Numerical simulation of climate conditions in automotive industry for the study of thermal comfort had become more and more prominent in the last years compared with the classical approach which consists in wind tunnel measurements and field testing, the main advantages being the reduction of vehicle development time and costs. The study presented in this paper is a part of a project intended to evaluate different strategies of cabin ventilation for improving the thermal comfort inside vehicles. A virtual thermal manikin consisting of 24 parts was introduced on the driver seat in a vehicle. A heat load calculated for summer condition in the city of Cluj-Napoca, Romania was imposed as boundary condition. The purpose of this study was to elaborate a virtual thermal manikin suitable for our research, introduction of the manikin inside the vehicle and to examine his influence inside the automobile. The thermal comfort of the virtual manikin was evaluated in terms of temperature and air velocity.
Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots
Directory of Open Access Journals (Sweden)
Francisco J. Rodríguez-Lera
2018-03-01
Full Text Available In human–robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines, personal, and safety information (i.e., images of children, home habits, alarm codes, etc.. However, most robotic software development frameworks are not designed for securely managing this information. This paper analyzes the scenario of hardening one of the most widely used robotic middlewares, Robot Operating System (ROS. The study investigates a robot’s performance when ciphering the messages interchanged between ROS nodes under the publish/subscribe paradigm. In particular, this research focuses on the nodes that manage cameras and LIDAR sensors, which are two of the most extended sensing solutions in mobile robotics, and analyzes the collateral effects on the robot’s achievement under different computing capabilities and encryption algorithms (3DES, AES, and Blowfish to robot performance. The findings present empirical evidence that simple encryption algorithms are lightweight enough to provide cyber-security even in low-powered robots when carefully designed and implemented. Nevertheless, these techniques come with a number of serious drawbacks regarding robot autonomy and performance if they are applied randomly. To avoid these issues, we define a taxonomy that links the type of ROS message, computational units, and the encryption methods. As a result, we present a model to select the optimal options for hardening a mobile robot using ROS.
1st Iberian Robotics Conference
Sanfeliu, Alberto; Ferre, Manuel; ROBOT2013; Advances in robotics
2014-01-01
This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GT...
Khatib, Oussama
2016-01-01
The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition o...
Innovations in robotic surgery.
Gettman, Matthew; Rivera, Marcelino
2016-05-01
Developments in robotic surgery have continued to advance care throughout the field of urology. The purpose of this review is to evaluate innovations in robotic surgery over the past 18 months. The release of the da Vinci Xi system heralded an improvement on the Si system with improved docking, the ability to further manipulate robotic arms without clashing, and an autofocus universal endoscope. Robotic simulation continues to evolve with improvements in simulation training design to include augmented reality in robotic surgical education. Robotic-assisted laparoendoscopic single-site surgery continues to evolve with improvements on technique that allow for tackling previously complex pathologic surgical anatomy including urologic oncology and reconstruction. Last, innovations of new surgical platforms with robotic systems to improve surgeon ergonomics and efficiency in ureteral and renal surgery are being applied in the clinical setting. Urologic surgery continues to be at the forefront of the revolution of robotic surgery with advancements in not only existing technology but also creation of entirely novel surgical systems.
Epilepsy monitoring - The patients' views: A qualitative study based on Kolcaba's Comfort Theory.
Egger-Rainer, Andrea; Trinka, Eugen; Höfler, Julia; Dieplinger, Anna Maria
2017-03-01
The aim of this qualitative study was to determine which perception of personal comfort patients name in the context of their hospitalization in an Austrian Epilepsy Monitoring Unit (EMU). Problem-centred interviews with twelve inpatients were conducted. Data analyses were done according to Mayring's qualitative content analyses following the technique of structuring-deductive category assignment. Patients experienced different kinds of comfort along with their hospitalization in the EMU. Comfort-decreasing factors were bed rest, boredom, and waiting for possible seizures. As comfort-increasing factors, hope for enhanced seizure control, support by family and staff, and intelligible information about the necessity of restrictive conditions were identified. The study results should assist health care professionals, enabling them to design comfort enhancing interventions for patients undergoing video-electroencephalography (EEG) investigations in an EMU. Some of these seem to be simple and obtainable without high financial or technical effort. Others are more complex and have to be further assessed for their feasibility. Copyright © 2016 Elsevier Inc. All rights reserved.
Comfort of the patient's family in an Intensive Care Unit related to welcoming
Directory of Open Access Journals (Sweden)
Mariana de Almeida Moraes Gibaut
2013-10-01
Full Text Available This study aimed to identify the level of comfort of families of patients in a critical health condition related to the welcoming practices performed by the hospital staff. Interviews were conducted with 250 relatives in hospitals of the state Bahia, using a Likert scale. Data were analyzed as percentages and quartiles. For nine of the 12 statements of the scale, most relatives scored their comfort level between very and totally comfortable, median of 4,revealing kindness, tranquility and friendly communication with family members. More than half of the sample scored its level as not at all to more or less comfortable, median of 3, for statements about demonstration of interest towards the relative by the staff and flexible visiting of the patient. The necessity of greater interest of the team in the condition and needs of the family was observed. Promoting comfort from the dimension of welcoming demands interdisciplinary actions grounded in humanistic philosophy, in which the nurse has an important role to play.
Comfort in High-Performance Homes in a Hot-Humid Climate
Energy Technology Data Exchange (ETDEWEB)
Poerschke, A. [IBACOS, Inc., Pittsburgh, PA (United States); Beach, R. [IBACOS, Inc., Pittsburgh, PA (United States)
2016-01-01
IBACOS monitored 37 homes during the late summer and early fall of 2014 in a hot and humid climate to better understand indoor comfort conditions. These homes were constructed in the last several years by four home builders that offered a comfort and performance guarantee for the homes. The homes were located in one of four cities: Tampa, Florida; Orlando, Florida; Houston, Texas; and San Antonio, Texas. Temperature and humidity data were collected from the thermostat and each room of the house using small, battery-powered data loggers. To understand system runtime and its impact on comfort, supply air temperature also was measured on a 1-minute interval. Overall, the group of homes only exceeded a room-to-room temperature difference of 6 degrees Fahrenheit for 5% of the time.
Impact of Manually Controlled Solar Shades on Indoor Visual Comfort
Directory of Open Access Journals (Sweden)
Jian Yao
2016-07-01
Full Text Available Daylight plays a significant role in sustainable building design. The purpose of this paper was to investigate the impact of manual solar shades on indoor visual comfort. A developed stochastic model for manual solar shades was modeled in Building Controls Virtual Test Bed, which was coupled with EnergyPlus for co-simulation. Movable solar shades were compared with two unshaded windows. Results show that movable solar shades have more than half of the working hours with a comfortable illuminance level, which is about twice higher than low-e windows, with a less significant daylight illuminance fluctuation. For glare protection, movable solar shades increase comfortable visual conditions by about 20% compared to low-e windows. Moreover, the intolerable glare perception could be reduced by more than 20% for movable solar shades.
Faster-than-real-time robot simulation for plan development and robot safety
International Nuclear Information System (INIS)
Crane, C.D. III; Dalton, R.; Ogles, J.; Tulenko, J.S.; Zhou, X.
1990-01-01
The University of Florida, in cooperation with the Universities of Texas, Tennessee, and Michigan and Oak Ridge National Laboratory (ORNL), is developing an advanced robotic system for the US Department of Energy under the University Program for Robotics for Advanced Reactors. As part of this program, the University of Florida has been pursuing the development of a faster-than-real-time robotic simulation program for planning and control of mobile robotic operations to ensure the efficient and safe operation of mobile robots in nuclear power plants and other hazardous environments
ComfortPower - System improvements and long-term evaluation
Energy Technology Data Exchange (ETDEWEB)
Silversand, Fredrik [Catator AB, Lund (Sweden)
2011-11-15
Catator has previously developed a novel heating system abbreviated ComfortPower in a RandD-programme supported by Catator, Swedish Gas Centre (SGC), Swedish Defence Materiel Administration (FMV), Skanska, Nibe and Alfa Laval. The ComfortPower unit comprises a multi fuel reformer system tied to a high-temperature polymer electrolyte fuel cell (HT-PEM) and a heat pump system. Since the residual heat from the fuel cell system can be utilized in a very effective way, it is possible to reach high thermal efficiencies. Indeed, the thermal efficiency in the unit has previously been shown to reach values as high as 175 - 200 % based on the lower heating value of the fuel. In addition to heat, ComfortPower can supply comfort cooling and surplus electricity. This project phase has focused on the following elements: 1. System improvements to further enhance the efficiency with existing fuel cell (HT-PEM). 2. System simplifications (e.g. DC-compressor system) to manage issues with start-up currents. 3. Tests with biogas qualities (various levels of CO{sub 2}) and biogas/air. 4. Long-term test with biogas quality (upgraded biogas). 5. Additional tests with liquid fuels (alcohols and diesel). 6. Map the need for cooling and heating in various applications. 7. Investigate how ComfortPower can reduce the primary energy consumption and reduce the environmental impact. 8. Study the possibility with a SOFC-based system with internal reforming. It was found that the Optiformer technology can be used to derive a suitable reformate gas for the HT-PEM unit from a wide range of fuels. Even if operation with fuel gases is the natural choice in most cases, it is possible also to use alcohols and other liquid fuels (e.g. in Campus applications). The heat pump system was equipped with a 24 V DC-compressor provided by Nibe. The compressor could be directly powered by the accumulator system and start-up currents, harmful to the inverter, could be avoided. Some improvements were made on the
Wang, L; Nurzaman, SG; Iida, Fumiya
2017-01-01
There has been a boost of research activities in robotics using soft materials in the past ten years. It is expected that the use and control of soft materials can help realize robotic systems that are safer, cheaper, and more adaptable than the level that the conventional rigid-material robots can achieve. Contrary to a number of existing review and position papers on soft-material robotics, which mostly present case studies and/or discuss trends and challenges, the review focuses on the fun...
AssistMe robot, an assistance robotic platform
Directory of Open Access Journals (Sweden)
A. I. Alexan
2012-06-01
Full Text Available This paper presents the design and implementation of a full size assistance robot. Its main purpose it to assist a person and eventually avoid a life threatening situation. Its implementation revolves around a chipKIT Arduino board that interconnects a robotic base controller with a 7 inch TABLET PC and various sensors. Due to the Android and Arduino combination, the robot can interact with the person and provide an easy development platform for future improvement and feature adding. The TABLET PC is Webcam, WIFI and Bluetooth enabled, offering a versatile platform that is able to process data and in the same time provide the user a friendly interface.
The First "Comfort Houses" in Denmark
DEFF Research Database (Denmark)
Brunsgaard, Camilla; Knudstrup, Mary-Ann; Heiselberg, Per
2009-01-01
The "Comfort Houses" is the most ambitious building project in passive houses in Denmark until today. Eight single family houses are built and designed by seven different consortiums. Besides fulfilling the German passive house standard the goal was to build the houses according to Danish tradition...
Socially Impaired Robots: Human Social Disorders and Robots' Socio-Emotional Intelligence
Vitale, Jonathan; Williams, Mary-Anne; Johnston, Benjamin
2016-01-01
Social robots need intelligence in order to safely coexist and interact with humans. Robots without functional abilities in understanding others and unable to empathise might be a societal risk and they may lead to a society of socially impaired robots. In this work we provide a survey of three relevant human social disorders, namely autism, psychopathy and schizophrenia, as a means to gain a better understanding of social robots' future capability requirements. We provide evidence supporting...
Educational Robotics as Mindtools
Mikropoulos, Tassos A.; Bellou, Ioanna
2013-01-01
Although there are many studies on the constructionist use of educational robotics, they have certain limitations. Some of them refer to robotics education, rather than educational robotics. Others follow a constructionist approach, but give emphasis only to design skills, creativity and collaboration. Some studies use robotics as an educational…
Passenger thermal comfort and behavior: a field investigation in commercial aircraft cabins.
Cui, W; Wu, T; Ouyang, Q; Zhu, Y
2017-01-01
Passengers' behavioral adjustments warrant greater attention in thermal comfort research in aircraft cabins. Thus, a field investigation on 10 commercial aircrafts was conducted. Environment measurements were made and a questionnaire survey was performed. In the questionnaire, passengers were asked to evaluate their thermal comfort and record their adjustments regarding the usage of blankets and ventilation nozzles. The results indicate that behavioral adjustments in the cabin and the use of blankets or nozzle adjustments were employed by 2/3 of the passengers. However, the thermal comfort evaluations by these passengers were not as good as the evaluations by passengers who did not perform any adjustments. Possible causes such as differences in metabolic rate, clothing insulation and radiation asymmetry are discussed. The individual difference seems to be the most probable contributor, suggesting possibly that passengers who made adjustments had a narrower acceptance threshold or a higher expectancy regarding the cabin environment. Local thermal comfort was closely related to the adjustments and significantly influenced overall thermal comfort. Frequent flying was associated with lower ratings for the cabin environment. © 2016 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.
Robot friendship: Can a robot be a friend?
DEFF Research Database (Denmark)
Emmeche, Claus
2014-01-01
Friendship is used here as a conceptual vehicle for framing questions about the distinctiveness of human cognition in relation to natural systems such as other animal species and to artificial systems such as robots. By exploring this very common form of a human interpersonal relationship......, the author indicates that even though it is difficult to say something generally true about friendship among humans, distinct forms of friendship as practiced and distinct notions of friendship have been investigated in the social and human sciences and in biology. A more general conceptualization...... of friendship as a triadic relation analogous to the sign relation is suggested. Based on this the author asks how one may conceive of robot-robot and robot-human friendships; and how an interdisciplinary perspective upon that relation can contribute to analyse levels of embodied cognition in natural...
Denny, Jory
2013-11-01
We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.
Murata, Satoshi
2012-01-01
It is man’s ongoing hope that a machine could somehow adapt to its environment by reorganizing itself. This is what the notion of self-organizing robots is based on. The theme of this book is to examine the feasibility of creating such robots within the limitations of current mechanical engineering. The topics comprise the following aspects of such a pursuit: the philosophy of design of self-organizing mechanical systems; self-organization in biological systems; the history of self-organizing mechanical systems; a case study of a self-assembling/self-repairing system as an autonomous distributed system; a self-organizing robot that can create its own shape and robotic motion; implementation and instrumentation of self-organizing robots; and the future of self-organizing robots. All topics are illustrated with many up-to-date examples, including those from the authors’ own work. The book does not require advanced knowledge of mathematics to be understood, and will be of great benefit to students in the rob...
Human-robot interaction tests on a novel robot for gait assistance.
Tagliamonte, Nevio Luigi; Sergi, Fabrizio; Carpino, Giorgio; Accoto, Dino; Guglielmelli, Eugenio
2013-06-01
This paper presents tests on a treadmill-based non-anthropomorphic wearable robot assisting hip and knee flexion/extension movements using compliant actuation. Validation experiments were performed on the actuators and on the robot, with specific focus on the evaluation of intrinsic backdrivability and of assistance capability. Tests on a young healthy subject were conducted. In the case of robot completely unpowered, maximum backdriving torques were found to be in the order of 10 Nm due to the robot design features (reduced swinging masses; low intrinsic mechanical impedance and high-efficiency reduction gears for the actuators). Assistance tests demonstrated that the robot can deliver torques attracting the subject towards a predicted kinematic status.
Pose Estimation and Adaptive Robot Behaviour for Human-Robot Interaction
DEFF Research Database (Denmark)
Svenstrup, Mikael; Hansen, Søren Tranberg; Andersen, Hans Jørgen
2009-01-01
Abstract—This paper introduces a new method to determine a person’s pose based on laser range measurements. Such estimates are typically a prerequisite for any human-aware robot navigation, which is the basis for effective and timeextended interaction between a mobile robot and a human. The robot......’s pose. The resulting pose estimates are used to identify humans who wish to be approached and interacted with. The interaction motion of the robot is based on adaptive potential functions centered around the person that respect the persons social spaces. The method is tested in experiments...
From sex robots to love robots: is mutual love with a robot possible?
Nyholm, S.R.; Frank, L.E.; Danaher, J.; McArthur, N.
2017-01-01
Some critics of sex-robots worry that their use might spread objectifying attitudes about sex, and common sense places a higher value on sex within love-relationships than on casual sex. If there could be mutual love between humans and sex-robots, this could help to ease the worries about
The relation between people's attitudes and anxiety towards robots in human-robot interaction
de Graaf, M.M.A.; Ben Allouch, Soumaya
2013-01-01
This paper examines the relation between an interaction with a robot and peoples’ attitudes and emotion towards robots. In our study, participants have had an acquaintance talk with a social robot and both their general attitude and anxiety towards social robots were measured before and after the
Sensor design for outdoor racing bicycle field testing for human vibration comfort evaluation
International Nuclear Information System (INIS)
Vanwalleghem, Joachim; De Baere, Ives; Van Paepegem, Wim; Loccufier, Mia
2013-01-01
This paper is concerned with the vibrational comfort evaluation of the cyclist when cycling a rough surface. Outdoor comfort tests have so far only been done through instrumenting the bicycle with accelerometers. This work instruments a racing bicycle with custom-made contact force sensors and velocity sensors to acquire human comfort through the absorbed power method. Comfort evaluation is assessed at the hand–arm and seat interface of the cyclist with the bicycle. By means of careful finite-element analysis for designing the force gauges at the handlebar and the seat combined with precise calibration of both force and velocity sensors, all sensors have proven to work properly. Initial field tests are focused on the proper functioning of the designed sensors and their suitability for vibration comfort measurements. Tests on a cobblestone road reveal that the outcome of the absorbed power values is within the same range as those from laboratory tests found in the literature. This sensor design approach for outdoor testing with racing bicycles may give a new interpretation on evaluating the cyclist's comfort since the vibrational load is not only quantified in terms of acceleration but also in terms of force and velocity at the bicycle–cyclist contact points. (paper)
Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek
2014-01-01
In this work, the mechatronic based robotic hand is controlled by the position data taken from the glove which has flex sensors mounted to capture finger bending of the human hand. The angular movement of human hand’s fingers are perceived and processed by a microcontroller, and the robotic hand is controlled by actuating servo motors. It has seen that robotic hand can simulate the movement of the human hand that put on the glove, during tests have done. This robotic hand can be used not only...
PEAR: Prototyping Expressive Animated Robots - A framework for social robot prototyping
Balit , Etienne; Vaufreydaz , Dominique; Reignier , Patrick
2018-01-01
International audience; Social robots are transitioning from lab experiments to commercial products, creating new needs for proto-typing and design tools. In this paper, we present a framework to facilitate the prototyping of expressive animated robots. For this, we start by reviewing the design of existing social robots in order to define a set of basic components of social robots. We then show how to extend an existing 3D animation software to enable the animation of these components. By co...
Directory of Open Access Journals (Sweden)
Sameer Kishore
2016-11-01
Full Text Available It has been shown that an illusion of ownership over an artificial limb or even an entire body can be induced in people through multisensory stimulation providing evidence that the surrogate body is the person’s actual body. Such body ownership illusions have been shown to occur with virtual bodies, mannequins, as well as humanoid robots. In this study, we show the possibility of eliciting a full body ownership illusion over not one, but multiple artificial bodies concurrently. We demonstrate this by describing a system that allowed a participant to inhabit and fully control two different humanoid robots located in two distinct places and a virtual body in immersive virtual reality, using real-time full-body tracking and two-way audio communication, thereby giving them the illusion of ownership over each of them. We implemented this by allowing the participant be embodied in any one surrogate body at a given moment, and letting them instantaneously switch between them. While the participant was embodied in one of the bodies, a proxy system would track the locations currently unoccupied, and would control their remote representation in order to continue performing the tasks in those locations in a logical fashion. To test the efficacy of this system, an exploratory study was carried out with a fully functioning setup with three destinations and a simplified version of the proxy for use in a social interaction. The results indicate that the system was physically and psychologically comfortable, and was rated highly by participants in terms of usability. Additionally, feelings of body ownership illusion and agency were reported, which were not influenced by the robot type. The results provide us with clues regarding body ownership illusion with humanoid robots of different dimensions, along with insight about self-localization and multilocation.
Developing a successful robotics program.
Luthringer, Tyler; Aleksic, Ilija; Caire, Arthur; Albala, David M
2012-01-01
Advancements in the robotic surgical technology have revolutionized the standard of care for many surgical procedures. The purpose of this review is to evaluate the important considerations in developing a new robotics program at a given healthcare institution. Patients' interest in robotic-assisted surgery has and continues to grow because of improved outcomes and decreased periods of hospitalization. Resulting market forces have created a solid foundation for the implementation of robotic surgery into surgical practice. Given proper surgeon experience and an efficient system, robotic-assisted procedures have been cost comparable to open surgical alternatives. Surgeon training and experience is closely linked to the efficiency of a new robotics program. Formally trained robotic surgeons have better patient outcomes and shorter operative times. Training in robotics has shown no negative impact on patient outcomes or mentor learning curves. Individual economic factors of local healthcare settings must be evaluated when planning for a new robotics program. The high cost of the robotic surgical platform is best offset with a large surgical volume. A mature, experienced surgeon is integral to the success of a new robotics program.
Energy Technology Data Exchange (ETDEWEB)
Stavrakakis, G.M.; Karadimou, D.P.; Zervas, P.L.; Markatos, N.C. [Computational Fluid Dynamics Unit, School of Chemical Engineering, National Technical University of Athens, Heroon Polytechniou 9, GR-15780 Athens (Greece); Sarimveis, H. [Unit of Process Control and Informatics, School of Chemical Engineering, National Technical University of Athens, Heroon Polytechniou 9, GR-15780 Athens (Greece)
2011-02-15
The present paper presents a novel computational method to optimize window sizes for thermal comfort and indoor air quality in naturally ventilated buildings. The methodology is demonstrated by means of a prototype case, which corresponds to a single-sided naturally ventilated apartment. Initially, the airflow in and around the building is simulated using a Computational Fluid Dynamics model. Local prevailing weather conditions are imposed in the CFD model as inlet boundary conditions. The produced airflow patterns are utilized to predict thermal comfort indices, i.e. the PMV and its modifications for non-air-conditioned buildings, as well as indoor air quality indices, such as ventilation effectiveness based on carbon dioxide and volatile organic compounds removal. Mean values of these indices (output/objective variables) within the occupied zone are calculated for different window sizes (input/design variables), to generate a database of input-output data pairs. The database is then used to train and validate Radial Basis Function Artificial Neural Network input-output ''meta-models''. The produced meta-models are used to formulate an optimization problem, which takes into account special constraints recommended by design guidelines. It is concluded that the proposed methodology determines appropriate windows architectural designs for pleasant and healthy indoor environments. (author)
Children thermal comfort in primary schools in Ho Chi Minh City in Vietnam
Le, Thi Ho Vi; Gillott, Mark C.; Rodrigues, Lucélia Taranto
2017-01-01
Indoor environmental quality significantly impacts on students’ performance and productivity, particularly thermal comfort levels. Currently in Vietnam, very few studies have dealt with the issue and the current trend is to install energy-intensive air-conditioning in primary schools as this is perceived as more comfortable. In this study, the authors investigated the users’ perceptions of thermal comfort in three primary schools in Ho Chi Minh City during the mid-season (September 2015) and ...