scholarly journals Kinematic compatibility of a wrist robot with cable differential actuation: effects of misalignment compensation via passive joints

2021 ◽  
Author(s):  
Haider A. Chishty ◽  
Andrea Zonnino ◽  
Andria J. Farrens ◽  
Fabrizio Sergi
Keyword(s):  
Coulomb Friction ◽  
Design Strategies ◽  
Negative Effects ◽  
Interaction Torque ◽  
Differential Transmission ◽  
Transfer Accuracy

<div><div><div><p>We present the UDiffWrist (UDW), a low-impedance 2-DOF wrist exoskeleton featuring a cable-differential transmission. To investigate the effect of different design strategies for achieving kinematic compatibility, we developed two versions of this robot: One version (UDW-C) achieves kinematic compatibility only in the case of perfect alignment between human and robot joints. The second version (UDW-NC) connects the human and robot via passive joints to achieve kinematic compatibility regardless of alignment between human and robot joints. Through characterization experiments, we found that the UDW-NC was more robust to misalignments than the UDW-C: the increase in maximum interaction torque associated with misalignments was greater for the UDW-C than the UDW-NC robot (p = 0.003). However, the UDW-NC displayed greater Coulomb friction (p < 0.001). Further, Coulomb friction increased more for the UDW-NC than the UDW-C in the presence of misalignments between the human and robot axes (p < 0.001). We also found that torque transfer was more accurate in the UDW-C than in the UDW-NC. These results suggest that for the small (10 deg) 2-DOF wrist movements considered, the advantages of the UDW-NC in terms of kinematic compatibility are likely overshadowed by the negative effects in friction and torque transfer accuracy.</p></div></div></div>

scholarly journals Kinematic compatibility of a wrist robot with cable differential actuation: effects of misalignment compensation via passive joints

2021 ◽  
Author(s):  
Haider A. Chishty ◽  
Andrea Zonnino ◽  
Andria J. Farrens ◽  
Fabrizio Sergi
Keyword(s):  
Coulomb Friction ◽  
Design Strategies ◽  
Negative Effects ◽  
Interaction Torque ◽  
Differential Transmission ◽  
Transfer Accuracy

<div><div><div><p>We present the UDiffWrist (UDW), a low-impedance 2-DOF wrist exoskeleton featuring a cable-differential transmission. To investigate the effect of different design strategies for achieving kinematic compatibility, we developed two versions of this robot: One version (UDW-C) achieves kinematic compatibility only in the case of perfect alignment between human and robot joints. The second version (UDW-NC) connects the human and robot via passive joints to achieve kinematic compatibility regardless of alignment between human and robot joints. Through characterization experiments, we found that the UDW-NC was more robust to misalignments than the UDW-C: the increase in maximum interaction torque associated with misalignments was greater for the UDW-C than the UDW-NC robot (p = 0.003). However, the UDW-NC displayed greater Coulomb friction (p < 0.001). Further, Coulomb friction increased more for the UDW-NC than the UDW-C in the presence of misalignments between the human and robot axes (p < 0.001). We also found that torque transfer was more accurate in the UDW-C than in the UDW-NC. These results suggest that for the small (10 deg) 2-DOF wrist movements considered, the advantages of the UDW-NC in terms of kinematic compatibility are likely overshadowed by the negative effects in friction and torque transfer accuracy.</p></div></div></div>

scholarly journals Assessing inland excess water risk in Kanjiza (Serbia)

Geografie ◽  
2018 ◽  
Vol 123 (2) ◽  
pp. 141-158 ◽  
Author(s):  
Imre Nađ ◽  
Vladimir Marković ◽  
Marko Pavlović ◽  
Uglješa Stankov ◽  
Gordana Vuksanović
Keyword(s):  
Satellite Images ◽  
Risk Level ◽  
Risk Map ◽  
Design Strategies ◽  
Negative Effects ◽  
Local Authorities ◽  
Excess Water ◽  
Gis Tools ◽  
Water Hazard ◽  
Very High

Inland excess waters cause numerous considerable problems in economy, society and environment on a low lying parts of Serbia. The SEERISK methodology has been used for assessing the risk of inland excess water in Kanjiža municipality in Serbia. By applying the GIS tools, inland excess areas were extracted and categorization of different hazards level was done for following cover types: vegetable, orchard, crop, vineyard, grassland and forest. Analysing the satellite images for the selected period (March 2011, August 2012, April 2013 and June 2013), results show that four occurrences of inland excess water were recorded at 0.07% of territory, three occurrences at 0.53% of territory, two occurrences at 3.86%, one occurrence at 9.26% and there were no occurrences at 86.28% of territory. As the final result, the risk map shows four inland excess water risk level zones ranked from “Low”, “Medium”, “High” to “Very high” which can be used by the local authorities in order to design strategies for reducing negative effects from inland excess water hazard.

Safety Unseen: Leveraging Design to Improve Inpatient Mental Health-Care Practices

2020 ◽  
Vol 26 (3) ◽  
pp. e48-e55
Author(s):  
Scott Holmes ◽  
Melanie Baumhover ◽  
James Lockwood
Keyword(s):  
Health Care ◽  
Spatial Density ◽  
Design Strategies ◽  
Post Traumatic Stress ◽  
Negative Effects ◽  
Physical Trauma ◽  
Health Care Practices ◽  
Inpatient Settings ◽  
Human Need ◽  
Physical Barriers

When a patient attacks a nurse, there is more than physical trauma that occurs. The consequences of the violence can manifest in anger, fear, anxiety, shame, blame, and post-traumatic stress disorder symptoms that can have negative effects on patient care and job satisfaction. In the past, design strategies in inpatient psychiatric centers upheld safety by erecting barriers between patients and staff, or over-using restraints and seclusion, strategies that communicated fear and distrust. Now, understanding of how people respond in a state of crisis is changing how care can be delivered in inpatient settings. Once seen as counterintuitive, eliminating physical barriers and opening connections between staff and patients are elevating safety by reducing the psychological walls that keep patients from feeling trusted and respected. By recognizing the human need to have choice and a sense of control in a world that feels out of proportion, health-care organizations can leverage design strategies that address aspects such as spatial density and zones of personal comfort, improving safety by elevating choice and dignity in a therapeutic healing environment.

Hybrid Force/Velocity Control of a Pneumatic Gantry Robot for Contour Tracking: Tuning and Model Validation

2007 ◽  
Author(s):  
Mohammed Abu-Mallouh ◽  
Brian Surgenor
Keyword(s):  
Model Validation ◽  
Coulomb Friction ◽  
Tangential Velocity ◽  
Contour Tracking ◽  
Velocity Control ◽  
Negative Effects ◽  
Sufficient Detail ◽  
Force Velocity ◽  
Future Work ◽  
Gantry Robot

The paper examines hybrid force/velocity control of a pneumatic gantry robot for contour tracking. Both experimental and simulation results are presented. The control system is structured to control the contact force and the tangential velocity simultaneously. Controller tuning and model validation results are given for a fixed gain PI-based hybrid force/velocity controller. A simple yet effective model is presented in sufficient detail such that other researchers can perform their own simulations to investigate the utility of their own controller designs. The model is used to demonstrate the negative effects of Coulomb friction. Future work will focus on friction compensation techniques to improve performance.

scholarly journals Differential Transmission of Triticum mosaic virus by Wheat Curl Mite Populations Collected in the Great Plains

Plant Disease ◽  
2014 ◽  
Vol 98 (6) ◽  
pp. 806-810 ◽  
Author(s):  
Anthony J. McMechan ◽  
Satyanarayana Tatineni ◽  
Roy French ◽  
Gary L. Hein
Keyword(s):  
Mosaic Virus ◽  
Great Plains ◽  
Genetic Characterization ◽  
High Plains ◽  
Negative Effects ◽  
Future Studies ◽  
Wheat Curl Mite ◽  
Differential Transmission ◽  
Food Grain ◽  
Western Great Plains

Wheat is an important food grain worldwide and the primary dryland crop in the western Great Plains. A complex of three wheat curl mite (WCM)-transmitted viruses (Wheat streak mosaic virus, High plains virus, and Triticum mosaic virus [TriMV]) is a cause of serious loss in winter wheat production in the Great Plains. TriMV was first reported in Kansas in 2006 and later found in most other Great Plains states. Currently, three populations of WCM have been identified by genetic characterization and differential responses to mite resistance genes in wheat. In this study, we examined TriMV transmission by these three WCM populations: ‘Nebraska’ (NE), ‘Montana’ (MT), and ‘South Dakota’ (SD). Mite transmission using single-mite transfers revealed that the NE WCM population transmitted TriMV at 41%, while the MT and SD WCM populations failed to transmit TriMV. In multi-mite transfers, the NE WCM population transmitted TriMV at 100% level compared with 2.5% transmission by MT and SD WCM populations. Interestingly, NE mites transferred during the quiescent stages following the first and second instar transmitted TriMV at a 39 to 40% rate, suggesting that immature mites were able to acquire the virus and maintain it through molting. In addition, mite survival for single-mite transfers was significantly lower for NE mites when transferred from TriMV-inoculated source plants (60%) compared with mock-inoculated source plants (84%). This demonstrates potentially negative effects on WCM survival from TriMV. TriMV transmission differences demonstrated in this study underscore the importance of identification of mite genotypes for future studies with TriMV.

Undesirable Effects of Goal Setting on Perceived Fairness, Commitment, and Unethical Behavior

2018 ◽  
Vol 62 (2) ◽  
pp. 97-107 ◽  
Author(s):  
Nina Keith
Keyword(s):  
Goal Setting ◽  
Unethical Behavior ◽  
The United States ◽  
Goal Commitment ◽  
Management Technique ◽  
Long Term Effects ◽  
Perceived Fairness ◽  
Negative Effects ◽  
Positive Effects ◽  
And Performance

Abstract. The positive effects of goal setting on motivation and performance are among the most established findings of industrial–organizational psychology. Accordingly, goal setting is a common management technique. Lately, however, potential negative effects of goal-setting, for example, on unethical behavior, are increasingly being discussed. This research replicates and extends a laboratory experiment conducted in the United States. In one of three goal conditions (do-your-best goals, consistently high goals, increasingly high goals), 101 participants worked on a search task in five rounds. Half of them (transparency yes/no) were informed at the outset about goal development. We did not find the expected effects on unethical behavior but medium-to-large effects on subjective variables: Perceived fairness of goals and goal commitment were least favorable in the increasing-goal condition, particularly in later goal rounds. Results indicate that when designing goal-setting interventions, organizations may consider potential undesirable long-term effects.

The Effect of Suicide-Related Internet Use on Users’ Mental Health

Crisis ◽  
2013 ◽  
Vol 34 (5) ◽  
pp. 348-353 ◽  
Author(s):  
Hajime Sueki
Keyword(s):  
Mental Health ◽  
Young Adults ◽  
Suicidal Ideation ◽  
Internet Use ◽  
Panel Study ◽  
Psychological Effects ◽  
The Internet ◽  
Negative Effects ◽  
Suicide Methods ◽  
Internet Users

Background: Previous studies have shown that suicide-related Internet use can have both negative and positive psychological effects. Aims: This study examined the effect of suicide-related Internet use on users’ suicidal ideation, depression/anxiety tendency, and loneliness. Method: A two-wave panel study of 850 Internet users was conducted via the Internet. Results: Suicide-related Internet use (e.g., browsing websites about suicide methods) had negative effects on suicidal ideation and depression/anxiety tendency. No forms of suicide-related Internet use, even those that would generally be considered positive, were found to decrease users’ suicidal ideation. In addition, our results suggest that the greater the suicidal ideation and feelings of depression and loneliness of Internet users, the more they used the Internet. Conclusion: Since suicide-related Internet use can adversely influence the mental health of young adults, it is necessary to take measures to reduce their exposure to such information.

Searching Online for Methods of Suicide

Crisis ◽  
2020 ◽  
pp. 1-8
Author(s):  
Christian Ulrich Eriksen ◽  
Flemming Konradsen ◽  
Thilde Vildekilde
Keyword(s):  
Content Analysis ◽  
English Language ◽  
Significant Proportion ◽  
Background Information ◽  
Access To Information ◽  
Online Content ◽  
Negative Effects ◽  
Search Terms ◽  
Methods Of Suicide

Abstract. Background: Information on methods of suicide is available online, and access to information on methods of suicide appears to contribute to a small but significant proportion of suicides. There is limited documentation of how methods of suicide are being profiled, as well as what content exists in other languages than English. Aim: We aimed to analyze and compare how methods of suicide are profiled on Danish and English-language websites. Method: We applied a categorization and content analysis of websites describing methods of suicide. Sites were retrieved by applying widely used Danish and English-language search terms. Results: A total of 136 English-language websites and 106 Danish-language websites were included for analysis. Websites were more often categorized as prevention or support sites, academic or policy sites, and against suicide sites than dedicated suicide sites (i.e., pro-suicide sites), or information sites. However, information on methods of suicide was available, and 20.1% and 8.9% of the English and Danish-language sites, respectively, suggested that a particular method of suicide was quick, easy, painless, or certain to result in death. Limitations: Only one author coded and analyzed all websites. A further operationalization of the content analysis checklist is warranted to increase reliability. Conclusion: The websites primarily had a prevention or anti-suicide focus, but information on methods of suicide was available, requiring an increased focus on how to diminish the negative effects of harmful online content.

Effectiveness of Programs for the Prevention of Child Sexual Abuse

2020 ◽  
Vol 25 (1) ◽  
pp. 1-15 ◽  
Author(s):  
Amaia Del Campo ◽  
Marisalva Fávero
Keyword(s):  
United States ◽  
Sexual Abuse ◽  
New Zealand ◽  
Critical Analysis ◽  
Prevention Programs ◽  
The United States ◽  
Sexual Abuse Prevention ◽  
Negative Effects ◽  
The United Kingdom ◽  
Methodological Considerations

Abstract. During the last decades, several studies have been conducted on the effectiveness of sexual abuse prevention programs implemented in different countries. In this article, we present a review of 70 studies (1981–2017) evaluating prevention programs, conducted mostly in the United States and Canada, although with a considerable presence also in other countries, such as New Zealand and the United Kingdom. The results of these studies, in general, are very promising and encourage us to continue this type of intervention, almost unanimously confirming its effectiveness. Prevention programs encourage children and adolescents to report the abuse experienced and they may help to reduce the trauma of sexual abuse if there are victims among the participants. We also found that some evaluations have not considered the possible negative effects of this type of programs in the event that they are applied inappropriately. Finally, we present some methodological considerations as critical analysis to this type of evaluations.

If I Had Something to Add, I Would

2020 ◽  
Vol 19 (2) ◽  
pp. 86-96
Author(s):  
Isaac A. Lindquist ◽  
Emily E. Adams ◽  
Joseph A. Allen
Keyword(s):  
Job Attitudes ◽  
Negative Effects ◽  
Meeting Effectiveness ◽  
And Behavior ◽  
Attitudes And Behavior

Abstract. Most employees participate in workplace meetings, and their experiences in meetings can vary greatly, which can lead to positive or negative effects on both job attitudes and behavior. In this study, we examined the effect that a meeting attendee’s competence in the meeting topic had on their participation in the meeting and their perception of meeting effectiveness. Results indicated those with higher levels of competence in the meeting topic were more likely to participate and through participation found their meeting more effective; this relationship was stronger when employee dissent in the meetings was high. Leaders should ensure that those who are present in a meeting are competent in the topic of the meeting and encourage them to participate.

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