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Biologically-Inspired Control Architecture for an Upper Limb, Intelligent Robotic Orthosis
Steve Northrup,Edward E,Brown,Jr,Osman Parlaktuna,Kazuhiko Kawamura 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2001 International Journal of Assistive Robotics and Me Vol.2 No.3
This paper describes a biologically inspired control architecture for the McKibben actuated limbs of a humanoid robot and its application in an upper limb, intelligent robotic orthosis. The antagonistically driven joints are actuated using a biological control model. This model is observed in the measurement of human muscle elctromyograms (EMG) during reaching movements in the vertical plane. The paradigm uses the summation of tonic and phasic EMG signals to activate the human muscles. The humanoid robot"s muscles, actuated by pressure control, are controlled with feedforward pressure patterns analogous to the tonic and phasic activation in the human model. A result of this control paradigm is the realization of actuation with lower stiffness and therefore safer operation for human-humanoid interaction. It is expected that such a motion of the humanoid will closely resemble human motion and will facilitate a more human-friendly human-robot interaction. This leads to our illustration of applying the architecture to a proposed upper limb, robotic orthosis. Such an orthosis will be described in the latter part of this paper.
Steve Sont 전남대학교 글로벌디아스포라연구소 2010 전남대학교 세계한상문화연구단 국제학술회의 Vol.2010 No.2
In this paper, we discuss the emergence of segregated and unequal educational opportunities for immigrant students in the Irish school system. To set the context in which immigrant families are negotiating their educational opportunities for their children, we alwo discuss the recent demographic shifts in Ireland and what these seismic changes in Irish society have meant foth the Irish education system. This paper uses the recently available Census 2006 micro-data as well as data from a neighborhood in Dublin which has been experiencing a greater-than-average immigrant influx in the last tey years. The investigation uses interviews from teachers, principals, and parents of both immigrant and non-immigrant children attending twenty-five primary schools in the area. This study also examines the specific school enrollment policies that have led to the emergence of segregated schooling for the immigrant students in this area of Dublin and beyond.
Ringing the Bell: Does it Matter and Why?
Steve D. Dolvin,Hinh D. Khieu,Mark K. Pyles 사람과세계경영학회 2009 Global Business and Finance Review Vol.14 No.2
We explore the ongoing debate between market efficiency and behavioral finance by examining the market’ s reaction to what most investors would consider an information-neutral event: a firm ringing the opening or closing bell on the NYSE. Consistent with behavioral theories, we find that firms who ring the opening bell experience, on average, a positive abnormal return on the event day; however, we find that the reaction is concentrated in a particular group of participants. Specifically, we find the abnormal returns are driven almost entirely by firms who are celebrating the transfer of their stock listing to the NYSE. Given the potential benefits and signals associated with such an event, the favorable reaction is more consistent with market efficiency than any type of behavioral bias (i.e., the event is not information- neutral). In a more general sense, we caution against blanket conclusions of inefficiency that may result from a failure to more closely examine underlying causes for certain market reactions.