We have developed the CHIMP (CMU Highly Intelligent Mobile Platform) robot as a platform for executing complex tasks in dangerous, degraded, human‐engineered environments. CHIMP has a near‐human form factor, work‐envelope, strength, and dexterity to work effectively in these environments. It avoids the need for complex control by maintaining static rather than dynamic stability. Utilizing various sensors embedded in the robot's head, CHIMP generates full three‐dimensional representations of its environment and transmits these models to a human operator to achieve latency‐free situational awareness. This awareness is used to visualize the robot within its environment and preview candidate free‐space motions. Operators using CHIMP are able to select between task, workspace, and joint space control modes to trade between speed and generality. Thus, they are able to perform remote tasks quickly, confidently, and reliably, due to the overall design of the robot and software. CHIMP's hardware was designed, built, and tested over 15 months leading up to the DARPA Robotics Challenge. The software was developed in parallel using surrogate hardware and simulation tools. Over a six‐week span prior to the DRC Trials, the software was ported to the robot, the system was debugged, and the tasks were practiced continuously. Given the aggressive schedule leading to the DRC Trials, development of CHIMP focused primarily on manipulation tasks. Nonetheless, our team finished 3rd out of 16. With an upcoming year to develop new software for CHIMP, we look forward to improving the robot's capability and increasing its speed to compete in the DRC Finals.
Background: Hip osteoarthritis in canines is a common diagnosis. The prevalence in adult dogs is estimated to be 20 percent. The primary treatment is usually an NSAID. Acupuncture as treatment for pain conditions is commonly used within human medicine and is becoming more frequently used within veterinary medicine. Acupuncture studies that show the pain relieving effects in animals are few, which make it important to elucidate the effects of this treatment method. Objectives: The aim of this study was to examine the effects of acupuncture in relation to function, passive range of motion, thigh circumference and palpation for pain in a ten year-old German Shepard dog with x-ray verified left sided osteoarthritis of the hip. Materials and methods:The study was conducted with a single subject experimental ABA-design. Twice before the first treatment (A1-baseline) function, passive range of motion (PROM), thigh circumference and palpation for pain were assessed. The dog then received three acupuncture treatments, once a week (B1-3-intervention). The choice of points in order of insertion was Bai Hui intraspinal L7-S1, BL 25 bilateral, BL 23 bilateral, and GB 30 left. The needles were stimulated during insertion as well as before removal. During intervention, PROM was measured after each treatment. Seven days after the last acupuncture treatment the same examination that was conducted initially was conducted again (A2-evaluation). Data were analyzed with 2SD-line where all the results that orient above 2SD-line are significant. Celeration line shows the trend before, during and after the intervention. Results: The results showed decreased symptoms regarding limpness and rigidity and normalized functional tests, improved passive range of motion in the left hip joint (Fig. 3), decreased pain of the outer part of passive extension, increased thigh circumference bilaterally, and decreased pain with palpation. Conclusions: The single subject experimental design has great clinical applicability for the scientist-practitioner and can provide clinicians with useful information. This single subject experimental design indicates that acupuncture seems to have an effect on dogs with hip osteoarthritis. Further studies with larger study groups need to be conducted to be able to make evidence-based treatment decisions.
This article explores the relationship between design and research, and design and scholarship. It argues that merging design and research is untenable since each activity embodies a different epistemological perspective and set of values. More importantly, overtly integrating design and research diminishes the most important aspects of each activity. Instead, designers should characterize their work, and the knowledge that it uses and produces, as an intellectually separate but complementary counterpart to research. In doing so, designers take the first step toward developing a discipline‐dependent scholarship whereby the discipline itself determines what constitutes knowledge and consequently what qualifies as scholarship.
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