This article reviews the ongoing supply-demand crisis in internship availability and the models that have been proposed as solutions. "Restraint of trade" has been the chief argument used by regulating agencies to dampen solutions aimed at the demand side of the supply-demand crisis. We offer a legal analysis of the restraint of trade argument and offer a solution to the crisis through utilization of the Association of Psychology Postdoctoral and Internship Centers (APPIC) match program, accreditation of programs by the American Psychological Association, and/or development of internship programs by doctoral programs.
In this work we present a novel, inductance-based system to measure and control the motion of bellows-driven continuum joints in soft robots. The sensing system relies on coils of wire wrapped around the minor diameters of each bellows on the joint. As the bellows extend, these coils of wire become more distant, decreasing their mutual inductance. Measuring this change in mutual inductance allows us to measure the motion of the joint. By dividing the sensing of the joint into two sections and measuring the motion of each section independently, we are able to measure the overall deformation of the joint with a piece-wise constant-curvature approximation. This technique allows us to measure lateral displacements that would be otherwise unobservable. When measuring bending, the inductance sensors measured the joint orientation with an RMS error of 1.1 °. The inductance sensors were also successfully used as feedback to control the orientation of Correspondence to: Wyatt Felt. Disclosure of potential conflicts of interest. Authors Wyatt Felt and C. David Remy are listed as inventors on a patent application for inductance sensing on bellows actuators. The other authors are (or were) employed by Pneubotics and/or its parent organization, Otherlab. Each of them has an investment interest with the company, and each is listed as an inventor in patents related to this work.
Despite more than a decade of research on medical information systems, deficiencies exist in our capability of establishing an effective environmental health information infrastructure. In this research, we present a pilot study on creating a feasible environmental health information infrastructure. The newly-developed environmental health information system is a web-based platform that integrates databases, decision-making tools, geographic information systems for supporting public health service and policy making. The study, which is a part of a comprehensive effort known as Environmental Public Health Tracking proposed by the Center for Disease Control and Prevention, opens the door for future research on a large scale nation-wide healthcare information infrastructure.
Based on a novel contact-space formulation, this paper presents a new algorithm to find two-fingered caging grasps of planar polygonal objects. We show that the caging problem has several useful properties in contact space. First, the critical points of the cage representation in the hand's configuration space appear as critical points of an inter-finger distance function in contact space. Second, the critical points of this distance function can be simply characterized. Third, the contact space admits a rectangular decomposition where the distance function is convex in each rectangle, and all critical points lie on the rectangle boundaries. This property leads to a natural "caging graph," which can be readily searched to construct the caging sets. An example, constructed from realworld data illustrates and validates the method.
This article presents a model based approach to autonomous dexterous manipulation, developed as part of the DARPA Autonomous Robotic Manipulation Software (ARM-S) program. Performing human-level manipulation tasks is achieved through a novel combination of perception in uncertain environments, precise tool use, forceful dualarm planning and control, persistent environmental tracking, and task level verification. Deliberate interaction with the environment is incorporated into planning and control strategies, which, when coupled with world estimation, allows for refinement of models and precise manipulation. The system takes advantage of sensory feedback immediately with little open-loop execution, attempting true autonomous reasoning and multi-step sequencing that adapts in the face of changing and uncertain environments. A tire change scenario utilizing human tools, discussed throughout the article, is used to described the system approach. A second scenario of cutting a wire is also presented, and is used to illustrate system component reuse and generality.
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