International Telemetering Conference Proceedings / October 23-26, 2000 / Town & Country Hotel and Conference Center, San Diego, California / This paper discusses the successful passage past the Year 2000 (Y2K) Rollover and GPS 1999 (Week Number Roll Over) WNRO. The reasons the glitches seen at those events were relatively minor and the lessons learned to help enter the Third Millennium with careful optimism are reviewed.

Currently there are nearly 2 million people living with limb loss in the United States [1]. Many of these individuals are either transtibial (below knee) or transfemoral (above knee) amputees and require an ankle-foot prosthesis for basic mobility. While there are an abundance of options available for individuals who require an ankle-foot prosthesis, these options fail to mimic an intact ankle when it comes to key evaluation criteria such as range of motion, push-off force, and roll over shape. The roll over shape is created by plotting the center of pressure during a step in a shank-based coordinate system. To address the need for a prosthesis that effectively replaces the ankle's contribution to an able-bodied gait, a biomimetic approach is taken in the design the Compliant & Articulating Prosthetic Ankle (CAPA) foot. The passive CAPA foot consists of four components connected by torsion springs representing the Phalanges, Metatarsal bones, Talus, and Calcaneus. Biomimetic functionality is exhibited by CAPA foot with regards to the roll over shape and a linear relationship between moment exerted and ankle angle, distinguishing the CAPA foot from other ankle-foot prostheses. A mathematical model of the CAPA foot is created to determine the roll over shape a specific CAPA foot geometry would produce and support eventual customization of the 3D printed components. The mathematical model is used to optimize the design to two distinctly different roll over shapes, one with a rocker radius closer to that of the Talus bone and the other closer to the energetically advantageous value of 0.3 times leg length [2, 3]. Compliant and stiff versions of the two CAPA feet were compared to a conventional Solid Articulating Cushioned Heel (SACH) foot and a passive dynamic response foot (Renegade® AT produced by Freedom Innovations). Ten able bodied subjects walked on the Computer Assisted Rehabilitation Environment normally, and then with a transfemoral prosthetic simulator. The study was separated into two experiments. For the second experiment (subjects 6-10), the versions of the CAPA foot had pretension in the dorsiflexion springs. Overall the ankle angles and sagittal plane ground reaction forces of the CAPA foot better mimicked an intact ankle-foot than the existing passive ankle-foot prostheses. Added pretension increased the sagittal plane ground reaction forces and roll over shape radius of curvature and arc length. Nine out of ten participants preferred the CAPA foot and there was a statistical significant difference (F=14.2, p<0.01) between the difficulty level rating given for trials with the CAPA foot versus the existing ankle-foot prostheses. The mathematical model is found to be capable of accurately predicting experimental roll over shape trends and the concept of roll over shape based design is demonstrated. Successful aspects of the CAPA foot can be applied to other ankle-foot prosthesis. The CAPA foot could provide a passive, cheap, and personalizable ankle-foot prosthesis that improves mobility the quality of life for individual’s lacking an intact ankle.

京都大学 / 0048 / 新制・課程博士 / 博士(農学) / 甲第21466号 / 農博第2309号 / 新制||農||1064(附属図書館) / 学位論文||H31||N5161(農学部図書室) / 京都大学大学院農学研究科地域環境科学専攻 / (主査)教授 清水 浩, 准教授 中嶋 洋, 教授 飯田 訓久 / 学位規則第4条第1項該当 / Doctor of Agricultural Science / Kyoto University / DFAM

The mining industry is a major contributor towards the South African economy. There are several types of corporate transactions that could typically be found in the mining industry and these include merger transactions. Mergers could lead to a number of tax consequences which could include capital gains tax, the recoupment of capital allowances and dividends tax. Merger transactions do not necessarily lead to an immediate increase in profits. Therefore, the tax authorities provide for relief in respect of merger transactions. The relief takes place in the form of tax roll-overs that effectively postpone tax consequences until such time as a true economic profit is realised in the future. Taxpayers typically wish to minimise the amount of tax which they pay. Therefore, they may abuse the relief provided to avoid paying tax. In an attempt to protect the state’s revenue and to prevent tax avoidance, the tax authorities introduce anti-avoidance provisions into the tax legislation. The roll-over relief provided in respect of merger transactions, as well as the provisions dealing with mining capital allowances contain a number of provisions to combat opportunities for tax avoidance. The study explains the principles of tax avoidance and anti-avoidance in the mining industry in South Africa, and indicates the need for tax relief in the context of merger transactions in the mining industry in South Africa. The study further illustrates how tax relief presents opportunities for tax avoidance and how anti-avoidance legislation restricts these opportunities. The study also shows that there is a cycle in which an onerous tax leads to a need for relief which in turn leads to opportunities for tax avoidance which in turn leads to anti-avoidance provisions. The research conducted as part of this study shows that this cycle is an international trend that often affects the manner in which merger transactions are structured. AFRIKAANS : Die mynbedryf in Suid-Afrika lewer 'n aansienlike bydrae tot die Suid-Afrikaanse ekonomie. Samesmeltings is een van verskeie tipe korporatiewe transaksies wat in die mynbedryf in Suid-Afrika aangetref word. Samesmeltings gee ook aanleiding tot verskeie belastingimplikasies, soos Kapitaalwinsbelasting, die verhaling van belastingtoelaes en die belasting op dividende. Samesmeltings lei nie noodwendig tot 'n onmiddellike verhoging in ekonomiese voordele nie. Die belastingowerhede maak voorsiening vir belastingverligting ten opsigte van hierdie gebeure. Die verligting word gewoonlik verskaf in die vorm van die uitstel van belastingverpligtinge tot ‘n datum wanneer ‘n ekonomiese wins in die toekoms gerealiseer word. Belastingbetalers streef gewoonlik na 'n vermindering in hul belastinglas, en mag dus die verligting wat voorsien word probeer misbruik. Die belastingowerhede daarenteen maak voorsiening vir wetgewing om hierdie pogings van die belastingbetalers om belasting te vermy, teen te werk en so die inkomste van die staat te beskerm. Die uitstel wat aan samesmeltingsooreenkomste verleen word asook die voorsiening van mynboukapitaaltoelaes bevat verskeie voorsorg maatreëls om pogings tot belastingvermyding teen te werk. Die studie ontleed die beginsels van belastingvermyding en teen-vermyding wetgewing in die mynbedryf in Suid-Afrika, en wys op die behoefte vir verligting ten opsigte van samesmeltings in die mynbedryf in Suid-Afrika. Die studie toon verder ook hoe die verligting lei tot geleenthede vir belastingvermyding en hoe teen-vermyding wetgewing dit kan teenwerk. Die studie toon ook dat daar ‘n siklus bestaan, waarin die behoefte vir verligting as gevolg van n oormatige belastinglas tot geleenthede vir belastingvermyding lei, en wat op sy beurt lei tot wetgewing om die belastingvermyding te ontmoedig. Die navorsing wat as deel van hierdie studie uitgevoer is dui daarop dat hierdie siklus ‘n internasionale neiging is wat dikwels die struktuur van samesmeltingsooreenkomste affekteer. / Dissertation (MCom)--University of Pretoria, 2012. / Taxation / unrestricted

Human gait is elegant and efficient in propelling the body forward. While a healthy human gait is symmetric, any deviation from symmetry can cause inefficiencies to the entire body. Such asymmetries may present themselves in hemiplegic patients, prosthetic users, lower limb injuries, limb height and weight discrepancies, or abnormal overground foot rolling. In this dissertation, practical passive methods to alleviate such asymmetric walking dynamics are presented. The novel concepts presented in this manuscript can all be related and applied to passive gait rehabilitation, that is, the rehabilitation of a person's gait through methods that do not require external power. One of the passive rehabilitation solutions for asymmetric gait is the the Gait Enhancing Mobile Shoe (GEMS). The GEMS is designed to mimic the motions of a split-belt treadmill, which is commonly used for asymmetric gait rehabilitation. Two iterations of the GEMS prototype are presented. While the first development design of the GEMS was too bulky, it showed controlled and constant backward motion. The second fully mechanical design was tested on healthy participants and was successful in producing spatial and temporal aftereffects similar to those seen in split-belt treadmill gait studies. In order to more accurately define the dynamics of the GEMS wheel as an individual steps on the shoe, mathematical models that predict the static and dynamic behavior of irregularly shaped curves on a flat plane as a weight is applied are derived and verified. While this kinetic shape concept can be applied to rolling irregularly shaped wheels, it can also be utilized to predict and manipulate roll-over motions of human feet, prosthetic feet, or even robotic biped feet. This kinetic shape concept was applied to develop a force dependent musical string instrument, transportation device, a more efficient walking crutch for controlled crutch walking, and a unique form of force mathematics. The asymmetric kinematics of dissimilar human limbs can be synchronized for symmetry with a generalized passive kinematic synchronization technique that can match the motion of two or more dissimilar and uncoupled rotating systems. This kinematic synchronization technique introduced in this dissertation can be applied to duplicate the motion of swinging human limbs with dissimilar masses and mass distributions, which allows for the passive synchronization and rehabilitation of human limbs such as swinging arms and legs during walking. This technique also allows for the synchronization of mechanical systems such as pendulums, propellers, or rotating cams. Finally, a detailed derivation of a two and three link passive dynamic walker (PDW) model with and without variable radius feet is presented. While PDW models have been studied and derived for decades, this dissertation offers a clear and complete guide on how to derive the kinematics and kinetics of the simplest compass gait, three-link point-foot, and for the first time, a variable radius foot PDW model, where the roll-over foot shape of the PDW can be dependent on its position or other kinematic variables. This advancement in the PDW model allows for the systematic evaluation of the change of various gait parameters such as foot roll-over shape or robotic foot dynamics. This numerical biped model was compared to human gait parameters. This comparison included normal walking, tied- and split-belt treadmill walking, and GEMS walking. This model was also used to analyze the dynamic effects of changing the foot roll-over parameters such as foot roll radius and foot shape curvature. In addition, the PDW model was employed to investigate the perception of normal and pathological gait. The PDW model was systematically manipulated to produce walking patterns that showed a degree of abnormality in spatial and temporal gait parameters. This analysis showed that certain gait parameters may be asymmetrically changed to some extent without causing an abnormal perception.

Mobile boom cranes are used throughout the world to perform important and dangerous manipulation tasks. Given their mobility, these types of cranes can quickly be moved into position. Generally, their base is then fixed and stabilized before they start lifting heavy materials. The usefulness of these cranes can be greatly improved if they can utilize their mobile base during the lifting and transferring phases of operation. This ability greatly expands the workspace by combining base motion with the rotation, lifting, and luffing motions. Of course, the cranes lose some stability margin when a payload is attached. The stability is further degraded when the payload swings. This Master's Thesis presents a stability study of such cranes. As a first step, a static stability analysis of a boom crane is conducted in order to provide basic insights into the effects of the payload weight and crane configuration. Then, a semi-dynamic method is used to take the payload swing into account. As a final step, the results of a dynamic stability analysis obtained by using a multi-body simulation of the boom crane are compared to the outcomes of the previous approaches. This provides conclusions for the practical application of stability analysis. A control method that limits payload swing, and thereby improves stability, is also presented.

Limited knowledge of the neuromechanical response to use of an ankle foot orthosis-footwear combination (AFO-FC) has created a lack of consensus in understanding orthotic motion control as a therapeutic treatment. Lack of consensus may hinder the clinician’s ability to target the motion control needs of persons with movement impairment (e.g., peripheral nerve injury, stroke, etc.). Some evidence suggests a proportional relationship between joint motion and neuromuscular activity based on the notion that use of lower limb orthoses that constrain joint motion may invoke motor slacking and decreasing levels of muscle activity. Use of AFO-FCs likely alters the biomechanical and neuromuscular output as the central control system gradually forms new movement patterns. If there is proportional relationship between muscle activation and joint motion, then it could be examined by quantifying joint motion and subsequent neuromuscular output. Considering principles of neuromechanical adjustment, my general hypothesis examines whether orthotic control of lower limb motion alters neuromuscular output in proportion to the biomechanical output as a representation of the limb’s dynamics are updated by the neural control system. The rationale for this approach is that reference knowledge of the neuromechanical response is needed to inform clinicians about how a person responds to walking with motion controlling devices such as ankle foot orthoses combined with footwear. In the first line of research, I hypothesize that a newly developed AFO which maximizes leverage and stiffness will constrain the talocrural joint and alter joint kinematics and ground reaction force patterns. To answer the hypothesis, I sampled kinematics and kinetics of healthy subjects’ treadmill walking using an AFO-FC in a STOP condition and confirmed that the AFO substantially limited the range of talocrural plantarflexion and dorsiflexion motion to 3.7° and in a FREE condition maintained talocrural motion to 24.2° compared to 27.7° in a CONTROL (no AFO) condition. A follow up controlled static loading study sampled kinematics of matched healthy subjects limbs and cadaveric limbs in the AFO STOP and FREE conditions. Findings revealed healthy and cadaveric limbs in the AFO STOP condition substantially limited their limb segment motion similar to matched healthy subjects walking in the STOP condition and in the AFO FREE condition healthy and cadaveric limbs maintained similar limb segment motion to matched healthy subjects walking in the FREE condition. In a second line of research, I hypothesize that flexibility of a newly developed footwear system will allow normal walking kinetics due to the shape and flexibility of the footwear. To answer the hypothesis, I utilized a curved-flexible footwear system integrated with an AFO in a STOP condition and sampled kinematics and kinetics of healthy subjects during treadmill walking. Results revealed subjects elicited similar cadence, stance and swing duration and effective leg-ankle-foot roll over radius compared to walking in the curved-flexible footwear integrated with the AFO in a FREE condition and a CONTROL (no AFO) condition. To validate rollover dynamics of the curved-flexible footwear system, a follow up study of healthy subjects’ treadmill walking in newly developed flat-rigid footwear system integrated with the AFO in a STOP condition revealed interrupted leg-ankle-foot rollover compared to walking in curved-flexible footwear in STOP, FREE and CONTROL conditions. In a third line of research, I hypothesize that use of an AFO that limits talocrural motion in a STOP condition will proportionally reduce activation of Tibialis Anterior, Soleus, Medial and Lateral Gastrocnemii muscles compared to a FREE and CONTROL condition due to alterations in length dependent representation of the limb’s dynamics undergoing updates to the central control system that modify the pattern of motor output. To answer the question, the same subjects and AFO-footwear presented in the first two lines of research were used in a treadmill walking protocol in STOP, FREE, and CONTROL conditions. Findings revealed the same subjects and ipsilateral AFO-footwear system presented in Aim 1 exhibited an immediate yet moderate 30% decline in EMG activity of ipsilateral Soleus (SOL), Medial Gastrocnemius (MG) and Lateral Gastrocnemius (LG) muscles in the STOP condition compared to the CONTROL condition. The reduction in EMG activity in ipsilateral SOL, MG and LG muscles continued to gradually decline during 15 minutes of treadmill walking. On the contralateral leg, there was an immediate yet small increase of 1% to 14% in EMG activity in SOL, MG, LG muscles above baseline. After 10 minutes of walking, the EMG activity in contralateral SOL, MG and LG declined to a baseline level similar to the EMG activity in the contralateral CONTROL condition. These collective findings provide compelling evidence that the moderate 30% reduction in muscle activation exhibited by subjects as they experience substantial (85%) constraint of total talocrural motion in the AFO STOP condition is not proportionally equivalent. Further, the immediate decrease in muscle activation may be due to a reactive feedback mechanism whereas the continued decline may in part be explained by a feedforward mechanism. The clinical relevance of these findings suggests that short term use of orthotic constraint of talocrural motion in healthy subjects does not substantially reduce muscle activation. These preliminary findings could be used to inform the development of orthoses and footwear as therapeutic motion control treatments in the development of motor rehabilitation protocols.

In the U.S., work-related death is an all too familiar occurrence on farms. Tractor overturns continue to be the most frequent cause of these fatalities. Efforts to alter farming’s ranking as one of the most deadly occupations in the country must provide proven strategies for the elimination of these preventable deaths. In the past, efforts to decrease the rate of overturn fatalities and injuries have largely focused onincreasing the proportion of tractors with a rollover protective structure (ROPS). These devices, in combination with seatbelts, are 99% effective in protecting the tractor operator from death or injury. Unfortunately, only 59% of U.S. tractors are currently equipped with ROPS. Due to the relative lack of political willpower to legislate ROPS installation and the less than encouraging response to education and awareness programs to date, it appeared necessary to explore alternative intervention strategies. The over-arching purpose of this thesis project has been to assess the utility of social marketing as a framework for developing effective health and safety interventions in the farm community. However, our specific objectives included; a more thorough understanding of the perceived barriers and motivators that influence farmer’s safety decisions, the design and evaluation of social marketing incentives developed to encourage safe behaviors and the evaluation of a social marketing campaign designed to positively impact farmer’s intentions and readiness to retrofit unsafe tractors. The research was by and large conducted in New York State and supported by grants from the National Institutes of Occupational Safety and Health (NIOSH). Previous research conducted in the New York farm community had indicated that small crop and livestock farmers would be an ideal intervention target for a social marketing tractor overturn intervention as their farms accounted for close to 85% of New York farms which lack or have only one ROPS protected tractor. A qualitative assessment of perceived barriers and motivators regarding retrofitting behaviors was performed with representatives of the small crop and livestock community. Grounded theory analysis of these in-depth interviews revealed several key categories which include: 1) risk becomes “normal”, 2) risk becomes part of a “farming identity”, and 3) risk becomes “cost-effective”. This information was used to design potential intervention incentives, such as toll-free assistance finding and purchasing ROPS, financial rebates, and campaign messages designed to address farmer’s stated concerns. Subsequent research included testing and revising messages and evaluating the effect of the different campaign incentives in a prospective quasirandomized controlled trial conducted in different regions of New York and Pennsylvania. The results indicate that social marketing offers a promising framework for the development of injury or fatality prevention programs in farm communities. Farmers in the social marketing region demonstrated the most significant changes in both behavioral intention and readiness to retrofit compared to farmers from other regions. Data also indicated that social norms strongly influence farmer’s decisions to work safely, as demonstrated by the strong correlations between behavioral intention measures and measures of social norms. As well as providing an assessment of the utility of social marketing as an intervention framework, the thesis provides a cogent example of how behavioral theories can be used in the design and evaluation of intervention programs. Both stages of change theory and the theory of planned behavior proved to be valuable for measuring dispositional and behavioral changes and for finetuning future interventions.