M usculoskeletal disorders, the single largest category of workrelated injuries in many industrial countries, are associated with very high costs in terms of lost productivity. In highvolume production facilities, large parts of the workstation should ideally be adapted to individual workers in real time to prevent such injuries. However, in smaller production lines, especially those found in small and medium enterprises (SMEs), regularly adapting the entire workstation to accommodate flexibility is a major challenge. A solution to the problem is the development of reconfigurable human-robot collaboration (HRC) workstations and frameworks. These are key to enabling agile manufacturing, by merging the dexterity, flexibility, and ©ISTOCKPHOTO.COM/ALASHI

Abstract-This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The framework, based on a biologically-grounded theory of the brain and mind, integrates a reactive interaction engine, a number of state-of-the art perceptual and motor learning algorithms, as well as planning abilities and an autobiographical memory. The architecture as a whole drives the robot behavior to solve the symbol grounding problem, acquire language capabilities, execute goal-oriented behavior, and express a verbal narrative of its own experience in the world. We validate our approach in humanrobot interaction experiments with the iCub humanoid robot, showing that the proposed cognitive architecture can be applied in real time within a realistic scenario and that it can be used with naive users.

The ChromaGen lens system is designed to enhance colour perception in colour vision deficiency (CVD). To investigate its efficacy, 14 CVD subjects were prescribed ChromaGen contact lenses. Colour vision tests (Ishihara, Farnsworth Munsell D-15, Farnsworth Lantern) were administered at baseline, lens dispensing, and after a 2-week lens-wearing trial during which subjective responses were recorded daily using visual analogue scales. ChromaGen lenses significantly reduced ishihara error rates (p < 0.001; ANOVA), particularly for deutan subjects. There was also a significant reduction in errors (p < 0.005) on the D-15 test. Conversely, lens wear had no significant effect on Farnsworth Lantern test performance. Subjectively, subjects reported enhanced colour perception, but poor vision in dim light. Judgement of distance and motion were only slightly affected. We conclude that ChromaGen lenses may enhance subjective colour experience and assist in certain colour-related tasks, but are not indicated as an aid for CVD in occupations with colour vision-related restrictions.

Low-permeability (tight) and shale (gas and oil) reservoirs have emerged as a significant source of energy in North America. Recent advances in technology, such as long horizontal lateral/multi-lateral drilling combined with hydraulic fracturing, and new surveillance techniques, have enabled commercial production from ultra-low permeability reservoirs, previously considered source or cap-rock, not reservoirs. Forecasting well production for reserves estimation, hydraulic fracture stimulation optimization, and development planning remains a challenge because of complex reservoir behavior and flow geometries associated with current wellbore architectures/stimulation treatments used to exploit tight formations. Depending on the completion design, transient flow periods can last for weeks to years, and hence traditional methods requiring boundary-dominated flow are strictly inapplicable for most of the commercial life of many wells completed in tight formations. Recently, several analytical (type-curve, flow-regime analysis and simulation) and empirical approaches have been introduced to match and forecast tight reservoir production. The challenge is to develop routine techniques that can be used to forecast tight formation production, while adequately addressing the complex physics of the problem. In this work, we build on recent attempts to combine analytical and empirical methods ("hybrid" methods) for forecasting tight/shale gas reservoirs completed with multi-fractured horizontal wells. We forecast the homogenous completion (equal hydraulic fracture length) case using established analytical procedures for transient linear flow (pre fracture interference), combined with the Arps decline curve for late-time (boundary-dominated) flow. We also examine the heterogeneous completion (unequal hydraulic fracture length) case to establish the impact of heterogeneities on decline characteristics post fracture-interference. Finally, we present an innovative method for designing hydraulic fracture and well spacing.

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