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Control Of Rigid Robots With Large Uncertainties Using The Function Approximation Technique, Donald Ebeigbe
Control Of Rigid Robots With Large Uncertainties Using The Function Approximation Technique, Donald Ebeigbe
ETD Archive
This dissertation focuses on the control of rigid robots that cannot easily be modeled due to complexity and large uncertainties. The function approximation technique (FAT), which represents uncertainties as finite linear combinations of orthonormal basis functions, provides an alternate form of robot control - in situations where the dynamic equation cannot easily be modeled - with no dependency on the use of model information or training data. This dissertation has four aims - using the FAT - to improve controller efficiency and robustness in scenarios where reliable mathematical models cannot easily be derived or are otherwise unavailable. The first aim …
Unionidae In The Cuyahoga River: An Update On Population Health, Rachel Andrikanich
Unionidae In The Cuyahoga River: An Update On Population Health, Rachel Andrikanich
ETD Archive
Inspiration for the Clean Water Act (1972), the Cuyahoga River has been one of the most protected rivers in the country since the 1970s. Water quality is now within acceptable limits outlined by the Ohio Environmental Protection Agency, shoreline integrity has improved, and sediments mostly test free from toxins and heavy metals. With recovery, various faunal communities, such as freshwater mussels (family Unionidae), are expected to re-establish; no previous surveys of the Cuyahoga focus on this issue. To better understand whether mussel populations recovered as water quality improved within the Cuyahoga Watershed, surveys were completed by two-person teams for one …
Validity Of Various Bioelectrical Impedance Analysis Devices Vs The Bod Pod For Body Composition, Alivia Blakley
Validity Of Various Bioelectrical Impedance Analysis Devices Vs The Bod Pod For Body Composition, Alivia Blakley
ETD Archive
Purpose: The purpose of this study was to determine the validity of various BIA devices compared to a criterion, the Bod Pod. It was hypothesized that (1) there would be no significant difference in the various BIA devices (Seca, Inbody, Tanita, Omron) as compared to the Bod Pod, for validity and reliability, (2) there would be no significant difference in total body water as measured by the Seca and Tanita, and (3) there would be significant differences in weight as measured by four of the five devices (Bod Pod, Seca, Tanita, Inbody). Methods: Forty participants, ages 18-31 years, 20 female …
Voice Disorders Secondary To Thyroidectomy: A Case Study, Samantha D'Agostino
Voice Disorders Secondary To Thyroidectomy: A Case Study, Samantha D'Agostino
ETD Archive
The thyroid is an important gland that aids in development. Located anteriorly at the base of the neck, the thyroid produces hormones that regulate metabolism. Thyroid dysfunction can lead to excess or reduced production of hormones known as hyper and hypothyroidism. Usually affecting women, hyper and hypothyroidism can be life-threatening. A well-known treatment is a thyroidectomy, or removal of the thyroid gland. Many people report vocal change secondary to thyroidectomy. Dysfunction can result from intubation during surgery or damage to laryngeal nerves and/or muscles. A participant’s low intensity and difficulty with projection prompted a case-study to examine the laryngeal area …
Design, Control, And Optimization Of Robots With Advanced Energy Regenerative Drive Systems, Poya Khalaf
Design, Control, And Optimization Of Robots With Advanced Energy Regenerative Drive Systems, Poya Khalaf
ETD Archive
We investigate the control and optimization of robots with ultracapacitor based regenerative drive systems. A subset of the robot joints are conventional, in the sense that external power is used for actuation. Other joints are energetically self-contained passive systems that use ultracapacitors for energy storage. An electrical interconnection known as the star configuration is considered for the regenerative drives that allows for direct electric energy redistribution among joints, and enables higher energy utilization efficiencies. A semi-active virtual control strategy is used to achieve control objectives. We find closed-form expressions for the optimal robot and actuator parameters (link lengths, gear ratios, …
Cursed Connections, Asia N. Wyley
Cursed Connections, Asia N. Wyley
ETD Archive
This thesis is a work of fiction. It contains the first fifteen chapters of a novel in-progress. The novel will use five different perspectives to tell the origin story of problematic issues that led to the creation of magical divide between the magical and nonmagical beings. Cursed Connections explores the circumstances that divide families, lovers, and friends while examining the consequences of one putting one’s duty over their loved ones. By using the perceptions of a mother and her three daughters along with an unknown fifth perspective, this novel will tell the story of what happens when each character contributes …
Stories Of Life And Other Such Happenings, Lynette R. Ellis
Stories Of Life And Other Such Happenings, Lynette R. Ellis
ETD Archive
Stories of Life and Other Such Happenings is a combination of three short stories, Breasts Before Brunch, Two Pink Lines, and Tooneressie. Breasts Before Brunch is a comedic romance telling a story of a young lady attempting to find love even despite a crazy family. When her flamboyant cousin insinuates herself into Natalie’s date with her new boyfriend, Natalie’s imagination of what she would like to do to her cousin runs wild. When her cousin decides to show Greg her new boobs, the situation goes from bad to worse for Natalie. Alternatively, Two Pink Lines tells a very different type …
Mortality Salience And The Effects Of Autonomy On Death Anxiety, Dylan Earlin Horner
Mortality Salience And The Effects Of Autonomy On Death Anxiety, Dylan Earlin Horner
ETD Archive
The present research built on prior work suggesting that mortality salience (MS) can undermine psychological well-being and explored the previously-untested hypothesis that autonomy can mitigate that effect. Specifically, the study investigated the effects of primed autonomy on measured death anxiety following a reminder of mortality. Participants (n = 119) were randomly assigned to either an MS or control condition and then, following a delay, were primed with the concept of either autonomy or being controlled. Death anxiety was then measured. Results found that MS increased death anxiety among those in the controlled prime condition, but not among those in the …
The Effects Of Mortality Salience And Autonomy Priming On Worldview Defensiveness, Joseph P. Conti
The Effects Of Mortality Salience And Autonomy Priming On Worldview Defensiveness, Joseph P. Conti
ETD Archive
Terror Management Theory posits that people are motivated to defend against death awareness by maintaining cultural beliefs and behaviors that transcend mortality— sometimes motivating hostile, even militaristic, defenses of one’s culture. In contrast, self-determination theory suggests that autonomous regulation (self-determination) serves as a platform for personal growth and well-being. However, the present thesis suggests that, in addition to fueling growth, self-determination may also help buffer against the awareness of mortality, thus mitigating the impact of death awareness on hostile cultural worldview defense. To test this hypothesis, American participants were randomly assigned to be reminded of mortality or a control topic, …
Red Honey, Dylan Brannen
Red Honey, Dylan Brannen
ETD Archive
Red Honey is a collection of conceptual poetry based around the transfeminine body, the traumatized body, and the queer body. It follows transformations, rebirths, and deaths to their ends. Nothing is inevitable. This is a spell book for those who wish to live again.
Role Of Ribosomal Protein Us9/Ys16 In Translation Initiation And Elongation In Yeast Saccharomyces Cerevisiae., Supriya Jindal
Role Of Ribosomal Protein Us9/Ys16 In Translation Initiation And Elongation In Yeast Saccharomyces Cerevisiae., Supriya Jindal
ETD Archive
The process of translation in all living cells is performed by ribosomes and is divided into four major steps (initiation, elongation, termination and ribosome recycling). Ribosomes consist of ribosomal RNA (rRNA) and proteins and are composed of two subunits small and large. There are three major sites for tRNA binding within ribosome: the (aminoacyl) A-site which accepts the aminoacyl (aa)-tRNA; the P-site, where the peptidyl-tRNA is formed and the (exit) E-site, where deacylated tRNA exits the ribosome. These sites are formed by both rRNA and ribosomal proteins. Though rRNA are involved in the catalysis of protein synthesis, the contribution of …
The Cry Of A Revolutionary Spirit: Reactions To The Goals Of Three Movements From Revolutionary Groups Within The United States Of America, Dennessa D. Gooden
The Cry Of A Revolutionary Spirit: Reactions To The Goals Of Three Movements From Revolutionary Groups Within The United States Of America, Dennessa D. Gooden
ETD Archive
This thesis explored the power of verbal and non-verbal communication through revolutionary movements in the United States of America. The research focused on the overall question of whether people in America still support key U.S. revolutionary movements (as expressed by three U.S. revolutionary groups--the U.S. Founding Fathers, the Black Panther Party, and the Black Lives Matter group). These three revolutionary movements had similar goals and verbal messages, but there were three very different reactions among people in the United States of America. Overall, it was found that people in the Unites States generally do support the goals of these three …
The Effect Of The I-Ready Reading Program On Student Scores On The Northwest Evaluation Association (Nwea®) Measures Of Academic Progress (Map) Reading Assessment, Ricardo A. Torres
The Effect Of The I-Ready Reading Program On Student Scores On The Northwest Evaluation Association (Nwea®) Measures Of Academic Progress (Map) Reading Assessment, Ricardo A. Torres
ETD Archive
The purpose of this study was to examine the effect on student scores on the Northwest Evaluation Association (NWEA®) Measures of Academic Progress (MAP) Reading Assessment when students are engaged with on-line adaptive diagnostics and instruction via the Curriculum Associates (CA) i-Ready Reading on-line platform. Outcomes were explored based on usage of the i-Ready program, ethnicity (Hispanic, or Non-Hispanic), and sex (male, or female) of the participant. Participants were students in a K-8 environment in an urban setting in the Mid-West United States. There were two groups of students: one group who used the i-Ready Reading program by CA, and …
“Beyond The Gilded Cage”: Staged Performances And The Reconstruction Of Gender Identity In Mrs. Dalloway And The Great Gatsby, Anthony F. Pinzone
“Beyond The Gilded Cage”: Staged Performances And The Reconstruction Of Gender Identity In Mrs. Dalloway And The Great Gatsby, Anthony F. Pinzone
ETD Archive
Although scholars have examined Mrs. Dalloway extensively in terms of gender performance, few critics of The Great Gatsby have explored Gatsby’s masculinity through gender studies. Using Judith Butler’s theory of gender performativity, I argue that Mrs. Dalloway and Gatsby represent both actors and directors rehearsing a new gendered identity of the twentieth century. Through their roles as staged performers, I emphasize how seemingly minute tasks connect to larger social and political stakes of memory, celebrity status, and reappraisals of gender identity. I further assert that while both Mrs. Dalloway and Nick Carraway experience revelations and heightened imagination through death, neither …
Effects Of Self-Determination On Work/Life Balance, Sarah M. Hawke
Effects Of Self-Determination On Work/Life Balance, Sarah M. Hawke
ETD Archive
In recent years the workforce has experienced many changes, mostly as a result of the proliferation of technology. With the ever changing work environment and the increased blurring of work and home boundaries, more research is imperative in helping organizations hire, retain, and keep the right employees satisfied. The present study aims to examine the interactions and moderating effects of motivation on boundary management preferences and behaviors. Respondents were asked to complete three questionnaires assessing their motivation towards their current work, preferred boundary management styles, and their enactment of boundary management techniques while present in the work and home domains. …
Psychological Abuse In Same-Sex Couples Compared To Heterosexual Couples: Implications For Depression Outcomes, Kristyn Oravec
Psychological Abuse In Same-Sex Couples Compared To Heterosexual Couples: Implications For Depression Outcomes, Kristyn Oravec
ETD Archive
Many studies have documented the mental health repercussions of intimate partner violence (IPV) on heterosexual individuals, with depression being one of the most prevalent outcomes of IPV victimization (Campbell, 2002; Golding, 1999; Mechanic, Weaver, Resick, 2008). There are very few studies that examine the mental health outcomes of IPV within same-sex relationships (Gehring & Vaske, 2017), because much research is rooted in traditional frameworks. In order to bridge gaps in the research, this project will extend work on IPV to focus on LG populations to examine the relationship between recent psychological abuse and mental health outcomes, specifically depression. Participants comprised …
Building International Business Competencies, Human Capital, And Service Capabilities: A Study Of Emerging Market Professional Service Small-And-Medium-Sized Enterprises, Nicholas Mathew
ETD Archive
Prior research has shown that a firm’s intangible resources are an important source of sustainable competitive advantage. This dissertation focuses on the intangible resources of Professional Service Firms that are Small and Medium-sized Enterprises (PSF SMEs) from an emerging market (namely India). PSF SMEs from emerging markets (such as India) are expanding globally and are attempting to compete with developed country market firms. This research study examines the factors that allow these PSF SMEs to compete successfully in the global marketplace. Examining these factors will enable developed country market firms as well as other emerging market firms to better understand …
Thenar Muscle And Transverse Carpal Ligament Relationship, Jeremy Granieri Loss
Thenar Muscle And Transverse Carpal Ligament Relationship, Jeremy Granieri Loss
ETD Archive
The transverse carpal ligament (TCL) acts as a partial origin for the thenar muscles (abductor pollicis brevis (APB), flexor pollicis brevis (FPB), opponens pollicis (OPP)). The attachment between the thenar muscles and TCL implies a relationship between the tissues. The thenar muscles rely on their origins for thumb motion and force production. However, individual thenar origin information is lacking. Further information regarding the anatomical relationship between the individual thenar muscles and TCL may provide insight into thenar muscle function. In addition, the TCL responds to thenar muscle contraction as shown by volar migration of the TCL during various thumb movements. …
Coordination Chemistry Of N,N’- Azodoxides, Lakshmi Balaraman
Coordination Chemistry Of N,N’- Azodoxides, Lakshmi Balaraman
ETD Archive
The coordination chemistry of nitric oxide (NO) with transition metals has been extensively investigated, but that of organic NO derivatives as ligands less so. Some nitrosoalkanes RNO and nitrosoarenes ArNO are in equilibrium with dimeric species known as N,N'–azodioxides, R(O)NN(O)R or Ar(O)NN(O)Ar. The cis diastereomers of azodioxides have been proposed to act as bidentate chelating ligands for both main-group and transition metals, but only three azodioxide complexes, a dicationic iron (II) complex, a neutral scandium (III) complex, and a dicationic calcium (II) complex, have thus far been structurally characterized before our work in this area. The delocalized π system of …
Self-Compassion And Depression Across Culture: Comparisons Of Emerging Adults In China And The United States, Han Na Lee
Self-Compassion And Depression Across Culture: Comparisons Of Emerging Adults In China And The United States, Han Na Lee
ETD Archive
Major Depressive Disorder (MDD) is one of the most common mood disorders and affects over 300 million individuals across the world in a given year. MDD is marked by sadness, loss of pleasure or interest, feelings of guilt or low self-worth, disturbed sleep or appetite, fatigue or loss of energy, and poor concentration that leads to functional impairment, which can potentially have a debilitating impact on individual’s educational, occupational, social and psychological areas of life. Not only is depression highly prevalent in the U.S., but it is also a global concern, including countries such as China. Estimates of lifetime prevalence …
Three-Dimensional Human Neural Stem Cell Culture For High-Throughput Assessment Of Developmental Neurotoxicity, Pranav Joshi
Three-Dimensional Human Neural Stem Cell Culture For High-Throughput Assessment Of Developmental Neurotoxicity, Pranav Joshi
ETD Archive
Only a few hundred of compounds, among tens of thousands of commercially available compounds, have been tested for developmental neurotoxicity (DNT) due to the limitations of current guidelines for DNT which are based entirely on in vivo experiments. In vivo studies are highly expensive and time-consuming, which often do not correlate to human outcomes. There is a key gap in our ability to predict in vivo outcomes accurately and robustly using in vitro assays. This is particularly the case for predicting the toxicity of chemicals on the developing human brains. Conventional in vitro assays are typically performed in two-dimensional (2D) …
Tracing The Origins Of The Eighteenth-And Nineteenth-Century Rake Character To Depictions Of The Modern Monster, Courtney A. Conrad
Tracing The Origins Of The Eighteenth-And Nineteenth-Century Rake Character To Depictions Of The Modern Monster, Courtney A. Conrad
ETD Archive
While critics and authors alike have deemed the eighteenth- and nineteenth-century literary rake figure as a “monster” and a “devil,” scholars have rarely drawn the same connections between monsters to rakes. Even as critics have decidedly characterized iconic monsters like Victor Frankenstein and Dracula as rapists or seducers, they oftentimes do not make the distinction that these literary monsters originated from the image of the rake. However, the rake and the monster share overarching characteristics, particularly in the inherent qualities their respective authors attribute to them, which shape the way they treat women and offspring. A side-by-side comparison between the …
Congestion Mitigation Strategy: Modeling The Effect Of Different Geometric Configurations Of A Two-Lane On-Ramp On Capacity Using Vissim, Rhizlane Brachmi
Congestion Mitigation Strategy: Modeling The Effect Of Different Geometric Configurations Of A Two-Lane On-Ramp On Capacity Using Vissim, Rhizlane Brachmi
ETD Archive
Freeway on-ramps are critical components of freeway systems since they control the entry of traffic to the mainline. According to the Highway Capacity Manual (HCM), a two-lane on-ramp configuration will achieve less turbulence than a similar one-lane on-ramp but little guidance on the desired lengths of the acceleration lanes or their effect on the operation of the influence area is provided. An experiment was designed to investigate the effect of the lengths of the acceleration lanes of isolated, two-lane on-ramps on the operation of the ramp influence area. The Highway Capacity Software (HCS) was used to calculate the density of …
The Passion Of Love Or The Love Of Passion In A-Minor, Brendan Whitt
The Passion Of Love Or The Love Of Passion In A-Minor, Brendan Whitt
ETD Archive
A-Minor is an one-act play that examines the relationship between a Black artist and the predominantly white society and industry he must assimilate into in order to be considered a success. The main character Jacque Bonnet is used as a vessel to interpret the life and career of Joseph Bologne Chevalier de St. George. Despite Bonnet and Bologne being from different eras (Bologne mid to late 1700’s, Bonnet Mid 1800’s) I used Bonnet as a device to investigate the lesser explored life of Bologne. By creating a meta-gothic world for Jacque Bonnet to exist in, the crowd can watch his …
The Effect Of Electronic Nicotine Delivery Systems On The Vocal Folds, Hilary Gayle Sample
The Effect Of Electronic Nicotine Delivery Systems On The Vocal Folds, Hilary Gayle Sample
ETD Archive
Electronic Nicotine Delivery Systems (ENDS) are non-combustible tobacco products that are rapidly gaining in popularity worldwide. ENDS are marketed as safer alternatives to cigarettes; however, very little research is available to support or deny these claims. ENDS aerosol is inhaled over the vocal folds and into the lungs consistent with cigarette smoke. The larynx is among the primary locations affected by smoking; therefore, it is necessary to evaluate the effect, if any, of ENDS on the larynx. The goal of the present study was to evaluate the laryngeal appearance and function of seven ENDS users as compared to four cigarette …
Advanced Processing Of Nickel-Titanium-Graphite Based Metal Matrix Composites, Amit K. Patil
Advanced Processing Of Nickel-Titanium-Graphite Based Metal Matrix Composites, Amit K. Patil
ETD Archive
A new class of in situ titanium carbide (TiC)/graphite (C) reinforced nickel matrix composites with variation in composition particularly varying C/Ti ratio have been processed using two different processing techniques. Firstly, via mechanical alloying (MA) followed by spark plasma sintering (SPS), i.e. solid-state processing. Secondly, using Laser engineered net shaping (LENSTM) technique, i.e. metal additive manufacturing technique. Mechanical alloying has gained special attention as a powerful non-equilibrium process for fabricating amorphous and nanocrystalline materials, whereas spark plasma sintering is a unique technique for processing dense and near net shape bulk alloys with homogeneous microstructure. Laser engineered net shaping (LENSTM) is …
Dándoles Más De Lo Que Pidieron: La Justicia Epistemológica En El Abrazo De La Serpiente De Ciro Guerra, Ryan Bradley Pinchot
Dándoles Más De Lo Que Pidieron: La Justicia Epistemológica En El Abrazo De La Serpiente De Ciro Guerra, Ryan Bradley Pinchot
ETD Archive
Tras la nominación de El abrazo de la serpiente de Ciro Guerra a mejor película extranjera en los premios Óscar en 2016, muchos críticos periodistas colombianos celebraron el filme, a menudo enfatizando el cuidado con el que el director retrató a los pueblos indígenas de la Amazonía. Es cierto que la obra plasma un diálogo muchas veces didáctico entre personajes arquetípicos—dos científicos de Occidente y un chamán indígena—y que Guerra retrata en la diégesis, así como provoca en el público, un evento políticamente productivo, lo que el estudioso Boaventura de Sousa Santos denomina una “ruptura epistémica”. Por otro lado, el …
The Effect Of Self-Compassion In The Experience Of Anxiety And Fear During An Interpersonal Stressor, Arishna Agarwal
The Effect Of Self-Compassion In The Experience Of Anxiety And Fear During An Interpersonal Stressor, Arishna Agarwal
ETD Archive
At its core, Social Anxiety Disorder (SAD) is an intense fear where an individual is afraid of being rejected, humiliated, embarrassed, or negatively judged by others in social situations. Due to these feelings, those affected by SAD avoid interpersonal situations, which maintain and worsen the disorder. SAD affects 15 million adults and impairs daily functioning in countless aspects. Through various research studies, evidence has shown that individuals who suffer from SAD have difficulty managing their emotional states such as fear and anxiety and are less willing to accept and forgive themselves than their healthy peers. Willingness to accept, be kind, …
Determinants Of Multitasking Behavior Among Young Adults During Group Meetings: Attitudes On Norms, Polychronicity And Multicommunicating, Samantha Okegbe
Determinants Of Multitasking Behavior Among Young Adults During Group Meetings: Attitudes On Norms, Polychronicity And Multicommunicating, Samantha Okegbe
ETD Archive
Research on the influence of multitasking behavior on efficacy of outcomes is mixed. Many researchers consider multitasking to enhance individuals’ productivity when it is managed properly, and others argue that it is detrimental in some cases. This study is about understanding multitasking behavior of young adults during group meetings. Group meetings are an integral part of communication practices in organization. Group meetings are essential for training, planning, and completing a task that requires participation from all members of a group. One of the norms in group meetings is the expectation to focus on task at hand and pay attention to …
Mechanisms For Depression Risk Among Those With Sexual Abuse Histories: Stress Sensitivity And Emotion Regulation Deficits, Angela Bush
ETD Archive
The present study examined whether childhood sexual abuse (CSA) predicts depression-related outcomes indirectly via stress sensitivity and emotion regulation (ER) deficits or whether ER difficulties mediate the relationship between CSA and stress sensitivity. Both stress sensitivity and ER deficits have been examined as mechanisms that increase depression risk for those with CSA histories, however their interplay has been largely understudies. Competing models of CSA, stress sensitivity, ER deficits and depression symptoms and affects in daily life were examined. Community dwelling and undergraduate participants (N=99) reported CSA histories via a psychosocial interview, completed measures of trait ER repertoires, perceived stress and …