Digital Commons Network^™

Multi Robot Systems: The Eagleknights/Robobulls Small- Size League Robocup Architecture, Alfredo Weitzenfeld

Florida Conference on Recent Advances in Robotics

In this paper we present the system architecture of the Eagle Knights/RoboBulls Small Size League RoboCup Team. In this league two teams composed of five autonomous robots each compete against each other in a medium size field. This league is one of the fastest and most thrilling in RoboCup permitting teams to develop complex coordination strategies. We explain the three main components of the architecture: Vision System, AI System and Robots.

Linkage-Based Prosthetic Fingertips: Stability Analysis, Issa A. Ramirez, Craig P. Lusk, Murray E. Maitland

Florida Conference on Recent Advances in Robotics

The purpose of this study is to analyze linkage- based prosthetic fingertips. The novel design consists of small four-bar mechanisms attached to each section of the opposing fingers replacing what would be the pulp of normal anatomical fingers. The four-bar mechanisms allow the prosthetic hand to conform to the shape of objects during grasp The goal of these prosthetic fingertips is to maximize the functionality of the hand while minimizing the number of inputs that the user has to control. This is crucial in prosthetics where the user may have limited input options, but it may also be useful in …

A Metric For Planar Displacements, Venkatesh Venkataramanujam, Pierre Larochelle

Florida Conference on Recent Advances in Robotics

Metrics, which facilitate the measurement of parameters such as “distance” and “length” are used frequently in rigid body guidance problems. Commonly used metrics have a characteristic of being dependent on the choice of fixed or moving reference frame and the units used. Most motion synthesis algorithms require some notion of the “distance” between two desired locations. The metrics in Euclidean space depend on the coordinate frame and units used. A metric independent of these choices is desirable. In this paper we present a metric which is independent of the choice of fixed coordinate frame.

Proposed Design Of A Triped Robot, Daniel Kamerling, Pierre Larochelle

Florida Conference on Recent Advances in Robotics

Nature may be drawn upon as inspirations for robotic de- sign. Biomimetics is the term used when the goal becomes replicating biological mechanisms. This method leverages the evolution of a life form over the course of many iter- ations. The concept of “better than bio” has emerged in order to combat functional fixedness that can occur from biomimetics. The goal of design being to take a biologi- cally inspired base and then improve upon it with classical engineering methods.

This paper presents an analysis of the locomotion, energy consumption, and control of a tripedal robot. The aim is to gain …

Xanthus: Self-Reconfigurable Modular Robot, Adrian Arbide, Vishnu Madadi, Sabri Tosunoglu

Florida Conference on Recent Advances in Robotics

Second generation self-reconfigurable modular robotic system Xanthus developed at FIU is presented in this paper. The robot is capable of self-reconfiguring its mechanical structure for efficient walking and crawling as the previous version. In addition, the current version is able to reconfigure and roll conforming to the terrain. In both versions, changing modes is accomplished without human intervention. This work addresses mechanical design, hardware, control and software development for all- terrain navigation. Algorithms for quadruped walking, crawling and rolling are generated and tested on the prototype.

Position Tracking Performance Of A Redundant Teleoperation System, Mehmet Ismet Can Dede, Sabri Tosunoglu

Florida Conference on Recent Advances in Robotics

Teleoperation has captured the interest of robotics researchers for more than two decades. Many focused on the stability problem when the system experiences time delays. Most of the time, guaranteeing stability has overshadowed the tracking performance. This work differentiates teleoperation systems into two groups as limited and unlimited-workspace teleoperation depending on their position tracking priorities. Specifically, this paper examines limited-workspace teleoperation on a redundant system. The slave is modeled to be the virtual representation of a Fanuc LR Mate 100iB, a five degree-of-freedom (DOF) serial industrial manipulator. The master is selected as a two-DOF force-reflecting joystick. Hence, the teleoperation system …

Tyrol: Evolution Of A 10-Axis Biped Robot, Vishnu Madadi, Sabri Tosunoglu

Florida Conference on Recent Advances in Robotics

This paper presents work demonstrating the evolution of a biped robot named Tyrol from a simulation environment to physical realization. For the past few years, humanoid robot development has been receiving increasing interest by several research groups. The design of this class of robots is quite challenging because of a variety of reasons such as the high number of degrees of freedom involved, balancing issues, power to weight ratio, and complexity of their control. By studying the development of a biped robot, this work addresses humanoid robot design and control in a bottom-up approach. For this purpose, a ten-degree-of-freedom biped …

Design, Fabrication, And Characterization Of A Microgripper Device, Jose A. Martinez, Roberto R. Panepucci

Florida Conference on Recent Advances in Robotics

In this work, we present the development process of SU-8 polymer based microgrippers applied to novel parallel displacement geometry and assembly techniques. Finite element based simulations were utilized to determine the geometry dimensions, and to verify its operation. Two actuation techniques, mechanical, and piezoelectric are implemented, and characterized. The fabrication process requires a single mask, and it is described along with the assembly process required to implement the actuator-microgripper system. Experimental results are presented for both actuation techniques, along with failure analysis. The microgrippers are designed to manipulate microstructures in the range of 5 to 50μm.

Adaptive Control For Nonlinear Uncertain Systems With Actuator Amplitude And Rate Saturation Constraints, Alexander Leonessa, Yannick Morel

Florida Conference on Recent Advances in Robotics

A direct adaptive nonlinear tracking control framework for multivariable nonlinear uncertain systems with actuator amplitude and rate saturation constraints is developed. To guarantee asymptotic stability of the closed-loop tracking error dynamics in the face of amplitude and rate saturation constraints, the adaptive control signal to a given reference (governor or supervisor) system is modified to effectively ro- bustify the error dynamics to the saturation constraints. An illustrative numerical example is provided to demonstrate the efficacy of the proposed approach.

Using The Wave Variable Method For A Human-Machine Haptic Interface In The Presence Of Time Delay, Marc Alise, Rodney G. Roberts, Daniel W. Repperger

Florida Conference on Recent Advances in Robotics

Even a small amount of time delay in a bilateral teleoperation system will generally degrade the system's performance and cause instability. Consequently, without some form of compensation for time delay, latencies in a teleoperation system would preclude the use of force feedback. Fortunately, there are approaches based on scattering theory and passivity that can compensate for time delay and allow the use of force feedback in teleoperation systems with latencies. In particular, the wave variable method is a passivity- based approach that guarantees stability for any fixed time delay. In this work, the authors take a generalized approach which includes …

Evaluating The Fault Tolerance Of A Parallel Manipulator Based On Relative Manipulability Indices, Hyun Geun Yu, Rodney G. Roberts

Florida Conference on Recent Advances in Robotics

In this article, the authors investigate the fault tolerance of manip- ulators in their nominal configuration. In this work, fault tolerance is measured in terms of the worst case relative manipulability index. While this approach is applicable to both serial and parallel mechanisms, it is especially applicable to parallel mechanisms with a limited workspace. It is first shown that the relative manipulability indices are characterized by the null space of the manipulator Jacobian. This motivates the problem of determining the class of manipulator Jacobians with a prescribed null space. This approach can be used to find optimally fault-tolerant manipulators. It …

Kinematic Analysis Of A Planar Tensegrity Mechanism, Jahan Bayat, Carl D. Crane Iii

Florida Conference on Recent Advances in Robotics

This paper presents the equilibrium analysis of a planar tensegrity mechanism. The device consists of a base and top platform that are connected by one connector leg (whose length can be controlled via a prismatic joint) and two spring elements whose linear spring constants and free lengths are known. The paper presents two cases, one where the spring free lengths are both zero, and the other where the spring free lengths are nonzero. The purpose of the paper is to show the enormous increase in complexity that results from nonzero free lengths.

A New Empirical Law For The Prediction Of The Zero-Lift Pitching Moment Coefficient Of Swept And Tapered Wings, Mondher Yahyaoui

Journal of Aviation Technology and Engineering

A new empirical law for the prediction of the zero-lift pitching moment coefficient of trapezoidal wings with linear twist and constant taper and sweep in subsonic flow is introduced. This law is quite general in that it does not rely on the use of charts and spans the normal range of values of taper ratio, aspect ratio, and sweep for subsonic aircraft. It does not, however, accommodate different airfoils along the wingspan and only positive sweep has been considered. The empirical law was first derived for the incompressible regime and then an additional empirical law for the compressibility effect has …

Improving The Structural And Physical Yield Of Aluminum By Repeated Additions Of Iron Carbide, Fayrooz K. Albasri

Al-Bahir

Aluminum suffers from low hardness and some ductility when thermal sintering which requires reinforcement with carbide or ceramic materials as Iron FeC with volumetric properties (2,4,6,8,10 )%. For purpose of the pressing process after mixing the two powder together, a scanning electron microscope examination performed for the prepared samples and found that there is a surface and structural consistency between aluminum and iron carbide and the best homogeneity is at10 % of carbide. Also some physical tests conducted for prepared samples and the results of the real density showed that the addition of iron carbide increases the density gradually and …

Vol.51 N.09 September 21st 2023, Voice Media Ventures

Black Voice News

No abstract provided.

Gasification Of Waste Wood Fractions In A Staged Process – Characterization Of Resulting Bio-Char, Michael Kresta, David Gurtner

Bio-Char III: Production, Characterization and Applications

Please click Additional Files below to see the full abstract.

Biochar Performances As Drug-Carrier Of Bioactive Molecules Used For Intestinal Disease Treatment, David Chiaramonti, Michaela Luconi, David Casini, Damiano Stefanucci, Andrea Maria Rizzo, Giulia Lotti

Bio-Char III: Production, Characterization and Applications

Please click Additional Files below to see the full abstract.

Application Of Biochar For The Treatment Of Retting Effluent And Use As Growth Substrate, Neha Batta, Spencer M. Heuchan, Franco Berruti, Cesar Moreira Valenzuela

Bio-Char III: Production, Characterization and Applications

Please click Additional Files below to see the full abstract

Adsorption Of Emerging Pollutants With Different Biochar Adsorbents, Heejin Lee, Bruna De Luca, Silvia Fiore, Franco Berruti

Bio-Char III: Production, Characterization and Applications

Please click Additional Files below to see the full abstract

College Senate Minutes September 21, 2023, Bronx Community College Senate

BCC Governance Archives

Minutes for the meeting of the College Senate on September 21, 2023.

Climate Change Journalism In Pakistan: Ethical Deliberations, Muhammad Ittefaq, Shafiq Ahmad Kamboh, Ayesha Ashfaq

School of Communication Studies - Faculty Scholarship

In the 21st century, research on climate journalism has received exponential growth globally. However, the media’s ethical role in covering climate change has not sufficiently been explored enough. In this chapter, we provide a broad overview of climate change journalism in Pakistan, the role of stakeholders that are directly involved in this crisis, and further highlighted the need to follow the UNESCO-led ethical principles and deliberations by the local climate journalism. We conclude that though a great deal of attention has been paid by the local scholars and scientists to highlight different dimensions of climate emergency, however, the findings of …

The Indiana Statesman, September 21, 2023, Indiana State University

Student Newspaper

Biden finally meets Netanyahu; Teacher fired over book; DeSantis falls back in GOP pack

Engineering Student Selected As Scitech And Human Rights Futuregen Scholar, University Of Dayton

Blog: The Dayton Engineer

University of Dayton School of Engineering student David Albrecht has been named one of two 2023-2024 SciTech and Human Rights FutureGen Scholars by the AAAS Science and Human Rights Coalition.

Rising Coastal Groundwater As A Result Of Sea-Level Rise Will Influence Contaminated Coastal Sites And Underground Infrastructure, K. Hill, D. Hirschfeld, C. Lindquist, F. Cook, S. Warner

Landscape Architecture and Environmental Planning Faculty Publications

Sea-level rise (SLR) will cause coastal groundwater to rise in many coastal urban environments. Inundation of contaminated soils by groundwater rise (GWR) will alter the physical, biological, and geochemical conditions that influence the fate and transport of existing contaminants. These transformed products can be more toxic and/or more mobile under future conditions driven by SLR and GWR. We reviewed the vulnerability of contaminated sites to GWR in a US national database and in a case comparison with the San Francisco Bay region to estimate the risk of rising groundwater to human and ecosystem health. The results show that 326 sites …

Faculty Senate Executive Committee Minutes September 18, 2023, Utah State University

Faculty Senate & Faculty Senate Executive Committee

• Call to Order - Maureen Hearns
• Approval of Minutes - August 21, 2023
• University Business - President Cantwell and Provost Smith
• Faculty Senate Business
• Information - Educational Policies Committee, Academic Standards Subcommittee, and Human Resource Policies
• Reports - Educational Policies Committee Annual Report and Honors Program Annual Report
• Old Business - Update on Divestment Task Force and Greenhouse Waste Emissions
• New Business - Issue of Faculty Concern
• Adjourn 4:40 pm

The Concept Of Home Care Nursing Workload: Analysis And Significance, Barbara L. Mildon

Dissertations

The concept of home care nursing workload has not been widely studied and no evidence was found that an analysis of the concept had been undertaken. Consequently, there was a knowledge gap regarding the definition and attributes for the concept of home care nursing workload as it is currently experienced. To address that gap, a descriptive, three-phase, mixed methods (quantitative and qualitative) study was conducted.

Time-Resolved Cryo-Em (Tr-Em) Analysis Of Substrate Polyubiquitination By The Ring E3 Anaphase-Promoting Complex/Cyclosome (Apc/C), Tatyana Bodrug, Kaeli A. Welsh, Derek L. Bolhuis, Ethan Paulаkonis, Raquel C. Martinez-Chacin, Bei Liu, Nicholas Pinkin, Thomas Bonacci, Liying Cui, Pengning Xu, Olivia Roscow, Sascha Josef Amann, Irina Grishkovskaya, Michael J. Emanuele, Joseph S. Harrison, Joshua P. Steimel, Klaus M. Hahn, Wei Zhang, Ellen D. Zhong, David Haselbach, Nicholas G. Brown

Pacific Faculty Work

Substrate polyubiquitination drives a myriad of cellular processes, including the cell cycle, apoptosis and immune responses. Polyubiquitination is highly dynamic, and obtaining mechanistic insight has thus far required artificially trapped structures to stabilize specific steps along the enzymatic process. So far, how any ubiquitin ligase builds a proteasomal degradation signal, which is canonically regarded as four or more ubiquitins, remains unclear. Here we present time-resolved cryogenic electron microscopy studies of the 1.2 MDa E3 ubiquitin ligase, known as the anaphase-promoting complex/cyclosome (APC/C), and its E2 co-enzymes (UBE2C/UBCH10 and UBE2S) during substrate polyubiquitination. Using cryoDRGN (Deep Reconstructing Generative Networks), a neural …

Usf School Of Architecture And Community Design, Hillsborough County Sustainability Action Plan, 2023, Brian Cook, Ping Wang, Maggie Winter

School of Architecture and Community Design

The Palmetto Beach Living Shoreline and Community Engagement Study addresses the ecological decline of McKay Bay and the vulnerability of the adjacent Palmetto Beach neighborhood to climate-related impacts. Through community-informed planning and scientific assessment, the project proposes habitat restoration and resilience strategies, serving as a reference for coastal adaptation and environmental remediation efforts in low-lying urban areas

The Comment, September 21, 2023, Bridgewater State University

The Comment

No abstract provided.

Cabaret, Otterbein Theatre And Dance Department

2023-2024 Season Productions

Cabaret is a musical with music by John Kander, lyrics by Fred Ebb, and a book by Joe Masteroff. It is based on the 1951 play I Am a Camera by John Van Druten, which in turn was based on the 1939 novel Goodbye to Berlin by Christopher Isherwood.

Set in 1929–1930 Berlin during the twilight of the Jazz Age as the Nazis rise to power, the musical focuses on the hedonistic nightlife at the seedy Kit Kat Klub and revolves around American writer Clifford Bradshaw's relations with English cabaret performer Sally Bowles. A subplot involves the doomed romance between …