Digital Commons Network^™

Implementing Nonelinear Control Of A Six Degree Of Freedom Robotic Arm On A Raspberry Pi 3, Hunter Smatla, Robert Shaw, Samuel Esse, Landen Rhodes

Florida Conference on Recent Advances in Robotics

This paper covers techniques of implementing model-based dynamic control on an educational dexterous robotic manipulator with respect to the challenges of achieving and/or exceeding targeted sampling time. The frequency of a control loop is vitally important to the performance of a closed-loop system. For multidimensional systems, like robotic manipulators, obtaining a sufficiently high control loop frequency is especially important since nonlinear control algorithms are usually developed without regard to a finite sampling time. Implementing these nonlinear control algorithms can therefore be notably challenging, especially implementing them on small single-board computers that have limited processing power, like the Raspberry Pi 3. …

Detection Of Internal Voids Of Additively Manufactured Parts With Structual Health Monitoring Methods, David Perez, Berry Lamy, Alireza Modir, Arnaud Casterman, Ibrahim Tansel

Florida Conference on Recent Advances in Robotics

It is possible to create voids inside polymer parts built by additive manufacturing methods. In this study, the feasibility of using structural health monitoring (SHM) methods was evaluated for identification of the voids in polymer parts. The Surface Response to Excitation (SuRE) method was used to collect the experimental data.

Ten Polylactic Acid (PLA) bars of identical external geometries were manufactured using Fused deposition modeling (FDM) type 3D printing. Four bars were solid without any voids inside of them. Two bar groups were manufactured with the same void lengths of 1 mm, 2 mm, and 3 mm at the center. …

Using Small Uas For Stem Education: Introducing Robotics And Mechatronics With Drones, Christian Janke, Stefan Kleinke, Kimberly Luthi, Yuetong Lin

Florida Conference on Recent Advances in Robotics

Several global developments point to importance of STEM-related education and studies. Every industry sector faces challenges in the recruiting of qualified personnel, due to retiring employees and general economic growth. Also, several domains, foremost automotive and aviation are undergoing a tremendous shift towards electrification to achieve sustainability. Hence, sparking the interest in STEM studies, education and vocational training cannot start early enough. This paper introduces the benefits of the educational use of sUAS by identifying core benefits in the three domains of learning – cognitive, affective, psycho-motor. Preliminary data and survey results from from several science, technology, engineering and math …

Machine Learning Approaches For Attacking Behaviors In Robot Soccer, Justin Rodney, Alfredo Weitzenfeld

Florida Conference on Recent Advances in Robotics

In this work, Machine Learning approaches were applied to attacking behaviors in RoboCup Small-Size League autonomous robot soccer. Neural networks were used in order to get a binary prediction of an attacking action’s success, while deep reinforcement learning was leveraged to learn low level skills which control the robot’s wheel speeds and kicker. A trained neural network was used to predict whether a shot would be successful, improving the number of goals scored by the attacking behavior by 84 to 186%. The reinforcement learning methodologies used in this work produced behaviors which were efficient in speed, beating manually programmed behaviors …

Transposed Jacobian Control Of A Mobile Robot, Douglas R. Isenberg

Florida Conference on Recent Advances in Robotics

This paper describes a method of controlling the position of a differential drive mobile robot. Specifically, the paper addresses the problem of driving some point that is fixed with respect to the robot to a desired location in the work-space. Borrowing from manipulator control theory, a transposed Jacobian control technique is formulated to solve this problem. The transposed Jacobian technique results in generalized control forces rather than actuator voltages, so a transformation is devised based upon the computed-torque technique to obtain the equivalent actuator voltages given these control forces. Additionally, a tuning method for the control that is based upon …

Preliminary Insights Into Enhancing Human-Robot Teamwork, Kazuhiko Momose, Troy R. Weekes, Thomas C. Eskridge

Florida Conference on Recent Advances in Robotics

Advancements in robotics, artificial intelligence, and other automation have highlighted the need for humans to work together with machines in a more flexible and collaborative fashion than previously possible. To formulate effective human-robot teams, it is critical to understand which factors play important roles in enhancing human-robot teamwork. To gain preliminary insights into key factors of effective human-robot teams, we carried out an experiment using an enhanced version of the “Lunar Lander” game, where the goal is to safely land a spacecraft on the moon’s surface in concert with an AI teammate. We specifically attempted to observe some patterns of …

Granular Material Extruder For Autonomous Asphalt Layer, Sebastian Story, Reinel Mota, Osmany D. Gonzalez, Kyle Reynolds, David Perez, Berry Lamy, Ibrahim Tansel

Florida Conference on Recent Advances in Robotics

Road paving is a resource-intensive process that is crucial to the world of ground transportation. Autonomous paving solutions are more desirable in comparison to traditional methods when considering the health and well-being of workers, overall project expenses, and quality of the final product. A quarter-scale granular material laying mechanism has been prototyped and integrated into an autonomous platform that facilitates the road paving process. The mechanism designed to compact and extrude granular material performs well with materials that behave similarly to asphalt when in a heated state. Essential prototyping components were limited to additively manufactured plastic and asphalt-like materials to …

The Quantum Mechanical Background Of Quantum Computing, Isaac Hanna

The Kabod

Quantum mechanics arose out of the question "Is light a particle or a wave?" and has laid forth a model of reality in which particles are modeled by wave functions. The particle is in a superposition of states and can be entangled with other particles to create more complex systems. Observation of the system collapses the wave function to a single point. By using quantum gates, we can manipulate these particles to create algorithms to solve computational problems. Quantum computing does not collapse the complexity hierarchy by providing an across the board exponential speedup but can provide such a speedup …

Network Device System Logging Summarization Based On Low-Rank Adaptation And Contrastive Learning, Cheng Jiao, Bruce Yang, Lynn Chen, Xinqi Wang, Qihong Shao

Defensive Publications Series

Techniques are presented herein that support the automatic generation of refined and summarized text from a system logging (syslog) message sequence. Aspects of the presented techniques employ an abstractive syslog summarization large language model (LLM) that is trained with contrastive learning and then fine-tuned using a Low-Rank Adaptation (LoRA) methodology. Under further aspects of the presented techniques, auxiliary text (such as network incident reports and application incident reports) is added to the prompt of the input of the LLM model to help the model generate a richer syslog summarization.

Simultaneous Multifunctional Transcriptome Engineering By Crispr Rna Scaffold., Zukai Liu, Nathaniel L. Jillette, Paul Robson, Albert Cheng

Faculty Research 2023

RNA processing and metabolism are subjected to precise regulation in the cell to ensure integrity and functions of RNA. Though targeted RNA engineering has become feasible with the discovery and engineering of the CRISPR-Cas13 system, simultaneous modulation of different RNA processing steps remains unavailable. In addition, off-target events resulting from effectors fused with dCas13 limit its application. Here we developed a novel platform, Combinatorial RNA Engineering via Scaffold Tagged gRNA (CREST), which can simultaneously execute multiple RNA modulation functions on different RNA targets. In CREST, RNA scaffolds are appended to the 3' end of Cas13 gRNA and their cognate RNA …

Clemson Commencement Program, August 2023, Clemson University

Clemson Commencement Programs

No abstract provided.

Side-Channel Leakage From The Advanced Encryption Standard On Field Programmable Gate Arrays, Kaden Makechnie-Hardy

Undergraduate Honors Theses

As field programmable gate arrays (FPGAs) perform increasingly critical cryptography, researchers study the safety of these computations. One such compromise on the safety of cryptography is the side-channel attack. These attacks exploit sources of information called leakage that escape a cryptographic system in ways the original design did not intend. One dimension of a successful side-channel attack is the collection of leakage. This research configures the Advanced Encryption Standard (AES) on an FPGA and demonstrates strategies for collecting three types of side-channel leakage: power consumption, temperature emissions, and ring oscillations.

Improving Minors' Access To Treatment For Opioid Use Disorder: A Policy Analysis, Sara Jane Hamilton

Master's Projects and Capstones

As the opioid epidemic continues to have devastating effects on our communities, medications to treat opioid use disorder (MOUDs) are severely underutilized especially for adolescents. Unlike adults, minors need parental approval before obtaining MOUDs presenting a key barrier to timely treatment. Being able to treat adolescents as soon as they are ready is critically important for people with OUD, and while cost and other barriers have been addressed in the literature, there is a paucity on how parental consent affects the accessibility of treatment. This paper aims to explore a potential policy in California that addresses the lack of access …

The Study Of Plasmonic Chip Of Nata De Sago-Green Silver Nanoparticles For Detection Of Blood Glucose, Abdul Haris Haris Watoni, La Ode A. Nur Ramadhan, Evy Nuryah Adha, Robby Sudarman

Chimica et Natura Acta

The innovation of rapid blood glucose level detectors using chemical sensors still needs to be carried out continuously. Nata de sago has good potential as a safe sensor chip for blood glucose detection. To increase the detection speed, this sensor chip can be composited with silver nanoparticles (AgNPs)-bidara leaf extract which has plasmonic properties when interacting with visible radiation. The principle of blood glucose detection with the nata de sago-AgNPs-bidara leaf extract composite chip is based on van der Waals interactions between the functional groups in nata de sago and the hydroxyl groups in glucose compounds which are strengthened by …

The Impact Of Access And Quality Of Antenatal Care On Maternal Mortality Rates Among Women In Pakistan, Fauzia Waqar

Master's Projects and Capstones

This paper focuses on the factors contributing to high maternal mortality rates in Pakistan, emphasizing the crucial role of inadequate antenatal care (ANC) and limited access to quality health services. Prominent risk factors include poverty and financial constraints, healthcare workforce shortages, lack of women empowerment, and low socioeconomic conditions. The cultural and traditional context in Pakistan also plays an influential role in shaping these factors. For a substantial reduction in maternal mortality rates among Pakistani women and girls, a shift within the cultural perception of women's health, specifically regarding ANC, is crucial. To effectively reduce maternal mortality rates in the …

Researchers Find Global Plant Water Use Efficiency Stalled Due To Climate Change, Robbin Ray

Media Relations

No abstract provided.

Factors Associated With The Difficulty Of Computerized Tasks Among Office-Based Physicians In The United States, Khalid Alshehri

Theses & Dissertations

Computerized tasks represent an essential component of the modern health care services. A substantial part of these computerized tasks performed by physicians are made for documenting clinical care through Electronic Health Records (EHRs) and using Prescription Drug Monitoring Programs (PDMPs). While these computerized tasks have positively impacted the care provided by physicians, difficulty-based barriers to using these electronic tools were identified. Given the potential unfavorable roles that difficulty-based barriers can play in the provision for health care, it is important to examine factors associated with these barriers. Thus, the core objective of this study is to examine factors associated with …

Understanding Healthcare Worker Experiences And Personal Protective Equipment (Ppe)-Related Skin Reactions/Injuries During The Covid-19 Pandemic: A Mixed Methods Approach, Susan Solmos

Theses & Dissertations

Personal protective equipment (PPE)-related facial skin reactions/injuries occurred in 75.13% of healthcare workers during the COVID-19 pandemic. Critical appraisal of cross-sectional studies identified methodological gaps as the majority of survey questions were not content-validated and those that were lacked descriptions of methods and psychometrics for the survey questions/tool. The aims of this dissertation study were to describe the nature, severity, and distribution of selfie captured PPE-related facial injuries using a validated tool (quantitative) and describe the contextual factors associated with PPE-related facial injuries and what factors influence nurses and Health Care Workers (HCWs) to share their experiences (qualitative). The setting …

Understanding And Quantifying Bioaerosol Fate Within The Aerobiological Pathway: Physical Transport, Environmental Decay, And Mitigation, Sean Kinahan

Theses & Dissertations

The recent COVID-19 pandemic has highlighted the need for better tools to understand and characterize phases of the aerobiological pathway, a model for understanding how infectious bioaerosols are sourced, generated, transported, deposit, and affect human health. This dissertation presents validation of methodologies for studying transport of airborne biological agents and variations on their consequences, especially focusing on their physical and chemical fate. Chapter 1 focuses on a parallel comparison of two methods of aging bioaerosols in real-world outdoor environments with complex sunlight, atmospheric chemistry, and pollutants. Both capture on microfibers and the use of Goldberg rotating drums to keep a …

An Implementation Of Combined Fecal/Gastric Occult Blood Testing In The Emergency Department, Desiree Long

Master's Projects and Capstones

Problem: The gastrointestinal occult blood test is a point-of-care (POC) test used to detect the presence of occult (hidden) gastrointestinal bleeding via stool or gastric contents. Existing fecal and gastric occult blood point-of-care (POC) testing requires separate and unique sampling cards and developer, respectively. Separate fecal/gastric tests are less definitive and take longer than a combined test. Fecal/gastric testing can be improved and more effective using a combined testing mechanism.

Context: This project includes the microsystem of the emergency department, which involves groups of medical professionals, such as groups of clinicians and staff working together with a shared clinical goal …

Predicting The Best Birds And Bees: Parental-Efficacy As A Mediator Between Parental Factors And Parent-Child Sex Communication, Meg O. Jankovich

Theses and Dissertations

Recent literature on parent-child sex communication (PCSC) has identified optimal sex communication as being not only frequent, but also open in quality, and proactive in timing. However, no studies have sought to understand what motivates parents to participate in this type of optimal parent-child sex communication, nor assessed these relationships longitudinally. Using Self-Determination Theory (SDT) to inform the analysis, this study investigated parent characteristics (parent's sexual self-concept and parenting dimensions) that may longitudinally predict optimal PCSC. This study further examined whether parental sex communication efficacy mediated these relationships. The sample included 607 mother-child dyads, and the father-figure when available (mother-father-child …

Truck Platooning Effects On Girder Bridges: Phase Ii-Service, Joshua Steelman, Jay Puckett, Daniel Linzell, Bowen Yang

Nebraska Department of Transportation: Research Reports

Truck platooning—wirelessly linking two or more trucks to travel in a closely spaced convoy—is federally promoted to save fuel, improve the environment, and improve traffic operations. Platooning places trucks much closer than current design codes anticipate. While this strategy can provide higher fuel efficiency, it also can potentially overload structures. Previous reliabilitybased studies (Steelman et al., 2021; Yang et al., 2021) have focused on the Strength I limit state and have shown that trucks can operate at weights exceeding standard legal load limits even with short headways at operating-level reliability. However, service limit states in the AASHTO LRFD Bridge Design …

Ud In The News Aug. 5-11, University Of Dayton

News Releases

Publications covering legal education featured a book written by UD law students. CIO magazine announced the appointment of Gurvinder Rekhi. Electro Optics magazine and Spectrum News 1 Ohio were among the news outlets highlighting UD research.

270 Nm Ultra-Thin Self-Adhesive Conformable And Long-Term Air-Stable Complimentary Organic Transistors And Amplifiers, Mohammad Javad Mirshojaeian Hosseini, Yi Yang, Walter Kruger, Tomoyuki Yokota, Sunghoon Lee, Takao Someyra, Robert Nawrocki

Purdue University Libraries Open Access Publishing Fund

Lightweight, flexible, and conformal bioelectronics are essential for wearable technologies. This paper introduces 270 nm thin organic electronics amplifying circuits that are self-adhesive, skin conformal, and long-term air-stable. This report studies the effect of total device thickness, namely 3 μm and 270 nm devices, on the characterization of organic devices before and after buckling, the longevity of organic field-effect transistors (OFETs) over 5 years, and the lamination of OFETs on the human skin. A single-stage organic complementary inverter and a pseudo-complementary amplifier are fabricated to compare their electrical characteristics, with amplification gains of 10 and 64, respectively. Finally, the study …

Investigating Bismuth As A Surrogate For Plutonium Electrorefining, Greg Chipman

Theses and Dissertations

Conducting research experiments on plutonium electrorefining is difficult due to the significant hazards and regulations associated with nuclear materials. Finding a surrogate for plutonium electrorefining studies would enable more fundamental research to be conducted. Potential surrogates were identified by determining the physical properties required to conduct electrorefining using a molten metal and molten salt in CaCl2 at 1123 K. More potential surrogates were identified by changing the matrix salt to be a LiCl-KCl-CaCl2 eutectic salt with electrorefining conducted at 673-773 K. Ce-CeCl3, In-InCl3, Zn-ZnCl2, Sn-SnCl2, and Bi-BiCl¬3 were investigated as potential plutonium electrorefining surrogates. Ce electrorefining in molten CaCl2 resulted …

Parents' Perceptions Of The Importance Of Teaching Mathematics: A Q-Study, Ashlynn M. Holley

Theses and Dissertations

Mathematics education has gone through multiple reform efforts over the last century and continues to be the target of improvement efforts. Past changes in curriculum and goals have sometimes led to heated debates between various stakeholders. Knowing the views of different stakeholders can help determine what common ground there is between these different groups and where areas of disagreement might arise. Parents are especially important to understand because they have been influential in past reform efforts. Despite the importance of parents' opinions, little research has been conducted concerning their perspectives on the importance of mathematics teaching. Using Q-methodology, I was …

New Technology To Study Causes Of Dry Eye Disease Developed By Uab, Satina Richardson

Browse All News

No abstract provided.

Reflecting On The Devastating Loss Of A Loved One: A Bereaved Daughter And Husband Tell Their Stories, Wendy Clark, Roger Clark

Sociology Between the Gaps: Forgotten and Neglected Topics

No abstract provided.

Bidirectional Interference Between Speech And Mathematical, Language, Or Visuospatial Tasks In Younger And Older Adults, Chanelle Thomas

Theses and Dissertations

This study examined interference between three non-speech tasks and concurrent speech performance. The non-speech activity consisted of computer-based mathematical, language, and visuospatial tasks. The speech tasks included a procedural discourse monologue and a conversation. Participants included 60 adults in two age groups with 30 participants each. The younger adults were aged from 18 to 30 years and older adults from 55 to 82 years. Each participant completed the non-speech tasks in isolation, the speech tasks in isolation, and then each of the speech tasks concurrently with each of the three non-speech tasks. Speech acoustic measures included the mean and standard …

Add-On Soft Electronic Interfaces For Continuous Cuffless Blood Pressure Monitoring, Justin Mcmurray, Chin-To Hsiao, Josh Kuriakose, Joanna Hernandez, Arda A Arikan, Luis E Garza-Rivera, Gerard L Coté, Limei Tian

Faculty, Staff and Student Publications

Continuous monitoring of arterial blood pressure is clinically important for the diagnosis and management of cardiovascular diseases. Soft electronic devices with skin-like properties show promise in a wide range of applications, including the human-machine interface, the Internet of things, and health monitoring. Here, we report the use of add-on soft electronic interfaces to address the connection challenges between soft electrodes and rigid data acquisition circuitry for bioimpedance monitoring of cardiac signals, including heart rate and cuffless blood pressure. Nanocomposite films in add-on electrodes provide robust electrical and mechanical contact with the skin and the rigid circuitry. We demonstrate bioimpedance sensors …