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BLDC Actuators Revisited: A New Cost-Effective Design and Manufacturing for Robotic Applications
No full textBrushless Direct Current (BLDC) actuators are recognized for their combined torque capabilities, precision control, and operational versatility, especially in regards to their smaller size. Actuators of this caliber are commonly implemented in high-performance industrial robotic arms, development in exoskeletal technologies, and quadrupedal robotic platforms. Professionally-developed brushless actuators available in the commercial sector deliver in their performance, however at a significant monetary expense. Our aim is to produce cost-efficient robotic actuators which are capable of replicating the design specifications and performance of commercial models. Our research focuses on the understanding and validation of fundamental principles of how brushless motors operate, and how the manipulation of respected variables can be combined to produce an optimized, robotic actuator design. The design and manufacturing process for each actuator prototype for this research revolves around a modular approach, where specific components can be repaired or replaced without compromising the structural integrity or robustness of the system. Each prototype utilizes a unique rotor and embedded planetary gearbox design as a mechanical means for increasing the potential torque output. Design constraints were set in place to properly analyze multi-variable combinations, which would ultimately maximize the electric torque density generated from induced electromagnetic forces. We believe that the results from our project can make cost-effective actuators available to the robotics community for advancing leggedlocomotion robotic research
Machine Vision System for Autonomous Asphalt Layer
No full textAsphalt laying is a labor-intensive process and creates extensive air pollution. Next generation environment friendly machines need to minimize the emissions and necessary manual labor. Autonomously operating machines are expected to replace the current ones. These machines will need to measure the road profile to perform their operation. Laser based road profile measurement sensors are expensive and require a clean environment to perform their single point or line inspection with a fraction of micron accuracy.
Recently, stereoscopic imaging has been selected by the automobile manufacturers for autonomous driving. In this study performance of the stereoscopic imaging technique of Intel RealSense D455 camera was evaluated for estimation of the surface profile in the narrow strip at the back of the asphalt laying machine.
Laboratory and field tests were performed in the study. At the laboratory tests, four different heights were created on the floor by using boxes with different heights. RealSense D455 was used to take pictures. The height distribution of the images along a line on the floor was estimated by the camera after single shutter action. The manufacturer’s 2% accuracy at 4 m distance was verified in the study. At the field test, the profile of an actual pothole was evaluated, and similar performance was observed. The study indicated that stereoscopic imaging methods could be used to estimate the road profile if the expected accuracy is around plus minus 1 cm when the strip length is about 50 cm or less. The main advantage is getting the data from single shutter action in a very short time without any need for point to point or line scanning
William Bill Mashburn Oral History Interview
No full textWilliam “Bill” Mashburn had been a diligent and devoted ranch hand at the renowned Hollinswood Ranch for a considerable period of time. Throughout his tenure, he witnessed various transformations and had been entrusted with maintaining the everyday operations of the ranch - a challenging task given the vast acreage. Mashburn had a wealth of experience in handling cattle, training hunting dogs, and managing land. Mashburn was pleased to share his work history with us, including his close association with the esteemed Hollins family, as well as his aspirations of relinquishing his managerial position on the ranch in the future. His incomparable knowledge and expertise in veterinary assistance had been instrumental in the welfare of the livestock as he has rescued countless animals
Shared Philosophies, Conflict, and Critical Reflection: Developing Productive Teacher Collaboration
No full textAs top-down mandates regarding what collaboration should look like continue to evolve from the policy level, it is critical to engage the knowledge of teachers – the ones experiencing the collaboration – to inform teacher learning as well as the conditions within schools that help productive collaboration partnerships to evolve. This article seeks to examine the foundational aspects that underpin a mutually productive collaborative relationship between myself – a full time high school English teacher – and another full-time English teacher at the public, regional school in the Northeast where we taught. Utilizing a participant research design, I drew upon audio-recorded dialogue of meetings we had to plan out curriculum and instruction while teaching during the 2020-2021 school year. Findings include that while conflict and disagreement play an important role, agreement around philosophical beliefs that get at common purposes of teaching and learning as well as a commitment to joint work are essential to the facilitation of actions such as suggesting new ideas, considering alternate viewpoints, and embracing conflict that enable progress. Such actions yielded critical reflection on past practice and change to current and/or future practice
Development of a low-cost tool for the compositional measurement of gases derived from mineral water wells from the Eastern Carpathians
No full textThe Eastern Carpathians host CO2-rich, low temperature, dry gas vents, bubbling pools and wells/drillings, which were established for the extraction of mineral water and CO2 for the bottling industry. These wells can provide important information on the structure of the geological deposits, the depths, and the source of the gases, because they are often located at important geologic/tectonic sites. Our aim was to test the applicability of a hand-made and low-cost tool in preselected wells/drillings, in order to measure the concentration of different gas species. This was challenging due to the high water and gas discharge of the wells, and their intermittent behavior. The method made possible the separation of gas and water phase, the extraction of gas, and the measurement combined with a Multi-GAS portable device. The hand-made barrel technique, and the closed cell for gas and water phase separation, proved to be a suitable and cheap tool to gain information about the CO2, CH4, and H2S concentration of the gases derived from the wells/drillings
Counterterrorism Law and Policy in the United Kingdom, Canada, and Australia: A Comparative Perspective
No full textThis article looks at the similarities and differences in British, Canadian, and Australian counterterrorism laws and policies. Canada and Australia are contrasted with the United Kingdom because their respective approaches to counterterrorism are based on the British approach, and yet have evolved to take into account differences in the nature and scope of the threat and the differing styles of governance in place in Canada and Australia. The article looks at each country in the context of: counterterrorism laws; detention and disruption practices; investigatory approaches; intelligence and law enforcement institutions; and the treatment of foreign fighters. The article then draws some conclusions regarding the evolution and divergence of counterterrorism law and policy in these countries and posits a question for future research
A Taxonomy of Radiofrequency Jamming and Spoofing Strategies and Criminal Motives
No full textThis article provides a taxonomy of radiofrequency (RF) jamming and spoofing tactics and strategies associated with specific criminal objectives. This is based on the fact that the motivations and strategies of cyber-attackers – predominantly financial – is well-known, but the motivations behind specific electromagnetic interferences is lacking in the current literature. Previous research has also overlooked the motivations of other actors using jamming and spoofing devices.
The objective is to identify the most desirable spoofing and jamming strategies, likely targets, and likely motivations. The article finds that (a) previous literature on the subject overlooks a number of non-state actor motives, and therefore this research aims to fill this gap in knowledge; (b) out of 8 actors identified, denial of service attacks (7 out of 8), as well as so-called decoy spoofing (6), trojan spoofing (5), and jamming-enabled crime (5) are the most desirable strategies utilized; (c) out of 11 strategies identified, grey and black hat hackers (11 out of 11), terrorists (11) and activists (8), are likely to take advantage of most identified
Jennifer Gamble Oral History Interview
No full textJennifer Gamble, resident of Lakewood Estates in St. Petersburg, FL, discusses the Oaklawn Cemetery and witnessed changes to her neighborhood. Gamble describes her family\u27s connection to the cemetery and family businesses, including Creal Funeral Home and Cremation and Sanchez Rehoboth Mortuary and Cremation Services, which served a large segment of the Tampa and St. Petersburg population. Jennifer Gamble also clarifies questions regarding African American Funeral customs, such as the service and repass, in addition to calling for audiences to remember their deceased family members\u27 names in remembrance of their lives