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Mapping ADL Motion Capture Data to BLUE SABINO Exoskeleton Kinematics and Dynamics
No full textThe design of the powered upper-limb exoskeleton BLUE SABINO (BiLateral Upper-extremity Exoskeleton for Simultaneous Assessment of Biomechanical and Neuromuscular Output) (Trimble & Perry, 2016), requires selection of an optimal set of actuators and passive elastic elements, demanding knowledge of representative actuator angular position and torque distributions. This thesis describes determination of the distributions of BLUE SABINO joint-space angles and torques during expected use of the upper-limb corresponding to arm trajectories from a representative (i.e., normal) set of activities-of-daily-living (ADL) motions. A motion-captured ADL dataset collected in an earlier study, (Perry, Powell, & Rosen, 2009), was mapped via inverse-kinematics (IK) from a Cartesian workspace to BLUE SABINO’s manipulator joint space to produce joint-space angle distributions. The explicit IK mapping was developed using vector analysis of a 9 degrees-of-freedom kinematic model of the upper-limb coupled to the 9 DOF kinematic model of BLUE SABINO. After IK mapping of the ADL trajectories, combined dynamic models of the upper-limb and BLUE SABINO were simulated using SimScape Multibody™ (a MathWorks™ product) along the joint-space trajectories to determine the corresponding torque trajectories. While the inverse kinematic mapping is complete for actuators 1 through 9, the available ADL data does not provide enough information to orient the wrist, and so position and torque distributions have only been established for actuators 1 through 6 at the time of writing. The remaining DOFs were stationary during dynamic simulation. In total, 710 of 719 available ADL motion-capture recordings have been processed to generate joint-space angle and torque distributions. These distributions provide important information regarding actuation requirements and other design aspects of BLUE SABINO. For example, the angular position distributions inform the design of joint-space hard-stops. Additionally, the torque distributions confirm that the current set of selected actuators provides sufficient torque to actuate the exoskeleton. They also suggest that a gravity balance mechanism should be considered for actuator 3 (in addition to actuator 2). Future work, including additional analysis of the ADL joint-space dataset and utilization of the simulation tools developed in this work, will improve the design of BLUE SABINO.masters, M.Engr., Mechanical Engineering -- University of Idaho - College of Graduate Studies, 2018-1
The Effects of Pre- and Postweaning Nutrition on Fertility and Feed Efficiency in Beef Heifers
No full textCattle in the Pacific Northwest graze a variety of forages which vary in quality. The effects of forage quality on heifer reproductive development and fertility is still under investigation. Therefore, the first objective was to investigate the effects of grazing different quality forages preweaning and postweaning on reproductive traits and feed efficiency in heifers. Although nutritional differences were present, pre- and postweaning treatments did not affect reproduction. This indicates different qualities of forage present in Idaho may be utilized for heifers. Feed costs represent a large portion of cattle producers’ expenses. Selecting for feed efficiency allows producers to capitalize on these expenses. However, the effects of selecting for efficiency on reproduction is still undetermined. The second objective was to study the relationship between feed efficiency and reproductive development and fertility. No differences in reproductive traits were detected among heifers ranked as efficient, average or inefficient at utilizing feed for growth.masters, M.S., Animal and Veterinary Science -- University of Idaho - College of Graduate Studies, 2018-1
EVALUATION OF ACOUSTIC ABSORPTION CHARACTERISTICS OF ASPHALT MIXTURES
No full textHighways traffic noise is a major issue all over the world. It is annoying to the residents who live nearby major transportation corridors. Noise pollution adversely affects the quality of their life. It also causes sleep disturbance and anxiety. Some of the noise abatement techniques such as noise barrier walls are costly and not effective all the times. Reducing the tire-pavement noise at the source is viable alternative to cut down the noise level. This study examined the use of impedance tube to measure the acoustic absorption of asphalt mixtures in the laboratory. The effect of various parameters on the acoustic absorption was investigated including aggregate gradation, aggregate type, binder type, percent air voids, and sample thickness. In addition, factors that could affect the acoustical performance of asphalt mixtures after pavement construction was also investigated including air void structure, surface texture, temperature, and surface conditions. Percent air voids and layer thickness were found to have a significant influence on the acoustic absorption of asphalt mixtures. An analytical model was proposed to estimate the acoustic absorption coefficient of asphalt mixtures during the design stage. A good correlation was found between predicted and measured absorption coefficients in the laboratory. In addition, a double-layer system of asphalt mixtures was found to be effective in providing improved acoustical performance that overcomes the issues associated with the use of open graded friction course as a wearing surface. Keywords: Acoustic absorption, impedance tube, PFC, and double layer.masters, M.Engr., Civil Engineering -- University of Idaho - College of Graduate Studies, 2018-0
GARNET GRAIN SIZE ANALYSIS, GARNET COMPOSITION, AND HISTORICAL MINING WITHIN THE EMERALD CREEK AREA, NORTHERN IDAHO
No full textSince the 1930’s when the first garnet mine opened, garnet derived from the mica schist within the Emerald Creek Area has generated wide-spread interest for both the abrasive mining industry and gem hunters. The purpose of this thesis is to further define the garnet composition and distribution within the study area. Within the study area, a syncline composed metamorphosed sediments of the Belt Supergroup Wallace Formation is present. The primary unit containing significant amounts of garnet across the central hinge of the syncline is a garnet mica schist. Samples of schist were collected from the East Fork Emerald Creek, West Fork Emerald Creek, and Carpenter Creek drainages. These samples were studied to determine the varying mineral inclusions present within the schist, and the relative garnet grain size. Additionally, garnet samples from these and other surrounding drainages were analyzed using electron micro probe analysis, wavelength dispersive x-ray fluorescence, and x-ray diffraction.masters, M.S., Geology -- University of Idaho - College of Graduate Studies, 2018-0
Reaching Together: A Montage of Art Reflecting the Sacred Spaces in the Unitarian Universalist Church of the Palouse
No full textAt the Unitarian Universalist Church of the Palouse(UUCP), emphasis is placed on the idea of community. This community stretches beyond the congregation, the city of Moscow, Idaho, and the greater Palouse region. The community of Unitarian Universalism encompasses all of humanity, and this is reflected clearly in the actions of the congregants at UUCP. The research conducted in this study shows the deep ties to the community in this congregation as those shared values and a communal emphasis on activism are expressed by way of artistic expression. In this reflective interpretation of an ethnography, workshops and interviews focusing on art and community were the starting point for a reflexive, honest portrayal of the communal connections of UUCP. By way of poetry, paintings, and drawings, the findings of this qualitative research study thematically point to the focus on connections within and beyond the congregation of UUCP.masters, M.A., Anthropology -- University of Idaho - College of Graduate Studies, 2018-0
Influences on Rural Students' College Access and Completion: A Qualitative Case Study
No full textHistorically underrepresented populations are racial/ethnic minorities, low socioeconomic status, first-generation college students, and students with disabilities. Rural area youth, while intersecting differing underrepresented characteristics, encounter experiences unique to college access and completion that low-income, first-generation, non-rural students do not face. This qualitative case study investigated the lives of ten high school graduates of Lincoln High School (pseudonym) between 2008 and 2011 who came from a rural community and examined their college access and completion experiences. The methods of data collecting include the use of a questionnaire and interview and was reviewed as was the data analysis techniques and efforts to synthesis data. Concerning college, the emergent themes of finances, voice and community were examined through social and human capital (Coleman, 1988) and planned behavior theory (Ajzen, 1991) lenses. Participants cited finances as a major challenge. All participants talked of different influences on their decisions. While the voices that the participants first heard were from family, community members, or school personnel, over time and with experience, a stronger voice emerged from within, and this voice was the participants’ own, telling them that college was their choice, not someone else’s. Rural youth spoke of a strong sense of community. What the research found supported others’ research on underrepresented populations as well as provided participant voices and added personal perspectives to mostly quantitative data. Rural youth can be situated with other defined underrepresented populations such as low-income and first-generation. However, rural youth are uniquely situated concerning the prospect of leaving their deep-rooted community connection to go away to college and possibly never return. For example, staying in Lincoln to live and work while at college was not an option as the nearest college was 75 miles away. This is in sharp contrast to urban students who can continue to live and work in their community while attending college. The dissertation concludes with recommendations to rural students, families, communities, and policy makers. Recommendations offer practical suggestions both honoring and keeping rural identity while encouraging discussions of their challenges.doctoral, Ph.D., Curriculum & Instruction -- University of Idaho - College of Graduate Studies, 2018-0
Ruffled: A Bird’s-Eye View on the Human Condition
No full text“Ruffled” presents a birds-eye view on the human condition presented in conversation through sensitive black and white prints, poems, and avian illustrations. The artworks are inspired by a love and obsession for birds, of which has become a metaphor for memories, growth, freedom, and trust in self. As updrafts are caught off our fellow flock members we are allowed a leisurely reprieve to drift on our memories as we navigate our own flight path through through life. Nature, always a part of my sense of wonder and my sense of self, is where I look when I am lost, I look to the extraordinary. Only a wondering fledgling so startled by my fall from the tree. The prints of feathers cast from my muses simply and delicately show us the elegance of what it is to simply be. Coexisting amongst the ease of the Signature feather print series, is Minuet, a series of body prints where I have found feathers within myself. Respectively followed by Birdbrain, prints from my own being join with feathers at crucial junctures, creating a new entity, capable of graceful if awkward movement although caught in a moment of stillness. The breath between, a creek, holding Bare, mud caught between glass, two feet, same essence. Companioning all is a small, soft-cover book of poems and illustrations entitled Ruffled: A Bird’s-Eye View on Some Humans, further impressing my fusion turning the avian ordinary into our human extraordinary.masters, M.F.A., Art & Design -- University of Idaho - College of Graduate Studies, 2018-0
Evolutionary Mechanisms that Facilitate the Maintenance of Microbial Diversity
No full textBacterial populations in the environment have been shown to harbor tremendous within species diversity. This diversity is important because it drives the evolution and ecology of these populations. It is the toolbox from which solutions to novel problems can be drawn. While several mechanisms have been proposed previously, it is still not clear how diversity is created and maintained in environmental bacterial populations. Bacteria typically live and evolve in environments that have physical structure. Their rate of growth is constrained by the abundance of routinely scarce essential nutrients, leading to generation times measured in days or weeks. I hypothesized that prolonged generation times and spatial structure would protract selective sweeps and limit competition to a local scale, allowing for the accumulation of genetic diversity via spontaneous mutations. In Chapter 2 I review our current knowledge of how spatial structure and slow growth rates influence the evolution of bacterial populations. I put my hypothesis to the test in Chapters 3 and 4, wherein I detail the effects of spatial structure and slow growth rates, respectively, on the accumulation and maintenance of diversity in bacterial populations. In Chapter 5 I employ the concepts detailed above in order to investigate the evolution of antibiotic resistance in bacterial biofilms. Biofilms are bacterial assemblages held together by an extracellular matrix. They have spatial structure and contain large subpopulations that experience slow growth rates. Finally, in Chapter 6 I used genomic comparisons to characterize and compare the genetic diversity present within and between two closely related bacterial species. Together, these studies give new insight into how diversity is created and maintained in environmental bacterial populations.doctoral, Ph.D., Bioinformatics & Computational Biology -- University of Idaho - College of Graduate Studies, 2018-0