Yellow Perch Population Assessment in Southwestern Lake Michigan, Including Evaluation of Sampling Techniques and Identification of factors that Determine Yellow Perch Year-Class Strength April 1, 2005 - March 31, 2006

Annual Report, Federal Aid Project F-123-R-12, April 1, 2005 - March 31, 2006

Yellow Perch Population Assessment in Southwestern Lake Michigan, Including Evaluation of Sampling Techniques and the Identification Factors that Determine Yellow Perch Year-Class Strength April 1,1997 - March 31, 1998

ID: 8827; issued June 1, 1998

Yellow Perch Population Assessment in Southwestern Lake Michigan, Including Evaluation of Sampling Techniques April 1, 1995 - March 31, 1996

issued June 1996

Yellow Perch Population Assessment in Southwestern Lake Michigan, Including Evaluation of Sampling Techniques and the identification Factors that Determine Yellow Perch Year-Class Strength April 1, 1998 - March 31, 1999

ID: 8863; issued June 1, 1999

Yellow Perch Population Assessment in Southwestern Lake Michigan, Including Evaluation of Sampling Techniques April 1, 1994 - March 31, 1995

issued June 1995

A Sense of Wonder: Enhancing Access to Folktales through Task and Facet Analysis

Discusses the approach taken in Phase 1 of a three-phase project Folktales, Facets and FRBR [funded by a grant from OCLC/ALISE]. This project works with the special collection of folktales at the Center for Children’s Books (CCB) at the University of Illinois at Urbana-Champaign, and the scholars who use this collection. The project aims to enhance the effectiveness and efficiency of folktale access through deep understanding of user needs. Phase 1 included facet analysis of the bibliographic records for a sample of 100 folktale books in the CCB, and task analysis of interviews with four CCB-affiliated faculty. Describes the information tasks, information seeking obstacles, and desired features for a discovery and access tool related to folktales for this initial group of scholarly users of folktales.

Yellow Perch Population Assessment in Southwestern Lake Michigan, Including Evaluation of Sampling Techniques and Identification of the Factors that Determine Yellow Perch Year-Class Strength April 1, 2007 – March 31, 2008

Division of Fisheries, Illinois Department of Natural Resources Grant/Contract No: F-123 R-14

Yellow perch population assessment in southwestern Lake Michigan, including evaluation of sampling techniques and identification of the factors that determine yellow perch year-class strength April 1, 2006 – March 31, 2007

Division of Fisheries, Illinois Department of Natural Resources Grant/Contract No: F-123 R-13

Yellow Perch Population Assessment in Southwestern Lake Michigan, Including Evaluation of Sampling Techniques and Identification of the Factors that Determine Yellow Perch Year-Class Strength April 1, 2008 – June 30, 2009

Division of Fisheries, Illinois Department of Natural Resources Grant/Contract No: Federal Aid Project F-123 R-15

Gait Regulation for Bipedal Locomotion

This work explores regulation of forward speed, step length, and slope walking for the passive-dynamic class of bipedal robots. Previously, an energy-shaping control for regulating forward speed has appeared in the literature; here we show that control to be a special case of a more general time-scaling control that allows for speed transitions in arbitrary time. As prior work has focused on potential energy shaping for fully actuated bipeds, we study in detail the shaping of kinetic energy for bipedal robots, giving special treatment to issues of underactuation. Drawing inspiration from features of human walking, an underactuated kinetic-shaping control is presented that provides efficient regulation of walking speed while adjusting step length. Previous results on energetic symmetries of bipedal walking are also extended, resulting in a control that allows regulation of speed and step length while walking on any slope. Finally we formalize the optimal gait regulation problem and propose a dynamic programming solution seeded with passive-dynamic limit cycles. Observations of the optimal solutions generated by this method reveal further similarities between passive dynamic walking and human locomotion and give insight into the structure of minimum-effort controls for walking.