On Modular Design of Field Robotic Systems

Robots are needed to perform important field tasks such as hazardous material clean-up, nuclear site inspection, and space exploration. Unfortunately their use is not widespread due to their long development times and high costs. To make them practical, a modular design approach is proposed. Prefabricated modules are rapidly assembled to give a low-cost system for a specific task. This paper described the modular design problem for field robots and the application of a hierarchical selection process to solve this problem. Theoretical analysis and an example case study are presented. The theoretical analysis of the modular design problem revealed the large size of the search space. It showed the advantages of approaching the design on various levels. The hierarchical selection process applies physical rules to reduce the search space to a computationally feasible size and a genetic algorithm performs the final search in a greatly reduced space. This process is based on the observation that simple physically based rules can eliminate large sections of the design space to greatly simplify the search. The design process is applied to a duct inspection task. Five candidate robots were developed. Two of these robots are evaluated using detailed physical simulation. It is shown that the more obvious solution is not able to complete the task, while the non-obvious asymmetric design develop by the process is successful.

EXPERIMENTAL INVESTIGATION OF FOLDED PLATE GIRDERS AND SLAB JOINTS USED IN MODULAR CONSTRUCTION

The folded plate girder, a newly proposed bridge girder, is investigated through this thesis. The folded plate girder is cold bent out of a single sheet of steel. The cold bending eliminates the costly and inconsistent shop welds found in traditional girders. The folded plate girder is meant for application in short span bridges. The girder was subjected to an equivalent 75 year lifetime loading to investigate the fatigue performance. The rebar detail used in the closure region between adjacent slabs has been investigated in the past by the NCHRP 12-68 project. This thesis will proposes a hooked rebar detail as a cost effective alternative to the previously recommended headed rebar detail. The proposed hooked rebar detail looks to improve upon the headed bar detail by increasing the clear cover, and reducing the cost of fabrication and shipment of the rebar. Six specimens containing closure regions are subjected to both positive and negative moment loading in order to investigate their behavior and failure modes under ultimate load.

Memorial Stadium: Expansion, Renovation, Addition

The Memorial Stadium project will investigate the current conditions of facilities, study existing programs with regard to renovation and modification, and establish capacities for expansion. The project necessitates knowledge of sports facilities and the specific needs of the football program. This may involve research into the need of individuals ranging from the players themselves to the coaches, and ultimately the fans as well. The result will lead to a program which provides excellent solutions to the found needs. It is assumed that these needs will include updated training, locker room, and medical facilities for the athletes. Other programs include offices and meeting rooms for coaches, additional seating for fans—raising overall seating capacity of Memorial Stadium, as well as the possible addition of luxury skyboxes. Existing spaces will be scrutinized and renovation options will be explored. Programs may be changed or moved within the existing stadium spaces. Study will uncover the most feasible and reasonable solutions to programming spaces within the stadiums current facilities. This project will seek to connect the architecture of a stadium with the experience of the game. The design of athletic facilities and the addition of seating will embody the tradition of winning and the excitement of the future for Nebraska Football in Memorial Stadium. Mark Hoistad, mentor.

Effects of addition of a bird repellent to fish diets on their growth and bioaccumulation

The effects of adding the nonlethal bird repellent methyl anthranilate (MA), at levels of 100 and 1000 mg/kg, to fish feed on the bioaccumulation and growth of juvenile (10 g) hybrid striped bass (Morone chrysops x M. saxatilis) and juvenile (1g) African cichlid fish Aulonocara jacobfreibergi were investigated under laboratory conditions. The bird repellent did not have any effect on the fish growth or survival over a period of 6 weeks. MA residues at low levels of 11.2 ± 2.6 mg/g were found in lipophilic tissues (liver) of MA-fed fish. Control fish, which had no MA added to their diet, had a much lower level of 0.6 ± 0.3 mg/g MA in their liver. Fish muscle was found to contain negligible MA residues, while the outer body surface mucus did not contain any MA. Following a 6-week depuration period, during which the previously MA-fed hybrid striped bass were fed a feed to which no MA was added, the levels of MA residues detected were reduced by one order of magnitude.