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.

The NEBLINE, October 1998

Contents: Character Counts! for everyone Growing hardy bulbs Tree planting snafus Timely care of hardy chrysantheums Mole, mole, go away Termite control options: baits vs. barriers? Celebrate America Recycles Day Household hazardous waste collection: November 7 It's time for your annual “pest-proof” check-up Removing skunk odor Temporary/emergency grain storage options Control leafy spurge Fall clean-up of warm-season grasses The first frost, the last hurrah Pasture weed control What is this thing called winter desiccation? Dormant planting grasses and legumes Finding facts about vegetables and fruits Healthy Eating: No-Crust Pumpkin Pie Focus on Food Preparing for the winter food olympics! Family & Community Education News FCE: Jean's Journal Household Hints Furniture workshop AARP offers 55 Alive—Mature Driver Course Caring for athletic uniforms Halloween safety 4-H Bulletin Board Character Counts! Super Day Camps 4-H CAN Fight Hunger Food Campaign 4-H Shooting Sports meeting Holiday gifts needed 4-H Volunteer Forum Make a Difference Day Engineering and Technology 4-H Club Put us to work, please! Lancaster County Born and Raised beef SERIES fun America Recycles Day Livestock judging teams excel at state Lemke and Nisley place University of Nebraska Speakers Bureau announced Public notice Community Resource Directory available E.N. Thompson Forum on World Issues

Book Review of Determining the Economic Value of Water: Concepts and Methods by Robert A. YoungBook Review of Determining the Economic Value of Water: Concepts and Methods by Robert A. Young

Water has been and will continue to be a contentious issue for policy makers, landowners, municipalities, environmentalists, and citizens who feels they have an undeniable right to clean water delivered to their homes (at least in the United States). With so many groups coming into conflict over what, at least in the West and the Great Plains, continues to be a diminishing resource per capita, an understanding of the economic value of this resource is critical. It is important to note, as Robert Young does throughout his book, that the true economic value of water goes beyond what we pay our city services each month, or the cost to farmers or ranchers for pumping and distributing that water on their land. The value of water must take into account the value of the competing uses which are sometimes difficult to price.

Spatial modelling and prediction on river networks: up model, down model or hybrid?

Preservation of rivers and water resources is crucial in most environmental policies and many efforts are made to assess water quality. Environmental monitoring of large river networks are based on measurement stations. Compared to the total length of river networks, their number is often limited and there is a need to extend environmental variables that are measured locally to the whole river network. The objective of this paper is to propose several relevant geostatistical models for river modeling. These models use river distance and are based on two contrasting assumptions about dependency along a river network. Inference using maximum likelihood, model selection criterion and prediction by kriging are then developed. We illustrate our approach on two variables that differ by their distributional and spatial characteristics: summer water temperature and nitrate concentration. The data come from 141 to 187 monitoring stations in a network on a large river located in the Northeast of France that is more than 5000 km long and includes Meuse and Moselle basins. We first evaluated different spatial models and then gave prediction maps and error variance maps for the whole stream network.

Water Quality Variability in a Bioswell and Concrete Drainage Pipe, Southwest Lincoln, Nebraska

Abstract The goal of this project is to evaluate the effectiveness of bioswells in protecting water quality from urban runoff. The hypothesis tested in this project is that water in bioswells improves water quality. Water quality in both a bioswell and an underground concrete lined ditch, both containing ground and surface water, were tested for certain water quality parameters. These parameters consisted of: Dissolved Oxygen, pH, water temperature, weather temperature, Total Dissolved Solids, Specific Conductivity, Alkalinity, Total Dissolved Carbon, Chemical Oxygen Demand, and depth and width of the sampling site. An additional contaminant that was looked at was motor oil. This was measured by comparing Total Organic Carbon with Chemical Oxygen Demand. A variety of different methods to measure the water quality parameters were utilized. The concrete site had more stable readings, but much higher water temperatures. However, the bioswell water is mainly from surface water runoff, and the underground concrete lined pipe is from underground water, so the two cannot be directly compared. The bioswell had high readings, especially pertaining to Oxygen Demand, Total Organic Carbon, and Specific Conductivity in early test dates. But, these readings improved as they were filtered though the bioswell. As plant activity increased and the weather began to warm up there were more stable readings. It is concluded that bioswells are an effective way to reduce problems associated with urban runoff pertaining to certain water quality parameters.

The History of the German-Russian Colony in Lincoln

Standing at the corner of Tenth and O streets in the city of Lincoln, Nebraska, any week-day morning between 7:30 and 8 o'clock, you may see pass by you from ten to twenty women with little black woolen shawls on their heads. Ask any citizen who they are, and ninety-nine times in one hundred he will tell you they are "Russians" who live down on the bottoms, that they are going out into the offices and homes to wash and scrub and clean house, and that their husbands are street laborers or work for the railroad. He may then grow confidential and tell you that he "has no use for these people", that "they are only half human", and that he "would just as soon see the Chinese come here as those people". As a matter of fact the greater part of his information is incorrect, partly through race prejudice but chiefly through ignorance of their history. These people, of whom there are about 4,000 in the city (Including "beet fielders"), are Germans, not Russians: they are Teutons, not Slavs; they are Lutheran and Reformed, not Greek Catholics. To be sure they and their ancestors lived in Russia for over one hundred years and they came here directly from the realm of the Czar whoso bona fide citizens they were—but they never spoke the Russian language, never embraced the Greek religion, never intermarried with the Russians, and many of their children never saw a Russian until they left their native village for the new home in America. They despise being called "Russians" just as an Italian resents "Dago"; a Jew, "Sheeny"; and a German, "Dutchman". Ask them where they came from and most of the children and not a few of the grown people will say, "Germany". If you pursue your questioning as to what part of Germany, they will tell you "Saratov" or "Samara" - two governments in the eastern part of Russia on the lower course of the Volga river. The misconceptions concerning the desirability of these German-Russians as citizens arise from their unprogressiveness as compared with those Germans who come to us directly from the mother country. During their century's sojourn in Russia they have been out of the main current of civilization, a mere eddy in the stream of progress. They present a concrete example of arrested development, The characteristics which differentiate them from other Germans are not due to an inherent lack of capacity but to different environment. Notwithstanding this, the German- Russians have some admirable qualities. They bring us large stores of physical energy and an almost unlimited capacity for work. The majority of them are literate although the amount of their education is limited. They are thrifty and independent, almost never applying for public aid. They are law abiding, their chief offenses being those which are traceable to their communal life in Russia. They are extremely religious, all their social as well as spiritual life being bound up in the church which they support right royally. To be sure, the saloon gets their vote (the prohibition vote among them is increasing); but "was not the first miracle that Christ performed the turning of water into wine? If they would shut up the shows (theaters), they wouldn't need to shut up the saloons". The object of this paper is to give the historical setting in which the German-Russians have lived as one means to a better understanding and appreciation of them by our own citizens.