SMILE: Simulator for Maryland Imitation Learning Environment

As robot imitation learning is beginning to replace conventional hand-coded approaches in programming robot behaviors, much work is focusing on learning from the actions of demonstrators. We hypothesize that in many situations, procedural tasks can be learned more effectively by observing object behaviors while completely ignoring the demonstrator's motions. To support studying this hypothesis and robot imitation learning in general, we built a software system named SMILE that is a simulated 3D environment. In this virtual environment, both a simulated robot and a user-controlled demonstrator can manipulate various objects on a tabletop. The demonstrator is not embodied in SMILE, and therefore a recorded demonstration appears as if the objects move on their own. In addition to recording demonstrations, SMILE also allows programing the simulated robot via Matlab scripts, as well as creating highly customizable objects for task scenarios via XML. This report describes the features and usages of SMILE.

Maryland Farm Internships and Labor Laws

Many farms across Maryland use interns to lighten the overall farm workload and help young people gain practical farming knowledge. Although interns can be a welcome addition to a farm’s workforce, farm employers need to be aware of how to properly compensate interns and the legal consequences of adding them to the payroll.

The Historic Maryland Newspapers Project

This poster addresses frequently asked questions regarding the Historic Maryland Newspapers Project, such as "What is the National Digital Newspaper Program?" and "How are titles selected for digitization?" It also provides information about the project's funding from the National Endowment for the Humanities (NEH), newspaper titles digitized by the project to date, and the future of the project. This poster was presented at the UMD Libraries Research & Innovative Practice Forum, McKeldin Library, June 8, 2016.

BIORETENTION/CISTERN/IRRIGATION TO ELIMINATE STORMWATER RUNOFF AT THE UNIVERSITY OF MARYLAND

Water quality of parking lot (~1,858 m2) stormwater runoff and its treated effluent flow were analyzed for total phosphorus (TP), total nitrogen (TN), total suspended solids (TSS), electrical conductivity (EC), copper, lead and zinc. The novel system under investigation, located at the University of Maryland, College Park, Maryland, includes a standard bioretention facility, underdrained to a cistern to store treated stormwater, and pumped to a vegetable garden for irrigation. The site abstraction, the average bioretention abstraction, and bowl volumes were estimated to be 8500, 4378, and 895 L, respectively; this indicates that rain events of more than 0.45 cm are necessary to produce runoff and more than 0.75 cm will produce system overflow. The cistern water quality indicates good-to-excellent treatment by the system. Compared to local tap water, cistern water has lower concentrations of TP, TN, EC (non-winter), copper, and zinc, indicating a good water source for irrigation.

Lifetime and distribution of ozone and related pollutants in the eastern United States

Most major cities in the eastern United States have air quality deemed unhealthy by the EPA under a set of regulations known as the National Ambient Air Quality Standards (NAAQS). The worst air quality in Maryland is measured in Edgewood, MD, a small community located along the Chesapeake Bay and generally downwind of Baltimore during hot, summertime days. Direct measurements and numerical simulations were used to investigate how meteorology and chemistry conspire to create adverse levels of photochemical smog especially at this coastal location. Ozone (O3) and oxidized reactive nitrogen (NOy), a family of ozone precursors, were measured over the Chesapeake Bay during a ten day experiment in July 2011 to better understand the formation of ozone over the Bay and its impact on coastal communities such as Edgewood. Ozone over the Bay during the afternoon was 10% to 20% higher than the closest upwind ground sites. A combination of complex boundary layer dynamics, deposition rates, and unaccounted marine emissions play an integral role in the regional maximum of ozone over the Bay. The CAMx regional air quality model was assessed and enhanced through comparison with data from NASA’s 2011 DISCOVER-AQ field campaign. Comparisons show a model overestimate of NOy by +86.2% and a model underestimate of formaldehyde (HCHO) by –28.3%. I present a revised model framework that better captures these observations and the response of ozone to reductions of precursor emissions. Incremental controls on electricity generating stations will produce greater benefits for surface ozone while additional controls on mobile sources may yield less benefit because cars emit less pollution than expected. Model results also indicate that as ozone concentrations improve with decreasing anthropogenic emissions, the photochemical lifetime of tropospheric ozone increases. The lifetime of ozone lengthens because the two primary gas-phase sinks for odd oxygen (Ox ≈ NO2 + O3) – attack by hydroperoxyl radicals (HO2) on ozone and formation of nitrate – weaken with decreasing pollutant emissions. This unintended consequence of air quality regulation causes pollutants to persist longer in the atmosphere, and indicates that pollutant transport between states and countries will likely play a greater role in the future.

“PROSPERING BECAUSE THAT’S ITS HISTORY”: BLACK RESILIENCE AND HONORS DEVELOPMENT IN HIGHER EDUCATION: MORGAN STATE UNIVERSITY AND THE STATE OF MARYLAND, 1867-1988

This study explores the origins and development of honors education at a Historically Black College and University (HBCU), Morgan State University, within the context of the Maryland higher education system. During the last decades, public and private institutions have invested in honors experiences for their high-ability students. These programs have become recruitment magnets while also raising institutional academic profiles, justifying additional campus resources. The history of higher education reveals simultaneous narratives such as the tension of post-desegregated Black colleges facing uncertain futures; and the progress of the rise and popularity of collegiate honors programs. Both accounts contribute to tracing seemingly parallel histories in higher education that speaks to the development of honors education at HBCUs. While the extant literature on honors development at Historically White Institutions (HWIs) of higher education has gradually emerged, our understanding of activity at HBCUs is spotty at best. One connection of these two phenomena is the development of honors programs at HBCUs. Using Morgan State University, I examine the role and purpose of honors education at a public HBCU through archival materials and oral histories. Major unexpected findings that constructed this historical narrative beyond its original scope were the impact of the 1935/6 Murray v Pearson, the first higher education desegregation case. Other emerging themes were Morgan’s decades-long efforts to resist state control of its governance, Maryland���s misuse of Morrill Act funds, and the border state’s resistance to desegregation. Also, the broader histories of Black education, racism, and Black citizenship from Dred Scott and Plessy, the 1863 Emancipation Proclamation to Brown, inform this study. As themes are threaded together, Critical Race Theory provides the framework for understanding the emerging themes. In the immediate wake of the post-desegregation era, HBCUs had to address future challenges such as purpose and mission. Competing with HWIs for high-achieving Black students was one of the unanticipated consequences of the Brown decision. Often marginalized from higher education research literature, this study will broaden the research repository of honors education by documenting HBCU contributions despite a challenging landscape.

Defining the Resolution of a Network for Transportation Analyses: a New Method to Improve Transportation Planning Decisions

Travel demand models are important tools used in the analysis of transportation plans, projects, and policies. The modeling results are useful for transportation planners making transportation decisions and for policy makers developing transportation policies. Defining the level of detail (i.e., the number of roads) of the transport network in consistency with the travel demand model’s zone system is crucial to the accuracy of modeling results. However, travel demand modelers have not had tools to determine how much detail is needed in a transport network for a travel demand model. This dissertation seeks to fill this knowledge gap by (1) providing methodology to define an appropriate level of detail for a transport network in a given travel demand model; (2) implementing this methodology in a travel demand model in the Baltimore area; and (3) identifying how this methodology improves the modeling accuracy. All analyses identify the spatial resolution of the transport network has great impacts on the modeling results. For example, when compared to the observed traffic data, a very detailed network underestimates traffic congestion in the Baltimore area, while a network developed by this dissertation provides a more accurate modeling result of the traffic conditions. Through the evaluation of the impacts a new transportation project has on both networks, the differences in their analysis results point out the importance of having an appropriate level of network detail for making improved planning decisions. The results corroborate a suggested guideline concerning the development of a transport network in consistency with the travel demand model’s zone system. To conclude this dissertation, limitations are identified in data sources and methodology, based on which a plan of future studies is laid out.

DISSOLVED AND GASEOUS FLUXES OF CARBON AND NITROGEN FROM URBAN WATERSHEDS OF THE CHESAPEAKE BAY

Carbon and nitrogen loading to streams and rivers contributes to eutrophication as well as greenhouse gas (GHG) production in streams, rivers and estuaries. My dissertation consists of three research chapters, which examine interactions and potential trade-offs between water quality and greenhouse gas production in urban streams of the Chesapeake Bay watershed. My first research project focused on drivers of carbon export and quality in an urbanized river. I found that watershed carbon sources (soils and leaves) contributed more than in-stream production to overall carbon export, but that periods of high in-stream productivity were important over seasonal and daily timescales. My second research chapter examined the influence of urban storm-water and sanitary infrastructure on dissolved and gaseous carbon and nitrogen concentrations in headwater streams. Gases (CO2, CH4, and N2O) were consistently super-saturated throughout the course of a year. N2O concentrations in streams draining septic systems were within the high range of previously published values. Total dissolved nitrogen concentration was positively correlated with CO2 and N2O and negatively correlated with CH4. My third research chapter examined a long-term (15-year) record of GHG emissions from soils in rural forests, urban forest, and urban lawns in Baltimore, MD. CO2, CH4, and N2O emissions showed positive correlations with temperature at each site. Lawns were a net source of CH4 + N2O, whereas forests were net sinks. Gross CO2 fluxes were also highest in lawns, in part due to elevated growing-season temperatures. While land cover influences GHG emissions from soils, the overall role of land cover on this flux is very small (< 0.5%) compared with gases released from anthropogenic sources, according to a recent GHG budget of the Baltimore metropolitan area, where this study took place.

Photochemistry and transport of tropospheric ozone and its precursors in urban and remote environments

Tropospheric ozone (O3) adversely affects human health, reduces crop yields, and contributes to climate forcing. To limit these effects, the processes controlling O3 abundance as well as that of its precursor molecules must be fully characterized. Here, I examine three facets of O3 production, both in heavily polluted and remote environments. First, using in situ observations from the DISCOVER-AQ field campaign in the Baltimore/Washington region, I evaluate the emissions of the O3 precursors CO and NOx (NOx = NO + NO2) in the National Emissions Inventory (NEI). I find that CO/NOx emissions ratios derived from observations are 21% higher than those predicted by the NEI. Comparisons to output from the CMAQ model suggest that CO in the NEI is accurate within 15 ± 11%, while NOx emissions are overestimated by 51-70%, likely due to errors in mobile sources. These results imply that ambient ozone concentrations will respond more efficiently to NOx controls than current models suggest. I then investigate the source of high O3 and low H2O structures in the Tropical Western Pacific (TWP). A combination of in situ observations, satellite data, and models show that the high O3 results from photochemical production in biomass burning plumes from fires in tropical Southeast Asia and Central Africa; the low relative humidity results from large-scale descent in the tropics. Because these structures have frequently been attributed to mid-latitude pollution, biomass burning in the tropics likely contributes more to the radiative forcing of climate than previously believed. Finally, I evaluate the processes controlling formaldehyde (HCHO) in the TWP. Convective transport of near surface HCHO leads to a 33% increase in upper tropospheric HCHO mixing ratios; convection also likely increases upper tropospheric CH3OOH to ~230 pptv, enough to maintain background HCHO at ~75 pptv. The long-range transport of polluted air, with NO four times the convectively controlled background, intensifies the conversion of HO2 to OH, increasing OH by a factor of 1.4. Comparisons between the global chemistry model CAM-Chem and observations show that consistent underestimates of HCHO by CAM-Chem throughout the troposphere result from underestimates in both NO and acetaldehyde.

Sick Boy

This poetry collection explores the concepts of addiction and redemption. It does so through a series of vignette-style poems set in the Baltimore and DC area at the height of the heroin epidemic in the United States. Split into three parts, the first addresses the narrator’s initial drug use, the second follows the narrator at the strongest and least hopeful point of his addiction, and the third examines, through various scenes, the narrator’s attempts to find a life free from the confines of addiction. Although dealing with subject matter derived from dark and unfortunate circumstances, the narrator’s heroin addiction serves merely as a catalyst for the various situations that force the narrator to develop emotionally and grow even when trapped in the seemingly inescapable confines of addiction.

Toxicity and Contamination in Bear Creek Sediment: Spatial Analysis and Implications for Risk Assessment

The sediments of Bear Creek near Baltimore, Maryland demonstrate substantial toxicity to benthic organisms, and contain a complex mixture of organic and inorganic contaminants. The present study maps the spatial extent and depth profile of toxicity and contamination in Bear Creek, and explores correlations between heavy metals, organic contaminants, and toxic responses. Two novel analytical techniques – handheld XRF and an antibody-based PAH biosensor – were applied to samples from the site to quantify total metals and total PAHs in sediments. By comprehensively assessing toxicity in Bear Creek, the present study provides data to inform future risk assessments and management decisions relating for the site, while demonstrating the benefits of applying joint biological assays and chemical assessment methods to sediments with complex contaminant mixtures.

SHIFTING SCALES, ADJUSTING LENSES: A FRAMEWORK FOR INVESTIGATING BALTIMORE���S URBAN VACANCY

This thesis addresses contemporary gaps of vacancy within literature by using qualitative and quantitative methods and tools to determine the quantity, location, and interspatial relationships of vacant buildings and lots located in Baltimore Maryland. Spatial analyses were conducted to answer three questions of vacancy: 1) how many vacant lots and buildings exist, 2) whether there are spatial patterns of vacancy, such as clustering around geographic locations or within watersheds, and 3) how to prioritize intervention opportunities that respond to the city's larger issues? Using the city’s vacant lot and building data-sets, two concepts emerged from these investigations. First, Utilized Landscapes as a classification system that identifies lands that serve a function but have un-traditional qualities that make them susceptible to being labeled “vacant.” Second, the development of Transitional Zones, geographical areas with a high density of vacant buildings or lots that should be prioritized.

Catalyst: Architecture for Change and Social Justice

In major cities today, there are neighborhoods that have been continually underserved and as a result are in decay. Private investors and developers turn to these particular neighborhoods, propose large developments that gentrify these areas, displacing communities and with them their social, political, and economic issues. The purpose of this thesis is to analyze South West, Baltimore, a community composed of 8 neighborhoods on the verge of being gentrified, by incoming development. Through investigating the key issues present in this community for many years, this thesis will attempt to develop a catalytic environment, which will facilitate change within the community by providing a place for its members to help tackle these issues, improving their circumstances, and the circumstances of the neighborhoods they form part of.

Reimagining the Public Library as Public Space

Once regarded as the public’s center of knowledge and information, public libraries today are challenged by the rise of mobile technology and the Internet. Information behavior of everyday library patrons have transformed to rely on instant access of information through Google search instead of the resources housed in their local libraries. The focus of public library design is shifting from storing & protecting valuable resources (books) to the experience of an active public space of learning, engaging and reading. This thesis reimagines a public library branch in East Baltimore City by evaluating the architecture of public library examples of the past and of today. By understanding the user experience of the three key elements of public library design – procession, services & flexible space - a new public library design that engages and responds to the local community can be proposed.

HIST 429F: History of the University of Maryland The Good, the Bad, and the Ugly

Presentation from the MARAC conference in Boston, MA on March 18-21, 2015. S12 - History in Action: Collaboration in Academia