DEVELOPMENT OF A HUMANOID ROBOT ARM FOR USE IN URBAN ENVIRONMENTS

The Bucknell Humanoid Robot Arm project was developed in order toprovide a lightweight robotic arm for the IHMC / Bucknell University bipedal robot that will provide a means of manipulation and facilitate operations in urban environments. The resulting fabricated arm described in this thesis weighs only 13 pounds, and is capable of holding 11 pounds fully outstretched, lifting objects such as tools, and it can open doors. It is also capable of being easily integrated with the IHMC / Bucknell University biped. This thesis provides an introduction to robots themselves, discusses the goals of the Bucknell Humanoid Robot Arm project, provides a background on some of the existing robots, and shows how the Bucknell Humanoid Robot Arm fits in with the studies that have been completed. After reading these studies, important items such as design trees and operational scenarios were completed. The completion of these items led to measurable specifications and later the design requirements and specifications. A significant contribution of this thesis to the robotics discipline involves the design of the actuator itself. The arm uses of individual, lightweight, compactly designed actuators to achieve desired capabilities and performance requirements. Many iterations were completed to get to the final design of each actuator. After completing the actuators, the design of the intermediate links and brackets was finalized. Completion of the design led to the development of a complex controls system which used a combination of Clanguage and Java.

Use of a State-Level Pharmaceutical Assistance Program Among Urban and Rural Elders

A number of state-level pharmaceutical assistance programs have been established as a result of the growing recognition of the role of pharmaceuticals in the long-term care of the elderly. However, existing research does not provide a coherent expectation for patterns of use by rural and urban elderly. The data for this analysis are drawn from a larger study of the Pennsylvania Pharmaceutical Assistance Contract for the Elderly (PACE). PACE provides prescription medicines for elderly who meet income requirements. The research project was designed to assess the characteristics of PACE program participants and non-participants on a wide range of issues. Chi-square analysis and regression models were used to assess the association between rural and urban residence and access to the PACE Program. The results indicate that rural/urban status of the elderly is not a significant predictor of the use of PACE. Other traditional variables (e.g., health self-rating and physician visits) did predict difference in the pattern of use.

Expanding Women's Worlds?: Development, Gender, and Environment in Rural Morocco

This honors thesis is an anthropological exploration of women's cooperatives in two regions of rural Morocco. Specifically, I am interested in how contemporary development projects such as the cooperative are understood by the peoples of these regions. By conducting first-hand ethnographic research among women's cooperatives in two drastically different environments of rural Morocco, I gain further insight into the roles that culture and geography play in determining the 'success' of cooperatives inlocal communities. In using the term 'success,' I will compare notions of success as used by both Western development organizations as well as local people in Morocco. I examine and analyze the very delicate and complex interaction that occurs between largely Western development agencies and local cultures particularly through the lens of gender. I will also convey the importance of an exchange of cultural practices through development projects rather than the imposition of one cultural system on another. In writing this thesis, I hope to contribute to the growing field of the anthropologyof development, a subset of cultural anthropology that examines international development practices and the economic, social, and political factors that have an impact on the local culture. I examine cooperatives from the perspectives of both the people whoparticipate in them through personal interviews as well as development institutions through an ongoing body of published literature. Focusing on gender implications that such development initiatives have on the rural cultures of Morocco, I argue that gender identities are crucial aspects of local cultures that must be addressed within development practices. On a broader scale, I argue that a deeper knowledge of local cultures is essential if development agencies are to be 'successful' in non-Western cultures.