Reconstructing Iron Age Community Dynamics in Eskisehir Province, Central Turkey

Current understanding of the Iron Age polity of Phrygia in Central Anatolia is primarily based on excavations and survey in the region of the Phrygian capital of Gordion. In order to expand our knowledge of the Phrygian polity, we assess the scale and nature of Iron Age communities in the western (EskiAYehir) region of Phrygia. We address the challenge of interpreting ceramics derived from large-scale archaeological survey by utilizing Neutron Activation Analysis (NAA) of ceramics from 12 sites across the region collected by the EskiAYehir archaeological survey project as well as an excavated assemblage from Aar Hoyuk. While the uniformity in ceramic technology and styles suggest the region is part of the larger Phrygian community, NAA results reveal that (a) ceramic production was regionally highly localized with limited evidence of standardization during the Iron Age and (b) based on evidence of community interaction it is possible to establish a partial chronological sequence of development. These results have implications not only for understanding the internal dynamics within the Phrygian core but also for developing a methodology for comparing ancient polities using commensurate units of interacting communities. The present study is part of the larger Anatolian Iron Age Ceramics project (http://www.une.edu.au/a-ia).

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.