UM Women's Soccer Team, 1995

Front row: Bethany Greenblatt, McKenzie Webster, Betsy Axley, Michele Brach, Kim Phillips.

Second Row: Ashley Marks, Jori Welchans, Jessica Jones, Alicia Smith, Katie Roek, Carrie Brady.

Third Row: Mindy Longjohn, Jennifer Taylor, Jaime Ross, Nicole Savage, Vanessa Lewis, Alana Peters, Whitney Ricketts, Amanda Gauthier, head coach Debbie Belkin.

Back Row: assistant coach Elise Edwards, Debbie Flaherty, Laura Fedrigo, Kelly Lukasik, Jessica Limauro, Kristin Buckley, Karen Montgomery, assistant coach Pete Kowall.

Not pictured: Ruth Poulin.

UM Women's Soccer Team, 1998

Front Row: Nancy Mather, Shannon Poole, Amber Berendowsky, Stephanie McArdle, Kristin Buckley, Mari Hoff, Carrie Brady, Laurie Peterson, Jen Stahl.

Middle Row: Terese Smallwood - manager, Jon Shoenwetter - student athletic trainer, Becky Kozlick, Abby Tompkins, Lauren Clister, Carissa Stewart, Jessica Jones, Vanessa Lewis, Kelly Lukasik, Emily Schmitt, Rex Thompson - certified athletic trainer.

Back Row: Debbie Belkin - head coach, Scott Forrester - assistant coach, Kerry Hood, Jessica Parmalee, Bethany Greenblatt, Jessica Limauro, Kacy Beitel, Marie Spaccarotella,

UM Women's Soccer Team, 1999

Back Row: Assistant Coach Scott Forrester, Becky Kozlick, Abby Crumpton, Andrea Kayal, Jen Stahl, Amber Berendowsky, Mari Hoff, Laurie Peterson, Vicky Whitley, Amy Sullivant. Athletic Trainer Rex Thompson.

Middle Row: Head Coach Debbie Belkin, Aviva Jacobs, Carly Williamson, Lindsay Friedland, Lauren Clister, Carissa Stewart, Bre Bennett, Abby Tompkins, Marie Spaccarotella, Nancy Mather, Student Athletic Trainer Clarissa Charlier.

Front Row: Assistant Coach Carrie Maier, Tammy Mitchell, Michele Pisiri, Jessica Parmalee, Stephanie McArdle, Shannon Poole, Emily Schmitt, Kacy Beitel, Alissa Shaw, Manager Tatiana Anthony.

UM Soccer Team, ca. 1913-1914

Top Row (from left to right): Hui K. Li, John E. Robertson, Landis D. McDowell, William Robertson; Middle Row (from left to right): Constantine D. Tripolitis, Abram B. Coryell, Felix J. Watts, Jacob deLiefde, Clarence I. Shutes; Bottom Row (from left to right): Samuel Cohen, Clarence R. Stallings, Wen H. Pan, William S. James

Hans Kudlich : Denkschrift zur vierzigjährigen Feier der Robot-Aufhebung /

Mode of access: Internet.

Biologically inspired joint control for a humanoid robot

The GuRm is a 1.2m tall, 23 degree of freedom humanoid consuucted at the University of Queensland for research into humanoid robotics. The key challenge being addressed by the GuRw projcct is the development of appropriate learning strategies for control and coodinadon of the robot’s many joints. The development of learning strategies is Seen as a way to sidestep the inherent intricacy of modeling a multi-DOP biped robot. This paper outlines the approach taken to generate an appmpria*e control scheme for the joinis of the GuRoo. The paper demonsrrates the determination of local feedback control parameters using a genetic algorithm. The feedback loop is then augmented by a predictive modulator that learns a form of feed-fonward control to overcome the irregular loads experienced at each joint during the gait cycle. The predictive modulator is based on thc CMAC architecture. Results from tats on the GuRoo platform show that both systems provide improvements in stability and tracking of joint control.