Minimalist Hardware Architectures for Agent Tracking and Guidance

The philosophy of minimalism in robotics promotes gaining an understanding of sensing and computational requirements for solving a task. This minimalist approach lies in contrast to the common practice of first taking an existing sensory motor system, and only afterwards determining how to apply the robotic system to the task. While it may seem convenient to simply apply existing hardware systems to the task at hand, this design philosophy often proves to be wasteful in terms of energy consumption and cost, along with unnecessary complexity and decreased reliability. While impressive in terms of their versatility, complex robots such as the PR2 (which cost hundreds of thousands of dollars) are impractical for many common applications. Instead, if a specific task is required, sensing and computational requirements can be determined specific to that task, and a clever hardware implementation can be built to accomplish the task. Since this minimalist hardware would be designed around accomplishing the specified task, significant reductions in hardware complexity can be obtained. This can lead to huge advantages in battery life, cost, and reliability. Even if cost is of no concern, battery life is often a limiting factor in many applications. Thus, a minimalist hardware system is critical in achieving the system requirements. In this thesis, we will discuss an implementation of a counting, tracking, and actuation system as it relates to ergodic bodies to illustrate a minimalist design methodology.

Tracking the attenuation and nonbreaking dissipation of swells using altimeters

A method for systematically tracking swells across oceanic basins is developed by taking advantage of high-quality data from space-borne altimeters and wave model output. The evolution of swells is observed over large distances based on 202 swell events with periods ranging from 12 to 18 s. An empirical attenuation rate of swell energy of about 4 × 10−7 m−1 is estimated using these observations, and the nonbreaking energy dissipation rates of swells far away from their generating areas are also estimated using a point source model. The resulting acceptance range of nonbreaking dissipation rates is −2.5 to 5.0 × 10−7 m−1, which corresponds to a dissipation e-folding scales of at least 2000 km for steep swells, to almost infinite for small-amplitude swells. These resulting rates are consistent with previous studies using in-situ and synthetic aperture radar (SAR) observations. The frequency dispersion and angular spreading effects during swell propagation are discussed by comparing the results with other studies, demonstrating that they are the two dominant processes for swell height attenuation, especially in the near field. The resulting dissipation rates from these observations can be used as a reference for ocean engineering and wave modeling, and for related studies such as air-sea and wind-wave-turbulence interactions.

Swell dissipation from 10 years of Envisat ASAR in wave mode

Swells are found in all oceans and strongly influence the wave climate and air-sea processes. The poorly known swell dissipation is the largest source of error in wave forecasts and hindcasts. We use synthetic aperture radar data to identify swell sources and trajectories, allowing a statistically significant estimation of swell dissipation. We mined the entire Envisat mission 2003–2012 to find suitable storms with swells (13 < T < 18 s) that are observed several times along their propagation. This database of swell events provides a comprehensive view of swell extending previous efforts. The analysis reveals that swell dissipation weakly correlates with the wave steepness, wind speed, orbital wave velocity, and the relative direction of wind and waves. Although several negative dissipation rates are found, there are uncertainties in the synthetic aperture radar-derived swell heights and dissipation rates. An acceptable range of the swell dissipation rate is −0.1 to 6 × 10−7 m−1 with a median of 1 × 10−7 m−1.

Doctors' thinking about the system as a threat to patient safety

‘Systems thinking’ is an important feature of the emerging ‘patient safety’ agenda. As a key component of a ‘safety culture’, it encourages clinicians to look past individual error to recognise the latent factors that threaten safety. This paper investigates whether current medical thinking is commensurate with the idea of ‘systems thinking’ together with its implications for policy. The findings are based on qualitative semistructured interviews with specialist physicians working within one NHS District General Hospital in the English Midlands. It is shown that, rather then favouring a 'person-centred’ perspective, doctors readily identify ‘the system’ as a threat to patient safety. This is not necessarily a reflection of the prevailing safety discourse or knowledge of policy, but reflects a tacit understanding of how services are (dis)organised. This line of thinking serves to mitigate individual wrong-doing and protect professional credibility by encouraging doctors to accept and accommodate the shortcomings of the system, rather than participate in new forms of organisational learning.

Safety and complexity: the inter-departmental threats to patient safety in the operating department

Purpose: Current thinking about ‘patient safety’ emphasises the causal relationship between the work environment and the delivery of clinical care. This research draws on the theory of Normal Accidents to extend this analysis and better understand the ‘organisational factors’ that threaten safety. Methods: Ethnographic research methods were used, with observations of the operating department setting for 18 month and interviews with 80 members of hospital staff. The setting for the study was the Operating Department of a large teaching hospital in the North-West of England. Results: The work of the operating department is determined by inter-dependant, ‘tightly coupled’ organisational relationships between hospital departments based upon the timely exchange of information, services and resources required for the delivery of care. Failures within these processes, manifest as ‘breakdowns’ within inter-departmental relationships lead to situations of constraint, rapid change and uncertainty in the work of the operating department that require staff to break with established routines and work with increased time and emotional pressures. This means that staff focus on working quickly, as opposed to working safely. Conclusion: Analysis of safety needs to move beyond a focus on the immediate work environment and individual practice, to consider the more complex and deeply structured organisational systems of hospital activity. For departmental managers the scope for service planning to control for safety may be limited as the structured ‘real world’ situation of service delivery is shaped by inter-department and organisational factors that are perhaps beyond the scope of departmental management.

Beyond Blame: cultural barriers to medical reporting

The paper explores the attitudes of medical physicians towards adverse incident reporting in health care, with particular focus on the inhibiting factors or barriers to participation. It is recognised that there are major barriers to medical reporting, such as the ‘culture of blame’. There are, however, few detailed qualitative accounts of medical culture as it relates to incident reporting. Drawing on a 2-year qualitative case study in the UK, this paper presents data gathered from 28 semi-structured interviews with specialist physicians. The findings suggest that blame certainly inhibits medical reporting, but other cultural issues were also significant. It was commonly accepted by doctors that errors are an ‘inevitable’ and potentially unmanageable feature of medical work and incident reporting was therefore ‘pointless’. It was also found that reporting was discouraged by an anti-bureaucratic sentiment and rejection of excessive administrative duties. Doctors were also apprehensive about the increased potential for managers and non-physicians to engage in the regulation of medical quality through the use of incident data. The paper argues that the promotion of incident reporting must engage with more than the ubiquitous ‘culture of blame’ and instead address the ‘culture of medicine’, especially as it relates to the collegial and professional control of quality.

Emerging trends in the sea state of the Beaufort and Chukchi seas

The sea state of the Beaufort and Chukchi seas is controlled by the wind forcing and the amount of ice-free water available to generate surface waves. Clear trends in the annual duration of the open water season and in the extent of the seasonal sea ice minimum suggest that the sea state should be increasing, independent of changes in the wind forcing. Wave model hindcasts from four selected years spanning recent conditions are consistent with this expectation. In particular, larger waves are more common in years with less summer sea ice and/or a longer open water season, and peak wave periods are generally longer. The increase in wave energy may affect both the coastal zones and the remaining summer ice pack, as well as delay the autumn ice-edge advance. However, trends in the amount of wave energy impinging on the ice-edge are inconclusive, and the associated processes, especially in the autumn period of new ice formation, have yet to be well-described by in situ observations. There is an implicit trend and evidence for increasing wave energy along the coast of northern Alaska, and this coastal signal is corroborated by satellite altimeter estimates of wave energy.

Wave climate in the Arctic 1992-2014: seasonality and trends

Over the past decade, the diminishing Arctic sea ice has impacted the wave field, which depends on the ice-free ocean and wind. This study characterizes the wave climate in the Arctic spanning 1992–2014 from a merged altimeter data set and a wave hindcast that uses CFSR winds and ice concentrations from satellites as input. The model performs well, verified by the altimeters, and is relatively consistent for climate studies. The wave seasonality and extremes are linked to the ice coverage, wind strength, and wind direction, creating distinct features in the wind seas and swells. The altimeters and model show that the reduction of sea ice coverage causes increasing wave heights instead of the wind. However, trends are convoluted by interannual climate oscillations like the North Atlantic Oscillation (NAO) and Pacific Decadal Oscillation. In the Nordic Greenland Sea the NAO influences the decreasing wind speeds and wave heights. Swells are becoming more prevalent and wind-sea steepness is declining. The satellite data show the sea ice minimum occurs later in fall when the wind speeds increase. This creates more favorable conditions for wave development. Therefore we expect the ice freeze-up in fall to be the most critical season in the Arctic and small changes in ice cover, wind speeds, and wave heights can have large impacts to the evolution of the sea ice throughout the year. It is inconclusive how important wave–ice processes are within the climate system, but selected events suggest the importance of waves within the marginal ice zone.

Analyse de l'effet d'âge et du sexe sur l'utilisation des symboles graphiques

La suppléance à la communication (SC) est un moyen qui permet aux personnes qui ne peuvent pas communiquer par la parole de transmettre des informations à leur environnement et d'interagir de manière fonctionnelle avec lui. Le développement de la SC connaît des avancées importantes depuis quelques années, surtout avec l'avènement de nouvelles technologies. Toujours est-il qu'une compréhension plus approfondie des mécanismes qui sous-tendent l'utilisation de la SC reste primordiale. De plus, les relations qui existent entre l'utilisation du langage oral et de symboles graphiques sont peu explorées à ce jour. La présente étude fait partie d'un projet plus large visant donc à mieux explorer la nature des compétences nécessaires à une utilisation optimale de symboles graphiques dans la SC. Ainsi, et afin de mieux comprendre cette relation entre le langage oral et l'utilisation de symboles graphiques aussi bien en production qu'en compréhension, ainsi que pour mieux explorer l'effet d'âge et de genre, nous avons recruté 79 enfants (37 filles et 42 garçons), âgés entre 4;1 ans et 9;11ans, et qui présentent un développement typique du langage. L'étude du développement typique nous permet d'étudier certaines habiletés qui peuvent être difficiles à évaluer chez des enfants présentant des déficits sévères. Les sujets ont été répartis en 3 groupes selon leur âge: groupe 4-5 ans (n=26), groupe 6-7 ans (n=35) et groupe 8-9 ans (n=18). Plusieurs tâches ont été crées; celles-ci comprenaient des tâches de compréhension et de production, avec comme matériel des symboles graphiques, des objets ou des mots, qui étaient répartis au sein d'énoncés formés de trois, quatre, six ou huit éléments. Les résultats montrent tout d'abord deux profils distincts: chez les jeunes enfants, on observe une meilleure performance aux tâches d'interprétation par rapport aux tâches de production. Cependant, cette différence n'est plus évidente pour les groupes des plus âgés, et la distinction principale se situe alors au niveau de la différence de performance entre les tâches orales et les tâches symboliques au profit des premières. Par ailleurs, et conformément aux observations sur le développement du langage oral, la performance des filles est supérieure à celle des garçons à toutes les tâches, et cette différence semble disparaître avec l'âge. Enfin, nos résultats ont permis de montrer une amélioration plus marquée de la maîtrise du langage oral avec l'âge par comparaison à la maîtrise du traitement du symbole graphique. Par contre, l'interprétation et la production semblent être maîtrisées de manière similaire. Notre étude vient appuyer certains résultats rapportés dans la littérature, ainsi qu'élargir les connaissances surtout au niveau des liens qui existent entre la production et l'interprétation orale et symbolique en fonction de l'âge et du genre.

Optical Access Engine Setup and Validation

The optical access engine integrated with the diagnostic and optical measurement techniques is a great platform for engine research because it provides clear visual access to the combustion chamber inside the engines. An optical access engine customized based on a 4-cylinder spark ignited direct injection (SIDI) production engine is located in the Advanced Power Systems Laboratories (APS LABS) at Michigan Technological University. This optical access engine inside the test cell has been set up for different engine research. In this report, two SAE papers in engine research utilizing the optical access engine are reviewed to gain basic understanding of the methodology. Though the optical engine in APS LABS is a little bit different from the engines used in the literature, the methodology in the papers provides guidelines for engine research through optical access engines. In addition, the optical access engine instrumentation including the test cell setup and the optical engine setup is described in detail in the report providing a solid record for later troubleshooting and reference. Finally, the motoring tests, firing tests and optical imaging experiment on the optical engine have been performed to validate the instrumentation. This report only describes so far the instrumentation of the optical engine in the APS LABS by April 2015.

FAULT MORPHOLOGY WITHIN THE SOUTHERN KENYAN PORTION OF THE EAST AFRICAN RIFT VALLEY

Faults form quickly, geologically speaking, with sharp, crisp step-like profiles. Logic dictates that erosion wears away this "sharpness" or angularity creating more rounded features. As erosion occurs, debris accumulates at the base of the scarp slope. The stable end point of this process is when the scarp slope approaches an ideal sigmoid shape. This theory of fault end process, in combination with a new method developed in this report for fault profile delineation, has the potential to enable observation and categorization of fault profiles over large, diverse swaths of fault formation-- in remote areas such as the Southern Kenyan Rift Valley. This up-to date method uses remote sensing data and the digitizer tool in Global Mapper to create shape files of fault segments. This method can provide further evidence to support the notion that sigmoidal- shaped profiles represent a natural endpoint of the erosional process of fault scarps. Over time, faults of many different ages would exist in this similar shape over a wide region. However, keeping in mind that other processes can be at work on scarps-- most notably drainage patterns, when anomalies in profiles are observed, reactivation in some form possibly has occurred.

Sorghum Yield and Zai Holes in Goundi, Burkina Faso

The purpose of this study was to determine if there was a difference in sorghum yield between the Mossi zai hole and the Gourounsi zai hole, specifically examining the effects of manure and soil water conservation. A study field was created with six different treatments: (1) control with traditional management (no zai holes), (2) traditional management with manure, (3) Mossi zai holes with no manure, (4) Mossi zai holes with manure, (5) Gourounsi zai holes with no manure, and (6) Gourounsi zai holes with manure. Soil moisture readings were taken after each rainstorm (about weekly), soil properties were analyzed before planting and after harvest and above ground biomass was weighed at harvest. Manure was the only variable that significantly increased crop yield. This is different from the original hypothesis; zai holes were thought to be the main driver of increased crop yield in Sahelian West Africa. Zai holes did not have a significant effect on soil moisture.

Through Wafer 3D Vertical Micro-Coaxial Probe for High Frequency Material Characterization and Millimeter Wave Packaging Systems

This work presents the development of an in-plane vertical micro-coaxial probe using bulk micromachining technique for high frequency material characterization. The coaxial probe was fabricated in a silicon substrate by standard photolithography and a deep reactive ion etching (DRIE) technique. The through-hole structure in the form of a coaxial probe was etched and metalized with a diluted silver paste. A co-planar waveguide configuration was integrated with the design to characterize the probe. The electrical and RF characteristics of the coaxial probe were determined by simulating the probe design in Ansoft’s High Frequency Structure Simulator (HFSS). The reflection coefficient and transducer gain performance of the probe was measured up to 65 GHz using a vector network analyzer (VNA). The probe demonstrated excellent results over a wide frequency band, indicating its ability to integrate with millimeter wave packaging systems as well as characterize unknown materials at high frequencies. The probe was then placed in contact with 3 materials where their unknown permittivities were determined. To accomplish this, the coaxial probe was placed in contact with the material under test and electromagnetic waves were directed to the surface using the VNA, where its reflection coefficient was then determined over a wide frequency band from dc-to -65GHz. Next, the permittivity of each material was deduced from its measured reflection coefficients using a cross ratio invariance coding technique. The permittivity results obtained when measuring the reflection coefficient data were compared to simulated permittivity results and agreed well. These results validate the use of the micro-coaxial probe to characterize the permittivity of unknown materials at high frequencies up to 65GHz.

La protection de l'environnement par les sanctions administratives pécuniaires au Québec

Avec l’adoption le 4 octobre 2011 par l’Assemblée nationale du Québec du projet de loi 89 intitulé «Loi modifiant la Loi sur la qualité de l’environnement afin d’en renforcer le respect», le législateur est venu renforcer le régime de droit pénal en augmentant la sévérité des peines pour les infractions à Loi sur la qualité de l’environnement. Il a aussi élargi les pouvoirs d’intervention du ministre en lien avec les autorisations qu’il émet. Cependant, la principale réforme apportée par le projet de loi 89 qui touche aux mécanismes même de protection de l’environnement, est la création de toute pièce d’un régime de sanctions dites administratives pécuniaires, parallèlement au régime de sanctions déjà existantes. La première interrogation, soulevée à l’égard des sanctions administratives pécuniaires, et la plus fondamentale, était celle de savoir si le contrevenant devait bénéficier des protections constitutionnelles énoncées à l’article 11 de la Charte canadienne des droits et libertés, tel un inculpé face à une procédure pénale. Puisque nous concluons que ces sanctions relèvent uniquement du droit administratif, nous avons cherché à déterminer quel serait le contenu du devoir d’agir équitablement de l’Administration lors du processus d’émission et de contestation de la sanction administrative pécuniaire.

Analyse de l'effet d'âge et du sexe sur l'utilisation des symboles graphiques

La suppléance à la communication (SC) est un moyen qui permet aux personnes qui ne peuvent pas communiquer par la parole de transmettre des informations à leur environnement et d'interagir de manière fonctionnelle avec lui. Le développement de la SC connaît des avancées importantes depuis quelques années, surtout avec l'avènement de nouvelles technologies. Toujours est-il qu'une compréhension plus approfondie des mécanismes qui sous-tendent l'utilisation de la SC reste primordiale. De plus, les relations qui existent entre l'utilisation du langage oral et de symboles graphiques sont peu explorées à ce jour. La présente étude fait partie d'un projet plus large visant donc à mieux explorer la nature des compétences nécessaires à une utilisation optimale de symboles graphiques dans la SC. Ainsi, et afin de mieux comprendre cette relation entre le langage oral et l'utilisation de symboles graphiques aussi bien en production qu'en compréhension, ainsi que pour mieux explorer l'effet d'âge et de genre, nous avons recruté 79 enfants (37 filles et 42 garçons), âgés entre 4;1 ans et 9;11ans, et qui présentent un développement typique du langage. L'étude du développement typique nous permet d'étudier certaines habiletés qui peuvent être difficiles à évaluer chez des enfants présentant des déficits sévères. Les sujets ont été répartis en 3 groupes selon leur âge: groupe 4-5 ans (n=26), groupe 6-7 ans (n=35) et groupe 8-9 ans (n=18). Plusieurs tâches ont été crées; celles-ci comprenaient des tâches de compréhension et de production, avec comme matériel des symboles graphiques, des objets ou des mots, qui étaient répartis au sein d'énoncés formés de trois, quatre, six ou huit éléments. Les résultats montrent tout d'abord deux profils distincts: chez les jeunes enfants, on observe une meilleure performance aux tâches d'interprétation par rapport aux tâches de production. Cependant, cette différence n'est plus évidente pour les groupes des plus âgés, et la distinction principale se situe alors au niveau de la différence de performance entre les tâches orales et les tâches symboliques au profit des premières. Par ailleurs, et conformément aux observations sur le développement du langage oral, la performance des filles est supérieure à celle des garçons à toutes les tâches, et cette différence semble disparaître avec l'âge. Enfin, nos résultats ont permis de montrer une amélioration plus marquée de la maîtrise du langage oral avec l'âge par comparaison à la maîtrise du traitement du symbole graphique. Par contre, l'interprétation et la production semblent être maîtrisées de manière similaire. Notre étude vient appuyer certains résultats rapportés dans la littérature, ainsi qu'élargir les connaissances surtout au niveau des liens qui existent entre la production et l'interprétation orale et symbolique en fonction de l'âge et du genre.