The Future of Humanoid Robots

This book provides state of the art scientific and engineering research findings and developments in the field of humanoid robotics and its applications. It is expected that humanoids will change the way we interact with machines, and will have the ability to blend perfectly into an environment already designed for humans. The book contains chapters that aim to discover the future abilities of humanoid robots by presenting a variety of integrated research in various scientific and engineering fields, such as locomotion, perception, adaptive behavior, human-robot interaction, neuroscience and machine learning. The book is designed to be accessible and practical, with an emphasis on useful information to those working in the fields of robotics, cognitive science, artificial intelligence, computational methods and other fields of science directly or indirectly related to the development and usage of future humanoid robots. The editor of the book has extensive R&D experience, patents, and publications in the area of humanoid robotics, and his experience is reflected in editing the content of the book

Autonomous & adaptive oceanographic feature tracking on board autonomous underwater vehicles

Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution February 2015The capabilities of autonomous underwater vehicles (AUVs) and their ability to perform tasks both autonomously and adaptively are rapidly improving, and the desire to quickly and efficiently sample the ocean environment as Earth's climate changes and natural disasters occur has increased significantly in the last decade. As such, this thesis proposes to develop a method for single and multiple AUVs to collaborate autonomously underwater while autonomously adapting their motion to changes in their local environments, allowing them to sample and track various features of interest with greater efficiency and synopticity than previously possible with preplanned AUV or ship-based surveys. This concept is demonstrated to work in field testing on multiple occasions: with a single AUV autonomously and adaptively tracking the depth range of a thermocline or acousticline, and with two AUVs coordinating their motion to collect a data set in which internal waves could be detected. This research is then taken to the next level by exploring the problem of adaptively and autonomously tracking spatiotemporally dynamic underwater fronts and plumes using individual and autonomously collaborating AUVs.Government support under and awarded by DoD, Air Force Office of Scientific Research, NDSEG Fellowship, 32 CFR 168a, U.S. Office of Naval Research (ONR) GOATS ’11 (N00014-11-1-0097) and GOATS ’14 (N00014-14-1-0214) projects, ONR TechSolutions Program Office (Lightweight NSW UUV program)—Technical Support, Naval Undersea Warfare Center (NUWC) Division, Newport (Code 25)—Technical Support and Logistic

The Convergence of Parametric Resonance and Vibration Energy Harvesting

Energy harvesting is an emerging technology that derives electricity from the ambient environment in a decentralised and self-contained fashion. Applications include self-powered medical implants, wearable electronics and wireless sensors for structural health monitoring. Amongst the vast options of ambient sources, vibration energy harvesting (VEH) has attracted by far the most research attention. Two of the key persisting issues of VEH are the limited power density compared to conventional power supplies and confined operational frequency bandwidth in light of the random, broadband and fast-varying nature of real vibration. The convention has relied on directly excited resonance to maximise the mechanical-to-electrical energy conversion efficiency. This thesis takes a fundamentally different approach by employing parametric resonance, which, unlike the former, its resonant amplitude growth does not saturate due to linear damping. Therefore, parametric resonance, when activated, has the potential to accumulate much more energy than direct resonance. The vibrational nonlinearities that are almost always associated with parametric resonance can offer a modest frequency widening. Despite its promising theoretical potentials, there is an intrinsic damping dependent initiation threshold amplitude, which must be attained prior to its onset. The relatively low amplitude of real vibration and the unavoidable presence of electrical damping to extract the energy render the onset of parametric resonance practically elusive. Design approaches have been devised to passively minimise this initiation threshold. Simulation and experimental results of various design iterations have demonstrated favourable results for parametric resonance as well as the various threshold-reduction mechanisms. For instance, one of the macro-scale electromagnetic prototypes (∼1800 cm3) when parametrically driven, has demonstrated around 50% increase in half power band and an order of magnitude higher peak power (171.5 mW at 0.57 ms−2) in contrast to the same prototype directly driven at fundamental resonance (27.75 mW at 0.65 ms−2). A MEMS (micro-electromechanical system) prototype with the additional threshold-reduction design needed 1 ms−2 excitation to activate parametric resonance while a comparable device without the threshold-reduction mechanism required in excess of 30 ms−2. One of the macro-scale piezoelectric prototypes operated into auto-parametric resonance has demon-strated notable further reduction to the initiation threshold. A vacuum packaged MEMS prototype demonstrated broadening of the frequency bandwidth along with higher power peak (324 nW and 160 Hz) for the parametric regime compared to when operated in room pressure (166 nW and 80 Hz), unlike the higher but narrower direct resonant peak (60.9 nW and 11 Hz in vacuum and 20.8 nW and 40 Hz in room pressure). The simultaneous incorporation of direct resonance and bi-stability have been investigated to realise multi-regime VEH. The potential to integrate parametric resonance in the electrical domains have also been numerically explored. The ultimate aim is not to replace direct resonance but rather for the various resonant phenomena to complement each other and together harness a larger region of the available power spectrum

Research reports: The 1980 NASA/ASEE Summer Faculty Fellowship Program

The Summer Faculty Fellowship Research Program objectives are: to further the professional knowledge of qualified engineering and science faculty members; to stimulate an exchange of ideas between participants and NASA; to enrich and refresh the research and teaching activities of participants and institutions; and to contribute to the research objectives at the NASA centers. The Faculty Fellows engaged in research projects commensurate with their interests and background and worked in collaboration with a NASA/MSFC colleague

PROGRAM, THE NEBRASKA ACADEMY OF SCIENCES: One Hundred-Thirty-First Annual Meeting, APRIL 23-24, 2021. ONLINE

AFFILIATED SOCIETIES OF THE NEBRASKA ACADEMY OF SCIENCES, INC. 1.American Association of Physics Teachers, Nebraska Section: Web site: http://www.aapt.org/sections/officers.cfm?section=Nebraska 2.Friends of Loren Eiseley: Web site: http://www.eiseley.org/ 3.Lincoln Gem & Mineral Club: Web site: http://www.lincolngemmineralclub.org/ 4.Nebraska Chapter, National Council for Geographic Education 5.Nebraska Geological Society: Web site: http://www.nebraskageologicalsociety.org Sponsors of a $50 award to the outstanding student paper presented at the Nebraska Academy of SciencesAnnual Meeting, Earth Science /Nebraska Chapter, National Council Sections 6.Nebraska Graduate Women in Science 7.Nebraska Junior Academy of Sciences: Web site: http://www.nebraskajunioracademyofsciences.org/ 8.Nebraska Ornithologists’ Union: Web site: http://www.noubirds.org/ 9.Nebraska Psychological Association: http://www.nebpsych.org/ 10.Nebraska-Southeast South Dakota Section Mathematical Association of America: Web site: http://sections.maa.org/nesesd/ 11.Nebraska Space Grant Consortium: Web site: http://www.ne.spacegrant.org/ CONTENTS AERONAUTICS & SPACE SCIENCE ANTHROPOLOGY APPLIED SCIENCE & TECHNOLOGY BIOLOGICAL & MEDICAL SCIENCES COLLEGIATE ACADEMY: BIOLOGY COLLEGIATE ACADEMY: CHEMISTRY & PHYSICS EARTH SCIENCES ENVIRONMENTAL SCIENCES GENERAL CHEMISTRY GENERAL PHYSICS TEACHING OF SCIENCE & MATHEMATICS 2020-2021 PROGRAM COMMITTEE 2020-2021 EXECUTIVE COMMITTEE FRIENDS OF THE ACADEMY NEBRASKA ACADEMY OF SCIENCS FRIEND OF SCIENCE AWARD WINNERS FRIEND OF SCIENCE AWARD TO DR PAUL KAR

Program and Proceedings: The Nebraska Academy of Sciences 1880-2023. 142th Anniversary Year. One Hundred-Thirty-Third Annual Meeting April 21, 2023. Hybrid Meeting: Nebraska Wesleyan University & Online, Lincoln, Nebraska

AERONAUTICS & SPACE SCIENCE Chairperson(s): Dr. Scott Tarry & Michaela Lucas HUMANS PAST AND PRESENT Chairperson(s): Phil R. Geib & Allegra Ward APPLIED SCIENCE & TECHNOLOGY SECTION Chairperson(s): Mary Ettel BIOLOGY Chairpersons: Lauren Gillespie, Steve Heinisch, and Paul Davis BIOMEDICAL SCIENCES Chairperson(s): Annemarie Shibata, Kimberly Carlson, Joseph Dolence, Alexis Hobbs, James Fletcher, Paul Denton CHEM Section Chairperson(s): Nathanael Fackler EARTH SCIENCES Chairpersons: Irina Filina, Jon Schueth, Ross Dixon, Michael Leite ENVIRONMENTAL SCIENCE Chairperson: Mark Hammer PHYSICS Chairperson(s): Dr. Adam Davis SCIENCE EDUCATION Chairperson: Christine Gustafson 2023 Maiben Lecturer: Jason Bartz 2023 FRIEND OF SCIENCE AWARD TO: Ray Ward and Jim Lewi

Characterization of the atmospheric turbulence at the Sutherland site and conceptual design study and optimization of an Adaptive Optics system for the Southern African Large Telescope

To support the potential development of an AO system for SALT, a site monitoring campaign of the Sutherland site was initiated in 2010. This campaign also led to the participation in the development of a new instrument to characterize the atmospheric turbulence. The results from five years of site testing were used in AO simulations in order to demonstrate the potential capabilities of an AO system on SALT. The site testing study produced up-to-date seeing values and provided a measurement of the atmospheric turbulence profiles. I found a median seeing value of 1.51". The main contributor to the turbulence is clearly the ground layer, below 1 km, responsible for 83% of the turbulence. The next most significant contributor is the wind shear layer around 3 km. Seasonal trends show that slightly worse seeing conditions occur during the winter months due to predominant East, South-easterly winds that are associated with degraded seeing conditions. In addition to the main site testing campaign, I helped develop the "Profileur de Bord Lunaire" (PBL, Profiler of Moon limb in English), a new instrument that uses the Moon limb to measure the atmospheric turbulence profile. The work on the data processing and inversion method led to the extraction of high altitude-resolution profiles of the turbulence strength. I present here those results along with a comparison with profiles obtained with the Multi-Aperture Scintillation Sensor (MASS). Using the results from the site testing campaign along with the SALT optical design, I simulated the general dimensioning of a system for SALT that would use a single natural guide star (NGS). The trade-off between performances and sky coverage resulted in a 34x34 system using NGS in the range 10 to 14 magnitude in R-band. The 34x34 dimensions refer to the number of subapertures of the Shack-Hartmann wavefront sensor. I conclude with the significant improvement in spectroscopic performance for SALT that could be achieved by implementing an AO system. The gains in encircled/enslited energy are most significant in the near infrared where gains of 183% could be achieved at 1600 nm for the planned Near-infrared upgrade to the Robert Stobie Spectrograph (RSS). The gains in enslited and encircled energy at 700 nm for the visible arm of RSS and the High-Resolution Spectrograph (HRS) are limited to a maximum of 22% and 34%, respectively, due to the large apertures adapted to seeing-limited observations. Further gains could be achieved by designing the next generation of SALT instrumentation to take full advantage of an AO system

Abstracts of Papers Presented at the 2005 Pittsburgh Conference

To attend or not to attend, that is the question. The Pittsburgh Conference continues to pose this conundrum to conferees and exhibitors alike. This year's conference was the first to be presented without a set of paper abstracts—a good thing some would say but this old codger always used the paper abstracts to select papers of interest to our readership and to seek a full publication. The exhibit took its usual format but it seemed that there were less manufacturers present. The information presented to the attendees was also lacking and many companies' details were missing from the final program book, an omission no doubt on their behalf—my company was one of these—however I feel sure that past Pittcon organizers would have been more persistent in getting the required details for the audience. As is now the norm, many of the presentations take the form of posters displayed within the exhibition area. Without a driver to get the audience there, the traffic was slow, to say the least. Lecture presentations were also attended in a mixed fashion. So the Pittsburgh Conference show moves on, and again next year it will be held in Orlando from 12 March to 17 March 2006. No doubt I will be there making it a straight 31 in a row; in Pittsburgh Conference terms I am just a beginner with many of the attendees making more shows in a run than that. Selected abstracts dealing with topics of interest to the readers of this journal follow—hopefully many of these groups will be willing to publish their work either within this journal or elsewhere

Human-Computer Interaction

In this book the reader will find a collection of 31 papers presenting different facets of Human Computer Interaction, the result of research projects and experiments as well as new approaches to design user interfaces. The book is organized according to the following main topics in a sequential order: new interaction paradigms, multimodality, usability studies on several interaction mechanisms, human factors, universal design and development methodologies and tools