Modeling and Control of the UGV Argo J5 with a Custom-Built Landing Platform

This thesis aims to develop a detailed dynamic model and implement several navigation controllers for path tracking and dynamic self-leveling of the Argo J5 Unmanned Ground Vehicle (UGV) with a custom-built landing platform. The overall model is derived by combining the Argo J5 driveline system with the wheelsterrain interaction (using terramechanics theory and mobile robot kinetics), while the landing platform model follows the Euler-Lagrange formulation. Different controllers are, then, derived, implemented to demonstrate: i.) self-leveling accuracy of the landing platform, ii.) trajectory tracking capabilities of the Argo J5 when moving in uneven terrains. The novelty of the Argo J5 model is the addition of a vertical load on each wheel through derivation of the shear stress depending on the point’s position in 3D space on each wheel. Static leveling of the landing platform within one degree of the horizon is evaluated by implementing Proportional Derivative (PD), Proportional Integral Derivative (PID), Linear Quadratic Regulator (LQR), feedback linearization, and Passivity Based Adaptive Controller (PBAC) techniques. A PD controller is used to evaluate the performance of the Argo J5 on different terrains. Further, for the Argo J5 - landing platform ensemble, PBAC and Neural Network Based Adaptive Controller (NNBAC) are derived and implemented to demonstrate dynamic self-leveling. The emphasis is on different controller implementation for complex real systems such as Argo J5 - Landing platform. Results, obtained via extensive simulation studies in a Matlab/Simulink environment that consider real system parameters and hardware limitations, contribute to understanding navigation performance in a variety of terrains with unknown properties and illustrate the Argo J5 velocity, wheel rolling resistance, wheel turning resistance and shear stress on different terrains

Faculty Publications and Creative Works 2005

Faculty Publications & Creative Works is an annual compendium of scholarly and creative activities of University of New Mexico faculty during the noted calendar year. Published by the Office of the Vice President for Research and Economic Development, it serves to illustrate the robust and active intellectual pursuits conducted by the faculty in support of teaching and research at UNM. In 2005, UNM faculty produced over 1,887 works, including 1,887 scholarly papers and articles, 57 books, 127 book chapters, 58 reviews, 68 creative works and 4 patented works. We are proud of the accomplishments of our faculty which are in part reflected in this book, which illustrates the diversity of intellectual pursuits in support of research and education at the University of New Mexico

Cyber Humanitarian Interventions: The viability and ethics of using cyber-operations to disrupt perpetrators’ means and motivations for atrocities in the digital age

In the contemporary digital age, mass atrocity crimes are increasingly promoted and organised online. Yet, little attention has been afforded to the question of whether proactive cyberspace operations might be used for human protection purposes. Beginning with the framework of the Responsibility to Protect (R2P), this thesis asks: How might cyber-operations be used ethically to protect populations from mass atrocity crimes? To answer this question, I introduce the concept of ‘cyber humanitarian interventions’, and argue that such measures can be used to disrupt potential perpetrators’ means and motivations for atrocities. Specifically, I contend that cyber humanitarian interventions can be used to frustrate potential perpetrators’ communication channels, logistical supply chains, and funding, as well as to stymie potential perpetrators’ desire for violence via online, targeted, tailor-made campaigns based on their big data. These capabilities can be used in an ethically acceptable manner, and thus ought to be pursued prior to the resort to other more forceful measures to protect. Moreover, and perhaps more controversially, I argue that, in some circumstances, there is a qualified responsibility to deceive potential perpetrators – via online disinformation – in order to fulfil responsibilities to protect. This thesis seeks to make three key contributions. First, it contributes to extant literatures on R2P, atrocity prevention, and cyberspace by offering cyber humanitarian interventions as a hitherto neglected tool for human protection. Second, it furthers ethical debates on atrocity prevention by providing an in-depth analysis of how cyber humanitarian interventions can be deployed ethically. Third, it challenges prevailing conceptions of disinformation by arguing that that there is, in fact, a qualified responsibility to deceive potential perpetrators into not committing atrocities via online disinformation. In sum, this thesis aims to bring 21st century capabilities to bear on centuries-old crimes, and highlights cyber humanitarian interventions as a more peaceful, cost-effective, and politically palatable tool to protect vulnerable populations from mass atrocity crimes

Shadows of Childhood: The Emergence of the Child in the Visual and Literary Culture of the French Long-Nineteenth Century

This thesis examines the evolutionary journey of the concepts of the ‘child’ and ‘childhood’ during the French long-nineteenth century, as expressed through the period’s literary and visual culture. It analyses in what ways these concepts reflect a ‘shadowland’ existence in this period, and in turn how the shadow metaphor symbolises both the child itself and its complex, changeable condition. The shadow metaphor not only characterises various concepts associated with children and childhood, but extends to represent the nature of the study itself. The long-nineteenth century forms a stretch of ‘shadowland’ reflective of the abstruseness of the topic which lies between pre-Enlightenment ‘darkness’ and the illuminating ‘light’ of the twentieth century. The thesis focuses on this crucial though oft overlooked developmental period between the scholarly inception of children and childhood in the late Enlightenment, to their establishment as creative blueprints in twentieth-century modernism. Supported by a socio-historical grounding, an exploration of the work of Baudelaire, Hugo, Rousseau, Proust, Redon, Degas, Renoir, and Loïe Fuller, amongst others, enables us to ‘unpack’ the ways in which this shadowy quality gave rise to not only a curiosity to explore the fascinating ‘other’ of the child and its condition in this complex epoch, but also a proclivity to explain and control it. Investigating the rhetoric of children and childhood, considering their artistic and literary significance at this time, the thesis both accounts for how writers and artists reflected upon childhood, and explores the process by which children and childhood were harnessed by intellectual and creative endeavours. Various as the case studies prove, they can all be united in their fulfilment of a regression towards and reimagining of one’s childhood and personhood, like a re-engagement with the ‘shadow child’ within, in the face of the disturbing ephemerality of self alongside the destabilising onset of modernity

Smoking and Second Hand Smoking in Adolescents with Chronic Kidney Disease: A Report from the Chronic Kidney Disease in Children (CKiD) Cohort Study

The goal of this study was to determine the prevalence of smoking and second hand smoking [SHS] in adolescents with CKD and their relationship to baseline parameters at enrollment in the CKiD, observational cohort study of 600 children (aged 1-16 yrs) with Schwartz estimated GFR of 30-90 ml/min/1.73m2. 239 adolescents had self-report survey data on smoking and SHS exposure: 21 [9%] subjects had “ever” smoked a cigarette. Among them, 4 were current and 17 were former smokers. Hypertension was more prevalent in those that had “ever” smoked a cigarette (42%) compared to non-smokers (9%), p\u3c0.01. Among 218 non-smokers, 130 (59%) were male, 142 (65%) were Caucasian; 60 (28%) reported SHS exposure compared to 158 (72%) with no exposure. Non-smoker adolescents with SHS exposure were compared to those without SHS exposure. There was no racial, age, or gender differences between both groups. Baseline creatinine, diastolic hypertension, C reactive protein, lipid profile, GFR and hemoglobin were not statistically different. Significantly higher protein to creatinine ratio (0.90 vs. 0.53, p\u3c0.01) was observed in those exposed to SHS compared to those not exposed. Exposed adolescents were heavier than non-exposed adolescents (85th percentile vs. 55th percentile for BMI, p\u3c 0.01). Uncontrolled casual systolic hypertension was twice as prevalent among those exposed to SHS (16%) compared to those not exposed to SHS (7%), though the difference was not statistically significant (p= 0.07). Adjusted multivariate regression analysis [OR (95% CI)] showed that increased protein to creatinine ratio [1.34 (1.03, 1.75)] and higher BMI [1.14 (1.02, 1.29)] were independently associated with exposure to SHS among non-smoker adolescents. These results reveal that among adolescents with CKD, cigarette use is low and SHS is highly prevalent. The association of smoking with hypertension and SHS with increased proteinuria suggests a possible role of these factors in CKD progression and cardiovascular outcomes

Image as Collective: A History of Optical Effects in Hollywood's Studio System

This dissertation provides a historical account of a until now neglected field of moving image production. It identifies and focuses on optical effects as a practice of montage within moving images as opposed to the montage of like images in time. Drawing on a wide range of new archival material, my dissertation presents previously unknown reasons for the developments of different techniques of image compositing such as traveling mattes, color-based processes, rear projection, and optical printing. This field has currently gained relevance as a forerunner to contemporary digital effects and image processing, a fact that in part also explains the marginal presence optical effects in earlier scholarship. My work collects original publications by participants and critically relates them to each other and akin areas of film production. As a result I will show that there were no single privileged sources of agency but rather chains of translation that involve humans as much as non-humans. I will draw on Actor-Network-Theory as a methodological framework as it provides an approach that tries to avoid presumptions that inform the analytical descriptions. Therefore, I will deploy individual case studies, in which I explore the specific functions of such different entities as groups of studio employees, the studios themselves, entrepreneurs and manufacturers, professional associations and organizations, devices and sets, patents and other publications, and finally images. The image as the result of these production practices (rather than as an aesthetic phenomenon alone) here is regarded as representation and aim of its production practices that at the same time it tries to conceal. It thus assembles its own collective which I will understand not as a model but as a hypothesis that guides my historical descriptions

Creating Through Mind and Emotions

The texts presented in Proportion Harmonies and Identities (PHI) Creating Through Mind and Emotions were compiled to establish a multidisciplinary platform for presenting, interacting, and disseminating research. This platform also aims to foster the awareness and discussion on Creating Through Mind and Emotions, focusing on different visions relevant to Architecture, Arts and Humanities, Design and Social Sciences, and its importance and benefits for the sense of identity, both individual and communal. The idea of Creating Through Mind and Emotions has been a powerful motor for development since the Western Early Modern Age. Its theoretical and practical foundations have become the working tools of scientists, philosophers, and artists, who seek strategies and policies to accelerate the development process in different contexts