Kinematic analysis of the ARID manipulator

The kinematic structure of the ARID manipulator lends itself to simple forward and inverse kinematics analysis. The purpose of this paper is to fully document and verify an existing analysis. The symbolic software package MATHEMATICA was used to produce and verify the equations presented here. In the analysis to follow, the standard Devenit-Hartenberg kinematic parameters of the ARID were employed

B-52B/DTV (Drop Test Vehicle) flight test results: Drop test missions

The NASA test airplane, B-52B-008, was a carrier for drop tests of the shuttle booster recovery parachute system. The purpose of the test support by Boeing was to monitor the vertical loads on the pylon hooks. The hooks hold the Drop Test Vehicle to the B-52 pylon during drop test missions. The loads were monitored to assure the successful completion of the flight and the safety of the crew

Calibration of the ARID robot

The author has formulated a new, general model for specifying the kinematic properties of serial manipulators. The new model kinematic parameters do not suffer discontinuities when nominally parallel adjacent axes deviate from exact parallelism. From this new theory the author develops a first-order, lumped-parameter, calibration-model for the ARID manipulator. Next, the author develops a calibration methodology for the ARID based on visual and acoustic sensing. A sensor platform, consisting of a camera and four sonars attached to the ARID end frame, performs calibration measurements. A calibration measurement consists of processing one visual frame of an accurately placed calibration image and recording four acoustic range measurements. A minimum of two measurement protocols determine the kinematics calibration-model of the ARID for a particular region: assuming the joint displacements are accurately measured, the calibration surface is planar, and the kinematic parameters do not vary rapidly in the region. No theoretical or practical limitations appear to contra-indicate the feasibility of the calibration method developed here

A study of model deflection measurement techniques applicable within the national transonic facility

Moire contouring, scanning interferometry, and holographic contouring were examined to determine their practicality and potential to meet performance requirements for a model deflection sensor. The system envisioned is to be nonintrusive, and is to be capable of mapping or contouring the surface of a 1-meter by 1-meter model with a resolution of 50 to 100 points. The available literature was surveyed, and computations and analyses were performed to establish specific performance requirements, as well as the capabilities and limitations of such a sensor within the geometry of the NTF section test section. Of the three systems examined, holographic contouring offers the most promise. Unlike Moire, it is not hampered by limited contour spacing and extraneous fringes. Its transverse resolution can far exceed the limited point sampling resolution of scanning heterodyne interferometry. The availability of the ruby laser as a high power, pulsed, multiple wavelength source makes such a system feasible within the NTF

Representations of reductive normal algebraic monoids

The rational representation theory of a reductive normal algebraic monoid (with one-dimensional center) forms a highest weight category, in the sense of Cline, Parshall, and Scott. This is a fundamental fact about the representation theory of reductive normal algebraic monoids. We survey how this result was obtained, and treat some natural examples coming from classical groups.Comment: 10 pages. To appear in a volume of the Fields Communications Series: "Algebraic Monoids, Group Embeddings, and Algebraic Combinatorics," edited by Mahir Can, Zhenheng Li, Benjamin Steinberg, and Qiang Wan

Culture Change in Nursing Homes: How Far Have We Come?

Presents findings from the Commonwealth Fund 2007 National Survey of Nursing Homes on the extent to which nursing homes have adopted the principles of culture change and are delivering resident-centered care, as well as the benefits the changes have brou

Women in Public Middle School Administration in Georgia: A Feminist Analysis of the Perceptions of Women in Power

The field of educational leadership is currently experiencing an era of educational change. Women who work in primarily male-dominated careers as principals of middle schools have experienced a variety of complex issues related to their leadership roles and their gender roles. There has been a notable increase in the number of female principals in Georgia, and in the nation, therefore the role of the principal was studied to determine how much this role has changed. Feminist standpoint theory was used to provide different insights and perspectives about the problem of marginalization of women in educational administration. Georgia middle school principals were the subjects of this study. Through self-evaluation, interviews and faculty surveys, their leadership was examined. Demographic variables impacting these Georgia women were also researched. Information was gathered about female principals as well as directly from them. This helped to gain a broader, more comprehensive, view of the work they do. Qualitative data, through interviews, were also collected in order to crystallize the perception of the principals. It provided a deepened and complex partial understanding of their work as principals. Discourse analysis was utilized to interpret interview data. A profile of Georgia\u27s female middle school principals was created from a survey that included personal and professional demographic information. Through interviews, the principals richly described their leadership styles with a large emphasis on collaboration and teamwork. These women tended to highly value relationships and caring for others. The external structure of administration appeared resistant to internal pressure. Such structure depends upon subordination. The female principals reported having a sense of this structure. They called it playing the game of leadership. Similarly, female principals felt forced to be less feminine in order to be a good principal . Due to socially constructed gender traits, women tend to possess strong people-skills and value relationships. Georgia\u27s female principals were perceived as strong leaders and rated them higher than the principals did themselves

Squeezed: Why Rising Exposure to Health Care Costs Threatens the Health and Financial Well-Being of American Families

Examines U.S. healthcare costs compared with other industrialized countries, individual health insurance coverage, individual market regulations, and the impact of high deductible plans on the health of individuals with chronic disease

Gaps in Health Insurance: An All-American Problem

Presents findings from a survey that examines health insurance coverage, rising healthcare costs, and the health and financial consequences to families that experience breaks in insurance