CEG 499-01: WWW Autonomous Robotics

WWW Autonomous Robotics is a computer engineering practicum offered entirely via the Internet. The course adopts a low threshold, no ceiling philosophy. This means that the course is designed to be inclusive of students with limited formal training while still providing significant challenges for those with greater preparation and/or motivation. Students will be required to create control programs for a mobile autonomous robot. In each course unit, the problems posed will become increasingly more challenging. Coaching, advise, and instruction are done online via chat interfaces. Student code is tested first in a simulator that we provide and then on a real robot whose activity can be monitored remotely via a web cam

CS 7840: Soft Computing

This course explores soft computation from historical, theoretical, and application viewpoints. Soft computing methods to be considered include evolutionary computation, neural computation, fuzzy set theory, and approximate reasoning. Applications to problems in optimization, control, and classification will be presented

CS 765-01: Foundations of Neurocomputation

This course is designed to help you develop a solid understanding of neural network algorithms and architectures. At the end of this course you should be able to read and critically evaluate most neural network papers published in major journals, (e.g. IEEE Transaction on Neural Networks, Neural Networks, and Neural Computation). In addition, you should be able to implement a broad range of network architectures and learning algorithms for a variety of applications

Structure of the copper tripodal Schiff base complex {tris[4-(2-thienyl)-3-aza-κN-3-butenyl]amine-κN}copper(I) tetrafluoroborate

The copper Schiff base complex {tris[4-(2-thienyl)-3- aza-~N-3-butenyl]amine-~N} copper(I) tetrafluoroborate, [Cu{N(CTHgNS)3 }]+.BF4- (I), crystallizes with the cation residing in a general position and two disordered tetrafluoroborate anions residing on twofold axes. The cation has approximate threefold symmetry and the copper(I) geometry is distorted trigonal pyramidal with coordination from the apical tertiary amine N atom and the three azomethine N atoms but not from the S atoms of the three thiophene moieties. The principal bond lengths are Cu-- Napical 2.300 (5) ,~ and mean Cu--Nequatorial 1.994 (4) A,, with a mean Cu-..S contact of 3.270 (2) A

Twisted [(R3P)PdX] groups above dicarbaborane ligands: 4-dimethylsulfido-3-iodo-3-triphenylphosphine-closo-3-pallada-1,2-dicarbadodecaborane and 3-dimethylphenylphosphine-3-chloro-4-dimethylsulfido-closo-3-pallada-1,2-dicarbadodecaborane

The structural analyses of [3-(PPh₃)-3-I-4-(SMe₂)-closo-3,1,2-PdC₂B₉H₁₀] or [Pd(C₄H₁₆B₉S)I(C₁₈H₁₅P)], (I), and [3-(PPhMe₂)-3-Cl-4-(SMe₂)-closo-3,1,2-PdC₂B₉H₁₀] or [Pd(C₄H₁₆B₉S)Cl(C₈H₁₁P)], (II), show that in comparison with [3-(PR₃)2-closo-3,1,2-PdC₂B₉H₁₁] the presence of the 4-SMe₂ group causes the [PdX(PR₃)] unit (X = halogen) to twist about an axis passing through the Pd atom and the directly opposite B atom of the carbaborane ligand. The halogen atoms are located almost directly above a C atom in the C₂B₃ face, and the conformations of the [PdX(PR₃)] units above the C₂B₃ faces are not those predicted from molecular orbital calculations of the closo-3,1,2-PdC₂B₉ system. The fact that the variation from the predicted conformation is greater in the case of (I) than in (II) may be ascribed to the greater steric interactions induced by the I atom in (I) compared with the Cl atom in (II)

Examining the Role of Environment in a Comprehensive Sample of Compact Groups

(Abridged) Compact groups, with their high number densities, small velocity dispersions, and an interstellar medium that has not been fully processed, provide a local analog to conditions of galaxy interactions in the earlier universe. The frequent and prolonged gravitational encounters that occur in compact groups affect the evolution of the constituent galaxies in a myriad of ways, for example gas processing and star formation. Recently, a statistically significant "gap" has been discovered mid-infrared IRAC colorspace of compact group galaxies. This gap is not seen in field samples and is a new example of how the compact group environment may affect the evolution of member galaxies. In order to investigate the origin and nature of this gap, we have compiled a sample of 49 compact groups. We find that a statistically significant deficit of galaxies in this gap region of IRAC colorspace is persistant in this sample, lending support to the hypothesis that the compact group environment inhibits moderate SSFRs. We note a curvature in the colorspace distribution, which is fully consistent with increasing dust temperature as the activity in a galaxy increases. This full sample of 49 compact groups allows us to subdivide the data according to physical properties of the groups. An analysis of these subsamples indicates that neither projected physical diameter nor density show a trend in colorspace within the values represented by this sample. We hypothesize that the apparent lack of a trend is due to the relatively small range of properties in this sample. Thus, the relative influence of stochastic effects becomes dominant. We analyze spectral energy distributions of member galaxies as a function of their location in colorspace and find that galaxies in different regions of MIR colorspace contain dust with varying temperatures and/or PAH emission.Comment: 24 pages, 13 figures. Accepted for publication in The Astronomical Journa

Structure of 5-phenyldibenzophosphole

C~sH13P, Mr = 260.3, orthorhombic, Pbc2~ [alternative setting of Pca2~ (No.29)], a = 8.486 (2), b = 12.387 (3), c = 26.244 (5) A, V= 2759 (1) A 3, Z = 8, Dx=l.25gcm -3, a(MoKa)=0.71073A, i z= 1.8 cm-~, F(000) = 1088, T= 288 K, R = 0.050 for 1512 observed reflections. The structure contains two 5-phenyldibenzophosphole molecules per asymmetric unit and these have almost identical conformations in the crystal lattice [as defined by the torsion angles C(ll)--P(1A)--C(31)--C(32) 32.0(5) and C(41)-- P(2A)--C(61)~C(62) 34.1 (6)°]. The central fivemembered rings in both molecules have envelope conformations, with the P atom 0.136(15) and 0.104(15) A from the relevant four-C-atom plane; the dibenzophosphole moieties are both bowed slightly, with the aromatic rings bent in a direction away from the pendant phenyl ring bonded to the P atom [dihedral angles between the plane of the C atoms of the central ring and the aromatic rings are in the range 1.1 (4)-3.0 (4)°]. There is also a small rotation about the central C--C bond as shown by the relevant torsion angles which are in the range 0.2 (5)-3.3 (6) ° . Difference maps show that there is disorder in the crystal lattice in that each molecule is disordered over two sites [a major and a minor one in each case; occupancies 0.89 and 0.11 for molecule (1) and 0.95 and 0.05 for molecule (2)]. For the minor sites, only the P atoms could be detected. Main dimensions are: P--C(phenyl) 1.841(9), 1.846 (10) A, P--C(dibenzophosphole) 1.808 (9)- 1.838(10), mean 1.819 (9) A, phosphole ring C--P--C 88.9 (4) and 89.5 (4) °, exocyclic C--P--C 101.7 (4)-104.2 (4), mean 103.0 (4) °

2,2'-{2-[(E)-3-Phenylprop-2-enyl]-2,3-dihydro-1H-isoindol-1,3-diylidene}dimalononitrile, a π-deficient system for π...π (1:1) stacking investigations

The title compound, C₂₃H₁₃N₅, derived from cinnamyl alcohol and 2,2'-(isoindolin-1,3-diylidene)bispropanedinitrile, is a heterocyclic TCNQ analogue of interest as an electron-deficient component in charge-transfer complexes. A small perturbation of the four C-C≡N angles from linearity is observed, which are in the range 173.41 (18)-176.3 (2)°; the C≡N bond lengths are in the range 1.144 (2)-1.146 (2) Å. The terminal phenyl group is oriented at an angle of 77.17 (6)° to the C₄N ring and the C=C bond is short, 1.319 (2) Å. There are no classical hydrogen bonds, although intramolecular C-H...N and intermolecular C-H...π(arene) interactions influence the crystal-structure packing

Structural Studies of Steric Effects in Phosphine Complexes: Dimers of Bis-{dithiocyanato(1-phenyl-dibenzophosphole)mercury(II)} Associate with Significant Hg−N and Hg−S Interdimer Interactions

The title compound, [Hg(SCN)2(C6H5)P(C12H8)]2, exists as a dimer with two-fold crystallographic symmetry in the solid state with the Hg atoms linked by bridging N- and S-thiocyanato atoms. There are four primary bonds to each Hg atom, Hg−N, 2.771(4) A, Hg−P, 2.4084(11) Å and two Hg−S, 2.4565(10) Å and 2.6055(13) Å, result-ing in a distorted trigonal pyramidal geometry about the metal centre. The dimers associate about inversion centres to form infinite one-dimensional chains by weaker Hg⋅⋅⋅N 3.178(5) Å and Hg⋅⋅⋅S 3.6027(14) Å interactions, giving an overall distorted octahedral coordination geometry for each Hg atom. The Hg⋅⋅⋅P bond lies approximately orthogonal to the ⋅⋅Hg⋅⋅Hg⋅⋅ chain and the benzophosphole group forms a \u27sandwich5 preventing interactions between the Hg(SCN)2 moieties in neighbouring chains

Structural Studies of Steric Effects in Phosphine Complexes: Dimers of Bis-{dithiocyanato(1-phenyl-dibenzophosphole)mercury(II)} Associate with Significant Hg−N and Hg−S Interdimer Interactions

The title compound, [Hg(SCN)2(C6H5)P(C12H8)]2, exists as a dimer with two-fold crystallographic symmetry in the solid state with the Hg atoms linked by bridging N- and S-thiocyanato atoms. There are four primary bonds to each Hg atom, Hg−N, 2.771(4) A, Hg−P, 2.4084(11) Å and two Hg−S, 2.4565(10) Å and 2.6055(13) Å, result-ing in a distorted trigonal pyramidal geometry about the metal centre. The dimers associate about inversion centres to form infinite one-dimensional chains by weaker Hg⋅⋅⋅N 3.178(5) Å and Hg⋅⋅⋅S 3.6027(14) Å interactions, giving an overall distorted octahedral coordination geometry for each Hg atom. The Hg⋅⋅⋅P bond lies approximately orthogonal to the ⋅⋅Hg⋅⋅Hg⋅⋅ chain and the benzophosphole group forms a \u27sandwich5 preventing interactions between the Hg(SCN)2 moieties in neighbouring chains