Further Punishing the Wrongfully Accused: Manuel v. City of Joliet, the Fourth Amendment, and Malicious Prosecution

Manuel v. City of Joliet is before the Supreme Court to determine whether detention before trial without probable cause is a violation of the Fourth Amendment, or whether it is merely a violation of the Due Process Clause. Every circuit except the Seventh Circuit treats this type of detention as being a violation of the Fourth Amendment; only the Seventh Circuit considers this question under the Due Process Clause. This commentary argues that the Supreme Court should look to its precedent, which clearly treats pretrial detention without probable cause as being a Fourth Amendment issue, and reverse the Seventh Circuit. To hold otherwise would deprive the wrongfully accused of a potential federal remedy, and reduce them to seeking a remedy in potentially biased state courts

High resolution forecast models of water vapour over mountains: comparison of results from the UM and MERIS

Propagation delay due to variable tropospheric water vapor (WV) is one of the most intractable problems for radar interferometry, particularly over mountains. The WV field can be simulated by an atmospheric model, and the difference between the two fields is used to correct the radar interferogram. Here, we report our use of the U.K. Met Office Unified Model in a nested mode to produce high-resolution forecast fields for the 3-km-high Mount Etna volcano. The simulated precipitablewater field is validated against that retrieved from the Medium Resolution Imaging Spectrometer (MERIS) radiometer on the Envisat satellite, which has a resolution of 300 m. Two case studies, one from winter (November 24, 2004) and one from summer (June 25, 2005), show that the mismatch between the model and the MERIS fields (rms = 1.1 and 1.6 mm, respectively) is small. One of the main potential sources of error in the models is the timing of the WV field simulation. We show that long-wavelength upper tropospheric troughs of low WV could be identified in both the model output and Meteosat WV imagery for the November 24, 2004 case and used to choose the best time of model output. © 2007 IEEE

Thermal Recovery of Multi-Limbed Robots with Electric Actuators

The problem of finding thermally minimizing configurations of a humanoid robot to recover its actuators from unsafe thermal states is addressed. A first-order, data-driven, effort based, thermal model of the robots actuators is devised, which is used to predict future thermal states. Given this predictive capability, a map between configurations and future temperatures is formulated to find what configurations, subject to valid contact constraints, can be taken now to minimize future thermal states. Effectively, this approach is a realization of a contact-constrained thermal inverse-kinematics (IK) process. Experimental validation of the proposed approach is performed on the NASA Valkyrie robot hardware

Increasing Awareness of First Episode Psychosis

Presented at the 2022 Virtual Northwest Medical Research Symposiu

Leveraging Disturbance Observer Based Torque Control for Improved Impedance Rendering with Series Elastic Actuators

The fidelity with which series elastic actuators (SEAs) render desired impedances is important. Numerous approaches to SEA impedance control have been developed under the premise that high-precision actuator torque control is a prerequisite. Indeed, the design of an inner torque compensator has a significant impact on actuator impedance rendering. The disturbance observer (DOB) based torque control implemented in NASA's Valkyrie robot is considered here and a mathematical model of this torque control, cascaded with an outer impedance compensator, is constructed. While previous work has examined the impact a disturbance observer has on torque control performance, little has been done regarding DOBs and impedance rendering accuracy. Both simulation and a series of experiments are used to demonstrate the significant improvements possible in an SEA's ability to render desired dynamic behaviors when utilizing a DOB. Actuator transparency at low impedances is improved, closed loop hysteresis is reduced, and the actuator's dynamic response to both commands and interaction torques more faithfully matches that of the desired model. All of this is achieved by leveraging DOB based control rather than increasing compensator gains, thus making improved SEA impedance control easier to achieve in practice

Saltwater in Coastal Carolina Aquifers

2010 S.C. Water Resources Conference - Science and Policy Challenges for a Sustainable Futur