Omnidirectional Control of the Hexapod Robot TigerBug

TigerBug is a six legged, hexapod robot built and designed by students in the Rochester Institute of Technology\u27s (RIT) Multi Agent Bio-Robotics Laboratory (MABL). TigerBug is comprised of 18 servo motors, 3 degrees of freedom (DOF) per leg, supported by carbon fiber wrapped foam legs placed in a circular pattern around its hexagon shaped body. In order to control such a complex system, much research has been done in the field of kinematics. There exist two derivations of kinematic solutions, forward and inverse. The forward kinematic (FK) solution tends to be much simpler than its inverse kinematic (IK) counterpart. There has been many methods developed to quickly, and efficiently solve the IK in order to control the position and orientation of a robot. This thesis details the process of developing the IK solution and two gait algorithms for TigerBug. The IK solution was developed by first solving for the FK solution of TigerBug using Denavit-Hartenberg (DH) Parameters. After the FK solution was solved, differentials were applied to each equation in order to solve for the IK solution. Once the IK solution was tested, a fixed gait algorithm was developed in order to understand basic motion control of hexapod locomotion. Once the fixed gait was implemented successfully a rule-based free gait algorithm was developed. The rule-based free gait was accomplished using the rule set governed by restrictiveness to determine when leg state transitions were to occur, as described in the literature. Once implemented, the different combinations of gait parameters were tested for quickness of convergence and efficiency to determine the most optimal set of walking parameters for TigerBug

Nova Aquilae 1918 (V603 Aql) Faded by 0.44 mag/century from 1938-2013

We present the light curve of the old nova V603 Aql (Nova Aql 1918) from 1898-1918 and 1934-2013 using 22,721 archival magnitudes. All of our magnitudes are either in, or accurately transformed into, the Johnson $B$ and $V$ magnitude systems. This is vital because offsets in old sequences and the visual-to-$V$ transformation make for errors from 0.1-1.0 magnitude if not corrected. Our V603 Aql light curve is the first time that this has been done for any nova. Our goal was to see the evolution of the mass accretion rate on the century time scale, and to test the long-standing prediction of the Hibernation model that old novae should be fading significantly in the century after their eruption is long over. The 1918 nova eruption was completely finished by 1938 when the nova decline stopped, and when the star had faded to fainter than its pre-nova brightness of $B=11.43 \pm 0.03$ mag. We find that the nova light from 1938-2013 was significantly fading, with this being seen consistently in three independent data sets (the Sonneberg plates in $B$, the AAVSO $V$ light curve, and the non-AAVSO $V$ light curve). We find that V603 Aql is declining in brightness at an average rate of $0.44 \pm 0.04$ mag per century since 1938. This work provides remarkable confirmation of an important prediction of the Hibernation model.Comment: 13 pages, 1 figure, 2 electronic online data tables, Accepted for publication ApJLet

The Identification of Extreme Asymptotic Giant Branch Stars and Red Supergiants in M33 by 24 {\mu}m Variability

We present the first detection of 24 {\mu}m variability in 24 sources in the Local Group galaxy M33. These results are based on 4 epochs of MIPS observations, which are irregularly spaced over ~750 days. We find that these sources are constrained exclusively to the Holmberg radius of the galaxy, which increases their chances of being members of M33. We have constructed spectral energy distributions (SEDs) ranging from the optical to the sub-mm to investigate the nature of these objects. We find that 23 of our objects are most likely heavily self-obscured, evolved stars; while the remaining source is the Giant HII region, NGC 604. We believe that the observed variability is the intrinsic variability of the central star reprocessed through their circumstellar dust shells. Radiative transfer modeling was carried out to determine their likely chemical composition, luminosity, and dust production rate (DPR). As a sample, our modeling has determined an average luminosity of (3.8 $\pm$ 0.9) x 10$^4$ L$_\odot$ and a total DPR of (2.3 $\pm$ 0.1) x 10$^{-5}$ M$_\odot$ yr$^{-1}$. Most of the sources, given the high DPRs and short wavelength obscuration, are likely "extreme" AGB (XAGB) stars. Five of the sources are found to have luminosities above the classical AGB limit (M$_{\rm bol}$ 54,000 L$_\odot$), which classifies them as probably red supergiants (RSGs). Almost all of the sources are classified as oxygen rich. As also seen in the LMC, a significant fraction of the dust in M33 is produced by a handful of XAGB and RSG stars.Comment: 36 pages, 14 figures, 4 tables, Accepted for publication in A

SeaWiFS Postlaunch Technical Report Series

The SeaWiFS Transfer Radiometer (SXR) was built for the Sea-viewing Wide Field-of-view Sensor (SeaWiFS) Project as part of an Interagency Agreement with the National Aeronautics and Space Administration (NASA). The SXR is a multichannel radiometer designed to verify and compare measurements of spectral radiance at six discrete wavelengths in the visible and near infrared for various calibration sources in the SeaWiFS Project. In addition, the SXR is used to compare these sources to standards of spectral radiance maintained at the National Institute of Standards and Technology (NIST). The SXR was designed, built, and thoroughly characterized in the Optical Technology Division at NIST. A unique optical design provides six independent optical paths, each equipped with a temperature stabilized interference filter and silicon photodiode. A separate beam path through the input lens is used to visually align the SXR. The entrance windows for each channel overlap at the source, with each channel sampling a unique solid angle within the field of view of the SXR; this allows for simultaneous sampling of all channels. The combined standard relative uncertainty of spectral radiance measurements with the SXR is estimated to be between 0.6% and 1.3%. This report describes the design and construction of the SXR in detail, and gives the results of the optical characterization and calibrations done at NIST. The SXR has been used for several intercomparisons which include several SeaWiFS Intercalibration Round-Robin Experiments (SIRREXs); those done at the Marine Optical Buoy (MOBY) laboratories in Honolulu, Hawaii; at the NEC Corporation in Yokohama, Japan; and Orbital Sciences Corporation (OSC) in Germantown, Maryland. Thorough optical characterization and calibration of the SXR was essential to the successful application of the radiometer for these measurements