Master of Science

thesisAdmittance-type robotic devices are commonly used to complete tasks that require a high degree of precision and accuracy because they appear nonbackdrivable to many disturbances from the environment. Admittance-type robots are controlled using admittance control; a human interacts directly with a force sensor mounted to the robot, and the robot is computer-controlled to move in response to the applied force. The experiment herein was conducted to determine under which operating conditions human velocity control is optimized for admittance devices that are controlled under proportional-velocity control, and to determine the degradation in control under nonoptimal conditions. In this study, the desired velocity of the device was shown on a visual display. The desired velocity was shown with a scaling factor from the actual velocity of the device because the device often moved at velocities too slow to perceive visually. The admittance gain, ka, desired velocity, Vd, and the visualization scale factor, S were tuned to adjust the user's experience when interacting with an admittance device. We found that in velocity-tracking tasks, scaling the visual feedback only has a significant effect on performance for very slow desired velocities (0.1mm/s), for the range of velocities tested here. In this thesis, we give evidence that there exists a range of velocities and forces within which humans optimally interact with admittance-type devices. We found that the optimal range of velocities is between 0.4mm/s and 1.0mm/s, inclusive, and the optimal range of forces is between 0.4 N and 4.0 N, inclusive. To ensure optimal velocity-control performance, the admittance gain should be selected such that the desired velocity and target force remain within their respective optimal ranges simultaneously. We also found that on average subjects moved faster than the desired velocity when the desired velocity was 0.1 mm/s and subjects were slower than the desired velocity when it was higher than 0.4 mm/s. For each admittance gain there is a different threshold velocity at which velocity-control accuracy is optimal in the aggregate. If the device operates at a velocity that is faster or slower than the threshold velocity the operator will tend to lag or lead the desired velocity, respectively

Patterns of philopatry and longevity contribute to the evolution of post-reproductive lifespan in mammals

While menopause has long been known as a characteristic trait of human reproduction, evidence for post-reproductive lifespan (PRLS) has recently been found in other mammals. Adaptive and non-adaptive hypotheses have been proposed to explain the evolution of PRLS, but formal tests of these are rare. We use a phylogenetic approach to evaluate hypotheses for the evolution of PRLS among mammals. In contrast to theoretical models predicting that PRLS may be promoted by male philopatry (which increases relatedness between a female and her group in old age), we find little evidence that male philopatry led to the evolution of a post-reproductive period. However, the proportion of life spent post-reproductive was related to lifespan and patterns of philopatry, suggesting that the duration of PRLS may be impacted by both non-adaptive and adaptive processes. Finally, the proportion of females experiencing PRLS was higher in species with male philopaty and larger groups, in accordance with adaptive models of PRLS. We suggest that the origin of PRLS primarily follows the non-adaptive 'mismatch' scenario, but that patterns of philopatry may subsequently confer adaptive benefits of late-life helping

The Emotional Self-Efficacy Scale: Adaptation and Validation for Young Adolescents

Emotional self-efficacy (ESE) is an important aspect of emotional functioning, with current measures for children and adolescents focused on the measurement of self-beliefs in relation to the management of emotions. In the present study, we report the psychometric properties of the first adaptation of the Emotional Self-Efficacy Scale for youth (Youth-ESES) that measures additional aspects of ESE, such as perceiving and understanding emotions and helping others modulate their emotions. Participants were 192 young adolescents aged 11 to 13 years from a U.K. state school. They completed the Youth-ESES and measures of ability emotional intelligence (EI) and cognitive ability. Results support the same four-factor structure that has been previously documented using the adult version of the ESES, with the four subscales being largely independent from cognitive ability and only moderately related to ability EI. However, the four subscales were less differentiated in the present study compared with adult data previously published, suggesting that there is a strong general factor underlying young adolescents’ ESE scores. Overall, the results suggest that the adapted Youth-ESES can be reliably used with youth, and that confidence in how a young person feels about his or her emotional functioning remains distinct from emotional skill

Elucidating the domain architecture and functions of non-core RAG1: The capacity of a non-core zinc-binding domain to function in nuclear import and nucleic acid binding

<p>Abstract</p> <p>Background</p> <p>The repertoire of the antigen-binding receptors originates from the rearrangement of immunoglobulin and T-cell receptor genetic loci in a process known as V(D)J recombination. The initial site-specific DNA cleavage steps of this process are catalyzed by the lymphoid specific proteins RAG1 and RAG2. The majority of studies on RAG1 and RAG2 have focused on the minimal, core regions required for catalytic activity. Though not absolutely required, non-core regions of RAG1 and RAG2 have been shown to influence the efficiency and fidelity of the recombination reaction.</p> <p>Results</p> <p>Using a partial proteolysis approach in combination with bioinformatics analyses, we identified the domain boundaries of a structural domain that is present in the 380-residue N-terminal non-core region of RAG1. We term this domain the Central Non-core Domain (CND; residues 87-217).</p> <p>Conclusions</p> <p>We show how the CND alone, and in combination with other regions of non-core RAG1, functions in nuclear localization, zinc coordination, and interactions with nucleic acid. Together, these results demonstrate the multiple roles that the non-core region can play in the function of the full length protein.</p

Lateral Sharpening of Cortical Frequency Tuning by Approximately Balanced Inhibition

SummaryCortical inhibition plays an important role in shaping neuronal processing. The underlying synaptic mechanisms remain controversial. Here, in vivo whole-cell recordings from neurons in the rat primary auditory cortex revealed that the frequency tuning curve of inhibitory input was broader than that of excitatory input. This results in relatively stronger inhibition in frequency domains flanking the preferred frequencies of the cell and a significant sharpening of the frequency tuning of membrane responses. The less selective inhibition can be attributed to a broader bandwidth and lower threshold of spike tonal receptive field of fast-spike inhibitory neurons than nearby excitatory neurons, although both types of neurons receive similar ranges of excitatory input and are organized into the same tonotopic map. Thus, the balance between excitation and inhibition is only approximate, and intracortical inhibition with high sensitivity and low selectivity can laterally sharpen the frequency tuning of neurons, ensuring their highly selective representation

Adoption of agricultural conservation practices in the United States: Evidence from 35 years of quantitative literature

This is a comprehensive review of all published, quantitative studies focused on adoption of agricultural conservation practices in the United States between 1982 and 2017. This review finds that, taken as a whole, few independent variables have a consistent statistically significant relationship with adoption. Analyses showed that variables positively associated with adoption include the farmer self-identifying primarily as stewardship motivated or otherwise nonfinancially motivated, environmental attitudes, a positive attitude toward the particular program or practice, previous adoption of other conservation practices, seeking and using information, awareness of programs or practices, vulnerable land, greater farm size, higher levels of income and formal education, engaging in marketing arrangements, and positive yield impact expected. Some variables often thought to be important, such as land tenure, did not emerge as consistently important in this cross-study review. Other variables, such as farmers\u27 sense of place, training, presence of institutional conditions supporting adoption, and the role of collective decision making are not measured in enough studies to draw conclusions but potentially have a relationship with adoption decisions. Implications for how to promote conservation adoption and directions for future research are discussed. Because positive attitudes and awareness of conservation programs or practices are positive predictors of adoption, practitioners should share benefits of specific practices and programs and leverage existing practice adoption. Further work to explore relationships between conservation adoption and the role of farmer identity, nuances of land tenure, and the influence of structural factors is needed. Moreover, we suggest that future research should focus on the impact of different messages and avenues of reaching farmers in order to continue to inform conservation practices. Future research should consider both individual and institutional factors that facilitate and constrain adoption

A Quality Major: Some Doctoral Programs Are Beginning to Offer a Specialization in Quality

Describes the doctorate in technology management from Indiana State University, a member of a consortium offering the degree that prepares graduates to be technological leaders for public and private sectors