A Generalized Method for Automatic Downhand and Wirefeed Control of a Welding Robot and Positioner

A generalized method for controlling a six degree-of-freedom (DOF) robot and a two DOF positioner used for arc welding operations is described. The welding path is defined in the part reference frame, and robot/positioner joint angles of the equivalent eight DOF serial linkage are determined via an iterative solution. Three algorithms are presented: the first solution controls motion of the eight DOF mechanism such that proper torch motion is achieved while minimizing the sum-of-squares of joint displacements; the second algorithm adds two constraint equations to achieve torch control while maintaining part orientation so that welding occurs in the downhand position; and the third algorithm adds the ability to control the proper orientation of a wire feed mechanism used in gas tungsten arc (GTA) welding operations. A verification of these algorithms is given using ROBOSIM, a NASA developed computer graphic simulation software package design for robot systems development

ROBOSIM, a simulator for robotic systems

ROBOSIM, a simulator for robotic systems, was developed by NASA to aid in the rapid prototyping of automation. ROBOSIM has allowed the development of improved robotic systems concepts for both earth-based and proposed on-orbit applications while significantly reducing development costs. In a cooperative effort with an area university, ROBOSIM was further developed for use in the classroom as a safe and cost-effective way of allowing students to study robotic systems. Students have used ROBOSIM to study existing robotic systems and systems which they have designed in the classroom. Since an advanced simulator/trainer of this type is beneficial not only to NASA projects and programs but industry and academia as well, NASA is in the process of developing this technology for wider public use. An update on the simulators's new application areas, the improvements made to the simulator's design, and current efforts to ensure the timely transfer of this technology are presented

Performance Analysis of a Reconfigurable Shared Memory Multiprocessor System for Embedded Applications

This paper presents a method to predict performance of multiple processor cores in a reconfigurable system for embedded applications. A multiprocessor framework is developed with the capability of reconfigurable processors in a shared memory system optimized for stream-oriented data and signal processing applications. The framework features a discrete time Markov based stochastic tool, which is used to analyze memory contention in the shared memory architecture, and to predict the performance increase (speed of execution) when the number of processors is varied. Performance predictions for variations of other system parameters, such as different task allocations and the number of pipeline stages are possible as well. The results of the prediction tool were verified by experimental results of a green screen application developed and run on a Xilinx Virtex-II Pro FPGA with MicroBlaze soft processors

The Impact of Spatial Variation in Land Use Patterns and Aquifer Characteristics on the Agricultural Cost of Groundwater Conservation for the Southern Ogallala Aquifer

Land Economics/Use,

Date with an Object / Moderator: Megan Cook

This fun and engaging session will include a speed visiting format where participants will move from station to station in groups, to talk out concepts of teaching with various objects. The featured items will be provided by the Oberlin College Libraries\u27 Department of Special Collections and the Oberlin College Archives. Megan Cook: Medieval and early printingBarbara Prior: Artist booksKen Grossi & Anne SalsichHeath Patten: Reception and perception with visual technologyAnn Sheri

Quantitative biomonitoring in the Detroit River using Elliptio complanata: Verification of steady state correction factors and temporal trends of PCBs in water between 1998-2015

Quantitative biomonitoring methods were applied to determine PCB concentrations in water from the Detroit River over a 17 year period. During 2014, mussels were deployed for and extended duration (21-364 d) and time dependent PCB concentrations were fit to a bioaccumulation model to estimate elimination coefficients (ktot) and provide site specific calibration of mussel toxicokinetics. The site specific calibration and different ktot versus KOW relationships from the literature were used to correct for steady state. ∑PCB concentrations in water were not significantly dependent on the ktot values used indicating that individual variation exceeds error contributed by steady state correction factors. The model was then applied to estimate ∑PCB concentrations in water using the long term (1998-2015) data. ∑PCBs concentrations in water exhibited a significant decreasing trend with a half life of 9.12 years resulting in a drop in yearly geometric mean residues from 198.1 pg/L to 43.6 pg/L

Serially coupling hydrophobic interaction and reversed-phase chromatography with simultaneous gradients provides greater coverage of the metabolome

The serial coupling of a reversed-phase liquid chromatography (RPLC) column to a hydrophilic interaction liquid chromatography (HILIC) column has been developed in recent years for the detection of polar and nonpolar metabolites. TCA intermediates, bile acid standards and numerous polar and non-polar metabolites extracted from beer were analysed using a combined RPLC/HILIC method. Non-polar metabolites were retained by the RPLC column. Polar metabolites not retained by the RPLC column were retained and separated by the HILIC column. The results from this study validate this simple yet powerful metabolomics approach

Legislature’s Planning Committee 2015 Report

A message from Senator Tanya Cook, Chair of the Legislature’s Planning Committee 2015-2016 The Legislature’s Planning Committee serves a vital role in the Nebraska Unicameral. In an era of term limits, the Planning Committee provides future-focused, data-driven research for senators to use in crafting smart, effective policies. The 2015 Database Update continues to highlight nine key benchmarks – Economy, Agriculture, Natural Resources, State and Local Government, Education, Health and Human Services, Public Safety, Transportation, and Telecommunications – that give a well-rounded picture of the state’s strengths, struggles, and opportunities. The Planning Committee owes a debt of gratitude to Dr. John Bartle and Jerry Deichert, who have worked tirelessly since the Committee’s founding to ensure the best, most accurate data is provided to Nebraska’s policymakers. Thanks are also in order for the staffers and students at the University of Nebraska-Omaha’s College of Public Affairs and Community Service, as well as the other professors and researchers who have worked with the Committee over the years. I hope the data in this update will inform and inspire ever better policy decisions and discussions in Nebraska. The Planning Committee’s collection of studies and data resources will only continue to grow, and I trust that Nebraska’s policymakers will continue to utilize the information wisely. Sincerely,Senator Tanya CookLegislative District 1

Mechanisms underlying the exquisite sensitivity of Candida albicans to combinatorial cationic and oxidative stress that enhances the potent fungicidal activity of phagocytes

Copyright © 2014 Kaloriti et al.Peer reviewedPublisher PD