Dairy Section of Veterinary Diagnostic and Production Animal Medicine (VDPAM)

The College of Veterinary Medicine at Iowa State University has responded to the shortage of veterinarians in food animal practice by hiring new faculty in the Veterinary Diagnostics and Production Animal Medicine Department as well as expanding its curriculum offerings in large animal species that encompass species electives from freshman through senior year. In the past four years there has been the addition of 13 full and part-time faculty members to address the needs to teach beef, dairy, small ruminant, and swine production medicine and also embryo transfer and animal welfare

Fault Residual Generation via Nonlinear Analytical Redundancy

Fault detection is critical in many applications, and analytical redundancy (AR) has been the key underlying tool for many approaches to fault detection. However, the conventional AR approach is formally limited to linear systems. In this brief, we exploit the structure of nonlinear geometric control theory to derive a new nonlinear analytical redundancy (NLAR) framework. The NLAR technique is applicable to affine systems and is seen to be a natural extension of linear AR. The NLAR structure introduced in this brief is tailored toward practical applications. Via an example of robot fault detection, we show the considerable improvement in performance generated by the approach compared with the traditional linear AR approach

Robot Reliability Through Fuzzy Markov Models

In the past few years, new applications of robots have increased the importance of robotic reliability and fault tolerance. Standard approaches of reliability engineering rely on the probability model, which is often inappropriate for this task due to a lack of sufficient probabilistic information during the design and prototyping phases. Fuzzy logic offers an alternative to the probability paradigm, possibility, that is much more appropriate to reliability in the robotic context.National Science FoundationNASAOffice of Naval ResearchSandia National Laborator

Robotic Fault Detection Using Nonlinear Analytical Redundancy

In this paper we discuss the application of our recently developed nonlinear analytical redundancy (NLAR) fault detection technique to a two-degree of freedom robot manipulator. NLAR extends the traditional linear AR technique to derive the maximum possible number of fault detection tests into the continuous nonlinear domain. The ability to handle nonlinear systems vastly expands the accuracy and viable applications of the AR technique. The effectiveness of the approach is demonstrated through an example.NASANational Science Foundatio

Dairy Production Immersive Knowledge Experience (D-PIKE) and Swine Production Immersive Knowledge Experience (SPIKE)

D-PIKE and SPIKE are programs designed to develop an intense experience for veterinary students that have an interest in either dairy or swine production medicine. Students are housed in a learning community environment to facilitate discussion pertaining to their daily experiences. The program is a ten week effort to bring the respective industry to the students from a ground up approac

Radar mapping of Isunnguata Sermia, Greenland

This is the published version. Copyright 2013 International Glaciological SocietyIce thickness estimates using advanced nadir sounding and tomographic radar processing techniques are compared and combined in a study of Isunnguata Sermia glacier, Greenland. Using an ensemble of Operation IceBridge flight lines spaced at 500 m intervals and running approximately along the flow direction, we find there is a statistically excellent comparison between subglacial terrains derived from two-dimensional tomography and gridded nadir sounding. Analysis shows that tomographic data better capture short wavelength (1–2 km) patterns in basal terrain, but interpolated nadir sounding data yield more spatially extensive and continuous coverage across the glacier, especially in deep subglacial troughs. Using derived surface and basal topography maps, we find that driving stress and measured and modeled surface velocity comparisons indicate that basal sliding is an important component of the glacier motion, but is also only weakly coupled to the detailed bed topography save for the deepest troughs. As might be expected for this land-terminating, relatively slow-moving glacier, the subglacial and proglacial topography is similar, suggesting the erosional processes acting on the modern glacier bed once helped sculpt the now exposed land

Validation of Airborne FMCW Radar Measurements of Snow Thickness Over Sea Ice in Antarctica

Antarctic sea ice and its snow cover are integral components of the global climate system, yet many aspects of their vertical dimensions are poorly understood, making their representation in global climate models poor. Remote sensing is the key to monitoring the dynamic nature of sea ice and its snow cover. Reliable and accurate snow thickness data are currently a highly sought after data product. Remotely sensed snow thickness measurements can provide an indication of precipitation levels, predicted to increase with effects of climate change in the polar regions. Airborne techniques provide a means for regional-scale estimation of snow depth and distribution. Accurate regional-scale snow thickness data will also facilitate an increase in the accuracy of sea ice thickness retrieval from satellite altimeter freeboard estimates. The airborne data sets are easier to validate with in situ measurements and are better suited to validating satellite algorithms when compared with in situ techniques. This is primarily due to two factors: better chance of getting coincident in situ and airborne data sets and the tractability of comparison between an in situ data set and the airborne data set averaged over the footprint of the antennas. A 28-GHz frequency modulated continuous wave (FMCW) radar loaned by the Center for Remote Sensing of Ice Sheets to the Australian Antarctic Division is used to measure snow thickness over sea ice in East Antarctica. Provided with the radar design parameters, the expected performance parameters of the radar are summarized. The necessary conditions for unambiguous identification of the airsnow and snowice layers for the radar are presented. Roughnesses of the snow and ice surfaces are found to be dominant determinants in the effectiveness of layer identification for this radar. Finally, this paper presents the first in situ validated snow thickness estimates over sea ice in Antarctica derived from an FMCW radar on a helicopterborne platform

Controls on the transport of oceanic heat to Kangerdlugssuaq Glacier, East Greenland

Greenland's marine-terminating glaciers may be sensitive to oceanic heat, but the fjord processes controlling delivery of this heat to glacier termini remain poorly constrained. Here we use a three-dimensional numerical model of Kangerdlugssuaq Fjord, East Greenland, to examine controls on fjord/shelf exchange. We find that shelf-forced intermediary circulation can replace up to ~25% of the fjord volume with shelf waters within 10 d, while buoyancy-driven circulation (forced by subglacial runoff from marine-terminating glaciers) exchanges ~10% of the fjord volume over a 10 d period under typical summer conditions. However, while the intermediary circulation generates higher exchange rates between the fjord and shelf, the buoyancy-driven circulation is consistent over time hence more efficient at transporting water along the full length of the fjord. We thus find that buoyancy-driven circulation is the primary conveyor of oceanic heat to glaciers during the melt season. Intermediary circulation will however dominate during winter unless there is sufficient input of fresh water from subglacial melting. Our findings suggest that increasing shelf water temperatures and stronger buoyancy-driven circulation caused the heat available for melting at Kangerdlugssuaq Glacier to increase by ~50% between 1993–2001 and 2002–11, broadly coincident with the onset of rapid retreat at this glacier

Experimental AR Fault Detection Methods for a Hydraulic Robot

This paper focuses on practical use and theoretical elaboration of the analytical redundancy technique which is used to efficiently detect faults that have been determined to be mission-hazardous by previous FMECA and fault tree analyses of the Rosie system. We believe we have contributed significant improvements to the potential overall reliability of the system. Additionally, we have expanded the applicability of the AR method to nonlinear systems in the course of our work, making this valuable fault detection method more broadly applicable.National Science FoundationSandia National Laborator