System requirements and design features of Space Station Remote Manipulator System mechanisms

The Space Station Remote Manipulator System (SSRMS) is a long robotic arm for handling large objects/payloads on the International Space Station Freedom. The mechanical components of the SSRMS include seven joints, two latching end effectors (LEEs), and two boom assemblies. The joints and LEEs are complex aerospace mechanisms. The system requirements and design features of these mechanisms are presented. All seven joints of the SSRMS have identical functional performance. The two LEES are identical. This feature allows either end of the SSRMS to be used as tip or base. As compared to the end effector of the Shuttle Remote Manipulator System, the LEE has a latch and umbilical mechanism in addition to the snare and rigidize mechanisms. The latches increase the interface preload and allow large payloads (up to 116,000 Kg) to be handled. The umbilical connectors provide power, data, and video signal transfer capability to/from the SSRMS

The SDSS DR7 Galaxy Angular Power Spectrum

We calculate the angular power spectrum of galaxies selected from the Sloan Digital Sky Survey (SDSS) Data Release 7 (DR7) by using a quadratic estimation method with KL-compression. The primary data sample includes over 18 million galaxies covering more than 5,700 square degrees after masking areas with bright objects, reddening greater than 0.2 magnitudes, and seeing of more than 1.5 arcseconds. We test for systematic effects by calculating the angular power spectrum by SDSS stripe and find that these measurements are minimally affected by seeing and reddening. We calculate the angular power spectrum for l \leq 200 multipoles by using 40 bandpowers for the full sample, and l \leq 1000 multipoles using 50 bandpowers for individual stripes. We also calculate the angular power spectrum for this sample separated into 3 magnitude bins with mean redshifts of z = 0.171, z = 0.217, and z = 0.261 to examine the evolution of the angular power spectrum. We determine the theoretical linear angular power spectrum by projecting the 3D power spectrum to two dimensions for a basic comparison to our observational results. By minimizing the {\chi}^2 fit between these data and the theoretical linear angular power spectrum we measure a loosely-constrained fit of {\Omega}_m = 0.31^{+0.18}_{-0.11} with a linear bias of b = 0.94 \pm 0.04

Embracing Rural First-Generation College Student Scholar Identity: Wading Waist Deep in Unfamiliar Waters

First-generation college students do not persist to degree completion at the same rate as their continuing generation peers. There is a wide range of research focusing on the challenges and opportunities that first-generation college students experience, ranging from pre-matriculation factors, the transition period to college, and throughout the undergraduate years. The achievement gap, in terms of persistence to degree, has been a consistent focus of research as first-generation students routinely do not earn college degrees at the same rate as their continuing generation peers. This research takes a holistic approach to understanding the first-generation college student experience that does not solely focus on achievement gaps. This project focused on the journey of students from Eastern Kentucky to the flagship institution of the commonwealth. The purpose of this study was to identify what authorizes this group of first-generation college students to embrace their emerging scholar identity. This project utilized semi-structured interviews with 12 currently enrolled students from Eastern Kentucky that were enrolled at the University of Kentucky at the time of interview. Data were sorted and clarified using the process of thematic analysis (TA). Elements such as process awareness, comfort engaging with professors and other key stakeholders, as well as discussions why certain resources were utilized or not were considerations brought forth by the students

A Refinement Calculus for Logic Programs

Existing refinement calculi provide frameworks for the stepwise development of imperative programs from specifications. This paper presents a refinement calculus for deriving logic programs. The calculus contains a wide-spectrum logic programming language, including executable constructs such as sequential conjunction, disjunction, and existential quantification, as well as specification constructs such as general predicates, assumptions and universal quantification. A declarative semantics is defined for this wide-spectrum language based on executions. Executions are partial functions from states to states, where a state is represented as a set of bindings. The semantics is used to define the meaning of programs and specifications, including parameters and recursion. To complete the calculus, a notion of correctness-preserving refinement over programs in the wide-spectrum language is defined and refinement laws for developing programs are introduced. The refinement calculus is illustrated using example derivations and prototype tool support is discussed.Comment: 36 pages, 3 figures. To be published in Theory and Practice of Logic Programming (TPLP

A synchronous program algebra: a basis for reasoning about shared-memory and event-based concurrency

This research started with an algebra for reasoning about rely/guarantee concurrency for a shared memory model. The approach taken led to a more abstract algebra of atomic steps, in which atomic steps synchronise (rather than interleave) when composed in parallel. The algebra of rely/guarantee concurrency then becomes an instantiation of the more abstract algebra. Many of the core properties needed for rely/guarantee reasoning can be shown to hold in the abstract algebra where their proofs are simpler and hence allow a higher degree of automation. The algebra has been encoded in Isabelle/HOL to provide a basis for tool support for program verification. In rely/guarantee concurrency, programs are specified to guarantee certain behaviours until assumptions about the behaviour of their environment are violated. When assumptions are violated, program behaviour is unconstrained (aborting), and guarantees need no longer hold. To support these guarantees a second synchronous operator, weak conjunction, was introduced: both processes in a weak conjunction must agree to take each atomic step, unless one aborts in which case the whole aborts. In developing the laws for parallel and weak conjunction we found many properties were shared by the operators and that the proofs of many laws were essentially the same. This insight led to the idea of generalising synchronisation to an abstract operator with only the axioms that are shared by the parallel and weak conjunction operator, so that those two operators can be viewed as instantiations of the abstract synchronisation operator. The main differences between parallel and weak conjunction are how they combine individual atomic steps; that is left open in the axioms for the abstract operator.Comment: Extended version of a Formal Methods 2016 paper, "An algebra of synchronous atomic steps

The construction and validation of an instrument to measure group leadership potential in nonacademic college situations

Thesis (Ed.D.)--Boston University

The modification of activated carbon cloth by alumina deposition

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.The impregnation of mesoporous carbon cloth with alumina has been studied. The most successful method of impregnation resulted from preparation of the alumina phase by a sol/gel route. This method involves a boehmite intermediate, and the heating environment for the thermal transition of boehmite to the final alumina was investigated. Heat treatment of the boehmite intermediate under flowing N2, flowing air and vacuum was found to give a different pore size distribution for the final alumina than did still air heat treatment. For the former environments the transition from boehmite to alumina was not accompanied by the usual increase in pore size. Alumina/carbon composites were made by dipping pieces of mesoporous carbon cloth in a boehmite sol. The distribution of boehmite about the carbon cloth was found to be improved by pre-wetting the carbon cloth and by the use of ultrasonic dispersion during boehmite impregnation. Dried boehmite/carbon composites, with loading levels of up to 180wt.%, were heated under vacuum to 5000 C. In this manner alumina/carbon composites of up to 60wt.% alumina were fabricated. The distribution of the alumina phase about the carbon cloth was investigated by electron microscopy and by gas adsorption techniques. Nitrogen isotherm data indicated that the mesopores of the carbon cloth were not blocked by the deposited alumina, rather the pore volume of the carbon cloth was increased by the clustering of porous alumina about the pore entrances of the carbon cloth. Water isotherms were determined for the composite materials. The water activity of the composite, particularly at low relative pressures, was found to be significantly greater than that of the carbon cloth as a result of the presence of alumina. CO2 activity of the composites was investigated by a gas chromatographic technique. The CO2 activity of the composite material was found to be up to 500 times greater than that of virgin carbon cloth.This study is funded by a research grant from ALCOA