Homosexuals in the Periphery: Gay and Lesbian Rights in Developing Africa

Slowly but surely American and Western European culture is being eased into an approximate acceptance of homosexuality and other non-heterosexual orientations. Great leaps have been taken in the past four decades to improve the quality of life for non-heterosexuals in almost all parts of the developed world However, in those countries which lie on the outside of this small core group of economic power, the issue of gay rights is often not even considered In this analysis, I will be looking at the attitudes and treatment of homosexuals in developing Africa. Primarily, the focus will rest on South Africa and its neighbors. South Africa, being among the more \u27developed\u27 countries on the continent, has in its constitution a provision for the protection of the rights of people of all sexual orientations. This is in high contrast to many of the surrounding countries in which homosexuality is illegal and severely discouraged I will consider the causes and effects of the differentiation in attitudes and policy between South Africa and other countries in this region

Doctor of Philosophy

dissertationThe main concern of human population genetics is to identify and describe genetic differences between groups of people. These differences give insight into the evolutionary processes and unique histories that have shaped these populations. A better understanding of human genetic diversity will lead to a better understanding of the biological systems that underly human phenotypic diversity. Here I explore three processes which have led to population differentiation in modern humans. First, I examine how differential disease risk across continents may have (or may not have) led to differences in allele frequencies immune-related genes. Second, I describe a method for discovering genomic regions in admixed populations that appear more similar to one parent population than the other. This method highlights regions which may have very recently been under selection in these populations. And finally, using the same method I attempt to discern regions of the genome in modern humans that may have been shaped by archaic admixture

Design of a Ballistically-Launched Foldable Multirotor

The operation of multirotors in crowded environments requires a highly reliable takeoff method, as failures during takeoff can damage more valuable assets nearby. The addition of a ballistic launch system imposes a deterministic path for the multirotor to prevent collisions with its environment, as well as increases the multirotor’s range of operation and allows deployment from an unsteady platform. In addition, outfitting planetary rovers or entry vehicles with such deployable multirotors has the potential to greatly extend the data collection capabilities of a mission. A proof-of-concept multirotor aircraft has been developed, capable of transitioning from a ballistic launch configuration to a fully controllable flight configuration in midair after launch. The transition is accomplished via passive unfolding of the multirotor arms, triggered by a nichrome burn wire release mechanism. The design is 3D printable, launches from a three-inch diameter barrel, and has sufficient thrust to carry a significant payload. The system has been fabricated and field tested from a moving vehicle up to 50mph to successfully demonstrate the feasibility of the concept and experimentally validate the design’s aerodynamic stability and deployment reliability

Fast-field cycling NMR is sensitive to the method of cross-linking in BSA gels

This work was supported by ARUK (grant number 19689).Non peer reviewedPublisher PD

Robotic End Effectors for Hard-Rock Climbing

Special-purpose robot hands (end effectors) now under development are intended to enable robots to traverse cliffs much as human climbers do. Potential applications for robots having this capability include scientific exploration (both on Earth and other rocky bodies in space), military reconnaissance, and outdoor search and rescue operations. Until now, enabling robots to traverse cliffs has been considered too difficult a task because of the perceived need of prohibitively sophisticated planning algorithms as well as end effectors as dexterous as human hands. The present end effectors are being designed to enable robots to attach themselves to typical rock-face features with less planning and simpler end effectors. This advance is based on the emulation of the equipment used by human climbers rather than the emulation of the human hand. Climbing-aid equipment, specifically cams, aid hooks, and cam hooks, are used by sport climbers when a quick ascent of a cliff is desired (see Figure 1). Currently two different end-effector designs have been created. The first, denoted the simple hook emulator, consists of three "fingers" arranged around a central "palm." Each finger emulates the function of a particular type of climbing hook (aid hook, wide cam hook, and a narrow cam hook). These fingers are connected to the palm via a mechanical linkage actuated with a leadscrew/nut. This mechanism allows the fingers to be extended or retracted. The second design, denoted the advanced hook emulator (see Figure 2), shares these features, but it incorporates an aid hook and a cam hook into each finger. The spring-loading of the aid hook allows the passive selection of the type of hook used. The end effectors can be used in several different modes. In the aid-hook mode, the aid hook on one of the fingers locks onto a horizontal ledge while the other two fingers act to stabilize the end effector against the cliff face. In the cam-hook mode, the broad, flat tip of the cam hook is inserted into a non-horizontal crack in the cliff face. A subsequent transfer of weight onto the end effector causes the tip to rotate within the crack, creating a passive, self-locking action of the hook relative to the crack. In the advanced hook emulator, the aid hook is pushed into its retracted position by contact with the cliff face as the cam hook tip is inserted into the crack. When a cliff face contains relatively large pockets or cracks, another type of passive self-locking can be used. Emulating the function of the piece of climbing equipment called a "cam" (note: not the same as a "cam hook"; see Figure 1), the fingers can be fully retracted and the entire end effector inserted into the feature. The fingers are then extended as far as the feature allows. Any weight then transferred to the end effector will tend to extend the fingers further due to frictional force, passively increasing the grip on the feature. In addition to the climbing modes, these end effectors can be used to walk on (either on the palm or the fingertips) and to grasp objects by fully extending the fingers

Design and Autonomous Stabilization of a Ballistically Launched Multirotor

Aircraft that can launch ballistically and convert to autonomous, free flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard sensors. This paper presents a ballistically launched, autonomously stabilizing multirotor prototype (SQUID, Streamlined Quick Unfolding Investigation Drone) with an onboard sensor suite, autonomy pipeline, and passive aerodynamic stability. We demonstrate autonomous transition from passive to vision based, active stabilization, confirming the ability of the multirotor to autonomously stabilize after a ballistic launch in a GPS denied environment.Comment: Accepted to 2020 International Conference on Robotics and Automatio

Coaching Style and the Effect Coaching Style has on an Athlete\u27s Willingness to Self-Report Injuries

In volume 4, Issue 1 of the JSMAHS you will find Professional Research Abstracts, as well as Bachelor Student Research Abstracts and Case Reports. Thank you for viewing this 4th Annual OATA Special Editio

Field-Cycling Magnetic Resonance Imaging

Non peer reviewedPublisher PD

Techniques and Applications of Field-Cycling MRI

Non peer reviewedPublisher PD

Robot Electronics Architecture

An electronics architecture has been developed to enable the rapid construction and testing of prototypes of robotic systems. This architecture is designed to be a research vehicle of great stability, reliability, and versatility. A system according to this architecture can easily be reconfigured (including expanded or contracted) to satisfy a variety of needs with respect to input, output, processing of data, sensing, actuation, and power. The architecture affords a variety of expandable input/output options that enable ready integration of instruments, actuators, sensors, and other devices as independent modular units. The separation of different electrical functions onto independent circuit boards facilitates the development of corresponding simple and modular software interfaces. As a result, both hardware and software can be made to expand or contract in modular fashion while expending a minimum of time and effort