The Design Of A Community-Informed Socially Interactive Humanoid Robot And End-Effectors For Novel Edge-Rolling

This dissertation discusses my work in building an HRI platform called Quori and my once separate now integrated work on a manipulation method that can enable robots like Quori, or any more capable robot, to move large circular cylindrical objects. Quori is a novel, affordable, socially interactive humanoid robot platform for facilitating non-contact human-robot interaction (HRI) research. The design of the system is motivated by feedback sampled from the HRI research community. The overall design maintains a balance of affordability and functionality. Ten Quori platforms have been awarded to a diverse group of researchers from across the United States to facilitate HRI research to build a community database from a common platform. This dissertation concludes with a demonstration of Quori transporting a large cylinder for which Quori does not have the power to lift nor the range of motion to dexterously manipulate. Quori is able to achieve this otherwise insurmountable task through a novel robotic manipulation technique called robotic edge-rolling. Edge-rolling refers to transporting a cylindrical object by rolling on its circular edge, as human workers maneuver a gas cylinder on the ground for example. This robotic edge-rolling is achieved by controlling the object to roll on the bottom edge in contact with the ground, and to slide on the surface of the robot\u27s end-effector. It can thus be regarded as a form of robotic dexterous, in-hand manipulation with nonprehensile grasps. This work mainly addresses the problem of grasp planning for edge-rolling by studying how to design appropriately shaped end-effectors with zero internal mobility and how to find feasible grasps for stably rolling the object with the simple end-effectors

The Design of a Community-Informed Socially Interactive Humanoid Robot and End-Effectors for Novel Edge-Rolling

This dissertation discusses my work in building an HRI platform called Quori and my once separate now integrated work on a manipulation method that can enable robots like Quori, or any more capable robot, to move large circular cylindrical objects. Quori is a novel, affordable, socially interactive humanoid robot platform for facilitating non-contact human-robot interaction (HRI) research. The design of the system is motivated by feedback sampled from the HRI research community. The overall design maintains a balance of affordability and functionality. Ten Quori platforms have been awarded to a diverse group of researchers from across the United States to facilitate HRI research to build a community database from a common platform. This dissertation concludes with a demonstration of Quori transporting a large cylinder for which Quori does not have the power to lift nor the range of motion to dexterously manipulate. Quori is able to achieve this otherwise insurmountable task through a novel robotic manipulation technique called robotic edge-rolling. Edge-rolling refers to transporting a cylindrical object by rolling on its circular edge, as human workers maneuver a gas cylinder on the ground for example. This robotic edge-rolling is achieved by controlling the object to roll on the bottom edge in contact with the ground, and to slide on the surface of the robot\u27s end-effector. It can thus be regarded as a form of robotic dexterous, in-hand manipulation with nonprehensile grasps. This work mainly addresses the problem of grasp planning for edge-rolling by studying how to design appropriately shaped end-effectors with zero internal mobility and how to find feasible grasps for stably rolling the object with the simple end-effectors

Characterization of Flow Within a Fuel Cell Manifold Subject to Asymmetric Inlet Conditions

Achievement of flow uniformity among cells of a fuel cell stack continues to be an issue in fuel cell design and can affect performance and longevity. While many studies have sought to examine the effects of manifold and cell geometries on stack pressure drops and current density, few have provided detailed mapping of the manifold flowfield or examined the effect of reactant supply pipe bends on this flow, as these bends can introduce flow asymmetries within the pipe downstream of the bend. A simplified scaled up model of a proton exchange membrane (PEM) fuel cell was fitted with different inlet flow configurations, including straight piping and piping containing a 90 deg bend and 180 deg bend prior to entering the manifold. Particle image velocimetry (PIV) was used to obtain mean and fluctuating velocity statistics within the manifold and in individual cells. These distributions were compared with previous results using a partially developed square inlet profile, as well as available experimental and computational data in the literature. The presence of pipe bends resulted in highly skewed flow within the manifold, which also affected the flow distribution among individual cells

Benzazepinones and Benzoxazepinones as Antagonists of Inhibitor of Apoptosis Proteins (IAPs) Selective for the Second Baculovirus IAP Repeat (BIR2) Domain

XIAP is a key regulator of apoptosis, and its overexpression in cancer cells may contribute to their survival. The antiapoptotic function of XIAP derives from its BIR domains, which bind to and inhibit pro-apoptotic caspases. Most known IAP inhibitors are selective for the BIR3 domain and bind to cIAP1 and cIAP2 as well as XIAP. Pathways activated upon cIAP binding contribute to the function of these compounds. Inhibitors selective for XIAP should exert pro-apoptotic effects through competition with the terminal caspases. This paper details our synthetic explorations of a novel XIAP BIR2-selective benzazepinone screening hit with a focus on increasing BIR2 potency and overcoming high in vivo clearance. These efforts led to the discovery of benzoxazepinone <b>40</b>, a potent BIR2-selective inhibitor with good in vivo pharmacokinetic properties which potentiates apoptotic signaling in a manner mechanistically distinct from that of known pan-IAP inhibitors