A simple method for studying operant wheel running in rats. The present report describes an operant running device for rats. The apparatus makes use of an activity wheel driven by a small electric motor. The motor is started by a bar press; once activated, the wheel turns for 3-30 sec. depending on the setting of a timing device. The system is well suited to long term studies of activity patter...

Pseudorotaxanes from self-assembly of two crown ether-based cryptand wheels and a 1,2-bis(pyridinium) ethane derivative axle were prepared.

In this dissertation, a distributed robust controller, a motion control and sensing architecture, and a terrain feature localization are studied to solve general navigation problems for Compliant Framed wheeled Modular Mobile Robots (CFMMR). This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and enhanced steering capability with...

This paper deals with the kinematic analysis of a wheeled mobile robot (WMR) moving on uneven terrain. It is known in literature that a wheeled mobile robot, with a fixed length axle and wheels modeled as thin disk, will undergo slip when it negotiates an uneven terrain. To overcome slip, variable length axle (VLA) has been proposed in literature. In this paper, we model the wheels as a torus a...

When executing turning maneuvers, manual wheelchair users must overcome the rotational inertia of the wheelchair system. Differences in wheelchair rotational inertia can result in increases in torque required to maneuver, resulting in greater propulsion effort and stress on the shoulder joints. The inertias of various configurations of an ultralightweight wheelchair were measured using a rotati...

Visitation counts are the measures most widely used by park managers to demonstrate accountability and good stewardship of the public resources that legislatures invest in parks. Ostensibly, counting visitors may appear to be a simple task, but experienced park managers are aware that it is a complicated and difficult challenge with three dimensions: human, logistical, and technical. Part of th...

A 1,2-bis(pyridinium)ethane type axle containing a terpyridine chelate group, when combined with 24-membered crown ethers, forms [2]pseudorotaxanes, the stability of which can be controlled by coordination of metal ions with different geometries.

Posture sensing techniques for Compliant Framed Modular Mobile Robots (CFMMR) are presented in this paper using a new Relative Posture Sensor (RPS) combined with standard sensors in a tiered fusion algorithm. The fusion algorithm uses traditional Kalman filters and rigid axle kinematic models to predict the global posture of each axle. A Covariance Intersection filter then fuses disparate axle ...