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Gait Optimization for Multi-legged Walking Robots, with Application to a Lunar Hexapod
The interest in using legged robots for a variety of terrestrial and space applications has grown steadily since the 1960s. At the present time, a large fraction of these robots relies on electric motors at the joints to achieve mobility. The load distributions inherent to walking, coupled with design constraints, can cause the motors to operate near their maximum torque capabilities or even reach saturation. This is especially true in applications like space exploration, where critical mass and power constraints limit the size of the actuators. Consequently, these robots can benefit greatly from motion optimization algorithms that guarantee successful walking with maximum margin to saturati...
The Search for WIMP Dark Matter Continuum Gamma-ray Emission from Dark Matter Satellites in the Milky Way Using the Fermi LAT
This thesis focuses on the search for unknown dark matter (DM) satellites in the Milky Way using the Fermi Large Area Space Telescope (LAT). The Fermi Gamma-ray Space Telescope (Fermi) is a next generation space observatory, which was successfully launched on June 11th, 2008. The LAT is the principal scientific instrument onboard. Its unprecedented angular resolution and sensitivity in the 100 MeV to > 300 GeV energy range makes it an excellent instrument for probing the sky for DM satellites. Current N-body simulations based on the Lambda-CDM cosmology model predict a large number of as yet unobserved DM satellites in our galaxy; some satellites are predicted to be extended sources (> 1deg ...
SYROM 2009
SYROM conferences have been organized since 1973 by the Romanian branch of the International Federation for the Promotion of Mechanisms and Machine Science IFToMM, Year by year the event grew in quality. Now in its 10th edition, international visibility and recognition among the researchers active in the mechanisms science field has been achieved. SYROM 2009 brought together researchers and academic staff from the field of mechanisms and machine science from all over the world and served as a forum for presenting the achievements and most recent results in research and education. Topics treated include conceptual design, kinematics and dynamics, modeling and simulation, synthesis and optimization, command and control, current trends in education in this field, applications in high-tech products. The papers presented at this conference were subjected to a peer-review process to ensure the quality of the paper, the engineering significance, the soundness of results and the originality of the paper. The accepted papers fulfill these criteria and make the proceedings unique among the publications of this type.
Liga Mexicana
While there is dispute among scholars as to where and when the first game of baseball was played in Mexico, there is no dispute that the game is as popular there as it is in America. The popularity of the sport led to the establishment of the Professional Mexican Baseball League in 1925, which continues today. This text opens with a brief history of Mexican professional baseball and provides, in both English and Spanish, statistical information on the players of the Mexican Baseball League since 1937 (the first year in which the league kept official records). Individual batting statistics for each player and pitching statistics for each pitcher are provided, along with tables listing rookie ...
Venezuela Before Chávez
At the beginning of the twentieth century, Venezuela had one of the poorest economies in Latin America, but by 1970 it had become the richest country in the region and one of the twenty richest countries in the world, ahead of countries such as Greece, Israel, and Spain. Between 1978 and 2001, however, Venezuela’s economy went sharply in reverse, with non-oil GDP declining by almost 19 percent and oil GDP by an astonishing 65 percent. What accounts for this drastic turnabout? The editors of Venezuela Before Chávez, who each played a policymaking role in the country’s economy during the past two decades, have brought together a group of economists and political scientists to examine syst...
