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Human operators have difficulty driving cranes quickly, accurately, and safely because of the slow response of heavy crane structures, non-intuitive control interfaces, and payload oscillations. Recently, a novel hand-motion crane control system has been proposed to improve performance by coupling an intuitive control interface with an element that reduces the

Human operators have difficulty driving cranes quickly, accurately, and safely because of the slow response of heavy crane structures, non-intuitive control interfaces, and payload oscillations. Recently, a novel hand-motion crane control system has been proposed to improve performance by coupling an intuitive control interface with an element that reduces the complex oscillatory behavior of the payload. Hand-motion control allows operators to drive a crane by simply moving a hand-held radio-frequency tag through the desired path. Real-time location sensors are used to track the movements of the tag and the tag position is used in a feedback control loop to drive the crane. An input shaper is added to eliminate dangerous payload oscillations. However, tag position measurements are corrupted by noise. It is important to understand the noise properties so that appropriate filters can be designed to mitigate the effects of noise and improve tracking accuracy. This work discusses implementing filtering techniques to address the issue of noise in the operating environment. Five different filters are used on experimentally-acquired tag trajectories to reduce noise. The filtered trajectories are then used to drive crane simulations. Filter performance is evaluated with respect to the energy usage of the crane trolley, the settling time of the crane payload oscillations, and the safety corridor of the crane trajectory. The effects of filter window lengths on these parameters are also investigated. An adaptive filtering technique, namely the Kalman filter, adapts to the noise characteristics of the workspace to minimize the tag tracking error and performs better than the other filtering techniques examined.
ContributorsRagunathan, Sudarshan (Author) / Frakes, David (Thesis advisor) / Singhose, William (Committee member) / Tillery, Stephen Helms (Committee member) / Arizona State University (Publisher)
Created2012
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Breast cancer affects about 12% of women in the US. Arguably, it is one of the most advertised cancers. Mammography became a popular tool of breast cancer screening in the 1970s, and patient-geared guidelines came from the American Cancer Society (ACS) and the US Preventative Task Force (USPSTF). This research

Breast cancer affects about 12% of women in the US. Arguably, it is one of the most advertised cancers. Mammography became a popular tool of breast cancer screening in the 1970s, and patient-geared guidelines came from the American Cancer Society (ACS) and the US Preventative Task Force (USPSTF). This research focuses on ACS guidelines, as they were the earliest as well as the most changed guidelines. Mammography guidelines changed over time due to multiple factors. This research has tracked possible causes of those changes. Research began with an extensive literature search of clinical trials, the New York Times and the Washington Post archives, systematic reviews, ACS and USPSTF archives.

Created2021-02-16
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Science fiction works can reflect the relationship between science and society by telling stories that are set in the future of ethical implications or social consequences of scientific advancements. This thesis investigates how the concept of reproduction is depicted in popular science fiction works.

Created2021-02-10
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By questioning methods of sex selection since their early development, and often discovering that they are unreliable, scientists have increased the creative and technological capacity of the field of reproductive health. The presentation of these methods to the public, via published books on timing methods and company websites for sperm

By questioning methods of sex selection since their early development, and often discovering that they are unreliable, scientists have increased the creative and technological capacity of the field of reproductive health. The presentation of these methods to the public, via published books on timing methods and company websites for sperm sorting, increased interest in, and influence of, sex selection within the global society. The purpose of explaining the history, interest, development, and impact of various sex selection methods in the mid-twentieth century based on the information that is available on them today is to show couples which methods have failed and provide them with the knowledge necessary to make an informed decision on how they choose to go about utilizing methods of sex selection.

Created2021-02-26
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Description

By demonstrating the struggle for sound standard of care for non-medical reproductive health care providers during the nineteenth and early twentieth century, this project emphasizes what the standards of reproductive health care for abortion and contraception might be like if the organizations that made them so readily available, like Planned

By demonstrating the struggle for sound standard of care for non-medical reproductive health care providers during the nineteenth and early twentieth century, this project emphasizes what the standards of reproductive health care for abortion and contraception might be like if the organizations that made them so readily available, like Planned Parenthood, were defunded or criminalized in our modern setting.

Created2021-02-23