Chapter 15 Tracks, Trails and Resting-Traces
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Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet
robotics Article Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet Saad Bin Abul Kashem 1,*, Shariq Jawed 2 , Jubaer Ahmed 2 and Uvais Qidwai 3 1 Faculty of Robotics and Advanced Computing, Qatar Armed Forces—Academic Bridge Program, Qatar Foundation, 24404 Doha, Qatar 2 Faculty of Engineering, Computing and Science, Swinburne University of Technology, 93350 Sarawak, Malaysia 3 Faculty of Computer Engineering Signal and Image Processing Qatar University, 24404 Doha, Qatar * Correspondence: [email protected] Received: 18 April 2019; Accepted: 27 August 2019; Published: 5 September 2019 Abstract: Roaming complexity in terrains and unexpected environments pose significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration, namely, walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in the water, and tackle obstructions on its way. The designed robot is compact, easy to use, and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Because of the design, the webbed feet are able to open and close with the help of water pressure. Klann linkages have been used to convert rotational motion to walking and swimming for the animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring tight caves, closed spaces, and moving on uneven challenging terrains such as sand, mud, or water. -
The University of Sydney
THE UNIVERSITY OF SYDNEY Copyright and use of this thesis This thesis must be used in accordance with the provisions of the Copyright Act 1968. Reproduction of material protected by copyright may be an infringement of copyright and copyright owners may be entitled to take legal action against persons who infringe their copyright. Section 51 (2) of the Copyright Act permits an authorized officer of a university library or archives to provide a copy (by communication or otherwise) of an unpublished thesis kept in the library or archives, to a person who satisfies the authorized officer that he or she requires the reproduction for the purposes of research or study. The Copyright Act grants the creator of a work a number of moral rights, specifically the right of attribution, the right against false attribution and the right of integrity. You may infringe the author’s moral rights if you: - fail to acknowledge the author of this thesis if you quote sections from the work - attribute this thesis to another author -subject this thesis to derogatory treatment which may prejudice the author’s reputation For further information contact the University’s Copyright Service. sydney.edu.au/copyright A STRUCTURAL ANALYSIS OF THE SOUTHERN HORNSBY PLATEAU, SYDNEY BASIN, NEW SOUTH WALES by Anthony Richard Norman, B.Sc. (Hons) A thesis submitted in fulfilment of the requirements for the degree of Master of Science DEPARTMENT OF GEOLOGY AND GEOPHYSICS UNIVERSITY OF SYDNEY September, 1986 ABSTRACT The Hornsby Plateau rises north of Sydney. Aerial photo interpretation of an area north of Hornsby and south of the Hawkesbury River revealed two well defined extensive traces. -
Background Paper on New South Wales Geology with a Focus on Basins Containing Coal Seam Gas Resources
Background Paper on New South Wales Geology With a Focus on Basins Containing Coal Seam Gas Resources for Office of the NSW Chief Scientist and Engineer by Colin R. Ward and Bryce F.J. Kelly School of Biological, Earth and Environmental Sciences University of New South Wales Date of Issue: 28 August 2013 Our Reference: J083550 CONTENTS Page 1. AIMS OF THE BACKGROUND PAPER .............................................................. 1 1.1. SIGNIFICANCE OF AUSTRALIAN CSG RESOURCES AND PRODUCTION ................... 1 1.2. DISCLOSURE .................................................................................................... 2 2. GEOLOGY AND EVALUATION OF COAL AND COAL SEAM GAS RESOURCES ............................................................................................................. 3 2.1. NATURE AND ORIGIN OF COAL ........................................................................... 3 2.2. CHEMICAL AND PHYSICAL PROPERTIES OF COAL ................................................ 4 2.3. PETROGRAPHIC PROPERTIES OF COAL ............................................................... 4 2.4. GEOLOGICAL FEATURES OF COAL SEAMS .......................................................... 6 2.5. NATURE AND ORIGIN OF GAS IN COAL SEAMS .................................................... 8 2.6. GAS CONTENT DETERMINATION ........................................................................10 2.7. SORPTION ISOTHERMS AND GAS HOLDING CAPACITY .........................................11 2.8. METHANE SATURATION ....................................................................................12 -
Water Reptiles of the Past and Present the Univeesity of Chicago Press Chicago, Illinois
WATER REPTILES OF THE PAST AND PRESENT THE UNIVEESITY OF CHICAGO PRESS CHICAGO, ILLINOIS Agrttts THE CAMBRIDGE UNIVERSITY PRESS LONDON AND EDINBURGH THE MARUZEN-KABUSHIKI-KAISHA TOKYO, OSAKA, KYOTO KARL W. HIERSEMANN LEIPZIG THE BAKER & TAYLOR COMPANY NEW YORK WATER REPTILES OF THE PAST AND PRESENT BY Samuel Wendell Williston Professor of Paleontology in the University of Chicago 3) 6 I THE UNIVERSITY OF CHICAGO PRESS CHICAGO, ILLINOIS 4 Copyright 1914 by The University of Chicago All Rights Reserved Published October 191 Composed and Printed By The University of Chicago Press Chicago, Illinois, U.S.A. : PREFACE It was just forty years ago that the writer of these lines, then an assistant of his beloved teacher, the late Professor B. F. Mudge, dug from the chalk rocks of the Great Plains his first specimens of water reptiles, mosasaurs and plesiosaurs. To the youthful col- lector, whose first glimpse of ancient vertebrate life had been the result of accident, these specimens opened up a new world and diverted the course of his life. They were rudely collected, after the way of those times, for modern methods were impracticable with the rifle in one hand and the pick in the other. Nor was much known in those days of these or other ancient creatures, for the science of vertebrate paleontology was yet very young. There were few students of fossil vertebrates—Leidy, Cope, and Marsh were the only ones in the United States—and but few collectors, of whom the writer alone survives. Those broken and incomplete specimens, now preserved in the museum of Yale University, will best explain why this little book was written. -
Exceptional Fossil Preservation During CO2 Greenhouse Crises? Gregory J
Palaeogeography, Palaeoclimatology, Palaeoecology 307 (2011) 59–74 Contents lists available at ScienceDirect Palaeogeography, Palaeoclimatology, Palaeoecology journal homepage: www.elsevier.com/locate/palaeo Exceptional fossil preservation during CO2 greenhouse crises? Gregory J. Retallack Department of Geological Sciences, University of Oregon, Eugene, Oregon 97403, USA article info abstract Article history: Exceptional fossil preservation may require not only exceptional places, but exceptional times, as demonstrated Received 27 October 2010 here by two distinct types of analysis. First, irregular stratigraphic spacing of horizons yielding articulated Triassic Received in revised form 19 April 2011 fishes and Cambrian trilobites is highly correlated in sequences in different parts of the world, as if there were Accepted 21 April 2011 short temporal intervals of exceptional preservation globally. Second, compilations of ages of well-dated fossil Available online 30 April 2011 localities show spikes of abundance which coincide with stage boundaries, mass extinctions, oceanic anoxic events, carbon isotope anomalies, spikes of high atmospheric carbon dioxide, and transient warm-wet Keywords: Lagerstatten paleoclimates. Exceptional fossil preservation may have been promoted during unusual times, comparable with fi Fossil preservation the present: CO2 greenhouse crises of expanding marine dead zones, oceanic acidi cation, coral bleaching, Trilobite wetland eutrophication, sea level rise, ice-cap melting, and biotic invasions. Fish © 2011 Elsevier B.V. All rights reserved. Carbon dioxide Greenhouse 1. Introduction Zeigler, 1992), sperm (Nishida et al., 2003), nuclei (Gould, 1971)and starch granules (Baxter, 1964). Taphonomic studies of such fossils have Commercial fossil collectors continue to produce beautifully pre- emphasized special places where fossils are exceptionally preserved pared, fully articulated, complex fossils of scientific(Simmons et al., (Martin, 1999; Bottjer et al., 2002). -
Beached Bird Guide for Northern Lake Michigan
Beached Bird Guide for Northern Lake Michigan Prepared by Common Coast Research & Conservation In association with the Grand Traverse Bay Botulism Network © 2008 Common Coast Research & Conservation How to use this guide This guide was developed to aid with the field identification of the most common waterbird species implicated in botulism E die-offs on northern Lake Michigan. The guide is not intended to be a comprehensive treatment of all species you may encounter in the field. For birds not treated in this guide please document with photographs and/or submit carcasses to the nearest Michigan Department of Natural Resources Field Office for identification and/or testing for botulism (see manual). The emphasis of this guide is on differences in bill structure among the various waterbird species. The bill plates are drawn to actual size - we recommend laminating the guide for use in the field. Placing the bills of unknown species directly on the plates will facilitate identification. Please keep in mind some variation among individuals is to be expected. Photographs of unknown species are helpful for later identification. Bird Topography tarsus crown bill (upper and lower mandibles) foot bill margin cheek throat wing coverts (lesser) secondaries webbed foot lobed foot primaries (loons, ducks, gulls) (grebes) Loons and Grebes Birds with dagger-like bills Description: Adult Common Loon bill large, dagger-like, mandible edges smooth feet webbed tarsus narrow, flat Plumage variation (adult vs. juvenile): Look at wing coverts: Adult – well-defined white "windows" (see photo) Juvenile - lacks defined white "windows" Similar species: Red-throated Loon – bill smaller (rarely found) Red-necked Grebe – feet lobed, bill smaller Description: Red-throated Loon bill dagger-like, slightly upturned, mandible edges smooth feet webbed tarsus narrow, flat Similar species: Common Loon - larger; bill heavier, not upturned Red-necked Grebe – feet lobed , bill yellowish NOTE: Rarely encountered. -
Coal Resource Recovery Plan
Tahmoor Coal Pty Ltd COAL RESOURCE RECOVERY PLAN Tahmoor North Western Domain Longwalls West 1 and West 2 July 2019 simecgfg.com This page has been left blank intentionally. 2 | Tahmoor North Western Domain LW W1-W2 – Coal Resource Recovery Plan TAH-HSEC-243 (July 2019 Ver1) This page has been left blank intentionally. 4 | Tahmoor North Western Domain LW W1-W2 – Coal Resource Recovery Plan TAH-HSEC-243 (July 2019 Ver1) Table of Contents Table of Contents ....................................................................................................................... 5 List of Figures ............................................................................................................................. 7 List of Tables .............................................................................................................................. 7 1 Introduction ........................................................................................................................ 9 Background ............................................................................................................................... 9 Purpose ..................................................................................................................................... 9 Scope ......................................................................................................................................... 9 2 Regulatory Requirements ................................................................................................. -
Strategic Assessment Report, Heathcote Ridge, West Menai
STRATEGIC ASSESSMENT REPORT HEATHCOTE RIDGE, WEST MENAI November 2012 Prepared for Gandangara Local Aboriginal Land Council By Cumberland Ecology with input from BBC Consulting Planners and 1. PURPOSE AND DESCRIPTION .......................................................................... 3 1.1 Introduction ........................................................................................................ 3 1.1.1 Background........................................................................................................... 3 1.2 The Program ..................................................................................................... 4 1.2.1 Background........................................................................................................... 4 1.2.2 Proposed Development Concept ..................................................................... 5 1.3 Regional Context ............................................................................................. 12 1.4 Land Use Planning .......................................................................................... 13 1.4.1 Land to Which the SEPP Amendment will Apply ............................................ 13 1.4.2 Proposed Land Use Zones ................................................................................. 13 1.4.3 Principal Development Standards ................................................................... 14 1.4.4 Consent Authority .............................................................................................. -
12 October.Indd
artwork by Steven D’Amato Volume 46 #2 October 2012 A Gift of the Morning by Larry Tobiska, Wenatchee One morning in the early summer, I was sculling up torn from its struggles. Suddenly the line tightened and the Columbia River along the west shore just above squeezed the duck as if to cut through it. I realized that the confl uence of the Wenatchee and Columbia Rivers. as the boat drifted downstream the line was tightening It was a storybook morning with calm conditions and around the desperate bird because the line was caught on golden light of the new sun on the river. Geese and ducks the bottom of the river. The duck was being constricted and swam cautiously away or occasionally took to fl ight as dragged out of the boat and back into the river. Quickly, I I approached. I felt I was part of the scene as the craft rowed a few strokes upstream and attempted to maintain responded to my pull on the oars. my position off the bank and over the place where the line Moving along about fi fty feet from the shore I noticed a was embedded while I tried to disentangle the struggling duck that seemed to swim away and then dive beneath young duck. I lifted it and bit the fi shing line with my the surface. As I approached, the duck reappeared and teeth while holding the boat steady with one hand on both again seemed to dive; but something was wrong. The duck oars. Finally I was able to bite through the line. -
Sydenham to Bankstown Environmental Impact Statement
SYDENHAM TO BANKSTOWN ENVIRONMENTAL IMPACT STATEMENT > Technical Paper 9 - Biodiversity assessment report Transport for NSW Sydney Metro City & Southwest Sydenham to Bankstown upgrade Environmental Impact Statement Technical Paper 9 – Biodiversity Assessment Report August 2017 Table of contents 1. Introduction..................................................................................................................................... 1 1.1 Overview .............................................................................................................................. 1 1.2 The project ........................................................................................................................... 2 1.3 Purpose and scope of this report ....................................................................................... 12 1.4 Secretary’s environmental assessment requirements ....................................................... 13 1.5 Legislation and policy......................................................................................................... 14 2. Methodology ................................................................................................................................. 17 2.1 Approach ............................................................................................................................ 17 2.2 Desktop research ............................................................................................................... 17 2.3 Field survey ....................................................................................................................... -
Palaeoplethodon Hispaniolae Gen
UC Berkeley UC Berkeley Previously Published Works Title Palaeoplethodon hispaniolae gen. n., sp. n. (Amphibia: Caudata), a fossil salamander from the Caribbean Palaeodiversity 8: 21–29; Stuttgart 30 December 2015. Permalink https://escholarship.org/uc/item/1f381770 Authors Wake, David B Poinar, George Publication Date 2021-06-28 Peer reviewed eScholarship.org Powered by the California Digital Library University of California Palaeodiversity 8: 21–29; Stuttgart 30 December 2015. 21 Palaeoplethodon hispaniolae gen. n., sp. n. (Amphibia: Caudata), a fossil salamander from the Caribbean GEORGE POINAR JR. & DAV I D B. WAKE Abstract A salamander hatchling, Palaeoplethodon hispaniolae gen. n., sp. n. (Amphibia: Caudata), is described from Dominican Republic amber. While physical features align the fossil with members of the family Plethodontidae, the short forelimb with the foot lacking distinct digits and the long hind limb with elongated foot and strongly fused digits, as well as its presence in 15–40 mya Dominican amber, distinguish the fossil from previously described sal- amanders. The apparent 13–14 costal grooves and strongly webbed digits are characters shared with members of the extant plethodontid genus Bolitoglossa PETERS, 1879, the most speciose genus of Neotropical salamanders. This is the first salamander recovered from any amber source and the first undisputed salamander reported from the Caribbean region. K e y w o r d s : Salamander, fossil, Palaeoplethodon hispaniolae, Caudata, Plethodontidae, Dominican amber. 1. Introduction 2. Materials and methods Over the years, remains of frogs, lizards, birds and The salamander fossil originated from an amber mine mammals have been found in various amber depos- in the northern mountain range (Cordillera Septentrional) its around the world, but no salamanders have ever been of the Dominican Republic between Puerto Plata and San- reported (POINAR 1992; POINAR & POINAR 1999). -
Updating the Natural Science Exhibits at the Maria Mitchell Association, Nantucket, MA
Updating the Natural Science Exhibits at the Maria Mitchell Association, Nantucket, MA An Interactive Qualifying Report submitted to faculty of Worcester Polytechnic Institute in partial requirements for the Degree of Bachelor of Science. By Molly Congdon, Alex Tutone, & Victoria Valencia Dated December 19, 2008 Submitted to: Dr. Michael B. Elmes Worcester Polytechnic Institute Nantucket Project Center Dr. Janet Schulte & Dr. Bob Kennedy Maria Mitchell Association Abstract This report, prepared for the Maria Mitchell Association, explored ways to update the existing exhibits and increase kindergarten through fifth grade visitation to the Natural Science Museum. The current exhibits were evaluated based on content and aspects of exhibit design. We developed and modified six interactive prototypes regarding erosion and bird adaptations. By working together with local schools, we determined key obstacles preventing class visitation. Through our analysis of surveys, observations, and interviews we developed recommendations for the Association. Authorship Every aspect of this report was written and edited by all three members of the group. Molly Congdon contributed heavily in the planning and scheduling of many logistics within the project, with help from Victoria Valencia. For most interviews with teachers, Victoria represented the group as lead interviewer, while Molly and Alex took notes and made sure the interview went along smoothly. While building prototypes, each group member was in charge of a couple of prototypes. Molly not only conceptualized how to do the Erosion Book, but also did most of its construction. Victoria oversaw the building and presentation of the Bird Feet Adaptation prototype, while Alex built and managed the various Bird Beak Adaptation prototypes.