Edward Z. Moore

Reliable stair climbing in the simple hexapod 'RHex'

RHex is a hexapod with compliant legs and only six actuated degrees of freedom. Its ability to traverse highly fractured and unstable terrain, as well ascend and descend a particular flight of stairs has already been documented. In this paper, we describe an open loop controller that enables our small robot (length: 51 cm, width: 20 cm, height: 12.7 cm, leg length: 16 cm) to reliably climb a wide range of regular, full-size stairs with no operator input during stair climbing. Experimental data of energy efficiency in a form of specific resistance during stair climbing is given. The results presented in this paper are based on a new half circle leg design that implements a passive, effective leg length change.

A quantitative experimental paradigm to optimize construction of rank order lists in the National Resident Matching Program: the ROSS-MOORE approach.

Purpose As part of the National Resident Matching Program, programs must submit a rank order list of desired applicants. Despite the importance of this process and the numerous manifest limitations with traditional approaches, minimal research has been conducted to examine the accuracy of different ranking strategies. Method The authors developed the Moore Optimized Ordinal Rank Estimator (MOORE), a novel algorithm for ranking applicants that is based on college sports ranking systems. Because it is not possible to study the Match in vivo, the authors then designed the Recruitment Outcomes Simulation System (ROSS). This program was used to simulate a series of interview seasons and to compare MOORE and traditional approaches under different conditions. Results The accuracy of traditional ranking and the MOORE approach are equally and adversely affected with higher levels of intrarater variability. However, compared with traditional ranking methods, MOORE produces a more accurate rank order list as interrater variability increases. Conclusions The present data demonstrate three key findings. First, they provide proof of concept that it is possible to scientifically test the accuracy of different rank methods used in the Match. Second, they show that small amounts of variability can have a significant adverse impact on the accuracy of rank order lists. Finally, they demonstrate that an ordinal approach may lead to a more accurate rank order list in the presence of interviewer bias. The ROSS-MOORE approach offers programs a novel way to optimize the recruitment process and, potentially, to construct a more accurate rank order list.

Optimized sensor placement for damage parameter estimation: Experimental results for a cracked plate

In this article, the optimum sensor and impact locations, for use in a damage identification experiment, are obtained using a hybrid genetic algorithm/steepest descent optimization method. Specifically, data from these optimum locations are used to identify the location, orientation, and size of a crack (termed the crack parameters) in a rectangular plate. The strain gage locations and orientations were selected in order (a) to maximize the difference between the model signal for a healthy plate and the model signal for a randomly damaged plate and (b) to minimize the cross-correlation among the signals measured by each of the gages. The latter requirement, in a sense, maximizes the uniqueness of the information measured from each sensor. The Bayesian model-based structural health monitoring identification technique, used to assess the crack parameters, was previously shown to be successful even for arbitrary sensor location/orientation and excitation location. It is shown here that thoughtful (optimized) sensor and excitation locations allow for improved estimates of the crack parameters. However, there is no substantial change in the width of the confidence intervals associated with these estimates.

Differences in words used to describe racial and gender groups in Medical Student Performance Evaluations

Purpose The transition from medical school to residency is a critical step in the careers of physicians. Because of the standardized application process–wherein schools submit summative Medical Student Performance Evaluations (MSPE’s)–it also represents a unique opportunity to assess the possible prevalence of racial and gender disparities, as shown elsewhere in medicine. Method The authors conducted textual analysis of MSPE’s from 6,000 US students applying to 16 residency programs at a single institution in 2014–15. They used custom software to extract demographic data and keyword frequency from each MSPE. The main outcome measure was the proportion of applicants described using 24 pre-determined words from four thematic categories (“standout traits”, “ability”, “grindstone habits”, and “compassion”). Results The data showed significant differences based on race and gender. White applicants were more likely to be described using “standout” or “ability” keywords (including “exceptional”, “best”, and “outstanding”) while Black applicants were more likely to be described as “competent”. These differences remained significant after controlling for United States Medical Licensing Examination Step 1 scores. Female applicants were more frequently described as “caring”, “compassionate”, and “empathic” or “empathetic”. Women were also more frequently described as “bright” and “organized”. Conclusions While the MSPE is intended to reflect an objective, summative assessment of students’ qualifications, these data demonstrate for the first time systematic differences in how candidates are described based on racial/ethnic and gender group membership. Recognizing possible implicit biases and their potential impact is important for faculty who strive to create a more egalitarian medical community.

An Intermeshing Rotor Helicopter Design and Test

Central Connecticut State Universitys (CCSU) Engineering Department is designing and testing a small scaled counter-rotating intermeshing rotor model helicopter to study various rotor shaft lateral tilt angle effects. One of the main purposes of this research is to explore the possibility of increase the helicopter flight envelope by changing the rotor shaft tilt angle without significantly impacting the required rotor lift and power. Three rotor shaft tilt angles and their associated bevel gear train dynamic components were designed and tested. The fuselage was designed by joining two halves of helicopter fuselages using a hinged plate in order to properly simulate each required rotor shaft tilt angle. The tests were conducted by varying engine throttle positions, collective and cyclic control inputs, and blade root end pitch angles. Forty two data points were collected. Both dimensional and non-dimensional performance information were analyzed. The maximum rotor rpm experienced during the test was recorded at 1,433 rpm. At 90% engine throttle control positions, the maximum blade lift obtained during this test, exceeds 20 lbs when the blade root end collective settings were higher than 7.5uf0b0. Preliminary results indicated that this was a successful tie down test. This success also extends to functional testing of the helicopter dynamic drive systems, flight control systems, and power generating systems.