This thesis details the derivation and application of template-based controls on a bipedal robot, as well as a description of the software framework that enabled experimentation. The software framework uses a combination of open-source tools including ROS, OROCOS, EtherCAT, and Xenomai to create a real-time environment for the controllers. The...
The removal of microbial populations from potable water has been a practice with great importance towards public health, as it has resulted in the reduction of literally millions of cases of infectious disease. In the United States, pathogenic organisms are most commonly removed from drinking water through the application of...