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The NE-SW trending Great Glen Fault (GGF) is one of mainland Scotland's most significant crustal-scale faults, although our understanding of its early kinematics is in question. Previous studies generally agree that the GGF was initiated as a Silurian sinistral strike-slip fault displacing c. 425 Ma isotopically dated granitic plutons. Stewart et al. (2001) argued that dikes fed by these plutons were sinistrally sheared by the GGF while in the sub-magmatic state, suggesting continuous strike-slip motion on the GGF by 425 Ma. Strike-slip offset post-dating overlying Devonian sedimentary basins is likely only a few tens of kilometers, requiring substantial (100s of kms) Silurian-aged strike-slip movement on the GGF in most plate reconstruction models for the Caledonian mountain belt, now exposed in East Greenland, Scandinavia, and Scotland. In contrast, a recent study (Searle 2021) has argued that motion on the GGF may instead have initiated in the Upper Paleozoic and that off-set is therefore minimal, bringing current restoration models into question. Several papers report widespread field and microstructural evidence from crystalline bedrock and overlying Devonian sedimentary rocks for brittle upper-crustal shearing on the GGF. However, evidence for high-temperature crystal plastic shearing at deeper crustal levels on the GGF, potentially of Silurian to Early Devonian age, is limited. During summer 2022, suites of oriented and plastically deformed metasedimentary rock samples were collected from the NW side (Moine/Lewisian gneisses and quartzites), center (Moine quartzites), and SE side (Dalradian quartzites) of the GGF. Additional samples included plutonic rocks from locations adjacent to the GGF and the associated Strathconnon fault that were believed to have been intruded during strike-slip motion, but after regional metamorphism and deformation in the surrounding Moine rocks. Microstructures and quartz c-axis fabrics from samples on the NW side and in the center of the GGF indicate a NW side up to the SW sense of displacement about NE to E plunging slip vectors, and these results are compatible with oblique sinistral motion on the GGF below the brittle-ductile transition zone during Silurian - Early Devonian times. However, radiometric dating is needed to prove the absolute timing of this shearing. In contrast, on the SE side of the GGF, NW side up or NW side down senses of shearing are indicated at different locations. Brittle fracturing is observed in all collected samples, overprinting the earlier high-temperature (300 - 650 °C) crystal fabrics and microstructures developed below the brittle-ductile transition zone. No convincing microstructural evidence for sub-magmatic shearing during pluton emplacement was found in the samples collected. However, the local presence of high-low temperature (c. 650 - 300 °C) solid-state deformation microstructures in both quartz and feldspar grains in these 430 - 425 Ma plutons suggests that the plutons were deforming internally in response to far-field stresses generated by shearing on the adjacent GGF and Strathconnon fault during cooling to background regional temperatures. / Master of Science / The Great Glen Fault (GGF) is one of mainland Scotland's most significant large-scale faults, although our understanding of its early motion is debated. Most geologists agree that the GGF began displacing existing rocks during the Silurian (c. 444 - 419 Ma), including igneous bodies, known as plutons, of approximately the same age (c. 425 Ma). Stewart et al. (2001) argued that during shearing, dikes fed by these plutons were deformed before cooling to background temperatures, which may suggest that the GGF was continuously undergoing lateral strike-slip motion by 425 Ma and that post-Silurian offset was likely only a few tens of kilometers. Most plate reconstruction models for the Caledonian mountain belt, now exposed in East Greenland, Scandinavia, and Scotland, assume that significant lateral motion and shearing occurred on the GGF during the Silurian. However, new research has suggested that the GGF was initiated several million years later, bringing current restoration models into question. Several published papers have reported widespread evidence for upper-crustal brittle shearing of crystalline bedrock and overlying Early Devonian (c. 420 - 359 Ma) sedimentary basins within the GGF. However, evidence for lower-crustal shearing during the same time frame, resulting in plastic deformation, is limited. To address this knowledge gap, I collected suites of oriented bedrock samples and 430 - 425 Ma plutonic rocks from locations adjacent to the GGF and associated Strathconnon Fault believed to have been intruded during strike-slip motion. Samples from the NW side and center of the GGF suggest oblique left-lateral motion within the fault zone, with the rocks on the NW side of the GGF moving upward relative to the SE side, compatible with current generally accepted models for the Silurian-Early Devonian age on the GGF; however, these results must be verified with radiometric dating to constrain the absolute timing of shearing. On the SE side of the GGF, vertical offset is variable at different locations. Brittle upper-crustal shearing is observed in all samples, which overprints early high-temperature (300 - 650 °C) deformation. Early lower-crustal shearing on the GGF is recorded by these deformation indicators and was followed by uplift and fracturing within the GGF of these initially lower-crust rocks. The local presence of solid-state deformation microstructures in the plutons suggest internal deformation due to shearing on the adjacent Great Glen and Strathconnon Faults during their cooling to regional background temperatures.

This dissertation summarizes the research effort to develop a novel, three degree-of-freedom device that is ideally suited as a robotic wrist or platform manipulator. Because of its similarity to the human wrist, this invention has been named the "Carpal Wrist." Much like its natural counterpart, the Carpal Wrist has eight primary links, corresponding to the eight carpal bones of the human wrist, a parallel actuation scheme, similar to the flexor and extensor carpi muscles along the forearm, and an open interior passage, which forms a protected tunnel for routing hoses and electrical cables, much like the well-known carpal tunnel. The Carpal Wrist also has the significant advantages of possessing closed-form forward and inverse kinematic solutions and a large, dexterous workspace that is free of interior singularities (either considered separately or as part of a manipulator arm). As a result of its symmetric parallel architecture, the Wrist can handle a large payload capacity and can easily be adapted to a variety of actuation schemes. While parallel-architecture manipulators have long been recognized for their high-rigidity and large payload-to-weight capacity, few have been developed for application, primarily because of complications in kinematic and dynamic modeling. The mathematical model of any manipulator must be developed in order to allow the necessary motion control of the device. The mathematical model provides a mapping from the input space (called joint space) to the output space (called tool space) of the manipulator. Given a desired task in terms of motion of the robot tool, the mathematical model determines the required motor input parameters. Advanced manipulator performance through automatic control becomes possible when the model includes inertial or dynamic effects of the manipulator and tool. The research leading to the development of the Carpal Wrist is significant because it presents a complete kinematic and dynamic model of a parallel-architecture manipulator, and thus will provide significant improvement over current serial robot technology. This research was funded in part by TRIAD Investors Corporation (University Partners), Baltimore MD. / Ph. D.

Musculoskeletal pain and injury continue to be prevalent sources of disability for thousands of workers in the U.S. every year. Proactive approaches to the reduction of this incidence attempt to prevent the injury by effecting task design so that human capabilities and limitations are driving factors in the task design and analysis process. Knowledge about the posture and kinematics that might be employed by an individual in performing a task is an important element of these proactive approaches to task design and analysis, especially for manual materials handling (i.e., lifting) exertions. In turn, accurate models that predict posture and kinematics can reduce the need for empirical postural and kinematic data in this task development process. Artificial neural networks were used in this investigation to achieve these predictions. As input, these networks received information about lift characteristics (e.g. target location, movement duration) and returned a predicted set of joint angles. Two types of networks were created, one to predict static posture based on target position, the second to predict the time histories of several joint angles (i.e., kinematics) as an object is lifted or lowered. Initial networks were created for sagittally symmetric lifts (two dimensions), but the final set of networks was expanded to make predictions for symmetric and asymmetric lifts in three dimensions. Networks were trained and verified with an empirical set of non-cyclic lifting motions. Notably, the within-subject variability in these motions was similar in magnitude to the associated between-subjects variability. In general, the networks were able to assimilate the data relatively well, especially in predicting kinematics, where root mean square errors were typically smaller than 20 degrees. These errors were similar in magnitude to the levels of within-subject variability observed in the dataset. Network performance also compared favorably to other existing models, typically resulting in smaller prediction errors than these other approaches. In addition, the internal connections of trained networks were examined to infer hypothetical motor control strategies. Results of this examination showed that feedback was an important component in providing kinematic predictions, whereas posture prediction benefited greatly from knowledge about individual anthropometry. Finally, potential improvements to increase prediction accuracy are discussed. Overall, these results support the use of artificial neural network models to predict posture and kinematics for lifting tasks. / Ph. D.

Concussions are diffuse injuries that affect areas of the brain responsible for a person's physical, cognitive, and emotional health. Although concussions were once thought only to present transient symptoms, mounting evidence suggests potential for long-term neurological impairments. The deleterious effects of concussion can be from a single, high severity impact event or the accumulation of lower severity impacts. Clinical changes that can result from concussion include an elevated symptom presentation and changes in gait, or an individual's walking pattern. It is not well understood if similar deficits result after an accumulation of subconcussive impacts. The majority of research on human tolerance to head injury has been based on American football, using helmet-mounted sensors in male athletes. Limited studies have attempted to quantify biomechanical tolerance in women, despite the sex-specific nature of presentation and outcome of concussion. Biomechanical, physiologic, and psychosocial factors differ between males and females, likely contributing to this difference. The research presented in this dissertation was aimed at describing sex-specific outcomes of subconcussion in a matched cohort of male and female athletes to gain a better sense of unhelmeted, sex-specific tolerance to head impacts. On-field data were collected from collegiate rugby players using instrumented mouthguards. Rugby involves high energy, frequent head impacts, does not require protective headgear, and is played the same for both men and women. The females in our study sustained fewer impacts per session than the males, but their impacts had similar linear acceleration magnitudes. The kinematics of the concussive male impacts were higher than the kinematics of the concussive female impacts. Both sexes reported concussion-like symptoms in the absence of diagnosed concussion during a season. Females reported more symptoms with a higher severity in-season compared to males after subconcussive and concussive impacts. Female athletes saw deficits in cadence, double support time, gait speed, and stride length post-concussion. The majority of athletes improved in their dual-task gait assessment by the end of the season, suggesting there may not be a negative effect on gait after an accumulation of subconcussive impacts. This work assessed the biomechanics of head impacts and concussions of this population, and evaluated changes in symptom presentation through weekly graded symptom surveys and dual-task gait assessments both after a concussion and as an effect of subconcussive impacts. Understanding the sex-specific clinical effects of head impacts is critical, and can provide insight into concussion diagnostic, management, and prevention tools that are appropriate and effective. / Doctor of Philosophy / Concussions are injuries that affect many areas of the brain, including those responsible for a person's physical, cognitive, and emotional health. Although concussions were once thought only to present transient symptoms, mounting evidence suggests potential for long-term neurological impairments. The harmful effects of concussion can be from a single, high intensity impact event or the build-up of lower intensity impacts. Clinical changes that can result from concussion include an elevated symptom presentation and changes in gait, or an individual's walking pattern. It is not well understood if similar side effects result after an accumulation of subconcussive impacts. The majority of research on human tolerance to head injury has been based on American football, using helmet-mounted sensors in male athletes. Limited studies have attempted to quantify concussion tolerance in women, despite the differences in men and women's symptoms and recovery time after a concussion. Female's neck strength, hormones, and increased honesty in reporting concussion differ from males, likely contributing to this difference. The research presented in this dissertation was aimed at describing how sex affects the results of subconcussion in a group of male and female athletes to gain a better sense of unhelmeted, sex-specific tolerance to head impacts. On-field data were collected from collegiate rugby players using sensor-embedded mouthguards. Rugby involves high energy, frequent head impacts, does not require protective headgear, and is played the same by both men and women. The females in our study sustained fewer impacts per session than the males, but their impacts were similar in magnitude. The impact energies of the concussive male impacts were higher than those of the concussive female impacts. Both sexes reported concussion-like symptoms in the absence of diagnosed concussion during a season. Females reported more symptoms with a higher severity in-season compared to males after subconcussive and concussive impacts. Female athletes had a slower walking pace and walking speed, a shorter stride length, and spent more time with both feet on the ground post-concussion. The majority of athletes improved in their dual-task gait assessment by the end of the season, suggesting there may not be a negative effect on gait after an accumulation of subconcussive impacts. This work assessed the biomechanics of head impacts and concussions of this population, and evaluated changes in symptom presentation through weekly graded symptom surveys and dual-task gait assessments both after a concussion and as an effect of subconcussive impacts. Understanding the sex-specific clinical effects of head impacts is critical, and can provide insight into concussion diagnostic, management, and prevention tools that are appropriate and effective.

Cycling is an increasingly popular mode of transportation and a preferred form of exercise worldwide. From 1990 to 2015, commuting via bicycle increased as much as four-fold in cities across North America and Europe. However, this increase in cycling is associated with an increase in cycling related fatalities and head injuries. The best way to prevent severe head injury while cycling is to wear a bike helmet. Bike helmets are designed to decrease the linear acceleration of the head, decreasing the rider's risk of severe head injuries, such as skull fracture. In order to sell a bike helmet, it must meet a minimum standard of protection based on linear acceleration of the head upon impact. However, bike helmet impacts are not completely linear in nature and experience a tangential component through angled impacts of the helmet, resulting in rotational accelerations and shear-strain at the skull-brain interface. This strain cause brain injuries such as concussion. Therefore, recent helmet advancements have aimed to decrease rotational acceleration of the head. To continue the advancement of helmet technology and the subsequent decrease of brain injury risk to riders, investigating the impact conditions of real-world impacts is pertinent. This thesis aimed to increase the current body of knowledge of cycling related head impacts. The first aim was to quantify real-world impact locations and analyze how impact location may influence helmet performance. The second aim of this thesis was to investigate the impact velocities and resulting kinematics of real-world crashes based on the magnitude of corresponding damage conditions. Additionally, this aim analyzed the impact conditions from cases which resulted in concussion. Together these studies aim to provide valuable real-world data to be used for the advancement of helmet technologies and design. / Master of Science / Cycling is an increasingly popular mode of transportation and a preferred form of exercise worldwide. From 1990 to 2015, commuting via bicycle increased as much as four-fold in cities across North America and Europe. However, this increase in cycling is associated with an increase in cycling related fatalities and head injuries. The best way to prevent severe head injury while cycling is to wear a bike helmet. Bike helmets are designed to decrease the linear acceleration of the head, decreasing the rider's risk of severe head injuries, such as skull fracture. In order to sell a bike helmet, it must meet a minimum standard of protection based on linear acceleration of the head upon impact. However, bike helmet impacts are not completely linear in nature and experience a tangential component through angled impacts of the helmet, resulting in rotational accelerations and shear-strain at the skull-brain interface. This strain cause brain injuries such as concussion. Therefore, recent helmet advancements have aimed to decrease rotational acceleration of the head. To continue the advancement of helmet technology and the subsequent decrease of brain injury risk to riders, investigating the impact conditions of real-world impacts is pertinent. This thesis aimed to increase the current body of knowledge of cycling related head impacts. The first aim was to quantify real-world impact locations and analyze how impact location may influence helmet performance. The second aim of this thesis was to investigate the impact velocities and resulting kinematics of real-world crashes based on the magnitude of corresponding damage conditions. Additionally, this aim analyzed the impact conditions from cases which resulted in concussion. Together these studies aim to provide valuable real-world data to be used for the advancement of helmet technologies and design.

This thesis describes the process of designing exercise machines that raise the weight of the user as the primary source of resistance. Most strength training machines use weight stacks or springs as the source of resistance. While such machines are highly evolved and provide an excellent workout, they typically have a number of disadvantages including high cost, and large size and weight. A user weight-based exercise design will reduce the cost, size, and weight of the machine. The design process considers some important issues. Parallelogram linkages are implemented to provide non-rotary motion without the disadvantage of linear bearings. The user input is located with respect to the user providing correct relative motion for the exercise. The design also considers proper resistance curves during the design process. Specific examples are given for each step of the design process. These examples include the evolution of ideas and the creation and use of kinematic and automatic tools. / Master of Science

Although cycling offers many health and environmental benefits, it is not an activity free of injury risk. Increases in cycling popularity in the United States over the past 15 years have been paralleled by a 120% growth in cycling-related hospital admissions, with injuries to the head among the most common and debilitating injuries. Bicycle helmets can reduce head injury risk and are presently required to meet safety standard certification criteria specifying a minimal level of acceptable impact protection. However, the conditions surrounding cyclist head impacts are thought to be much more complex than the test conditions prescribed in standards and have important implications related to mechanisms of injury. The overarching aim of this dissertation was thus to investigate the protective capabilities of bicycle helmets in the context of real-world impact conditions and relevant head injury mechanisms. This aim was achieved through a series of studies, the objectives of which were to: compare helmet impact performance across standards impact testing and more realistic, oblique impact testing; to probe how changing boundary conditions of oblique impact testing may influence helmet test outcomes; to use this knowledge to inform the development of an objective helmet evaluation protocol reflective of realistic impact conditions and related head injury risks; and finally, to enhance the body of knowledge pertaining to cyclist head impact conditions via advanced helmet damage reconstruction techniques. The compilation of results across these studies serves to enhance cyclist safety by stimulating improved helmet evaluation and design while simultaneously providing objective, biomechanical data to consumers, enabling them to make safety-based purchasing decisions. / Doctor of Philosophy / Although cycling offers many health and environmental benefits and is increasing in popularity in the United States, it is not always a perfectly safe activity. The number of cycling-related hospital admissions in the US has been increasing over the past 15 years. Cyclists often sustain head injuries from crashes, which can be particularly debilitating. Fortunately, wearing a helmet can protect against head injuries during a crash. Bicycle helmets are presently designed around safety standards that drop a helmeted dummy head onto a horizontal anvil and require the helmet to limit the force on the head to acceptable levels. However, standards tests overly simplify how cyclists actually hit their head during a crash and are consequently unable to assess how well helmets protect against common brain injuries like concussion. The overarching goal of this research was to evaluate how effectively bicycle helmets protect cyclists from concussion in realistic impact scenarios. Several studies were conducted to achieve this goal. Their individual objectives were to: compare how bicycle helmets reduce impact forces associated with standards tests versus more realistic, angled impact tests; to understand how changing constraints of an angled impact setup influences helmet effectiveness; to develop an unbiased evaluation protocol for bicycle helmets based on realistic cyclist crash scenarios and concussion risk assessment; and finally, to further explore how cyclists impact their head in real-world crashes using advanced techniques for reconstructing bicycle helmet damage from actual accidents. All of these studies lead to improved cyclist safety by stimulating improved helmet evaluation and design, while also providing consumers with information on how protective their helmets are.