Conference Session

Capstone Design I

Collection

2011 ASEE Annual Conference & Exposition

Authors

Gregory K Watkins, California State University, Chico

Tagged Divisions

Design in Engineering Education

: • Frequency of meetings with student groups • Content of group meetings • Project management role • Overall responsibility for project success • Grading responsibilities • Review of student design logbooks • Approval of milestones • Attendance at presentations and other eventsThese discussions yielded two primary results, one expected and one that was not. The expectedresult was a clear definition of the role of the faculty mentor. The discussions resulted in adocument that clearly defines the responsibilities and expectations for faculty mentorship ofcapstone design projects. That document is made available to students and is also included inAppendix B. Full details of its implementation have

Conference Session

Design Education I

Collection

2011 ASEE Annual Conference & Exposition

Authors

Louis Reifschneider, Illinois State University; RJ Linton, Illinois State University

Tagged Divisions

Manufacturing

Page 22.311.5innovation. Again, this advantage does not come at no cost. The design time and fabricationrequirements for an injection mold are some of the highest in the manufacturing industry.However, if done well, injection molding results in lower piece part cost for products that aremade in enough volume to justify the initial investment.Injection Mold DesignInjection molding, unlike thermoforming, requires two mold halves to be made. The air spaceremaining between the mold halves when they close creates the molded part. A computer-aidedrendering of the lower mold half, the B plate, is shown in Figure 29. This plate forms the interiordetail of the cover while the mating plate, the A plate, defines the exterior of the cover; refer toFigure

Conference Session

Research Related to Learning and Teaching Engineering in Elementary Classrooms

Collection

2011 ASEE Annual Conference & Exposition

Authors

John C. Bedward, North Carolina State University; Eric N. Wiebe, North Carolina State University

Tagged Divisions

K-12 & Pre-College Engineering

B. Finally, evidence-based practices in elementary scienceeducation are still emerging and evolving, hence more studies are needed that connect thepsychology of the child with epistemic practices of science and engineering.MethodsThis is an ethnographic study. In this instance utilizing multiple sources of data, studentinterviews, their notebook pages and peer interactions to better understand how they make senseof phenomena within the STEM classroom setting35. The interest is in facilitating classroompractices towards more authentic ways of learning. Providing a learning environment wherestudents leverage their individual science and pre-engineering knowledge towards a morecollective understanding. In many ways viewing the students as

Conference Session

Information and Network Security

Collection

2011 ASEE Annual Conference & Exposition

Authors

Maurice F. Aburdene, Bucknell University; Kundan Nepal, Bucknell University

Tagged Divisions

Computing & Information Technology

laboratoryprojects.Each laboratory project was discussed first in class and students were assigned homeworkbased on the project, followed by 3 hour lab to improve their understanding of the majorconcepts. Students wrote project reports (learning by writing).The relevant learning goals for the course addressed by these two projects are to develop theability to: a. identify and use signal models, b. develop models of engineering systems, physical systems, and social systems, c. analyze continuous-time system models by applying Fourier methods, and frequency response methods, d. develop computer models using available software packages for analysis and design, and e. communicate laboratory and project

Conference Session

Fostering Student Learning

Collection

2011 ASEE Annual Conference & Exposition

Authors

Gerald Sullivan, Virginia Military Institute; James C. Squire, Virginia Military Institute; George Mercer Brooke IV, Virginia Military Institute,Department of Physics and Astronomy

Tagged Divisions

Educational Research and Methods

I). Three types of questions were included on the quiz, in order toassess students Objective and Subjective comprehension of the material, as well as their self- Page 22.1453.4assessed enjoyment/interest in the material:Objective Comprehension: The quiz included 7 questions aimed at assessing how wellstudents learned concepts from the lecture concerning spring mass damper systems. Forexample:“7. A new car design tends to ride too “rough”, meaning on bad roads the passenger cab vibrates too much. What parts might need to be redesigned to fix this? a) The dampers and the springs. They are interrelated. b) Only the dampers

Conference Session

Student Learning and Assessment II

Collection

2011 ASEE Annual Conference & Exposition

Authors

Randall D. Manteufel, University of Texas, San Antonio; Amir Karimi, University of Texas, San Antonio

Tagged Divisions

Mechanical Engineering

two.Figure 4 shows that engineering faculty also have significant grading differences. The grades forthree faculty for EGR 2103: Statics illustrate an almost unbelievable variation in grades issued ina key foundational class. One faculty issued 61% A grades in a class of about 50 students, whilethe other two faculty issued 33% and 27% A&B grades combined. The number of A for oneinstructor is twice the combined A and B of the other two instructors. Page 22.1198.6Figure 4. Three instructors who teach the first engineering mechanics (statics) course.from myedu.com assessed 1/10/2011.It is believed that some faculty issued high grades to mask their

Conference Session

Computer Science Applications

Collection

2011 ASEE Annual Conference & Exposition

Authors

Ryan J. Meuth, University of Advancing Technology

Tagged Divisions

Computers in Education

. wiring.org. [Online] [Cited: January 17, 2011.] http://www.wiring.org.co.3. Banzi, M. Arduino - Home Page. [Online] [Cited: January 17, 2011.] http://arduino.cc/en/.4. Wettach, R. Fritzing. [Online] [Cited: January 17, 2011.] http://fritzing.org.5. First Principles of Instruction. Merrill, M.D. 3, s.l. : Educational Technology Research andDevelopment, 2002, Vol. 50. 43-60.6. A wakeup call to Science Faculty. Alberts, B. 5, s.l. : Cell, 2005, Vol. 123. 739-741.7. Tufte, Edward R. The cognitive style of PowerPoint. Chesire, Conn. : Graphics Press, 2003.8. Using Learning Style Instruments to Enhanse Student Learning. Hawk, Thomas F. and Shah, Amit J.s.l. : Descision Sciences Journal of Innovative Education, 2007.9. Attempted Validations of the Scores

Conference Session

Methods, Techniques, and New Programs in Graduate Education

Collection

2011 ASEE Annual Conference & Exposition

Authors

Justin P. Micomonaco, Michigan State University

Tagged Divisions

Graduate Studies

. This paper describes the work ofthe Center for the Integration of Research, Teaching and Learning (CIRTL) including: (a) itsphilosophical pillars; (b) the types of opportunities offered to graduate students; and (c) the typesof interactions within the network to promote learning and development inter-institutionally. Inaddition, the paper draws upon the data collected over the last seven years as part of an on-goingcase study of the multi-institutional network to discuss (a) evidence of success, (b) obstacles tosucceeding in implementing these programs, and (c) future challenges for CIRTL as anexpanding inter-institutional network.Background Several prominent national and governmental organizations have called for increasedattention to

Conference Session

NSF Grantees Poster Session

Collection

2011 ASEE Annual Conference & Exposition

Authors

James Boerio, University of Cincinnati; Dionysios D. Dionysiou, University of Cincinnati; Ian Papautsky, University of Cincinnati; Miguel Pelaez, University of Cincinnati; Mark Schulz; Christopher Huth; Vesselin N. Shanov, University of Cincinnati; Donglu Shi, University of Cincinnati

Tagged Topics

NSF Grantees

. Brief description of the experimental modules in nanotechnology presented to students in Summer Institute. There were 52 students in Summer Institute in 2010. They were placed into two groupsbased on the math/science pre-test referred to above. Group A consisted of 26 students withlower math/science proficiency while Group B comprised 26 students having greater proficiency.Generally speaking, students in Group A were younger than those in Group B. Each group wasfurther divided into four teams of six or seven students. As shown in Table 3, each teamperformed one experiment per week for four weeks. Although there was some overlap, studentsin Group A carried out experiments that were somewhat less demanding than did students inGroup B

Conference Session

Automation Subjects in Manufacturing Education

Collection

2011 ASEE Annual Conference & Exposition

Authors

Arif Sirinterlikci, Robert Morris University

Tagged Divisions

Manufacturing

9) C Programming 10) Autonomous Controls Laboratory 11) Hybrid Systems 5- Integration 12) Integration of Subsystems 5th 3 Weeks 13) Costuming and FinalizationExamples of the laboratories relating to project stages are given below. Figure 3a is a product ofstudent scans of a Halloween Jack Lantern with Creaform’s Handy Scan 3D scanner whileFigure 3b is taken from a Reverse Engineering report where students dissected animated toys.Both activities relate to Reverse Engineering through its technology and methodology. Figure 3. a) 3D Scanning of a Halloween Jack Lantern b) Dissecting an animated toy

Conference Session

Recruitment, Retention, and First-Year Programs in ECE

Collection

2011 ASEE Annual Conference & Exposition

Authors

Phillip Wong, Portland State University, ECE Department; Melinda Holtzman, Portland State University, Electrical and Computer Engineering Department; Branimir Pejcinovic, Portland State University, ECE Department; Malgorzata Chrzanowska-Jeske, Portland State University

Tagged Divisions

Electrical and Computer

(EAS) 101 – served as the cornerstone along with one or twoadditional courses which were more discipline specific. In ECE these two courses coveredintroduction to programming and digital logic, with the former taught by the Computer Science(CS) department and the latter by ECE.There were a number of reasons why we decided to redesign our undergraduate curricula.Through our own assessment and feedback from employers and alumni, several programmaticissues were identified: a) insufficient programming skills, b) introduction to design only inupper-division courses, c) weak communication skills. At the same time, many schools acrossthe United States were reducing the credit load in Electrical Engineering (EE) to 180 credits, andwe had started

Conference Session

Experiential Learning and Globalization in BME

Collection

2011 ASEE Annual Conference & Exposition

Authors

Jonathan Sanghoon Lee, University of Virginia; Shing Wai Yam, University of Virginia; William H. Guilford, University of Virginia

Tagged Divisions

Biomedical

lab – the principalinvestigator, graduate students, lab managers, or post-doctoral fellows.Miscellaneous factors include the likelihood of a student publishing their work, organization ofthe workspace environment, and the use of computer programming.SurveysTwo surveys were developed – one for labs (appendix A) and another for students (appendix B).The two surveys included matching questions for each predictive factor so that a correlate scorefor each student-lab pairing could be calculated. The student survey was anonymous, and bothsurveys were approved by the Social and Behavioral Sciences IRB at the University of Virginia.In addition to the predictive factors described in the previous section, students were asked torecount their history of

Conference Session

Special Session: Creating, Using, and Assessing with Concept Maps in Introductory Materials Courses

Collection

2011 ASEE Annual Conference & Exposition

Authors

Jessica Triplett, Arizona State University; Jacquelyn E. Kelly, Arizona State University; Stephen J. Krause, Arizona State University

Tagged Divisions

Materials

material 3. Identify the “Big Questions” for a topic a. What is it? b. What does it do (in an engineering sense)? c. Why should I learn about it? d. What are the important terms and nomenclature involved? 4. How is the topic material arranged/interconnected; what are the relationships? 5. Find expressed models of multiple representations for important ideas. Page 22.472.8 a. Definitions b. Charts, graphs c. Macroscopic & microscopic images d. Real life/everyday representations e. Equations f. Historical context 6. Enter the topic, sub-topics, and

Conference Session

NSF Grantees Poster Session

Collection

2011 ASEE Annual Conference & Exposition

Authors

Richard Chiou, Drexel University; Michael G. Mauk, Drexel University; Robin Kizirian, Drexel University; William Peeples, Drexel University

Tagged Topics

NSF Grantees

microcontroller. The schematics for the microcontroller and the RS-232 transceiver areshown in Figure 3(b).   (a) (b) Figure 3(a) Cloudy day illuminator and (b) Microcontroller schematic Figure 4 displays the LabVIEW software interface used to control the LED ring through themicrocontroller. A virtual ring in the interface allows the user to identify the illuminated LEDs’number and angle. The buttons and knob allow the user to control the state and brightness of Page 22.515.6each of the LEDs. Due to the

Conference Session

Digital Technologies and Learning

Collection

2011 ASEE Annual Conference & Exposition

Authors

James Herold, University of California, Riverside; Thomas Stahovich, University of California, Riverside; Han-lung Lin, University of California, Riverside ; Robert C. Calfee, University of California, Riverside

Tagged Divisions

Educational Research and Methods

student is asked to determine theminimum force necessary to raise the block.Wedge friction problem A, shown in Figure 5, can be thought of as a rotated version of thetutorial problem. It is comprised of a wedge, block, and spring. The spring pushes theblock horizontally, which in turn presses the wedge against an incline. Both faces of the Page 22.1452.7Figure 5: Wedge friction problem A. The student is asked to determine the minimum forceP needed to push the wedge downward.Figure 6: Wedge friction problem B. The student is asked to determine the minimum forceP needed to move the wedge up the ramp.wedge are subject to friction, while frictionless

Conference Session

K-12 and Pre-College Engineering Poster Session

Collection

2011 ASEE Annual Conference & Exposition

Authors

Ramakrishnan Sundaram, Gannon University

Tagged Divisions

K-12 & Pre-College Engineering

Education, 2011Engage K-12 Students in Electrical and Computer Engineering (ECE): Outreach with K-12 STEM Schools through ECE Project ActivitiesIntroductionThis paper discusses the set up and delivery of electrical and computer engineering(ECE) projects with science, technology, engineering, and mathematics (STEM)components to inspire K-12 STEM students to pursue higher education and careers inECE. These projects form part of the “Engage K-12 students in ECE” program and aredelivered through outreach1-2 with K-12 STEM schools. The forms of outreachconsidered are (a) direct (b) extended. The focus of this paper is on the implementation ofdirect outreach. In direct outreach, the students in the K-12 school programs participatein the ECE Day event

Conference Session

Thermodynamics, Fluids, and Heat Transfer I

Collection

2011 ASEE Annual Conference & Exposition

Authors

K. Hodge, Mississippi State University

Tagged Divisions

Mechanical Engineering

AC 2011-2072: USING TRAVEL AND THE INTERNET TO DEVELOPAND FORMULATE ENHANCED HOMEWORK ASSIGNMENTSB. K. Hodge, Mississippi State University B. K. Hodge is Professor Emeritus of Mechanical Engineering at Mississippi State University (MSU) where he served as the TVA Professor of Energy Systems and the Environment and was a Giles Distin- guished Professor and a Grisham Master Teacher. He is a Fellow of the American Society for Engineering Education and the American Society of Mechanical Engineers and an Associate Fellow of the American Institute of Aeronautics and Astronautics. Page 22.1650.1

Conference Session

ECE Division Poster Session

Collection

2011 ASEE Annual Conference & Exposition

Authors

Tokunbo Ogunfunmi, Santa Clara University; Mahmudur Rahman, Santa Clara University

Tagged Divisions

Electrical and Computer

( a) (b) i + + v 2.1v (A) v i = 9(A) - - i Page 22.367.8 ( c) (d) Fig. 4. Independent and Dependent current/voltage sources.6) concept: Resistors in Series/Parallel In a circuit, several resistances can be connected so that they carry the same current (a series connection

Conference Session

FPD IV: Improving Student Success: Mentoring, Intervening, and Supplementing

Collection

2011 ASEE Annual Conference & Exposition

Authors

Dianne Raubenheimer, North Carolina State University; Jerome P. Lavelle, North Carolina State University; Monica Terrell Leach, North Carolina State University; Steven L. White, North Carolina State University ; Philip Albert Moses, North Carolina State University

Tagged Divisions

First-Year Programs

academic courses. • Students will become aware of University campus resources.Topics covered during the course include, (a) Self-assessment and Monitoring Tools, (b) TimeManagement and Organizational Skills, (c) Stress Management, (d) Decision-making, (e)Academic Skills and Strategies, (f) Computer Skills, and, (g) Locating and Accessing CampusResources.The course requires weekly attendance and participation, and includes both individual and groupassignments. Student journaling is a central theme in this course as a mechanism to promoteproactive thinking as well as reflection. Aside from daily assignments students are required tohave two detailed academic coaching sessions with faculty members. These sessions are used toobtain feedback on class

Conference Session

Innovative Instructional Strategies and Curricula in ECE II

Collection

2011 ASEE Annual Conference & Exposition

Authors

Robert Santucci, Arizona State University; Andreas S. Spanias, Arizona State University, ECEE, SenSIP Center

Tagged Divisions

Electrical and Computer

are split into regionsbased on contiguous input powers 2. The regions are henceforth referred to as bins, and for each Page 22.1594.5bin a correction factor is developed. The look-up-table portion of the name refers to theselection of gain-correction factor, b, by selecting a bin based on the input signal power. Thecorrection factor is learned using the LMS algorithm 12. A DSP flowchart showingimplementation is shown in Figure 2. Adaptive Predistorter G(·)vin(n) vpd(n) vAct(n

Conference Session

Computational Tools

Collection

2011 ASEE Annual Conference & Exposition

Authors

Murat Tanyel, Geneva College

Tagged Divisions

Computers in Education

(2)will generate a cosine waveform. Figure (1) depicts the front panel and block diagram of thesubVI CosinusoidalCoeffGen.vi that we wrote as a class exercise. The inputs of this routine aref0 (the frequency of the desired cosine), fs (sampling frequency) and the parameter R. ThissubVI generates the numerator and denominator coefficients (forward and reverse coefficients)of Eq. (2) in a format that LabVIEW’s IIR Filter routine utilizes. Page 22.1204.5 (a) (b)Figure 1: (a) The front panel and (b) the block diagram of a sinusoidal generator.DTMF Keypad: The digital touch tone phone, also known as the dual-tone

Conference Session

Descriptions of Curricular and Model Development

Collection

2011 ASEE Annual Conference & Exposition

Authors

Keeshan Williams, Polytechnic Institute of New York University; Vikram Kapila, Polytechnic Institute of New York University; Magued G. Iskander, Polytechnic Institute of New York University

Tagged Divisions

K-12 & Pre-College Engineering

, the three questions of pre-lessonassessment survey were repeated in the post-lesson assessment survey. For the survey questionsthat required descriptive answers, students’ responses were analyzed and categorized as eitherPositive or Negative (EPr/o1) and Liked, Disliked, or No Response (EPo4 and EPo5). Illustrativeexamples of students’ descriptive responses are provided in the Discussion and Conclusionssection.Table I: Evaluation questions. Pre-lesson assessment survey evaluation questions EPr1 What gets you excited about science? EPr2 If you were given the chance to create this lesson which method would you use: a. lecture; b. read textbook; c. watch movie; d. conduct hands- on activity; e. research

Conference Session

Robot Mania!

Collection

2011 ASEE Annual Conference & Exposition

Authors

Eli M. Silk, University of Pittsburgh; Ross Higashi, Carnegie Mellon University; Christian D. Schunn, University of Pittsburgh

Tagged Divisions

K-12 & Pre-College Engineering

provide their students with a positive experience working withrobots, not to win the competition. It appears, though, that by using mathematics in the roboticscompetition, attitudes toward math itself may benefit as well. Page 22.1246.14(a) (b)(c) (d) Figure 4: Focus Teams Survey Results on Students’ Change in Attitudes About Robots and MathConclusionTo summarize the results, only a few teams used math explicitly in their design solutions. Theuse of math was found to have a highly variable relationship with

Conference Session

Mechanical Engineering Technology Curriculum Innovations.

Collection

2011 ASEE Annual Conference & Exposition

Authors

Robert Edwards, Pennsylvania State University, Erie; Tim Demetrio; David H Johnson, Pennsylvania State University, Erie

Tagged Divisions

Engineering Technology

AC 2011-1819: RESURRECTING THE ELECTROLYTIC PLOTTING TANKRobert Edwards, Pennsylvania State University, Erie Robert Edwards is currently a Lecturer in Engineering at The Pennsylvania State Erie, The Behrend Col- loge where he teaches Statics, Dynamics, and Fluid and Thermal Science courses. He earned a BS degree in Mechanical Engineering from Rochester Institute of Technology and an MS degree in Mechanical Engineering from Gannon University.Tim DemetrioMr. David H Johnson, PE, Pennsylvania State University, Erie Mr. David Johnson is the program chair for Mechanical Engineering Technology and is an associate professor. Mr. Johnson received both the B.S. and M.S. in Mechanical Engineering in 1978 and 1980

Conference Session

Teaching Statics

Collection

2011 ASEE Annual Conference & Exposition

Authors

Andrea Brose, Hamburg University of Technology; Christian H. Kautz, Hamburg University of Technology

Tagged Divisions

Mechanics

student misunderstanding thatforces and moments are interchangeable. b Although we refer to the intervieews collectively, and hence the students in plural, the interviews were conductedin serial, i.e., the procedure was repeated for each student in turn. Page 22.792.5Figure 2: At the conclusion of the interview students were given the opportunity to holdthe imagined slider-and-beam to test their understanding of the concepts explored in thethought-experiment part of the interview. A 60 Nm couple acting clockwise keeps the member in equilibrium while it is subjected to other forces acting in the plane shown schematically

Conference Session

Simulation

Collection

2011 ASEE Annual Conference & Exposition

Authors

Ames Bielenberg, Swarthmore College; Erik Cheever, Swarthmore College

Tagged Divisions

Computers in Education

easy to usescripting system for defining the system in three steps. First its constitutive mathematicalrelations are defined, then a drawing is created that depicts the system, and then the drawing isanimated. The system is described mathematically by a state-space model (i.e, A, B, C and Dmatrices). The drawing of the system is described in terms of graphics primitives commonlyused to depict linear systems. For translating mechanical systems this consists of suchcommonly used objects as springs, masses, dashpots and sliding friction, along with dynamicallyresized arrows to show force and displacement. For electrical systems, primitives exist thatrepresent resistors, capacitors, and inductors as well as arrows to show current and dials to

Conference Session

Emerging Information Technologies

Collection

2011 ASEE Annual Conference & Exposition

Authors

Abul K. M. Azad, Northern Illinois University

Tagged Divisions

Computing & Information Technology

courses as a part of a regular curriculum. Experiences from these courseofferings will also be presented.2. Shortcomings of Internet Accessible Remote LaboratoryWhat are the issuesAs mentioned in the introduction section, researchers are pursuing this problem in an abruptmanner and are not yet coming up with a sustainable solution that can popularize the use ofremote laboratories. The major issues are: a) Integration of a number of disciplines into remote experimentation design; b) Modularity in designs; c) Readily available commercial products; d) Integration of learning management system; e) Maintenance and training; f) Administrative awareness and support; and g) Industry applications.a) Integration of a number of disciplines into

Conference Session

Simulation and Virtual Instrumentation

Collection

2011 ASEE Annual Conference & Exposition

Authors

Nikunja Swain, South Carolina State University

Tagged Divisions

Engineering Technology

connections in the LabVIEW diagram panel to simulate these VIs.Example VI to solve system of linear equationsThis VI solves the following linear equations:5x1 + x2 + 3x3 = 52x1 + 7x2 + 9x3 = 48x1 + 6x2+ 4x3 = 9The linear equations are written in Matrix Form (Ax = B) form and then A and B (known vector) aresupplied as inputs to the VI. The VI solves for the roots and displays the results as shown in Figure 1.The VI is flexible and can be easily modified to accommodate more number of equations by simplychanging the dimension of A, B, and solution vector. Page 22.1402.3 Figure 1 – VI to solve linear

Conference Session

Laboratory Development in ECE

Collection

2011 ASEE Annual Conference & Exposition

Authors

Sergey N. Makarov, Worcester Polytechnic Institute; Reinhold Ludwig, Worcester Polytechnic Institute; Kaung Myat Win, Worcester Polytechnic Institute, ECE Department

Tagged Divisions

Electrical and Computer

motor states: (i) forward mode; (ii) reverse mode; (iii) free run to a stop and; (iv) brake. Students have the option of applying PWM to this circuit to vary motor speed.We shall describe our experience with this scenario in an introductory course offered during Fall2010/Spring 2011 (about 250 students total), and the corresponding assessment results.1. Lorentz force - linear motor/generator/brake concept (one lecture)The lecture sequence is outlined using the three figures that follow. We only consider linearmotors since understanding the Lorentz force effect requires care. Corresponding examples arepresented in class.1.1 First step - Motor action: F  Nf  l  Anq  B  lI a BFig. 1. Electromagnetic accelerator or a linear motor

Conference Session

Design Tools & Methodology II

Collection

2011 ASEE Annual Conference & Exposition

Authors

Thomas E. Doyle, McMaster University; Spencer Smith, McMaster University; Adrian Ieta, State University of New York, Oswego

Tagged Divisions

Design in Engineering Education

.   Figure  2:  Sample  simplified  gear  pair  assignment  question.The process of moving from part modelling in Inventor to system modelling usingMapleSim is demonstrated in Figure 3. Figure 3 a) is a spur gear-pair result generated bythe Inventor Design Accelerator. Each part model must be exported to the industrystandard STL file format. Figure 3 b) is the MapleSim system-modelling module.Students enter their calculated design parameters for a gear pair into the module dialogbox and also specify the STL files associate with the part model (Inventor) geometries.Figure 3c) illustrates the visualization result that is now interactive. At the stage ofFigure 3c), students can run the simulation and plot system parameters, such as angularvelocity