Conference Session

NSF Grantees' Poster Session

Collection

2012 ASEE Annual Conference & Exposition

Authors

Charles David Whitlatch, Arizona State University; Qiao Wang, Arizona State University; Brian J. Skromme, Arizona State University

Tagged Topics

NSF Grantees Poster Session

rejected, and only valid onescan be used in the second step (validity is discussedbelow). (a)In the second step, some of the active segments in thetopology are replaced (“populated”) by generic circuitelements (represented as boxes), as shown in Fig.1(b). The number so replaced in this “populatedtopology” is the desired number of nontrivial circuitelements in the circuit (i.e., branches in theterminology of network theory). The genericelements are all later replaced by specific circuit (b)elements, but shorts that remain will stay as shorts.The number of possibilities is now only the numberof active segments raised to the power of two, andthus still

Conference Session

Capstone Design II

Collection

2012 ASEE Annual Conference & Exposition

Authors

Mark Schar, Stanford University; Micah Lande, Arizona State University

Tagged Divisions

Design in Engineering Education

norms. The HBDI can provide data oncognitive profiles for “engineers,” “designers,” “marketing,” and “sales” professional roles. The HBDI provides, on the basis of 120 items, a four-factor classification of mentalpreferences or cognitive styles.10 The HBDI-A factor (A) reflects a preference for solvinganalytical and factual problems using logical and reason, while the HBDI-B (B) factor shows apreference for temporal and sequential reasoning, sequencing content and the application ofrules. The HBDI-C (C) factor reflects a problem solving preference for interaction with others,sensing and reacting to input from others, while the HBDI-D (D) factor shows a preference forimaginative or conceptual problem solving, synthesizing input and

Conference Session

Design Cognition II

Collection

2012 ASEE Annual Conference & Exposition

Authors

Joseph C. Musto, Milwaukee School of Engineering; Alicia Domack, Milwaukee School of Engineering

Tagged Divisions

Design in Engineering Education

, cost and fuel economy. You have narrowed down your search to thefollowing vehicles:Car Fuel Economy PriceA 28mpg $17,500B 38mpg $24,500It is expected that either alternative could be chosen because there is a balance between cost andfuel economy. Now imagine another alternative thrown into the selection pool:Car Fuel Economy PriceA 28mpg $17,500B (target) 38mpg $24,500C (decoy) 38mpg $26,500The choice is now made easier because the decoy is asymmetrically dominating one alternative,in this case, choice B. Individuals are now more likely to choose car B, because it is clearlysuperior to car C and this reduces the cognitive strain of having

Conference Session

Electrical and Computer Poster Session

Collection

2012 ASEE Annual Conference & Exposition

Authors

Chris Smaill, University of Auckland; Gerard Rowe, University of Auckland

Tagged Divisions

Electrical and Computer

above, it may be concludedthat 36% of students showed an awareness of Newton’s third law. By contrast, 53% of studentschose answer (b), believing that the larger current would exert a stronger force. Similar resultswere obtained by Maloney et al1 in testing students enrolled in general-physics courses: about45% of both algebra-based and calculus-based students answered (b) in both the pretest and theposttest. Encouragingly, Maloney et al did find an improvement from the pretest to the posttestfor option (c), 7% versus 22% for the calculus-based students.Another year-two pretest question asked students to compare the forces that unlike, unequalpoint charges exerted on each other. Students were not offered the distractor choice of unlikecharges

Conference Session

NSF Grantees' Poster Session

Collection

2012 ASEE Annual Conference & Exposition

Authors

Javier Angel Kypuros, University of Texas, Pan American; Martin William Knecht, South Texas College; Constantine Tarawneh, University of Texas, Pan American; Horacio Vasquez, University of Texas, Pan American; Robert D. Wrinkle, Center for Survey Research

Tagged Topics

NSF Grantees Poster Session

are compared to the theoretically calculatedvalues. This activity is designed to strengthen students’ knowledge through practical applicationof concepts studied during the first quarter of Statics, such as position, unit vectors, free bodydiagrams, and equilibrium of particles.The schematic in Figure 2(b) depicts a 3D rendering of the sample problem with dimensions.The students are tasked with determining a unit vector along the line of action of one of thecords. The potential solutions are chosen such that the answer can be surmised based on somebasic concepts: (1) unit vectors are of a unit length (i.e. u x2 + u y2 + u z2 = 1 ), (2) the positiveorientation of axes changes the sign of vector components, and (3) cords apply force in tension

Conference Session

Methods of Teaching and Learning in Construction

Collection

2012 ASEE Annual Conference & Exposition

Authors

James G. Sullivan, University of Florida, Gainesville

Tagged Divisions

Construction

levels. The students are provided a simple one pagesketch and given material and lab space to develop their project. Framing and code requirementsare discussed in class but nothing is directed specifically to building the cube. The students haveassigned course material available to them. The outcome of lab was indicative to what happenson some jobsites and work crews.The class was self-divided into groups comprising of no more than four team members. Groupswere randomly divided into three categories. Table 1 shows the main difference in being therequirement for 3D modeling and the submission of work. Cohort A was not required to submita 3D SketchUp model. Cohort B was required to complete a SketchUp model prior to startingthe wood model framing

Conference Session

Technology in Mechanics Education

Collection

2012 ASEE Annual Conference & Exposition

Authors

Franco Capaldi, Merrimack College

Tagged Divisions

Mechanics

pressing enter produces the result 50 .However, this option may be disabled if the professor wants to ensure the student is carrying outthe unit conversions by hand.Figure 1. (a) An example problem asking for the component of a vector along the directiongiven by . (b) The solution entry window.a)b)Objective 2: Free body diagrams.The ability to create valid free body diagrams is also integrated into the software. A free bodydiagram tool allows the user to select parts of the system and to place vector representations ofthe reaction forces, external forces, or internal loads where needed. For example, in Figure 2, thestudent is asked for the reaction forces at point A and B. The first step is to insert

Conference Session

Mechanics Concepts II

Collection

2012 ASEE Annual Conference & Exposition

Authors

Xiaobin Le P.E., Wentworth Institute of Technology ; Richard L. Roberts, Wentworth Institute of Technology; Ali Reza Moazed, Wentworth Institute of Technology; Anthony William Duva, Wentworth Institute of Technology

Tagged Divisions

Mechanics

Page 25.199.3lengths or circle diameters, or geometric parameters, such as tangent, parallel, concentric, 2horizontal or vertical, etc. Numeric parameters can be associated with each other through the useof relations, which allow them to capture design intent. An example, shown in figure 1, is used to explain the “Parameters” in 2D sketcher ofSolidWorks. In figure 1-a, a generic triangle is sketched in SolidWorks 2D sketcher. In figure1-b, the side ab is then specified as the length of 2” and a horizontal line. The bc side isspecified as the length of 3” and the angle 800 with respect to horizontal line. It is noted thatwhen the “parameters” of the side ab and bc are changed, the geometric

Conference Session

Computer Science-related Programs

Collection

2012 ASEE Annual Conference & Exposition

Authors

Ning Fang, Utah State University; Karen Nielson, Utah State University; Stephanie M. Kawamura, InTech Collegiate High School

Tagged Divisions

K-12 & Pre-College Engineering

computer simulation module: Computer User Interface #3 Figure 5. The developed computer simulation module: Computer User Interface #4Students were asked to do the following tasks:1. Change ts (the time for the spindle to rotate from rest to the max rotational speed) five or more times while keeping both n (the spindle's max rotational speed) and D (the diameter of the workpiece) constant.2. Write down the values of θ, S, ω, v, α, and at for each ts tested in step 1.3. Generate Excel graphs for θ vs S, ω vs v, α at s at for particle A, particle B, and particle O, respectively.4. Answer the question: What observations do you make from the Excel graphs you made in step 3?5. Answer the questions: AFTER the spindle

Conference Session

Innovations in Teaching and Research in Physics or Engineering Physics III

Collection

2012 ASEE Annual Conference & Exposition

Authors

Yumin Zhang, Southeast Missouri State University; David K. Probst, Southeast Missouri State University

Tagged Divisions

Engineering Physics & Physics

G 1 ρ G G μ J V ( R) = ∫ 4πε R ' dV ' A( R) = 4π ∫ R ' dV ' G G 1 ρ G G G μ J × Rˆ ' E ( R) = ∫ Rˆ ' 2 dV ' 4π ∫ R '2 4πε R' B( R) = dV

Conference Session

Curriculum Exchange II

Collection

2012 ASEE Annual Conference & Exposition

Authors

Dani Sledz, Colorado School of Mines; Allison M. Silvaggio, STEM Magnet Lab School

Tagged Divisions

K-12 & Pre-College Engineering

lesson plan, an electric motor, which can be found in many electrical devices, is attached to amouse wheel using a small plastic tube. This is then attached to the drive, and outputs to a low-powerLED light. The instructor uses different attachments to mimic a waterwheel, a wind turbine, and steampower and demonstrates that a turning motion generates the electricity necessary to light the LED. Themouse-wheel can also be powered with a small hand crank or a running rodent (note consistent powergeneration requires constant quick rotation).Through this activity, students learn how different energies, renewable and nonrenewable, areimplemented. Detailed instructions for construction are available in Appendix B. It is recommendedthat lower level

Conference Session

Biological and Agricultural Engineering Education Technical Session

Collection

2012 ASEE Annual Conference & Exposition

Authors

Evan T. Curtis, Univeristy of Nebraska, Lincoln; Abby M. Kelly, University of Nebraska, Lincoln; Johnathan Ian Edward McCoy, University of Nebraska, Lincoln; David Jones, University of Nebraska, Lincoln; Dennis D. Schulte P.E., University of Nebraska, Lincoln

Tagged Divisions

Biological & Agricultural

has identified elevenstudent outcomes, labeled A-K, that students are expected to achieve (Table 1). Programeducational objectives (PEOs) are the descriptions of skills that students will develop a few yearsfollowing graduation. These objectives are rooted in the expectations of professional rolesAGEN and BSEN graduates will attain. PEOs can be oriented to build upon the foundationsestablished by the student objectives.Table 1. ABET Undergraduate Student Learning Outcomes A B C D E FAn Ability to An Ability to An Ability to An Ability to An Ability toApply Knowledge Design and

Conference Session

Design in Engineering Education Poster Session

Collection

2012 ASEE Annual Conference & Exposition

Authors

Ricardo G. Sanfelice, University of Arizona; Giampiero Campa, MathWorks; Manuel Abraham Robles, University of Arizona

Tagged Divisions

Design in Engineering Education

unit vector of the solar rays (ˆ ns ) must be minimized. The parame-ters used to derive the solar vector are: local time t, hour angle ω, declination angle δ, and locallatitude λ. Hour and declination angle are calculated using (1) and (2), respectively. The solarposition calculations are outlined in [3] and [1]. The position angles of the solar cooker apparatus, Page 25.239.3azimuth φ and zenith β, are displayed in Fig. 2 and represent the position of the solar cooker arm (a) Top view. (b) Side view.Figure 1: (a) The azimuth

Conference Session

Best. Class. Ever.

Collection

2012 ASEE Annual Conference & Exposition

Authors

Linda S. Davis, Purdue University, West Lafayette; Deborah Lynn Grubbe P.E., Operations and Safety Solutions, LLC; Ronald Lee Cutshall Sr., R. L. Cutshall Sr., Consulting; Steven J. Swanson; Michael T. Harris, Purdue University, West Lafayette; Arvind Varma, Purdue University, West Lafayette

Tagged Divisions

Chemical Engineering

assessing the effectiveness ofthe course development in educating our students in the area of process safety management. Thetimeline for the first two years of course development is given below.PSM Course SurveyName: ______________________________ (optional)(Questions 1-3 will assess your current understanding of PSM. Circle your answers.) 1. Which of the following is not an element of OSHA 29 CFR 1910.119 – Process Safety Management? a. Mechanical Integrity b. Management of Change c. Safety Culture d. Employee Participation 2. What is the most compelling reason for companies to have a strong PSM process? a. They will lose money if a facility shuts down due to an incident. b. Injuries will be prevented and

Conference Session

Progress in Manufacturing Education II

Collection

2012 ASEE Annual Conference & Exposition

Authors

Ramesh V. Narang, Indiana University-Purdue University, Fort Wayne

Tagged Divisions

Manufacturing

on failures that may create safety hazards. Theobjective is to determine during design how these failures are likely to occur, to estimate theirprobability of occurrence, and to take corrective action. Often safety-related failure modes have alow probability of occurrence and are difficult to estimate3. An example of how FTA is appliedis shown in Figure 5. An equivalent fault tree is determined using Boolean algebra to identifythose combinations of events that will cause the top event, generally a failure, to occur. Top Event Top Event T T OR OR A Event B

Conference Session

Innovative Uses of Technology and Techniques for Laboratory Exercises

Collection

2012 ASEE Annual Conference & Exposition

Authors

David R. Veazie, Southern Polytechnic State University; Daniel Edward Ephraim

Tagged Divisions

Division Experimentation & Lab-Oriented Studies

etching process takes approximately five hours—theresults are five nickel iron dog-bone test specimens. The five dog-bone test specimens are thenrinsed and dried using deionized water and compressed nitrogen. Figure 3 shows a dog-bonespecimen with dimensions that is ready for mechanical testing. Negative Power Supply A B D C Cathode Figure 2. A Si wafer containing five electrodeposited Ni80-Fe20 test specimens. Gage Area Figure 3. (Left) Actual Ni80-Fe20 test specimen; and (Right) schematic drawing of a dog-bone shape Ni80-Fe20 test specimen depicting

Conference Session

K-12 and Pre-college Engineering Poster Session

Collection

2012 ASEE Annual Conference & Exposition

Authors

Akim Faisal, Polytechnic Institute of New York University; Vikram Kapila, Polytechnic Institute of New York University; Magued G. Iskander P.E., Polytechnic Institute of New York University

Tagged Divisions

K-12 & Pre-College Engineering

. Page 25.1439.3 This paper reports on the implementation and outcome of an active learning activityperformed in a New York City (NYC) school with fourth grade students to allow them to bridgethe gap between (a) what they learned in class through the common methods mentioned above(teacher-directed, memorization, and practicing procedures) and (b) developing theirunderstanding of learned concepts through active engagement. LEGO robotics was employed asa tool to accomplish active engagement among students in sense-making and developingunderstanding. Use of robotics to teach science, technology, engineering, and math (STEM)concepts is not a new idea; in fact, literature on this subject covers a wide array of topics fromelementary to graduate

Conference Session

Using Applications and Projects in Teaching Mathematics

Collection

2012 ASEE Annual Conference & Exposition

Authors

Hassan Moore, University of Alabama, Birmingham

Tagged Divisions

Mathematics

should be able to complete the project with the material taught in class.Below are the primary course topics covered: I. First-Order Ordinary Differential Equations (ODEs) A. Basic Concepts, Modeling B. Initial Value Problems C. Direction Fields Page 25.1437.2 D. Existence and Uniqueness E. Separable ODEs F. Linear ODEs G. Applications II. Second-Order ODEs A. Homogeneous Linear ODEs with constant coefficients B. Free Oscillations C. Forced

Conference Session

Software and Web-based Learning in ECE

Collection

2012 ASEE Annual Conference & Exposition

Authors

Stuart M. Wentworth, Auburn University

Tagged Divisions

Electrical and Computer

; Inan,3 and Ulaby et al.4 considers that transmission line effects may besignificant for wire length-to-wavelength ratio as low as 0.01. In this paper, a MATLABdemonstration5 illustrates when a distributed transmission line must be used to model wireinterconnects.Figure 1(a) shows a load RL connected to a source (of voltage vs and source resistance RS) Page 25.918.2through a pair of connecting wires of length l. The voltage across the load, vL, is to be examined Figure 1: (a) Connecting wires between source and load are modeled by a length l of transmission line. (b) Equivalent circuit with input impedance Zin replacing

Conference Session

Simulations and Visualizations

Collection

2012 ASEE Annual Conference & Exposition

Authors

Koenraad E. Gieskes, Binghamton University; Roy T.R. McGrann, Binghamton University; Charles Gazeley DeRusso, Binghamton University

Tagged Divisions

Mechanical Engineering

student to more easily understand the interactions. These diagrams are generated through showing only the body of interest and replacingany interaction it has with other bodies as the resulting forces. In a free-body diagram, the bodyof interest is shown in a simplified shape drawn around the center of gravity. Once the body isdrawn, the next step is to indicate the forces acting on the body. An example of this is shown inFIGURE 2. The forces included are the upward force of the wire, T, and the downward force ofthe weight of the mass, w. a) System Sketch b) Free-body Diagram T w

Conference Session

Preparing Engineering Students for the Global Workplace

Collection

2012 ASEE Annual Conference & Exposition

Authors

Wesley Crowell Sanders, Salt Lake Community College

Tagged Divisions

International

be made that the darker featuresare the salt structures.   Page 25.1061.6 (a)       (b)     Figure 5. AFM image of CD-R gold (a) and a salt pattern on CD-R gold (b).  Results of the bottom-up nanofabrication exercise are shown in Figure 6a. Figure 6ashows a

Conference Session

Computers in the Laboratory

Collection

2012 ASEE Annual Conference & Exposition

Authors

Oluwapelumi Olufemi Aboluwarin, iLab Obafemi Awolowo University, Ile-Ife; Kayode Peter Ayodele; Lawrence O. Kehinde, Obafemi Awolowo University; Babatunde Isaac Ishola

Tagged Divisions

Computers in Education

the modulesof the DATEx board is made possible through an ample supply of terminals, knobs and switchesas can be seen in its image in Figure 3. All DATEx knobs and switches can be varied eithermanually or under the control of LabVIEW Virtual Instruments (VI’s)10. b. Switch ArrayThe modules on the DATEx can be interconnected in different ways, depending on the objectiveof an experiment. In a traditional laboratory, these connections are made using cables. In the AMiLab, an NI SCXI-1169 switch array is employed to achieve such flexibility.Figure 3: Emona DATEx Board showing all the available modules and important componentslabeled. Page

Conference Session

Progress in Manufacturing Education II

Collection

2012 ASEE Annual Conference & Exposition

Authors

Tzu-Liang Bill Tseng, University of Texas, El Paso; Noe Vargas Hernandez, University of Texas, El Paso; Richard Chiou, Drexel University; Paras Mandal, University of Texas, El Paso; Maria Veronica Gonzalez, University of Texas, El Paso; Juan Venegas

Tagged Divisions

Manufacturing

Interface (API) for a Rapid Prototyping (RP) machine (see Figure 2-a) and a CyberFacility (CF) called the Rapid Prototyping (RP) simulator (see Figure 2-b) to mimic the real RPmachine, FDM 3000 made by Stratasys Inc. Basically, the objective of the API development is toprovide a Graphical User Interface (GUI) to allow the user to establish and controlcommunication lines with Web-enabled equipment, for example the RP machine remotely.Therefore, the API allows the user to view or measure or operate the part through MachineVision Systems (MVS), a Web camera and “remote desktop” provided by Microsoft® Windows.In general, the API should include the following functions: (1) Connect to the RP machine andcontrol it with GUI. With the .sml file which is

Conference Session

Embedded Control and Instrumentation

Collection

2012 ASEE Annual Conference & Exposition

Authors

John Y. Hung, Auburn University; Victor P. Nelson, Auburn University; Clint S. Cole, Digilent, Inc.; Alex Wong, Digilent, Inc.

Tagged Divisions

Instrumentation

tools to design, implement, and test an embedded control system. Elements of the system include a user interface (keypad), analog signal conditioning (sensor), and power electronics (amplifier) to drive an actuator. System elements are integrated via a microcontroller module[2] and its associated software. Students design, create and integrate hardware and software to simultaneously meet several performance specifications. Throughout the engineering processes, students regularly conduct experiments to measure and collect data about their system. Computer aided design tools include: (a) CodeWarrior integrated design environment[3] (IDE) for HCS12 microcontroller[4] system design, (b) Mathworks® MATLAB™ and SIMULINK™ for data

Collection

2012 ASEE Annual Conference & Exposition

Authors

Sara Hooshangi, George Washington University

Tagged Divisions

Continuing Professional Development

skills that are desired in a competitive jobmarket.We have created a curriculum that couples a series of foundation courses in science andtechnology with complimentary courses in business/entrepreneurship, energy/environmentalsciences and technology ethics. Students also have the opportunity to take specialized courses inInformation Systems Technology or Biotechnology tracks during their senior year. Figure 1represents a comparison view of a traditional academic program versus a more multidisciplinaryapproach to a technical education.(A) (B)   Biology   Engineering Science

Conference Session

Creative and Cross-disciplinary Methods Part II

Collection

2012 ASEE Annual Conference & Exposition

Authors

Lisa D. McNair, Virginia Tech; Wende Garrison, Virginia Tech

Tagged Divisions

Liberal Education/Engineering & Society

 and  are  receiving  monetary  compensation  for  their  participation.    At  the  University  B,  students  are  participating  over  one  semester  and  are  volunteering  to  participate.    These  students  at  University  B  are  all  a  part  of  an  interdisciplinary  cohort  and  attend  weekly  research  group  meetings.    University  C  students  are  also  volunteering  to  participate,  also  over  only  one  semester,  but  all  student  volunteers  are  taking  a  class  at  the  same  time  they  are  building  an  ePortfolio.    University  D  students,  like  University  B  and  C  students,  are  volunteering,  over  only  one  semester,  but  are  neither  taking  a  class  together  nor  attending  a  weekly  cohort

Conference Session

BME Course and Curriculum Development

Collection

2012 ASEE Annual Conference & Exposition

Authors

Steve R Marek, University of Texas, Austin; William Liechty, University of Texas, Austin; James W. Tunnell, University of Texas, Austin

Tagged Divisions

Biomedical

teaching responsibilities comprises the biomedical engineering laboratory courses. His previous research interests included small- molecule organic synthesis, intelligent hydrogels for controlled drug delivery, pulmonary drug delivery, and materials characterization.Mr. William Liechty, University of Texas, Austin William B. Liechty is a NSF Graduate Research Fellow in the Department of Chemical Engineering at the University of Texas, Austin, conducting research under the direction of Prof. Nicholas Peppas. He re- ceived a B.S.E. in chemical engineering from the University of Iowa in 2007 and studied at the University of Cambridge as a Gates Scholar until 2008. His research interests include responsive materials, RNA

Conference Session

Building Information Modeling (BIM)

Collection

2012 ASEE Annual Conference & Exposition

Authors

Zhigang Shen, University of Nebraska, Lincoln; Wayne G. Jensen, University of Nebraska, Lincoln; Bruce Allen Fischer; Timothy G. Wentz, University of Nebraska, Lincoln

Tagged Divisions

Construction

anACCE Accredited Construction Management Curriculum. Associated Schools of Construction InternationalProceedings of the 44th Annual Conference, 117-124.[16] Sacks R. and Barak R. (2010). Teaching building information modeling as an integral part of freshman yearcivil engineering education, Journal of Professional Issues in Engineering Education and Practice, ASCE, Vol. 136,No. 1, pp. 30-38. Appendix A - Survey: What you learn from BIM 1. Creating BIM models (Architectural) helped you to better understand architectural systems (wall, foundation, floor, roof, etc .)? a. agree b. disagree c. neutral 2. Creating BIM models (MEP) helped you to better

Conference Session

Model Eliciting Activities

Collection

2012 ASEE Annual Conference & Exposition

Authors

Mary E. Besterfield-Sacre, University of Pittsburgh; Brian P. Self, California Polytechnic State University; Larry J. Shuman, University of Pittsburgh; John Anthony Christ, U.S. Air Force Academy; Ronald L. Miller, Colorado School of Mines; Tamara J. Moore, University of Minnesota, Twin Cities

Tagged Divisions

Educational Research and Methods

to visit the Models & Modeling Website(www.modelsandmodeling.net), which provides a host of MEAs and further explains how theymay be implemented in the upper division engineering classrooms.AcknowledgementThis research is supported in part by the National Science Foundation through DUE 071780 andDUE 070607: “Collaborative Research: Improving Engineering Students’ Learning Strategiesthrough Models and Modeling.”References1. Lesh, R., M. Hoover, B. Hole, A. Kelly and T. Post, Principles for developing thought-revealing activities for students and teachers. The Handbook of Research Design in Mathematics and Science Education., Kelly, A. and Lesh, R. (eds.), Lawrence Erlbaum Associates, Mahwah New Jersey

Conference Session

NSF Grantees' Poster Session

Collection

2012 ASEE Annual Conference & Exposition

Authors

Michael G. Mauk, Drexel University; Richard Chiou, Drexel University; Vladimir Genis, Drexel University; M. Eric Carr, Drexel University; Danielle Tadros, Drexel University; Christopher Sikich, Sun Valley High School

Tagged Topics

NSF Grantees Poster Session

. (c) (b)  (a)        Figure 4:  (a) CAD plan view    of serpentine channel, (b) 3‐D  model of chip, (c) 3‐D printed  robotic arm, (d) chip mounted  on robot station, (e) control