Robotic control of the seven-degree-of-freedom NASA laboratory telerobotic manipulator

A computationally efficient robotic control scheme for the NASA Laboratory Telerobotic Manipulator (LTM) is presented. This scheme utilizes the redundancy of the seven-degree-of-freedom LTM to avoid joint limits and singularities. An analysis to determine singular configurations is presented. Performance criteria are determined based on the joint limits and singularity analysis. The control scheme is developed in the framework of resolved rate control using the gradient projection method, and it does not require the generalized inverse of the Jacobian. An efficient formulation for determining the joint velocities of the LTM is obtained. This control scheme is well suited for real-time implementation, which is essential if the end-effector trajectory is continuously modified based on sensory feedback. Implementation of this scheme on a Motorola 68020 VME bus-based controller of the LTM is in progress. Simulation results demonstrating the redundancy utilization in the robotic mode are presented

A nonlocal connection between certain linear and nonlinear ordinary differential equations/oscillators

We explore a nonlocal connection between certain linear and nonlinear ordinary differential equations (ODEs), representing physically important oscillator systems, and identify a class of integrable nonlinear ODEs of any order. We also devise a method to derive explicit general solutions of the nonlinear ODEs. Interestingly, many well known integrable models can be accommodated into our scheme and our procedure thereby provides further understanding of these models.Comment: 12 pages. J. Phys. A: Math. Gen. 39 (2006) in pres

Viking navigation

A comprehensive description of the navigation of the Viking spacecraft throughout their flight from Earth launch to Mars landing is given. The flight path design, actual inflight control, and postflight reconstruction are discussed in detail. The preflight analyses upon which the operational strategies and performance predictions were based are discussed. The inflight results are then discussed and compared with the preflight predictions and, finally, the results of any postflight analyses are presented

Euler configurations and quasi-polynomial systems

In the Newtonian 3-body problem, for any choice of the three masses, there are exactly three Euler configurations (also known as the three Euler points). In Helmholtz' problem of 3 point vortices in the plane, there are at most three collinear relative equilibria. The "at most three" part is common to both statements, but the respective arguments for it are usually so different that one could think of a casual coincidence. By proving a statement on a quasi-polynomial system, we show that the "at most three" holds in a general context which includes both cases. We indicate some hard conjectures about the configurations of relative equilibrium and suggest they could be attacked within the quasi-polynomial framework.Comment: 21 pages, 6 figure

Grandparental Child Care in Europe : Evidence for Preferential Investment in More Certain Kin

Peer reviewe

On Two Complementary Types of Total Time Derivative in Classical Field Theories and Maxwell's Equations

Close insight into mathematical and conceptual structure of classical field theories shows serious inconsistencies in their common basis. In other words, we claim in this work to have come across two severe mathematical blunders in the very foundations of theoretical hydrodynamics. One of the defects concerns the traditional treatment of time derivatives in Eulerian hydrodynamic description. The other one resides in the conventional demonstration of the so-called Convection Theorem. Both approaches are thought to be necessary for cross-verification of the standard differential form of continuity equation. Any revision of these fundamental results might have important implications for all classical field theories. Rigorous reconsideration of time derivatives in Eulerian description shows that it evokes Minkowski metric for any flow field domain without any previous postulation. Mathematical approach is developed within the framework of congruences for general 4-dimensional differentiable manifold and the final result is formulated in form of a theorem. A modified version of the Convection Theorem provides a necessary cross-verification for a reconsidered differential form of continuity equation. Although the approach is developed for one-component (scalar) flow field, it can be easily generalized to any tensor field. Some possible implications for classical electrodynamics are also explored.Comment: no figure

Lagrangian least-squares prediction of solar activity

Statistical prediction methods for short-term (months) and long-term (years) forecasting of solar activity were studied. The comparisons indicate that better predictions, in a chi square sense, are possible by lining up the maximum (or minimums, or both) by cycle number. Evidence is also presented to support the existence of an aperiodic variation in the periods as well as the amplitudes

Long-term exposure to outdoor air pollution and the incidence of chronic obstructive pulmonary disease in a national English cohort.

OBJECTIVES: The role of outdoor air pollution in the incidence of chronic obstructive pulmonary disease (COPD) remains unclear. We investigated this question using a large, nationally representative cohort based on primary care records linked to hospital admissions. METHODS: A cohort of 812 063 patients aged 40-89 years registered with 205 English general practices in 2002 without a COPD diagnosis was followed from 2003 to 2007. First COPD diagnoses recorded either by a general practitioner (GP) or on admission to hospital were identified. Annual average concentrations in 2002 for particulate matter with an aerodynamic diameter <10 µm (PM10) and <2.5 µm (PM2.5), nitrogen dioxide (NO2), ozone and sulfur dioxide (SO2) at 1 km(2) resolution were estimated from emission-based dispersion models. Hazard ratios (HRs) per interquartile range change were estimated from Cox models adjusting for age, sex, smoking, body mass index and area-level deprivation. RESULTS: 16 034 participants (1.92%) received a COPD diagnosis from their GP and 2910 participants (0.35%) were admitted to hospital for COPD. After adjustment, HRs for GP recorded COPD and PM10, PM2.5 and NO2 were close to unity, positive for SO2 (HR=1.07 (95% CI 1.03 to 1.11) per 2.2 µg/m(3)) and negative for ozone (HR=0.94 (0.89 to 1.00) per 3 µg/m(3)). For admissions HRs for PM2.5 and NO2 remained positive (HRs=1.05 (0.98 to 1.13) and 1.06 (0.98 to 1.15) per 1.9 µg/m(3) and 10.7 µg/m(3), respectively). CONCLUSIONS: This large population-based cohort study found limited, inconclusive evidence for associations between air pollution and COPD incidence. Further work, utilising improved estimates of air pollution over time and enhanced socioeconomic indicators, is required to clarify the association between air pollution and COPD incidence

Landau-Khalatnikov-Fradkin Transformations and the Fermion Propagator in Quantum Electrodynamics

We study the gauge covariance of the massive fermion propagator in three as well as four dimensional Quantum Electrodynamics (QED). Starting from its value at the lowest order in perturbation theory, we evaluate a non-perturbative expression for it by means of its Landau-Khalatnikov-Fradkin (LKF) transformation. We compare the perturbative expansion of our findings with the known one loop results and observe perfect agreement upto a gauge parameter independent term, a difference permitted by the structure of the LKF transformations.Comment: 9 pages, no figures, uses revte