RCTS: A flexible environment for sensor integration and control of robot systems; the distributed processing approach

Most robot systems lack a suitable hardware and software environment for the efficient research of new control and sensing schemes. Typically, engineers and researchers need to be experts in control, sensing, programming, communication and robotics in order to implement, integrate and test new ideas in a robot system. In order to reduce this time, the Robot Controller Test Station (RCTS) has been developed. It uses a modular hardware and software architecture allowing easy physical and functional reconfiguration of a robot. This is accomplished by emphasizing four major design goals: flexibility, portability, ease of use, and ease of modification. An enhanced distributed processing version of RCTS is described. It features an expanded and more flexible communication system design. Distributed processing results in the availability of more local computing power and retains the low cost of microprocessors. A large number of possible communication, control and sensing schemes can therefore be easily introduced and tested, using the same basic software structure

Progress in Modeling Very Low Mass Stars, Brown Dwarfs, and Planetary Mass Objects

We review recent advancements in modeling the stellar to substellar transition. The revised molecular opacities, solar oxygen abundances and cloud models allow to reproduce the photometric and spectroscopic properties of this transition to a degree never achieved before, but problems remain in the important M-L transition characteristic of the effective temperature range of characterizable exoplanets. We discuss of the validity of these classical models. We also present new preliminary global Radiation HydroDynamical M dwarfs simulations.Comment: Submitted to Mem. S. A. It. Supp

Absolutely continuous spectrum for a random potential on a tree with strong transverse correlations and large weighted loops

We consider random Schr\"odinger operators on tree graphs and prove absolutely continuous spectrum at small disorder for two models. The first model is the usual binary tree with certain strongly correlated random potentials. These potentials are of interest since for complete correlation they exhibit localization at all disorders. In the second model we change the tree graph by adding all possible edges to the graph inside each sphere, with weights proportional to the number of points in the sphere.Comment: 25 pages, 4 figure

Steelmaking by Injection of Oxygen and Lime Powder Irsid-O .L.P. Process

THE injection of powdered materials, capable of reacting rapidly with a metallic bath has long been considered, and for several years IRSID has pursued a systematic study of "metallurgy by injection of powders".This res-earch has already led to known industrial developments, such as the desulphurisation of pig iron by powdered lime, the treatment of siliceous pig iron in the basic Bessemer converter, and the thermal controlled thermal adjust- ment of the operation in the converter. Numerous technical developments made during these res-earch projects, as well as the acquisition Of new fund-amental data, have led IRSID to expand this technique and to develop a new steelmaking process which can be applied to pig irons of any phosphorus and silicon content

Parallel Implementation of the PHOENIX Generalized Stellar Atmosphere Program

We describe the parallel implementation of our generalized stellar atmosphere and NLTE radiative transfer computer program PHOENIX. We discuss the parallel algorithms we have developed for radiative transfer, spectral line opacity, and NLTE opacity and rate calculations. Our implementation uses a MIMD design based on a relatively small number of MPI library calls. We report the results of test calculations on a number of different parallel computers and discuss the results of scalability tests.Comment: To appear in ApJ, 1997, vol 483. LaTeX, 34 pages, 3 Figures, uses AASTeX macros and styles natbib.sty, and psfig.st

Speaker normalization in the perception of Mandarin Chinese tones

This is the publisher's version, also available electronically from http://scitation.aip.org/content/asa/journal/jasa/102/3/10.1121/1.420092.This study investigated speaker normalization in perception of Mandarin tone 2 (midrising) and tone 3 (low-falling–rising) by examining listeners’ use of F0 range as a cue to speaker identity. Two speakers were selected such that tone 2 of the low-pitched speaker and tone 3 of the high-pitched speaker occurred at equivalent F0 heights. Production and perception experiments determined that turning point (or inflection point of the tone), and ΔF0 (the difference in F0 between onset and turning point) distinguished the two tones. Three tone continua varying in either turning point, ΔF0, or both acoustic dimensions, were then appended to a natural precursor phrase from each of the two speakers. Results showed identification shifts such that identical stimuli were identified as low tones for the high precursor condition, but as high tones for the low precursor condition. Stimuli varying in turning point showed no significant shift, suggesting that listeners normalize only when the precursor varies in the same dimension as the stimuli. The magnitude of the shift was greater for stimuli varying only in ΔF0, as compared to stimuli varying in both turning point and ΔF0, indicating that normalization effects are reduced for stimuli more closely matching natural speech

Comparative Endocrinology of Aging and Longevity Regulation

Hormones regulate growth, development, metabolism, and other complex processes in multicellular animals. For many years it has been suggested that hormones may also influence the rate of the aging process. Aging is a multifactorial process that causes biological systems to break down and cease to function in adult organisms as time passes, eventually leading to death. The exact underlying causes of the aging process remain a topic for debate, and clues that may shed light on these causes are eagerly sought after. In the last two decades, gene mutations that result in delayed aging and extended longevity have been discovered, and many of the affected genes have been components of endocrine signaling pathways. In this review we summarize the current knowledge on the roles of endocrine signaling in the regulation of aging and longevity in various animals. We begin by discussing the notion that conserved systems, including endocrine signaling pathways, “regulate” the aging process. Findings from the major model organisms: worms, flies, and rodents, are then outlined. Unique lessons from studies of non-traditional models: bees, salmon, and naked mole rats, are also discussed. Finally, we summarize the endocrinology of aging in humans, including changes in hormone levels with age, and the involvement of hormones in aging-related diseases. The most well studied and widely conserved endocrine pathway that affects aging is the insulin/insulin-like growth factor system. Mutations in genes of this pathway increase the lifespan of worms, flies, and mice. Population genetic evidence also suggests this pathway’s involvement in human aging. Other hormones including steroids have been linked to aging only in a subset of the models studied. Because of the value of comparative studies, it is suggested that the aging field could benefit from adoption of additional model organisms

Phase-Dependent Properties of Extrasolar Planet Atmospheres

Recently the Spitzer Space Telescope observed the transiting extrasolar planets, TrES-1 and HD209458b. These observations have provided the first estimates of the day side thermal flux from two extrasolar planets orbiting Sun-like stars. In this paper, synthetic spectra from atmospheric models are compared to these observations. The day-night temperature difference is explored and phase-dependent flux densities are predicted for both planets. For HD209458b and TrES-1, models with significant day-to-night energy redistribution are required to reproduce the observations. However, the observational error bars are large and a range of models remains viable.Comment: 8 pages, 7 figures, accepted for publication in the Astrophysical Journa