Kinematic rate control of simulated robot hand at or near wrist singularity

A robot hand should obey movement commands from an operator on a computer program as closely as possible. However, when two of the three rotational axes of the robot wrist are colinear, the wrist loses a degree of freedom, and the usual resolved rate equations (used to move the hand in response to an operator's inputs) are indeterminant. Furthermore, rate limiting occurs in close vicinity to this singularity. An analysis shows that rate limiting occurs not only in the vicinity of this singularity but also substantially away from it, even when the operator commands rotational rates of the robot hand that are only a small percentage of the operational joint rate limits. Therefore, joint angle rates are scaled when they exceed operational limits in a real time simulation of a robot arm. Simulation results show that a small dead band avoids the wrist singularity in the resolved rate equations but can introduce a high frequency oscillation close to the singularity. However, when a coordinated wrist movement is used in conjunction with the resolved rate equations, the high frequency oscillation disappears

Maternal Expression Relaxes Constraint on Innovation of the Anterior Determinant, bicoid

The origin of evolutionary novelty is believed to involve both positive selection and relaxed developmental constraint. In flies, the redesign of anterior patterning during embryogenesis is a major developmental innovation and the rapidly evolving Hox gene, bicoid (bcd), plays a critical role. We report evidence for relaxation of selective constraint acting on bicoid as a result of its maternal pattern of gene expression. Evolutionary theory predicts 2-fold greater sequence diversity for maternal effect genes than for zygotically expressed genes, because natural selection is only half as effective acting on autosomal genes expressed in one sex as it is on genes expressed in both sexes. We sample an individual from ten populations of Drosophila melanogaster and nine populations of D. simulans for polymorphism in the tandem gene duplicates bcd, which is maternally expressed, and zerknüllt (zen), which is zygotically expressed. In both species, we find the ratio of bcd to zen nucleotide diversity to be two or more in the coding regions but one in the noncoding regions, providing the first quantitative support for the theoretical prediction of relaxed selective constraint on maternal-effect genes resulting from sex-limited expression. Our results suggest that the accelerated rate of evolution observed for bcd is owing, at least partly, to variation generated by relaxed selective constraint

G-189A analytical simulation of the integrated waste management-water system using radioisotopes for thermal energy

An analytical simulation of the RITE-Integrated Waste Management and Water Recovery System using radioisotopes for thermal energy was prepared for the NASA-Manned Space Flight Center (MSFC). The RITE system is the most advanced concept water-waste management system currently under development and has undergone extended duration testing. It has the capability of disposing of nearly all spacecraft wastes including feces and trash and of recovering water from usual waste water sources: urine, condensate, wash water, etc. All of the process heat normally used in the system is produced from low penalty radioisotope heat sources. The analytical simulation was developed with the G189A computer program. The objective of the simulation was to obtain an analytical simulation which can be used to (1) evaluate the current RITE system steady state and transient performance during normal operating conditions, and also during off normal operating conditions including failure modes; and (2) evaluate the effects of variations in component design parameters and vehicle interface parameters on system performance

Photometry, spectrophotometry and polarimetry of comet P/Encke during fall of 1979

Broadband S-20, B and V magnitudes of P/Encke were obtained with the digital area photometer, using an Image Dissector Scanner (IDS) detector on the 2.7 m telescope at McDonald Observatory during August 1979. The notation V(S-20) is used for S-20 magnitudes transformed to V magnitudes. The variation in the V(S20) magnitudes (26, 5 minute integrations) on the best photometric night (21 August) was small and random indicating either a lack of rotational albedo variations or, more likely, a masking of the nucleus by the outburst activity. A spectrum covering the region from 3630 to 4900 A at a resolution of 5 A was obtained on 27 August with the IDS spectrograph. The spectrum was featureless, showing no emission at the CN or CO+ wavelengths

Doppler line profiles measurement of the Jovian Lyman Alpha emission with OAO-C

Observation of Jupiter made with the high resolution ultraviolet spectrometer of the Orbiting Astronomical Observatory copernicus in April and May, 1980, yield a Jovian Lyman alpha emission intensity of 7 + or 2.5 RR. This indicates a decrease by about a factor of two since the Voyager ultraviolet spectrometer measurements, nearly a year earlier. An unusually high column abundance of hydrogen atoms above the methane homopause at the Voyager epoch is indicated. Since the auroral charged particle bombardment of molecular hydrogen is expected to contribute significantly to the global population of the hydrogen atoms, it is suggested that at the time of the Voyager Jupiter encounter unusually high auroral activity existed, perhaps d to the high concentration of the Io plasma torus. The temporal variation of the Saturn lyman alpha emission, when contrasted with the Jovian data, reveals that the auroral processes are not nearly as important in determining the Saturn Lyman alpha intensity in the nonauroral region

New broad 8Be nuclear resonances

Energies, total and partial widths, and reduced width amplitudes of 8Be resonances up to an excitation energy of 26 MeV are extracted from a coupled channel analysis of experimental data. The presence of an extremely broad J^pi = 2^+ ``intruder'' resonance is confirmed, while a new 1^+ and very broad 4^+ resonance are discovered. A previously known 22 MeV 2^+ resonance is likely resolved into two resonances. The experimental J^pi T = 3^(+)? resonance at 22 MeV is determined to be 3^-0, and the experimental 1^-? (at 19 MeV) and 4^-? resonances to be isospin 0.Comment: 16 pages, LaTe

The 8^8B Neutrino Spectrum

Knowledge of the energy spectrum of $^8$B neutrinos is an important ingredient for interpreting experiments that detect energetic neutrinos from the Sun. The neutrino spectrum deviates from the allowed approximation because of the broad alpha-unstable $^8$Be final state and recoil order corrections to the beta decay. We have measured the total energy of the alpha particles emitted following the beta decay of $^8$B. The measured spectrum is inconsistent with some previous measurements, in particular with a recent experiment of comparable precision. The beta decay strength function for the transition from $^8$B to the accessible excitation energies in $^8$Be is fit to the alpha energy spectrum using the R-matrix approach. Both the positron and neutrino energy spectra, corrected for recoil order effects, are constructed from the strength function. The positron spectrum is in good agreement with a previous direct measurement. The neutrino spectrum disagrees with previous experiments, particularly for neutrino energies above 12 MeV.Comment: 15 pages, 13 figures, 4 tables, submitted to Phys. Rev. C, typos correcte

Laser anemometer measurements of trailing vortices in water

A series of measurements of trailing vortices behind lifting hydrofoils is described. These measurements were made in the Caltech Free-Surface Water Tunnel, using a laser-Doppler velocimeter to measure two components of velocity in the vortex wake. Two different model planforms were tested, and measurements were made at several free-stream velocities and angles of attack for each. Velocity profiles were measured at distances downstream of the model of from five to sixty chord lengths. These measurements are the first results of a continuing experimental programme. In § 3 of this paper, the theory of trailing vortices is discussed. The effects of ‘vortex wandering’ upon the measurements are computed, and the corrected results are seen to be in reasonable agreement with the theory