Flexible Object Manipulation

Flexible objects are a challenge to manipulate. Their motions are hard to predict, and the high number of degrees of freedom makes sensing, control, and planning difficult. Additionally, they have more complex friction and contact issues than rigid bodies, and they may stretch and compress. In this thesis, I explore two major types of flexible materials: cloth and string. For rigid bodies, one of the most basic problems in manipulation is the development of immobilizing grasps. The same problem exists for flexible objects. I have shown that a simple polygonal piece of cloth can be fully immobilized by grasping all convex vertices and no more than one third of the concave vertices. I also explored simple manipulation methods that make use of gravity to reduce the number of fingers necessary for grasping. I have built a system for folding a T-shirt using a 4 DOF arm and a fixed-length iron bar which simulates two fingers. The main goal with string manipulation has been to tie knots without the use of any sensing. I have developed single-piece fixtures capable of tying knots in fishing line, solder, and wire, along with a more complex track-based system for autonomously tying a knot in steel wire. I have also developed a series of different fixtures that use compressed air to tie knots in string. Additionally, I have designed four-piece fixtures, which demonstrate a way to fully enclose a knot during the insertion process, while guaranteeing that extraction will always succeed

Building the Infrastructure: The Effects of Role Identification Behaviors on Team Cognition Development and Performance

The primary purpose of this study was to extend theory and research regarding the emergence of mental models and transactive memory in teams. Utilizing Kozlowski et al.’s (1999) model of team compilation, we examine the effect of role identification behaviors and argue that such behaviors represent the initial building blocks of team cognition during the role compilation phase of team development. We then hypothesized that team mental models and transactive memory would convey the effects of these behaviors onto team performance in the team compilation phase of development. Results from 60 teams working on a command and control simulation supported our hypotheses

Inferred Genetic Architecture Underlying Evolution in a Fossil Stickleback Lineage

Inferring the genetic architecture of evolution in the fossil record is difficult because genetic crosses are impossible, the acquisition of DNA is usually impossible and phenotype–genotype maps are rarely obvious. However, such inference is valuable because it reveals the genetic basis of microevolutionary change across many more generations than is possible in studies of extant taxa, thereby integrating microevolutionary process and macroevolutionary pattern. Here, we infer the genetic basis of pelvic skeleton reduction in Gasterosteus doryssus, a Miocene stickleback fish from a finely resolved stratigraphic sequence that spans nearly 17,000 years. Reduction in pelvic score, a categorical measure of pelvic structure, resulted primarily from reciprocal frequency changes of two discrete phenotypic classes. Pelvic vestiges also showed left-side larger asymmetry. These patterns implicate Pitx1, a large-effect gene whose deletion generates left-side larger asymmetry of pelvic vestiges in extant, closely related Gasterosteus aculeatus. In contrast, reductions in the length of the pelvic girdle and pelvic spines resulted from directional shifts of unimodal, continuous trait distributions, suggesting an additional suite of genes with minor, additive pelvic effects, again like G. aculeatus. Similar genetic architectures explain shared but phyletically independent patterns across 10 million years of stickleback evolution

Evolution of Giant Planets in Eccentric Disks

We investigate the interaction between a giant planet and a viscous circumstellar disk by means of high-resolution, two-dimensional hydrodynamical simulations. We consider planet masses that range from 1 to 3 Jupiter masses (Mjup) and initial orbital eccentricities that range from 0 to 0.4. We find that a planet can cause eccentricity growth in a disk region adjacent to the planet's orbit, even if the planet's orbit is circular. Disk-planet interactions lead to growth in a planet's orbital eccentricity. The orbital eccentricities of a 2 Mjup and a 3 Mjup planet increase from 0 to 0.11 within about 3000 orbits. Over a similar time period, the orbital eccentricity of a 1 Mjup planet grows from 0 to 0.02. For a case of a 1 Mjup planet with an initial eccentricity of 0.01, the orbital eccentricity grows to 0.09 over 4000 orbits. Radial migration is directed inwards, but slows considerably as a planet's orbit becomes eccentric. If a planet's orbital eccentricity becomes sufficiently large, e > ~0.2, migration can reverse and so be directed outwards. The accretion rate towards a planet depends on both the disk and the planet orbital eccentricity and is pulsed over the orbital period. Planet mass growth rates increase with planet orbital eccentricity. For e~0.2 the mass growth rate of a planet increases by approximately 30% above the value for e=0. For e > ~0.1, most of the accretion within the planet's Roche lobe occurs when the planet is near the apocenter. Similar accretion modulation occurs for flow at the inner disk boundary which represents accretion toward the star.Comment: 20 pages 16 figures, 3 tables. To appear in The Astrophysical Journal vol.652 (December 1, 2006 issue

Modelling Adaptation and Mitigation Strategies for Southern Livestock Industries of Australia

Climate change will impact on the Australian grazing industries both through mitigation policies and the impact of warmer temperatures, increased atmospheric CO2 and changed rainfall patterns (Cullen et al. 2009; Eckard et al. 2010). Mechanistic models are useful tools to inform our understanding of the complex interactions between future climates and the soil, plant, animal and management in livestock production systems. This paper summarises the results of a number of whole farm systems modelling studies investigating likely impacts of climate change, adaptation options and emissions implications for livestock production in southern Australia

On a Dynamical Mordell-Lang Conjecture for Coherent Sheaves

We introduce a dynamical Mordell-Lang-type conjecture for coherent sheaves. When the sheaves are structure sheaves of closed subschemes, our conjecture becomes a statement about unlikely intersections. We prove an analogue of this conjecture for affinoid spaces, which we then use to prove our conjecture in the case of surfaces. These results rely on a module-theoretic variant of Strassman's theorem that we prove in the appendix.Comment: Minor changes from previous version; to appear in the Journal of the London Mathematial Societ

Physical Conditions of Accreting Gas in T Tauri Star Systems

We present results from a low resolution (R~300) near-infrared spectroscopic variability survey of actively accreting T Tauri stars (TTS) in the Taurus-Auriga star forming region. Paschen and Brackett series H I recombination lines were detected in 73 spectra of 15 classical T Tauri systems. The values of the Pan/PaB, Brn/BrG, and BrG/Pan H I line ratios for all observations exhibit a scatter of < 20% about the weighted mean, not only from source to source, but also for epoch-to-epoch variations in the same source. A representative or `global' value was determined for each ratio in both the Paschen and Brackett series as well as the BrG/Pan line ratios. A comparison of observed line ratio values was made to those predicted by the temperature and electron density dependent models of Case B hydrogen recombination line theory. The measured line ratios are statistically well-fit by a tightly constrained range of temperatures (T < 2000 K) and electron densities 1e9 < n_e < 1e10 cm^-3. A comparison of the observed line ratio values to the values predicted by the optically thick and thin local thermodynamic equilibrium cases rules out these conditions for the emitting H I gas. Therefore, the emission is consistent with having an origin in a non-LTE recombining gas. While the range of electron densities is consistent with the gas densities predicted by existing magnetospheric accretion models, the temperature range constrained by the Case B comparison is considerably lower than that expected for accreting gas. The cooler gas temperatures will require a non-thermal excitation process (e.g., coronal/accretion-related X-rays and UV photons) to power the observed line emission.Comment: 12 pages, emulateapj format, Accepted for publication in Ap

Diatom control of the autotrophic community and particle export in the eastern Bering Sea during the recent cold years (2008–2010)

The southeastern Bering Sea has exhibited shifts in climate since the start of the 21st century. The regional climate shifts are manifested in the duration and areal extent of seasonal sea-ice coverage. During a recent cold period (2008–2010) with extensive spring sea-ice cover over the southeastern shelf of the Bering Sea, a total of 77 water column and 24 sediment trap profiles were collected over the shelf and shelf break and analyzed for autotrophic pigment concentrations and elemental (carbon, nitrogen, phosphorus, and silicon) concentrations in suspended and exported particulate material. These results are used to establish the seasonal succession of the autotrophic community and the control that both phytoplankton and zooplankton exert on export production. In spring (April to mid-June), total chlorophyll a (TChl a) concentrations were generally low (i.e., \u3c 1 μg L–1); however, localized phytoplankton blooms near the marginal ice zone (MIZ) lead to elevated spring average TChl a concentrations (i.e., \u3e5 μg L–1). In summer (mid-June to late July), photic zone chlorophyll a concentrations were typically \u3c1 μg L–1 over the shelf and at the shelf break. Diatoms represented the greatest contribution to TChl a (regional averages of 71%–96% in spring and 25%–75% in summer) and autotrophic biomass in spring and summer. This algal class also represented 50%–99% of TChl a associated with particles sinking from the photic zone. The relatively high proportion of phaeophorbide a in sediment trap material indicates that sinking of zooplankton fecal pellets facilitate the export of particles through the water column. Further, zooplankton grazing may be an important process that returns regenerated nutrients to the water column based on the elemental composition of suspended and sinking particles. In colder than average years, the emergence of diatom blooms in the spring MIZ supports the production of abundant large zooplankton, which are a primary food source for juvenile pelagic fishes of economically important species. Therefore, processes in colder than average years may be essential for the transfer of particulate organic carbon from the surface waters and the success of the economically important pelagic fisheries

The morphology of ordered block copolymer patterns as probed by high resolution imaging

The microphase separation of block copolymer (BCP) thin films can afford a simple and cost-effective means to studying nanopattern surfaces, and especially the fabrication of nanocircuitry. However, because of complex interface effects and other complications, their 3D morphology, which is often critical for application, can be more complex than first thought. Here, we describe how emerging microscopic methods may be used to study complex BCP patterns and reveal their rich detail. These methods include helium ion microscopy (HIM) and high resolution x-section transmission electron microscopy (XTEM), and complement conventional secondary electron and atomic force microscopies (SEM and TEM). These techniques reveal that these structures are quite different to what might be expected. We illustrate the advances in the understanding of BCP thin film morphology in several systems, which result from this characterization. The systems described include symmetric, lamellar forming polystyrene-b-polymethylmethacrylate (PS-b-PMMA), cylinder forming polystyrene-b-polydimethylsiloxane (PS-b-PDMS), as well as lamellar and cylinder forming patterns of polystyrene-b-polyethylene oxide (PS-b-PEO) and polystyrene-b-poly-4-vinylpyridine (PS-b-P4VP). Each of these systems exhibits more complex arrangements than might be first thought. Finding and developing techniques whereby complex morphologies, particularly at very small dimensions, can be determined is critical to the practical use of these materials in many applications. The importance of quantifying these complex morphologies has implications for their use in integrated circuit manufacture, where they are being explored as alternative pattern forming methods to conventional UV lithography