A lightweight, high strength dexterous manipulator for commercial applications

The concept, design, and features are described of a lightweight, high strength, modular robot manipulator being developed for space and commercial applications. The manipulator has seven fully active degrees of freedom and is fully operational in 1 G. Each of the seven joints incorporates a unique drivetrain design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. Feedback sensors provide position, velocity, torque, and motor winding temperature information at each joint. This sensing system is also designed to be single fault tolerant. The manipulator consists of five modules (not including gripper). These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly and/or disassembly for reconfiguration, transport, or servicing. The manipulator is a completely enclosed assembly, with no exposed components or wires. Although the initial prototype will not be space qualified, the design is well suited to meeting space requirements. The control system provides dexterous motion by controlling the endpoint location and arm pose simultaneously. Potential applications are discussed

On Approaching the Ultimate Limits of Photon-Efficient and Bandwidth-Efficient Optical Communication

It is well known that ideal free-space optical communication at the quantum limit can have unbounded photon information efficiency (PIE), measured in bits per photon. High PIE comes at a price of low dimensional information efficiency (DIE), measured in bits per spatio-temporal-polarization mode. If only temporal modes are used, then DIE translates directly to bandwidth efficiency. In this paper, the DIE vs. PIE tradeoffs for known modulations and receiver structures are compared to the ultimate quantum limit, and analytic approximations are found in the limit of high PIE. This analysis shows that known structures fall short of the maximum attainable DIE by a factor that increases linearly with PIE for high PIE. The capacity of the Dolinar receiver is derived for binary coherent-state modulations and computed for the case of on-off keying (OOK). The DIE vs. PIE tradeoff for this case is improved only slightly compared to OOK with photon counting. An adaptive rule is derived for an additive local oscillator that maximizes the mutual information between a receiver and a transmitter that selects from a set of coherent states. For binary phase-shift keying (BPSK), this is shown to be equivalent to the operation of the Dolinar receiver. The Dolinar receiver is extended to make adaptive measurements on a coded sequence of coherent state symbols. Information from previous measurements is used to adjust the a priori probabilities of the next symbols. The adaptive Dolinar receiver does not improve the DIE vs. PIE tradeoff compared to independent transmission and Dolinar reception of each symbol.Comment: 10 pages, 8 figures; corrected a typo in equation 3

The Distribution of Lya-Emitting Galaxies at z=2.3

We present the detection of 34 Ly-alpha emission-line galaxy candidates in a 80x80x60 co-moving Mpc region surrounding the known z=2.38 galaxy cluster J2143-4423. The space density of Ly-alpha emitters is comparable to that found by Steidel et al. when targeting a cluster at redshift 3.09, but is a factor of 5.8 +/- 2.5 greater than that found by field samples at similar redshifts. The distribution of these galaxy candidates contains several 5-10 Mpc scale voids. We compare our observations with mock catalogs derived from the VIRGO consortium Lambda-CDM n-body simulations. Fewer than 1% of the mock catalogues contain voids as large as we observe. Our observations thus tentatively suggest that the galaxy distribution at redshift 2.38 contains larger voids than predicted by current models. Three of the candidate galaxies and one previously discovered galaxy have the large luminosities and extended morphologies of "Ly-alpha blobs".Comment: 10 pages, 8 figures, emulateapj5, Accepted for publication in Ap

Supersymmetry, quark confinement and the harmonic oscillator

We study some quantum systems described by noncanonical commutation relations formally expressed as [q,p]=ihbar(I + chi H), where H is the associated (harmonic oscillator-like) Hamiltonian of the system, and chi is a Hermitian (constant) operator, i.e. [H,chi]=0 . In passing, we also consider a simple (chi=0 canonical) model, in the framework of a relativistic Klein-Gordon-like wave equation.Comment: To be published in Journal of Physics A: Mathematical and Theoretical (2007

Assessment of contemporary Arctic river runoff based on observational discharge records

We describe the contemporary hydrography of the pan‐Arctic land area draining into the Arctic Ocean, northern Bering Sea, and Hudson Bay on the basis of observational records of river discharge and computed runoff. The Regional Arctic Hydrographic Network data set, R‐ArcticNET, is presented, which is based on 3754 recording stations drawn from Russian, Canadian, European, and U.S. archives. R‐ArcticNET represents the single largest data compendium of observed discharge in the Arctic. Approximately 73% of the nonglaciated area of the pan‐Arctic is monitored by at least one river discharge gage giving a mean gage density of 168 gages per 106 km2. Average annual runoff is 212 mm yr−1 with approximately 60% of the river discharge occurring from April to July. Gridded runoff surfaces are generated for the gaged portion of the pan‐Arctic region to investigate global change signals. Siberia and Alaska showed increases in winter runoff during the 1980s relative to the 1960s and 1970s during annual and seasonal periods. These changes are consistent with observations of change in the climatology of the region. Western Canada experienced decreased spring and summer runoff

Infrared observations of Phobos and Deimos from Viking

The surface thermal properties of Phobos and Deimos have been determined from observations made with the Viking Orbiter Infrared Thermal Mapper (IRTM), at wavelengths ranging from 6 to 20 μm. The data, composed of both global and high-resolution infrared photometry of the satellite surfaces as well as eclipse observations, indicate surface material of low thermal conductivity comparable to that of the earth's moon. Values of the thermal inertia I consistent with the data for Phobos are 0.9 ≲ I ≲ 1.6 × 10^(−3) cal cm^(−2) s^(−1/2) K^(−1), and 0.6 ≲ I ≲ 2.0 × 10^(−3) cal cm^(−2) s^(−1/2) K^(−1) for Deimos. It is concluded that both satellites are covered with a vertically uniform layer of finely divided material at least several centimeters thick. Observed differences between brightness temperatures at different wavelengths on Phobos are due mainly to topographic slopes and to the presence of ∼5% by area high inertia or blocky material

Can virtual nature improve patient experiences and memories of dental treatment? A study protocol for a randomized controlled trial

Background Dental anxiety and anxiety-related avoidance of dental care create significant problems for patients and the dental profession. Distraction interventions are used in daily medical practice to help patients cope with unpleasant procedures. There is evidence that exposure to natural scenery is beneficial for patients and that the use of virtual reality (VR) distraction is more effective than other distraction interventions, such as watching television. The main aim of this randomized controlled trial is to determine whether the use of VR during dental treatment can improve the overall dental experience and recollections of treatment for patients, breaking the negative cycle of memories of anxiety leading to further anxiety, and avoidance of future dental appointments. Additionally, the aim is to test whether VR benefits dental patients with all levels of dental anxiety or whether it could be especially beneficial for patients suffering from higher levels of dental anxiety. The third aim is to test whether the content of the VR distraction can make a difference for its effectiveness by comparing two types of virtual environments, a natural environment and an urban environment. Methods/design The effectiveness of VR distraction will be examined in patients 18 years or older who are scheduled to undergo dental treatment for fillings and/or extractions, with a maximum length of 30 minutes. Patients will be randomly allocated into one of three groups. The first group will be exposed to a VR of a natural environment. The second group will be exposed to a VR of an urban environment. A third group consists of patients who receive standard care (control group). Primary outcomes relate to patients’ memories of the dental treatment one week after treatment: (a) remembered pain, (b) intrusive thoughts and (c) vividness of memories. Other measures of interest are the dental experience, the treatment experience and the VR experience. Trial registration Current Controlled Trials ISRCTN4144280