Base reaction optimization of redundant manipulators for space applications

One of the problems associated with redundant manipulators which were proposed for space applications is that the reactions transmitted to the base of the manipulator as a result of the motion of the manipulator will cause undesirable effects on the dynamic behavior of the supporting space structure. It is therefore necessary to minimize the magnitudes of the forces and moments transmitted to the base. It is shown that kinematic redundancy can be used to solve the dynamic problem of minimizing the magnitude of the base reactions. The methodology described is applied to a four degree-of-freedom spatial manipulator with one redundant degree-of-freedom

Determining the number of clusters in a mixture by iterative model space refinement with application to free-swimming fish detection

We present a clustering algorithm for use when the number of clusters is unknown. We first show that the EM algorithm for mixture modeling can be considered as an alternating minimization between the data space and the model space. We then show how data cleaning can be performed by alternating between the data space and two model spaces. Finally, we develop a mixture model approach that iteratively refines the model spaces, beginning with a coarse model and selecting finer models as indicated by the consistent Akaike information criterion

Spacecraft Multiple Array Communication System Performance Analysis

The Communication Systems Simulation Laboratory (CSSL) at the NASA Johnson Space Center is tasked to perform spacecraft and ground network communication system simulations, design validation, and performance verification. The CSSL has developed simulation tools that model spacecraft communication systems and the space and ground environment in which the tools operate. In this paper, a spacecraft communication system with multiple arrays is simulated. Multiple array combined technique is used to increase the radio frequency coverage and data rate performance. The technique is to achieve phase coherence among the phased arrays to combine the signals at the targeting receiver constructively. There are many technical challenges in spacecraft integration with a high transmit power communication system. The array combining technique can improve the communication system data rate and coverage performances without increasing the system transmit power requirements. Example simulation results indicate significant performance improvement can be achieved with phase coherence implementation

The Effect of in-Service Methodology on Learning Transfer for School Personnel Managing Students following Concussion

Background: It is essential to increase the knowledge base of teachers involved in facilitating return to learning in middle school students following a concussion. However, the best method to enhance the transfer of learning for teachers remains to be elucidated. Application of Adult Learning Theory (ALT) is a plausible solution to this problem. Purpose: The purpose of this randomized post-test study was to examine the effects of ALTon the transfer of learning in teachers who work with individuals with concussion. Methods: A convenience sample of 169 teachers at four middle schools were randomized to receive an in-service regarding concussion management either in ALT or traditional lecture format. Vignettes approximating classroom practice evaluated learning transfer. Results: one-way between subjects ANOVA revealed no significant difference between the methods of educational delivery on group assessment scores (p¼.22). Additionally, a regression analysis did not identify any demographic variables that predicted learning transfer (p¼.65). A statistically significant difference existed for four questions (1, 4, 7, 25) between the groups (p¼.03, .02, .01, .00, respectively). These vignettes were those that assessed information that was likely novel to the learner. Discussion: The current study demonstrated that ALT applied to teacher in-service did not impact transfer of learning immediately post training compared to a traditional lecture format. Future research should continue to examine the effects of various educational strategies to enhance learning transfer for teachers managing students in the classroom after concussion

A nearly complete foot from dikika, Ethiopia and its implications for the ontogeny and function of australopithecus afarensis

The functional and evolutionary implications of primitive retentions in early hominin feet have been under debate since the discovery of Australopithecus afarensis. Ontogeny can provide insight into adult phenotypes, but juvenile early hominin foot fossils are exceptionally rare. We analyze a nearly complete, 3.32-million-year-old juvenile foot of A. afarensis (DIK-1-1f). We show that juvenile A. afarensis individuals already had many of the bipedal features found in adult specimens. However, they also had medial cuneiform traits associated with increased hallucal mobility and a more gracile calcaneal tuber, which is unexpected on the basis of known adult morphologies. Selection for traits functionally associated with juvenile pedal grasping may provide a new perspective on their retention in the more terrestrial adult A. afarensis

RF Exposure Analysis for Multiple Wi-Fi Devices In Enclosed Environment

Wi-Fi devices operated inside a metallic enclosure have been investigation in the recent years. A motivation for this study is to investigate wave propagation inside an enclosed environment such as elevator, car, aircraft, and spacecraft. There are performances and safety concerned that when the RF transmitters are used in the metallic enclosed environments. In this paper, the field distributions inside a confined room were investigated with multiple portable Wi-Fi devices. Computer simulations were performed using the rigorous computational electromagnetics (CEM). The method of moments (MoM) was used to model the mutual coupling among antennas. The geometrical theory of diffraction (GTD) was applied for the multiple reflections off the ground and walls. The prediction of the field distribution inside such environment is useful for the planning and deployment of a wireless radio and sensor system. Factors that affect the field strengths and distributions of radio waves in confined space were analyzed. The results could be used to evaluate the RF exposure safety in confined environment. By comparing the field distributions for various scenarios, it was observed that the Wi-Fi device counts, spacing and relative locations in the room are important factors in such environments. The RF Keep Out Zone (KOZ), where the electric field strengths exceed the permissible RF exposure limit, could be used to assess the RF human exposure compliance. As shown in this study, it s possible to maximize or minimize field intensity in specific area by arranging the Wi-Fi devices as a function of the relative location and spacing in a calculated manner

Water Intake in Growing Beef Cattle

Water is an essential part of livestock and human diets and is often thought of as an inexpensive, readily available renewable natural resource. However, the amount of competition between humans, wildlife, feed production, and livestock for high-quality water is increasing, not only from the effects of drought but from the pressure of a growing global population (Nardone et al., 2010). With limited resources available for production agriculture, there is a need to identify and select for efficient animals that can produce more product with fewer inputs. Although some work has been done in dairy cattle, very little data is available on individual animal water intake in modern beef cattle (Brew et al., 2011). The majority of the water intake data available in growing beef cattle is derived from dividing the total amount of water drunk in a pen divided by the number of animals in that pen (Sexson et al., 2010; Mader and Davis, 2004). Data derived from groups are not generally useful for the purposes of genetic evaluation, which aims to quantify individual animal variation in a trait for selection. However, in order to practice selection on a large scale, parameters for collecting phenotypic data must be established. The objectives of this study were to measure daily water intake on a large number of beef steers and to estimate the number of test days necessary to collect accurate water intake phenotypes

Nanosecond pulsed electric field thresholds for nanopore formation in neural cells.

The persistent influx of ions through nanopores created upon cellular exposure to nanosecond pulse electric fields (nsPEF) could be used to modulate neuronal function. One ion, calcium (Ca(2+)), is important to action potential firing and regulates many ion channels. However, uncontrolled hyper-excitability of neurons leads to Ca(2+) overload and neurodegeneration. Thus, to prevent unintended consequences of nsPEF-induced neural stimulation, knowledge of optimum exposure parameters is required. We determined the relationship between nsPEF exposure parameters (pulse width and amplitude) and nanopore formation in two cell types: rodent neuroblastoma (NG108) and mouse primary hippocampal neurons (PHN). We identified thresholds for nanoporation using Annexin V and FM1-43, to detect changes in membrane asymmetry, and through Ca(2+) influx using Calcium Green. The ED50 for a single 600 ns pulse, necessary to cause uptake of extracellular Ca(2+), was 1.76  kV/cm for NG108 and 0.84  kV/cm for PHN. At 16.2  kV/cm, the ED50 for pulse width was 95 ns for both cell lines. Cadmium, a nonspecific Ca(2+) channel blocker, failed to prevent Ca(2+) uptake suggesting that observed influx is likely due to nanoporation. These data demonstrate that moderate amplitude single nsPEF exposures result in rapid Ca(2+) influx that may be capable of controllably modulating neurological function

Novel Composites for Wing and Fuselage Applications

Design trade studies were conducted to arrive at advanced wing designs that integrated new material forms with innovative structural concepts and cost-effective fabrication methods. A representative spar was selected for design, fabrication, and test to validate the predicted performance. Textile processes, such as knitting, weaving and stitching, were used to produce fiber preforms that were later fabricated into composite span through epoxy Resin Transfer Molding (RTM), Resin Film Infusion (RFI), and consolidation of commingled thermoplastic and graphite tows. The target design ultimate strain level for these innovative structural design concepts was 6000 mu in. per in. The spars were subjected to four-point beam bending to validate their structural performance. The various material form /processing combination Y-spars were rated for their structural efficiency and acquisition cost. The acquisition cost elements were material, tooling, and labor

Effects of data selection on the assimilation of AIRS data

The Atmospheric InfraRed Sounder (AIRS), flying aboard NASA's Earth Observing System (EOS) Aqua satellite with the Advanced Microwave Sounding Unit-A (AMSU-A), has been providing data for use in numerical weather prediction (NWP) and data assimilation systems (DAS) for over three years. The full AIRS data set is currently not transmitted in near-real-time (NRT) to the NWP centers. Instead, data sets with reduced spatial and spectral information are produced and made available in NRT. In this paper, we evaluate the use of different channel selections and error specifications. We achieved significant positive impact from the Aqua AIRS/AMSU-A combination in both hemispheres during our experimental time period of January 2003. The best results were obtained using a set of 156 channels that did not include any in the 6.7micron water vapor band. The latter have a large influence on both temperature and humidity analyses. If observation and background errors are not properly specified, the partitioning of temperature and humidity information from these channels will not be correct, and this can lead to a degradation in forecast skill. We found that changing the specified channel errors had a significant effect on the amount of data that entered into the analysis as a result of quality control thresholds that are related to the errors. However, changing the channel errors within a relatively small window did not significantly impact forecast skill with the 155 channel set. We also examined the effects of different types of spatial data reduction on assimilated data sets and NWP forecast skill. Whether we picked the center or the warmest AIRS pixel in a 3x3 array affected the amount of data ingested by the analysis but had a negligible impact on the forecast skill