Inverse kinematics problem in robotics using neural networks

In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods

Who will win the Nobel Prize?

This paper identifies the determinants of the Nobel Prize Award. The analysis is analogous in spirit to Hamermesh and Schmidt (Econometrica, 2003) on the election of Econometric Society fellows. It is found that the number of citations, age and nationality have significant impacts on the odds of winning the Nobel. We provide the first statistical evidence that John Bates Clark medalists and individuals affiliated with the University of Chicago have a higher chance of winning the Prize.Nobel Prize; John Bates Clark Medal; Logit Model.

Social Identity and Preferences

Social identities prescribe behaviors for people. We identify the marginal behavioral effect of these norms on discount rates and risk aversion by measuring how laboratory subjects’ choices change when an aspect of social identity is made salient. When we make ethnic identity salient to Asian-American subjects, they make more patient choices. When we make racial identity salient to black subjects, non-immigrant blacks (but not immigrant blacks) make more patient choices. Making gender identity salient has no effect on intertemporal or risk choices.

Religious Identity and Economic Behavior

We randomly vary religious identity salience in laboratory subjects to test how identity salience contributes to six hypothesized links from prior literature between religious identity and economic behavior. We find that religious identity salience makes Protestants increase contributions to public goods. Catholics decrease contributions to public goods, expect others to contribute less to public goods, and become less risk averse. Jews more strongly reciprocate as an employee in a bilateral labor market gift-exchange game. We find no evidence of religious identity salience effects on disutility of work effort, discount rates, or generosity in a dictator game.

Can real-time visual feedback during gait retraining reduce metabolic demand for individuals with transtibial amputation?

The metabolic demand of walking generally increases following lower extremity amputation. This study used real-time visual feedback to modify biomechanical factors linked to an elevated metabolic demand of walking in individuals with transtibial amputation. Eight persons with unilateral, traumatic transtibial amputation and 8 uninjured controls participated. Two separate bouts of real-time visual feedback were provided during a single session of gait retraining to reduce 1) center of mass sway and 2) thigh muscle activation magnitudes and duration. Baseline and post-intervention data were collected. Metabolic rate, heart rate, frontal plane center of mass sway, quadriceps and hamstrings muscle activity, and co-contraction indices were evaluated during steady state walking at a standardized speed. Visual feedback successfully decreased center of mass sway 12% (p = 0.006) and quadriceps activity 12% (p = 0.041); however, thigh muscle co-contraction indices were unchanged. Neither condition significantly affected metabolic rate during walking and heart rate increased with center-of-mass feedback. Metabolic rate, center of mass sway, and integrated quadriceps muscle activity were all not significantly different from controls. Attempts to modify gait to decrease metabolic demand may actually adversely increase the physiological effort of walking in individuals with lower extremity amputation who are young, active and approximate metabolic rates of able-bodied adults

Design of Ultra-High-Power-Density Machine Optimized for Future Aircraft

The NASA Glenn Research Center's Structural Mechanics and Dynamics Branch is developing a compact, nonpolluting, bearingless electric machine with electric power supplied by fuel cells for future "more-electric" aircraft with specific power in the projected range of 50 hp/lb, whereas conventional electric machines generate usually 0.2 hp/lb. The use of such electric drives for propulsive fans or propellers depends on the successful development of ultra-high-power-density machines. One possible candidate for such ultra-high-power-density machines, a round-rotor synchronous machine with an engineering current density as high as 20,000 A/sq cm, was selected to investigate how much torque and power can be produced

Optimal Controller Tested for a Magnetically Suspended Five-Axis Dynamic Spin Rig

NASA Glenn Research Center's Structural Mechanics and Dynamics Branch has developed a fully suspended magnetic bearing system for their Dynamic Spin Rig, which performs vibration tests of turbomachinery blades and components under spinning conditions in a vacuum. Two heteropolar radial magnetic bearings and a thrust magnetic bearing and the associated control system were integrated into the Dynamic Spin Rig to provide magnetic excitation as well as noncontact magnetic suspension of the 35-lb vertical rotor with blades to induce turbomachinery blade vibration (ref. 1). The new system can provide longer run times at higher speeds and larger vibration amplitudes for rotating blades. Also, it was proven that bearing mechanical life was substantially extended and flexibility was increased in the excitation orientation (direction and phasing)

The impact of mechanical AGN feedback on the formation of massive early-type galaxies

We employ cosmological hydrodynamical simulations to investigate the effects of AGN feedback on the formation of massive galaxies with present-day stellar masses of $M_{stel} = 8.8 \times 10^{10} - 6.0 \times 10^{11} M_{sun}$. Using smoothed particle hydrodynamics simulations with a pressure-entropy formulation that allows an improved treatment of contact discontinuities and fluid mixing, we run three sets of simulations of 20 halos with different AGN feedback models: (1) no feedback, (2) thermal feedback, and (3) mechanical and radiation feedback. We assume that seed black holes are present at early cosmic epochs at the centre of emerging dark matter halos and trace their mass growth via gas accretion and mergers with other black holes. Both feedback models successfully recover the observed M_BH - sigma relation and black hole-to-stellar mass ratio for simulated central early-type galaxies. The baryonic conversion efficiencies are reduced by a factor of two compared to models without any AGN feedback at all halo masses. However, massive galaxies simulated with thermal AGN feedback show a factor of ~10-100 higher X-ray luminosities than observed. The mechanical/radiation feedback model reproduces the observed correlation between X-ray luminosities and velocity dispersion, e.g. for galaxies with sigma = 200 km/s, the X-ray luminosity is reduced from $10^{42}$ erg/s to $10^{40}$ erg/s. It also efficiently suppresses late time star formation, reducing the specific star formation rate from $10^{-10.5}$ $yr^{-1}$ to $10^{-14}$ $yr^{-1}$ on average and resulting in quiescent galaxies since z=2, whereas the thermal feedback model shows higher late time in-situ star formation rates than observed.Comment: 13 pages, 11 figures, accepted for the publication in MNRA