Development of a prototype kinestatic platform for application to space and ground servicing tasks. Phase 1: Concept Modeling

The Center for Intelligent Machines and Robotics (CIMAR) of the University of Florida, in conjunction with Rockwell International is developing an electro-mechanical device called a Kinestatic Platform (KP) for aerospace applications. The goal of the current project is to develop a prototype KP which is capable of manipulating a 50 lb. payload. This prototype will demonstrate the feasibility of implementing a scaled up version to perform high precision manipulation of distributed systems and to control contact forces and allowable motions (rotations and translations), which is defined here as Kinestatic Control, in a six dimensional, partially constrained environment, simultaneously and independently. The objectives of the Phase 1 effort were as follows: (1) Identify specific NASA applications where the KP technology can be applied. (2) Select one application for development. (3) Develop a conceptual design of the KP specifically for the selected application. This includes the steps of developing a set of detailed performance criteria, establishing and making selection of the mechanism design parameters, and evaluating the expected system response. (4) Develop a computer graphics animation of the KP as it performs the selected application. This report will proceed by providing a technical description of the KP followed by how each of these objectives was addressed

Seasonal Climate Forecasts and Risk Management Among Georgia Farmers

Recent increases in the scientific robustness of seasonal climate forecasts have not led to substantial changes in farmers’ risk management strategies of actors, largely because there is poor integration of scientific forecasting into farmers’ decision-making processes. The goal of the research presented here is to explore the potentials and constraints for farmers’ application of seasonal climate forecasts through an analysis of the cultural contexts of their decision-making and information use. Semi-structured interviews were conducted with 38 farmers in southern Georgia, examining their approaches, risk-management, to livelihood goals and strategies, and interactions with weather and climate information. Findings indicate that farmers’ management of risks associated with climate variability is embedded within a broad array of social factors, including subjective construction of social and personal identities, goals, and values. These cultural contexts affect the ways that farmers interpret and might apply seasonal climate forecasts to agricultural decisions. These findings indicate that, rather than simply acting as a technical information input, seasonal climate forecasts and forecasters must gradually work theirway into farmers’ trusted social networks before their potential as risk management tools will be realized. Furthermore, while seeking to produce scientific information to support farmers’ adaptive practices, scientists themselves must adapt their own practices to better fit a coproduction of knowledge approach

“Camouflaging” by adolescent autistic girls who attend both mainstream and specialist resource classes: Perspectives of girls, their mothers and their educators

Autistic girls’ heightened social motivation and associated social coping strategies, such as camouflaging, mean they may be less likely to receive appropriate support in mainstream schools. In this research, a multi-informant approach was used to examine the camouflaging strategies used by autistic girls within specialist resource classes attached to mainstream schools (whereby girls transition between resource classes and mainstream classes). Semi-structured interviews were conducted with eight adolescent girls, their parents (eight mothers) and their educators (six teaching assistants/aides and one senior staff member) about the girls’ camouflaging experiences. Using reflexive thematic analysis, four themes were identified: (1) inconsistencies and contradictions in camouflaging, (2) challenges of relationships and ‘finding a tribe’, (3) learning, inclusion and awareness and (4) consequences of camouflaging. These results highlight the challenges that the girls experienced when attempting to hide their autism and fit within both mainstream classes and specialist resource classes. These challenges had significant impacts on the girls’ relationships and learning, as well as consequences for their mental health. The findings highlight the need for increased awareness of how camouflaging presents across the autism spectrum and suggests that individualised, evidence-based support will be essential for enabling autistic girls to flourish in school

Positivity in Lorentzian Barrett-Crane Models of Quantum Gravity

The Barrett-Crane models of Lorentzian quantum gravity are a family of spin foam models based on the Lorentz group. We show that for various choices of edge and face amplitudes, including the Perez-Rovelli normalization, the amplitude for every triangulated closed 4-manifold is a non-negative real number. Roughly speaking, this means that if one sums over triangulations, there is no interference between the different triangulations. We prove non-negativity by transforming the model into a ``dual variables'' formulation in which the amplitude for a given triangulation is expressed as an integral over three copies of hyperbolic space for each tetrahedron. Then we prove that, expressed in this way, the integrand is non-negative. In addition to implying that the amplitude is non-negative, the non-negativity of the integrand is highly significant from the point of view of numerical computations, as it allows statistical methods such as the Metropolis algorithm to be used for efficient computation of expectation values of observables.Comment: 13 page

Climate Science, Development Practice, and Policy Interactions in Dryland Agroecological Systems

The literature on drought, livelihoods, and poverty suggests that dryland residents are especially vulnerable to climate change. However, assessing this vulnerability and sharing lessons between dryland communities on how to reduce vulnerability has proven difficult because of multiple definitions of vulnerability, complexities in quantification, and the temporal and spatial variability inherent in dryland agroecological systems. In this closing editorial, we review how we have addressed these challenges through a series of structured, multiscale, and interdisciplinary vulnerability assessment case studies from drylands in West Africa, southern Africa, Mediterranean Europe, Asia, and Latin America. These case studies adopt a common vulnerability framework but employ different approaches to measuring and assessing vulnerability. By comparing methods and results across these cases, we draw out the following key lessons: (1) Our studies show the utility of using consistent conceptual frameworks for vulnerability assessments even when quite different methodological approaches are taken; (2) Utilizing narratives and scenarios to capture the dynamics of dryland agroecological systems shows that vulnerability to climate change may depend more on access to financial, political, and institutional assets than to exposure to environmental change; (3) Our analysis shows that although the results of quantitative models seem authoritative, they may be treated too literally as predictions of the future by policy makers looking for evidence to support different strategies. In conclusion, we acknowledge there is a healthy tension between bottom-up/ qualitative/place-based approaches and top-down/quantitative/generalizable approaches, and we encourage researchers from different disciplines with different disciplinary languages, to talk, collaborate, and engage effectively with each other and with stakeholders at all levels

Spin Foam Models of Yang-Mills Theory Coupled to Gravity

We construct a spin foam model of Yang-Mills theory coupled to gravity by using a discretized path integral of the BF theory with polynomial interactions and the Barret-Crane ansatz. In the Euclidian gravity case we obtain a vertex amplitude which is determined by a vertex operator acting on a simple spin network function. The Euclidian gravity results can be straightforwardly extended to the Lorentzian case, so that we propose a Lorentzian spin foam model of Yang-Mills theory coupled to gravity.Comment: 10 page

Spacetime as a Feynman diagram: the connection formulation

Spin foam models are the path integral counterparts to loop quantized canonical theories. In the last few years several spin foam models of gravity have been proposed, most of which live on finite simplicial lattice spacetime. The lattice truncates the presumably infinite set of gravitational degrees of freedom down to a finite set. Models that can accomodate an infinite set of degrees of freedom and that are independent of any background simplicial structure, or indeed any a priori spacetime topology, can be obtained from the lattice models by summing them over all lattice spacetimes. Here we show that this sum can be realized as the sum over Feynman diagrams of a quantum field theory living on a suitable group manifold, with each Feynman diagram defining a particular lattice spacetime. We give an explicit formula for the action of the field theory corresponding to any given spin foam model in a wide class which includes several gravity models. Such a field theory was recently found for a particular gravity model [De Pietri et al, hep-th/9907154]. Our work generalizes this result as well as Boulatov's and Ooguri's models of three and four dimensional topological field theories, and ultimately the old matrix models of two dimensional systems with dynamical topology. A first version of our result has appeared in a companion paper [gr-qc\0002083]: here we present a new and more detailed derivation based on the connection formulation of the spin foam models.Comment: 32 pages, 2 figure

3+1 spinfoam model of quantum gravity with spacelike and timelike components

We present a spinfoam formulation of Lorentzian quantum General Relativity. The theory is based on a simple generalization of an Euclidean model defined in terms of a field theory over a group. The model is an extension of a recently introduced Lorentzian model, in which both timelike and spacelike components are included. The spinfoams in the model, corresponding to quantized 4-geometries, carry a natural non-perturbative local causal structure induced by the geometry of the algebra of the internal gauge (sl(2,C)). Amplitudes can be expressed as integrals over the spacelike unit-vectors hyperboloid in Minkowski space, or the imaginary Lobachevskian space.Comment: 16 pages, 1 figur

Positivity of Spin Foam Amplitudes

The amplitude for a spin foam in the Barrett-Crane model of Riemannian quantum gravity is given as a product over its vertices, edges and faces, with one factor of the Riemannian 10j symbols appearing for each vertex, and simpler factors for the edges and faces. We prove that these amplitudes are always nonnegative for closed spin foams. As a corollary, all open spin foams going between a fixed pair of spin networks have real amplitudes of the same sign. This means one can use the Metropolis algorithm to compute expectation values of observables in the Riemannian Barrett-Crane model, as in statistical mechanics, even though this theory is based on a real-time (e^{iS}) rather than imaginary-time (e^{-S}) path integral. Our proof uses the fact that when the Riemannian 10j symbols are nonzero, their sign is positive or negative depending on whether the sum of the ten spins is an integer or half-integer. For the product of 10j symbols appearing in the amplitude for a closed spin foam, these signs cancel. We conclude with some numerical evidence suggesting that the Lorentzian 10j symbols are always nonnegative, which would imply similar results for the Lorentzian Barrett-Crane model.Comment: 15 pages LaTeX. v3: Final version, with updated conclusions and other minor changes. To appear in Classical and Quantum Gravity. v4: corrects # of samples in Lorentzian tabl