Wrist joint assembly

A wrist joint assembly is provided for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm. The wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis is to produce a pitch motion, and a third axis to produce a roll motion. The wrist joint assembly includes a disk segment affixed to the terminal end of the manipulator arm and a first housing member, a second housing member, and a third housing member. The third housing member and the mechanical end-effector are moved in the yaw, pitch, and roll motion. Drive means are provided for rotating each of the housings about their respective axis which includes a cluster of miniature motors having spur gears carried on the output drive shaft which mesh with a center drive gear affixed on the housing to be rotated

Negotiating Inefficient Compromises: Is Less Better than More?

Significant efforts are made to design and implement decision and negotiation support systems to identify efficient alternatives. The underlying assumption is that decision-makers prefer an efficient alternative over an inefficient one. Experimental studies indicate that people often accept inefficient compromises and are unwilling to improve them even if prompted to do so. This report presents preliminary results for the analysis of 605 bilateral negotiations in which only 20.8% of negotiators who achieved an inefficient compromise entered the post-settlement phase in an attempt to improve the compromise

On Waylen's regular axisymmetric similarity solutions

We review the similarity solutions proposed by Waylen for a regular time-dependent axisymmetric vacuum space-time, and show that the key equation introduced to solve the invariant surface conditions is related by a Baecklund transform to a restriction on the similarity variables. We further show that the vacuum space-times produced via this path automatically possess a (possibly homothetic) Killing vector, which may be time-like.Comment: 8 pages, LaTeX2

Triple-axis common-pivot arm wrist device for manipulative applications

A concept in manipulator development to overcome the 'weak wrist syndrome', a triple-axis common-pivot arm wrist (TACPAW), is presented. It contains torque motors for actuation, tachometers for measuring rate, and resolvers for position measurements. Furthermore, it provides three degrees of freedom, i.e., pitch, yaw, and roll, in a single manipulator joint. The advantages of this development are increased strength, compactness, and simplification of controls. Designed to be compatible with the protoflight manipulator arm, the joints of TACPAW are back-driveable with + or - 45 deg rotation in pitch, + or - 45 deg in yaw and continuous roll in either direction while delivering 20.5 N-m (15 ft-lb) torque in each of the three movements

Supersymmetric Musings on the Predictivity of Family Symmetries

We discuss the predictivity of family symmetries for the soft supersymmetry breaking parameters in the framework of supergravity. We show that unknown details of the messenger sector and the supersymmetry breaking hidden sector enter into the soft parameters, making it difficult to obtain robust predictions. We find that there are specific choices of messenger fields which can improve the predictivity for the soft parameters.Comment: 20 pages, 5 figure

Border ownership selectivity in human early visual cortex and its modulation by attention

Natural images are usually cluttered because objects occlude one another. A critical aspect of recognizing these visual objects is to identify the borders between image regions that belong to different objects. However, the neural coding of border ownership in human visual cortex is largely unknown. In this study, we designed two simple but compelling stimuli in which a slight change of contextual information could induce a dramatic change of border ownership. Using functional MRI adaptation, we found that border ownership selectivity in V2 was robust and reliable across subjects, and it was largely dependent on attention. Our study provides the first human evidence that V2 is a critical area for the processing of border ownership and that this processing depends on the modulation from higher-level cortical areas. Copyright © 2009 Society for Neuroscience

Histological Assessment Of The Lobster (Homarus Americanus) In The 100 Lobsters Project

The emergence of epizootic shell disease in the American lobster (Homarus americanus) has been devastating to the industry in the coastal waters of southern New England. A comprehensive assessment of the disease syndrome, known as the 100 Lobsters Project, was initiated to examine health and physiological parameters among laboratories involved in the research on lobster shell disease. A histological study of the 100 lobsters was undertaken as part of that assessment. Tissues from 90 lobsters from Rhode Island and 19 lobsters from Maine were examined as a general health assessment of the 100 lobsters. Approximately half the lobsters from Rhode Island were selected because they had frank epizootic shell disease, whereas none of the lobsters from Maine exhibited the syndrome. In addition to epizootic shell disease, the histological findings revealed 3 other idiopathic syndromes-necrotizing hepatopancreatitis, idiopathic blindness, and nonspecific granulomas-in higher prevalences in lobsters from Rhode Island compared with those from Maine. Necrotizing hepatopancreatitis, a newly described disease syndrome in lobsters, was observed in 15% of the lobsters from Rhode Island. Idiopathic blindness was present in 54% of the lobsters from Rhode Island, and 16% of the animals from Maine. This is the first report of the syndrome in lobsters from Maine. None of the idiopathic syndromes was associated with epizootic shell disease. The detection of multiple disease syndromes such as epizootic shell disease, necrotizing hepatopancreatitis, and idiopathic blindness may be indicative of exposure to environmental stressors in Narragansett Bay, RI