Linear analysis of a force reflective teleoperator

Complex force reflective teleoperation systems are often very difficult to analyze due to the large number of components and control loops involved. One mode of a force reflective teleoperator is described. An analysis of the performance of the system based on a linear analysis of the general full order model is presented. Reduced order models are derived and correlated with the full order models. Basic effects of force feedback and position feedback are examined and the effects of time delays between the master and slave are studied. The results show that with symmetrical position-position control of teleoperators, a basic trade off must be made between the intersystem stiffness of the teleoperator, and the impedance felt by the operator in free space

A Wind-Derived Upwelling Index for Lake Michigan

Coastal upwelling is a phenomenon that occurs along coastlines throughout the world, and has been shown to be strongly correlated with large fish populations in these areas. Coastal upwelling occurs when strong coastal winds drive water transport away from the coast, causing colder, often nutrient-rich water to upwell in its place. While coastal upwellings can be detected with satellite imagery or in situ temperature measurements, these datasets are neither continuous nor long-term. A wind-derived upwelling index was created for Lake Michigan to continuously quantify upwellings over multiple decades, and to allow for further understanding of the impact of upwelling in the Great Lakes region. Following work on oceanic upwelling, directional upwelling indices were calculated by taking wind velocity data from both buoys and land stations in Lake Michigan and estimating the off-shore transport of water as predicted by standard dynamical arguments (Ekman transport). Indices were calculated on episodic, daily, monthly, and seasonal timescales. The calculated indices were then validated with direct metrics of upwellings, including in situ water temperature and velocity data and satellite-derived sea surface temperatures (SST). The results of these validations show that there is a strong qualitative correlation between the upwelling index model and the other sources of data, suggesting that the wind-derived index is a robust metric of coastal upwelling, at least for Muskegon. Historical calculations of interannual variability in the derived upwelling index show that the Muskegon coast is downwelling favorable for the middle of the year, but can vary greatly from year to year in magnitude. Future work will include validation of additional locations in Lake Michigan in order to provide a more complete picture of upwelling in the lake

Brane World Cosmology Without the Z_2 Symmetry

The Friedmann equation for a positive tension brane situated between two bulk spacetimes that posses the same 5D cosmological constant, but which does not posses a Z2 symmetry of the metric itself is derived, and the possible effects of dropping the Z2 symmetry on the expansion of our Universe are examined; cosmological constraints are discussed. We show the effect of this is an inflation-like period at very early times. The global solutions for the metric in the infinite extra dimension case are found and comparison with the symmetric case is made. We show that any brane world senario of this type must revert to a Z2 symmetric form at late times, and hence rule out certain proposed scenarios

The contribution of leaching to the rapid release of nutrients and carbon in the early decay of wetland vegetation

Our goal was to quantify the coupled process of litter turnover and leaching as a source of nutrients and fixed carbon in oligotrophic, nutrient-limited wetlands. We conducted poisoned and non-poisoned incubations of leaf material from four different perennial wetland plants (Eleocharis spp., Cladium jamaicense, Rhizophora mangle and Spartina alterniflora) collected from different oligotrophic freshwater and estuarine wetland settings. Total phosphorus (TP) release from the P-limited Everglades plant species (Eleocharis spp., C. jamaicense and R. mangle) was much lower than TP release by the salt marsh plant S. alterniflora from N-limited North Inlet (SC). For most species and sampling times, total organic carbon (TOC) and TP leaching losses were much greater in poisoned than non-poisoned treatments, likely as a result of epiphytic microbial activity. Therefore, a substantial portion of the C and P leached from these wetland plant species was bio-available to microbial communities. Even the microbes associated with S. alterniflora from N-limited North Inlet showed indications of P-limitation early in the leaching process, as P was removed from the water column. Leaves of R. mangle released much more TOC per gram of litter than the other species, likely contributing to the greater waterborne [DOC] observed by others in the mangrove ecotone of Everglades National Park. Between the two freshwater Everglades plants, C. jamaicense leached nearly twice as much P than Eleocharis spp. In scaling this to the landscape level, our observed leaching losses combined with higher litter production of C. jamaicense compared to Eleocharis spp. resulted in a substantially greater P leaching from plant litter to the water column and epiphytic microbes. In conclusion, leaching of fresh plant litter can be an important autochthonous source of nutrients in freshwater and estuarine wetland ecosystems

TB88: Descriptive and Comparative Studies of Maine Lakes

This is a descriptive and comparative study of 17 lakes in Maine. The major objectives of this study are (1) to characterize the pelagial zone of the lakes physically, chemically, and biologically, (2) to assess bacterial pollution, (3) to compare the lakes to each other and classify them trophically, and (4) to compare the lakes to others in different geographic regions.https://digitalcommons.library.umaine.edu/aes_techbulletin/1117/thumbnail.jp

Why do spatial abilities predict mathematical performance?

Spatial ability predicts performance in mathematics and eventual expertise in science, technology and engineering. Spatial skills have also been shown to rely on neuronal networks partially shared with mathematics. Understanding the nature of this association can inform educational practices and intervention for mathematical underperformance. Using data on two aspects of spatial ability and three domains of mathematical ability from 4174 pairs of 12-year-old twins, we examined the relative genetic and environmental contributions to variation in spatial ability and to its relationship with different aspects of mathematics. Environmental effects explained most of the variation in spatial ability (~70%) and in mathematical ability (~60%) at this age, and the effects were the same for boys and girls. Genetic factors explained about 60% of the observed relationship between spatial ability and mathematics, with a substantial portion of the relationship explained by common environmental influences (26% and 14% by shared and non-shared environments respectively). These findings call for further research aimed at identifying specific environmental mediators of the spatial–mathematics relationship

Retrievals of thick cloud optical depth from the Geoscience Laser Altimeter System (GLAS) by calibration of solar background signal

Laser beams emitted from the Geoscience Laser Altimeter System (GLAS), as well as other spaceborne laser instruments, can only penetrate clouds to a limit of a few optical depths. As a result, only optical depths of thinner clouds (< about 3 for GLAS) are retrieved from the reflected lidar signal. This paper presents a comprehensive study of possible retrievals of optical depth of thick clouds using solar background light and treating GLAS as a solar radiometer. To do so one must first calibrate the reflected solar radiation received by the photon-counting detectors of the GLAS 532-nm channel, the primary channel for atmospheric products. Solar background radiation is regarded as a noise to be subtracted in the retrieval process of the lidar products. However, once calibrated, it becomes a signal that can be used in studying the properties of optically thick clouds. In this paper, three calibration methods are presented: (i) calibration with coincident airborne and GLAS observations, (ii) calibration with coincident Geostationary Opera- tional Environmental Satellite (GOES) and GLAS observations of deep convective clouds, and (iii) cali- bration from first principles using optical depth of thin water clouds over ocean retrieved by GLAS active remote sensing. Results from the three methods agree well with each other. Cloud optical depth (COD) is retrieved from the calibrated solar background signal using a one-channel retrieval. Comparison with COD retrieved from GOES during GLAS overpasses shows that the average difference between the two retriev- als is 24%. As an example, the COD values retrieved from GLAS solar background are illustrated for a marine stratocumulus cloud field that is too thick to be penetrated by the GLAS laser. Based on this study, optical depths for thick clouds will be provided as a supplementary product to the existing operational GLAS cloud products in future GLAS data releases

Effects of the Selective Serotonin Reuptake Inhibitor Fluoxetine on Counterregulatory Responses to Hypoglycemia in Individuals With Type 1 Diabetes

OBJECTIVE—Previous work has demonstrated that chronic administration of the serotonin reuptake inhibitor (SSRI) fluoxetine augments counterregulatory responses to hypoglycemia in healthy humans. However, virtually no information exists regarding the effects of fluoxetine on integrated physiological counterregulatory responses during hypoglycemia in type 1 diabetes. Therefore, the specific aim of this study was to test the hypothesis that 6-week use of the SSRI fluoxetine would amplify autonomic nervous system (ANS) counterregulatory responses to hypoglycemia in individuals with type 1 diabetes

Comment on Vortex Mass and Quantum Tunneling of Vortices

Vortex mass in Fermi superfluids and superconductors and its influence on quantum tunneling of vortices are discussed. The vortex mass is essentially enhanced due to the fermion zero modes in the core of the vortex: the bound states of the Bogoliubov qiasiparticles localized in the core. These bound states form the normal component which is nonzero even in the low temperature limit. In the collisionless regime $\omega_0\tau \gg 1$, the normal component trapped by the vortex is unbound from the normal component in the bulk superfluid/superconductors and adds to the inertial mass of the moving vortex. In the d-wave superconductors, the vortex mass has an additional factor $(B_{c2}/B)^{1/2}$ due to the gap nodes.Comment: 10 pages, no figures, version accepted in JETP Letter