A linear systems analysis of the yaw dynamics of a dynamically scaled insect model

Recent studies suggest that fruit flies use subtle changes to their wing motion to actively generate forces during aerial maneuvers. In addition, it has been estimated that the passive rotational damping caused by the flapping wings of an insect is around two orders of magnitude greater than that for the body alone. At present, however, the relationships between the active regulation of wing kinematics, passive damping produced by the flapping wings and the overall trajectory of the animal are still poorly understood. In this study, we use a dynamically scaled robotic model equipped with a torque feedback mechanism to study the dynamics of yaw turns in the fruit fly Drosophila melanogaster. Four plausible mechanisms for the active generation of yaw torque are examined. The mechanisms deform the wing kinematics of hovering in order to introduce asymmetry that results in the active production of yaw torque by the flapping wings. The results demonstrate that the stroke-averaged yaw torque is well approximated by a model that is linear with respect to both the yaw velocity and the magnitude of the kinematic deformations. Dynamic measurements, in which the yaw torque produced by the flapping wings was used in real-time to determine the rotation of the robot, suggest that a first-order linear model with stroke-average coefficients accurately captures the yaw dynamics of the system. Finally, an analysis of the stroke-average dynamics suggests that both damping and inertia will be important factors during rapid body saccades of a fruit fly

Maternal short stature does not predict their children's fatness indicators in a nutritional dual-burden sample of urban Mexican Maya.

The co-existence of very short stature due to poor chronic environment in early life and obesity is becoming a public health concern in rapidly transitioning populations with high levels of poverty. Individuals who have very short stature seem to be at an increased risk of obesity in times of relative caloric abundance. Increasing evidence shows that an individual is influenced by exposures in previous generations. This study assesses whether maternal poor early life environment predicts her child's adiposity using cross sectional design on Maya schoolchildren aged 7-9 and their mothers (n = 57 pairs). We compared maternal chronic early life environment (stature) with her child's adiposity (body mass index [BMI] z-score, waist circumference z-score, and percentage body fat) using multiple linear regression, controlling for the child's own environmental exposures (household sanitation and maternal parity). The research was performed in the south of Merida, Yucatan, Mexico, a low socioeconomic urban area in an upper middle income country. The Maya mothers were very short, with a mean stature of 147 cm. The children had fairly high adiposity levels, with BMI and waist circumference z-scores above the reference median. Maternal stature did not significantly predict any child adiposity indicator. There does not appear to be an intergenerational component of maternal early life chronic under-nutrition on her child's obesity risk within this free living population living in poverty. These results suggest that the co-existence of very short stature and obesity appears to be primarily due to exposures and experiences within a generation rather than across generations

Direct evidence for an early reionization of the Universe?

We examine the possible reionization of the intergalactic medium (IGM) by the source UDF033238.7-274839.8 (hereafter HUDF-JD2), which was discovered in deep {\it HST}/VLT/{\it Spitzer} images obtained as part of the Great Observatory Origins Deep Survey and {\it Hubble} Ultra-Deep Field projects. Mobasher et al (2005) have identified HUDF-JD2 as a massive ($\sim6\times10^{11}M_\odot$) post-starburst galaxy at redshift z$\gtrsim6.5$. We find that HUDF-JD2 may be capable of reionizing its surrounding region of the Universe, starting the process at a redshift as high as z$\approx 15 \pm5$.Comment: 6 pages, 2 figures. Accepted for publication in ApJ Letter

The joint large-scale foreground-CMB posteriors of the 3-year WMAP data

Using a Gibbs sampling algorithm for joint CMB estimation and component separation, we compute the large-scale CMB and foreground posteriors of the 3-yr WMAP temperature data. Our parametric data model includes the cosmological CMB signal and instrumental noise, a single power law foreground component with free amplitude and spectral index for each pixel, a thermal dust template with a single free overall amplitude, and free monopoles and dipoles at each frequency. This simple model yields a surprisingly good fit to the data over the full frequency range from 23 to 94 GHz. We obtain a new estimate of the CMB sky signal and power spectrum, and a new foreground model, including a measurement of the effective spectral index over the high-latitude sky. A particularly significant result is the detection of a common spurious offset in all frequency bands of ~ -13muK, as well as a dipole in the V-band data. Correcting for these is essential when determining the effective spectral index of the foregrounds. We find that our new foreground model is in good agreement with template-based model presented by the WMAP team, but not with their MEM reconstruction. We believe the latter may be at least partially compromised by the residual offsets and dipoles in the data. Fortunately, the CMB power spectrum is not significantly affected by these issues, as our new spectrum is in excellent agreement with that published by the WMAP team. The corresponding cosmological parameters are also virtually unchanged.Comment: 5 pages, 4 figures, submitted to ApJL. Background data are available at http://www.astro.uio.no/~hke under the Research ta

ALMA observations of 99 GHz free-free and H40α\alpha line emission from star formation in the centre of NGC 253

We present Atacama Large Millimeter/submillimeter Array observations of 99.02 GHz free-free and H40$\alpha$ emission from the centre of the nearby starburst galaxy NGC 253. We calculate electron temperatures of 3700-4500 K for the photoionized gas, which agrees with previous measurements. We measure a photoionizing photon production rate of $(3.2\pm0.2)\times10^{53}$ s$^{-1}$ and a star formation rate of $1.73\pm0.12$ M$_\odot$ yr$^{-1}$ within the central 20$\times$10 arcsec, which fall within the broad range of measurements from previous millimetre and radio observations but which are better constrained. We also demonstrate that the dust opacities are ~3 dex higher than inferred from previous near-infrared data, which illustrates the benefits of using millimetre star formation tracers in very dusty sources.Comment: 5 pages, 3 figures, accepted for publication in MNRAS Letter

Biologically Inspired Feedback Design for Drosophila Flight

We use a biologically motivated model of the Drosophila's flight mechanics and sensor processing to design a feedback control scheme to regulate forward flight. The model used for insect flight is the grand unified fly (GUF) [3] simulation consisting of rigid body kinematics, aerodynamic forces and moments, sensory systems, and a 3D environment model. We seek to design a control algorithm that will convert the sensory signals into proper wing beat commands to regulate forward flight. Modulating the wing beat frequency and mean stroke angle produces changes in the flight envelope. The sensory signals consist of estimates of rotational velocity from the haltere organs and translational velocity estimates from visual elementary motion detectors (EMD's) and matched retinal velocity filters. The controller is designed based on a longitudinal model of the flight dynamics. Feedforward commands are generated based on a desired forward velocity. The dynamics are linearized around this operating point and a feedback controller designed to correct deviations from the operating point. The control algorithm is implemented in the GUF simulator and achieves the desired tracking of the forward reference velocities and exhibits biologically realistic responses

The Evolution of the Global Star Formation History as Measured from the Hubble Deep Field

The Hubble Deep Field (HDF) is the deepest set of multicolor optical photometric observations ever undertaken, and offers a valuable data set with which to study galaxy evolution. Combining the optical WFPC2 data with ground-based near-infrared photometry, we derive photometrically estimated redshifts for HDF galaxies with J<23.5. We demonstrate that incorporating the near-infrared data reduces the uncertainty in the estimated redshifts by approximately 40% and is required to remove systematic uncertainties within the redshift range 1<z<2. Utilizing these photometric redshifts, we determine the evolution of the comoving ultraviolet (2800 A) luminosity density (presumed to be proportional to the global star formation rate) from a redshift of z=0.5 to z=2. We find that the global star formation rate increases rapidly with redshift, rising by a factor of 12 from a redshift of zero to a peak at z~1.5. For redshifts beyond 1.5, it decreases monotonically. Our measures of the star formation rate are consistent with those found by Lilly et al. (1996) from the CFRS at z 2, and bridge the redshift gap between those two samples. The overall star formation or metal enrichment rate history is consistent with the predictions of Pei and Fall (1995) based on the evolving HI content of Lyman-alpha QSO absorption line systems.Comment: Latex format, 10 pages, 3 postscript figures. Accepted for publication in Ap J Letter

Connection and coherence between and among European instruments in the private international law of obligations

This article considers points of connection and coherence between and among the Rome I Regulation, the Rome II Regulation, and Regulation 1215, and relevant predecessor instruments. The degree of consistency in aim, design and detail of conflict of laws rules is examined, vertically (between/among consecutive instruments) and horizontally (across cognate instruments). Symbiosis between instruments is explored, as is the interrelationship between choice of court and choice of law. Disadvantaged parties, and the cohesiveness of their treatment under the Regulations, receive particular attention