Comparison of joint space versus task force load distribution optimization for a multiarm manipulator system

It is often proposed that the redundancy in choosing a force distribution for multiple arms grasping a single object should be handled by minimizing a quadratic performance index. The performance index may be formulated in terms of joint torques or in terms of the Cartesian space force/torque applied to the body by the grippers. The former seeks to minimize power consumption while the latter minimizes body stresses. Because the cost functions are related to each other by a joint angle dependent transformation on the weight matrix, it might be argued that either method tends to reduce power consumption, but clearly the joint space minimization is optimal. A comparison of these two options is presented with consideration given to computational cost and power consumption. Simulation results using a two arm robot system are presented to show the savings realized by employing the joint space optimization. These savings are offset by additional complexity, computation time and in some cases processor power consumption

ECONOMICS OF ALTERNATIVE BEEF CATTLE GENOTYPE AND MANAGEMENT/MARKETING SYSTEMS

Livestock Production/Industries,

Autonomous RPRV Navigation, Guidance and Control

Dryden Flight Research Center has the responsibility for flight testing of advanced remotely piloted research vehicles (RPRV) to explore highly maneuverable aircraft technology, and to test advanced structural concepts, and related aeronautical technologies which can yield important research results with significant cost benefits. The primary purpose is to provide the preliminary design of an upgraded automatic approach and landing control system and flight director display to improve landing performance and reduce pilot workload. A secondary purpose is to determine the feasibility of an onboard autonomous navigation, orbit, and landing capability for safe vehicle recovery in the event of loss of telemetry uplink communication with the vehicles. The current RPRV approach and landing method, the proposed automatic and manual approach and autoland system, and an autonomous navigation, orbit, and landing system concept which is based on existing operational technology are described

SOAR (Support Office for Aerogeophysical Research) Annual Report 1995/1996

The Support Office for Aerogeophysical Research (SOAR) was a facility of the National Science Foundation's Office of Polar Programs whose mission is to make airborne geophysical observations available to the broad research community of geology, glaciology and other sciences. The central office of the SOAR facility is located in Austin, Texas within the University of Texas Institute for Geophysics. Other institutions with significant responsibilities are the Lamont­ Doherty Earth Observatory of Columbia University and the Geophysics Branch of the U.S . Geological Survey. This report summarizes the goals and accomplishments of the SOAR facility during 1995/1996 and plans for the next year.National Science Foundation's Office of Polar ProgramsInstitute for Geophysic

The Assessment and Application of Patient Satisfaction Variables in Marketing a Psychiatric Practice

As the health care industry becomes increasingly more competitive, marketing functions will take on increasingly more importance. At the core of the marketing concept is the pursuit of customer satisfaction, or, for medical services, patient satisfaction. This study reports on the administration of a 33-item patient satisfaction questionnaire to the consumers of services in four outpatient offices of a large, group private psychiatric practice. Data are analyzed descriptively and recommendations are made for improvements of service delivery based on the findings of the survey

Ecological role of hunting in population dynamics and its implications for co-management of the Porcupine caribou herd

At a present population size of 160 000 animals, the Porcupine caribou herd has been subjected to an annual harvest rate of 2% for the past couple of decades. We modeled potential sensitivity of herd population dynamics to hunting and used that relation as a basis for a herd monitoring system. Maximum number of adult cows that could be harvested without causing a subsequent decline in herd size was calculated as a function of total number of adult cows in the herd and recruitment of calves to yearling age-class. Maximum cow harvest, therefore, is a threshold above which hunting has destabilizing effects on herd dynamics. Actual harvest in relation to theoretical maximum harvest provides a basis for prediction of herd sensitivity to hunting. Maximum harvest is a linear function of recruitment. Herd dynamics are especially sensitive to low recruitment, however, when combined with low herd size. The two relations involving recruitment and herd size provide the basis for predicting herd dynamics and sensitivity to hunting. Herd size is best estimated by aerial census, while an index of recruitment can be predicted by monitoring autumn body condition of adult females. Body condition can be estimated on the basis of a few simple metrics measured by hunters in the field. The hunters' data on body composition, combined with aerial census data on herd size, provide a useful tool for managers and co-management boards to devise policies and regulations to manage the herd. The population model and monitoring system can operate on the Internet and be accessible to all users in villages within the range of the Porcupine caribou herd

Age and growth of blue rockfish (Sebastes mystinus) from central and northern California

Otoliths from blue rockfish (Sebastes mystinus), were aged by using a combination of surface and break-and-burn methods. The samples were collected between 1978 and 1998 off central and northern California. Annual growth increments in the otoliths were validated by using edge analysis for females up to age 23 and for males to age 25.The first annual growth increment was identified by comparing the diameter of the otolith from fish known to be one year old collected in May (when translucent zone formation was completed) to the mean diameter of the first translucent zone in the otoliths from older fish. Our estimated maxi-mum ages of 44 years for males and 41 years for females were much older than those reported in previous studies. Von Bertalanffy growth models were developed for each sex. Females grew faster and reached larger maximum length than males. The growth models were similar to those generated in other studies of this species in southern and central California. Fish from northern and central California had similar maximum sizes, maximum ages, and growth model parameters

Institutional Need-based and Non-need Grants: Trends and Differences Among College and University Sectors

This study uses data from the National Postsecondary Student Aid Survey to analyze the use of need-based versus non-need financial aid awarded by colleges and universities in 1989 and 1995. Descriptive and trend analyses were used to examine differences in the use of these types of aid among varying institutional types, and to examine how financial aid awards have changed for full-time undergraduate students from different income backgrounds