Cyclic motion control for programmable bevel-tip needles 3D steering: a simulation study

Flexible, steerable, soft needles are desirable in Minimally Invasive Surgery to achieve complex trajectories while maintaining the benefits of percutaneous intervention compared to open surgery. One such needle is the multi-segment Programmable Bevel-tip Needle (PBN), which is inspired by the mechanical design of the ovipositor of certain wasps. PBNs can steer in 3D whilst minimizing the force applied to the surrounding substrate, due to the cyclic motion of the segments. Taking inspiration also from the control strategy of the wasp to perform insertions and lay their eggs, this paper presents the design of a cyclic controller that can steer a PBN to produce a desired trajectory in 3D. The performance of the controller is demonstrated in simulation in comparison to that of a direct controller without cyclic motion. It is shown that, while the same steering curvatures can be attained by both controllers, the time taken to achieve the configuration is longer for the cyclic controller, leading to issues of potential under-steering and longer insertion times

Fishes of the Charlotte Harbor Estuarine System, Florida

To date, 255 fish species in 95 families have been reliably reported from the Charlotte Harbor estuarine system in southwest Florida. The species list was compiled from recent fishery-independent collections, a review of reports and peer-reviewed literature, and examination of cataloged specimens at the Florida Museum of Natural History. Thirty-nine species are new records for this estuarine system. Many of the newly documented species are common on the west Florida continental shelf and associated inshore habitats. Twenty-two previously reported species were not included in the species list presented herein on the basis of more recent research, doubtful original identifications, or questionable locality data

Calibration of centre-of-mass energies at LEP 2 for a precise measurement of the W boson mass

The determination of the centre-of-mass energies for all LEP 2 running is presented. Accurate knowledge of these energies is of primary importance to set the absolute energy scale for the measurement of the W boson mass. The beam energy between 80 and 104 GeV is derived from continuous measurements of the magnetic bending field by 16 NMR probes situated in a number of the LEP dipoles. The relationship between the fields measured by the probes and the beam energy is defined in the NMR model, which is calibrated against precise measurements of the average beam energy between 41 and 61 GeV made using the resonant depolarisation technique. The validity of the NMR model is verified by three independent methods: the flux-loop, which is sensitive to the bending field of all the dipoles of LEP; the spectrometer, which determines the energy through measurements of the deflection of the beam in a magnet of known integrated field; and an analysis of the variation of the synchrotron tune with the total RF voltage. To obtain the centre-of-mass energies, corrections are then applied to account for sources of bending field external to the dipoles, and variations in the local beam energy at each interaction point. The relative error on the centre-of-mass energy determination for the majority of LEP 2 running is 1.2 x 10^{-4}, which is sufficiently precise so as not to introduce a dominant uncertainty on the W mass measurement.Comment: 79 pages, 45 figures, submitted to EPJ

Observation of radiative spin-polarization at 60.6 GeV

Radiative spin-polarization has been used extensively at LEP to accurately measure the beam energy around the Z resonance. As the LEP physics has moved on to the W boson the calibration based on polarization must be extended towards higher beam energies. This is difficult as the depolarizing effects of spin resonances grow rapidly with beam energy. At LEP it has been possible for the first time to measure transverse beam polarization at 60.6 GeV. To allow a build-up of polarization the tunes and the energy were chosen accurately. A low phase advance optics was used and careful orbit correction was carried out using dynamic beam based alignment data. Harmonic spin matching was applied both in a deterministic and a novel semi- empirical way. (11 refs)

Spatial Resolution of Double-Sided Silicon Microstrip Detectors for the PAMELA Apparatus

The PAMELA apparatus has been assembled and it is ready to be launched in a satellite mission to study mainly the antiparticle component of cosmic rays. In this paper the performances obtained for the silicon microstrip detectors used in the magnetic spectrometer are presented. This subdetector reconstructs the curvature of a charged particle in the magnetic field produced by a permanent magnet and consequently determines momentum and charge sign, thanks to a very good accuracy in the position measurements (better than 3 um in the bending coordinate). A complete simulation of the silicon microstrip detectors has been developed in order to investigate in great detail the sensor's characteristics. Simulated events have been then compared with data gathered from minimum ionizing particle (MIP) beams during the last years in order to tune free parameters of the simulation. Finally some either widely used or original position finding algorithms, designed for such kind of detectors, have been applied to events with different incidence angles. As a result of the analysis, a method of impact point reconstruction can be chosen, depending on both the particle's incidence angle and the cluster multiplicity, so as to maximize the capability of the spectrometer in antiparticle tagging.Comment: 28 pages, 18 figures, submitted to Nuclear Instruments and Methods in Physics Research

Helium Emission in the Type Ic SN 1999cq

We present the first unambiguous detection of helium emission lines in spectra of Type Ic supernovae (SNe Ic). The presence of He I lines, with full width at half maximum ~ 2000 km/s, and the distinct absence of any other intermediate-width emission (e.g., Halpha), implies that the ejecta of SN Ic 1999cq are interacting with dense circumstellar material composed of almost pure helium. This strengthens the argument that the progenitors of SNe Ic are core-collapse events in stars that have lost both their hydrogen and helium envelopes, either through a dense wind or mass-transfer to a companion. In this way, SN 1999cq is similar to supernovae such as SN 1987K and SN 1993J that helped firmly establish a physical connection between Type Ib and Type II supernovae. The light curve of SN 1999cq is very fast, with an extremely rapid rise followed by a quick decline. SN 1999cq is also found to exhibit a high level of emission at blue wavelengths (< 5500 A), likely resulting from either an unusually large amount of iron and iron-group element emission or uncharacteristically low reddening compared with other SNe Ic.Comment: 17 pages (AASTeX V5.0), 4 figures, accepted for publication in the Astronomical Journa

The Spectroscopic Variability of GRB 021004

We present spectra of the optical transient (OT) associated with GRB 021004. The spectra show a blue continuum with superposed absorption features and one emission line. We confirm two intervening metal-line systems at z = 1.380 and z = 1.602 and one very strong absorption system at a redshift of z = 2.323. Ly_alpha emission is also seen at this redshift. While the spectrum of the OT overall cannot be simply described with a power law, the spectral index over the range 5500-8850 A is steep, F_nu ~ nu^(-0.96 +/- 0.03). Comparison of spectra from multiple epochs shows a distinct color evolution with the OT becoming redder with time over the first three days. This is the first clear example of color change in an OT detected spectroscopically.Comment: 13 pages, two figures, revised per referee's comments, accepted for publication in ApJ Letter

The Type IIn SN 1995G: Interaction with the CSM

We present the photometric and spectroscopic evolution of the type IIn SN 1995G in NGC 1643, on the basis of 4 years of optical and infrared observations. This supernova shows very flat optical light curves similar to SN 1988Z, with a slow decline rate at all times. The spectra are characterized by strong Balmer lines with multiple components in emission and with a P-Cygni absorption component blueshifted by only 700 km/s. This feature indicates the presence of a slowly expanding shell above the SN ejecta as in the case of SNe 1994aj and 1996L. As in other SNe IIn the slow luminosity decline cannot be explained only with a radioactive energy input and an additional source of energy is required, most likely that produced by the interaction between supernova ejecta and a pre--existent circumstellar medium. It was estimated that the shell material has a density n(H) >> 10^8 cm^-3, consistent with the absence of forbidden lines in the spectra. About 2 years after the burst the low velocity shell is largely overtaken by the SN ejecta and the luminosity drops at a faster rate.Comment: 14 pages, including 11 figures. Accepted by MNRA

Optical Spectra of the Type Ia Supernova 1998aq

We present 29 optical spectra of the normal Type Ia SN 1998aq, ranging from 9 days before to 241 days after the time of maximum brightness. This spectroscopic data set, together with photometric data presented elsewhere, makes SN 1998aq one of the best observed Type Ia supernova at optical wavelengths. We use the parameterized supernova synthetic-spectrum code SYNOW to study line identifications in the early photospheric-phase spectra. The results include evidence for lines of singly ionized carbon, at ejection velocities as low as 11,000 km/sec. Implications for explosion models are discussed.Comment: 40 pages including 20 figures and 4 tables. Accepted by A