Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace

In situ lunar heat flow experiment using the LUNAR-A penetrator

An in situ lunar heat flow measurement is planned using the Japanese Lunar-A penetrators. The temperature gradient of the regolith is expected to be obtained within 12% error

Derivation of globally averaged lunar heat flow from the local heat flow values and the Thorium distribution at the surface: expected improvement by the LUNAR-A Mission

The relationship between the Th abundance and the heat flow data of the Apollo sites and the LUANR-A sites, where the Th concentrations are in the wide range from 1 ppm to 6 ppm, will allow for a more precise estimation of the averaged heat flow value

Thermal in situ measurements in the Lunar Regolith using the LUNAR-A penetrators: an outline of data reduction methods

For determining the lunar heat flow two parameters need to be measured: The thermal gradient and the thermal conductivity of the regolith. Methods for inferring these quantities from in situ measurements using the LUNAR-A penetrators will be presented

Hadron and Quark Form Factors in the Relativistic Harmonic Oscillator Model

Nucleon, pion and quark form factors are studied within the relativistic harmonic oscillator model including the quark spin. It is shown that the nucleon charge, magnetic and axial form factors and the pion charge form factor can be explained with one oscillator parameter if one accounts for the scaling rule and the size of the constituent quarks.Comment: 9 pages, Latex, 3 postscript figures, DFTT 8/9

HIV-infected cells are major inducers of plasmacytoid dendritic cell interferon production, maturation, and migration

AbstractPlasmacytoid dendritic cells (PDC), natural type-1 interferon (IFN) producing cells, could play a role in the innate anti-HIV immune response. Previous reports indicated that PDC IFN production is induced by HIV. Our results show a more robust IFN induction when purified PDC (>95%) were exposed to HIV-infected cells. This effect was not observed with non-viable cells, DNA, and RNA extracted from infected cells, and viral proteins. The response was blocked by anti-CD4 and neutralizing anti-gp120 antibodies as well as soluble CD4. IFN induction by HIV-infected cells was also prevented by low-dose chloroquine, which inhibits endosomal acidification. PDC IFN release resulted in reduced HIV production by infected CD4+ cells, supporting an anti-HIV activity of PDC. Stimulated CD4+ cells induced PDC activation and maturation; markers for PDC migration (CCR7) were enhanced by HIV-infected CD4+ cells only. This latter finding could explain the decline in circulating PDC in HIV-infected individuals

Bandgap properties of two-dimensional low-index photonic crystals

We study the bandgap properties of two-dimensional photonic crystals created by a lattice of rods or holes conformed in a symmetric or asymmetric triangular structure. Using the plane-wave analysis, we calculate a minimum value of the refractive index contrast for opening both partial and full two-dimensional spectral gaps for both TM and TE polarized waves. We also analyze the effect of ellipticity of rods and holes and their orientation on the threshold value and the relative size of the bandgap.Comment: 5 pages, 6 figures, App. Phys. B. styl

Speech Communication

Contains reports on six research projects.U. S. Air Force Command and Control Development Division under Contract AF19(604)-6102National Science Foundatio