A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator

Using a method based upon resolving joint velocities using reciprocal screw quantities, compact analytical expressions are generated for the inverse solution of the joint rates of a seven revolute (spherical-revolute-spherical) manipulator. The method uses a sequential decomposition of screw coordinates to identify reciprocal screw quantities used in the resolution of a particular joint rate solution, and also to identify a Jacobian null-space basis used for the direct solution of optimal joint rates. The results of the screw decomposition are used to study special configurations of the manipulator, generating expressions for the inverse velocity solution for all non-singular configurations of the manipulator, and identifying singular configurations and their characteristics. Two functions are therefore served: a new general method for the solution of the inverse velocity problem is presented; and complete analytical expressions are derived for the resolution of the joint rates of a seven degree of freedom manipulator useful for telerobotic and industrial robotic application

Remote sensing in Iowa agriculture: Identification and classification of Iowa's crops, soils and forestry resources using ERTS-1 and complimentary underflight imagery

The author has identified the following significant results. Springtime ERTS-1 imagery covering pre-selected test sites in Iowa showed considerable detail with respect to broad soil and land use patterns. Additional imagery has been incorporated into a state mosaic. The mosaic was used as a base for soil association lines transferred from an existing map. The regions of greatest contrast are between the Clarion-Nicollet-Webster soil association area and adjacent areas. Landscape characteristics in this area result in land use patterns with a high percentage of pasture, hay, and timber. The soil association areas of the state that have patterns interpreted to be associated with intensive row crop production are: Moody, Galva-Primghar-Sac, Clarion-Nicollet-Webter, Tama-Muscatine, Dinsdale-Tama, Cresco-Lourdes, Clyde, Kenyon-Floyd-Clyde, and the Luton-Onawa-Salix area on the Missouri River floodplain. Forestland estimates have been attained for an area in central Iowa using wintertime ERTS-1 imagery. Visual analysis of multispectral, temporal imagery indicates that temporal analysis for cropland identification and acreage analyses procedures may be a very useful tool. Combinations of wintertime, springtime, and summertime ERTS-1 imagery separate most vegetation types. Timing can be critical depending upon crop development and harvesting times because of the dynamic nature of agricultural production

The role of iconic gestures and mouth movements in face-to-face communication

Human face-to-face communication is multimodal: it comprises speech as well as visual cues, such as articulatory and limb gestures. In the current study, we assess how iconic gestures and mouth movements influence audiovisual word recognition. We presented video clips of an actress uttering single words accompanied, or not, by more or less informative iconic gestures. For each word we also measured the informativeness of the mouth movements from a separate lipreading task. We manipulated whether gestures were congruent or incongruent with the speech, and whether the words were audible or noise vocoded. The task was to decide whether the speech from the video matched a previously seen picture. We found that congruent iconic gestures aided word recognition, especially in the noise-vocoded condition, and the effect was larger (in terms of reaction times) for more informative gestures. Moreover, more informative mouth movements facilitated performance in challenging listening conditions when the speech was accompanied by gestures (either congruent or incongruent) suggesting an enhancement when both cues are present relative to just one. We also observed (a trend) that more informative mouth movements speeded up word recognition across clarity conditions, but only when the gestures were absent. We conclude that listeners use and dynamically weight the informativeness of gestures and mouth movements available during face-to-face communication

Carbon and nitrogen dynamics: Greenhouse gases in groundwater beneath a constructed wetland treating municipal wastewater

Conference oral presentationConstructed wetlands (CW) act as nitrogen (N) sinks and reactors facilitating a number of physical, chemical and biological processes. The N removal efficiency of through-flowing water in such systems when used to treat municipal wastewater is variable. Their overall removal efficiencies do not specifically explain which N species have been removed by physical attenuation, and by biological assimilation or transformation to other forms. A wider understanding of how N removal occurs would help elucidate how losses of N and associated gases from CW impact on water and air quality. The objective of this study is to investigate the C and N cycling processes in the porewater of soils immediately adjacent, up-gradient and down- gradient to helophyte —vegetated CW cells

Remote sensing in Iowa agriculture: Identification and classification of Iowa's crops, soils and forestry resources using ERTS-1 and complimentary underflight imagery

There are no author-identified significant results in this report

Breakdown of weak-field magnetotransport at a metallic quantum critical point

We show how the collapse of an energy scale in a quantum critical metal can lead to physics beyond the weak-field limit usually used to compute transport quantities. For a density-wave transition we show that the presence of a finite magnetic field at the critical point leads to discontinuities in the transport coefficients as temperature tends to zero. The origin of these discontinuities lies in the breakdown of the weak field Jones-Zener expansion which has previously been used to argue that magneto-transport coefficients are continuous at simple quantum critical points. The presence of potential scattering and magnetic breakdown rounds the discontinuities over a window determined by tau Delta < 1 where Delta is the order parameter and tau is the quasiparticle elastic lifetime.Comment: 4 pages, 3 figures RevTeX forma

Gender-based Violence Among UK University Students and Staff: A Socio-Ecological Framework

Theories have been used to explain gender-based violence (GBV) in U.S. universities (e.g. Gervais, DiLillo and McChargue, 2014; Tewksbury and Mustaine's, 2001) but they have limited utility in UK universities, as the history, composition, geography, and culture of UK universities differs (Phipps and Smith, 2012; Stenning et al., 2012). Due to these differences, a theoretical framework relevant to UK universities is needed that can guide studies and contextualise findings. As a starting point, this working paper adapted Hagemann-White et al.’s (2010) framework, which was developed for the European Union (EU). To date, this framework is the most researched, demonstrated and wholistic model for the EU. The framework used an ecological model to identify and categorise factors facilitating and scaffolding GBV, including policies, sanctions, redress and implementation of laws, to provide nation states with a framework to guide developing and implementing policies that would more effectively prevent and combat GBV. This working paper aimed to tailor Hagemann-White et al.’s model to UK universities, using a more sophisticated understanding of intersectional (dis)advantage (such as ethnicity, gender, sexuality, disability, class, age), men and masculinities, peer-group support for violence, environmental time-space and power relations, and legal duties in prevention and response

Iowan Drift Problem, Northeastern Iowa

https://ir.uiowa.edu/igs_ri/1006/thumbnail.jp

Empowering youth sport environments: Implications for daily moderate-to-vigorous physical activity and adiposity

AbstractBackgroundEvidence suggests involvement in youth sport does not guarantee daily guidelines for moderate-to-vigorous physical activity (MVPA) are met, and participation may not mitigate the risks associated with physical inactivity. The need to promote higher habitual MVPA engagement amongst children active in the youth sport context has therefore been underlined. Framed by self-determination theory, the aim of the present study was to examine the implications of the motivational climate created in youth sport, for children's daily engagement in MVPA and associated adiposity. Specifically, we sought to test a motivational sequence in which children's perceptions of an empowering coach-created motivational climate were related to autonomous and controlled motivation, which in turn predicted sport-related enjoyment. Finally, enjoyment is assumed to predict accelerometer assessed daily MVPA and, following this, adiposity.MethodsMale and female youth sport participants aged 9–16 years (n = 112) completed multi-section questionnaires assessing their perceptions of the motivational climate created in youth sport (i.e., autonomy supportive, task involving, socially supportive), autonomous and controlled motivation, and sport-related enjoyment. Daily MVPA engagement was determined via 7 days of accelerometry. Percent body fat (BF%) was estimated using bio-electrical impedance analysis.ResultsPath analysis revealed perceptions of an empowering motivational climate positively predicted players' autonomous motivation, and in turn, sport-related enjoyment. Enjoyment was also significantly negatively related to players' BF%, via a positive association with daily MVPA.ConclusionFostering more empowering youth sport environments may hold implications for the prevention of excess adiposity, through encouraging higher habitual MVPA engagement. Findings may inform the optimal design of youth sport settings for MVPA promotion, and contribute towards associated healthy weight maintenance amongst youth active in this context. Longitudinal and intervention studies are required to confirm these results