Adjustable impedance, force feedback and command language aids for telerobotics (parts 1-4 of an 8-part MIT progress report)

Projects recently completed or in progress at MIT Man-Machine Systems Laboratory are summarized. (1) A 2-part impedance network model of a single degree of freedom remote manipulation system is presented in which a human operator at the master port interacts with a task object at the slave port in a remote location is presented. (2) The extension of the predictor concept to include force feedback and dynamic modeling of the manipulator and the environment is addressed. (3) A system was constructed to infer intent from the operator's commands and the teleoperation context, and generalize this information to interpret future commands. (4) A command language system is being designed that is robust, easy to learn, and has more natural man-machine communication. A general telerobot problem selected as an important command language context is finding a collision-free path for a robot

Modeling associations between public understanding, engagement and forest conditions in theInland Northwest, USA

Opinions about public lands and the actions of private non-industrial forest owners in the western United States play important roles in forested landscape management as both public and private forests face increasing risks from large wildfires, pests and disease. This work presents the responses from two surveys, a random-sample telephone survey of more than 1500 residents and a mail survey targeting owners of parcels with 10 or more acres of forest. These surveys were conducted in three counties (Wallowa, Union, and Baker) in northeast Oregon, USA. We analyze these survey data using structural equation models in order to assess how individual characteristics and understanding of forest management issues affect perceptions about forest conditions and risks associated with declining forest health on public lands. We test whether forest understanding is informed by background, beliefs, and experiences, and whether as an intervening variable it is associated with views about forest conditions on publicly managed forests. Individual background characteristics such as age, gender and county of residence have significant direct or indirect effects on our measurement of understanding. Controlling for background factors, we found that forest owners with higher self-assessed understanding, and more education about forest management, tend to hold more pessimistic views about forest conditions. Based on our results we argue that self-assessed understanding, interest in learning, and willingness to engage in extension activities together have leverage to affect perceptions about the risks posed by declining forest conditions on public lands, influence land owner actions, and affect support for public policies. These results also have broader implications for management of forested landscapes on public and private lands amidst changing demographics in rural communities across the Inland Northwest where migration may significantly alter the composition of forest owner goals, understanding, and support for various management actions

Modelling Associations between Public Understanding, Engagement and Forest Conditions in the Inland Northwest, USA.

Abstract Opinions about public lands and the actions of private non-industrial forest owners in the western United States play important roles in forested landscape management as both public and private forests face increasing risks from large wildfires, pests and disease. This work presents the responses from two surveys, a random-sample telephone survey of more than 1500 residents and a mail survey targeting owners of parcels with 10 or more acres of forest. These surveys were conducted in three counties (Wallowa, Union, and Baker) in northeast Oregon, USA. We analyze these survey data using structural equation models in order to assess how individual characteristics and understanding of forest management issues affect perceptions about forest conditions and risks associated with declining forest health on public lands. We test whether forest understanding is informed by background, beliefs, and experiences, and whether as an intervening variable it is associated with views about forest conditions on publicly managed forests. Individual background characteristics such as age, gender and county of residence have significant direct or indirect effects on our measurement of understanding. Controlling for background factors, we found that forest owners with higher self-assessed understanding, and more education about forest management, tend to hold more pessimistic views about forest conditions. Based on our results we argue that self-assessed understanding, interest in learning, and willingness to engage in extension activities together have leverage to affect perceptions about the risks posed by declining forest conditions on public lands, influence land owner actions, and affect support for public policies. These results also have broader implications for management of forested landscapes on public and private lands amidst changing demographics in rural communities across the Inland Northwest where migration may significantly alter the composition of forest owner goals, understanding, and support for various management actions

Neutral pion production in solar flares

The Gamma-Ray Spectrometer (GRS) on SMM has detected more than 130 flares with emission approx 300 keV. More than 10 of these flares were detected at photon energies 10 MeV. Although the majority of the emission at 10 MeV must be from electron bremsstrahlung, at least two of the flares have spectral properties 40 MeV that require gamma rays from the decay of neutral pions. It is found that pion production can occur early in the impulsive phase as defined by hard X-rays near 100 keV. It is also found in one of these flares that a significant portion of this high-energy emission is produced well after the impulsive phase. This extended production phase, most clearly observed at high energies, may be a signature of the acceleration process which produces solar energetic particles (SEP's) in space

Forest management and wildfire risk in inland northwest

This brief reports the results of a mail survey of forest landowners in northeastern Oregon conducted in the fall of 2012 by the Communities and Forests in Oregon (CAFOR) Project at the University of Colorado and the University of New Hampshire in cooperation with Oregon State University College of Forestry Extension. The mail survey--a follow-up to a telephone survey conducted for the counties of Baker, Union, and Wallowa in the fall of 2011 -was administered to understand who constituted forest landowners in these three coun¬ties and their perceptions about forest management on both public and private land, as well as risks to forests in the area and the actions they have taken to reduce those risks. The respondents indicated that they perceive wildfire as the greatest threat to their lands, and they consider cooperation with neighbors as very or extremely important for land management. Forest landowners believe public lands are managed poorly and see a greater risk of wildfire occurring on neighboring public land than on their own land. Their opinions on land management are not strongly related to background factors or ideology (for example, gender, age, political party, wealth) but may be heavily influenced by personal experience with wildfire

Time extended production of neutrons during a solar flare

The most energetic neutral emissions expected from solar flares are gamma rays (10 MeV) from relativistic primary and secondary electron bremsstrahlung,from approx 0 meson decay, and from neutrons ( 50 MeV). Bremsstrahlung photon energies extend to that of the highest energy electron present, but the shape of the pi sup 0 gamma ray spectrum, peaking at 69 MeV, does not depend strongly on the proton spectrum above threshold, which is approx. 292 MeV for meson production on protons. The highest energy neutrons observed indicate directly the highest energy ions which interact at the Sun, and the presence or absence of anergy cutoff in the acceleration process. The high-energy proton spectrum shape can be determined from the neutron spectrum

Determinations of SIII, OIV and NeV abundances in planetary nebulae from IR lines

Airborne observations of the infrared forbidden lines (SIII) 18.71 microns, (NeV) 24.28 microns and (OIV) 25.87 microns were made for twelve planetary nebulae. One or more of the lines was detected in seven of these nebulae and ionic abundances were calculated. These results are insensitive to nebula temperatures, in contrast to the case for optical or UV lines. However, density estimates from optical and UV forbidden lines were required to obtain abundances. The NeV infrared line flux from NGC 7662 was combined with the 3426A flux to obtain a NeV electron temperature of 11,200 (+2000, - 1100) K, which overlaps OIII temperature measurements. Since the ionization potential of NeIV is much greater than that of OII, T sub e (NeV) would be expected to be much greater than T sub e (OIII). In fact, numerical models predict T sub e (NeV) (16-20) x 1000 K. This discrepancy may indicate inaccuracies in currently available atomic parameters for NeV

Purifying and Reversible Physical Processes

Starting from the observation that reversible processes cannot increase the purity of any input state, we study deterministic physical processes, which map a set of states to a set of pure states. Such a process must map any state to the same pure output, if purity is demanded for the input set of all states. But otherwise, when the input set is restricted, it is possible to find non-trivial purifying processes. For the most restricted case of only two input states, we completely characterize the output of any such map. We furthermore consider maps, which combine the property of purity and reversibility on a set of states, and we derive necessary and sufficient conditions on sets, which permit such processes.Comment: 5 pages, no figures, v2: only minimal change