A simple 5-DOF walking robot for space station application

Robots on the NASA space station have a potential range of applications from assisting astronauts during EVA (extravehicular activity), to replacing astronauts in the performance of simple, dangerous, and tedious tasks; and to performing routine tasks such as inspections of structures and utilities. To provide a vehicle for demonstrating the pertinent technologies, a simple robot is being developed for locomotion and basic manipulation on the proposed space station. In addition to the robot, an experimental testbed was developed, including a 1/3 scale (1.67 meter modules) truss and a gravity compensation system to simulate a zero-gravity environment. The robot comprises two flexible links connected by a rotary joint, with a 2 degree of freedom wrist joints and grippers at each end. The grippers screw into threaded holes in the nodes of the space station truss, and enable it to walk by alternately shifting the base of support from one foot (gripper) to the other. Present efforts are focused on mechanical design, application of sensors, and development of control algorithms for lightweight, flexible structures. Long-range research will emphasize development of human interfaces to permit a range of control modes from teleoperated to semiautonomous, and coordination of robot/astronaut and multiple-robot teams

The variable relationship between arm and hand use: a rationale for using finger magnetometry to complement wrist accelerometry when measuring daily use of the upper extremity.

Wrist-worn accelerometers are becoming more prevalent as a means to assess use of the impaired upper extremity in daily life after stroke. However, wrist accelerometry does not measure joint movements of the hand, which are integral to functional use of the upper extremity. In this study, we used a custom-built, non-obtrusive device called the manumeter to measure both arm use (via wrist accelerometry) and hand use (via finger magnetometry) of a group of unimpaired subjects while they performed twelve motor tasks at three intensities. We also gave the devices to four stroke subjects and asked them to wear them for six hours a day for one month. From the in-lab testing we found that arm use was a strong predictor of hand use for individual tasks, but that the slope of the relationship varied by up to a factor of ~12 depending on the task being performed. Consistent with this, in the daily use data collected from stroke subjects we found a broad spread in the relationship between arm and hand use. These results suggest that analyzing the spread of the relationship between daily hand and arm use will give more insight into upper extremity recovery than wrist accelerometry or finger magnetometry alone, because the spread reflects the nature of the daily tasks performed as well as the amount of upper extremity use

Expert-augmented machine learning.

Machine learning is proving invaluable across disciplines. However, its success is often limited by the quality and quantity of available data, while its adoption is limited by the level of trust afforded by given models. Human vs. machine performance is commonly compared empirically to decide whether a certain task should be performed by a computer or an expert. In reality, the optimal learning strategy may involve combining the complementary strengths of humans and machines. Here, we present expert-augmented machine learning (EAML), an automated method that guides the extraction of expert knowledge and its integration into machine-learned models. We used a large dataset of intensive-care patient data to derive 126 decision rules that predict hospital mortality. Using an online platform, we asked 15 clinicians to assess the relative risk of the subpopulation defined by each rule compared to the total sample. We compared the clinician-assessed risk to the empirical risk and found that, while clinicians agreed with the data in most cases, there were notable exceptions where they overestimated or underestimated the true risk. Studying the rules with greatest disagreement, we identified problems with the training data, including one miscoded variable and one hidden confounder. Filtering the rules based on the extent of disagreement between clinician-assessed risk and empirical risk, we improved performance on out-of-sample data and were able to train with less data. EAML provides a platform for automated creation of problem-specific priors, which help build robust and dependable machine-learning models in critical applications

Spatial Degrees of Freedom in Everett Quantum Mechanics

Stapp claims that, when spatial degrees of freedom are taken into account, Everett quantum mechanics is ambiguous due to a "core basis problem." To examine an aspect of this claim I generalize the ideal measurement model to include translational degrees of freedom for both the measured system and the measuring apparatus. Analysis of this generalized model using the Everett interpretation in the Heisenberg picture shows that it makes unambiguous predictions for the possible results of measurements and their respective probabilities. The presence of translational degrees of freedom for the measuring apparatus affects the probabilities of measurement outcomes in the same way that a mixed state for the measured system would. Examination of a measurement scenario involving several observers illustrates the consistency of the model with perceived spatial localization of the measuring apparatus.Comment: 34 pp., no figs. Introduction, discussion revised. Material tangential to main point remove

The Star Formation and Extinction Co-Evolution of UV-Selected Galaxies over 0.05<z<1.2

We use a new stacking technique to obtain mean mid IR and far IR to far UV flux ratios over the rest near-UV/near-IR color-magnitude diagram. We employ COMBO-17 redshifts and COMBO-17 optical, GALEX far and near UV, Spitzer IRAC and MIPS Mid IR photometry. This technique permits us to probe infrared excess (IRX), the ratio of far IR to far UV luminosity, and specific star formation rate (SSFR) and their co-evolution over two orders of magnitude of stellar mass and redshift 0.1<z<1.2. We find that the SSFR and the characteristic mass (M_0) above which the SSFR drops increase with redshift (downsizing). At any given epoch, IRX is an increasing function of mass up to M_0. Above this mass IRX falls, suggesting gas exhaustion. In a given mass bin below M_0 IRX increases with time in a fashion consistent with enrichment. We interpret these trends using a simple model with a Schmidt-Kennicutt law and extinction that tracks gas density and enrichment. We find that the average IRX and SSFR follows a galaxy age parameter which is determined mainly by the galaxy mass and time since formation. We conclude that blue sequence galaxies have properties which show simple, systematic trends with mass and time such as the steady build-up of heavy elements in the interstellar media of evolving galaxies and the exhaustion of gas in galaxies that are evolving off the blue sequence. The IRX represents a tool for selecting galaxies at various stages of evolution.Comment: Accepted for publication in GALEX Special Ap.J.Suppl., December, 200

UV Star Formation Rates in the Local Universe

We measure star formation rates of ~50,000 optically-selected galaxies in the local universe (z~0.1), spanning a range from gas-rich dwarfs to massive ellipticals. We obtain dust-corrected SFRs by fitting the GALEX (UV) and SDSS (optical) photometry to a library of population synthesis models that include dust attenuation. For star-forming galaxies, our UV-based SFRs compare remarkably well with those derived from SDSS H alpha. Deviations from perfect agreement between these two methods are due to differences in the dust attenuation estimates. In contrast to H alpha, UV provides reliable SFRs for galaxies with weak or no H alpha emission, and where H alpha is contaminated with an emission from an AGN. We use full-SED SFRs to calibrate a simple prescription that uses GALEX UV magnitudes to produce good SFRs for normal star-forming galaxies. The specific SFR is considered as a function of stellar mass for (1) star-forming galaxies with no AGN, (2) those hosting an AGN, and for (3) galaxies without H alpha emission. We find that the three have distinct star formation histories, with AGN lying intermediate between the star-forming and the quiescent galaxies. Normal star forming galaxies (without an AGN) lie on a relatively narrow linear sequence. Remarkably, galaxies hosting a strong AGN appear to represent the massive continuation of this sequence. Weak AGN, while also massive, have lower SFR, sometimes extending to the realm of quiescent galaxies. We propose an evolutionary sequence for massive galaxies that smoothly connects normal star-forming galaxies to quiescent (red sequence) galaxies via strong and weak AGN. We confirm that some galaxies with no H alpha emission show signs of SF in the UV. We derive a UV-based cosmic SFR density at z=0.1 with smaller total error than previous measurements (abridged).Comment: Accepted for publication in ApJ (Special GALEX Supplement issue - Dec 2007). v2: Typo in Eq. 2 correcte

The Hamiltonian of the V15_{15} Spin System from first-principles Density-Functional Calculations

We report first-principles all-electron density-functional based studies of the electronic structure, magnetic ordering and anisotropy for the V$_{15}$ molecular magnet. From these calculations, we determine a Heisenberg Hamiltonian with four antiferromagnetic and one {\em ferromagnetic} coupling. We perform direct diagonalization to determine the temperature dependence of the susceptibility. This Hamiltonian reproduces the experimentally observed spin $S$=1/2 ground state and low-lying $S$=3/2 excited state. A small anisotropy term is necessary to account for the temperature independent part of the magnetization curve.Comment: 4 pages in RevTeX format + 2 ps-figures, accepted by PRL Feb. 2001 (previous version was an older version of the paper

Chemical and Photometric Evolution of Extended Ultraviolet Disks: Optical Spectroscopy of M83 (NGC5236) and NGC4625

We present the results from the analysis of optical spectra of 31 Halpha-selected regions in the extended UV (XUV) disks of M83 (NGC5236) and NGC4625 recently discovered by GALEX. The spectra were obtained using IMACS at Las Campanas Observatory 6.5m Magellan I telescope and COSMIC at the Palomar 200-inch telescope, respectively for M83 and NGC4625. The line ratios measured indicate nebular oxygen abundances (derived from the R23 parameter) of the order of Zsun/5-Zsun/10. For most emission-line regions analyzed the line fluxes and ratios measured are best reproduced by models of photoionization by single stars with masses in the range 20-40 Msun and oxygen abundances comparable to those derived from the R23 parameter. We find indications for a relatively high N/O abundance ratio in the XUV disk of M83. Although the metallicities derived imply that these are not the first stars formed in the XUV disks, such a level of enrichment could be reached in young spiral disks only 1 Gyr after these first stars would have formed. The amount of gas in the XUV disks allow maintaining the current level of star formation for at least a few Gyr.Comment: 52 pages, 8 tables, 7 figures, accepted for publication in Ap

Extinction Corrected Star Formation Rates Empirically Derived from Ultraviolet-Optical Colors

Using a sample of galaxies from the Sloan Digital Sky Survey spectroscopic catalog with measured star-formation rates (SFRs) and ultraviolet (UV) photometry from the GALEX Medium Imaging Survey, we derived empirical linear correlations between the SFR to UV luminosity ratio and the UV-optical colors of blue sequence galaxies. The relations provide a simple prescription to correct UV data for dust attenuation that best reconciles the SFRs derived from UV and emission line data. The method breaks down for the red sequence population as well as for very blue galaxies such as the local ``supercompact'' UV luminous galaxies and the majority of high redshift Lyman Break Galaxies which form a low attenuation sequence of their own.Comment: 20 pages, 11 figures, accepted for publication in the ApJS GALEX special issu