Cartesian control of redundant robots

A Cartesian-space position/force controller is presented for redundant robots. The proposed control structure partitions the control problem into a nonredundant position/force trajectory tracking problem and a redundant mapping problem between Cartesian control input F is a set member of the set R(sup m) and robot actuator torque T is a set member of the set R(sup n) (for redundant robots, m is less than n). The underdetermined nature of the F yields T map is exploited so that the robot redundancy is utilized to improve the dynamic response of the robot. This dynamically optimal F yields T map is implemented locally (in time) so that it is computationally efficient for on-line control; however, it is shown that the map possesses globally optimal characteristics. Additionally, it is demonstrated that the dynamically optimal F yields T map can be modified so that the robot redundancy is used to simultaneously improve the dynamic response and realize any specified kinematic performance objective (e.g., manipulability maximization or obstacle avoidance). Computer simulation results are given for a four degree of freedom planar redundant robot under Cartesian control, and demonstrate that position/force trajectory tracking and effective redundancy utilization can be achieved simultaneously with the proposed controller

Noise measurements at Stockton Airport obtained during engineering evaluation of two-segment approaches in a 727-222 aircraft

The results of acoustic measurements made on a 727-222 aircraft during standard ILS and two-segment approaches are presented. The aircraft was equipped with a special purpose glide slope computer to provide the capability of making two-segment noise abatement approaches. For upper segment computations, the computer used barometric-corrected pressure altitude and the slant range to a DME transmitter which was colocated with the glide slope transmitter. The computer used the ILS glide slope deviation for lower segment computations. Additional measurements were made on 737 revenue aircraft using the Stockton Airport. The purpose of the acoustical portion of the test was to measure and identify the noise levels during the various approaches

Noise measurements taken at LAX during operational evaluation of two-segment approaches in a 727-200 aircraft

A series of seven noise measurements were made each day over a period of fifteen days. The first and last flights each day were made by a specially instrumented 727-200 aircraft being used to evaluate the operational effectiveness of two-segment noise abatement approaches in scheduled service. Noise measurements were made to determine the noise reduction benefits of the two-segment approaches

The PROUST radar

The Stratosphere-Troposphere (ST) radar called PROUST works at 935 MHz using the same klystron and antenna as the coherent-scatter radar. The use of this equipment for ST work has required some important modifications of the transmitting system and the development of receiving, data processing and acquisition (1984,1985) equipment. The modifications are discussed

Moving to Extremal Graph Parameters

Which graphs, in the class of all graphs with given numbers n and m of edges and vertices respectively, minimizes or maximizes the value of some graph parameter? In this paper we develop a technique which provides answers for several different parameters: the numbers of edges in the line graph, acyclic orientations, cliques, and forests. (We minimize the first two and maximize the third and fourth.) Our technique involves two moves on the class of graphs. A compression move converts any graph to a form we call fully compressed: the fully compressed graphs are split graphs in which the neighbourhoods of points in the independent set are nested. A second consolidation move takes each fully compressed graph to one particular graph which we call H(n,m). We show monotonicity of the parameters listed for these moves in many cases, which enables us to obtain our results fairly simply. The paper concludes with some open problems and future directions

Noise measurements at Stockton airport obtained during engineering evaluation of two-segment approaches in a DC-8-61 aircraft

A series of noise measurements were made during engineering evaluation tests of the two segment approach using a DC-8-61. The two approaches evaluated were: (1) ILS, 2.9 deg glide slope using 50 deg flaps; and (2) two segment 5.5 deg/2.9 deg glide slope, using 50 deg flaps and lower segment intercept altitude of 575 feet. Measurements were made at twelve sites underneath and to the side of the flight path

A Critical Review of "Automatic Patch Generation Learned from Human-Written Patches": Essay on the Problem Statement and the Evaluation of Automatic Software Repair

At ICSE'2013, there was the first session ever dedicated to automatic program repair. In this session, Kim et al. presented PAR, a novel template-based approach for fixing Java bugs. We strongly disagree with key points of this paper. Our critical review has two goals. First, we aim at explaining why we disagree with Kim and colleagues and why the reasons behind this disagreement are important for research on automatic software repair in general. Second, we aim at contributing to the field with a clarification of the essential ideas behind automatic software repair. In particular we discuss the main evaluation criteria of automatic software repair: understandability, correctness and completeness. We show that depending on how one sets up the repair scenario, the evaluation goals may be contradictory. Eventually, we discuss the nature of fix acceptability and its relation to the notion of software correctness.Comment: ICSE 2014, India (2014

The optical-ultraviolet continuum of Seyfert 2 galaxies

This paper aims to understand the continuum of Seyfert 2 galaxies. By fitting the single galaxies in the sample of Heckman et al. (1995) with composite models (shock+ photoionization from the active center), we show that five main components characterize the SED of the continuum. Shocks play an important role since they produce a high temperature zone where soft X-rays are emitted. We show that in the optical-UV range, the slope of the NLR emission reproduces the observed values, and may be the main component of the featureless continuum. The presence of star forming regions cannot be excluded in the circumnuclear region of various Seyfert galaxies. An attempt is made to find their fingerprints in the observed AGN spectra. Finally, it is demonstrated that multi-cloud models are necessary to interpret the spectra of single objects, even in the global investigation of a sample of galaxies.Comment: 26 pages, LaTeX (including 5 Tables) + 17 PostScript figures. To appear in "The Astrophysical Journal

Mid-IR period-magnitude relations for AGB stars

Asymptotic Giant Branch variables are found to obey period-luminosity relations in the mid-IR similar to those seen at K_S (2.14 microns), even at 24 microns where emission from circumstellar dust is expected to be dominant. Their loci in the M, logP diagrams are essentially the same for the LMC and for NGC6522 in spite of different ages and metallicities. There is no systematic trend of slope with wavelength. The offsets of the apparent magnitude vs. logP relations imply a difference between the two fields of 3.8 in distance modulus. The colours of the variables confirm that a principal period with log P > 1.75 is a necessary condition for detectable mass-loss. At the longest observed wavelength, 24 microns, many semi-regular variables have dust shells comparable in luminosity to those around Miras. There is a clear bifurcation in LMC colour-magnitude diagrams involving 24 micron magnitudes.Comment: 5 pages, 4 figure