Software simulation of time delay in teleoperation

Research done in the Space Robotics Laboratory at the University of Atlanta at Huntsville on the effects of time delay on teleoperation is discussed. The laboratory is configured around a Puma 562 robot with 6 degrees of freedom. A custom designed joystick controller with two joysticks, each with three degrees of freedom, is used to control the robot. These joysticks are connected to the robot controller through an analog to digital interface. Joystick calibration, a computer program called Joystick, and the VAL 2 robot control language are discussed

Weld analysis and control system

The invention is a Weld Analysis and Control System developed for active weld system control through real time weld data acquisition. Closed-loop control is based on analysis of weld system parameters and weld geometry. The system is adapted for use with automated welding apparatus having a weld controller which is capable of active electronic control of all aspects of a welding operation. Enhanced graphics and data displays are provided for post-weld analysis. The system provides parameter acquisition, including seam location which is acquired for active torch cross-seam positioning. Torch stand-off is also monitored for control. Weld bead and parent surface geometrical parameters are acquired as an indication of weld quality. These parameters include mismatch, peaking, undercut, underfill, crown height, weld width, puddle diameter, and other measurable information about the weld puddle regions, such as puddle symmetry, etc. These parameters provide a basis for active control as well as post-weld quality analysis and verification. Weld system parameters, such as voltage, current and wire feed rate, are also monitored and archived for correlation with quality parameters

Fire Emissions and Carbon Uptake in Severely Burned Lenga Beech (Nothofagus pumilio) Forests of Patagonia, Argentina

Los incendios forestales son reconocidos como fuentes de emisión de CO2 y otros gases de efecto invernadero (GHG) que, alterando la dinámica del intercambio entre el carbono (C) terrestre y el atmosférico, influencian el clima global. En la región central de la Patagonia Andina Argentina, incendios de características severas han afectado los bosques de lenga (Nothofagus pumilio Poepp. & Endl. Krasser), incrementando de esa manera las emisiones de CO2 a la atmósfera y alterando asimismo sus patrones sucesionales. En este estudio, determinamos las emisiones y el secuestro de C en tres rodales, quemados en 1976 (Lago Guacho), 1983 (La Torta), y 2008 (la Colisión). La estructura forestal, y los compartimientos de biomasa aérea y broza fueron cuantificados en cada rodal quemado y en sus adyacentes sin quemar. El stock de C y de otros GHG (CO2 , CO, CH4 , NO2 , NOx y Ce) emitidos por cada incendio, el CO2 capturado y el C anual incorporado a la biomasa fueron determinados en base a las guías propuestas por el Panel Internacional para el Cambio Climático. El carbono total (biomasa aérea más radical) antes de los incendios fue de 301,8 Mg C ha-1 para La Colisión, 258,13 Mg C ha-1 para La Torta, y 270,7 Mg C ha-1 para Lago Guacho, mientras que las pérdidas de C debido a los incendios fueron de 104,6 Mg C ha-1, 90,7 Mg C ha-1, and 94,7 Mg C ha-1 para cada uno de los sitios, respectivamente. Diferencias en la estructura forestal y en la biomasa de cada sitio previo a los incendios explican los valores de emisión de CO2 y otros GHG observados después de éstos. Al presente, el balance de C es negativo en los tres sitios. Sin ninguna acción de restauración activa y usando las tasas actuales de crecimiento para cada sitio, el tiempo estimado de recuperación del C perdido es de 105,5 años para La Colisión, 94,2 años para La Torta, y 150,2 años para Lago Guacho. Mediante el uso de tasas de captura de C variables (que decrecen a medida que la sucesión avanza), el tiempo de recuperación sería de 182 años para La Colisión, 154 años para La Torta, y 162 para Lago Guacho. El ambiente post-incendio y las condiciones de cada sitio parecen tener una mayor influencia en la recuperación de la vegetación que los efectos primarios del fuego. Tareas de restauración activas aparecen como necesarias para incrementar la tasa de recuperación del C post-fuego y ayudar a re-establecer el paisaje original en bosques de lenga.Forest wildfires are recognized as sources of CO2 and other greenhouse gases (GHG) that, altering the dynamics between terrestrial and atmospheric carbon (C) exchange, influence global climate. In central Andean Patagonia, Argentina, severe wildfires affect temperate lenga beech (Nothofagus pumilio Poepp. & Endl. Krasser) forests, thereby increasing atmospheric CO2 emissions and changing natural succession paths. In this study, we determined fire emissions and C uptake in three lenga beech forests stands burned in 1976 (Lago Guacho site), 1983 (La Torta site), and 2008 (La Colisión site). Forest structure and aboveground biomass and litter compartments in burned and adjacent unburned stands were quantified for each fire. Carbon stocks and GHG (CO2 , CO, CH4 , NO2 , NOx and Ce) released by the fires, CO2 removals, and mean annual C uptake were determined by following the International Panel of Climate Change guidelines. Total (aboveground plus root) C stock before fires was 301.8 Mg C ha-1 for La Colisión, 258.13 Mg C ha-1 for La Torta, and 270.7 Mg C ha-1 for Lago Guacho, while C losses due to the fires were 104.6 Mg C ha-1, 90.7 Mg C ha-1, and 94.7 Mg C ha-1 for the three sites, respectively. Differences in pre-fire forest structures and biomass explained the values observed in CO2 and other GHG emissions after the fires. Currently, the C balance is negative for the three sites. Without any active restoration and using actual growth rates for each site, the estimated C recovery time is 105.5 yr for La Colisión, 94.2 yr for La Torta, and 150.2 yr for Lago Guacho. By using variable rates of C uptake (which decrease as early succession proceeds), this recovery time will take 182 yr for La Colisión, 154 for La Torta, and 162 yr for Lago Guacho. Post-fire environmental and site conditions appeared to have a greater influence in forest recovery than primary fire effects. Active restoration activities may be necessary to increase C recovery rates and help to re-establish former lenga beech forest landscapes.Fil: Bertolin, María Lila. Centro de Investigación y Extensión Forestal Andino Patagónico; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Urretavizcaya, María Florencia. Centro de Investigación y Extensión Forestal Andino Patagónico; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Defossé, Guillermo Emilio. Centro de Investigación y Extensión Forestal Andino Patagónico; Argentina. Universidad Nacional de la Patagonia; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentin

Genome sequence, comparative analysis and haplotype structure of the domestic dog.

Here we report a high-quality draft genome sequence of the domestic dog (Canis familiaris), together with a dense map of single nucleotide polymorphisms (SNPs) across breeds. The dog is of particular interest because it provides important evolutionary information and because existing breeds show great phenotypic diversity for morphological, physiological and behavioural traits. We use sequence comparison with the primate and rodent lineages to shed light on the structure and evolution of genomes and genes. Notably, the majority of the most highly conserved non-coding sequences in mammalian genomes are clustered near a small subset of genes with important roles in development. Analysis of SNPs reveals long-range haplotypes across the entire dog genome, and defines the nature of genetic diversity within and across breeds. The current SNP map now makes it possible for genome-wide association studies to identify genes responsible for diseases and traits, with important consequences for human and companion animal health