Fishes of the Mountain Province Section of the Ouachita River

A survey of the fishes of the mountain province section of the Ouachita River from the headwaters to Remmel Dam using field collections, literature records, and museum collections showed the ichthyofauna to be made up of 80 species representing 16 families. Fourteen species not previously reported from the mountain province section of the river were collected in this survey. These species include Ichthyomyzon gagei, Nocomis asper, Notropis ortenburgeri, N. rubellus, Pimephales promelas, Moxostoma carinatum, Noturus taylori, Fundulus notatus, Lepomis humilis, Etheostoma histrio, E. proeliare, Percina maculata, P. nasuta, and P. uranidea. The Nocomis specimens were the first collected from the Ouachita River system and the discovery of Noturus taylori represents a major range extension

Joint-space tracking of workspace trajectories in continuous time

We present a controller for a class of robotics manipulators which provides exponential convergence to a desired end-effector trajectory using gains specified in joint-space. This is accomplished without appeal to the use of discrete inverse-kinematics algorithms, allowing the controller to be posed entirely in continuous time

Tracking implicit trajectories

Output tracking of implcitly defined reference trajectories is examined. A continuous-time nonlinear dynamical system is constructed that produces explicit estimates of time-varying implicit trajectories. We prove that incorporation of this "dynamic inverter" into a tracking controller provides exponential output tracking of the implicitly defined trajectory for nonlinear control systems having vector relative degree and well-behaved internal dynanmics