Anthropomorphic teleoperation: Controlling remote manipulators with the DataGlove

A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs

Theory of a general class of dissipative processes

General theory of dissipative periodic processes for systems defined by partial, functional, or neutral differential equation

Hot phonon decay in supported and suspended exfoliated graphene

Near infrared pump-probe spectroscopy has been used to measure the ultrafast dynamics of photoexcited charge carriers in monolayer and multilayer graphene. We observe two decay processes occurring on 100 fs and 2 ps timescales. The first is attributed to the rapid electron-phonon thermalisation in the system. The second timescale is found to be due to the slow decay of hot phonons. Using a simple theoretical model we calculate the hot phonon decay rate and show that it is significantly faster in monolayer flakes than in multilayer ones. In contrast to recent claims, we show that this enhanced decay rate is not due to the coupling to substrate phonons, since we have also seen the same effect in suspended flakes. Possible intrinsic decay mechanisms that could cause such an effect are discussed.Comment: 4 pages, 3 figure

Strong nonlinear optical response of graphene flakes measured by four-wave mixing

We present the first experimental investigation of nonlinear optical properties of graphene flakes. We find that at near infrared frequencies a graphene monolayer exhibits a remarkably high third-order optical nonlinearity which is practically independent of the wavelengths of incident light. The nonlinear optical response can be utilized for imaging purposes, with image contrasts of graphene which are orders of magnitude higher than those obtained using linear microscopy.Comment: 4 pages, 5 figure

Spatial incoherence of solar granulation: a global analysis using BiSON 2B data

A poor understanding of the impact of convective turbulence in the outer layers of the Sun and Sun-like stars challenges the advance towards an improved understanding of their internal structure and dynamics. Assessing and calibrating these effects is therefore of great importance. Here we study the spatial coherence of granulation noise and oscillation modes in the Sun, with the aim of exploiting any incoherence to beat-down observed granulation noise, hence improving the detection of low-frequency p-modes. Using data from the BiSON 2B instrument, we assess the coherence between different atmospheric heights and between different surface regions. We find that granulation noise from the different atmospheric heights probed is largely incoherent; frequency regions dominated by oscillations are almost fully coherent. We find a randomised phase difference for the granulation noise, and a near zero difference for the evanescent oscillations. A reduction of the incoherent granulation noise is shown by application of the cross-spectrum.Comment: 8 pages, 7 figures, MNRAS in pres

Variable-delay feedback control of unstable steady states in retarded time-delayed systems

We study the stability of unstable steady states in scalar retarded time-delayed systems subjected to a variable-delay feedback control. The important aspect of such a control problem is that time-delayed systems are already infinite-dimensional before the delayed feedback control is turned on. When the frequency of the modulation is large compared to the system's dynamics, the analytic approach consists of relating the stability properties of the resulting variable-delay system with those of an analogous distributed delay system. Otherwise, the stability domains are obtained by a numerical integration of the linearized variable-delay system. The analysis shows that the control domains are significantly larger than those in the usual time-delayed feedback control, and that the complexity of the domain structure depends on the form and the frequency of the delay modulation.Comment: 13 pages, 8 figures, RevTeX, accepted for publication in Physical Review

Can distributed delays perfectly stabilize dynamical networks?

Signal transmission delays tend to destabilize dynamical networks leading to oscillation, but their dispersion contributes oppositely toward stabilization. We analyze an integro-differential equation that describes the collective dynamics of a neural network with distributed signal delays. With the gamma distributed delays less dispersed than exponential distribution, the system exhibits reentrant phenomena, in which the stability is once lost but then recovered as the mean delay is increased. With delays dispersed more highly than exponential, the system never destabilizes.Comment: 4pages 5figure

The clustering and bias of radio-selected AGN and star-forming galaxies in the COSMOS field

Dark matter haloes in which galaxies reside are likely to have a significant impact on their evolution. We investigate the link between dark matter haloes and their constituent galaxies by measuring the angular two-point correlation function of radio sources, using recently released 3 GHz imaging over $\sim 2 \ \mathrm{deg}^2$of the COSMOS field. We split the radio source population into Star Forming Galaxies (SFGs) and Active Galactic Nuclei (AGN), and further separate the AGN into radiatively efficient and inefficient accreters. Restricting our analysis to$z<1$, we find SFGs have a bias,$b = 1.5 ^{+0.1}_{-0.2}$, at a median redshift of$z=0.62$. On the other hand, AGN are significantly more strongly clustered with$b = 2.1\pm 0.2$at a median redshift of 0.7. This supports the idea that AGN are hosted by more massive haloes than SFGs. We also find low-accretion rate AGN are more clustered ($b = 2.9 \pm 0.3$) than high-accretion rate AGN ($b = 1.8^{+0.4}_{-0.5}$) at the same redshift ($z \sim 0.7$), suggesting that low-accretion rate AGN reside in higher mass haloes. This supports previous evidence that the relatively hot gas that inhabits the most massive haloes is unable to be easily accreted by the central AGN, causing them to be inefficient. We also find evidence that low-accretion rate AGN appear to reside in halo masses of$M_{h} \sim 3-4 \times 10^{13}h^{-1}$M$_{\odot}$at all redshifts. On the other hand, the efficient accreters reside in haloes of$M_{h} \sim 1-2 \times 10^{13}h^{-1}$M$_{\odot}$at low redshift but can reside in relatively lower mass haloes at higher redshifts. This could be due to the increased prevalence of cold gas in lower mass haloes at$z \ge 1$compared to$z<1$.Comment: 20 pages, 10 figures, 1 table, accepted by MNRA