Experimental study of contact transition control incorporating joint acceleration feedback

Joint acceleration and velocity feedbacks are incorporated into a classical internal force control of a robot in contact with the environment. This is intended to achieve a robust contact transition and force tracking performance for varying unknown environments, without any need of adjusting the controller parameters, A unified control structure is proposed for free motion, contact transition, and constrained motion in view of the consumption of the initial kinetic energy generated by a nonzero impact velocity. The influence of the velocity and acceleration feedbacks, which are introduced especially for suppressing the transition oscillation, on the postcontact tracking performance is discussed. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for environments of various stiffnesses, including elastic (sponge), less elastic (cardboard), and hard (steel plate) surfaces. Results are compared with those obtained by the transition control scheme without the acceleration feedback. The ability of the proposed control scheme in resisting the force disturbance during the postcontact period is also experimentally investigated

A note on modular forms and generalized anomaly cancellation formulas

By studying modular invariance properties of some characteristic forms, we prove some new anomaly cancellation formulas which generalize the Han-Zhang and Han-Liu-Zhang anomaly cancellation formula

Protein transduction: A novel tool for tissue regeneration

Tissue regeneration in humans is limited and excludes vitals organs like heart and brain. Transformation experiments with oncogenes like T antigen have shown that retrodifferentiation of the respective cells is possible but hard to control. To bypass the risk of cancer formation a protein therapy approach has been developed. The transient delivery of proteins rather than genes could still induce terminallydifferentiated cells to reenter the cell cycle. This approach takes advantage of proteintransducing domains that mediate the transfer of cargo proteins into cells. The goal of this brief review is to outline the basics of protein transduction and to discuss potential applications for tissue regeneration

Assessing Descriptive Substance in Free-Text Collection-Level Metadata

Collection-level metadata has the potential to provide important information about the features and purpose of individual collections. This paper reports on a content analysis of collection records in an aggregation of cultural heritage collections. The findings show that the free-text Description field often provides more accurate and complete representation of subjects and object types than the specified fields. Properties such as importance, uniqueness, comprehensiveness, provenance, and creator are articulated, as well as other vital contextual information about the intentions of a collector and the value of a collection, as a whole, for scholarly users. The results demonstrate that the semantically rich free-text Description field is essential to understanding the context of collections in large aggregations and can serve as a source of data for enhancing and customizing controlled vocabulariesIMLS NLG Research and Demonstration grant LG-06-07-0020-07published or submitted for publicationis peer reviewe

Single-Electron Traps: A Quantitative Comparison of Theory and Experiment

We have carried out a coordinated experimental and theoretical study of single-electron traps based on submicron aluminum islands and aluminum oxide tunnel junctions. The results of geometrical modeling using a modified version of MIT's FastCap were used as input data for the general-purpose single-electron circuit simulator MOSES. The analysis indicates reasonable quantitative agreement between theory and experiment for those trap characteristics which are not affected by random offset charges. The observed differences between theory and experiment (ranging from a few to fifty percent) can be readily explained by the uncertainty in the exact geometry of the experimental nanostructures.Comment: 17 pages, 21 figures, RevTex, eps

Direct solar-pumped iodine laser amplifier

In order to evaluate the feasibility of the solar pumped dye laser, the parametric study of a dye laser amplifier pumped by a solar simulator and flashlamp was carried out, and the amplifier gains were measured at various pump beam irradiances on the dye cell. Rhodamine 6G was considered as a candidate for the solar pumped laser because of its good utilization of the solar spectrum and high quantum efficiency. The measurement shows that a solar concentration of 20,000 is required to reach the threshold of the dye. The work to construct a kinetic model algorithm which predicts the output parameter of laser was progressed. The kinetic model was improved such that there is good agreement between the theoretical model and experimental data for the systems defined previously as flashlamp pumped laser oscillator, and the long path length solar pumped laser

Direct solar-pumped iodine laser amplifier

The improvement on the collection system of the Tarmarack Solar Simulator beam was attemped. The basic study of evaluating the solid state laser materials for the solar pumping and also the work to construct a kinetic model algorithm for the flashlamp pumped iodine lasers were carried out. It was observed that the collector cone worked better than the lens assembly in order to collect the solar simulator beam and to focus it down to a strong power density. The study on the various laser materials and their lasing characteristics shows that the neodymium and chromium co-doped gadolinium scandium gallium garnet (Nr:Cr:GSGG) may be a strong candidate for the high power solar pumped solid state laser crystal. On the other hand the improved kinetic modeling for the flashlamp pumped iodine laser provides a good agreement between the theoretical model and the experimental data on the laser power output, and predicts the output parameters of a solar pumped iodine laser

On QGP Formation in pp Collisions at 7 TeV

The possibility of QGP formation in central pp collisions at ultra-high collision energy is discussed. Centrality-dependent \pt-spectra and (pseudo)rapidity spectra of thermal photons (charged hadrons) from pp collisions at 7 TeV are presented (addressed). Minimal-bias \pt-spectrum of direct photons and charged hadrons is compared under the framework with and without hydrodynamical evolution process.Comment: 4pages, 5figs, submitted to the Proceedings of the 22nd International Conference on Ultra-relativistic Nucleus-Nucleus Collision (Quark Matter 2011), 23 - 28 May 2011, Annecy, Franc