The classification of irreducible admissible mod p representations of a p-adic GL_n

Let F be a finite extension of Q_p. Using the mod p Satake transform, we define what it means for an irreducible admissible smooth representation of an F-split p-adic reductive group over \bar F_p to be supersingular. We then give the classification of irreducible admissible smooth GL_n(F)-representations over \bar F_p in terms of supersingular representations. As a consequence we deduce that supersingular is the same as supercuspidal. These results generalise the work of Barthel-Livne for n = 2. For general split reductive groups we obtain similar results under stronger hypotheses.Comment: 55 pages, to appear in Inventiones Mathematica

A Variable Stiffness Robotic Probe for Soft Tissue Palpation

During abdominal palpation diagnosis, a medical practitioner would change the stiffness of their fingers in order to improve the detection of hard nodules or abnormalities in soft tissue to maximize the haptic information gain via tendons. Our recent experiments using a controllable stiffness robotic probe representing a human finger also confirmed that such stiffness control in the finger can enhance the accuracy of detecting hard nodules in soft tissue. However, the limited range of stiffness achieved by the antagonistic springs variable stiffness joint subject to size constraints made it unsuitable for a wide range of physical examination scenarios spanning from breast to abdominal examination. In this letter, we present a new robotic probe based on a variable lever mechanism able to achieve stiffness ranging from 0.64 to 1.06 N·m/rad that extends the maximum stiffness by around 16 times and the stiffness range by 33 times. This letter presents the mechanical model of the novel probe, the finite element simulation as well as experimental characterization of the stiffness response for lever actuation.This work was supported by The United Kingdom Engineering and Physical Sciences Research Council under MOTION Grant EP/N03211X/2

A Variable Stiffness Robotic Probe for Soft Tissue Palpation

During abdominal palpation diagnosis, a medical practitioner would change the stiffness of their fingers in order to improve the detection of hard nodules or abnormalities in soft tissue to maximize the haptic information gain via tendons. Our recent experiments using a controllable stiffness robotic probe representing a human finger also confirmed that such stiffness control in the finger can enhance the accuracy of detecting hard nodules in soft tissue. However, the limited range of stiffness achieved by the antagonistic springs variable stiffness joint subject to size constraints made it unsuitable for a wide range of physical examination scenarios spanning from breast to abdominal examination. In this letter, we present a new robotic probe based on a variable lever mechanism able to achieve stiffness ranging from 0.64 to 1.06 N ⋅m/rad that extends the maximum stiffness by around 16 times and the stiffness range by 33 times. This letter presents the mechanical model of the novel probe, the finite element simulation as well as experimental characterization of the stiffness response for lever actuation

Applied design thinking in urban air mobility: creating the airtaxi cabin design of the future from a user perspective

In the course of developing digital and future aviation cabin concepts at the German Aerospace Center, the exploration of user-centered and acceptance-enhancing methods plays a central role. The challenge here is to identify the flexible range of requirements of different user groups for a previously non-existent transport concept, to translate these into a concept and to generate a rapid evaluation process by the user groups. Therefore, this paper aims to demonstrate the application of the user-centered Design Thinking method in the design of cabin for future air taxis. Based on the Design Thinking approach and its iterative process steps, the direct implementation is described on the combined airport shuttle and intracity UAM concept. The main focus is on the identification of key user requirements by means of a focus group study and the evaluation of initial cabin designs and key ideas by means of an online survey. Consequently, the creative design process of a digital prototype will be presented. In addition to an increased awareness and acceptance among the population towards a novel mode of transportation, the application of the Design Thinking methodology offers a flexible and user-centered approach for further testing and simulation scenarios.Comment: 13 page

Hemocytes are essential for Drosophila melanogaster post-embryonic development, independent of control of the microbiota.

Proven roles for hemocytes (blood cells) have expanded beyond the control of infections in Drosophila. Despite this, the crucial role of hemocytes in post-embryonic development has long thought to be limited to control of microorganisms during metamorphosis. This has previously been shown by rescue of adult development in hemocyte-ablation models under germ-free conditions. Here, we show that hemocytes have an essential role in post-embryonic development beyond their ability to control the microbiota. Using a newly generated strong hemocyte-specific driver line for the GAL4/UAS system, we show that specific ablation of hemocytes is early pupal lethal, even under axenic conditions. Genetic rescue experiments prove that this is a hemocyte-specific phenomenon. RNA-seq data suggests that dysregulation of the midgut is a prominent consequence of hemocyte ablation in larval stages, resulting in reduced gut lengths. Dissection suggests that multiple processes may be affected during metamorphosis. We believe this previously unreported role for hemocytes during metamorphosis is a major finding for the field

Hemocytes are essential for Drosophila melanogaster post-embryonic development, independent of control of the microbiota

Proven roles for hemocytes (blood cells) have expanded beyond the control of infections in Drosophila. Despite this, the crucial role of hemocytes in post-embryonic development has long thought to be limited to control of microorganisms during metamorphosis. This has previously been shown by rescue of adult development in hemocyte-ablation models under germ-free conditions. Here, we show that hemocytes have an essential role in post-embryonic development beyond their ability to control the microbiota. Using a newly generated strong hemocyte-specific driver line for the GAL4/UAS system, we show that specific ablation of hemocytes is early pupal lethal, even under axenic conditions. Genetic rescue experiments prove that this is a hemocyte-specific phenomenon. RNA-seq data suggests that dysregulation of the midgut is a prominent consequence of hemocyte ablation in larval stages, resulting in reduced gut lengths. Dissection suggests that multiple processes may be affected during metamorphosis. We believe this previously unreported role for hemocytes during metamorphosis is a major finding for the field

Nonlinear position and stiffness Backstepping controller for a two Degrees of Freedom pneumatic robot

This paper presents an architecture of a 2 Degrees of Freedom pneumatic robot which can be used as a haptic interface. To improve the haptic rendering of this device, a nonlinear position and stiffness controller without force measurement based on a Backstepping synthesis is presented. Thus, the robot can follow a targeted trajectory in Cartesian position with a variable compliant behavior when disturbance forces are applied. An appropriate tuning methodology of the closed-loop stiffness and closed-loop damping of the robot is given to obtain a desired disturbance response. The models, the synthesis and the stability analysis of this controller are described in this paper. Two models are presented in this paper, the first one is an accurate simulation model which describes the mechanical behavior of the robot, the thermodynamics phenomena in the pneumatic actuators, and the servovalves characteristics. The second model is the model used to synthesize the controller. This control model is obtained by simplifying the simulation model to obtain a MIMO strict feedback form. Finally, some simulation and experimental results are given and the controller performances are discussed and compared with a classical linear impedance controller

Integrating Analytical Models with Descriptive System Models: Implementation of the OMG SyML Standard for the Tool-specific Case of MapleSim and MagicDraw

AbstractThe Jet Propulsion Laboratory (JPL) is investing heavily in the development of an infrastructure for building system models using the Systems Modeling Language (SysML). An essential component is a transformation apparatus that permits diverse models to be integrated independently of their nature (e.g. declarative, analytical and statistical). This paper presents one useful case: the integration of analytical models expressed using the Modelica language. Modelica is an open standard, declarative, multi-domain modeling language that allows for complex dynamic systems to be modeled. Maplesoft's MapleSim is one software tool that supports the Modelica language. The tool-neutral specification for the transformation between the languages Modelica and SysML is defined in the SysML-Modelica transformation specification (SyML) standard published by the Object Management Group (OMG). As part of the development efforts, said specification has been implemented using the Query-View- Transformation Operational (QVTO) language. During the process, several critical changes to the current SyML standard were proposed. Furthermore, a number of current limitations related to MapleSim were identified. Despite these issues, a proof-of- concept transformation was successfully implemented. In conclusion, the integration of complex simulation models conforming to the Modelica language with SysML-based system models has shown great promise and is a highly useful tool to support the decision making process in design