Reconstructing null-space policies subject to dynamic task constraints in redundant manipulators

We consider the problem of direct policy learning in situations where the policies are only observable through their projections into the null-space of a set of dynamic, non-linear task constraints. We tackle the issue of deriving consistent data for the learning of such policies and make two contributions towards its solution. Firstly, we derive the conditions required to exactly reconstruct null-space policies and suggest a learning strategy based on this derivation. Secondly, we consider the case that the null-space policy is conservative and show that such a policy can be learnt more easily and robustly by learning the underlying potential function and using this as our representation of the policy.

Fourier and Gegenbauer Expansions for a Fundamental Solution of Laplace's Equation in Hyperspherical Geometry

For a fundamental solution of Laplace's equation on the $R$-radius $d$-dimensional hypersphere, we compute the azimuthal Fourier coefficients in closed form in two and three dimensions. We also compute the Gegenbauer polynomial expansion for a fundamental solution of Laplace's equation in hyperspherical geometry in geodesic polar coordinates. From this expansion in three-dimensions, we derive an addition theorem for the azimuthal Fourier coefficients of a fundamental solution of Laplace's equation on the 3-sphere. Applications of our expansions are given, namely closed-form solutions to Poisson's equation with uniform density source distributions. The Newtonian potential is obtained for the 2-disc on the 2-sphere and 3-ball and circular curve segment on the 3-sphere. Applications are also given to the superintegrable Kepler-Coulomb and isotropic oscillator potentials

The anomeric specificity of yeast galactokinase

Anomeric specificity of yeast galactokinase by chromatographic method

Vortex motion phase separator for zero gravity liquid transfer

A vortex motion phase separator is disclosed for transferring a liquid in a zero gravity environment while at the same time separating the liquid from vapors found within either the sender or the receiving tanks. The separator comprises a rigid sender tank having a circular cross-section and rigid receiver tank having a circular cross-section. A plurality of ducts connects the sender tank and the receiver tank. Disposed within the ducts connecting the receiver tank and the sender tank is a pump and a plurality of valves. The pump is powered by an electric motor and is adapted to draw either the liquid or a mixture of the liquid and the vapor from the sender tank. Initially, the mixture drawn from the sender tank is directed through a portion of the ductwork and back into the sender tank at a tangent to the inside surface of the sender tank, thereby creating a swirling vortex of the mixture within the sender tank. As the pumping action increases, the speed of the swirling action within the sender tank increases creating an increase in the centrifugal force operating on the mixture. The effect of the centrifugal force is to cause the heavier liquid to migrate to the inside surface of the sender tank and to separate from the vapor. When this separation reaches a predetermined degree, control means is activated to direct the liquid conveyed by the pump directly into the receiver tank. At the same time, the vapor within the receiver tank is directed from the receiver tank back into the sender tank. This flow continues until substantially all of the liquid is transferred from the sender tank to the receiver tank

Folding Large Antenna Tape Spring

This paper presents a novel concept for a low-mass, 50-m^2-deployable, P-band dual polarization antenna that can measure terrestrial biomass levels from a spacecraft in a low Earth orbit. A monolithic array of feed and radiating patches is bonded to a transversally curved structure consisting of two Kevlar sheets. The first sheet supports the array and the other sheet supports a ground plane. The two sheets are connected by a compliant Kevlar core that allows the whole structure to be folded elastically and to spring back to its original, undamaged shape. Test pieces have been made to demonstrate both the radio frequency and mechanical aspects of the design, particularly the radio frequency performance before and after folding the structure. It is concluded that the proposed design concept has high potential for large, low-frequency antennas for low-cost missions

New Zealand regions, 1986 – 2001: Hospitalisation and some related health facts

Once age and gender composition is controlled for, regional health differentials are a function of problems of health service delivery, of socio-economic variance, and overall Māori Pakeha health differences. They indicate relative levels of exclusion and of inequality. This paper shows that these differentials follow in general the patterns seen in other papers in this series

Workshop on the Polar Regions of Mars: Geology, Glaciology, and Climate History, part 1

Papers and abstract of papers presented at the workshop are presented. Some representative titles are as follows: Glaciation in Elysium; Orbital, rotational, and climatic interactions; Water on Mars; Rheology of water-silicate mixtures at low temperatures; Evolution of the Martian atmosphere (the role of polar caps); Is CO2 ice permanent; Dust transport into Martian polar latitudes; Mars observer radio science (MORS) observations in polar regions; and Wind transport near the poles of Mars (timescales of changes in deposition and erosion)

Warm Ice Giant GJ 3470b. I. A Flat Transmission Spectrum Indicates a Hazy, Low-methane, and/or Metal-rich Atmosphere

We report our spectroscopic investigation of the transiting ice giant GJ 3470b's atmospheric transmission, and the first results of extrasolar planet observations from the new Keck/MOSFIRE spectrograph. We measure a planet/star radius ratio of Rp/Rs = 0.0789 +/- 0.0020 in a bandpass from 2.09-2.36 micron and in six narrower bands across this wavelength range. When combined with existing broadband photometry, these measurements rule out cloud-free atmospheres in chemical equilibrium assuming either solar abundances (5.4 sigma confidence) or a moderate level of metal enrichment (50x solar abundances, 3.8 sigma), confirming previous results that such models are not representative for cool, low-mass, externally irradiated extrasolar planets. Current measurements are consistent with a flat transmission spectrum, which suggests that the atmosphere is explained by high-altitude clouds and haze, disequilibrium chemistry, unexpected abundance patterns, or the atmosphere is extremely metal-rich (>200x solar). Because GJ 3470b's low bulk density sets an upper limit on the planet's atmospheric enrichment of <300x solar, the atmospheric mean molecular weight must be <9. Thus, if the atmosphere is cloud-free its spectral features should be detectable with future observations. Transit observations at shorter wavelengths will provide the best opportunity to discriminate between plausible scenarios. We obtained optical spectroscopy with the GMOS spectrograph, but these observations exhibit large systematic uncertainties owing to thin, persistent cirrus conditions. Finally, we also provide the first detailed look at the steps necessary for well-calibrated MOSFIRE observations, and provide advice for future observations with this instrument.Comment: Accepted to A&A. Light curves will be available at CDS (or download arXiv tarball

Phase transitions in systems with two species of molecular motors

Systems with two species of active molecular motors moving on (cytoskeletal) filaments into opposite directions are studied theoretically using driven lattice gas models. The motors can unbind from and rebind to the filaments. Two motors are more likely to bind on adjacent filament sites if they belong to the same species. These systems exhibit (i) Continuous phase transitions towards states with spontaneously broken symmetry, where one motor species is largely excluded from the filament, (ii) Hysteresis of the total current upon varying the relative concentrations of the two motor species, and (iii) Coexistence of traffic lanes with opposite directionality in multi-filament systems. These theoretical predictions should be experimentally accessible.Comment: 7 pages, 4 figures, epl style (.cls-file included), to appear in Europhys. Lett. (http://www.edpsciences.org/epl