A curvilinear snake arm robot with gripper-axis fibre-optic image processor feedback

The official version of this article can be found at the link below.A curvilinear robot constructed from a number of modular flexible sections of fixed length and diameter but independently controlled radius and direction of curvature has been equipped with an optical fibre image guide transmitting images from between the gripper jaws to the remote TV camera of Microvision-100, a microcomputer controlled real-time DMA-based vision System that is easily trained to recognise the shape, position and orientation of components. The gripper position and orientation is controlled by feedback from the vision System, the action taken depending on component recognition and inspection for defects. Redundant degrees of freedom enable the curvilinear robot to avoid obstacles and work in confined spaces.The research programme described in this paper is supported by the U.K. Science and Engineering Research Council

Planetary biology and microbial ecology. Biochemistry of carbon and early life

Experiments made with cyanobacteria, phototrophic bacteria, and methanogenic bacteria are detailed. Significant carbon isotope fractionation data is included. Taken from well documented extant microbial communities, this data provides a basis of comparison for isotope fractionation values measured in Archean and Proterozoic (preCambrian) rocks. Media, methods, and techniques used to acquire data are also described

Duality Symmetries in N=2 Heterotic Superstring

We review the derivation and the basic properties of the perturbative prepotential in N=2 compactifications of the heterotic superstring. We discuss the structure of the perturbative monodromy group and the embedding of rigidly supersymmetric monodromies associated with enhanced gauge groups, at both perturbative and non-perturbative level.Comment: Based on talks presented at several conferences. 12 pages, LaTe

A perturbative analysis of tachyon condensation

Tachyon condensation in the open bosonic string is analyzed using a perturbative expansion of the tachyon potential around the unstable D25-brane vacuum. Using the leading terms in the tachyon potential, Pad\'e approximants can apparently give the energy of the stable vacuum to arbitrarily good accuracy. Level-truncation approximations up to level 10 for the coefficients in the tachyon potential are extrapolated to higher levels and used to find approximants for the full potential. At level 14 and above, the resulting approximants give an energy less than -1 in units of the D25-brane tension, in agreement with recent level-truncation results by Gaiotto and Rastelli. The extrapolated energy continues to decrease below -1 until reaching a minimum near level 26, after which the energy turns around and begins to approach -1 from below. Within the accuracy of this method, these results are completely consistent with an energy which approaches -1 as the level of truncation is taken to be arbitrarily large.Comment: 8 pages, 3 eps figures, Latex; v2: typo correcte

Who is that? Brain networks and mechanisms for identifying individuals

Social animals can identify conspecifics by many forms of sensory input. However, whether the neuronal computations that support this ability to identify individuals rely on modality-independent convergence or involve ongoing synergistic interactions along the multiple sensory streams remains controversial. Direct neuronal measurements at relevant brain sites could address such questions, but this requires better bridging the work in humans and animal models. Here, we overview recent studies in nonhuman primates on voice and face identity-sensitive pathways and evaluate the correspondences to relevant findings in humans. This synthesis provides insights into converging sensory streams in the primate anterior temporal lobe (ATL) for identity processing. Furthermore, we advance a model and suggest how alternative neuronal mechanisms could be tested

Magnetorotational Instability in Liquid Metal Couette Flow

Despite the importance of the magnetorotational instability (MRI) as a fundamental mechanism for angular momentum transport in magnetized accretion disks, it has yet to be demonstrated in the laboratory. A liquid sodium alpha-omega dynamo experiment at the New Mexico Institute of Mining and Technology provides an ideal environment to study the MRI in a rotating metal annulus (Couette flow). A local stability analysis is performed as a function of shear, magnetic field strength, magnetic Reynolds number, and turbulent Prandtl number. The later takes into account the minimum turbulence induced by the formation of an Ekman layer against the rigidly rotating end walls of a cylindrical vessel. Stability conditions are presented and unstable conditions for the sodium experiment are compared with another proposed MRI experiment with liquid gallium. Due to the relatively large magnetic Reynolds number achievable in the sodium experiment, it should be possible to observe the excitation of the MRI for a wide range of wavenumbers and further to observe the transition to the turbulent state.Comment: 12 pages, 22 figures, 1 table. To appear in the Astrophysical Journa

Blockchain Technology for Governance of Plastic Waste Management: Where Are We?

Blockchain technology is emerging as a plausible disruptor of waste management practices that influence the governance of plastics. The interest among the waste management community in the potential and fundamental changes to complex resource management associated with blockchain adoption parallels recent research in other sectors, such as finance, health, public administration, etc. During any comparable period characterized by a step-change in positive coverage of an early-stage technology, it can be challenging for actors to access a grounded, evidence-based oversight of the current state of practice and make informed decisions about whether or how to adopt blockchain technology. The current absence of such a systematic overview of recent experiences with blockchain initiatives disrupting waste practices not only limits the visibility of these experimental efforts, but also limits the learning that can be shared across waste plastics researcher and practitioner communities. This paper contributes with a current overview of blockchain technology adoption in the waste management sector, giving particular attention to implications for the governance of plastics. Our study draws on both primary interview data and secondary documentation data to map the landscape of current blockchain initiatives in the global waste sector. We identify four areas of blockchain use that are beginning to change waste management practices (payment, recycling and reuse rewards, monitoring and tracking of waste, and smart contracts). We conclude by outlining five areas of significant blockchain uses, implications, and influences of relevance to the development of circular plastic waste governance in both research and practice

Kaluza-Klein Holography

We construct a holographic map between asymptotically AdS_5 x S^5 solutions of 10d supergravity and vacuum expectation values of gauge invariant operators of the dual QFT. The ingredients that enter in the construction are (i) gauge invariant variables so that the KK reduction is independent of any choice of gauge fixing; (ii) the non-linear KK reduction map from 10 to 5 dimensions (constructed perturbatively in the number of fields); (iii) application of holographic renormalization. A non-trivial role in the last step is played by extremal couplings. This map allows one to reliably compute vevs of operators dual to any KK fields. As an application we consider a Coulomb branch solution and compute the first two non-trivial vevs, involving operators of dimension 2 and 4, and reproduce the field theory result, in agreement with non-renormalization theorems. This constitutes the first quantitative test of the gravity/gauge theory duality away from the conformal point involving a vev of an operator dual to a KK field (which is not one of the gauged supergravity fields).Comment: 47 pages, v2: minor improvements, version to appear in JHE