New Results in Light-Front Phenomenology

The light-front quantization of gauge theories such as QCD in light-cone gauge provides a frame-independent wavefunction representation of relativistic bound states, simple forms for current matrix elements, explicit unitarity, and a trivial vacuum. The freedom to choose the light-like quantization four-vector provides an explicitly covariant formulation of light-front quantization and can be used to determine the analytic structure of light-front wave functions and to define a kinematical definition of angular momentum. The AdS/CFT correspondence of large $N_C$ supergravity theory in higher-dimensional anti-de Sitter space with supersymmetric QCD in 4-dimensional space-time has interesting implications for hadron phenomenology in the conformal limit, including an all-orders demonstration of counting rules for exclusive processes. String/gauge duality also predicts the QCD power-law behavior of light-front Fock-state hadronic wavefunctions with arbitrary orbital angular momentum at high momentum transfer. The form of these near-conformal wavefunctions can be used as an initial ansatz for a variational treatment of the light-front QCD Hamiltonian. I also briefly review recent analyses which shows that some leading-twist phenomena such as the diffractive component of deep inelastic scattering, single-spin asymmetries, nuclear shadowing and antishadowing cannot be computed from the LFWFs of hadrons in isolation.Comment: Presented at LightCone 2004, Amsterdam, The Netherlands, 16-20 August 200

General Solutions to Functional and Kinematic Redundancy

A systematic and general approach to represent functional redundancy is presented. It is shown how this approach allows the freedom provided by functional redundancy to be integrated into the inverse geometric problem for real-time applications and how it can be utilised to improve performance. A set of new iterative solutions to the inverse geometric problem, well suited for kinematically redundant manipulators, is also presented

Extended Bell and Stirling numbers from hypergeometric exponentiation

Exponentiating the hypergeometric series 0FL(1,1,...,1;z), L = 0,1,2,..., furnishes a recursion relation for the members of certain integer sequences bL(n), n = 0,1,2,.... For L >= 0, the bL(n)'s are generalizations of the conventional Bell numbers, b0(n). The corresponding associated Stirling numbers of the second kind are also investigated. For L = 1 one can give a combinatorial interpretation of the numbers b1(n) and of some Stirling numbers associated with them. We also consider the L>1 analogues of Bell numbers for restricted partitions

Almahata Sitta and Brecciated Ureilites: Insights into the Heterogeneity of Asteroids and Implications for Sample Return

Analysis of samples returned to terrestrial laboratories enables more precise measurements and a wider range of techniques to be utilized than can be achieved with either remote sensing or rover instruments. Furthermore, returning samples to Earth allows them to be stored and re-examined with future technology. Following the success of the Hayabusa mission, returning samples from asteroids should be a high priority for understanding of early solar system evolution, planetary formation and differentiation. Meteorite falls provide us with materials and insight into asteroidal compositions. Almahata Sitta (AS) was the first meteorite fall from a tracked asteroid (2008 TC3) [1] providing a rare opportunity to compare direct geochemical observations with remote sensing data. Although AS is predominantly ureilitic, multiple chondritic fragments have been associated with this fall [2,3]. This is not unique, with chondritic fragments being found in many howardite samples (as described in a companion abstract [4]) and in brecciated ureilites, some of which are known to represent ureilitic regolith [5-7]. The heterogeneity of ureilite samples, which are thought to all originate from a single asteroidal ureilite parent body (UPB) [5], gives us information about both internal and external asteroidal variations. This has implications both for the planning of potential sample return missions and the interpretation of material returned to Earth. This abstract focuses on multiple fragments of two meteorites: Almahata Sitta (AS); and Dar al Gani (DaG) 1047 (a highly brecciated ureilite, likely representative of ureilite asteroidal regolith)

Remote teaching to ensure equal access to education in rural schools

Peer reviewedPublisher PD

Software Components of the Thorvald II Modular Robot

In this paper, we present the key software components of the Thorvald II mobile robotic platform. Thorvald~II is a modular system developed by the authors for creating robots of arbitrary shapes and sizes, primarily for the agricultural domain. Several robots have been built and are currently operating on farms and universities at various locations in Europe. Robots may take many different forms, and may be configured for differential drive, Ackermann steering, all-wheel drive, all-wheel steering with any number of wheels etc. The software therefore needs to be configuration agnostic. In this paper we present an architecture that allows for simple setup of never-seen-before robot configurations. The presented software is organized in a collection of ROS packages, made available to the reader. These packages allow a user to create her or his own robot configurations and simulate these robots in Gazebo using a provided plugin. Although the presented packages were created to be used with Thorvald robots, they may also be useful for people who are looking to develop their own robot and are interested in testing various robot configurations in simulation before settling on a specific design. To create a robot, the user lists modules with key parameters in one single configuration file and gives this as an input to the robot at startup. Example configuration files are provided within the packages. In this paper, we discuss key aspects of the ROS packages and provide directions on where to find updated information on how to install and use these

Genetic determinants of hair and eye colours in the Scottish and Danish populations

<p>Abstract</p> <p>Background</p> <p>Eye and hair colour is highly variable in the European population, and is largely genetically determined. Both linkage and association studies have previously been used to identify candidate genes underlying this variation. Many of the genes found were previously known as underlying mutant mouse phenotypes or human genetic disease, but others, previously unsuspected as pigmentation genes, have also been discovered.</p> <p>Results</p> <p>We assayed the hair of a population of individuals of Scottish origin using tristimulus colorimetry, in order to produce a quantitative measure of hair colour. Cluster analysis of this data defined two groups, with overlapping borders, which corresponded to visually assessed dark versus red/light hair colour. The Danish population was assigned into categorical hair colour groups. Both cohorts were also assessed for eye colour. DNA from the Scottish group was genotyped at SNPs in 33 candidate genes, using 384 SNPs identified by HapMap as representatives of each gene. Associations found between SNPs and colorimetric hair data and eye colour categories were replicated in a cohort of the Danish population. The Danish population was also genotyped with SNPs in 4 previously described pigmentation genes. We found replicable associations of hair colour with the <it>KITLG </it>and <it>OCA2 </it>genes. <it>MC1R </it>variation correlated, as expected, with the red dimension of colorimetric hair colour in Scots. The Danish analysis excluded those with red hair, and no associations were found with <it>MC1R </it>in this group, emphasising that <it>MC1R </it>regulates the colour rather than the intensity of pigmentation. A previously unreported association with the <it>HPS3 </it>gene was seen in the Scottish population. However, although this replicated in the smaller cohort of the Danish population, no association was seen when the whole study population was analysed.</p> <p>Conclusions</p> <p>We have found novel associations with SNPs in known pigmentation genes and colorimetrically assessed hair colour in a Scottish and a Danish population.</p