Controller arm for a remotely related slave arm

A segmented controller arm configured and dimensioned to form a miniature kinematic replica of a remotely related slave arm is disclosed. The arm includes: (1) a plurality of joints for affording segments of the arm simultaneous angular displacement about a plurality of pairs of intersecting axes, (2) a plurality of position sensing devices for providing electrical signals indicative of angular displacement imparted to corresponding segments of the controller shaft about the axes, and (3) a control signal circuit for generating control signals to be transmitted to the slave arm. The arm is characterized by a plurality of yokes, each being supported for angular displacement about a pair of orthogonally related axes and counterbalanced against gravitation by a cantilevered mass

Study to design and develop remote manipulator systems

A description is given of part of a continuing effort both to develop models for and to augment the performance of humans controlling remote manipulators. The project plan calls for the performance of several standard tasks with a number of different manipulators, controls, and viewing conditions, using an automated performance measuring system; in addition, the project plan calls for the development of a force-reflecting joystick and supervisory display system

Gauge transformations in the Lagrangian and Hamiltonian formalisms of generally covariant theories

We study spacetime diffeomorphisms in Hamiltonian and Lagrangian formalisms of generally covariant systems. We show that the gauge group for such a system is characterized by having generators which are projectable under the Legendre map. The gauge group is found to be much larger than the original group of spacetime diffeomorphisms, since its generators must depend on the lapse function and shift vector of the spacetime metric in a given coordinate patch. Our results are generalizations of earlier results by Salisbury and Sundermeyer. They arise in a natural way from using the requirement of equivalence between Lagrangian and Hamiltonian formulations of the system, and they are new in that the symmetries are realized on the full set of phase space variables. The generators are displayed explicitly and are applied to the relativistic string and to general relativity.Comment: 12 pages, no figures; REVTeX; uses multicol,fancyheadings,eqsecnum; to appear in Phys. Rev.

Decoherence induced by Smith-Purcell radiation

The interaction between charged particles and the vacuum fluctuations of the electromagnetic field induces decoherence, and therefore affects the contrast of fringes in an interference experiment. In this article we show that if a double slit experiment is performed near a conducting grating, the fringe visibility is reduced. We find that the reduction of contrast is proportional to the number of grooves in the conducting surface, and that for realistic values of the parameters it could be large enough to be observed. The effect can be understood in terms of the Smith-Purcell radiation produced by the surface currents induced in the conductor.Comment: 10 pages, 3 figures. Improved discussion on experimental perspectives. References added. Version to appear in Phys. Rev.

Removal of terrestrial DOC in aquatic ecosystems of a temperate river network

Surface waters play a potentially important role in the global carbon balance. Dissolved organic carbon (DOC) fluxes are a major transfer of terrestrial carbon to river systems, and the fate of DOC in aquatic systems is poorly constrained. We used a unique combination of spatially distributed sampling of three DOC fractions throughout a river network and modeling to quantify the net removal of terrestrial DOC during a summer base flow period. We found that aquatic reactivity of terrestrial DOC leading to net loss is low, closer to conservative chloride than to reactive nitrogen. Net removal occurred mainly from the hydrophobic organic acid fraction, while hydrophilic and transphilic acids showed no net change, indicating that partitioning of bulk DOC into different fractions is critical for understanding terrestrial DOC removal. These findings suggest that river systems may have only a modest ability to alter the amounts of terrestrial DOC delivered to coastal zones

Gravitational observables, intrinsic coordinates, and canonical maps

It is well known that in a generally covariant gravitational theory the choice of spacetime scalars as coordinates yields phase-space observables (or "invariants"). However their relation to the symmetry group of diffeomorphism transformations has remained obscure. In a symmetry-inspired approach we construct invariants out of canonically induced active gauge transformations. These invariants may be intepreted as the full set of dynamical variables evaluated in the intrinsic coordinate system. The functional invariants can explicitly be written as a Taylor expansion in the coordinates of any observer, and the coefficients have a physical and geometrical interpretation. Surprisingly, all invariants can be obtained as limits of a family of canonical transformations. This permits a short (again geometric) proof that all invariants, including the lapse and shift, satisfy Poisson brackets that are equal to the invariants of their corresponding Dirac brackets.Comment: 4 pages, to appear in Modern Physics Letters

Hantavirus testing in rodents of north-central New Mexico 1993-1995

In 1993, an outbreak of a new strain of hantavirus in the southwestern US indicated that deer mice (Peromyscus maniculatus) was the primary carrier of the virus. In 1993, 1994, and 1995 the Ecological Studies Team (EST) at Los Alamos National Laboratory surveyed small mammal populations using live capture-recapture methods in Los Alamos County, New Mexico, to determine seroprevalence of hantavirus in this region. EST used trapping grids in 1993 and 1994 and used trapping webs in 1995. Grids were 120 m x 120 m (400 ft x 400 ft) with 144 trap stations at each grid. Three webs consisting of 148 traps each were used in 1995. Trapping took place over 4 to 8 consecutive nights. Programs CAPTURE and Distance were used to determine density estimates for grids and webs, respectively. Blood samples were analyzed in 1993 by the Centers for Disease Control and the University of New Mexico, School of Medicine. The 1994 and 1995 samples were analyzed by the University of New Mexico, School of Medicine. The deer mouse (Peromyscus maniculatus) was the most commonly captured species at all locations except one site where voles (Microtus spp.) were the most commonly captured species. Other species sampled included: harvest mice (Reithrodontomys megalotis), woodrats (Neotoma spp.), shrews (Sorex spp.), white-footed mice (Peromyscus leucopus), pinyon mice (Peromyscus trueii), and brush mouse (Peromyscus boylii). Results of the 1993, 1994, and 1995 testing identified a total overall seroprevalence rate among deer mice of approximately 5.5%, 4.2%, and 0%, respectively. Several other species tested positive for the hantavirus but it is uncertain if it is Sin Nombre virus. Further studies will be necessary to quantify seroprevalence rates in those species. Higher seroprevalence rates were found in males than females. Seroprevalence rates for Los Alamos County were much lower than elsewhere in the region

Experimental Validation of Contact Dynamics for In-Hand Manipulation

This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions --linear sliding, pivoting, and rolling-- that involve contacts between a gripper, a rigid object, and their environment. The evaluation is done through thousands of controlled experiments designed to capture the motion of object and gripper, and all contact forces and torques at 250Hz. We demonstrate that a contact modeling approach based on Coulomb's friction law and maximum energy principle is effective at reasoning about interaction to first order, but limited for making accurate predictions. We attribute the major limitations to 1) the non-uniqueness of force resolution inherent to grasps with multiple hard contacts of complex geometries, 2) unmodeled dynamics due to contact compliance, and 3) unmodeled geometries dueto manufacturing defects.Comment: International Symposium on Experimental Robotics, ISER 2016, Tokyo, Japa

Generally covariant theories: the Noether obstruction for realizing certain space-time diffeomorphisms in phase space

Relying on known results of the Noether theory of symmetries extended to constrained systems, it is shown that there exists an obstruction that prevents certain tangent-space diffeomorphisms to be projectable to phase-space, for generally covariant theories. This main result throws new light on the old fact that the algebra of gauge generators in the phase space of General Relativity, or other generally covariant theories, only closes as a soft algebra and not a a Lie algebra. The deep relationship between these two issues is clarified. In particular, we see that the second one may be understood as a side effect of the procedure to solve the first. It is explicitly shown how the adoption of specific metric-dependent diffeomorphisms, as a way to achieve projectability, causes the algebra of gauge generators (constraints) in phase space not to be a Lie algebra --with structure constants-- but a soft algebra --with structure {\it functions}.Comment: 22 pages, version to be published in Classical & Quantum Gravit

Shipborne eddy covariance observations of methane fluxes constrain Arctic sea emissions

We demonstrate direct eddy covariance (EC) observations of methane (CH4) fluxes between the sea and atmosphere from an icebreaker in the eastern Arctic Ocean. EC-derived CH4 emissions averaged 4.58, 1.74, and 0.14 mg m−2 day−1 in the Laptev, East Siberian, and Chukchi seas, respectively, corresponding to annual sea-wide fluxes of 0.83, 0.62, and 0.03 Tg year−1. These EC results answer concerns that previous diffusive emission estimates, which excluded bubbling, may underestimate total emissions. We assert that bubbling dominates sea-air CH4 fluxes in only small constrained areas: A ~100-m2 area of the East Siberian Sea showed sea-air CH4 fluxes exceeding 600 mg m−2 day−1; in a similarly sized area of the Laptev Sea, peak CH4 fluxes were ~170 mg m−2 day−1. Calculating additional emissions below the noise level of our EC system suggests total ESAS CH4 emissions of 3.02 Tg year−1, closely matching an earlier diffusive emission estimate of 2.9 Tg year−1