Kinematically redundant robot manipulators

Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques

The Onset of Chaos in Pulsating Variable Stars

Random changes in pulsation period occur in cool pulsating Mira variables, Type A, B, and C semiregular variables, RV Tauri variables, and in most classical Cepheids. The physical processes responsible for such fluctuations are uncertain, but presumably originate in temporal modifications of the envelope convection in such stars. Such fluctuations are seemingly random over a few pulsation cycles of the stars, but are dominated by the regularity of the primary pulsation over the long term. The magnitude of stochasticity in pulsating stars appears to be linked directly to their dimensions, although not in simple fashion. It is relatively larger in M supergiants, for example, than in short-period Cepheids, but is common enough that it can be detected in visual observations for many types of pulsating stars. Although chaos was discovered in such stars 80 years ago, detection of its general presence in the group has only been possible in recent studies.Comment: To appear in the proceedings of the Odessa Variable Stars 2010 Conference (see http://uavso.org.ua/?page=vs2010&lang=en), edited by I. Andronov and V. Kovtyuk

Evidence for Low-Dimensional Chaos in Semiregular Variable Stars

An analysis of the photometric observations of the light curves of the five large amplitude, irregularly pulsating stars R UMi, RS Cyg, V CVn, UX Dra and SX Her is presented. First, multi-periodicity is eliminated for these pulsations, i.e. they are not caused by the excitation of a small number of pulsation modes with constant amplitudes. Next, on the basis of energetics we also eliminate stochasticity as a cause, leaving low dimensional chaos as the only alternative. We then use a global flow reconstruction technique in an attempt to extract quantitative information from the light curves, and to uncover common physical features in this class of irregular variable stars that straddle the RV Tau to the Mira variables. Evidence is presented that the pulsational behavior of R UMi, RS Cyg, V CVn and UX Dra takes place in a 4-dimensional dynamical phase space, suggesting that two vibrational modes are involved in the pulsation. A linear stability analysis of the fixed points of the maps further indicates the existence of a two-mode resonance, similar to the one we had uncovered earlier in R Sct: The irregular pulsations are the result of a continual energy exchange between two strongly nonadiabatic modes, a lower frequency pulsation mode and an overtone that are in a close 2:1 resonance. The evidence is particularly convincing for R UMi, RS Cyg and V CVn, but much weaker for UX Dra. In contrast, the pulsations of SX Her appear to be more complex and may require a 6D space.Comment: 20 pages, 14 figures, accepted in ApJ - paper with clearer figures is available at http://www.phys.ufl.edu/~buchler/publications/u12.ps.gz (1Mb

Stochastic Processes in Yellow and Red Pulsating Variables

Random changes in pulsation period are well established in cool pulsating stars, in particular the red giant variables: Miras, semi-regulars of types A and B, and RV Tau variables. Such effects are also observed in a handful of Cepheids, the SX Phe variable XX Cyg, and, most recently, the red supergiant variable, BC Cyg, a type C semi-regular. The nature of such fluctuations is seemingly random over a few pulsation cycles of the stars, yet the regularity of the primary pulsation mechanism dominates over the long term. The degree of stochasticity is linked to the dimensions of the stars, the randomness parameter 'e' appearing to correlate closely with mean stellar radius through the period 'P', with an average value of e/P = 0.0136+-0.0005. The physical processes responsible for such fluctuations are uncertain, but presumably originate in temporal modifications of envelope convection in such stars.Comment: Poster given at the "Stellar Pulsation: Challenges for Theory and Observation" conference in Santa Fe, New Mexico (2009

Not in my back yard! Sports stadia location and the property market

In recent years sports stadia have been built in the UK, not only for their intended sporting purpose but with the twin aim of stimulating economic and physical regeneration. However, proposals to locate stadia in urban areas often prompt a negative reaction from local communities, fearing a decline in property prices. This paper will use a case study of the Millennium Stadium in Cardiff and the City of Manchester Stadium to illustrate that in contrast to this widely held belief, sports stadia can actually enhance the value of residential property. Furthermore, it will argue that stadia also contribute indirectly to property value through the creation of pride, confidence and enhanced image of an area.</p

Substructure in clusters containing wide-angle tailed radio galaxies. I. New redshifts

We present new redshifts and positions for 635 galaxies in nine rich clusters containing Wide-Angle Tailed (WAT) radio galaxies. Combined with existing data, we now have a sample of 18 WAT-containing clusters with more than 10 redshifts. This sample contains a substantial portion of the WAT clusters in the VLA 20 cm survey of Abell clusters, including 75% of WAT clusters in the complete survey (z0.09. It is a representative sample which should not contain biases other than selection by radio morphology. We graphically present the new data using histograms and sky maps. A semi-automated procedure is used to search for emission lines in the spectra in order to add and verify galaxy redshifts. We find that the average apparent fraction of emission line galaxies is about 9% in both the clusters and the field. We investigate the magnitude completeness of our redshift surveys with CCD data for a test case, Abell 690. This case indicates that our galaxy target lists are deeper than the detection limit of a typical MX exposure, and they are 82% complete down to R=19.0. The importance of the uniformity of the placement of fibers on targets is posited, and we evaluate this in our datasets. We find some cases of non-uniformities which may influence dynamical analyses. A second paper will use this database to look for correlations between the WAT radio morphology and the cluster's dynamical state.Comment: 15 pages, 5 figures, 7 tables. To appear in the Astronomical Journa

A Merger Scenario for the Dynamics of Abell 665

We present new redshift measurements for 55 galaxies in the vicinity of the rich galaxy cluster Abell 665. When combined with results from the literature, we have good velocity measurements for a sample of 77 confirmed cluster members from which we derive the cluster's redshift z=0.1829 +/- 0.0005 and line-of-sight velocity dispersion of 1390 +/- 120 km/s. Our analysis of the kinematical and spatial data for the subset of galaxies located within the central 750 kpc reveals only subtle evidence for substructure and non-Gaussianity in the velocity distribution. We find that the brightest cluster member is not moving significantly relative to the other galaxies near the center of the cluster. On the other hand, our deep ROSAT high resolution image of A665 shows strong evidence for isophotal twisting and centroid variation, thereby confirming previous suggestions of significant substructure in the hot X-ray--emitting intracluster gas. In light of this evident substructure, we have compared the optical velocity data with N-body simulations of head-on cluster mergers. We find that a merger of two similar mass subclusters (mass ratios of 1:1 or 1:2) seen close to the time of core-crossing produces velocity distributions that are consistent with that observed.Comment: 30 pages and 7 figures. Accepted by the Astrophysical Journal Full resoultion figures 1 and 3 available in postscript at http://www.physics.rutgers.edu/~percy/A665paper.htm

The electrophilic fluorination of enol esters using SelectFluor : a polar two-electron process

The reaction of enol esters with SelectFluor is facile and leads to the corresponding α-fluoroketones under mild conditions and, as a result, this route is commonly employed for the synthesis of medicinally important compounds such as fluorinated steroids. However, despite the use of this methodology in synthesis, the mechanism of this reaction and the influence of structure on reactivity are unclear. We present a rigorous mechanistic study of the fluorination of these substrates, informed primarily by detailed and robust kinetic experiments. The results of this study implicate a polar two-electron process via an oxygen-stabilised carbenium species, rather than a single-electron process involving radical intermediates. The structure/reactivity relationships revealed here will assist synthetic chemists in deploying this type of methodology in the syntheses of α-fluoroketone