Wrist joint assembly

A wrist joint assembly is provided for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm. The wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis is to produce a pitch motion, and a third axis to produce a roll motion. The wrist joint assembly includes a disk segment affixed to the terminal end of the manipulator arm and a first housing member, a second housing member, and a third housing member. The third housing member and the mechanical end-effector are moved in the yaw, pitch, and roll motion. Drive means are provided for rotating each of the housings about their respective axis which includes a cluster of miniature motors having spur gears carried on the output drive shaft which mesh with a center drive gear affixed on the housing to be rotated

Measurements of ocean wave spectra and modulation transfer function with the airborne two frequency scatterometer

The directional spectrum and the microwave modulation transfer function of ocean waves can be measured with the airborne two frequency scatterometer technique. Similar to tower based observations, the aircraft measurements of the Modulation Transfer Function (MTF) show that it is strongly affected by both wind speed and sea state. Also detected are small differences in the magnitudes of the MTF between downwind and upwind radar look directions, and variations with ocean wavenumber. The MTF inferred from the two frequency radar is larger than that measured using single frequency, wave orbital velocity techniques such as tower based radars or ROWS measurements from low altitude aircraft. Possible reasons for this are discussed. The ability to measure the ocean directional spectrum with the two frequency scatterometer, with supporting MTF data, is demonstrated

TumorML: Concept and requirements of an in silico cancer modelling markup language

This paper describes the initial groundwork carried out as part of the European Commission funded Transatlantic Tumor Model Repositories project, to develop a new markup language for computational cancer modelling, TumorML. In this paper we describe the motivations for such a language, arguing that current state-of-the-art biomodelling languages are not suited to the cancer modelling domain. We go on to describe the work that needs to be done to develop TumorML, the conceptual design, and a description of what existing markup languages will be used to compose the language specification

A laser Doppler velocimeter approach for near-wall three-dimensional turbulence measurements

A near-wall laser Doppler velocimeter approach is described that relies on a beam-turning probe which makes possible the direct measurement of the crossflow velocity at a grazing incident and the placement of optical components close to the flow region of interest regardless of test facility size. Other important elements of the approach are the use of digital frequency processing, an optically smooth measurement surface, and observation of the sensing volume at 90 degrees. The combination was found to dramatically reduce noise-in-signal effects caused by surface light scattering. Turbulent boundary-layer data to within 20 microns (y(sup+) approximately equal to 1) of the surface are presented which illustrate the potential of the approach

Domino Waves

Motivated by a proposal of Daykin (Problem 71-19*, SIAM Review 13 (1971) 569), we study the wave that propagates along an infinite chain of dominoes and find the limiting speed of the wave in an extreme case.Comment: 10 pages, 5 figure

Advanced 2-frequency ocean sensing radar using high resolution antenna beams

The opportunity to use a large space antenna system for remote sensing applications permits the creation of an advanced ocean sensing radar that combines the abilities of previously developed techniques. The 15 meter antenna will permit much higher angular and spatial resolution at the surface that will lead to techniques of observing ocean wave heights and the directional spectrum that had not previously been feasible from space. At the same time, sensors to measure ocean surface winds can be in operation and the data from both can be combined to increase the accuracy of each individual sensor. The existing capabilities and sensor techniques with typical data characteristics for the individual measurement of sea surface quantities are outlined

Companions of Qsos at Redshift 1.1

We discuss broad- and narrow-band imaging of 7 arcmin fields of 14 QSOs with redshift ~1.1. The narrow-band filters were chosen to detect redshifted [O II] 3727A, and the broad bands are R and I, which correspond to rest wavelengths {}~3300A and ~3800A. In 100 arcsec subfields surrounding the QSOs, we detect an excess of typically 15 detected objects over the background of 25. Several of the QSO subfields also contain an excess of blue (R-I < 1.0) galaxies compared with the other subfields. Finally, several of the QSO subfields contain an excess of galaxies with significant narrow-band flux compared with the other subfields, and many of these are also blue. Most of the QSOs are radio-quiet in a region of sky overpopulated with z=1.1 QSOs, and 3 others are radio-loud from other parts of the sky. We suggest that most of these z=1.1 QSOs are in compact groups of starbursting galaxies. In our data, there is no significant difference between radio-loud and radio-quiet QSOs. We discuss cosmic evolutionary implications.Comment: 9 pages Plain Tex, 8 figures upon request, SISSA-DAO-94-00