Implications of the Low Carbon Fuel Standard for State and National Ethanol Use

Resource /Energy Economics and Policy,

Measuring Economic Well-Being of Rural Canadians Using Income Indicators

Community/Rural/Urban Development,

Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration

A 17 degree of freedom anthropomorphic manipulator

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints

Transcriptional profiling of colicin-induced cell death of Escherichia coli MG1655 identifies potential mechanisms by which bacteriocins promote bacterial diversity

We report the transcriptional response of Escherichia coli MG1655 to damage induced by colicins E3 and E9, bacteriocins that kill cells through inactivation of the ribosome and degradation of chromosomal DNA, respectively. Colicin E9 strongly induced the LexA-regulated SOS response, while colicin E3 elicited a broad response that included the induction of cold shock genes, symptomatic of translational arrest. Colicin E3 also increased the transcription of cryptic prophage genes and other laterally acquired mobile elements. The transcriptional responses to both these toxins suggest mechanisms that may promote genetic diversity in E. coli populations, pointing to a more general role for colicins in adaptive bacterial physiology than has hitherto been realized

U-Pb Zircon Geochronology of Roxbury Conglomerate, Boston Basin, Massachusetts: Tectono-stratigraphic Implications for Avalonia in and Beyond SE New England

High-precision CA-TIMS 206Pb/238U zircon dates from sandstone and Brighton igneous rocks associated with Roxbury Conglomerate in the Boston Basin, eastern Massachusetts provide constraints on the age and tectonic significance of these deposits. Detrital zircon suites from Roxbury-related sandstones representing, in ascending order, the Franklin Park Member (proposed name), the Brookline Member and the Squantum Member establish closely comparable maximum depositional ages of 595.14 ± 0.90, 598.87 ± 0.71 and 596.39 ± 0.79 Ma, respectively. The youngest of these is the best maximum age estimate of the conglomerate. Brighton dacite near the base of the Brookline Member and amygdaloidal andesite near the top yield respective crystallization ages of 584.19 ± 0.70 Ma and 585.37 ± 0.72 Ma. These virtually identical dates support previous interpretations of these particular units as shallow intrusions and thus represent minimum ages of associated conglomerate. The Roxbury-Brighton sequence is traditionally shown as inter-fingering northward with ≤570 Ma mudstone of the Cambridge “Argillite,” but the age range of the conglomerate makes this impossible. Conglomerate lacking quartzite clasts typical of the Roxbury proper and associated with 593.19 ± 0.73 Ma rhyolite on the south side of the basin is re-assigned to the Lynn-Mattapan Volcanic Complex which rests unconformably on Dedham Granite in basement exposed west and north of the basin as well. Calc-alkaline geochemistry and ages of the 609 to 584 Ma Dedham-Lynn-Mattapan-Brighton assemblage link it with 630 to 580 Ma arc sequences in other northern Appalachian Avalonian terranes. Roxbury Conglomerate accumulated in fault-bounded intra-arc basins near the end of this magmatic cycle

A pendant proton shuttle on [Fe4N(CO)12]- alters product selectivity in formate vs. H2 production via the hydride [H-Fe4N(CO)12].

Proton relays are known to increase reaction rates for H2 evolution and lower overpotentials in electrocatalytic reactions. In this report we describe two electrocatalysts, [Fe4N(CO)11(PPh3)]- (1-) which has no proton relay, and hydroxyl-containing [Fe4N(CO)11(Ph2P(CH2)2OH)]- (2-). Solid state structures indicate that these phosphine-substituted clusters are direct analogs of [Fe4N(CO)12]- where one CO ligand has been replaced by a phosphine. We show that the proton relay changes the selectivity of reactions: CO2 is reduced selectively to formate by 1- in the absence of a relay, and protons are reduced to H2 under a CO2 atmosphere by 2-. These results implicate a hydride intermediate in the mechanism of the reactions and demonstrate the importance of controlling proton delivery to control product selectivity. Thermochemical measurements performed using infrared spectroelectrochemistry provided pKa and hydricity values for [HFe4N(CO)11(PPh3)]-, which are 23.7, and 45.5 kcal mol-1, respectively. The pKa of the hydroxyl group in 2- was determined to fall between 29 and 41, and this suggests that the proximity of the proton relay to the active catalytic site plays a significant role in the product selectivity observed, since the acidity alone does not account for the observed results. More generally, this work emphasizes the importance of substrate delivery kinetics in determining the selectivity of CO2 reduction reactions that proceed through metal-hydride intermediates

Limits on Radio Continuum Emission from a Sample of Candidate Contracting Starless Cores

We used the NRAO Very Large Array to search for 3.6 cm continuum emission from embedded protostars in a sample of 8 nearby ``starless'' cores that show spectroscopic evidence for infalling motions in molecular emission lines. We detect a total of 13 compact sources in the eight observed fields to 5 sigma limiting flux levels of typically 0.09 mJy. None of these sources lie within 1' of the central positions of the cores, and they are all likely background objects. Based on an extrapolation of the empirical correlation between the bolometric luminosity and 3.6 cm luminosity for the youngest protostars, these null-detections place upper limits of ~0.1 L_sun (d/140pc)^2 on the luminosities of protostellar sources embedded within these cores. These limits, together with the extended nature of the inward motions inferred from molecular line mapping (Lee et al. 2001), are inconsistent with the inside-out collapse model of singular isothermal spheres and suggest a less centrally condensed phase of core evolution during the earliest stages of star formation.Comment: Accepted to the Astronomical Journal; 12 pages, 1 figur