Lift-off dynamics in a simple jumping robot

We study vertical jumping in a simple robot comprising an actuated mass-spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot's resonant frequency $f_0$. Two distinct jumping modes emerge: a simple jump which is optimal above $f_0$ is achievable with a squat maneuver, and a peculiar stutter jump which is optimal below $f_0$ is generated with a counter-movement. A simple dynamical model reveals how optimal lift-off results from non-resonant transient dynamics.Comment: 4 pages, 4 figures, Physical Review Letters, in press (2012

The Sloan Bright Arcs Survey: Four Strongly Lensed Galaxies with Redshift >2

We report the discovery of four very bright, strongly-lensed galaxies found via systematic searches for arcs in Sloan Digital Sky Survey Data Release 5 and 6. These were followed-up with spectroscopy and imaging data from the Astrophysical Research Consortium 3.5m telescope at Apache Point Observatory and found to have redshift $z>2.0$. With isophotal magnitudes $r = 19.2 - 20.4$ and 3\arcsec-diameter magnitudes $r = 20.0 - 20.6$, these systems are some of the brightest and highest surface brightness lensed galaxies known in this redshift range. In addition to the magnitudes and redshifts, we present estimates of the Einstein radii, which range from 5.0 \arcsec to 12.7 \arcsec, and use those to derive the enclosed masses of the lensing galaxies

The Sloan Bright Arcs Survey : Six Strongly Lensed Galaxies at z=0.4-1.4

We present new results of our program to systematically search for strongly lensed galaxies in the Sloan Digital Sky Survey (SDSS) imaging data. In this study six strong lens systems are presented which we have confirmed with follow-up spectroscopy and imaging using the 3.5m telescope at the Apache Point Observatory. Preliminary mass models indicate that the lenses are group-scale systems with velocity dispersions ranging from 466-878 km s^{-1} at z=0.17-0.45 which are strongly lensing source galaxies at z=0.4-1.4. Galaxy groups are a relatively new mass scale just beginning to be probed with strong lensing. Our sample of lenses roughly doubles the confirmed number of group-scale lenses in the SDSS and complements ongoing strong lens searches in other imaging surveys such as the CFHTLS (Cabanac et al 2007). As our arcs were discovered in the SDSS imaging data they are all bright ($r\lesssim22$), making them ideally suited for detailed follow-up studies.Comment: 13 pages, 3 figures, submitted to ApJL, the Sloan Bright Arcs page is located here: http://home.fnal.gov/~kubo/brightarcs.htm

Discovery of A Very Bright, Strongly-Lensed z=2 Galaxy in the SDSS DR5

We report on the discovery of a very bright z = 2.00 star-forming galaxy that is strongly lensed by a foreground z=0.422 luminous red galaxy (LRG). This system was found in a systematic search for bright arcs lensed by LRGs and brightest cluster galaxies in the Sloan Digital Sky Survey Data Release 5 sample. Follow-up observations on the Subaru 8.2m telescope on Mauna Kea and the Astrophysical Research Consortium 3.5m telescope at Apache Point Observatory confirmed the lensing nature of this system. A simple lens model for the system, assuming a singular isothermal ellipsoid mass distribution, yields an Einstein radius of 3.82 +/- 0.03 arcsec or 14.8 +/- 0.1 kpc/h at the lens redshift. The total projected mass enclosed within the Einstein radius is 2.10 +/- 0.03 x 10^12 M_sun/h, and the magnification factor for the source galaxy is 27 +/- 1. Combining the lens model with our gVriz photometry, we find an (unlensed) star formation rate for the source galaxy of 32 M_sun/h / yr, adopting a fiducial constant star formation rate model with an age of 100 Myr and E(B-V) = 0.25. With an apparent magnitude of r = 19.9, this system is among the very brightest lensed z >= 2 galaxies, and provides an excellent opportunity to pursue detailed studies of the physical properties of an individual high-redshift star-forming galaxy.Comment: 31 pages, 12 figures, 4 tables, submitted to Ap

The sensory feedback mechanisms enabling couples to walk synchronously: An initial investigation

The inattentive eye often will not notice it, but synchronization among human walking partners is quite common. In this first investigation of this phenomenon, we studied its frequency and the mechanisms that contribute to this form of "entrainment." Specifically, by modifying the available communication links between two walking partners, we isolated the feedback mechanisms that enable couples to synchronize their stepping pattern when they walk side-by-side. Although subjects were unaware of the research aims and were not specifically asked to walk in synchrony, we observed synchronized walking in almost 50% of the walking trials, among couples who do not usually walk together. The strongest in-phase synchrony occurred in the presence of tactile feedback (i.e., handholding), perhaps because of lower and upper extremity coupling driven in part by arm swing. Interestingly, however, even in the absence of visual or auditory communication, couples also frequently walked in synchrony while 180 degrees out-of-phase, likely using different feedback mechanisms. These findings may partially explain how patients with certain gait disorders and disturbed rhythm enhance their gait when they walk with a partner and suggest alternative interventions that might improve the stepping pattern. Further, this preliminary investigation highlights the relatively ubiquitous nature of an interesting phenomenon that has not previously been studied and suggests that further work is needed to better understand the mechanisms that entrain the gait of two walking partners and allows couples to walk in synchrony with minimal or no conscious effort