Field Correlation of Soil Liquefaction with SPT and Grain Size

Two earthquakes of magnitudes 6.7 and 7.4 that occurred in 1978 off the Pacific coast of Miyagi Prefecture, Japan, provided field liquefaction data for a fairly wide range of peak ground surface acceleration from 100 to 290 gal. The range of SPT N-values was also fairly wide because special efforts were made to collect non-liquefaction data in addition to liquefaction data. Dynamic shear stress ratios adjusted for earthquake magnitudes and effective overburden pressures are plotted against N-values adjusted for effective overburden pressures. The field data are compared with two methods proposed recently, one by Seed and the other by Iwasaki et al, after a critical review of the methods and the SPT\u27s in the U.S. and Japan. The method by Seed tended to underestimate the resistance to liquefaction for small N-values, particularly for silty sands; whereas the method by Iwasaki et al tended to underestimate the resistance to liquefaction for large N-values

Alignment using an uncalibrated camera system

We describe a method for the visual control of a robotic system which does not require the formulation of an explicit calibration between image coordinates and the world coordinates. By extracting control information directly from the image, we free our technique from the errors normally associated with a fixed calibration. We attach a camera system to a robot such that the camera system and the robot's gripper rotate simultaneously. As the camera system rotates about the gripper's rotational axis, the circular path traced out by a point-like feature projects to an elliptical path in image space. We gather the projected feature points over part of a rotation and fit the gathered data to an ellipse. The distance from the rotational axis to the feature point in world space is proportional to the size of the generated ellipse. As the rotational axis gets closer to the feature, the feature's projected path will form smaller and smaller ellipses. When the rotational axis is directly above the object, the trajectory degenerates from an ellipse to a single point. We demonstrate the efficacy of the algorithm on the peg-in-hole problem

Visual control of grasping and manipulation tasks

This paper discusses the problem of visual control of grasping. We have implemented an object tracking system that can be used to provide visual feedback for locating the positions of fingers and objects to be manipulated, as well as the relative relationships of them. This visual analysis can be used to control open loop grasping systems in a number of manipulation tasks where the finger contact, object movement, and task completion need to be monitored and controlled

High Angular Resolution, Sensitive CS J=2-1 and J=3-2 Imaging of the Protostar L1551 NE: Evidence for Outflow-Triggered Star Formation ?

High angular resolution and sensitive aperture synthesis observations of CS ($J=2-1$) and CS ($J=3-2$) emissions toward L1551 NE, the second brightest protostar in the Taurus Molecular Cloud, made with the Nobeyama Millimeter Array are presented. L1551 NE is categorized as a class 0 object deeply embedded in the red-shifted outflow lobe of L1551 IRS 5. Previous studies of the L1551 NE region in CS emission revealed the presence of shell-like components open toward L1551 IRS 5, which seem to trace low-velocity shocks in the swept-up shell driven by the outflow from L1551 IRS 5. In this study, significant CS emission around L1551 NE was detected at the eastern tip of the swept-up shell from $V_{\rm{lsr}}$ = 5.3 km s$^{-1}$ to 10.1 km s$^{-1}$, and the total mass of the dense gas is estimated to be 0.18 $\pm$ 0.02 $M_\odot$. Additionally, the following new structures were successfully revealed: a compact disklike component with a size of $\approx$ 1000 AU just at L1551 NE, an arc-shaped structure around L1551 NE, open toward L1551 NE, with a size of $\sim 5000$ AU, i.e., a bow shock, and a distinct velocity gradient of the dense gas, i.e., deceleration along the outflow axis of L1551 IRS 5. These features suggest that the CS emission traces the post-shocked region where the dense gas associated with L1551 NE and the swept-up shell of the outflow from L1551 IRS 5 interact. Since the age of L1551 NE is comparable to the timescale of the interaction, it is plausible that the formation of L1551 NE was induced by the outflow impact. The compact structure of L1551 NE with a tiny envelope was also revealed, suggesting that the outer envelope of L1551 NE has been blown off by the outflow from L1551 IRS 5.Comment: 29 pages, 12 figures, Accepted for Publication in the Astrophysical Journa