Experimental study of contact transition control incorporating joint acceleration feedback

Joint acceleration and velocity feedbacks are incorporated into a classical internal force control of a robot in contact with the environment. This is intended to achieve a robust contact transition and force tracking performance for varying unknown environments, without any need of adjusting the controller parameters, A unified control structure is proposed for free motion, contact transition, and constrained motion in view of the consumption of the initial kinetic energy generated by a nonzero impact velocity. The influence of the velocity and acceleration feedbacks, which are introduced especially for suppressing the transition oscillation, on the postcontact tracking performance is discussed. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for environments of various stiffnesses, including elastic (sponge), less elastic (cardboard), and hard (steel plate) surfaces. Results are compared with those obtained by the transition control scheme without the acceleration feedback. The ability of the proposed control scheme in resisting the force disturbance during the postcontact period is also experimentally investigated

A note on modular forms and generalized anomaly cancellation formulas

By studying modular invariance properties of some characteristic forms, we prove some new anomaly cancellation formulas which generalize the Han-Zhang and Han-Liu-Zhang anomaly cancellation formula

Protein transduction: A novel tool for tissue regeneration

Tissue regeneration in humans is limited and excludes vitals organs like heart and brain. Transformation experiments with oncogenes like T antigen have shown that retrodifferentiation of the respective cells is possible but hard to control. To bypass the risk of cancer formation a protein therapy approach has been developed. The transient delivery of proteins rather than genes could still induce terminallydifferentiated cells to reenter the cell cycle. This approach takes advantage of proteintransducing domains that mediate the transfer of cargo proteins into cells. The goal of this brief review is to outline the basics of protein transduction and to discuss potential applications for tissue regeneration

Assessing Descriptive Substance in Free-Text Collection-Level Metadata

Collection-level metadata has the potential to provide important information about the features and purpose of individual collections. This paper reports on a content analysis of collection records in an aggregation of cultural heritage collections. The findings show that the free-text Description field often provides more accurate and complete representation of subjects and object types than the specified fields. Properties such as importance, uniqueness, comprehensiveness, provenance, and creator are articulated, as well as other vital contextual information about the intentions of a collector and the value of a collection, as a whole, for scholarly users. The results demonstrate that the semantically rich free-text Description field is essential to understanding the context of collections in large aggregations and can serve as a source of data for enhancing and customizing controlled vocabulariesIMLS NLG Research and Demonstration grant LG-06-07-0020-07published or submitted for publicationis peer reviewe

Single-Electron Traps: A Quantitative Comparison of Theory and Experiment

We have carried out a coordinated experimental and theoretical study of single-electron traps based on submicron aluminum islands and aluminum oxide tunnel junctions. The results of geometrical modeling using a modified version of MIT's FastCap were used as input data for the general-purpose single-electron circuit simulator MOSES. The analysis indicates reasonable quantitative agreement between theory and experiment for those trap characteristics which are not affected by random offset charges. The observed differences between theory and experiment (ranging from a few to fifty percent) can be readily explained by the uncertainty in the exact geometry of the experimental nanostructures.Comment: 17 pages, 21 figures, RevTex, eps

The triple degenerate star WD1704+481

WD1704+481 is a visual binary in which both components are white dwarfs. We present spectra of the H-alpha line of both stars which show that one component (WD1704+481.2 = Sanduleak B = GR 577) is a close binary with two white dwarf components. Thus, WD1704+481 is the first known triple degenerate star. From radial velocity measurements of the close binary we find an orbital period of 0.1448d, a mass ratio, q=Mbright/Mfaint of q=0.70+-0.03 and a difference in the gravitational redshifts of 11.5+-2.3km/s. The masses of the close pair of white dwarfs predicted by the mass ratio and gravitational redshift difference combined with theoretical cooling curves are 0.39+-0.05 solar mass and 0.56+-0.07 solar masses. WD1704+481 is therefore also likely to be the first example of a double degenerate in which the less massive white dwarf is composed of helium and the other white dwarf is composed of carbon and oxygen.Comment: 5 pages, 4 figure