Development of 3D anti-Swing control for hydraulic knuckle boom crane

In this paper, 3D anti-swing control for a hydraulic loader crane is presented. The difference between hydraulic and electric cranes are discussed to show the challenges associated with hydraulic actuation. The hanging load dynamics and relevant kinematics of the crane are derived to model the system and create the 3D anti-swing controller. The anti-swing controller generates a set of tool point velocities which are added to the electro-hydraulic motion controller via feedforward. A dynamic simulation model of the crane is made, and the control system is evaluated in simulations with a path controller in actuator space. Simulation results show significant reduction in the load swing angles during motion using the proposed anti-swing controller in addition to pressure feedback. Experiments are carried out to verify the performance of the anti-swing controller. Results show that the implemented pressure feedback is crucial for reaching stability, and with it the control system yields good suppression of the swing angles in practice.publishedVersio

Bias and temperature dependence of the 0.7 conductance anomaly in Quantum Point Contacts

The 0.7 (2e^2/h) conductance anomaly is studied in strongly confined, etched GaAs/GaAlAs quantum point contacts, by measuring the differential conductance as a function of source-drain and gate bias as well as a function of temperature. We investigate in detail how, for a given gate voltage, the differential conductance depends on the finite bias voltage and find a so-called self-gating effect, which we correct for. The 0.7 anomaly at zero bias is found to evolve smoothly into a conductance plateau at 0.85 (2e^2/h) at finite bias. Varying the gate voltage the transition between the 1.0 and the 0.85 (2e^2/h) plateaus occurs for definite bias voltages, which defines a gate voltage dependent energy difference $\Delta$. This energy difference is compared with the activation temperature T_a extracted from the experimentally observed activated behavior of the 0.7 anomaly at low bias. We find \Delta = k_B T_a which lends support to the idea that the conductance anomaly is due to transmission through two conduction channels, of which the one with its subband edge \Delta below the chemical potential becomes thermally depopulated as the temperature is increased.Comment: 9 pages (RevTex) with 9 figures (some in low resolution

Persistence of a particle in the Matheron-de Marsily velocity field

We show that the longitudinal position $x(t)$ of a particle in a $(d+1)$-dimensional layered random velocity field (the Matheron-de Marsily model) can be identified as a fractional Brownian motion (fBm) characterized by a variable Hurst exponent $H(d)=1-d/4$ for $d2$. The fBm becomes marginal at $d=2$. Moreover, using the known first-passage properties of fBm we prove analytically that the disorder averaged persistence (the probability of no zero crossing of the process $x(t)$ upto time $t$) has a power law decay for large $t$ with an exponent $\theta=d/4$ for $d<2$ and $\theta=1/2$ for $d\geq 2$ (with logarithmic correction at $d=2$), results that were earlier derived by Redner based on heuristic arguments and supported by numerical simulations (S. Redner, Phys. Rev. E {\bf 56}, 4967 (1997)).Comment: 4 pages Revtex, 1 .eps figure included, to appear in PRE Rapid Communicatio

Mental health treatment to reduce HIV transmission risk behavior: A positive prevention model

Secondary HIV prevention, or "positive prevention," is concerned with reducing HIV transmission risk behavior and optimizing the health and quality of life of people living with HIV/AIDS (PLWHA). The association between mental health and HIV transmission risk (i.e., sexual risk and poor medication adherence) is well established, although most of this evidence is observational. Further, a number of efficacious mental health treatments are available for PLWHA yet few positive prevention interventions integrate mental health treatment. We propose that mental health treatment, including behavioral and pharmacologic interventions, can lead to reductions in HIV transmission risk behavior and should be a core component of secondary HIV prevention. We present a conceptual model and recommendations to guide future research on the effect of mental health treatment on HIV transmission risk behavior among PLWHA

Turnover of dimethylsulfoniopropionate and dimethylsulfide in the marine environment:A mesocosm experiment

The production of dimethylsulfoniopropionate (DMSP) by marine phytoplankton and the fate of the produced DMSP and dimethylsulfide (DMS) were studied in 4 pelagic mesocosms during an algal bloom over a period of 1 mo. Bacterial numbers, concentrations of particulate and dissolved DMSP, DMS, and chlorophyll a were monitored, as well as the turnover rates of DMS and DMSP. Of the total amount of DMSP produced, only a fraction could be detected as DMS in the water column. DMS production in the water column did not necessarily correlate with algal senescence, but also occurred during the maximum of the algal bloom. The flux of DMS to the atmosphere played a minor role as a sink for DMS. Evidence is presented that shows bacterial consumption to be a major sink for DMS, under conditions of both high and low DMS water concentrations. DMSP was degraded either via cleavage or via demethylation; the results indicate a predominant role for the latter route

High-resolution transthoracic echocardiography accurately detects pulmonary arterial pressure and decreased right ventricular contractility in a mouse model of pulmonary fibrosis and secondary pulmonary hypertension

BACKGROUND: To date, assessment of right ventricular (RV) function in mice has relied extensively on invasive measurements. Echocardiographic advances have allowed adaptation of measures used in humans for serial, noninvasive RV functional assessment in mice. We evaluated the diagnostic performance of tricuspid annular plane systolic excursion (TAPSE), RV peak systolic myocardial velocity (s'), RV myocardial performance index (MPI), and RV fractional area change (FAC) in a mouse model of pulmonary hypertension. METHODS AND RESULTS: Echocardiography was performed on mice at baseline and 3 weeks after induction of pulmonary hypertension using inhaled bleomycin or saline, including adapted measures of TAPSE, s', MPI, and FAC. RV systolic pressure was measured by invasive catheterization, and RV contractility was measured as the peak slope of the RV systolic pressure recording (maximum change pressure/change time). Postmortem morphological assessment of RV hypertrophy was performed. RV systolic pressure was elevated and maximum change pressure/change time was reduced in bleomycin versus control (n=8; P=0.002). Compared with controls, bleomycin mice had reduced TAPSE (0.79±0.05 versus 1.06±0.04 mm; P=0.003), s' (21.3±1.2 versus 29.2±1.3 mm/s; P<0.001), and FAC (20.3±0.7% versus 31.0±1.3%; P<0.001), whereas MPI was increased (0.51±0.03 versus 0.37±0.01; P=0.006). All measures correlated with RV systolic pressure and maximum change pressure/change time. Intraobserver and interobserver variability were minimal. Receiver operating characteristic curves demonstrated that TAPSE (<0.84 mm), s'(<23.3 mm/s), MPI (0.42), and FAC (<23.3%) identified maximum change pressure/change time ≤2100 mm Hg/s with high accuracy. CONSLUSIONS: TAPSE, s', MPI, and FAC are measurable consistently using high-resolution echocardiography in mice, and are sensitive and specific measures of pulmonary pressure and RV function. This validation opens the opportunity for serial noninvasive measures in mouse models of pulmonary hypertension, enhancing the statistical power of preclinical studies of novel therapeutics

Volume Effects on the Glass Transition Dynamics

The role of jamming (steric constraints) and its relationship to the available volume is addressed by examining the effect that certain modifications of a glass-former have on the ratio of its isochoric and isobaric activation enthalpies. This ratio reflects the relative contribution of volume (density) and temperature (thermal energy) to the temperature-dependence of the relaxation times of liquids and polymers. We find that an increase in the available volume confers a stronger volume-dependence to the relaxation dynamics, a result at odds with free volume interpretations of the glass transition.Comment: 9 pages 5 figure

Two-domains bulklike Fermi surface of Ag films deposited onto Si(111)-(7x7)

Thick metallic silver films have been deposited onto Si(111)-(7x7) substrates at room temperature. Their electronic properties have been studied by using angle resolved photoelectron spectroscopy (ARPES). In addition to the electronic band dispersion along the high-symmetry directions, the Fermi surface topology of the grown films has been investigated. Using ARPES, the spectral weight distribution at the Fermi level throughout large portions of the reciprocal space has been determined at particular perpendicular electron-momentum values. Systematically, the contours of the Fermi surface of these films reflected a sixfold symmetry instead of the threefold symmetry of Ag single crystal. This loss of symmetry has been attributed to the fact that these films appear to be composed by two sets of domains rotated 60$^o$ from each other. Extra, photoemission features at the Fermi level were also detected, which have been attributed to the presence of surface states and \textit{sp}-quantum states. The dimensionality of the Fermi surface of these films has been analyzed studying the dependence of the Fermi surface contours with the incident photon energy. The behavior of these contours measured at particular points along the Ag $\Gamma$L high-symmetry direction puts forward the three-dimensional character of the electronic structure of the films investigated.Comment: 10 pages, 12 figures, submitted to Physical Review