Wrist joint assembly

A wrist joint assembly is provided for use with a mechanical manipulator arm for finely positioning an end-effector carried by the wrist joint on the terminal end of the manipulator arm. The wrist joint assembly is pivotable about a first axis to produce a yaw motion, a second axis is to produce a pitch motion, and a third axis to produce a roll motion. The wrist joint assembly includes a disk segment affixed to the terminal end of the manipulator arm and a first housing member, a second housing member, and a third housing member. The third housing member and the mechanical end-effector are moved in the yaw, pitch, and roll motion. Drive means are provided for rotating each of the housings about their respective axis which includes a cluster of miniature motors having spur gears carried on the output drive shaft which mesh with a center drive gear affixed on the housing to be rotated

Triple-axis common-pivot arm wrist device for manipulative applications

A concept in manipulator development to overcome the 'weak wrist syndrome', a triple-axis common-pivot arm wrist (TACPAW), is presented. It contains torque motors for actuation, tachometers for measuring rate, and resolvers for position measurements. Furthermore, it provides three degrees of freedom, i.e., pitch, yaw, and roll, in a single manipulator joint. The advantages of this development are increased strength, compactness, and simplification of controls. Designed to be compatible with the protoflight manipulator arm, the joints of TACPAW are back-driveable with + or - 45 deg rotation in pitch, + or - 45 deg in yaw and continuous roll in either direction while delivering 20.5 N-m (15 ft-lb) torque in each of the three movements

An Unfamiliar Way to Generate the Hierarchy of Standard Model Fermion Masses

While the properties of the observed Higgs boson agree with the Standard Model predictions, the hierarchy of fermion masses lacks an explanation within the model. In this work, we propose a fresh approach to this problem, involving a different Higgs doublet responsible for each quark mass. We construct a model with a gauged, non-anomalous $U(1)$ family symmetry that fixes which fermion couples to which doublet with an $\mathcal{O}(1)$ Yukawa coupling. The hierarchy of masses is generated by the hierarchy of vacuum expectation values of the Higgs fields. The model generically predicts a light, weakly coupled pseudoscalar. We verify that the model satisfies constraints from flavour changing neutral currents, Higgs phenomenology and electroweak precision tests.Comment: 31 pages incl. reference

Variability in basal metabolic rate of a long-distance migrant shorebird (Red Knot, <i>Calidris canutus</i>) reflects shifts in organ sizes

We studied differences in body composition and basal metabolic rate (BMR, measured in postabsorptive birds under thermoneutral conditions at night) in two subspecies of red knots, Calidris canutus: one that spends the nonbreeding season under energetically costly climatic conditions at temperate latitudes (subspecies islandica in western Europe) and one that winters in the hot and humid tropics (subspecies canutus in West and South Africa). To examine whether the possible differences would be upheld under identical conditions, we kept both groups in captivity as well. Body composition was quantified with respect to the fat and lean components of 10 ''organs'' (breast muscles, leg muscles, stomach, intestine, liver kidneys, lungs, heart, and the skin, and skeleton and attached muscle). Captive birds had lighter lean tissues than wild birds, especially those of the stomach, intestine, kidneys, and liver (the nutritional organs). During the northern winter wild islandica knots had higher lean masses than canutus knots in tropical Africa. Tropically wintering red knots had lower BMRs than their temperate-wintering conspecifics, and birds in long-term captivity had lower BMR values than their free-living counterparts. Average BMR values per category of birds (wild or captive of either subspecies) were strongly correlated with the group averages of lean mass. Prediction of BMR on the basis of total lean mass of red knots undergoing incipient starvation follows this same relationship because metabolically active tissue is being depleted. That the two subspecies converged to similar body composition in captivity indicates that individual red knots may possess considerable flexibility. We argue that red knots, and probably most other long-distance migrants, have metabolic machinery that is able to adjust continuously, depending on the ecological conditions and food types encountered in the course of the year. We further argue that variation in (functional components of) lean mass is the vehicle for seasonal adjustments in metabolic physiology to variable demand levels. Body mass adjustments offer a flexible response enabling red knots to economize on total daily metabolic expenditure whenever conditions allow a relaxation of metabolic scope, such as during winter in the Tropics.</p

Magnetic permeability of ( Fe Co Ge ) 88 Zr 6 B 5 Cu 1 alloys: Thermal stability in a wide temperature range.

Temperature dependence, from room temperature up to 1000 K, of the initial permeability of Fe83−xCoxGe5Zr6B5Cu1 x=5 and 20 alloys at different stages of devitrification is reported. As nanocrystallization progresses, room temperature decreases but high temperature one increases, leading to an improvement of its thermal stability extended from room temperature up to 915 K, characterized by a temperature coefficient of permeability 0.1%/K 4000 and 0.04%/K 800 for 5 and 20 at. % Co containing alloys, respectively

The Properties of Large Amplitude Whistler Mode Waves in the Magnetosphere: Propagation and Relationship with Geomagnetic Activity

Wepresent resultsof a studyof the characteristicsof very large amplitude whistler mode waves inside the terrestrial magnetosphere at radial distances of less than 15 RE using waveform capture data from the Wind spacecraft. We observed 247 whistler mode waves with at least one electric field component (105/247 had !80 mV/m peak!to!peak amplitudes) and 66 whistler mode waves with at least one search coil magnetic field component (38/66 had !0.8 nT peak!to!peak amplitudes). Wave vectors determined from events with three magnetic field components indicate that 30/46 propagate within 20 of the ambient magnetic field, though some are more oblique (up to "50 ). No relationship was observed between wave normal angle and GSM latitude. 162/247 of the large amplitude whistler mode waves were observed during magnetically active periods (AE > 200 nT). 217 out of 247 total whistler mode waves examined were observed inside the radiation belts. We present a waveform capture with the largest whistler wave magnetic field amplitude (^8 nT peak!to!peak) ever reported in the radiation belts. The estimated Poynting flux magnitude associated with this wave is ^300 mW/m2, roughly four orders of magnitude above estimates from previous satellite measurements. Such large Poynting flux values are consistent with rapid energization of electrons

Economic comparison of reactive distillation (RD) to a benchmark conventional flowsheet:Regions of RD applicability and trends in column design

A novel methodology for the techno-economic assessment of Reactive Distillation (RD) is presented. The developed methodology benchmarks reactive distillation (RD) to a conventional reactor + distillation train flowsheet (R+D) on a cost-optimized basis, with the optimization being performed on the process unit level (reactor sizing, number of stages, feed point(s)) and the internals level (reactive tray design). This methodology is applied to the ideal quaternary system A+B↔C+D with the conventional boiling point order of TC &lt; TA &lt; TB &lt; TD (αAD = 4, αBD = 2, αCD = 8). From this pool of data, a regime map of RD vs. R+D is established in which the attractive regions of either flowsheet option are identified in terms of the chemical reaction rate and chemical equilibrium. It is found that RD can arise as the cost optimal option for a large range of residence time requirements by virtue of overcoming the external recycle requirements of R+D. This is achieved through optimized reactive tray design. Contrary to conventional distillation design practices, it was found that the preferred use of bubble-cap trays over sieve trays to allow elevated weir heights and designing the column diameter below 80% of flooding become relevant design choices when accommodating high liquid holdup.</p

Inclusion in morning meetings

This thesis explores the extent to which teachers implement best practice of inclusion during their daily Morning Meetings. Morning Meetings are a standard practice at the beginning of the school day where student and teachers greet one another, share personal stories and information, participate in a group activity, and read a morning message written by the teachers. Preschool through third grade teachers in local school districts were given a self-reflection survey. The survey was a standardized checklist that was informed by research on inclusive practices and The Morning Meeting Book (Kriete & Davis, 2014). It was modeled after the Division for Early Childhood (DEC) and the National Association for the Education of Young Children (NAEYC) joint early childhood inclusion policy, which states the defining features of inclusion as access, participation, and supports (2009). The survey lists specific practices that teachers may or may not be implementing that promote inclusion. My hypothesis before the research began was that teachers would struggle to implement the practices that take more time and preparation outside of their normal routine. The analysis of the data showed that my hypothesis was correct to some extent, teachers were more successful when implementing accommodations that they could plan into the whole group, and less successful with one-on-one accommodations that required them to work individually with a student outside of the Morning Meeting