102,583 research outputs found
Six Degrees of Freedom Control with Each Hand?
For some time man has made six degree of freedom inputs to a pair of dextrous manipulators using both hands simultaneously by the use of the master/slave concept. The advent of the microprocessor has the potential to make the master/slave concept redundant by replacing the master with a mathematical model. All spacecraft to date, including the space shuttle, that were flown in six degrees of freedom were controlled by using both hands, the left hand controlling translation and the right rotation. Almost inevitably the same principle was applied to the CANADARM. At the instigation of NASA the development of a device whereby both translation and rotation could be combined allowing full control with one hand was developed. The development and testing of the device, and the extension of its application into spaceflight control are described. Also the concept of an adaptable workstation for multi-maniipulator and spacecraft flight control is discussed
The Early English passion play
This discussion challenges the common understanding that biblical drama in England was dominated by âmystery playsâ, narrowly understood to be cycles of short pageants, by drawing attention to the evidence for large-scale Passion Plays comparable with those better known from France and Burgundy. In so doing, it makes no apology for standing on the shoulders of Peter Meredith's work on the N-Town manuscript, and with John Tailby on the texts and documents illustrating the variety of staging of religious drama across Europe, as well as Meg Twycross's work on devisor Felsted of London, all of which demonstrate that this material has been available in the public domain for some years. Just as the N-Town Plays were still believed in some quarters to come from Coventry as late as the mid-twentieth century, although Francis Douce knew they did not almost 150 years earlier, so too the domination of modern understandings about English mystery plays has remained wedded to the model of four âcyclesâ promulgated in the 1970s, despite the accumulation of evidence to the contrary. Peter Meredith's edition of The âPassion Playâ from the N. Town Manuscript is now all but unobtainable, and the volumes of Records of Early English Drama are the chosen bedtime reading of few, so here we revisit some texts and records to explore afresh one aspect of an already shifted paradigm
The free energy difference between 3-point water models
This paper describes precise calculations to determine the free energy differences between 3-point models of liquid water, using the method of thermodynamic integration and molecular dynamics. For the three models considered in this study the order of thermodynamic stability at 300 K and 1 atm pressure is SPC/E > SPC > TIP3P. The magnitudes of these stabilities are quantified and an estimate of the precision of the values is made
Global imbalances: the perspective of the Bank of England.
In 2009, demand in the worldâs major economies fell, relative to its pre-crisis trend, by around USD 2.5 trillion or 5 per cent of GDP. The financial crisis damaged virtually every country. Global imbalances helped to fuel the financial crisis. And today they threaten the sustainability of the recovery in global demand. Global imbalances are a reflection of todayâs decentralised international monetary and financial system. All the main players around the world are rationally pursuing their own self interest. But the financial crisis has revealed that what makes sense for each player individually does not always make sense in aggregate. These actions had collective consequences. The main lesson from the crisis is the need to find better ways of ensuring the right collective outcome. Improved financial regulation will help to intermediate the flows associated with global imbalances. But the global economy will remain vulnerable to the risks associated with imbalances if they are not tackled at source. Two principles should underpin the way ahead. First, discussions should focus on the underlying disagreement about the right speed of adjustment to the real pattern of spending and hence the reduction in these imbalances. This discussion should be informed by countriesâ ability to follow that path in a sustainable way. Second, many policies, in addition to changes in exchange rates, will be needed to reduce imbalances. If agreement is not reached on these two principles, at best there will be a weak world recovery; at worst, the seeds of the next financial crisis will be sown.
Mary Sigl, Plaintiff, v. Travel Tags, Inc., a foreign business corporation, dba Western Graphics & Data, Defendant.
Our side of the mirror : the (re)-construction of 1970sâ masculinity in David Peaceâs Red Riding
David Peace and the late Gordon Burn are two British novelists who have used a mixture of fact and fiction in
their works to explore the nature of fame, celebrity and the media representations of individuals caught up in events,
including investigations into notorious murders. Both Peace and Burn have analysed the case of Peter Sutcliffe, who
was found guilty in 1981 of the brutal murders of thirteen women in the North of England. Peaceâs novels filmed as the
Red Riding Trilogy are an excoriating portrayal of the failings of misogynist and corrupt police officers, which allowed
Sutcliffe to escape arrest. Burnâs somebodyâs Husband Somebodyâ Son is a detailed factual portrait of the community
where Sutcliffe spent his life. Peaceâs technique combines reportage, stream of consciousness and changing points
of views including the police and the victims to produce an episodic non linear narrative. The result has been termed
Yorkshire noir. The overall effect is to render the paranoia and fear these crimes created against a backdrop of the
late 1970s and early 1980s. Peace has termed his novels as âfictions of the factsâ.
This paper will examine the way that Peace uses his account of Sutcliffeâs crimes and the huge police manhunt
to catch the killer to explore the society that produced the perpetrator, victims and the police. The police officers
represent a form of âhegemonic masculinityâ but one that is challenged by the extreme misogyny, brutality, misery
and degradation that surround them. This deconstruction of the 1970s male police officer is contrasted with the
enormously popular figure of Gene Hunt from the BBC TV series Life on Mars
Crunch Time for Water Quality Trading
Environmental Economics and Policy, Resource /Energy Economics and Policy,
Head impact exposure in junior and adult Australian football players
Tis study measured and compared the frequency, magnitude, and distribution of head impacts sustained by junior and adult Australian football players, respectively, and between player positions over a season of games. Twelve junior and twelve adult players were tracked using a skin-mounted impact sensor. Head impact exposure, including frequency, magnitude, and location of impacts, was quantifed using previously established methods. Over the collection period, there were no signifcant diferences in the impact frequency between junior and adult players. However, there was a signifcant increase in the frequency of head impacts for midfelders in both grades once we accounted for player position. A comparable amount of head impacts in both junior and adult players has implications for Australian football regarding player safety and medical coverage as younger players sustained similar impact levels as adult players. Te other implication of a higher impact profle within midfelders is that, by targeting education and prevention strategies, a decrease in the incidence of sports-related concussion may result
Multi-axis manual controllers: A state-of-the-art report
A literature search was carried out to examine the feasibility of a six degree of freedom hand controller. Factors addressed included related areas, approaches to manual control, applications of manual controllers, and selected studies of the human neuromuscular system. Results are presented
Optimizing the ratio of captures to trapping effort in a black rat Rattus rattus control programme in New Zealand
The ratio of captures to unit effort is an important cost/benefit measure for volunteer pest control programmes. We describe an experiment designed to investigate the use of pre-feeding and trap pulsing as possible means of increasing this ratio. In 20 traps locked-open and pre-fed with non-toxic pellets for five days, the same number of black rats was caught over the next 5 days as in 20 non pre-fed traps set for the whole 10 days (32 rats each). Allowing for successful traps being unavailable for an average of half a night each, the capture rate in the pre-fed traps was 47% over five days, more than double that in the non pre-fed traps set for twice as long (total 19% in 10 days)
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