Kinematic design of a finger abduction mechanism for an anthropomorphic robotic hand

This paper presents the kinematic design of an abduction mechanism for the fingers of an underactuated anthropomorphic robotic hand. This mechanism will enhance the range of feasible grasps of the underactuated hand without significantly increasing its complexity. The analysis of the link between the index finger and the third finger is first assessed, where the parameters are studied in order to follow the amplitude constraint and to minimize the coordination error. Then, the study of the mechanism joining the third finger and the little finger is summarized. Finally, a prototype of the finger's abduction system is presented. <br><br> <i>This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.</i&gt

Behavior of the Escape Rate Function in Hyperbolic Dynamical Systems

For a fixed initial reference measure, we study the dependence of the escape rate on the hole for a smooth or piecewise smooth hyperbolic map. First, we prove the existence and Holder continuity of the escape rate for systems with small holes admitting Young towers. Then we consider general holes for Anosov diffeomorphisms, without size or Markovian restrictions. We prove bounds on the upper and lower escape rates using the notion of pressure on the survivor set and show that a variational principle holds under generic conditions. However, we also show that the escape rate function forms a devil's staircase with jumps along sequences of regular holes and present examples to elucidate some of the difficulties involved in formulating a general theory.Comment: 21 pages. v2 differs from v1 only by additions to the acknowledgment

Peeping at chaos: Nondestructive monitoring of chaotic systems by measuring long-time escape rates

One or more small holes provide non-destructive windows to observe corresponding closed systems, for example by measuring long time escape rates of particles as a function of hole sizes and positions. To leading order the escape rate of chaotic systems is proportional to the hole size and independent of position. Here we give exact formulas for the subsequent terms, as sums of correlation functions; these depend on hole size and position, hence yield information on the closed system dynamics. Conversely, the theory can be readily applied to experimental design, for example to control escape rates.Comment: Originally 4 pages and 2 eps figures incorporated into the text; v2 has more numerical results and discussion: now 6 pages, 4 figure

The Antisocial Effects of Social Media and How Colleges and Universities Can Manage Related Litigation Risks

Rapid advancements in information technology have transformed day-to-day university operations and, in doing so, have altered the landscape of risk management. Authors Gregory L. Demers, J. William Piereson, Mark A. Cianci, and Peter L. Welsh provide an overview of some of the most significant social-media-related risks faced by colleges and universities, before considering ways to mitigate these risks through a broad insurance coverage plan. The article explains how, given the relative novelty of this field, the coverage afforded by insurance policies inevitably will vary, often significantly, from insurer to insurer

Subsurface chlorophyll maximum and hydrodynamics of the water column

The vertical distributions of chlorophyll a (in vivo fluorescence) and hydrodynamic properties were monitored in the Gulf of St. Lawrence (Canada) from 6 to 10 August 1983, using an automatic yo-yo profiling system and a chain of 4 current meters. Spectral analyses of temperature and in vivo fluorescence series showed that dominant frequencies were associated with internal waves (∼16 h inertial frequency). A subsurface chlorophyll maximum was continuously observed in the lower part of the 20 m thick photic layer, at a depth corresponding with maximum vertical stability of the water column, just above the nutricline.The depth of maximum phytoplankton production, at least on sunny days, corresponded to that of the subsurface chlorophyll maximum and of the maximum in vertical stability. This close association persisted despite strong horizontal advection and vertical movements caused by internal waves. Photosynthetic adjustment did occur in the water column: higher vertical stability at depth favored shade adaptation of the phytoplankton in the layer of maximum stability, as compared to the more light-adapted cells of the upper well-mixed layer. At our sampling station, vertical turbulent diffusion seemed to be high enough to replenish nutrients in the photic layer, so that they never became completely exhausted, even in surface waters. Therefore, the observed subsurface chlorophyll maximum not only resulted from environmental conditions more favorable for phytoplankton accumulation and growth, but it also involved active photosynthetic responses of phytoplankton

Au-Ag template stripped pattern for scanning probe investigations of DNA arrays produced by Dip Pen Nanolithography

We report on DNA arrays produced by Dip Pen Nanolithography (DPN) on a novel Au-Ag micro patterned template stripped surface. DNA arrays have been investigated by atomic force microscopy (AFM) and scanning tunnelling microscopy (STM) showing that the patterned template stripped substrate enables easy retrieval of the DPN-functionalized zone with a standard optical microscope permitting a multi-instrument and multi-technique local detection and analysis. Moreover the smooth surface of the Au squares (abput 5-10 angstrom roughness) allows to be sensitive to the hybridization of the oligonucleotide array with label-free target DNA. Our Au-Ag substrates, combining the retrieving capabilities of the patterned surface with the smoothness of the template stripped technique, are candidates for the investigation of DPN nanostructures and for the development of label free detection methods for DNA nanoarrays based on the use of scanning probes.Comment: Langmuir (accepted

Tolerance of three European native species of crayfish to hypoxia.

Species that can act as indicators of ecosystem health offer a valuable tool in the management of natural resources. Crayfish have been suggested as bioindicators of water quality in Europe and at least one species (Austropotamobius pallipes) has been studied to determine its tolerance to pollution and its potential as a bioindicator. The genus Austropotamobius includes three crayfish species native to western Europe: A. pallipes, A. italicus and A. torrentium. It was hypothesised that because of their geographical and habitat distribution, the three Austropotamobius species might vary in their value as a bioindicator of water quality. Crayfish of species A. pallipes and A. italicus were subjected to three different treatments: hypoxia (treatment 3, approx 3 mg 1(-1) O-2), light hypoxia (treatment 2, approx 5.5 mg 1(-1) O-2) and normoxia (treatment 1, control, approx 8.5 mg 1(-1) O-2). A. torrentium crayfish were only subjected to treatment 1 (control) and 3. Variations in haemolymph sodium, calcium and chloride were used as a biomarker and concentrations were measured before and after treatment to evaluate hypoxia-induced stress. Significant differences in the concentrations of sodium between the control groups (treatment 1, normoxia) and the experimental groups (treatment 3, 3 mg 1(-1) O-2) were found in the species A. pallipes and A. torrentium. Groups of A. italicus did not show any significant difference between treatments in sodium concentrations but in chloride concentrations. Crayfish of all three species demonstrated a disruption in the ion exchange process in hypoxia, but all tolerated very low oxygen concentration for an extended period of time

Improved photometry of SDSS crowded field images: Structure and dark matter content in the dwarf spheroidal galaxy Leo I

We explore how well crowded field point-source photometry can be accomplished with SDSS data: We present a photometric pipeline based on DoPhot, and tuned for analyzing crowded-field images from the SDSS. Using Monte Carlo simulations we show that the completeness of source extraction is above 80% to i < 21 (AB) and a stellar surface density of about 200 sq.amin. Hence, a specialized data pipeline can efficiently be used for e.g. nearby resolved galaxies in SDSS images, where the standard SDSS photometric package Photo, when applied in normal survey mode, gives poor results. We apply our pipeline to an area of about 3.55sq.deg. around the dwarf spheroidal galaxy (dSph) Leo I, and construct a high S/N star-count map of Leo I via an optimized filter in color-magnitude space (g,r,i). Although the radial surface-density profile of the dwarf deviates from the best fit empirical King model towards outer radii, we find no evidence for tidal debris out to a stellar surface-density of 4*10^(-3) of the central value. We determine the total luminosity of Leo I, and model its mass using the spherical and isotropic Jeans equation. Assuming that 'mass follows light' we constrain a lower limit of the total mass of the dSph to be (1.7+/-0.2)*10^7 Msol. Contrary, if the mass in Leo I is dominated by a constant density dark-matter (DM) halo, then the mass within the central 12' is (2+/-0.6)*10^8 Msol. This leads to a mass-to-light ratio of >>6 (Ic_sol), and possibly >75 if the DM halo dominates the mass and extends further out than 12'. In summary, our results show that Leo I is a symmetric, relaxed and bound system; this supports the idea that Leo I is a dark-matter dominated system.Comment: 13 pages, 11 figures; accepted for publication in A

Mercury Accumulation in Tree Rings: Observed Trends in Quantity and Isotopic Composition in Shenandoah National Park, Virginia

Recent studies have shown that mercury (Hg) concentrations in tree rings have the potential to archive historical Hg exposure from local, regional, and global sources. The southeastern United States has received elevated Hg deposition, yet no studies have evaluated tree ring Hg in this region. Here, we quantify Hg accumulation and isotopic composition in tree rings collected in Shenandoah National Park, Virginia. Cores were collected from three individuals of three tree species—white oak (Quercus alba), northern red oak (Quercus rubra), and pitch pine (Pinus rigida)—within the northern, central, and southern areas of the Park (n = 27 cores). The cores were analyzed for Hg content in 10‐year increments, with some cores dating back to the early 1800s. Overall, tree ring Hg concentrations (ranging from below detection to 4.4 ng/g) were similar to other studies and varied between species, with pitch pine having higher concentrations than the deciduous species. The most notable feature of the tree ring Hg time series was a peak that occurred during the 1930s through 1950s, coinciding with the use of Hg at a local industrial facility. Atmospheric modeling indicates that potential emissions from the plant likely had a stronger impact on the southern region of the Park, consistent with the latitudinal gradient in tree ring Hg concentrations. Mass‐dependent and mass‐independent fractionation of Hg isotopes suggests contributions from both regional anthropogenic and local industrial sources during this period. This study demonstrates the potential usefulness of tree ring dendrochemistry for identifying historical sources of atmospheric Hg exposure.Key PointsTree ring mercury levels in Shenandoah National Park, Virginia, were similar to those measured in other North American forestsTree ring mercury peaked during the 1930s to 1950s, coinciding with mercury use at an industrial facility near the southern end of the ParkMercury isotopes suggest a local source at this time, demonstrating the potential of dendrochemistry to identify historical sourcesPlain Language SummaryFor many years scientists have used tree rings to reconstruct past climate. Increasingly, tree rings are being used to document the historical exposure of trees to pollutants. In this study, we cored trees in Shenandoah National Park, Virginia, dated the tree rings, and then measured the amount of mercury stored within decadal core increments. We were surprised to find that mercury levels peaked in the 1930s to 1950s, even though global mercury emissions continued to rise throughout the past century, mostly as a by‐product of energy production. Our findings suggest that the trees were exposed to a local pollutant source during this earlier time period, perhaps from a nearby industrial plant that used mercury in the production of rayon. By examining the chemistry of wood within tree rings, we can get a clearer picture of when and where human activities have affected air pollution over recent centuries.Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/153685/1/jgrg21576_am.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/153685/2/jgrg21576.pd

Renormalized Thermodynamic Entropy of Black Holes in Higher Dimensions

We study the ultraviolet divergent structures of the matter (scalar) field in a higher D-dimensional Reissner-Nordstr\"{o}m black hole and compute the matter field contribution to the Bekenstein-Hawking entropy by using the Pauli-Villars regularization method. We find that the matter field contribution to the black hole entropy does not, in general, yield the correct renormalization of the gravitational coupling constants. In particular we show that the matter field contribution in odd dimensions does not give the term proportional to the area of the black hole event horizon.Comment: Final Revision Form as to be published in Physical Review D, ReVTeX, No Figure