Compliance error compensation in robotic-based milling

The paper deals with the problem of compliance errors compensation in robotic-based milling. Contrary to previous works that assume that the forces/torques generated by the manufacturing process are constant, the interaction between the milling tool and the workpiece is modeled in details. It takes into account the tool geometry, the number of teeth, the feed rate, the spindle rotation speed and the properties of the material to be processed. Due to high level of the disturbing forces/torques, the developed compensation technique is based on the non-linear stiffness model that allows us to modify the target trajectory taking into account nonlinearities and to avoid the chattering effect. Illustrative example is presented that deals with robotic-based milling of aluminum alloy

Will passive protection save Congo forests?

Central Africa\u27s tropical forests are among the world\u27s largest carbon reserves. Historically, they have experienced low rates of deforestation. Pressures to clear land are increasing due to development of infrastructure and livelihoods, foreign investment in agriculture, and shifting land use management, particularly in the Democratic Republic of Congo (DRC). The DRC contains the greatest area of intact African forests. These store approximately 22 billion tons of carbon in aboveground live biomass, yet only 10% are protected. Can the status quo of passive protection - forest management that is low or nonexistent - ensure the preservation of this forest and its carbon? We have developed the SimCongo model to simulate changes in land cover and land use based on theorized policy scenarios from 2010 to 2050. Three scenarios were examined: the first (Historical Trends) assumes passive forest protection; the next (Conservation) posits active protection of forests and activation of the national REDD+ action plan, and the last (Agricultural Development) assumes increased agricultural activities in forested land with concomitant increased deforestation. SimCongo is a cellular automata model based on Bayesian statistical methods tailored for the DRC, built with the Dinamica-EGO platform. The model is parameterized and validated with deforestation observations from the past and runs the scenarios from 2010 through 2050 with a yearly time step. We estimate the Historical Trends trajectory will result in average emissions of 139 million t CO2 year-1 by the 2040s, a 15% increase over current emissions. The Conservation scenario would result in 58% less clearing than Historical Trends and would conserve carbon-dense forest and woodland savanna areas. The Agricultural Development scenario leads to emissions of 212 million t CO2 year-1 by the 2040s. These scenarios are heuristic examples of policy\u27s influence on forest conservation and carbon storage. Our results suggest that 1) passive protection of the DRC\u27s forest and woodland savanna is insufficient to reduce deforestation; and 2): enactment of a REDD+ plan or similar conservation measure is needed to actively protect Congo forests, their unique ecology, and their important role in the global carbon cycle

A zeta function approach to the relation between the numbers of symmetry planes and axes of a polytope

A derivation of the Ces\`aro-Fedorov relation from the Selberg trace formula on an orbifolded 2-sphere is elaborated and extended to higher dimensions using the known heat-kernel coefficients for manifolds with piecewise-linear boundaries. Several results are obtained that relate the coefficients, $b_i$, in the Shephard-Todd polynomial to the geometry of the fundamental domain. For the 3-sphere we show that $b_4$ is given by the ratio of the volume of the fundamental tetrahedron to its Schl\"afli reciprocal.Comment: Plain TeX, 26 pages (eqn. (86) corrected

Inertialess multilayer film flow with surfactant: Stability and traveling waves

Multilayer film flow down an inclined plane in the presence of an insoluble surfactant is investigated with particular emphasis on determining flow stability and investigating the possibility of traveling-wave solutions. The investigation is conducted for two or three layers under conditions of Stokes flow and, separately, on the basis of a long-wave assumption. A normal mode linear stability analysis for Stokes flow shows that adding surfactant to one of the film surfaces can destabilize an otherwise stable flow configuration. For the long-wave system, periodic traveling-wave branches are detected and traced, revealing solutions with pulselike solitary waves on each film surface traveling in phase with each other, traveling waves with capillary ridge structures, and solutions with two of the film surfaces almost in contact. Time-periodic traveling-wave solutions are also found. The stability of the traveling waves is determined by solving initial-value problems and by computing eigenvalue spectra. Boundary element simulations for Stokes flow confirm the existence of traveling waves outside the long-wave regime

SST-GATE: A dual mirror telescope for the Cherenkov Telescope Array

The Cherenkov Telescope Array (CTA) will be the world's first open observatory for very high energy gamma-rays. Around a hundred telescopes of different sizes will be used to detect the Cherenkov light that results from gamma-ray induced air showers in the atmosphere. Amongst them, a large number of Small Size Telescopes (SST), with a diameter of about 4 m, will assure an unprecedented coverage of the high energy end of the electromagnetic spectrum (above ~1TeV to beyond 100 TeV) and will open up a new window on the non-thermal sky. Several concepts for the SST design are currently being investigated with the aim of combining a large field of view (~9 degrees) with a good resolution of the shower images, as well as minimizing costs. These include a Davies-Cotton configuration with a Geiger-mode avalanche photodiode (GAPD) based camera, as pioneered by FACT, and a novel and as yet untested design based on the Schwarzschild-Couder configuration, which uses a secondary mirror to reduce the plate-scale and to allow for a wide field of view with a light-weight camera, e.g. using GAPDs or multi-anode photomultipliers. One objective of the GATE (Gamma-ray Telescope Elements) programme is to build one of the first Schwarzschild-Couder prototypes and to evaluate its performance. The construction of the SST-GATE prototype on the campus of the Paris Observatory in Meudon is under way. We report on the current status of the project and provide details of the opto-mechanical design of the prototype, the development of its control software, and simulations of its expected performance.Comment: In Proceedings of the 33rd International Cosmic Ray Conference (ICRC2013), Rio de Janeiro (Brazil). All CTA contributions at arXiv:1307.223

Multiwavelength characterisation of an ACT-selected, lensed dusty star-forming galaxy at z=2.64

We present \ci\,(2--1) and multi-transition $^{12}$CO observations of a dusty star-forming galaxy, ACT\,J2029+0120, which we spectroscopically confirm to lie at $z$\,=\,2.64. We detect CO(3--2), CO(5--4), CO(7--6), CO(8--7), and \ci\,(2--1) at high significance, tentatively detect HCO$^{+}$(4--3), and place strong upper limits on the integrated strength of dense gas tracers (HCN(4--3) and CS(7--6)). Multi-transition CO observations and dense gas tracers can provide valuable constraints on the molecular gas content and excitation conditions in high-redshift galaxies. We therefore use this unique data set to construct a CO spectral line energy distribution (SLED) of the source, which is most consistent with that of a ULIRG/Seyfert or QSO host object in the taxonomy of the \textit{Herschel} Comprehensive ULIRG Emission Survey. We employ RADEX models to fit the peak of the CO SLED, inferring a temperature of T$\sim$117 K and $n_{\text{H}_2}\sim10^5$ cm$^{-3}$, most consistent with a ULIRG/QSO object and the presence of high density tracers. We also find that the velocity width of the \ci\ line is potentially larger than seen in all CO transitions for this object, and that the $L'_{\rm C\,I(2-1)}/L'_{\rm CO(3-2)}$ ratio is also larger than seen in other lensed and unlensed submillimeter galaxies and QSO hosts; if confirmed, this anomaly could be an effect of differential lensing of a shocked molecular outflow.Comment: Accepted for publication in Ap

Unraveling the molecular mechanisms of color expression in anthocyanins

Anthocyanins are a broad family of natural dyes, increasingly finding application as substitutes for artificial colorants in the food industry. In spite of their importance and ubiquity, the molecular principles responsible for their extreme color variability are poorly known. We address these mechanisms by computer simulations and photoabsorption experiments of cyanidin-3-O-glucoside in water solution, as a proxy for more complex members of the family. Experimental results are presented in the range of pH 1-9, accompanied by a comprehensive systematic computational study across relevant charge states and tautomers. The computed spectra are in excellent agreement with the experiments, providing unprecedented insight into the complex behavior underlying color expression in these molecules. Besides confirming the importance of the molecule's charge state, we also unveil the hitherto unrecognized role of internal distortions in the chromophore, which affect its degree of conjugation, modulating the optical gap and in turn the color. This entanglement of structural and electronic traits is also shared by other members of the anthocyanin family (e.g. pelargonidin and delphinidin) highlighting a common mechanism for color expression across this important family of natural dyes

Membrane Traffic and Muscle: Lessons from Human Disease

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/73369/1/j.1600-0854.2008.00716.x.pd

Young Galaxy Candidates in the Hubble Frontier Fields - III. MACSJ0717.5+3745

In this paper we present the results of our search for and study of $z \gtrsim 6$ galaxy candidates behind the third Frontier Fields (FF) cluster, MACSJ0717.5+3745, and its parallel field, combining data from Hubble and Spitzer. We select 39 candidates using the Lyman Break technique, for which the clear non-detection in optical make the extreme mid-$z$ interlopers hypothesis unlikely. We also take benefit from $z \gtrsim 6$ samples selected using previous Frontier Fields datasets of Abell 2744 and MACS0416 to improve the constraints on the properties of very high-redshift objects. We compute the redshift and the physical properties, such emission lines properties, star formation rate, reddening, and stellar mass for all Frontier Fields objects from their spectral energy distribution using templates including nebular emission lines. We study the relationship between several physical properties and confirm the trend already observed in previous surveys for evolution of star formation rate with galaxy mass, and between the size and the UV luminosity of our candidates. The analysis of the evolution of the UV Luminosity Function with redshift seems more compatible with an evolution of density. Moreover, no robust $z\ge$8.5 object is selected behind the cluster field, and few $z$$\sim$9 candidates have been selected in the two previous datasets from this legacy survey, suggesting a strong evolution in the number density of galaxies between $z$$\sim$8 and 9. Thanks to the use of the lensing cluster, we study the evolution of the star formation rate density produced by galaxies with L$>$0.03L$^{\star}$, and confirm the strong decrease observed between $z$$\sim$8 and 9.Comment: 21 pages - Accepted for publication in ApJ - v2: small correction

JPCam: A 1.2Gpixel camera for the J-PAS survey

JPCam is a 14-CCD mosaic camera, using the new e2v 9k-by-9k 10microm-pixel 16-channel detectors, to be deployed on a dedicated 2.55m wide-field telescope at the OAJ (Observatorio Astrofisico de Javalambre) in Aragon, Spain. The camera is designed to perform a Baryon Acoustic Oscillations (BAO) survey of the northern sky. The J-PAS survey strategy will use 54 relatively narrow-band (~13.8nm) filters equi-spaced between 370 and 920nm plus 3 broad-band filters to achieve unprecedented photometric red-shift accuracies for faint galaxies over ~8000 square degrees of sky. The cryostat, detector mosaic and read electronics is being supplied by e2v under contract to J-PAS while the mechanical structure, housing the shutter and filter assembly, is being designed and constructed by a Brazilian consortium led by INPE (Instituto Nacional de Pesquisas Espaciais). Four sets of 14 filters are placed in the ambient environment, just above the dewar window but directly in line with the detectors, leading to a mosaic having ~10mm gaps between each CCD. The massive 500mm aperture shutter is expected to be supplied by the Argelander-Institut fur Astronomie, Bonn. We will present an overview of JPCam, from the filter configuration through to the CCD mosaic camera. A brief outline of the main J-PAS science projects will be included.Comment: 11 pages and 9 figure