Multiple sensor smart robot hand with force control

A smart robot hand developed at JPL for the Protoflight Manipulator Arm (PFMA) is described. The development of this smart hand was based on an integrated design and subsystem architecture by considering mechanism, electronics, sensing, control, display, and operator interface in an integrated design approach. The mechanical details of this smart hand and the overall subsystem are described elsewhere. The sensing and electronics components of the JPL/PFMA smart hand are summarized and it is described in some detail in control capabilities

Alien Registration- Lee, Richard R. (Fort Fairfield, Aroostook County)

https://digitalmaine.com/alien_docs/36512/thumbnail.jp

ACHIEVING EFFICIENCY AND EQUITY IN IRRIGATION MANAGEMENT: AN OPTIMIZATION MODEL OF THE EL ANGEL WATERSHED, CARCHI, ECUADOR

The objective of this paper is to address the problems of inefficiency and inequity in water allocation in the El Angel watershed, located in Ecuador's Sierra region. Water is captured in a high-altitude region of the watershed and distributed downstream to producers in four elevation-defined zones via a system of canals. Upstream and downstream producers face radically different conditions with respect to climate and terrain. A mathematical programming model was created to study the consequences of addressing chronic water scarcity problems in the watershed by shifting water resources between the four zones. The model captures the nature of water use by humans, crops and dual purpose cattle. Its objective function maximizes producer welfare as measured by aggregate gross margin, subject to limited supplies of land, labor and water. Five water allocation scenarios are evaluated with respect to efficiency in land and water use and equity in income distribution. Results reveal that although water is the primary constrained resource downstream, in the upstream zones, land is far more scarce. The current distribution of water rights does not consider these differences and therefore is neither efficient nor equitable. Improvements in efficiency (resource use) and equity (income distribution) are associated with (1) a shift of water to the lower zone, and (2) the use of lower levels of irrigation intensity upstream. Furthermore, the scenarios that result in the most efficient use of resources also bring the greatest degree of equity in income distribution, indicating that these may be complementary, not conflicting, goals.Mathematical programming, water allocation, efficiency, equity, Resource /Energy Economics and Policy,

Amplified Sensitivity of Nitrogen-Vacancy Spins in Nanodiamonds using All-Optical Charge Readout

Nanodiamonds containing nitrogen-vacancy (NV) centers offer a versatile platform for sensing applications spanning from nanomagnetism to in-vivo monitoring of cellular processes. In many cases, however, weak optical signals and poor contrast demand long acquisition times that prevent the measurement of environmental dynamics. Here, we demonstrate the ability to perform fast, high-contrast optical measurements of charge distributions in ensembles of NV centers in nanodiamonds and use the technique to improve the spin readout signal-to-noise ratio through spin-to-charge conversion. A study of 38 nanodiamonds, each hosting 10-15 NV centers with an average diameter of 40 nm, uncovers complex, multiple-timescale dynamics due to radiative and non-radiative ionization and recombination processes. Nonetheless, the nanodiamonds universally exhibit charge-dependent photoluminescence contrasts and the potential for enhanced spin readout using spin-to-charge conversion. We use the technique to speed up a $T_1$ relaxometry measurement by a factor of five.Comment: 13 pages, 14 figure