Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study

Includes bibliographical references (page 880).Teleoperated robots in harsh environments have a significant likelihood of failures. It has been shown in previous work that a common type of failure such as that of a joint "locking up", when unidentified by the robot controller, can cause considerable performance degradation in the local behavior of the manipulator even for simple point-to-point motion tasks. The effects of a failure become more critical for a system with a human in the loop, where unpredictable behavior of the robotic arm can completely disorient the operator. In this experimental study involving teleoperation of a graphically simulated kinematically redundant manipulator, two control schemes, the pseudoinverse and a proposed failure-tolerant inverse, were randomly presented under both non-failure and failure scenarios to a group of operators. Based on performance measures derived from the recorded trajectory data and operator responses, it is seen that the failure tolerant inverse kinematic control scheme improved the performance of the human/robot system

Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study

Includes bibliographical references (page 765).Teleoperated robots in harsh environments have a significant likelihood of failures. It has been shown in previous work that a common type of failure such as that of a joint "locking up," when unidentified by the robot controller, can cause considerable performance degradation in the local behavior of the manipulator even for simple point-to-point motion tasks. The effects of a failure become more critical for a system with a human in the loop, where unpredictable behavior of the robotic arm can completely disorient the operator. In this experimental study involving teleoperation of a graphically simulated kinematically redundant manipulator, two control schemes, the pseudoinverse and a proposed failure-tolerant inverse, were randomly presented under both nonfailure and failure scenarios to a group of operators. Based on performance measures derived from the recorded trajectory data and operator ratings of task difficulty, it is seen that the failure-tolerant inverse kinematic control scheme improved the performance of the human/robot system

Solution Structure of the Tctex1 Dimer Reveals a Mechanism for Dynein-Cargo Interactions

SummaryTctex1 is a light chain found in both cytoplasmic and flagellar dyneins and is involved in many fundamental cellular activities, including rhodopsin transport within photoreceptors, and may function in the non-Mendelian transmission of t haplotypes in mice. Here, we present the NMR solution structure for the Tctex1 dimer from Chlamydomonas axonemal inner dynein arm I1. Structural comparisons reveal a strong similarity with the LC8 dynein light chain dimer, including formation of a strand-switched β sheet interface. Analysis of the Tctex1 structure enables the dynein intermediate chain binding site to be identified and suggests a mechanism by which cargo proteins might be attached to this microtubule motor complex. Comparison with the alternate dynein light chain rp3 reveals how the specificity of dynein-cargo interactions mediated by these dynein components is achieved. In addition, this structure provides insight into the consequences of the mutations found in the t haplotype forms of this protein

Application of random coherence order selection in gradient-enhanced multidimensional NMR

Development of multidimensional NMR is essential to many applications, for example in high resolution structural studies of biomolecules. Multidimensional techniques enable separation of NMR signals over several dimensions, improving signal resolution, whilst also allowing identification of new connectivities. However, these advantages come at a significant cost. The Fourier transform theorem requires acquisition of a grid of regularly spaced points to satisfy the Nyquist criterion, while frequency discrimination and acquisition of a pure phase spectrum require acquisition of both quadrature components for each time point in every indirect (non-acquisition) dimension, adding a factor of 2$^{N−1}$ to the number of free-induction decays which must be acquired, where $N$ is the number of dimensions. Compressed sensing (CS) ℓ$_{1}$-norm minimisation in combination with non-uniform sampling (NUS) has been shown to be extremely successful in overcoming the Nyquist criterion. Previously, maximum entropy reconstruction has also been used to overcome the limitation of frequency discrimination, processing data acquired with only one quadrature component at a given time interval, known as random phase detection (RPD), allowing a factor of two reduction in the number of points for each indirect dimension (Maciejewski et al. 2011 $\small \textit{PNAS}$ 108 16640). However, whilst this approach can be easily applied in situations where the quadrature components are acquired as amplitude modulated data, the same principle is not easily extended to phase modulated (P-/N-type) experiments where data is acquired in the form exp ($\textit{iωt}$) or exp (−$\textit{iωt}$), and which make up many of the multidimensional experiments used in modern NMR. Here we demonstrate a modification of the CS ℓ$_1$-norm approach to allow random coherence order selection (RCS) for phase modulated experiments; we generalise the nomenclature for RCS and RPD as random quadrature detection (RQD). With this method, the power of RQD can be extended to the full suite of experiments available to modern NMR spectroscopy, allowing resolution enhancements for all indirect dimensions; alone or in combination with NUS, RQD can be used to improve experimental resolution, or shorten experiment times, of considerable benefit to the challenging applications undertaken by modern NMR.This is the final version of the article. It first appeared from IOP Publishing via http://dx.doi.org/10.1088/1742-6596/699/1/01200

[The Impact of Nuclear Star Formation on Gas Inflow to AGN

Our adaptive optics observations of nearby AGN at spatial resolutions as small as 0.085arcsec show strong evidence for recent, but no longer active, nuclear star formation. We begin by describing observations that highlight two contrasting methods by which gas can flow into the central tens of parsecs. Gas accumulation in this region will inevitably lead to a starburst, and we discuss the evidence for such events. We then turn to the impact of stellar evolution on the further inflow of gas by combining a phenomenological approach with analytical modelling and hydrodynamic simulations. These complementary perspectives paint a picture in which all the processes are ultimately regulated by the mass accretion rate into the central hundred parsecs, and the ensuing starburst that occurs there. The resulting supernovae delay accretion by generating a starburst wind, which leaves behind a clumpy interstellar medium. This provides an ideal environment for slower stellar outflows to accrete inwards and form a dense turbulent disk on scales of a few parsecs. Such a scenario may resolve the discrepancy between the larger scale structure seen with adaptive optics and the small scale structure seen with VLTI.Comment: to appear in: Co-Evolution of Central Black Holes and Galaxies; 7 page

A Planetary Mass Companion to the K0 Giant HD 17092

We report the discovery of a substellar-mass companion to the K0-giant HD 17092 with the Hobby-Eberly Telescope. In the absence of any correlation of the observed 360-day periodicity with the standard indicators of stellar activity, the observed radial velocity variations are most plausibly explained in terms of a Keplerian motion of a planetary-mass body around the star. With the estimated stellar mass of 2.3Msun, the minimum mass of the planet is 4.6MJ. The planet's orbit is characterized by a mild eccentricity of e=0.17 and a semi-major axis of 1.3 AU. This is the tenth published detection of a planetary companion around a red giant star. Such discoveries add to our understanding of planet formation around intermediate-mass stars and they provide dynamical information on the evolution of planetary systems around post-main sequence stars.Comment: 13 pages, 3 figures, 2 tables. Submitted to Ap

A Magellan-IMACS-IFU Search for Dynamical Drivers of Nuclear Activity. I. Reduction Pipeline and Galaxy Catalog

Using the Inamori Magellan Areal Camera and Spectrograph (IMACS) integral-field unit (IFU) on the 6.5m Magellan telescope, we have designed the first statistically significant investigation of the two-dimensional distribution and kinematics of ionized gas and stars in the central kiloparsec regions of a well-matched sample of Seyfert and inactive control galaxies selected from the Sloan Digital Sky Survey. The goals of the project are to use the fine spatial sampling (0.2 arcsec/pixel) and large wavelength coverage (4000-7000A) of the IMACS-IFU to search for dynamical triggers of nuclear activity in the central region where active galactic nucleus (AGN) activity and dynamical timescales become comparable, to identify and assess the impact of AGN-driven outflows on the host galaxy and to provide a definitive sample of local galaxy kinematics for comparison with future three-dimensional kinematic studies of high-redshift systems. In this paper, we provide the first detailed description of the procedure to reduce and calibrate data from the IMACS-IFU in `long mode' to obtain two-dimensional maps of the distribution and kinematics of ionized gas and stars. The sample selection criteria are presented, observing strategy described and resulting maps of the sample galaxies presented along with a description of the observed properties of each galaxy and the overall observed properties of the sample.Comment: 62 pages. 41 figures. 5 tables. Accepted for publication in ApJS. High-resolution version available at: http://www.astro.ljmu.ac.uk/~pbw/IMACS-IFU/IMACS-1-highRes.pd