Multiple cooperating manipulators: The case of kinematically redundant arms

Existing work concerning two or more manipulators simultaneously grasping and transferring a common load is continued and extended. Specifically considered is the case of one or more arms being kinematically redundant. Some existing results in the modeling and control of single redundant arms and multiple manipulators are reviewed. The cooperating situation is modeled in terms of a set of coordinates representing object motion and internal object squeezing. Nominal trajectories in these coordinates are produced via actuator load distribution algorithms introduced previously. A controller is developed to track these desired object trajectories while making use of the kinematic redundancy to additionally aid the cooperation and coordination of the system. It is shown how the existence of kinematic redundancy within the system may be used to enhance the degree of cooperation achievable

Application of Microgels for Optical Tagging

In this paper we present results from our research into the use of microgel-based photonic crystals in an optical tagging application. The basis for this research is the phenomena of self-assembly of hydrogel nano- and microparticles (i.e., microgels) into colloidal crystal Bragg reflectors. Previous research has demonstrated the assembly of Bragg structures that are sensitive in the visible spectral region. This current research focuses on the extension of this process into the infrared regime and the use of these infrared-sensitive structures in the creation of an optical tag. In particular, the research effort emphasizes two primary areas: the development of nanoparticles that are infrared-sensitive and the casting of thin films comprised of these particles. We will also present theoretical data on the optical and physical characteristics of thin films comprised of these particles. This paper will present an overview of the program, outline the processes and issues addressed during our initial efforts in creating these infrared sensitive structures and present a summary of the computational results based on the theoretical analyses.https://digitalcommons.chapman.edu/sees_books/1003/thumbnail.jp

A model for orientation effects in electron‐transfer reactions

A method for solving the single‐particle Schrödinger equation with an oblate spheroidal potential of finite depth is presented. The wave functions are then used to calculate the matrix element T_BA which appears in theories of nonadiabatic electron transfer. The results illustrate the effects of mutual orientation and separation of the two centers on TBA. Trends in these results are discussed in terms of geometrical and nodal structure effects. Analytical expressions related to T_BA for states of spherical wells are presented and used to analyze the nodal structure effects for T_BA for the spheroidal wells

Phase imaging and the lever-sample tilt angle in dynamic atomic force microscopy

The phase shift in amplitude-controlled dynamic atomic force microscopy (AFM) is shown to depend on the cantilever-sample tilt angle. For a silicon sample and tip the phase shift changes by nearly 15º for a change in tilt angle of 15º. This contribution to the phase results from the oscillating tip\u27s motion parallel to the surface, which contributes to the overall energy dissipation. It occurs even when the measurements are carried out in the attractive regime. An off-axis dynamic AFM model incorporating van der Waals attraction and a thin viscous damping layer near the surface successfully describes the observed phase shifts. This effect must be considered to interpret phase images quantitatively. © 2004 American Institute of Physics

Проблеми побудови відкритої та гнучкої методичної системи навчання математичних методів фізики у педагогічних університетах

(uk) Розглядаються тенденції розвитку фундаментальної фізико-математичної освіти, зближення природничо-наукового та гуманітарного, що уможливлюють розв’язання проблеми побудови відкритої та гнучкої науково-обґрунтованої методичної системи навчання математичних методів фізики у педагогічних університетах.(en) The article examines progressive trends of fundamental physical and mathematical education, rapprochement of naturally scientific and humanitarian, that makes possible to solve the problem of constructing the open and flexible scientifically reasonable methodical systeme of mathematical methods of physics teaching inpedagogical universities

Phytosociological analysis of restored and managed grassland habitat within an urban national park

Floyd Bennett Field (FBF), 579 ha in extent, is a division of Gateway National Recreation Area. It is the site of a former airfield, constructed by filling salt marshes with dredged materials. Except for the portion known locally as the “North Forty,” all sections of FBF have been cut over to maintain low vegetation. A grassland management plan (GRAMP) for 165 ha was initiated in 1986, to maintain habitats for open-country birds. Over the next few years, encroaching woody vegetation was removed manually and mechanically from the management area. Since then, it has been maintained as a grassland and receives annual mowing, as well as continued manual removal of the larger woody sprouts. A portion of the GRAMP management area (III) was selected for intensive study of vegetation composition. A grid system was created and vegetation cover was estimated in 127, 1 m × 1 m quadrats. The quadrats were subjected to cluster analysis (CA). Eleven clusters were recognized. These clusters were treated as “plant associations.” The following types were distinguished: (native) little bluestem–dewberry grassland, six-weeks fescue annual grassland, a grass marsh, a rush marsh, a switchgrass dry grassland, and a deer-tongue panicgrass grassland; (exotic) mugwort herbland, oriental bittersweet-Japanese honeysuckle vineland, Kentucky bluegrass-mixed grassland, Japanese knotweed tall herbland, and spotted knapweed-common St. Johnswort herbland. The little bluestem–dewberry association accounted for nearly half of all quadrats; six subclusters were recognized. The plant associations determined by CA were compared with plant lists compiled during traverses of all of the map categories in the six GRAMP Areas (I, II, III, IV, V, VI). A table was created to relate the quantitative data of the plant associations to the appropriate map categories. A nonmetric multidimensional scaling ordination (NMDS) was performed on the quadrat data. Finally, the plant associations were compared with those described in the literature of local vegetation studies. The mowing program has been effective in decreasing woody plant cover and has permitted the invasion of a few taxa into monospecific communities, but attendant disturbance of the substrate is likely to cause an increase in exotic plant taxa. As earlier studies noted, mowing has caused the increase in cover of sod-forming grass, and bare ground has virtually disappeared in the managed area. This has negative implications for the maintenance of those grassland bird species that require open ground for nesting

Patterns of regional diastolic function in the normal human left ventricle: An ultrafast computed tomographic study

AbstractThe detailed evaluation of regional diastolic filling at multiple ventricular levels in the normal human left ventricle has not previously been reported. Ultrafast computed tomography was used to characterize global and regional early diastolic filling in the left ventricle of 11 normal male volunteers. Regional early diastolic filling data from six distinct ventricular levels (apex to base) were fit to a third-order polynomial curve, and the peak rate of diastolic filling and time of peak filling were determined. Peak filling rate was 259 ± 17 ml/s (±SEM) as a global average, where peak filling rate referenced to end-diastolic volume and stroke volume across the levels examined was 3.78 ± 0.17 s−and 4.83 ± 0.20 s−respectively. Average filling fraction was 39 ± I%, and time to peak filling from end-systole was 145 ± 5 ms.Regional (tomographic) peak filling rates, except for the most apical level examined, were not statistically different across the ventricle. Filling fraction and time to peak filling were remarkably constant from one level to another. However, reference of regional peak filling rate to regional end-diastolic volume demonstrated significant nonuniformity from apex (120% of average for all levels) to base (87% of average for all levels). Peak filling rate referenced to tomographic stroke volume was less variable and not statistically different across the ventricle as a whole.In conclusion, values of regional absolute early peak diastolic ventricular filling rate or values normalized for regional end-diastolic volume are characteristically nonuniform across the left ventricle, whereas other variables such as filling fraction, time to peak filling and regional peak filling rate referenced to regional stroke volume are highly uniform. This confirms an intimate relation between rates of regional diastolic filling and regional ventricular size and stroke volume in the normal human heart