6,466 research outputs found
A smart end-effector for assembly of space truss structures
A unique facility, the Automated Structures Research Laboratory, is being used to investigate robotic assembly of truss structures. A special-purpose end-effector is used to assemble structural elements into an eight meter diameter structure. To expand the capabilities of the facility to include construction of structures with curved surfaces from straight structural elements of different lengths, a new end-effector has been designed and fabricated. This end-effector contains an integrated microprocessor to monitor actuator operations through sensor feedback. This paper provides an overview of the automated assembly tasks required by this end-effector and a description of the new end-effector's hardware and control software
Structure of Mandelate Racemase with Bound Intermediate Analogues Benzohydroxamate and Cupferron
Mandelate racemase (MR, EC 5.1.2.2) from Pseudomonas putida catalyzes the Mg2+-dependent interconversion of the enantiomers of mandelate, stabilizing the altered substrate in the transition state by 26 kcal/mol relative to the substrate in the ground state. To understand the origins of this binding discrimination, we determined the X-ray crystal structures of wild-type MR complexed with two analogues of the putative aci-carboxylate intermediate, benzohydroxamate and Cupferron, to 2.2-Ă
resolution. Benzohydroxamate is shown to be a reasonable mimic of the transition state and/or intermediate because its binding affinity for 21 MR variants correlates well with changes in the free energy of transition state stabilization afforded by these variants. Both benzohydroxamate and Cupferron chelate the active site divalent metal ion and are bound in a conformation with the phenyl ring coplanar with the hydroxamate and diazeniumdiolate moieties, respectively. Structural overlays of MR complexed with benzohydroxamate, Cupferron, and the ground state analogue (S)-atrolactate reveal that the para carbon of the substrate phenyl ring moves by 0.8â1.2 Ă
between the ground state and intermediate state, consistent with the proposal that the phenyl ring moves during MR catalysis while the polar groups remain relatively fixed. Although the overall protein structure of MR with bound intermediate analogues is very similar to that of MR with bound (S)-atrolactate, the intermediateâMg2+ distance becomes shorter, suggesting a tighter complex with the catalytic Mg2+. In addition, Tyr 54 moves closer to the phenyl ring of the bound intermediate analogues, contributing to an overall constriction of the active site cavity. However, site-directed mutagenesis experiments revealed that the role of Tyr 54 in MR catalysis is relatively minor, suggesting that alterations in enzyme structure that contribute to discrimination between the altered substrate in the transition state and the ground state by this proficient enzyme are extremely subtle
Hyper- and suspended-accretion states of rotating black holes and the durations of gamma-ray bursts
We analyze the temporal evolution of accretion onto rotating black holes
subject to large-scale magnetic torques. Wind torques alone drive a disk
towards collapse in a finite time , where is the
initial free-fall time and is the ratio of kinetic-to-poloidal
magnetic energy. Additional spin-up torques from a rapidly rotating black hole
can arrest the disk's inflow. We associate short/long gamma-ray bursts with
hyperaccretion/suspended-accretion onto slowly/rapidly spinning black holes.
This model predicts afterglow emission from short bursts, and may be tested by
HETE-II.Comment: accepted for publication in the ApJ
Theory and astrophysical consequences of a magnetized torus around a rapidly rotating black hole
(Abbrev.) We analyze the topology, lifetime, and emissions of a torus around
a black hole formed in hypernovae and black hole-neutron star coalescence. The
torus is ab initio uniformly magnetized, represented by two counter oriented
current-rings, and develops a state of suspended accretion against a "magnetic
wall" around the black hole. Magnetic stability of the torus gives rise to a
new fundamental limit EB/Ek<0.1 for the ratio of poloidal magnetic field
energy-to-kinetic energy. The lifetime of rapid spin of the black hole is
effectively defined by the timescale of dissipation of black hole-spin energy
in the horizon, and satisfies T= 40s (MH/7MSun)(R/6MH)^4(0.03MH/MT) for a black
hole of mass MH surrounded by a torus of mass MT and radius R. The torus
converts a major fraction Egw/Erot=0.1 into gravitational radiation through a
finite number of multipole mass-moments, and a smaller fraction into MeV
neutrinos and baryon-rich winds. At a source distance of 100Mpc, these
emissions over N=2e4 periods give rise to a characteristic strain amplitude
\sqrt{N}hchar=6e-21. We argue that torus winds create an open magnetic
flux-tube on the black hole, which carries a minor and standard fraction
Ej/Erot=1e-3 in baryon-poor outflows to infinity. We identify this baryon poor
output of tens of seconds with GRBs with contemporaneous and strongly
correlated emissions in gravitational radiation, conceivably at multiple
frequencies. Ultimately, this leaves a black hole binary surrounded by a
supernova remnant.Comment: To appear in ApJ (44p
Entropic force in black hole binaries and its Newtonian limits
We give an exact solution for the static force between two black holes at the
turning points in their binary motion. The results are derived by Gibbs'
principle and the Bekenstein-Hawking entropy applied to the apparent horizon
surfaces in time-symmetric initial data. New power laws are derived for the
entropy jump in mergers, while Newton's law is shown to derive from a new
adiabatic variational principle for the Hilbert action in the presence of
apparent horizon surfaces. In this approach, entropy is strictly monotonic such
that gravity is attractive for all separations including mergers, and the
Bekenstein entropy bound is satisfied also at arbitrarily large separations,
where gravity reduces to Newton's law. The latter is generalized to point
particles in the Newtonian limit by application of Gibbs' principle to
world-lines crossing light cones.Comment: Accepted for publication in Phys. Rev.
An inertial range length scale in structure functions
It is shown using experimental and numerical data that within the traditional
inertial subrange defined by where the third order structure function is linear
that the higher order structure function scaling exponents for longitudinal and
transverse structure functions converge only over larger scales, , where
has scaling intermediate between and as a function of
. Below these scales, scaling exponents cannot be determined for any
of the structure functions without resorting to procedures such as extended
self-similarity (ESS). With ESS, different longitudinal and transverse higher
order exponents are obtained that are consistent with earlier results. The
relationship of these statistics to derivative and pressure statistics, to
turbulent structures and to length scales is discussed.Comment: 25 pages, 9 figure
The Shape and Scale of Galactic Rotation from Cepheid Kinematics
A catalog of Cepheid variables is used to probe the kinematics of the
Galactic disk. Radial velocities are measured for eight distant Cepheids toward
l = 300; these new Cepheids provide a particularly good constraint on the
distance to the Galactic center, R_0. We model the disk with both an
axisymmetric rotation curve and one with a weak elliptical component, and find
evidence for an ellipticity of 0.043 +/- 0.016 near the Sun. Using these
models, we derive R_0 = 7.66 +/- 0.32 kpc and v_circ = 237 +/- 12 km/s. The
distance to the Galactic center agrees well with recent determinations from the
distribution of RR Lyrae variables, and disfavors most models with large
ellipticities at the solar orbit.Comment: 36 pages, LaTeX, 10 figure
Magellanic Cloud Periphery Carbon Stars IV: The SMC
The kinematics of 150 carbon stars observed at moderate dispersion on the
periphery of the Small Magellanic Cloud are compared with the motions of
neutral hydrogen and early type stars in the Inter-Cloud region. The
distribution of radial velocities implies a configuration of these stars as a
sheet inclined at 73+/-4 degrees to the plane of the sky. The near side, to the
South, is dominated by a stellar component; to the North, the far side contains
fewer carbon stars, and is dominated by the neutral gas. The upper velocity
envelope of the stars is closely the same as that of the gas. This
configuration is shown to be consistent with the known extension of the SMC
along the line of sight, and is attributed to a tidally induced disruption of
the SMC that originated in a close encounter with the LMC some 0.3 to 0.4 Gyr
ago. The dearth of gas on the near side of the sheet is attributed to ablation
processes akin to those inferred by Weiner & Williams (1996) to collisional
excitation of the leading edges of Magellanic Stream clouds. Comparison with
pre LMC/SMC encounter kinematic data of Hardy, Suntzeff, & Azzopardi (1989) of
carbon stars, with data of stars formed after the encounter, of Maurice et al.
(1989), and Mathewson et al. (a986, 1988) leaves little doubt that forces other
than gravity play a role in the dynamics of the H I.Comment: 30 pages; 7 figures, latex compiled, 1 table; to appear in AJ (June
2000
Discovery of Extreme Examples of Superclustering in Aquarius
We report the discovery of two highly extended filaments and one extremely
high density knot within the region of Aquarius. The supercluster candidates
were chosen via percolation analysis of the Abell and ACO catalogs and include
only the richest clusters (R >= 1). The region examined is a 10x45 degree strip
and is now 87% complete in cluster redshift measurements to mag_10 = 18.3. In
all, we report 737 galaxy redshifts in 46 cluster fields. One of the
superclusters, dubbed Aquarius, is comprised of 14 Abell/ACO clusters and
extends 110h^-1Mpc in length only 7 degrees off the line-of-sight. On the
near-end of the Aquarius filament, another supercluster, dubbed Aquarius-Cetus,
extends for 75h^-1Mpc perpendicular to the line-of-sight. After fitting
ellipsoids to both Aquarius and Aquarius-Cetus, we find axis ratios (long-to-
midlength axis) of 4.3 for Aquarius and 3.0 for Aquarius-Cetus. We fit
ellipsoids to all N>=5 clumps of clusters in the Abell/ACO measured-z cluster
sample. The frequency of filaments with axis ratios >=3.0 (~20%) is nearly
identical with that found among `superclusters' in Monte Carlo simulations of
random and random- clumped clusters, however, so the rich Abell/ACO clusters
have no particular tendency toward filamentation. The Aquarius filament also
contains a `knot' of 6 clusters at Z ~0.11, with five of the clusters near
enough togeteher to represent an apparent overdensity of 150. There are
three other R >= 1 cluster density enhancements similar to this knot at lower
redshifts: Corona Borealis, the Shapely Concentration, and another grouping of
seven clusters in Microscopium. All four of these dense superclusters appear
near the point of breaking away from the Hubble Flow, and some may now be in
collapse, but there is little evidence of any being virialized.Comment: 45 pages (+ e-tables), 7 figures, AASTeX Accepted for Publication in
Ap
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