Towards building a team of intelligent robots

Topics addressed include: collision-free motion planning of multiple robot arms; two-dimensional object recognition; and pictorial databases (storage and sharing of the representations of three-dimensional objects)

Formation and evolution of clumpy tidal tails around globular clusters

We present some results of numerical simulations of a globular cluster orbiting in the central region of a triaxial galaxy on a set of 'loop' orbits. Tails start forming after about a quarter of the globular cluster orbital period and develop, in most cases, along the cluster orbit, showing clumpy substructures as observed, for example, in Palomar 5. If completely detectable, clumps can contain about 7,000 solar masses each, i.e. about 10% of the cluster mass at that epoch. The morphology of tails and clumps and the kinematical properties of stars in the tails are studied and compared with available observational data. Our finding is that the stellar velocity dispersion tends to level off at large radii, in agreement to that found for M15 and Omega Centauri.Comment: LaTeX 2e, uses AASTeX v5.x, 40 pages with 18 figures. Submitted to The Astronomical Journa

The growth of galaxies in cosmological simulations of structure formation

We use hydrodynamic simulations to examine how the baryonic components of galaxies are assembled, focusing on the relative importance of mergers and smooth accretion in the formation of ~L_* systems. In our primary simulation, which models a (50\hmpc)^3 comoving volume of a Lambda-dominated cold dark matter universe, the space density of objects at our (64-particle) baryon mass resolution threshold, M_c=5.4e10 M_sun, corresponds to that of observed galaxies with L~L_*/4. Galaxies above this threshold gain most of their mass by accretion rather than by mergers. At the redshift of peak mass growth, z~2, accretion dominates over merging by about 4:1. The mean accretion rate per galaxy declines from ~40 M_sun/yr at z=2 to ~10 M_sun/yr at z=0, while the merging rate peaks later (z~1) and declines more slowly, so by z=0 the ratio is about 2:1. We cannot distinguish truly smooth accretion from merging with objects below our mass resolution threshold, but extrapolating our measured mass spectrum of merging objects, dP/dM ~ M^a with a ~ -1, implies that sub-resolution mergers would add relatively little mass. The global star formation history in these simulations tracks the mass accretion rate rather than the merger rate. At low redshift, destruction of galaxies by mergers is approximately balanced by the growth of new systems, so the comoving space density of resolved galaxies stays nearly constant despite significant mass evolution at the galaxy-by-galaxy level. The predicted merger rate at z<~1 agrees with recent estimates from close pairs in the CFRS and CNOC2 redshift surveys.Comment: Submitted to ApJ, 35 pp including 15 fig

Determining the galactic mass distribution using tidal streams from globular clusters

We discuss how to use tidal streams from globular clusters to measure the mass distribution of the Milky Way. Recent proper motion determinations for globular clusters from plate measurements and Hipparcos astrometry provide several good candidates for Galactic mass determinations in the intermediate halo, far above the Galactic disk, including Pal 5, NGC 4147, NGC 5024 (M53) and NGC 5466; the remaining Hipparcos clusters provide candidates for measurements several kpc above and below the disk. These clusters will help determine the profile and shape of the inner halo. To aid this effort, we present two methods of mass determination: one, a generalization of rotation-curve mass measurements, which gives the mass and potential from complete position-velocity observations for stream stars; and another using a simple chi^2 estimator, which can be used when only projected positions and radial velocities are known for stream stars. We illustrate the use of the latter method using simulated tidal streams from Pal 5 and find that fairly accurate mass determinations are possible even for relatively poor data sets. Follow-up observations of clusters with proper motion determinations may reveal tidal streams; obtaining radial velocity measurements would enable accurate measurements of the mass distribution in the inner Galaxy.Comment: 21 pages, 6 figures, published in A

Collision-free motion of two robot arms in a common workspace

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed

AN EVALUATION OF AN ECONOMIC STRATEGY FOR PREVENTING WATER POLLUTION USING A PHOSPHORUS CONSISTENT TRANSPORTATION MODEL: A CASE OF BROILER LITTER MANAGEMENT

We calculated the profitability of using broiler litter as a source of plant nutrient using a phosphorus consistent litter application rule. We found that each ton of litter can be transferred cost effectively up to 164 miles from the production facilities. The minimum cost phosphorus consistent transportation model developed to meet the nutrient needs of 29 counties in North Alabama revealed that not all the litter can be utilized in the region. The total cost for nutrient supply increased when transportation of litter from heavily surplus counties were prioritized. The effect of chemical fertilizer price change minimally affected the total litter use.Environmental Economics and Policy,