Control for an Autonomous Bicycle

The control of nonholonomic and underactuated systems with symmetry is illustrated by the problem of controlling a bicycle. We derive a controller which, using steering and rear-wheel torque, causes a model of a riderless bicycle to recover its balance from a near fall as well as converge to a time parameterized path in the ground plane. Our construction utilizes new results for both the derivation of equations of motion for nonholonomic systems with symmetry, as well as the control of underactuated robotic systems

LISA Source Confusion

The Laser Interferometer Space Antenna (LISA) will detect thousands of gravitational wave sources. Many of these sources will be overlapping in the sense that their signals will have a non-zero cross-correlation. Such overlaps lead to source confusion, which adversely affects how well we can extract information about the individual sources. Here we study how source confusion impacts parameter estimation for galactic compact binaries, with emphasis on the effects of the number of overlaping sources, the time of observation, the gravitational wave frequencies of the sources, and the degree of the signal correlations. Our main findings are that the parameter resolution decays exponentially with the number of overlapping sources, and super-exponentially with the degree of cross-correlation. We also find that an extended mission lifetime is key to disentangling the source confusion as the parameter resolution for overlapping sources improves much faster than the usual square root of the observation time.Comment: 8 pages, 14 figure

Characterizing the Galactic Gravitational Wave Background with LISA

We present a Monte Carlo simulation for the response of the Laser Interferometer Space Antenna (LISA) to the galactic gravitational wave background. The simulated data streams are used to estimate the number and type of binary systems that will be individually resolved in a 1-year power spectrum. We find that the background is highly non-Gaussian due to the presence of individual bright sources, but once these sources are identified and removed, the remaining signal is Gaussian. We also present a new estimate of the confusion noise caused by unresolved sources that improves on earlier estimates.Comment: 32 pages, 14 figures. Version to appear in PR

Conformal symmetry of brane world effective actions

A simple derivation of the low-energy effective action for brane worlds is given, highlighting the role of conformal invariance. We show how to improve the effective action for a positive- and negative-tension brane pair using the AdS/CFT correspondence.Comment: 5 pages, published versio

The strength and timing of the mitochondrial bottleneck in salmon suggests a conserved mechanism in vertebrates

In most species mitochondrial DNA (mtDNA) is inherited maternally in an apparently clonal fashion, although how this is achieved remains uncertain. Population genetic studies show not only that individuals can harbor more than one type of mtDNA (heteroplasmy) but that heteroplasmy is common and widespread across a diversity of taxa. Females harboring a mixture of mtDNAs may transmit varying proportions of each mtDNA type (haplotype) to their offspring. However, mtDNA variants are also observed to segregate rapidly between generations despite the high mtDNA copy number in the oocyte, which suggests a genetic bottleneck acts during mtDNA transmission. Understanding the size and timing of this bottleneck is important for interpreting population genetic relationships and for predicting the inheritance of mtDNA based disease, but despite its importance the underlying mechanisms remain unclear. Empirical studies, restricted to mice, have shown that the mtDNA bottleneck could act either at embryogenesis, oogenesis or both. To investigate whether the size and timing of the mitochondrial bottleneck is conserved between distant vertebrates, we measured the genetic variance in mtDNA heteroplasmy at three developmental stages (female, ova and fry) in chinook salmon and applied a new mathematical model to estimate the number of segregating units (N(e)) of the mitochondrial bottleneck between each stage. Using these data we estimate values for mtDNA Ne of 88.3 for oogenesis, and 80.3 for embryogenesis. Our results confirm the presence of a mitochondrial bottleneck in fish, and show that segregation of mtDNA variation is effectively complete by the end of oogenesis. Considering the extensive differences in reproductive physiology between fish and mammals, our results suggest the mechanism underlying the mtDNA bottleneck is conserved in these distant vertebrates both in terms of it magnitude and timing. This finding may lead to improvements in our understanding of mitochondrial disorders and population interpretations using mtDNA data

Toll-like receptor expression in C3H/HeN and C3H/HeJ mice during Salmonella enterica serovar Typhimurium infection

Here, we have investigated the mRNA expression of Toll-like receptor 2 (TLR-2), TLR-4, and MD-2 in spleens and livers of C3H/HeN mice (carrying wild-type TLR-4) and C3H/HeJ mice (carrying mutated TLR-4) in response to Salmonella infection. During Salmonella infections, TLR-4 is activated, leading to increased TLR-2 and decreased TLR-4 expression

Detecting Galactic Binaries with LISA

One of the main sources of gravitational waves for the LISA space-borne interferometer are galactic binary systems. The waveforms for these sources are represented by eight parameters, of which four are extrinsic, and four are intrinsic to the system. Geometrically, these signals exist in an 8-d parameter space. By calculating the metric tensor on this space, we calculate the number of templates needed to search for such sources. We show in this study that below a particular monochromatic frequency, we can ignore one of the intrinsic parameters and search over a 7-d space. Beyond this frequency, we have a sudden change in dimensionality of the parameter space from 7 to 8 dimensions, which results in a change in the scaling of the growth of template number as a function of monochromatic frequency.Comment: 7 pages-2 figures. One figure added and typos corrected. Accepted for the proceedings of GWDAW 9, special edition of Classical and Quantum Gravit

Effect of Farm-Level Constraints, Existing and Prospective Policies on Expansion of Coconut-Based Intercropping in Sri Lanka

Coconut-based intercropping (CBI) in Sri Lanka was introduced some 20 years ago to overcome the two main limitations of traditional coconut monocropping, inefficient land use and low incomes to farmers, but it has not been widely adopted. This study analyses the effect of farm-level resource constraints, and government policies on the intensity of adoption of CBI. A multiperiod linear programming (MLP) model was applied for three farmer groups - resource poor, medium endowed, well endowed - categorised using cluster analysis. Data was collected from a survey of randomly selected 113 intercroppers. Empirical results reveal that expansion of CBI is mainly constrained by seasonal labour shortages for all farmer groups, particularly the well endowed, and by the scarcity of cash in the case of resource-poor farmers. CBI policies aimed at subsidising inputs or intercrop prices are not likely to be efficient in raising adoption, but alternative policies aimed at alleviating resource constraints would be more effective. The study concluded that the low adoption of CBI is mainly attributable to the scarcity of different farm-level resources (other than land), at varying degrees among different farmer groups. Hence a targeted approach to alleviate them is suggested.Crop Production/Industries,

Highly effective yet simple transmembrane anion transporters based upon ortho-phenylenediamine bis-ureas

Simple, highly fluorinated receptors are shown to function as highly effective transmembrane anion antiporters with the most active transporters rivalling the transport efficacy of natural anion transporter prodigiosin for bicarbonate

The comparison of available data on PWR assembly thermal behavior with analytical predictions

"PB-299 393." Topical report for Task #3 of the Nuclear Reactor Safety Research Program sponsored by New England Electric System, Northeast Utilities Service Co. under the MIT Energy Laboratory Electric Power Program.New England Electric System. Northeast Utilities Service Co