Kinematic Analysis and Trajectory Planning of the Orthoglide 5-axis

The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid architecture, namely, a three degrees of freedom translational parallel manip-ulator mounted in series with a two degrees of freedom parallel spherical wrist. The simpler the kinematic modeling of the Or-thoglide 5-axis, the higher the maximum frequency of its control loop. Indeed, the control loop of a parallel kinematic machine should be computed with a high frequency, i.e., higher than 1.5 MHz, in order the manipulator to be able to reach high speed motions with a good accuracy. Accordingly, the direct and inverse kinematic models of the Orthoglide 5-axis, its inverse kine-matic Jacobian matrix and the first derivative of the latter with respect to time are expressed in this paper. It appears that the kinematic model of the manipulator under study can be written in a quadratic form due to the hybrid architecture of the Orthoglide 5-axis. As illustrative examples, the profiles of the actuated joint angles (lengths), velocities and accelerations that are used in the control loop of the robot are traced for two test trajectories.Comment: Appears in International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, Aug 2015, Boston, United States. 201

Results of a FRSI material test under Space Shuttle ascent conditions in the Ames Research Center 9x7 foot supersonic wind tunnel (OS13). Space Shuttle aerothermodynamic data report

A test was conducted in the NASA/ARC 9 x 7 foot supersonic wind tunnel to verify the integrity of Felt Reusable Surface Insulation (FRSI) material in a panel flutter environment. A FRSI sample panel was subjected to the shocks, pressure gradients, and turbulence characteristics encountered at dynamic pressure 1.5 times the 3(sigma) dispersed trajectory flight conditions of the Space Shuttle. Static and fluctuating pressure data were obtained for Mach numbers ranging from 1.55 to 2.5 with dynamic pressures of 625 to 1250 psf. The FRSI panel suffered no appreciable damage as a result of the test

Climate Change May Alter Breeding Ground Distributions of Eastern Migratory Monarchs (Danaus plexippus) via Range Expansion of Asclepias Host Plants

Climate change can profoundly alter species\u27 distributions due to changes in temperature, precipitation, or seasonality. Migratory monarch butterflies (Danaus plexippus) may be particularly susceptible to climate-driven changes in host plant abundance or reduced overwintering habitat. For example, climate change may significantly reduce the availability of overwintering habitat by restricting the amount of area with suitable microclimate conditions. However, potential effects of climate change on monarch northward migrations remain largely unknown, particularly with respect to their milkweed (Asclepias spp.) host plants. Given that monarchs largely depend on the genus Asclepias as larval host plants, the effects of climate change on monarch northward migrations will most likely be mediated by climate change effects on Asclepias. Here, I used MaxEnt species distribution modeling to assess potential changes in Asclepias and monarch distributions under moderate and severe climate change scenarios. First, Asclepias distributions were projected to extend northward throughout much of Canada despite considerable variability in the environmental drivers of each individual species. Second, Asclepias distributions were an important predictor of current monarch distributions, indicating that monarchs may be constrained as much by the availability of Asclepias host plants as environmental variables per se. Accordingly, modeling future distributions of monarchs, and indeed any tightly coupled plant-insect system, should incorporate the effects of climate change on host plant distributions. Finally, MaxEnt predictions of Asclepias and monarch distributions were remarkably consistent among general circulation models. Nearly all models predicted that the current monarch summer breeding range will become slightly less suitable for Asclepias and monarchs in the future. Asclepias, and consequently monarchs, should therefore undergo expanded northern range limits in summer months while encountering reduced habitat suitability throughout the northern migration

Unifying Ecosystem Responses to Disturbance into a Single Statistical Framework

Natural ecosystems are currently experiencing unprecedented rates of anthropogenic disturbance. Given the potential ramifications of more frequent disturbances, it is imperative that we accurately quantify ecosystem responses to severe disturbance. Specifically, ecologists and managers need estimates of resistance and recovery from disturbance that are free of observation error, not biased by temporal stochasticity and that standardize disturbance magnitude among many disparate ecosystems relative to normal interannual variability. Here, I propose a statistical framework that estimates all four components of ecosystem responses to disturbance (resistance, recovery, elasticity and return time), while resolving all of the issues described above. Coupling autoregressive time series with exogenous predictors (ARX) models with impulse response functions (IRFs) allows researchers to statistically subject all ecosystems to similar levels of disturbance, estimate lag effects and obtain standardized estimates of resistance to and recovery from disturbance that are free from observation error and stochastic processes inherent in raw data

Phenology Dictates the Impact of Climate Change on Geographic Distributions of Six co-Occurring North American Grasshoppers

Throughout the last century, climate change has altered the geographic distributions of many species. Insects, in particular, vary in their ability to track changing climates, and it is likely that phenology is an important determinant of how well insects can either expand or shift their geographic distributions in response to climate change. Grasshoppers are an ideal group to test the hypothesis that phenology correlates with range expansion, given that co-occurring confamilial, and even congeneric, species can differ in phenology. Here, I tested the hypothesis that early- and late-season species should possess different range expansion potentials, as estimated by habitat suitability from ecological niche models. I used nine different modeling techniques to estimate habitat suitability of six grasshopper species of varying phenology under two climate scenarios for the year 2050. My results suggest that, of the six species examined here, early-season species were more sensitive to climate change than late-season species. The three early-season species examined here might shift northward during the spring, while the modeled geographic distributions of the three late-season species were generally constant under climate change, likely because they were pre-adapted to hot and dry conditions. Phenology might therefore be a good predictor of how insect distributions might change in the future, but this hypothesis remains to be tested at a broader scale

Hydrogen embrittlement susceptibility of a high strength steel X80

The present paper deals with hydrogen embrittlement (HE) susceptibility of a high strength steel grade (X80). The respective implication of different hydrogen populations, i.e. adsorbed, dissolved in interstitial sites, trapped on dislocations and/or microstructural elements on the associated embrittlement mechanisms has been addressed through mechanical testing in high pressure of hydrogen gas at room temperature. Tensile tests at various strain rates and hydrogen pressures have been carried out. Moreover, changes of gas (hydrogen or nitrogen) during loading have been imposed in order to get critical experiments able to discriminate among the potential hydrogen embrittlement mechanisms already proposed in the literature. The results of these tests have shown that hydrogen induces several kind of damages including decohesion along ferrite/pearlite interfaces and microcracks initiations on the specimens external surface. It is shown that decohesion is not critical under the loading paths used in the present study. On the contrary, it appears that the external microcracks initiation, followed by a quasi-cleavage fracture, is responsible for the premature failure of the material in high pressure of hydrogen gas. These experimental results have been further discussed by modeling hydrogen diffusion in order to identify hydrogen populations (adsorbed, diffusible or trapped) involved in HE. It was then demonstrated that adsorbed and near surface diffusible hydrogen are mainly responsible for embrittlement

A dual decomposition strategy of both microbial and phenotypic components for a better understanding of causal claims

In our commentary on Lynch et al.'s target paper (2019, this issue), we focus on decomposition as a research strategy. We argue that not only the presumptive microbial causes but also their supposed phenotypic effects need to be decomposed relative to each other. Such a dual decomposition strategy ought to improve the way in which causal claims in microbiome research can be made and understood

The moduli problem at the perturbative level

Moduli fields generically produce strong dark matter -- radiation and baryon -- radiation isocurvature perturbations through their decay if they remain light during inflation. We show that existing upper bounds on the magnitude of such fluctuations can thus be translated into stringent constraints on the moduli parameter space m_\sigma (modulus mass) -- \sigma_{inf} (modulus vacuum expectation value at the end of inflation). These constraints are complementary to previously existing bounds so that the moduli problem becomes worse at the perturbative level. In particular, if the inflationary scale H_{inf}~10^{13} GeV, particle physics scenarios which predict high moduli masses m_\sigma > 10-100 TeV are plagued by the perturbative moduli problem, even though they evade big-bang nucleosynthesis constraints.Comment: 4 pages, 3 figures (revtex) -- v2: an important correction on the amplitude/transfer of isocurvature modes at the end of inflation, typos corrected, references added, basic result unchange

Results of wind tunnel tests of an ASRM configured 0.03 scale Space Shuttle integrated vehicle model (47-OTS) in the AEDC 16-foot transonic wind tunnel, volume 2

An experimental Aerodynamic and Aero-Acoustic loads data base was obtained at transonic Mach numbers for the Space Shuttle Launch Vehicle configured with the ASRM Solid Rocket Boosters as an increment to the current flight configuration (RSRB). These data were obtained during transonic wind tunnel tests (IA 613A) conducted in the Arnold Engineering Development Center 16-Foot transonic propulsion wind tunnel from March 27, 1991 through April 12, 1991. This test is the first of a series of two tests covering the Mach range from 0.6 to 3.5. Steady state surface static and fluctuating pressure distributions over the Orbiter, External Tank and Solid Rocket Boosters of the Shuttle Integrated Vehicle were measured. Total Orbiter forces, Wing forces and Elevon hinge moments were directly measured as well from force balances. Two configurations of Solid Rocket Boosters were tested, the Redesigned Solid Rocket Booster (RSRB) and the Advanced Solid Rocket Motor (ASRM). The effects of the position (i.e., top, bottom, top and bottom) of the Integrated Electronics Assembly (IEA) box, mounted on the SRB attach ring, were obtained on the ASRM configured model. These data were obtained with and without Solid Plume Simulators which, when used, matched as close as possible the flight derived pressures on the Orbiter and External Tank base. Data were obtained at Mach numbers ranging from 0.6 to 1.55 at a Unit Reynolds Number of 2.5 million per foot through model angles of attack from -8 to +4 degrees at sideslip angles of 0, +4 and -4 degrees