Adaptive control of a manipulator with a flexible link

An adaptive controller for a manipulator with one rigid link and one flexible link is presented. The performance and robustness of the controller are demonstrated by numerical simulation results. In the simulations, the manipulator moves in a gravitational field and a finite element model represents the flexible link

Diagnostics of Coronal Magnetic Fields Through the Hanle Effect in UV and IR Lines

The plasma thermodynamics in the solar upper atmosphere, particularly in the corona, are dominated by the magnetic field, which controls the flow and dissipation of energy. The relative lack of knowledge of the coronal vector magnetic field is a major handicap for progress in coronal physics. This makes the development of measurement methods of coronal magnetic fields a high priority in solar physics. The Hanle effect in the UV and IR spectral lines is a largely unexplored diagnostic. We use magnetohydrodynamic (MHD) simulations to study the magnitude of the signal to be expected for typical coronal magnetic fields for selected spectral lines in the UV and IR wavelength ranges, namely the H I Ly-$\alpha$ and the He I 10830 {\AA} lines. We show that the selected lines are useful for reliable diagnosis of coronal magnetic fields. The results show that the combination of polarization measurements of spectral lines with different sensitivities to the Hanle effect may be most appropriate for deducing coronal magnetic properties from future observations.Comment: 15 pages, 5 figures, Frontiers in Astronomy and Space Sciences, 201

The [?/Fe] ratios of very metal-poor stars within the integrated galactic initial mass function theory

The aim of this paper is to quantify the amplitude of the predicted plateau in [α/Fe] ratios associated with the most metal-poor stars of a galaxy. We assume that the initial mass function (IMF) in galaxies is steeper if the star formation rate (SFR) is low – as per the integrated galactic initial mass function (IGIMF) theory. A variant of the theory, in which the IGIMF depends upon the metallicity of the parent galaxy, is also considered. The IGIMF theory predicts low [α/Fe] plateaus in dwarf galaxies, characterized by small SFRs. The [α/Fe] plateau is up to 0.7 dex lower than the corresponding plateau of the Milky Way. For a universal IMF one should expect instead that the [α/Fe] plateau is the same for all the galaxies, irrespective of their masses or SFRs. Assuming a strong dependence of the IMF on the metallicity of the parent galaxy, dwarf galaxies can show values of the [α/Fe] plateau similar to those of the Milky Way, and almost independent of the SFR. The [Mg/Fe] ratios of the most metal-poor stars in dwarf galaxies satellites of the Milky Way can be reproduced either if we consider metallicity-dependent IMFs or if the early SFRs of these galaxies were larger than we presently think. Present and future observations of dwarf galaxies can help disentangle between these different IGIMF formulations

Morphology and thermal conductivity of model organic aerogels

The intersection volume of two independent 2-level cut Gaussian random fields is proposed to model the open-cell microstructure of organic aerogels. The experimentally measured X-ray scattering intensity, surface area and solid thermal conductivity of both polymeric and colloidal organic aerogels can be accounted for by the model.Comment: 5 pages. RevTex with 4 encapsulated figures. Higher resolution figures have been submitted for publication. To be published in Phys. Rev. E (Rapid Comm.). email, [email protected]

Tetrahydrobiopterin analogues with NO-dependent pulmonary vasodilator properties

Reduced NO levels due to the deficiency of tetrahydrobiopterin (BH4) contribute to impaired vasodilation in pulmonary hypertension Due to the chemically unstable nature of BH4 it was hypothesised that oxidatively stable analogues of BR, would be able to support NO synthesis to improve Endothelial dysfunction in pulmonary hypertension Two analogues of BH4 namely 6-hydroxymethyl pterin (HMP) and 6-acetyl 7 7-dimethyl 7 8-dihydropterin (ADDP) were evaluated for vasodilator activity on precontracted rat pulmonary artery rings ADDP was administered to pulmonary hypertensive rats followed by measurement of pulmonary vascular resistance in perfused lungs and eNOS expression by immunohistochemistry ADDP and HMP caused significant relaxation in vitro in rat pulmonary arteries depleted of BH4 with a maximum relaxation at 0 3 mu M (both P<005) Vasodilator activity of ADDP and HMP was completely abolished following preincubation with the NO synthase inhibitor L-NAME ADDP and HMP did not alter relaxation induced by carbachol or spermine NONOate BH4 Itself did not produce relaxation In rats receiving ADDP 141 mg/kg/day pulmonary vasodilation induced by calcium ionophore A23187 was augmented and eNOS immunoreactivity was increased In conclusion ADDP and HMP are two analogues of BH4 which can act as oxidatively stable alternatives to BH4 in causing NO-mediated vasorelaxation Chronic treatment with ADDP resulted in Improvement of NO-mediated pulmonary artery dilation and enhanced expression of eNOS in the pulmonary vascular endothelium Chemically stable analogue, of BH4 may be able to limit endothelial dysfunction in the pulmonary vasculatur

A Gaussian process framework for modelling instrumental systematics: application to transmission spectroscopy

Transmission spectroscopy, which consists of measuring the wavelength-dependent absorption of starlight by a planet's atmosphere during a transit, is a powerful probe of atmospheric composition. However, the expected signal is typically orders of magnitude smaller than instrumental systematics, and the results are crucially dependent on the treatment of the latter. In this paper, we propose a new method to infer transit parameters in the presence of systematic noise using Gaussian processes, a technique widely used in the machine learning community for Bayesian regression and classification problems. Our method makes use of auxiliary information about the state of the instrument, but does so in a non-parametric manner, without imposing a specific dependence of the systematics on the instrumental parameters, and naturally allows for the correlated nature of the noise. We give an example application of the method to archival NICMOS transmission spectroscopy of the hot Jupiter HD 189733, which goes some way towards reconciling the controversy surrounding this dataset in the literature. Finally, we provide an appendix giving a general introduction to Gaussian processes for regression, in order to encourage their application to a wider range of problems.Comment: 6 figures, 1 table, accepted for publication in MNRA

A new look at NICMOS transmission spectroscopy of HD189733, GJ-436 and XO-1: no conclusive evidence for molecular features

We present a re-analysis of archival HST/NICMOS transmission spectroscopy of three exoplanet systems; HD 189733, GJ-436 and XO-1. Detections of several molecules, including H20, CH4 and CO2, have been claimed for HD 189733 and XO-1, but similarly sized features are attributed to systematic noise for GJ-436. The data consist of time-series grism spectra covering a planetary transit. After extracting light curves in independent wavelength channels, we use a linear decorrelation technique account for instrumental systematics (which is becoming standard in the field), and measure the planet-to-star radius ratio as a function of wavelength. For HD 189733, the uncertainties in the transmission spectrum are significantly larger than those previously reported. We also find the transmission spectrum is considerably altered when using different out-of-transit orbits to remove the systematics, when some parameters are left out of the decorrelation procedure, or when we perform the decorrelation with quadratic functions rather than linear functions. Given that there is no physical reason to believe the baseline flux should be modelled as a linear function of any particular set of parameters, we interpret this as evidence that the linear decorrelation technique is not a robust method to remove systematic effects from the light curves for each wavelength channel. For XO-1, the parameters measured to decorrelate the light curves would require extrapolation to the in-transit orbit to remove the systematics, and we cannot reproduce the previously reported results. We conclude that the resulting NICMOS transmission spectra are too dependent on the method used to remove systematics to be considered robust detections of molecular species in planetary atmospheres, although the presence of these molecules is not ruled out.Comment: 17 pages, 28 figures, accepted in MNRA

The Smith Cloud: HI associated with the Sgr dwarf?

The Smith high velocity cloud (V(LSR) = 98 kms) has been observed at two locations in the emission lines [OIII]5007, [NII]6548 and H-alpha. Both the [NII] and H-alpha profiles show bright cores due to the Reynolds layer, and red wings with emission extending to V(LSR) = 130 kms. This is the first simultaneous detection of two emission lines towards a high velocity cloud, allowing us to form the ratio of these line profiles as a function of LSR velocity. At both cloud positions, we see a clear distinction between emission at the cloud velocity, and the Reynolds layer emission (V(LSR) = 0). The [NII]/H-alpha ratio (=0.25) for the Reynolds layer is typical of the warm ionised medium. At the cloud velocity, this ratio is enhanced by a factor of 3-4 compared to emission at rest with respect to the LSR. A moderately deep upper limit at [OIII] (0.12R at 3-sigma) was derived from our data. If the emission arises from dilute photoionisation from hot young stars, the highly enhanced [NII]/H-alpha ratio, the [OIII] non-detection and weak H-alpha emission (0.24-0.30R) suggest that the Smith Cloud is 26+/-4 kpc from the Sun, at a Galactocentric radius of 20+/-4 kpc. This value assumes that the emission arises from an optically thick slab, with a covering fraction of unity as seen by the ionizing photons, whose orientation is either (a) parallel to the Galactic disk, or (b) such as to maximize the received flux from the disk. The estimated mass and size of the cloud are 4x10^6 Msun and 6 kpc. We discuss a possible association with the much larger Sgr dwarf, at a galactocentric radius of 16+/-2 kpc, which lies within 35 degrees (~12 kpc) of the Smith Cloud.Comment: 18 pages, 14 figures, mn.sty. Our first application of a new method for establishing distances to high velocity clouds. This version matches paper to appear in MNRAS, 299, 611-624 (Sept. 11 issue

The Apollo Virtual Microscope Collection: Lunar Mineralogy and Petrology of Apollo 11, 12, 14, 15 and 16 Rocks

We report on the new Virtual Microscopes on Apollo 16 lunar samples in our Apollo Virtual Microscope collection