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

Visualizing the geometry of state space in plane Couette flow

Motivated by recent experimental and numerical studies of coherent structures in wall-bounded shear flows, we initiate a systematic exploration of the hierarchy of unstable invariant solutions of the Navier-Stokes equations. We construct a dynamical, 10^5-dimensional state-space representation of plane Couette flow at Re = 400 in a small, periodic cell and offer a new method of visualizing invariant manifolds embedded in such high dimensions. We compute a new equilibrium solution of plane Couette flow and the leading eigenvalues and eigenfunctions of known equilibria at this Reynolds number and cell size. What emerges from global continuations of their unstable manifolds is a surprisingly elegant dynamical-systems visualization of moderate-Reynolds turbulence. The invariant manifolds tessellate the region of state space explored by transiently turbulent dynamics with a rigid web of continuous and discrete symmetry-induced heteroclinic connections.Comment: 32 pages, 13 figures submitted to Journal of Fluid Mechanic

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

Anomalous isotopic predissociation in the F³Πu(v=1) state of O₂

Using a tunable, narrow-bandwidth vacuum-ultraviolet source based on third-harmonic generation from excimer-pumped dye-laser radiation, the F³Πu←X³Σg-(1,0)photoabsorption cross sections of ¹⁶O₂ and ¹⁸O₂ have been recorded in high resolution. Rotational analyses have been performed and the resultant F(v=1) term values fitted to the ³Π Hamiltonian of Brown and Merer [J. Mol. Spectrosc. 74, 488 (1979)]. A large rotationless isotope effect is observed in the F(v=1)predissociation, wherein the Lorentzian linewidth component for ¹⁸O₂ is a factor of ∼50 smaller than the corresponding ¹⁶O₂linewidth. This effect, a consequence of the nonadiabatic rotationless predissociation mechanism, is described using a coupled-channel treatment of the strongly Rydberg-valence-mixed 3Πu states. Significant J, e/f-parity, and sublevel dependencies observed in the isotopic F(v=1) rotational widths are found to derive from an indirect predissociation mechanism involving an accidental degeneracy with the E³Σ−u(v=3) level, itself strongly predissociated by ³Σ−u Rydberg-valence interactions, together with L-uncoupling (rotational) interactions between the Rydberg components of the F and E states. Transitions into the E(v=3) level are observed directly for the first time, specifically in the ¹⁸O₂ spectrumPartial support was provided by an NSF International Opportunities for Scientists and Engineers Program Grant No. INT-9513350, and Visiting Fellowships for G.S. and J.B.W. at the Australian National University

Public Health Informatics in Local and State Health Agencies: An Update From the Public Health Workforce Interests and Needs Survey

OBJECTIVE: To characterize public health informatics (PHI) specialists and identify the informatics needs of the public health workforce. DESIGN: Cross-sectional study. SETTING: US local and state health agencies. PARTICIPANTS: Employees from state health agencies central office (SHA-COs) and local health departments (LHDs) participating in the 2017 Public Health Workforce Interests and Needs Survey (PH WINS). We characterized and compared the job roles for self-reported PHI, "information technology specialist or information system manager" (IT/IS), "public health science" (PHS), and "clinical and laboratory" workers. MAIN OUTCOME MEASURE: Descriptive statistics for demographics, income, education, public health experience, program area, job satisfaction, and workplace environment, as well as data and informatics skills and needs. RESULTS: A total of 17 136 SHA-CO and 26 533 LHD employees participated in the survey. PHI specialist was self-reported as a job role among 1.1% and 0.3% of SHA-CO and LHD employees. The PHI segment most closely resembled PHS employees but had less public health experience and had lower salaries. Overall, fewer than one-third of PHI specialists reported working in an informatics program area, often supporting epidemiology and surveillance, vital records, and communicable disease. Compared with PH WINS 2014, current PHI respondents' satisfaction with their job and workplace environment moved toward more neutral and negative responses, while the IT/IS, PHS, and clinical and laboratory subgroups shifted toward more positive responses. The PHI specialists were less likely than those in IT/IS, PHS, or clinical and laboratory roles to report gaps in needed data and informatics skills. CONCLUSIONS: The informatics specialists' role continues to be rare in public health agencies, and those filling that role tend to have less public health experience and be less well compensated than staff in other technically focused positions. Significant data and informatics skills gaps persist among the broader public health workforce

The optical transmission spectrum of the hot Jupiter HAT-P-32b: clouds explain the absence of broad spectral features?

We report Gemini-North GMOS observations of the inflated hot Jupiter HAT-P-32b during two primary transits. We simultaneously observed two comparison stars and used differential spectro-photometry to produce multi-wavelength light curves. 'White' light curves and 29 'spectral' light curves were extracted for each transit and analysed to refine the system parameters and produce transmission spectra from 520-930nm in ~14nm bins. The light curves contain time-varying white noise as well as time-correlated noise, and we used a Gaussian process model to fit this complex noise model. Common mode corrections derived from the white light curve fits were applied to the spectral light curves which significantly improved our precision, reaching typical uncertainties in the transit depth of ~2x10^-4, corresponding to about half a pressure scale height. The low resolution transmission spectra are consistent with a featureless model, and we can confidently rule out broad features larger than about one scale height. The absence of Na/K wings or prominent TiO/VO features is most easily explained by grey absorption from clouds in the upper atmosphere, masking the spectral features. However, we cannot confidently rule out clear atmosphere models with low abundances (~10^-3 solar) of TiO, VO or even metal hydrides masking the Na and K wings. A smaller scale height or ionisation could also contribute to muted spectral features, but alone are unable to to account for the absence of features reported here.Comment: 17 pages, 11 figures, 2 tables, accepted for publication in MNRA

A Gemini ground-based transmission spectrum of WASP-29b: a featureless spectrum from 515 to 720nm

We report Gemini-South GMOS observations of the exoplanet system WASP-29 during primary transit as a test case for differential spectrophotometry. We use the multi-object spectrograph to observe the target star and a comparison star simultaneously to produce multiple light curves at varying wavelengths. The 'white' light curve and fifteen 'spectral' light curves are analysed to refine the system parameters and produce a transmission spectrum from 515 to 720nm. All light curves exhibit time-correlated noise, which we model using a variety of techniques. These include a simple noise rescaling, a Gaussian process model, and a wavelet based method. These methods all produce consistent results, although with different uncertainties. The precision of the transmission spectrum is improved by subtracting a common signal from all the spectral light curves, reaching a typical precision of ~1x10^-4 in transit depth. The transmission spectrum is free of spectral features, and given the non-detection of a pressure broadened Na feature, we can rule out the presence of a Na rich atmosphere free of clouds or hazes, although we cannot rule out a narrow Na core. This indicates that Na is not present in the atmosphere, and/or that clouds/hazes play a significant role in the atmosphere and mask the broad wings of the Na feature, although the former is a more likely explanation given WASP-29b's equilibrium temperature of ~970 K, at which Na can form various compounds. We also briefly discuss the use of Gaussian process and wavelet methods to account for time correlated noise in transit light curves.Comment: 15 pages, 9 figures, 3 tables. Published in MNRAS. Figure 2 corrected in version

Time resolved spectroscopy of dust and gas from extrasolar planetesimals orbiting WD 1145+017

Multiple long and variable transits caused by dust from possibly disintegrating asteroids were detected in light curves of WD 1145+017. We present time-resolved spectroscopic observations of this target with QUCAM CCDs mounted in the Intermediate dispersion Spectrograph and Imaging System at the 4.2-m William Herschel Telescope in two different spectral arms: the blue arm covering 3800-4025 {\AA} and the red arm covering 7000-7430 {\AA}. When comparing individual transits in both arms, our observations show with 20 {\sigma} significance an evident colour difference between the in- and out-of-transit data of the order of 0.05-0.1 mag, where transits are deeper in the red arm. We also show with > 6 {\sigma} significance that spectral lines in the blue arm are shallower during transits than out-of-transit. For the circumstellar lines it also appears that during transits the reduction in absorption is larger on the red side of the spectral profiles. Our results confirm previous findings showing the u'-band excess and a decrease in line absorption during transits. Both can be explained by an opaque body blocking a fraction of the gas disc causing the absorption, implying that the absorbing gas is between the white dwarf and the transiting objects. Our results also demonstrate the capability of EMCCDs to perform high-quality time resolved spectroscopy of relatively faint targets.Comment: 9 pages, 5 figures. Accepted to MNRA

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]

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