Kinematically redundant robot manipulators

Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques

Stochastic Processes in Yellow and Red Pulsating Variables

Random changes in pulsation period are well established in cool pulsating stars, in particular the red giant variables: Miras, semi-regulars of types A and B, and RV Tau variables. Such effects are also observed in a handful of Cepheids, the SX Phe variable XX Cyg, and, most recently, the red supergiant variable, BC Cyg, a type C semi-regular. The nature of such fluctuations is seemingly random over a few pulsation cycles of the stars, yet the regularity of the primary pulsation mechanism dominates over the long term. The degree of stochasticity is linked to the dimensions of the stars, the randomness parameter 'e' appearing to correlate closely with mean stellar radius through the period 'P', with an average value of e/P = 0.0136+-0.0005. The physical processes responsible for such fluctuations are uncertain, but presumably originate in temporal modifications of envelope convection in such stars.Comment: Poster given at the "Stellar Pulsation: Challenges for Theory and Observation" conference in Santa Fe, New Mexico (2009

A Merger Scenario for the Dynamics of Abell 665

We present new redshift measurements for 55 galaxies in the vicinity of the rich galaxy cluster Abell 665. When combined with results from the literature, we have good velocity measurements for a sample of 77 confirmed cluster members from which we derive the cluster's redshift z=0.1829 +/- 0.0005 and line-of-sight velocity dispersion of 1390 +/- 120 km/s. Our analysis of the kinematical and spatial data for the subset of galaxies located within the central 750 kpc reveals only subtle evidence for substructure and non-Gaussianity in the velocity distribution. We find that the brightest cluster member is not moving significantly relative to the other galaxies near the center of the cluster. On the other hand, our deep ROSAT high resolution image of A665 shows strong evidence for isophotal twisting and centroid variation, thereby confirming previous suggestions of significant substructure in the hot X-ray--emitting intracluster gas. In light of this evident substructure, we have compared the optical velocity data with N-body simulations of head-on cluster mergers. We find that a merger of two similar mass subclusters (mass ratios of 1:1 or 1:2) seen close to the time of core-crossing produces velocity distributions that are consistent with that observed.Comment: 30 pages and 7 figures. Accepted by the Astrophysical Journal Full resoultion figures 1 and 3 available in postscript at http://www.physics.rutgers.edu/~percy/A665paper.htm

The H-alpha Variations of the Luminous Blue Variable P Cygni: Discrete Absorption Components and the Short S Doradus Phase

P Cygni is a prototype of the Luminous Blue Variables (or S Doradus variables), and the star displays photometric and emission line variability on a timescale of years (known as the "short S Doradus phase" variations). Here we present new high resolution H-alpha spectroscopy of P Cyg that we combine with earlier spectra and concurrent V-band photometry to document the emission and continuum flux variations over a 24 y time span. We show that the emission and continuum fluxes vary in concert on timescales of 1.6 y and longer, but differ on shorter timescales. The H-alpha profile shape also varies on the photometric timescales, and we describe the observed co-variations of the emission peak and absorption trough properties. We argue that the episodes of photometric and emission brightening are caused by increases in the size of the emission region that are related to variations in wind mass loss rate and outflow speed. We find evidence of blueward accelerating, Discrete Absorption Components (DACs) in the absorption trough of the H-alpha profile, and these features have slower accelerations and longer durations than those observed in other lines. The DAC strengths also appear to vary on the photometric timescales, and we suggest that the propagation of the DAC-related wind structures is closely related to changes in the overall wind mass loss rate and velocity.Comment: 43 pages, 11 figures, 1 table, accepted to A

Not in my back yard! Sports stadia location and the property market

In recent years sports stadia have been built in the UK, not only for their intended sporting purpose but with the twin aim of stimulating economic and physical regeneration. However, proposals to locate stadia in urban areas often prompt a negative reaction from local communities, fearing a decline in property prices. This paper will use a case study of the Millennium Stadium in Cardiff and the City of Manchester Stadium to illustrate that in contrast to this widely held belief, sports stadia can actually enhance the value of residential property. Furthermore, it will argue that stadia also contribute indirectly to property value through the creation of pride, confidence and enhanced image of an area.</p

Reproduced, reinterpreted, lost: Trajectories of scientific knowledge across contexts

This article reports on a research project that uses two innovative heuristics to examine the changes that texts – produced to disseminate new scientific knowledge – undergo when they travel across space and time. A critical analysis of such transformations would enhance our understanding of the processes involved in knowledge dissemination and inform the practice of communicating scientific knowledge to a variety of audiences. Based on our study of 520 closely linked science and science-related sources collected over 12 months in 2016, we argue that when scientific knowledge is re-contextualized to be disseminated to different audiences, it is not simply rephrased or simplified to make it more accessible. Rather, it also undergoes transformational processes that involve issues of social power, authority and access that require new analytical tools to surface more clearly. We report on the methodology of the study with a particular focus on its heuristics, and the transformations that result from a critical analysis of the data collected. We finally discuss a number of theoretical and practical implications in relation to contemporary practices for re-entextualizing scientific knowledge

Impact of diagnosis of diabetes on health-related quality of life among high risk individuals: the Diabetes Prevention Program outcomes study

Purpose The purpose of this study is to assess if diagnosis of type 2 diabetes affected health-related quality of life (HRQoL) among participants in the Diabetes Prevention Program/Diabetes Prevention Program Outcome Study and changes with treatment or diabetes duration. Methods 3,210 participants with pre-diabetes were randomized to metformin (MET), intensive lifestyle intervention (ILS), or placebo (PLB). HRQoL was assessed using the SF-36 including: (1) 8 SF-36 subscales; (2) the physical component (PCS) and mental component summary (MCS) scores; and (3) the SF-6D. The sample was categorized by diabetes free versus diagnosed. For diagnosed subgroup, mean scores in the diabetes-free period, at 6 months, 2, 4 and 6 years post-diagnosis, were compared. Results PCS and SF-6D scores declined in all participants in all treatment arms (P <.001). MCS scores did not change significantly in any treatment arm regardless of diagnosis. ILS participants reported a greater decrease in PCS scores at 6 months post-diagnosis (P <.001) and a more rapid decline immediately post-diagnosis in SF-6D scores (P = .003) than the MET or PLB arms. ILS participants reported a significant decrease in the social functioning subscale at 6 months (P <.001) and two years (P <.001) post-diagnosis. Conclusions Participants reported a decline in measures of overall health state (SF-6D) and overall physical HRQoL, whether or not they were diagnosed with diabetes during the study. There was no change in overall mental HRQoL. Participants in the ILS arm with diabetes reported a more significant decline in some HRQoL measures than those in the MET and PLB arms that developed diabetes