Assessing the accuracy of industrial robots through metrology for the enhancement of automated non-destructive testing

This work presents the study of the accuracy of an industrial robot KR5 arc HW, used to perform quality inspections of components with complex shapes. Metrology techniques such as laser tracking and large volume photogrammetry were deployed to quantify both pose and dynamic path accuracies of the robot in accordance with ISO 9283:1998. The overall positioning pose inaccuracy of the robot is found to be almost 1 mm and path inaccuracy at 100% of the robot rated velocity is 4.5 mm. The maximum pose orientation inaccuracy is found to be 14 degrees and the maximum path orientation inaccuracy is 5 degrees. Despite of the significant maximum inaccuracies, uncertainty of a robotic scanning application is estimated to be 0.5mm. Local positional errors manifest pronounced dependence on the position of the robot end effector in the working envelope. The uncertainties of the measurements are discussed and deemed to be caused by the tool center point calibration, the reference coordinate system transformation and the low accuracy of the photogrammetry system

The Ruderman-Kittel-Kasuya-Yosida (RKKY) interaction across a tunneling junction out of equilibrium

The Ruderman-Kittel-Kasuya-Yosida (RKKY) interaction between two magnetic $s$-$d$ spin impurities across a tunneling junction is studied when the system is driven out of equilibrium through biasing the junction. The nonequilibrium situation is handled with the Keldysh time-loop perturbation formalism in conjunction with appropriate coupling methods for tunneling systems due to Caroli and Feuchtwang. We find that the presence of a nonequilibrium bias across the junction leads to an interference of several fundamental oscillations, such that in this tunneling geometry, it is possible to tune the interaction between ferromagnetic and antiferromagnetic coupling at a fixed impurity configuration, simply by changing the bias across the junction. Furthermore, it is shown that the range of the RKKY interaction is altered out of equilibrium, such that in particular the interaction energy between two slabs of spins scales extensively with the thickness of the slabs in the presence of an applied bias.Comment: 38 pages revtex preprint; 5 postscript figures; submitted to Phys. Rev.

Probing the Environment with Galaxy Dynamics

I present various projects to study the halo dynamics of elliptical galaxies. This allows one to study the outer mass and orbital distributions of ellipticals in different environments, and the inner distributions of groups and clusters themselves.Comment: 5 pages, 2 figs, to appear in Proc. ESO Workshop, Groups of Galaxies in the Nearby Universe (5-9 Dec 2005), eds. I. Saviane, V. Ivanov & J. Borissova (Springer-Verlag

Relating the CMSSM and SUGRA models with GUT scale and Super-GUT scale Supersymmetry Breaking

While the constrained minimal supersymmetric standard model (CMSSM) with universal gaugino masses, m_{1/2}, scalar masses, m_0, and A-terms, A_0, defined at some high energy scale (usually taken to be the GUT scale) is motivated by general features of supergravity models, it does not carry all of the constraints imposed by minimal supergravity (mSUGRA). In particular, the CMSSM does not impose a relation between the trilinear and bilinear soft supersymmetry breaking terms, B_0 = A_0 - m_0, nor does it impose the relation between the soft scalar masses and the gravitino mass, m_0 = m_{3/2}. As a consequence, tan(\beta) is computed given values of the other CMSSM input parameters. By considering a Giudice-Masiero (GM) extension to mSUGRA, one can introduce new parameters to the K\"ahler potential which are associated with the Higgs sector and recover many of the standard CMSSM predictions. However, depending on the value of A_0, one may have a gravitino or a neutralino dark matter candidate. We also consider the consequences of imposing the universality conditions above the GUT scale. This GM extension provides a natural UV completion for the CMSSM.Comment: 16 pages, 11 figures; added erratum correcting several equations and results in Sec.2, Sec.3 and 4 remain unaffected and conclusions unchange

Colliders and Cosmology

Dark matter in variations of constrained minimal supersymmetric standard models will be discussed. Particular attention will be given to the comparison between accelerator and direct detection constraints.Comment: Submitted for the SUSY07 proceedings, 15 pages, LaTex, 26 eps figure

Characterization of host tolerance to Striga hermonthica

One of the most promising control options against the parasitic weed Striga hermonthica is the use of crop varieties that combine resistance with high levels of tolerance. The aim of this study was to clarify the relation between Striga infestation level, Striga infection level and relative yield loss of sorghum and to use this insight for exploring the options for a proper screening procedure for tolerance. In three pot experiments, conducted in Mali (2003) and The Netherlands (2003, 2004), four sorghum genotypes were exposed to a range of Striga infestation levels, ranging from 0.0625 to 16 seeds cm−3. Observations included regular Striga emergence counts and sorghum grain yield at maturity. There were significant genotype, infestation and genotype × infestation effects on sorghum yield. The relation between infestation level and infection level was density dependent. Furthermore, the relation between Striga infection level and relative yield loss was non-linear, though for the most resistant genotype Framida only the linear part of the relation was obtained, as even at high infestation levels only moderate infection levels were achieved. The results suggest that for resistant genotypes, tolerance can best be quantified as a reduced relative yield loss per aboveground Striga plant, whereas for less resistant genotypes the maximum relative yield loss can best be used. Whether both expressions of tolerance are interrelated could not be resolved. Complications of screening for tolerance under field conditions are discussed

Star Formation and Dynamics in the Galactic Centre

The centre of our Galaxy is one of the most studied and yet enigmatic places in the Universe. At a distance of about 8 kpc from our Sun, the Galactic centre (GC) is the ideal environment to study the extreme processes that take place in the vicinity of a supermassive black hole (SMBH). Despite the hostile environment, several tens of early-type stars populate the central parsec of our Galaxy. A fraction of them lie in a thin ring with mild eccentricity and inner radius ~0.04 pc, while the S-stars, i.e. the ~30 stars closest to the SMBH (<0.04 pc), have randomly oriented and highly eccentric orbits. The formation of such early-type stars has been a puzzle for a long time: molecular clouds should be tidally disrupted by the SMBH before they can fragment into stars. We review the main scenarios proposed to explain the formation and the dynamical evolution of the early-type stars in the GC. In particular, we discuss the most popular in situ scenarios (accretion disc fragmentation and molecular cloud disruption) and migration scenarios (star cluster inspiral and Hills mechanism). We focus on the most pressing challenges that must be faced to shed light on the process of star formation in the vicinity of a SMBH.Comment: 68 pages, 35 figures; invited review chapter, to be published in expanded form in Haardt, F., Gorini, V., Moschella, U. and Treves, A., 'Astrophysical Black Holes'. Lecture Notes in Physics. Springer 201

Dynamic Assessment of Baroreflex Control of Heart Rate During Induction of Propofol Anesthesia Using a Point Process Method

In this article, we present a point process method to assess dynamic baroreflex sensitivity (BRS) by estimating the baroreflex gain as focal component of a simplified closed-loop model of the cardiovascular system. Specifically, an inverse Gaussian probability distribution is used to model the heartbeat interval, whereas the instantaneous mean is identified by linear and bilinear bivariate regressions on both the previous R−R intervals (RR) and blood pressure (BP) beat-to-beat measures. The instantaneous baroreflex gain is estimated as the feedback branch of the loop with a point-process filter, while the RRBP feedforward transfer function representing heart contractility and vasculature effects is simultaneously estimated by a recursive least-squares filter. These two closed-loop gains provide a direct assessment of baroreflex control of heart rate (HR). In addition, the dynamic coherence, cross bispectrum, and their power ratio can also be estimated. All statistical indices provide a valuable quantitative assessment of the interaction between heartbeat dynamics and hemodynamics. To illustrate the application, we have applied the proposed point process model to experimental recordings from 11 healthy subjects in order to monitor cardiovascular regulation under propofol anesthesia. We present quantitative results during transient periods, as well as statistical analyses on steady-state epochs before and after propofol administration. Our findings validate the ability of the algorithm to provide a reliable and fast-tracking assessment of BRS, and show a clear overall reduction in baroreflex gain from the baseline period to the start of propofol anesthesia, confirming that instantaneous evaluation of arterial baroreflex control of HR may yield important implications in clinical practice, particularly during anesthesia and in postoperative care.National Institutes of Health (U.S.) (Grant R01-HL084502)National Institutes of Health (U.S.) (Grant K25-NS05758)National Institutes of Health (U.S.) (Grant DP2- OD006454)National Institutes of Health (U.S.) (Grant T32NS048005)National Institutes of Health (U.S.) (Grant T32NS048005)National Institutes of Health (U.S.) (Grant R01-DA015644)Massachusetts General Hospital (Clinical Research Center, UL1 Grant RR025758

Energetic particle influence on the Earth's atmosphere

This manuscript gives an up-to-date and comprehensive overview of the effects of energetic particle precipitation (EPP) onto the whole atmosphere, from the lower thermosphere/mesosphere through the stratosphere and troposphere, to the surface. The paper summarizes the different sources and energies of particles, principally galactic cosmic rays (GCRs), solar energetic particles (SEPs) and energetic electron precipitation (EEP). All the proposed mechanisms by which EPP can affect the atmosphere are discussed, including chemical changes in the upper atmosphere and lower thermosphere, chemistry-dynamics feedbacks, the global electric circuit and cloud formation. The role of energetic particles in Earth’s atmosphere is a multi-disciplinary problem that requires expertise from a range of scientific backgrounds. To assist with this synergy, summary tables are provided, which are intended to evaluate the level of current knowledge of the effects of energetic particles on processes in the entire atmosphere

Loss-of-function mutations in UDP-Glucose 6-Dehydrogenase cause recessive developmental epileptic encephalopathy

Developmental epileptic encephalopathies are devastating disorders characterized by intractable epileptic seizures and developmental delay. Here, we report an allelic series of germline recessive mutations in UGDH in 36 cases from 25 families presenting with epileptic encephalopathy with developmental delay and hypotonia. UGDH encodes an oxidoreductase that converts UDP-glucose to UDP-glucuronic acid, a key component of specific proteoglycans and glycolipids. Consistent with being loss-of-function alleles, we show using patients’ primary fibroblasts and biochemical assays, that these mutations either impair UGDH stability, oligomerization, or enzymatic activity. In vitro, patient-derived cerebral organoids are smaller with a reduced number of proliferating neuronal progenitors while mutant ugdh zebrafish do not phenocopy the human disease. Our study defines UGDH as a key player for the production of extracellular matrix components that are essential for human brain development. Based on the incidence of variants observed, UGDH mutations are likely to be a frequent cause of recessive epileptic encephalopathy