Constrained trajectory optimization for kinematically redundant arms

Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths

An adaptive controller for enhancing operator performance during teleoperation

An adaptive controller is developed for adjusting robot arm parameters while manipulating payloads of unknown mass and inertia. The controller is tested experimentally in a master/slave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptation is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified

Oscillations in β Ursae Minoris

Aims. From observations of the K4III star β UMi we attempt to determine whether oscillations or any other form of variability is present. Methods. A high-quality photometric time series of ≈1000 days in length obtained from the SMEI instrument on the Coriolis satellite is analysed. Various statistical tests were performed to determine the significance of features seen in the power density spectrum of the light curve. Results. Two oscillations with frequencies 2.44 and 2.92 μHz have been identified. We interpret these oscillations as consecutive overtones of an acoustic spectrum, implying a large frequency spacing of 0.48 μHz. Using derived asteroseismic parameters in combination with known astrophysical parameters, we estimate the mass of β UMi to be 1.3 ± 0.3 M. Peaks of the oscillations in the power density spectrum show width, implying that modes are stochastically excited and damped by convection. The mode lifetime is estimated at 18 ± 9 days

Influence of reheating on the trispectrum and its scale dependence

We study the evolution of the non-linear curvature perturbation during perturbative reheating, and hence how observables evolve to their final values which we may compare against observations. Our study includes the evolution of the two trispectrum parameters, \gnl and \taunl, as well as the scale dependence of both \fnl and \taunl. In general the evolution is significant and must be taken into account, which means that models of multifield inflation cannot be compared to observations without specifying how the subsequent reheating takes place. If the trispectrum is large at the end of inflation, it normally remains large at the end of reheating. In the classes of models we study, it is very hard to generate \taunl\gg\fnl^2, regardless of the decay rates of the fields. Similarly, for the classes of models in which \gnl\simeq\taunl during slow--roll inflation, we find the relation typically remains valid during reheating. Therefore it is possible to observationally test such classes of models without specifying the parameters of reheating, even though the individual observables are sensitive to the details of reheating. It is hard to generate an observably large \gnl however. The runnings, \nfnl and \ntaunl, tend to satisfy a consistency relation \ntaunl=(3/2)\nfnl, but are in general too small to be observed for the class of models considered regardless of reheating timescale

Asteroseismology of red giants: photometric observations of Arcturus by SMEI

We present new results on oscillations of the K1.5 III giant Arcturus (alpha Boo), from analysis of just over 2.5 yr of precise photometric observations made by the Solar Mass Ejection Imager (SMEI) on board the Coriolis satellite. A strong mode of oscillation is uncovered by the analysis, having frequency 3.51+/-0.03 micro-Hertz. By fitting its mode peak, we are able offer a highly constrained direct estimate of the damping time (tau = 24+/-1 days). The data also hint at the possible presence of several radial-mode overtones, and maybe some non-radial modes. We are also able to measure the properties of the granulation on the star, with the characteristic timescale for the granulation estimated to be 0.50+/-0.05 days.Comment: 6 pages, 5 figures; accepted for publication in MNRAS Letter

The Differences in Antibiotic Decision-making Between Acute Surgical and Acute Medical Teams: An Ethnographic Study of Culture and Team Dynamics

Background Cultural and social determinants influence antibiotic decision-making in hospitals. We investigated and compared cultural determinants of antibiotic decision-making in acute medical and surgical specialties. Methods An ethnographic observational study of antibiotic decision-making in acute medical and surgical teams at a London teaching hospital was conducted (August 2015–May 2017). Data collection included 500 hours of direct observations, and face-to-face interviews with 23 key informants. A grounded theory approach, aided by Nvivo 11 software, analyzed the emerging themes. An iterative and recursive process of analysis ensured saturation of the themes. The multiple modes of enquiry enabled cross-validation and triangulation of the findings. Results In medicine, accepted norms of the decision-making process are characterized as collectivist (input from pharmacists, infectious disease, and medical microbiology teams), rationalized, and policy-informed, with emphasis on de-escalation of therapy. The gaps in antibiotic decision-making in acute medicine occur chiefly in the transition between the emergency department and inpatient teams, where ownership of the antibiotic prescription is lost. In surgery, team priorities are split between 3 settings: operating room, outpatient clinic, and ward. Senior surgeons are often absent from the ward, leaving junior staff to make complex medical decisions. This results in defensive antibiotic decision-making, leading to prolonged and inappropriate antibiotic use. Conclusions In medicine, the legacy of infection diagnosis made in the emergency department determines antibiotic decision-making. In surgery, antibiotic decision-making is perceived as a nonsurgical intervention that can be delegated to junior staff or other specialties. Different, bespoke approaches to optimize antibiotic prescribing are therefore needed to address these specific challenges

SMEI observations of previously unseen pulsation frequencies in γ Doradus

Aims. As g-mode pulsators, gamma-Doradus-class stars may naïvely be expected to show a large number of modes. Taking advantage of the long photometric time-series generated by the solar mass ejection imager (SMEI) instrument, we have studied the star gamma Doradus to determine whether any other modes than the three already known are present at observable amplitude. Methods. High-precision photometric data from SMEI taken between April 2003 and March 2006 were subjected to periodogram analysis with the PERIOD04 package. Results. We confidently determine three additional frequencies at 1.39, 1.87, and 2.743 d−1. These are above and beyond the known frequencies of 1.320, 1.364, and 1.47 d−1. Conclusions. Two of the new frequencies, at 1.39 and 1.87 d−1, are speculated to be additional modes of oscillation, with the third frequency at 2.743−1 a possible combination frequency