Dynamic Modeling, Parameter Estimation and Control of a Leg Prosthesis Test Robot

Robotic testing can facilitate the development of new concepts, designs and control systems for prosthetic limbs. Human subject test clearances, safety and the lack of repeatability associated with human trials can be reduced or eliminated with automated testing, and test modalities are possible which are dangerous or inconvenient to attempt with patients. This paper describes the development, modeling, parameter estimation and control of a robot capable of reproducing two degree-of-freedom hip motion in the sagittal plane. Hip vertical displacement and thigh angle motion profiles are applied to a transfemoral prosthesis attached to the robot. A treadmill is used as walking surface. Aside from tracking hip motion trajectories, the control system can be used to regulate the contact force between the treadmill and the prosthesis. The paper summarizes the overall development process, with emphasis on the generation of a dynamic model that can be used to design closed-loop motion and force control algorithms

The Globular Cluster Systems around NGC 3311 and NGC 3309

We present extensive new photometry in (g',i') of the large globular cluster (GC) system around NGC 3311, the central cD galaxy in the Hydra cluster. Our GMOS data cover a 5.5' field of view and reach a limiting magnitude i' = 26, about 0.5 magnitude fainter than the turnover point of the GC luminosity function. We find that NGC 3311 has a huge population of ~16, 000 GCs, closely similar to the prototypical high specific frequency Virgo giant M87. The color-magnitude distribution shows that the metal-poor blue GC sequence and the metal-richer red sequence are both present, with nearly equal numbers of clusters. Bimodal fits to the color distributions confirm that the blue sequence shows the same trend of progressively increasing metallicity with GC mass that has previously been found in many other large galaxies; the correlation we find corresponds to a scaling of GC metallicity with mass of Z ~ M^0.6 . By contrast, the red sequence shows no change of mean metallicity with mass, but it shows an upward extension to much higher than normal luminosity into the UCD-like range, strengthening the potential connections between massive GCs and UCDs. The GC luminosity function, which we measure down to the turnover point at M_I = -8.4, also has a normal form like those in other giant ellipticals. Within the Hydra field, another giant elliptical NGC 3309 is sitting just 100" from the cD NGC 3311. We use our data to solve simultaneously for the spatial structure and total GC populations of both galaxies at once. Their specific frequencies are S_N (NGC 3311) = 12.5 +/- 1.5 and S_N (NGC 3309) = 0.6 +/-0.4. NGC 3311 is completely dominant and entirely comparable with other cD-type systems such as M87 in Virgo.Comment: 15 pages, 15 figures. Accepted to the Astrophysical Journal. Version with higher resolution figures is available at http://www.thewehners.net/astro/papers/wehner_n3311_highres.pd

Co-Regulation of Histone-Modifying Enzymes in Cancer

Cancer is characterized by aberrant patterns of expression of multiple genes. These major shifts in gene expression are believed to be due to not only genetic but also epigenetic changes. The epigenetic changes are communicated through chemical modifications, including histone modifications. However, it is unclear whether the binding of histone-modifying proteins to genomic regions and the placing of histone modifications efficiently discriminates corresponding genes from the rest of the genes in the human genome. We performed gene expression analysis of histone demethylases (HDMs) and histone methyltransferases (HMTs), their target genes and genes with relevant histone modifications in normal and tumor tissues. Surprisingly, this analysis revealed the existence of correlations in the expression levels of different HDMs and HMTs. The observed HDM/HMT gene expression signature was specific to particular normal and cancer cell types and highly correlated with target gene expression and the expression of genes with histone modifications. Notably, we observed that trimethylation at lysine 4 and lysine 27 separated preferentially expressed and underexpressed genes, which was strikingly different in cancer cells compared to normal cells. We conclude that changes in coordinated regulation of enzymes executing histone modifications may underlie global epigenetic changes occurring in cancer

Quantum Nonlocality without Entanglement

We exhibit an orthogonal set of product states of two three-state particles that nevertheless cannot be reliably distinguished by a pair of separated observers ignorant of which of the states has been presented to them, even if the observers are allowed any sequence of local operations and classical communication between the separate observers. It is proved that there is a finite gap between the mutual information obtainable by a joint measurement on these states and a measurement in which only local actions are permitted. This result implies the existence of separable superoperators that cannot be implemented locally. A set of states are found involving three two-state particles which also appear to be nonmeasurable locally. These and other multipartite states are classified according to the entropy and entanglement costs of preparing and measuring them by local operations.Comment: 27 pages, Latex, 6 ps figures. To be submitted to Phys. Rev. A. Version 2: 30 pages, many small revisions and extensions, author added. Version 3: Proof in Appendix D corrected, many small changes; final version for Phys. Rev. A Version 4: Report of Popescu conjecture modifie

An analysis of fast photochemistry over high northern latitudes during spring and summer using in-situ observations from ARCTAS and TOPSE

Observations of chemical constituents and meteorological quantities obtained during the two Arctic phases of the airborne campaign ARCTAS (Arctic Research of the Composition of the Troposphere from Aircraft and Satellites) are analyzed using an observationally constrained steady state box model. Measurements of OH and HO2 from the Penn State ATHOS instrument are compared to model predictions. Forty percent of OH measurements below 2 km are at the limit of detection during the spring phase (ARCTAS-A). While the median observed-to-calculated ratio is near one, both the scatter of observations and the model uncertainty for OH are at the magnitude of ambient values. During the summer phase (ARCTAS-B), model predictions of OH are biased low relative to observations and demonstrate a high sensitivity to the level of uncertainty in NO observations. Predictions of HO2 using observed CH2O and H2O2 as model constraints are up to a factor of two larger than observed. A temperature-dependent terminal loss rate of HO2 to aerosol recently proposed in the literature is shown to be insufficient to reconcile these differences. A comparison of ARCTAS-A to the high latitude springtime portion of the 2000 TOPSE campaign (Tropospheric Ozone Production about the Spring Equinox) shows similar meteorological and chemical environments with the exception of peroxides; observations of H2O2 during ARCTAS-A were 2.5 to 3 times larger than those during TOPSE. The cause of this difference in peroxides remains unresolved and has important implications for the Arctic HOx budget. Unconstrained model predictions for both phases indicate photochemistry alone is unable to simultaneously sustain observed levels of CH2O and H2O2; however when the model is constrained with observed CH2O, H2O2 predictions from a range of rainout parameterizations bracket its observations. A mechanism suitable to explain observed concentrations of CH2O is uncertain. Free tropospheric observations of acetaldehyde (CH3CHO) are 2–3 times larger than its predictions, though constraint of the model to those observations is sufficient to account for less than half of the deficit in predicted CH2O. The box model calculates gross O3 formation during spring to maximize from 1–4 km at 0.8 ppbv d−1, in agreement with estimates from TOPSE, and a gross production of 2–4 ppbv d−1 in the boundary layer and upper troposphere during summer. Use of the lower observed levels of HO2 in place of model predictions decreases the gross production by 25–50%. Net O3 production is near zero throughout the ARCTAS-A troposphere, and is 1–2 ppbv in the boundary layer and upper altitudes during ARCTAS-B

QCD

We discuss issues of QCD at the LHC including parton distributions, Monte Carlo event generators, the available next-to-leading order calculations, resummation, photon production, small x physics, double parton scattering, and backgrounds to Higgs production.Comment: 115 pages, Latex, 47 figures, to appear in the Report of the ``1999 CERN Workshop on SM Physics (and more) at the LHC'', S. Catani, M. Dittmar, D. Soper, W.J. Stirling, S. Tapprogge (convenors

Ice and ocean velocity in the Arctic marginal ice zone: Ice roughness and momentum transfer

The interplay between sea ice concentration, sea ice roughness, ocean stratification, and momentum transfer to the ice and ocean is subject to seasonal and decadal variations that are crucial to understanding the present and future air-ice-ocean system in the Arctic. In this study, continuous observations in the Canada Basin from March through December 2014 were used to investigate spatial differences and temporal changes in under-ice roughness and momentum transfer as the ice cover evolved seasonally. Observations of wind, ice, and ocean properties from four clusters of drifting instrument systems were complemented by direct drill-hole measurements and instrumented overhead flights by NASA operation IceBridge in March, as well as satellite remote sensing imagery about the instrument clusters. Spatially, directly estimated ice-ocean drag coefficients varied by a factor of three with rougher ice associated with smaller multi-year ice floe sizes embedded within the first-year-ice/multi-year-ice conglomerate. Temporal differences in the ice-ocean drag coefficient of 20–30% were observed prior to the mixed layer shoaling in summer and were associated with ice concentrations falling below 100%. The ice-ocean drag coefficient parameterization was found to be invalid in September with low ice concentrations and small ice floe sizes. Maximum momentum transfer to the ice occurred for moderate ice concentrations, and transfer to the ocean for the lowest ice concentrations and shallowest stratification. Wind work and ocean work on the ice were the dominant terms in the kinetic energy budget of the ice throughout the melt season, consistent with free drift conditions. Overall, ice topography, ice concentration, and the shallow summer mixed layer all influenced mixed layer currents and the transfer of momentum within the air-ice-ocean system. The observed changes in momentum transfer show that care must be taken to determine appropriate parameterizations of momentum transfer, and imply that the future Arctic system could become increasingly seasonal