Gait Generation and Control in a Climbing Hexapod Robot

We discuss the gait generation and control architecture of a bioinspired climbing robot that presently climbs a variety of vertical surfaces, including carpet, cork and a growing range of stucco-like surfaces in the quasi-static regime. The initial version of the robot utilizes a collection of gaits (cyclic feed-forward motion patterns) to locomote over these surfaces, with each gait tuned for a specific surface and set of operating conditions. The need for more flexibility in gait specification (e.g., adjusting number of feet on the ground), more intricate shaping of workspace motions (e.g., shaping the details of the foot attachment and detachment trajectories), and the need to encode gait “transitions” (e.g., tripod to pentapod gait structure) has led us to separate this trajectory generation scheme into the functional composition of a phase assigning transformation of the “clock space” (the six dimensional torus) followed by a map from phase into leg joints that decouples the geometric details of a particular gait. This decomposition also supports the introduction of sensory feedback to allow recovery from unexpected event and to adapt to changing surface geometries

Resource Partitioning in Summer by Salmonids in South-Central Lake Ontario

During the summers of 1981 and 1982, we studied resource partitioning by stocked lake trout Salvelinus namaycush, brown trout Salmo trutta, and chinook salmon Oncorhynchus tshawytscha by fishing vertical gill nets at six distances from shore in south-central Lake Ontario. The nets were set at depths of approximately 15-45 m (nearshore stations,offshore) and more than 55 m (offshore stations, 4-24 km offshore). Salmonids were concentrated near shore, where they partitioned available habitat and, thus, food resources. Horizontal habitat was partitioned with respect to distance from shore; vertical habitat was partitioned in relation to temperature and the thermocline. Salmonids foraged for the most available prey items within their habitat. Overlaps in both food use and horizontal habitat use were inversely related to overlap in use of vertical habitat. There was increased habitat separation between sexes for those species caught farther from shore. At the salmonid stocking and prey density levels existing during our study, lake trout, brown trout, and chinook salmon appeared to partition resources and minimize deleterious trophic interactions during thermal stratification

A 4.8- and 8.6-GHz Survey of the Large Magellanic Cloud: I The Images

Detailed 4.8- and 8.6-GHz radio images of the entire Large Magellanic Cloud with half-power beamwidths of 33" at 4.8 GHz and 20" at 8.6 GHz have been obtained using the Australia Telescope Compact Array. A total of 7085 mosaic positions were used to cover an area of 6 degrees on a side. Full polarimetric observations were made. These images have sufficient spatial resolution (~8 and 5 pc, respectively) and sensitivity (3-sigma of 1 mJy/beam) to identify most of the individual SNRs and H II regions and also, in combination with available data from the Parkes 64-m telescope, the structure of the smooth emission in that galaxy. In addition, limited data using the sixth antenna at 4.5 to 6-km baselines are available to distinguish bright point sources (<3 and 2 arcsec, respectively) and to help estimate sizes of individual sources smaller than the resolution of the full survey. The resultant database will be valuable for statistical studies and comparisons with x-ray, optical and infrared surveys of the LMC with similar resolution.Comment: 28 pages, 10 figures, 2 tables, accepted for publication in the Feb 2005 A

Observing mode-dependent wavelength-to-time mapping in few-mode fibers using a single-photon detector array

Wavelength-to-time mapping (WTM)—stretching ultrashort optical pulses in a dispersive medium such that the instantaneous frequency becomes time-dependent—is usually performed using a single-mode fiber. In a number of applications, such as time-stretch imaging (TSI), the use of this single-mode fiber during WTM limits the achievable sampling rate and the imaging quality. Multimode fiber based WTM is a potential route to overcome this challenge and project a more diverse range of light patterns. Here, we demonstrate the use of a twodimensional single-photon avalanche diode (SPAD) array to image, in a time-correlated single-photon counting (TCSPC) manner, the time- and wavelength-dependent arrival of different spatial modes in a few-mode fiber. We then use a TCSPC spectrometer with a onedimensional SPAD array to record and calibrate the wavelength-dependent and mode-dependent WTM processes. The direct measurement of the WTM of the spatial modes opens a convenient route to estimate group velocity dispersion, differential mode delay, and the effective refractive index of different spatial modes. This is applicable to TSI and ultrafast optical imaging, as well as broader areas such as telecommunications

Status, Plans, and Initial Results for ARES 1 Crew Launch Vehicle Aerodynamics

Following the completion of NASA's Exploration Systems Architecture Study in August 2004 for the NASA Exploration Systems Mission Directorate (ESMD), the Exploration Launch Office at the NASA Marshall Space Flight Center was assigned project management responsibilities for the design and development of the first vehicle in the architecture, the Ares I Crew Launch Vehicle (CLV), which will be used to launch astronauts to low earth orbit and rendezvous with either the International Space Station or the ESMD s earth departure stage for lunar or other future missions beyond low Earth orbit. The primary elements of the Ares I CLV project are the first stage, the upper stage, the upper stage engine, and vehicle integration. Within vehicle integration is an effort in integrated design and analysis which is comprised of a number of technical disciplines needed to support vehicle design and development. One of the important disciplines throughout the life of the project is aerodynamics. This paper will present the status, plans, and initial results of Ares I CLV aerodynamics as the project was preparing for the Ares I CLV Systems Requirements Review. Following a discussion of the specific interactions with other technical panels and a status of the current activities, the plans for aerodynamic support of the Ares I CLV until the initial crewed flights will be presented

Teaching clinical informatics to third-year medical students: negative results from two controlled trials

BACKGROUND: Prior educational interventions to increase seeking evidence by medical students have been unsuccessful. METHODS: We report two quasirandomized controlled trials to increase seeking of medical evidence by third-year medical students. In the first trial (1997–1998), we placed computers in clinical locations and taught their use in a 6-hour course. Based on negative results, we created SUMSearch(TM), an Internet site that automates searching for medical evidence by simultaneous meta-searching of MEDLINE and other sites. In the second trial (1999–2000), we taught SUMSearch's use in a 5½-hour course. Both courses were taught during the medicine clerkship. For each trial, we surveyed the entire third-year class at 6 months, after half of the students had taken the course (intervention group). The students who had not received the intervention were the control group. We measured self-report of search frequency and satisfaction with search quality and speed. RESULTS: The proportion of all students who reported searching at least weekly for medical evidence significantly increased from 19% (1997–1998) to 42% (1999–2000). The proportion of all students who were satisfied with their search results increased significantly between study years. However, in neither study year did the interventions increase searching or satisfaction with results. Satisfaction with the speed of searching was 27% in 1999–2000. This did not increase between studies years and was not changed by the interventions. CONCLUSION: None of our interventions affected searching habits. Even with automated searching, students report low satisfaction with search speed. We are concerned that students using current strategies for seeking medical evidence will be less likely to seek and appraise original studies when they enter medical practice and have less time

Investigation of the depolarisation transition in Bi-based relaxor ferroelectrics

The loss of macroscopic polarisation in relaxor ferroelectric (Na0.8K0.2)(1/2)Bi1/2TiO3 ceramics doped with BiZn1/2Ti1/2O3 has been studied by electrical and structural methods. These indicate that the phenomena that are coupled in a displacive phase transition are not necessarily coupled in the depolarisation of Na1/2Bi1/2TiO3-based relaxors and a concept of correlated and uncorrelated switching of dipoles within adjacent unit cells is used to explain this. Second harmonic generation performed on poled ceramics during heating yields values of the freezing temperature and shows a broad temperature range of similar to 100 degrees C across which the structure changes from field-induced ferroelectric to an equilibrium-state ergodic relaxor. Electrical poling at room temperature causes poled regions to increase in size by similar to 2 orders of magnitude. A model illustrating the main steps in thermal depolarisation is described that does not require a phase transition to take place on a unit cell level.open1

Using pyrosequencing to shed light on deep mine microbial ecology

BACKGROUND: Contrasting biological, chemical and hydrogeological analyses highlights the fundamental processes that shape different environments. Generating and interpreting the biological sequence data was a costly and time-consuming process in defining an environment. Here we have used pyrosequencing, a rapid and relatively inexpensive sequencing technology, to generate environmental genome sequences from two sites in the Soudan Mine, Minnesota, USA. These sites were adjacent to each other, but differed significantly in chemistry and hydrogeology. RESULTS: Comparisons of the microbes and the subsystems identified in the two samples highlighted important differences in metabolic potential in each environment. The microbes were performing distinct biochemistry on the available substrates, and subsystems such as carbon utilization, iron acquisition mechanisms, nitrogen assimilation, and respiratory pathways separated the two communities. Although the correlation between much of the microbial metabolism occurring and the geochemical conditions from which the samples were isolated could be explained, the reason for the presence of many pathways in these environments remains to be determined. Despite being physically close, these two communities were markedly different from each other. In addition, the communities were also completely different from other microbial communities sequenced to date. CONCLUSION: We anticipate that pyrosequencing will be widely used to sequence environmental samples because of the speed, cost, and technical advantages. Furthermore, subsystem comparisons rapidly identify the important metabolisms employed by the microbes in different environments