Computed torque control of a free-flying cooperat ing-arm robot

The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand

A DYNAMIC GENERAL EQUILIBRIUM ANALYSIS OF U.S. BIOFUELS PRODUCTION

With the rising global interest in energy security and climate change mitigation, biofuels have gained the prominent attention of researchers and policy makers. The U.S. has emerged as the leading producer of biofuels and is aiming for achieving a target of 36 billion gallons of renewable fuels by 2022 under its updated renewable fuels standard (RFS2) policy. In this paper, we study the longer-term global implications of large-scale renewable fuels production in the U.S. We utilize the GTAP v7.1 data base and introduce a detailed breakdown of agricultural crops, first and second generation biofuels and by-products. We update this fully disaggregated data base to reflect the 2010 global economy, based on secondary data for the sectors and regions included. We adapt the Applied Dynamic Analysis of Global Economy (ADAGE) model developed by Ross (2009) into a recursive dynamic framework and introduce agriculture, biofuels, and land use linkages. We construct a dynamic baseline from 2010 through 2050 in five-year time steps. The dynamics in the model comes from growth in GDP, population, capital accumulation, labor productivity, growth in natural resource stocks, and technological changes in the energy intensive and agricultural sectors. We implement a representative RFS2 policy scenario in the U.S for 2025, using two alternative approaches: (i) RFS permits approach – which assumes biofuels and petroleum fuels are perfect substitutes after adjusting for energy content, and (ii) Target share of biofuels in transportation fuels approach – which treats biofuels and petroleum fuels as imperfect substitutes. Both approaches offer insights regarding potential policy impacts, particularly on the international market and indirect land use change. Because the share approach keeps the biofuels share fixed in the regions outside the U.S., it does not result in dramatic changes in the rest of the world. In the permits approach, however, the regions without a specific policy requiring a given level of biofuels tend to reduce biofuels consumption. This is a result of the reduction in relative price of petroleum products as U.S. policy increases demand for biofuels and reduces global demand for petroleum, making renewable fuels less cost-competitive in the rest of the world.ADAGE, Biofuels, Computable General Equilibrium, Recursive Dynamic, Resource /Energy Economics and Policy,

The Relative Abundance and Feeding Habits of Juvenile Kingfish (Sciaenidae: Menticirrhus) in a Gulf of Mexico Surf Zone

We describe seasonal and diel occurrence patterns, density, dietary progressions, and trophic relationships of Menticirrhus littoralis, M. americanus and M. saxatitis collected from the Horn Island, Mississippi, surf zone. Menticirrhus littoralis was the most abundant species (62.7%), followed by M. americanus (21.8%) and M. saxatitis (15.5%). Densities were highest during spring and summer and decreased markedly during the winter. Species showed diel changes in abundance, with abundance increasing during dusk and dawn for M. littoralis, and during the day for M. americanus and M. saxatilis. All three species showed ontogenetic progressions in diet, with siphon tips from Donax spp., cumaceans and mysids being most important to smaller (\u3c80 mm SL) M. littoralis and M. americanus; cumaceans, mysids and amphipods were most important to smaller M. saxatitis. Larger individuals of all three species fed more on whole Donax, polychaetes, Emerita talpoida, brachyurans, and fishes. Both intra- and interspecific dietary overlap was greatest for the smaller size groups of juveniles and declined with growth. Dietary overlap between 20 mm size classes was greatest for intra- compared to interspecific comparisons

UV Imaging Polarimetry of the Seyfert 2 Galaxy Mrk 3

We present UV imaging polarimetry data of the Seyfert 2 galaxy Mrk 3 taken by the Hubble Space Telescope. The polarized flux is found to be extended to ~1 kpc from the nucleus, and the position angles of polarization are centrosymmetric, confirming that the polarization is caused by scattering. We determine the location of the hidden nucleus as the center of this centrosymmetric pattern. From the polarization images taken in two broad bands, we have obtained the color distribution of the polarized flux. Some regions have blue polarized flux, consistent with optically-thin dust scattering, but some bright knots have a color similar to that of Seyfert 1 nucleus. Also, the recent Chandra X-ray observation suggests that the ratio of scattered UV flux to scattered X-ray flux is rather similar to the intrinsic UV/X-ray ratio in a Seyfert 1 nucleus, if the observed extended X-ray continuum is scattered light. While the scattered X-ray would be essentially from electron scattering, the UV slope and UV/X-ray ratio both being similar to Seyfert 1's would lead to two possibilities as to the nature of the UV scatterers. One is that the UV may also be scattered by electrons, in which case the scattering gas is somehow dust-free. The other is that the UV is scattered by dust grains, but the wavelength-independent UV scattering with low efficiency indicated by the UV slope and UV/X-ray ratio would suggest that the grains reside in UV-opaque clouds, or the dust might be mainly composed of large grains and lacks small-grain population.Comment: 15 pages, 8 figures (plus 2 color versions of grayscale figures), To appear in ApJ; minor corrections for the proofs of the manuscrip

UV Imaging Polarimetry of the peculiar Seyfert 2 galaxy Mrk 477

We present the results of UV imaging polarimetry of the Seyfert 2 galaxy Mrk 477 taken by the Faint Object Camera onboard the Hubble Space Telescope (HST). From a previous HST UV image (lambda ~ 2180A), Mrk 477 has been known to have a pointlike bright UV hotspot in the central region, peculiar among nearby Seyfert 2 galaxies. There are also claims of UV/optical variability, unusual for a Seyfert 2 galaxy. Our data show that there is an off-nuclear scattering region ~ 0."6 (~ 500 pc) NE from the hotspot. The data, after the subtraction of the instrumental effect due to this bright hotspot region, might indicate that the scattered light is also detected in the central 0."2 radius region and is extended to a very wide angle. The hotspot location is consistent with the symmetry center of the PA pattern, which represents the location of the hidden nucleus, but our data do not provide a strong upper limit to the distance between the symmetry center and the hotspot. We have obtained high spatial resolution color map of the continuum which shows that the nuclear spiral arm of 0."4 scale (~ 300pc) is significantly bluer than the off-nuclear mirror and the hotspot region. The nature of the hotspot is briefly discussed.Comment: To appear in Ap

Beta-actin mRNA localization is regulated by signal transduction mechanisms

Beta-actin mRNA is localized in the leading lamellae of chicken embryo fibroblasts (CEFs) (Lawrence, J., and R. Singer. 1986. Cell. 45:407-415), close to where actin polymerization in the lamellipodia drives cellular motility. During serum starvation beta-actin mRNA becomes diffuse and non-localized. Addition of FCS induces a rapid (within 2-5 min) redistribution of beta-actin mRNA into the leading lamellae. A similar redistribution was seen with PDGF, a fibroblast chemotactic factor. PDGF-induced beta-actin mRNA redistribution was inhibited by the tyrosine kinase inhibitor herbimycin, indicating that this process requires intact tyrosine kinase activity, similar to actin filament polymerization and chemotaxis. Lysophosphatidic acid, which has been shown to rapidly induce actin stress fiber formation (Ridley, A., and A. Hall. 1992. Cell. 790:389-399), also increases peripheral beta-actin mRNA localization within minutes. This suggests that actin polymerization and mRNA localization may be regulated by similar signaling pathways. Additionally, activators or inhibitors of kinase A or C can also delocalize steady-state beta-actin mRNA in cells grown in serum, and can inhibit the serum induction of peripherally localized beta-actin mRNA in serum-starved CEFs. These data show that physiologically relevant extracellular factors operating through a signal transduction pathway can regulate spatial sites of actin protein synthesis, which may in turn affect cellular polarity and motility