Pose, posture, formation and contortion in kinematic systems

The concepts of pose, posture, formation and contortion are defined for serial, parallel and hybrid kinematic systems. Workspace and jointspace structure is examined in terms of these concepts. The inter-relationships of pose, posture, formation and contortion are explored for a range of robot workspace and jointspace types

Persistent current formation in a high-temperature Bose-Einstein condensate: an experimental test for c-field theory

Experimental stirring of a toroidally trapped Bose-Einstein condensate at high temperature generates a disordered array of quantum vortices that decays via thermal dissipation to form a macroscopic persistent current [T. W. Neely em et al. arXiv:1204.1102 (2012)]. We perform 3D numerical simulations of the experimental sequence within the Stochastic Projected Gross-Pitaevskii equation using ab initio determined reservoir parameters. We find that both damping and noise are essential for describing the dynamics of the high-temperature Bose field. The theory gives a quantitative account of the formation of a persistent current, with no fitted parameters.Comment: v2: 7 pages, 3 figures, new experimental data and numerical simulation

Phase ordering and roughening on growing films

We study the interplay between surface roughening and phase separation during the growth of binary films. Already in 1+1 dimension, we find a variety of different scaling behaviors depending on how the two phenomena are coupled. In the most interesting case, related to the advection of a passive scalar in a velocity field, nontrivial scaling exponents are obtained in simulations.Comment: 4 pages latex, 6 figure

Shifts in Southern Wisconsin Forest Canopy and Understory Richness, Composition, and Heterogeneity

We resurveyed the under- and overstory species composition of 94 upland forest stands in southern Wisconsin in 2002–2004 to assess shifts in canopy and understory richness, composition, and heterogeneity relative to the original surveys in 1949–1950. The canopy has shifted from mostly oaks (Quercus spp.) toward more mesic and shade-tolerant trees (primarily Acer spp.). Oak-dominated early-successional stands and those on coarse, nutrient-poor soils changed the most in canopy composition. Understories at most sites (80%) lost native species, with mean species density declining 25% at the 1-m2 scale and 23.1% at the 20-m2 scale. Woody species have increased 15% relative to herbaceous species in the understory despite declining in absolute abundance. Initial canopy composition, particularly the abundance of red oaks (Quercus rubra and Q. velutina), predicted understory changes better than the changes observed in the overstory. Overall rates of native species loss were greater in later-successional stands, a pattern driven by differential immigration rather than differential extirpation. However, understory species initially found in early-successional habitats declined the most, particularly remnant savanna taxa with narrow or thick leaves. These losses have yet to be offset by compensating increases in native shade-adapted species. Exotic species have proliferated in prevalence (from 13 to 76 stands) and relative abundance (from 1.2% to 8.4%), but these increases appear unrelated to the declines in native species richness and heterogeneity observed. Although canopy succession has clearly influenced shifts in understory composition and diversity, the magnitude of native species declines and failure to recruit more shade-adapted species suggest that other factors now act to limit the richness, heterogeneity, and composition of these communities

Characteristics of Two-Dimensional Quantum Turbulence in a Compressible Superfluid

Under suitable forcing a fluid exhibits turbulence, with characteristics strongly affected by the fluid's confining geometry. Here we study two-dimensional quantum turbulence in a highly oblate Bose-Einstein condensate in an annular trap. As a compressible quantum fluid, this system affords a rich phenomenology, allowing coupling between vortex and acoustic energy. Small-scale stirring generates an experimentally observed disordered vortex distribution that evolves into large-scale flow in the form of a persistent current. Numerical simulation of the experiment reveals additional characteristics of two-dimensional quantum turbulence: spontaneous clustering of same-circulation vortices, and an incompressible energy spectrum with $k^{-5/3}$ dependence for low wavenumbers $k$ and $k^{-3}$ dependence for high $k$.Comment: 7 pages, 7 figures. Reference [29] updated for v

Syndemics and the PrEP Cascade: Results from a Sample of Young Latino Men Who Have Sex with Men.

Young Latino men who have sex with men (MSM) are a highly vulnerable population for HIV infection. Pre-exposure prophylaxis (PrEP) is a novel biomedical HIV prevention tool that may aid in reducing the disparity in HIV incidence among Latino MSM. However, PrEP use is disproportionally low among Latino MSM and, therefore, identifying barriers along the PrEP continuum of care (the "PrEP cascade") would provide insight into how to best deploy PrEP interventions. Syndemics theory is a prominent framework employed in HIV prevention; however, to date, no known studies have applied this theory to PrEP. Thus, the aim of the current study was to explore the association between syndemics and the PrEP cascade, including the degree to which psychosocial and structural syndemic constructs are related to the PrEP cascade. Participants were 151 young Latino MSM (M age = 24 years; SD = 3) residing in San Diego, California, who completed a battery of online self-report measures. Results indicated high levels of syndemic indicators and varying levels of engagement across the PrEP cascade. As syndemic indicators increased, the odds of engagement across the PrEP cascade were significantly lowered. Psychosocial and structural syndemic factors accounted for unique variance in the PrEP cascade. Results highlight the need for combination interventions that address both psychosocial and structural barriers to PrEP use and persistence among young Latino MSM

Runoff and discharge pathways of microplastics into freshwater ecosystems: A systematic review and meta-analysis

Although many studies have focused on the importance of littering and (or) illegal dumping as a source of plastic pollution to freshwater, other relevant pathways should be considered, including wastewater, stormwater runoff, industrial effluent/runoff, and agricultural runoff. Here, we conducted a meta-analysis focused on these four pathways. We quantified the number of studies, amount and characteristics of microplastics reported, and the methods used to sample and measure microplastics from each pathway. Overall, we found 121 studies relevant to our criteria, published from 2014 to 2020. Of these, 54 (45%) quantified and characterized microplastics in discharge pathways. Although most focused on wastewater treatment plant effluent (85%), microplastic concentrations were highest in stormwater runoff (0.009 to 3862 particles/L). Morphologies of particles varied among pathways and sampling methods. For example, stormwater runoff was the only pathway with rubbery particles. When assessing methods, our analysis suggested that water filtered through a finer (\u3c200 um) mesh and of a smaller volume (e.g., 6 L) captured more particles, and with a slightly greater morphological diversity. Overall, our meta-analysis suggested that all four pathways bring microplastics into freshwater ecosystems, and further research is necessary to inform the best methods for monitoring and to better understand hydrologic patterns that can inform local mitigation