Performance constraints and compensation for teleoperation with delay

A classical control perspective is used to characterize performance constraints and evaluate compensation techniques for teleoperation with delay. Use of control concepts such as open and closed loop performance, stability, and bandwidth yield insight to the delay problem. Teleoperator performance constraints are viewed as an open loop time delay lag and as a delay-induced closed loop bandwidth constraint. These constraints are illustrated with a simple analytical tracking example which is corroborated by a real time, 'man-in-the-loop' tracking experiment. The experiment also provides insight to those controller characteristics which are unique to a human operator. Predictive displays and feedforward commands are shown to provide open loop compensation for delay lag. Low pass filtering of telemetry or feedback signals is interpreted as closed loop compensation used to maintain a sufficiently low bandwidth for stability. A new closed loop compensation approach is proposed that uses a reactive (or force feedback) hand controller to restrict system bandwidth by impeding operator inputs

Induced antiferromagnetism and large magnetoresistances in RuSr2(Nd,Y,Ce)2Cu2O10-d ruthenocuprates

RuSr2(Nd,Y,Ce)2Cu2O10-d ruthenocuprates have been studied by neutron diffraction, magnetotransport and magnetisation measurements and the electronic phase diagram is reported. Separate Ru and Cu spin ordering transitions are observed, with spontaneous Cu antiferromagnetic order for low hole doping levels p, and a distinct, induced-antiferromagnetic Cu spin phase in the 0.02 < p < 0.06 pseudogap region. This ordering gives rise to large negative magnetoresistances which vary systematically with p in the RuSr2Nd1.8-xY0.2CexCu2O10-d series. A collapse of the magnetoresistance (MR) and magnetisation in the pre-superconducting region may signify the onset of superconducting fluctuations.Comment: 22 pages, 11 figure

Phase Mixing of Alfvén Waves Near a 2D Magnetic Null Point

The propagation of linear Alfvén wave pulses in an inhomogeneous plasma near a 2D coronal null point is investigated. When a uniform plasma density is considered, it is seen that an initially planar Alfvén wavefront remains planar, despite the varying equilibrium Alfvén speed, and that all the wave collects at the separatrices. Thus, in the non-ideal case, these Alfvénic disturbances preferentially dissipate their energy at these locations. For a non-uniform equilibrium density, it is found that the Alfvén wavefront is significantly distorted away from the initially planar geometry, inviting the possibility of dissipation due to phase mixing. Despite this however, we conclude that for the Alfvén wave, current density accumulation and preferential heating still primarily occur at the separatrices, even when an extremely non-uniform density profile is considered

Variable temperature study of the crystal and magnetic structures of the giant magnetoresistant materials LMnAsO (L=La, Nd)

Peer reviewedPublisher PD

Validation and clinical application of molecular methods for the identification of molds in tissue

Background. Invasive fungal infections due to less-common molds are an increasing problem, and accurate diagnosis is difficult.Methods. We used our previously established molecular method, which allows species identification of molds in histological tissue sections, to test sequential specimens from 56 patients with invasive fungal infections who were treated at our institution from 1982 to 2000.Results. The validity of the method was demonstrated with the establishment of a molecular diagnosis in 52 cases (93%). Confirmation of the causative organism was made in all cases in which a mold had been cultured from the tissue specimen. Less-common molds were identified in 7% of cases and appear to be an increasing problem.Conclusions. Our previously established method has proven to be of value in determining the incidence of invasive infection caused by less-common molds. Institutions should continue to pursue diagnosis of invasive fungal infections by means of tissue culture and microbiologic analysis

Effect of rurality on screening for breast cancer: a systematic review and meta-analysis comparing mammography

Introduction: The lower breast cancer survival rate observed among rural women may be related to differences in screening access and utilization. We evaluated existing evidence for rural and urban differences in mammography service use in adult women