Stereophotolithography: A Brand New Machinery

Mechanical Engineerin

Human Like Adaptation of Force and Impedance in Stable and Unstable Tasks

Abstract—This paper presents a novel human-like learning con-troller to interact with unknown environments. Strictly derived from the minimization of instability, motion error, and effort, the controller compensates for the disturbance in the environment in interaction tasks by adapting feedforward force and impedance. In contrast with conventional learning controllers, the new controller can deal with unstable situations that are typical of tool use and gradually acquire a desired stability margin. Simulations show that this controller is a good model of human motor adaptation. Robotic implementations further demonstrate its capabilities to optimally adapt interaction with dynamic environments and humans in joint torque controlled robots and variable impedance actuators, with-out requiring interaction force sensing. Index Terms—Feedforward force, human motor control, impedance, robotic control. I

Using survey participants to estimate the impact of nonparticipation

The authors evaluate the effectiveness of two models often used to measure the extent of nonparticipation bias in survey estimates. The first model establishes a "continuum of resistance" to being surveyed, placing people who were interviewed after one phone call on one end and nonparticipants on the other. The second assumes that there are "classes" of nonparticipants and that similar classes can be found among participants; it identifies groups of participants thought to be like nonparticipants and uses them as "proxies" to estimate the characteristics of nonparticipants. The authors use these models to examine how accurately they estimate the characteristics of nonparticipants and the impact of nonparticipation on survey estimates of means of child support awards and payments in Wisconsin. They find that neither model detects the true extent of nonparticipation bias.

Some photometer results obtained on the NASA 1969 Airborne Auroral Expedition

The spectral features measured by a photometer onboard the Convair 990 Galileo, during the Auroral Expedition are given in tables. The measurements given cover flights 3 to 15

Environmental Dependence of the Fundamental Plane of Galaxy Clusters

Galaxy clusters approximate a planar (FP) distribution in a three-dimensional parameter space which can be characterized by optical luminosity, half-light radius, and X-ray luminosity. Using a high-quality catalog of cluster redshifts, we find the nearest neighbor cluster for those common to an FP study and the cluster catalog. Examining scatter about the FP, we find 99.2% confidence that it is dependent on nearest neighbor distance. Our study of X-Ray clusters finds that those with high central gas densities are systematically closer to neighbor clusters. If we combine results here with those of Fritsch and Buchert, we find an explanation for some of our previous conclusions: Clusters in close proximity to other clusters are more likely to have massive cooling flows because they are more relaxed and have higher central gas densities.Comment: Accepted for publication in Astrophysical Journal Letters. Moderate revisions, including more statistical analysis and discussion. Latex, 7 page

Interactions between trivalent rare earth oxides and mixed [Hbet][Tf2N]:H2O systems in the development of a one-step process for the separation of light from heavy rare earth elements

The factors, including ionic liquid:water ratios, temperature, solvent:solute contact times, and the effect of dissolved rare earth metal ions on the [Hbet][Tf2N]:H2O thermometric phase change are determined to develop a process for separating the light from the heavy rare earth metal oxides in [Hbet][Tf2N]:H2O mixtures. The relative solubility data for three light (La2O3, Nd2O3, and Eu2O3), two heavy (Y2O3 and Yb2O3) rare earth metal oxides (REOs), and Gd2O3 at different temperatures and different solute:solvent contact times are reported for 1:1 [Hbet][Tf2N]:H2O. The light REOs dissolve easily at 57 °C with the La and Eu reaching maximum solubility within minutes while the heavy REOs have very low solubilities at this temperature with negligible amounts being dissolved for contact times less than 80 min. Gd2O3 dissolves more slowly than the La, Eu, and Nd oxides at 57 °C reaching maximum solubility only after 160 min. Changing the [Hbet][Tf2N]:H2O ratio from 1:1 to 16:1 increases the time required to dissolve the REOs. The times taken to reach maximum solubility decrease for all of the REOs up to 95 °C, resulting in the separations between the light and heavy rare earth elements, and Gd becoming less distinct. The presence of rare earth metal ions in [Hbet][Tf2N]:H2O results in a reduction in the upper critical solution temperature (UCST) of the solvent from 55.6 °C to as low as 31.8 °C with Gd3+. The best separation of light from heavy REOs is achieved at 57 °C but better separation of Gd from the light REOs is achieved at 40 °C, below the solvent UCST. The best conditions for a one-step separation of light from heavy REOs in [Hbet][Tf2N]:H2O mixtures is achieved with 1:1 [Hbet][Tf2N]:H2O at 57 °C using short contact oxide:solvent times (maximum 5 min). Separations of light from heavy REOs, in waste phosphor samples, containing La2O3, CeO2, Eu2O3, Gd2O3, Tb3O4 and Y2O3, are also achieved even in the presence of high concentrations of heavy REOs using short contact times. The use of [Hbet][Tf2N]:H2O as a means of separating light and heavy REOs is aided by the ease of recycling the solvent which can be recycled and reused at least five times with little loss of solvent quality or efficiency

Numerical Simulations of Dynamos Generated in Spherical Couette Flows

We numerically investigate the efficiency of a spherical Couette flow at generating a self-sustained magnetic field. No dynamo action occurs for axisymmetric flow while we always found a dynamo when non-axisymmetric hydrodynamical instabilities are excited. Without rotation of the outer sphere, typical critical magnetic Reynolds numbers $Rm_c$ are of the order of a few thousands. They increase as the mechanical forcing imposed by the inner core on the flow increases (Reynolds number $Re$). Namely, no dynamo is found if the magnetic Prandtl number $Pm=Rm/Re$ is less than a critical value $Pm_c\sim 1$. Oscillating quadrupolar dynamos are present in the vicinity of the dynamo onset. Saturated magnetic fields obtained in supercritical regimes (either $Re>2 Re_c$ or $Pm>2Pm_c$) correspond to the equipartition between magnetic and kinetic energies. A global rotation of the system (Ekman numbers $E=10^{-3}, 10^{-4}$) yields to a slight decrease (factor 2) of the critical magnetic Prandtl number, but we find a peculiar regime where dynamo action may be obtained for relatively low magnetic Reynolds numbers ($Rm_c\sim 300$). In this dynamical regime (Rossby number $Ro\sim -1$, spheres in opposite direction) at a moderate Ekman number ($E=10^{-3}$), a enhanced shear layer around the inner core might explain the decrease of the dynamo threshold. For lower $E$ ($E=10^{-4}$) this internal shear layer becomes unstable, leading to small scales fluctuations, and the favorable dynamo regime is lost. We also model the effect of ferromagnetic boundary conditions. Their presence have only a small impact on the dynamo onset but clearly enhance the saturated magnetic field in the ferromagnetic parts. Implications for experimental studies are discussed