Experiments in cooperative manipulation: A system perspective

In addition to cooperative dynamic control, the system incorporates real time vision feedback, a novel programming technique, and a graphical high level user interface. By focusing on the vertical integration problem, not only these subsystems are examined, but also their interfaces and interactions. The control system implements a multi-level hierarchical structure; the techniques developed for operator input, strategic command, and cooperative dynamic control are presented. At the highest level, a mouse-based graphical user interface allows an operator to direct the activities of the system. Strategic command is provided by a table-driven finite state machine; this methodology provides a powerful yet flexible technique for managing the concurrent system interactions. The dynamic controller implements object impedance control; an extension of Nevill Hogan's impedance control concept to cooperative arm manipulation of a single object. Experimental results are presented, showing the system locating and identifying a moving object catching it, and performing a simple cooperative assembly. Results from dynamic control experiments are also presented, showing the controller's excellent dynamic trajectory tracking performance, while also permitting control of environmental contact force

Duration discrimination in younger and older adults

Ten normal hearing young adults and ten older adults were asked to identify the longer of two sequentially presented tones. The duration of the standard tones ranged from 1.5 ms to 1000 ms across blocks. Duration discrimination was not related to audiometric thresholds. These results show that older adults are much more disadvantaged than young adults when discriminating very short durations (i.e., below 40 ms) that are characteristic of speech sounds, and that this disadvantage cannot be accounted for by hearing levels

ControlShell: A real-time software framework

The ControlShell system is a programming environment that enables the development and implementation of complex real-time software. It includes many building tools for complex systems, such as a graphical finite state machine (FSM) tool to provide strategic control. ControlShell has a component-based design, providing interface definitions and mechanisms for building real-time code modules along with providing basic data management. Some of the system-building tools incorporated in ControlShell are a graphical data flow editor, a component data requirement editor, and a state-machine editor. It also includes a distributed data flow package, an execution configuration manager, a matrix package, and an object database and dynamic binding facility. This paper presents an overview of ControlShell's architecture and examines the functions of several of its tools

Percolation of Partially Interdependent Scale-free Networks

We study the percolation behavior of two interdependent scale-free (SF) networks under random failure of 1-$p$ fraction of nodes. Our results are based on numerical solutions of analytical expressions and simulations. We find that as the coupling strength between the two networks $q$ reduces from 1 (fully coupled) to 0 (no coupling), there exist two critical coupling strengths $q_1$ and $q_2$, which separate three different regions with different behavior of the giant component as a function of $p$. (i) For $q \geq q_1$, an abrupt collapse transition occurs at $p=p_c$. (ii) For $q_2<q<q_1$, the giant component has a hybrid transition combined of both, abrupt decrease at a certain $p=p^{jump}_c$ followed by a smooth decrease to zero for $p < p^{jump}_c$ as $p$ decreases to zero. (iii) For $q \leq q_2$, the giant component has a continuous second-order transition (at $p=p_c$). We find that $(a)$ for $\lambda \leq 3$, $q_1 \equiv 1$; and for $\lambda > 3$, $q_1$ decreases with increasing $\lambda$. $(b)$ In the hybrid transition, at the $q_2 < q < q_1$ region, the mutual giant component $P_{\infty}$ jumps discontinuously at $p=p^{jump}_c$ to a very small but non-zero value, and when reducing $p$, $P_{\infty}$ continuously approaches to 0 at $p_c = 0$ for $\lambda 0$ for $\lambda > 3$. Thus, the known theoretical $p_c=0$ for a single network with $\lambda \leqslant 3$ is expected to be valid also for strictly partial interdependent networks.Comment: 20 pages, 17 figure

Are critical finite-size scaling functions calculable from knowledge of an appropriate critical exponent?

Critical finite-size scaling functions for the order parameter distribution of the two and three dimensional Ising model are investigated. Within a recently introduced classification theory of phase transitions, the universal part of the critical finite-size scaling functions has been derived by employing a scaling limit that differs from the traditional finite-size scaling limit. In this paper the analytical predictions are compared with Monte Carlo simulations. We find good agreement between the analytical expression and the simulation results. The agreement is consistent with the possibility that the functional form of the critical finite-size scaling function for the order parameter distribution is determined uniquely by only a few universal parameters, most notably the equation of state exponent.Comment: 11 pages postscript, plus 2 separate postscript figures, all as uuencoded gzipped tar file. To appear in J. Phys. A

Mitochondrial phylogeography and demographic history of the Vicuña: implications for conservation

The vicuña (Vicugna vicugna; Miller, 1924) is a conservation success story, having recovered from near extinction in the 1960s to current population levels estimated at 275 000. However, lack of information about its demographic history and genetic diversity has limited both our understanding of its recovery and the development of science-based conservation measures. To examine the evolution and recent demographic history of the vicuña across its current range and to assess its genetic variation and population structure, we sequenced mitochondrial DNA from the control region (CR) for 261 individuals from 29 populations across Peru, Chile and Argentina. Our results suggest that populations currently designated as Vicugna vicugna vicugna and Vicugna vicugna mensalis comprise separate mitochondrial lineages. The current population distribution appears to be the result of a recent demographic expansion associated with the last major glacial event of the Pleistocene in the northern (18 to 22°S) dry Andes 14–12 000 years ago and the establishment of an extremely arid belt known as the 'Dry Diagonal' to 29°S. Within the Dry Diagonal, small populations of V. v. vicugna appear to have survived showing the genetic signature of demographic isolation, whereas to the north V. v. mensalis populations underwent a rapid demographic expansion before recent anthropogenic impacts

Heroes and villains of world history across cultures

© 2015 Hanke et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are creditedEmergent properties of global political culture were examined using data from the World History Survey (WHS) involving 6,902 university students in 37 countries evaluating 40 figures from world history. Multidimensional scaling and factor analysis techniques found only limited forms of universality in evaluations across Western, Catholic/Orthodox, Muslim, and Asian country clusters. The highest consensus across cultures involved scientific innovators, with Einstein having the most positive evaluation overall. Peaceful humanitarians like Mother Theresa and Gandhi followed. There was much less cross-cultural consistency in the evaluation of negative figures, led by Hitler, Osama bin Laden, and Saddam Hussein. After more traditional empirical methods (e.g., factor analysis) failed to identify meaningful cross-cultural patterns, Latent Profile Analysis (LPA) was used to identify four global representational profiles: Secular and Religious Idealists were overwhelmingly prevalent in Christian countries, and Political Realists were common in Muslim and Asian countries. We discuss possible consequences and interpretations of these different representational profiles.This research was supported by grant RG016-P-10 from the Chiang Ching-Kuo Foundation for International Scholarly Exchange (http://www.cckf.org.tw/). Religion Culture Entropy China Democracy Economic histor

Can We Really Prevent Suicide?

Every year, suicide is among the top 20 leading causes of death globally for all ages. Unfortunately, suicide is difficult to prevent, in large part because the prevalence of risk factors is high among the general population. In this review, clinical and psychological risk factors are examined and methods for suicide prevention are discussed. Prevention strategies found to be effective in suicide prevention include means restriction, responsible media coverage, and general public education, as well identification methods such as screening, gatekeeper training, and primary care physician education. Although the treatment for preventing suicide is difficult, follow-up that includes pharmacotherapy, psychotherapy, or both may be useful. However, prevention methods cannot be restricted to the individual. Community, social, and policy interventions will also be essentia

Cytogerontology since 1881: A reappraisal of August Weismann and a review of modern progress

Cytogerontology, the science of cellular ageing, originated in 1881 with the prediction by August Weismann that the somatic cells of higher animals have limited division potential. Weismann's prediction was derived by considering the role of natural selection in regulating the duration of an organism's life. For various reasons, Weismann's ideas on ageing fell into neglect following his death in 1914, and cytogerontology has only reappeared as a major research area following the demonstration by Hayflick and Moorhead in the early 1960s that diploid human fibroblasts are restricted to a finite number of divisions in vitro. In this review we give a detailed account of Weismann's theory, and we reveal that his ideas were both more extensive in their scope and more pertinent to current research than is generally recognised. We also appraise the progress which has been made over the past hundred years in investigating the causes of ageing, with particular emphasis being given to (i) the evolution of ageing, and (ii) ageing at the cellular level. We critically assess the current state of knowledge in these areas and recommend a series of points as primary targets for future research

Valuations on lattice polytopes

This survey is on classification results for valuations defined on lattice polytopes that intertwine the special linear group over the integers. The basic real valued valuations, the coefficients of the Ehrhart polynomial, are introduced and their characterization by Betke and Kneser is discussed. More recent results include classification theorems for vector and convex body valued valuations. © Springer International Publishing AG 2017