Self-supporting End Effectors: Towards Low Powered Robots for High Power Tasks

AbstractNew tasks for industrial robots often require high stiffness or entail high reaction forces, which are currently provided by the robot structure itself. This leads to heavy and expensive robot structures: designed for the main task, but oversized for positioning and movement tasks.We propose a new approach to resolve these contradicting requirements: supporting the end effector directly against the workpiece or its surroundings, thus diverting the reaction forces away from the robot structure. We demonstrate this approach in a joining application and present design methods for self-supporting robotic tools as well as potential industrial applications of this technique

Southern Massive Stars at High Angular Resolution: Observational Campaign and Companion Detection

Multiplicity is one of the most fundamental observable properties of massive O-type stars and offers a promising way to discriminate between massive star formation theories. Nevertheless, companions at separations between 1 and 100 mas remain mostly unknown due to intrinsic observational limitations. [...] The Southern MAssive Stars at High angular resolution survey (SMASH+) was designed to fill this gap by providing the first systematic interferometric survey of Galactic massive stars. We observed 117 O-type stars with VLTI/PIONIER and 162 O-type stars with NACO/SAM, respectively probing the separation ranges 1-45 and 30-250mas and brightness contrasts of Delta H < 4 and Delta H < 5. Taking advantage of NACO's field-of-view, we further uniformly searched for visual companions in an 8''-radius down to Delta H = 8. This paper describes the observations and data analysis, reports the discovery of almost 200 new companions in the separation range from 1mas to 8'' and presents the catalog of detections, including the first resolved measurements of over a dozen known long-period spectroscopic binaries. Excluding known runaway stars for which no companions are detected, 96 objects in our main sample (DEC < 0 deg; H<7.5) were observed both with PIONIER and NACO/SAM. The fraction of these stars with at least one resolved companion within 200mas is 0.53. Accounting for known but unresolved spectroscopic or eclipsing companions, the multiplicity fraction at separation < 8'' increases to f_m = 0.91 +/- 0.03. The fraction of luminosity class V stars that have a bound companion reaches 100% at 30mas while their average number of physically connected companions within 8'' is f_c = 2.2 +/- 0.3. This demonstrates that massive stars form nearly exclusively in multiple systems. Additionally, the nine non-thermal (NT) radio emitters observed by SMASH+ are all resolved [...]Comment: 57 pages, 20 figures, 7 tables; accepted for publication in ApJ

Microarray detection of human parainfluenzavirus 4 infection associated with respiratory failure in an immunocompetent adult.

A pan-viral DNA microarray, the Virochip (University of California, San Francisco), was used to detect human parainfluenzavirus 4 (HPIV-4) infection in an immunocompetent adult presenting with a life-threatening acute respiratory illness. The virus was identified in an endotracheal aspirate specimen, and the microarray results were confirmed by specific polymerase chain reaction and serological analysis for HPIV-4. Conventional clinical laboratory testing using an extensive panel of microbiological tests failed to yield a diagnosis. This case suggests that the potential severity of disease caused by HPIV-4 in adults may be greater than previously appreciated and illustrates the clinical utility of a microarray for broad-based viral pathogen screening

One- and two-particle microrheology

We study the dynamics of rigid spheres embedded in viscoelastic media and address two questions of importance to microrheology. First we calculate the complete response to an external force of a single bead in a homogeneous elastic network viscously coupled to an incompressible fluid. From this response function we find the frequency range where the standard assumptions of microrheology are valid. Second we study fluctuations when embedded spheres perturb the media around them and show that mutual fluctuations of two separated spheres provide a more accurate determination of the complex shear modulus than do the fluctuations of a single sphere.Comment: 4 pages, 1 figur

Stellar science from a blue wavelength range - A possible design for the blue arm of 4MOST

From stellar spectra, a variety of physical properties of stars can be derived. In particular, the chemical composition of stellar atmospheres can be inferred from absorption line analyses. These provide key information on large scales, such as the formation of our Galaxy, down to the small-scale nucleosynthesis processes that take place in stars and supernovae. By extending the observed wavelength range toward bluer wavelengths, we optimize such studies to also include critical absorption lines in metal-poor stars, and allow for studies of heavy elements (Z>38) whose formation processes remain poorly constrained. In this context, spectrographs optimized for observing blue wavelength ranges are essential, since many absorption lines at redder wavelengths are too weak to be detected in metal-poor stars. This means that some elements cannot be studied in the visual-redder regions, and important scientific tracers and science cases are lost. The present era of large public surveys will target millions of stars. Here we describe the requirements driving the design of the forthcoming survey instrument 4MOST, a multi-object spectrograph commissioned for the ESO VISTA 4m-telescope. We focus here on high-density, wide-area survey of stars and the science that can be achieved with high-resolution stellar spectroscopy. Scientific and technical requirements that governed the design are described along with a thorough line blending analysis. For the high-resolution spectrograph, we find that a sampling of >2.5 (pixels per resolving element), spectral resolution of 18000 or higher, and a wavelength range covering 393-436 nm, is the most well-balanced solution for the instrument. A spectrograph with these characteristics will enable accurate abundance analysis (+/-0.1 dex) in the blue and allow us to confront the outlined scientific questions. (abridged)Comment: 14 pages, 8 figures, accepted for publication in A

Mental Health Service Utilization before and after Receipt of a Service‐Connected Disability Award for PTSD: Findings from a National Sample

Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/146624/1/hesr12859.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/146624/2/hesr12859-sup-0001-AppendixSA1.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/146624/3/hesr12859_am.pd

Linear and nonlinear rheology of wormlike micelles

Several surfactant molecules self-assemble in solution to form long, cylindrical, flexible wormlike micelles. These micelles can be entangled with each other leading to viscoelastic phases. The rheological properties of such phases are very interesting and have been the subject of a large number of experimental and theoretical studies in recent years. We shall report on our recent work on the macrorheology, microrheology and nonlinear flow behaviour of dilute aqueous solutions of a surfactant CTAT (Cetyltrimethylammonium Tosilate). This system forms elongated micelles and exhibits strong viscoelasticity at low concentrations ($\sim$ 0.9 wt%) without the addition of electrolytes. Microrheology measurements of $G(\omega)$ have been done using diffusing wave spectroscopy which will be compared with the conventional frequency sweep measurements done using a cone and plate rheometer. The second part of the paper deals with the nonlinear rheology where the measured shear stress $\sigma$ is a nonmonotonic function of the shear rate $\dot{\gamma}$. In stress-controlled experiments, the shear stress shows a plateau for $\dot{\gamma}$ larger than some critical strain rate, similar to the earlier reports on CPyCl/NaSal system. Cates et al have proposed that the plateau is a signature of mechanical instability in the form of shear bands. We have carried out extensive experiments under controlled strain rate conditions, to study the time-dependence of shear stress. The measured time series of shear stress has been analysed in terms of correlation integrals and Lyapunov exponents to show unambiguously that the behaviour is typical of low dimensional dynamical systems.Comment: 15 pages, 10 eps figure

Rapid Influenza Antigen Test for Diagnosis of Pandemic (H1N1) 2009

We compared the QuickVue Influenza test with PCR for diagnosing pandemic (H1N1) 2009 in 404 persons with influenza-like illness. Overall sensitivity, specificity, and positive and negative predictive values were 66%, 84%, 84%, and 64%, respectively. Rapid test results should be interpreted cautiously when pandemic (H1N1) 2009 virus is suspected

A new algorithm for optimizing the wavelength coverage for spectroscopic studies:Spectral Wavelength Optimization Code (swoc)

The past decade and a half has seen the design and execution of several ground-based spectroscopic surveys, both Galactic and Extra-galactic. Additionally, new surveys are being designed that extend the boundaries of current surveys. In this context, many important considerations must be done when designing a spectrograph for the future. Among these is the determination of the optimum wavelength coverage. In this work, we present a new code for determining the wavelength ranges that provide the optimal amount of information to achieve the required science goals for a given survey. In its first mode, it utilizes a user-defined list of spectral features to compute a figure-of-merit for different spectral configurations. The second mode utilizes a set of flux-calibrated spectra, determining the spectral regions that show the largest differences among the spectra. Our algorithm is easily adaptable for any set of science requirements and any spectrograph design. We apply the algorithm to several examples, including 4MOST, showing the method yields important design constraints to the wavelength regions