Force reflecting hand controller

A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the handgrip and control the position thereof relative to the base through the mechanical links. A plurality of rotary joints is arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base. A cable and pulley assembly for each joint is connected to a corresponding motor for transmitting forces from the slave machine to the handgrip to provide kinesthetic feedback to the operator and for producing control signals that may be transmitted from the handgrip to the slave machine. The device gives excellent kinesthetic feedback, high-fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all six degrees of freedom, and zero backlash. The device also has a much larger work envelope, greater stiffness and responsiveness, smaller stowage volume, and better overlap of the human operator's range of motion than previous designs

New Insights on Interstellar Gas-Phase Iron

In this paper, we report on the gas-phase abundance of singly-ionized iron (Fe II) for 51 lines of sight, using data from the Far Ultraviolet Spectroscopic Explorer (FUSE). Fe II column densities are derived by measuring the equivalent widths of several ultraviolet absorption lines and subsequently fitting those to a curve of growth. Our derivation of Fe II column densities and abundances creates the largest sample of iron abundances in moderately- to highly-reddened lines of sight explored with FUSE, lines of sight that are on average more reddened than lines of sight in previous Copernicus studies. We present three major results. First, we observe the well-established correlation between iron depletion and and also find trends between iron depletion and other line of sight parameters (e.g. f(H_2), E_(B-V), and A_V), and examine the significance of these trends. Of note, a few of our lines of sight probe larger densities than previously explored and we do not see significantly enhanced depletion effects. Second, we present two detections of an extremely weak Fe II line at 1901.773 A in the archival STIS spectra of two lines of sight (HD 24534 and HD 93222). We compare these detections to the column densities derived through FUSE spectra and comment on the line's f-value and utility for future studies of Fe II. Lastly, we present strong anecdotal evidence that the Fe II f-values derived empirically through FUSE data are more accurate than previous values that have been theoretically calculated, with the probable exception of f_1112.Comment: Accepted for publication in ApJ, 669, 378; see ApJ version for small updates. 53 total pages (preprint format), 7 tables, 11 figure

Is There Enhanced Depletion of Gas-Phase Nitrogen in Moderately Reddened Lines of Sight?

We report on the abundance of interstellar neutral nitrogen (NI) for 30 sightlines, using data from the Far Ultraviolet Spectroscopic Explorer (FUSE) and the Hubble Space Telescope (HST). NI column densities are derived by measuring the equivalent widths of several ultraviolet absorption lines and subsequently fitting those to a curve of growth. We find a mean interstellar N/H of 51+/-4 ppm. This is below the mean found by Meyer et al. of 62(+4,-3) ppm (adjusted for a difference in f-values). Our mean N/H is similar, however, to the (f-value adjusted) mean of 51+/-3 ppm found by Knauth et al. for a larger sample of sightlines with larger hydrogen column densities comparable to those in this study. We discuss the question of whether or not nitrogen shows increased gas-phase depletion in lines of sight with column densities log(H_tot) >~ 21, as claimed by Knauth et al. The nitrogen abundance in the line of sight toward HD 152236 is particularly interesting. We derive very small N/H and N/O ratios for this line of sight that may support a previous suggestion that members of the Sco OB1 association formed from an N-deficient region.Comment: Accepted in The Astrophysical Journal, 9/2006 (expected pub. date: 1/2007) 38 pages, 5 figures (4 color

Observations of rotationally resolved C3 in translucent sight lines

The rotationally resolved spectrum of the A ^1Pi_u <- X ^1Sigma^+_g 000-000 transition of C3, centered at 4051.6A, has been observed along 10 translucent lines of sight. To interpret these spectra, a new method for the determination of column densities and analysis of excitation profiles involving the simulation and fitting of observed spectra has been developed. The populations of lower rotational levels (J<14) in C3 are best fit by thermal distributions that are consistent with the kinetic temperatures determined from the excitation profile of C2. Just as in the case of C2, higher rotational levels (J>14) of C3 show increased nonthermal population distributions in clouds which have been determined to have total gas densities below ~500 cm-3.Comment: 12 pages, 4 figures, accepted for publication in The Astrophysical Journa

Automatic Synonym Discovery with Knowledge Bases

Recognizing entity synonyms from text has become a crucial task in many entity-leveraging applications. However, discovering entity synonyms from domain-specific text corpora (e.g., news articles, scientific papers) is rather challenging. Current systems take an entity name string as input to find out other names that are synonymous, ignoring the fact that often times a name string can refer to multiple entities (e.g., "apple" could refer to both Apple Inc and the fruit apple). Moreover, most existing methods require training data manually created by domain experts to construct supervised-learning systems. In this paper, we study the problem of automatic synonym discovery with knowledge bases, that is, identifying synonyms for knowledge base entities in a given domain-specific corpus. The manually-curated synonyms for each entity stored in a knowledge base not only form a set of name strings to disambiguate the meaning for each other, but also can serve as "distant" supervision to help determine important features for the task. We propose a novel framework, called DPE, to integrate two kinds of mutually-complementing signals for synonym discovery, i.e., distributional features based on corpus-level statistics and textual patterns based on local contexts. In particular, DPE jointly optimizes the two kinds of signals in conjunction with distant supervision, so that they can mutually enhance each other in the training stage. At the inference stage, both signals will be utilized to discover synonyms for the given entities. Experimental results prove the effectiveness of the proposed framework

VLT/UVES Observations of Interstellar Molecules and Diffuse Bands in the Magellanic Clouds

We discuss the abundances of interstellar CH, CH+, and CN in the Magellanic Clouds (MC), derived from spectra of 7 SMC and 13 LMC stars obtained (mostly) with the VLT/UVES. CH and/or CH+ are detected toward 3 SMC and 9 LMC stars; CN is detected toward 2 stars. In the MC, the CH/H2 ratio is comparable to that found for diffuse Galactic molecular clouds in some sight lines, but is lower by factors up to 10-15 in others. The abundance of CH in the MC thus appears to depend on local physical conditions -- and not just on metallicity. The observed relationships between the column density of CH and those of CN, CH+, Na I, and K I in the MC are generally consistent with the trends observed in our Galaxy. Using existing data for the rotational populations of H2, we estimate temperatures, radiation field strengths, and local hydrogen densities for the diffuse molecular gas. Densities estimated from N(CH), assuming that CH is produced via steady-state gas-phase reactions, are considerably higher; much better agreement is found by assuming that the CH is made via the (still undetermined) process(es) responsible for the observed CH+. The UVES spectra also reveal absorption from the diffuse interstellar bands at 5780, 5797, and 6284 A in the MC. On average, the three DIBs are weaker by factors of 7-9 (LMC) and about 20 (SMC), compared to those observed in Galactic sight lines with similar N(H I), and by factors of order 2-6, relative to E(B-V), N(Na I), and N(K I). The detection of several of the ``C2 DIBs'', with strengths similar to those in comparable Galactic sight lines, however, indicates that no single, uniform scaling factor (e.g., one related to metallicity) applies to all DIBs (or all sight lines) in the MC. (abstract abridged)Comment: 59 pages, 15 figures, 10 tables; aastex; accepted to ApJ

Unusually Weak Diffuse Interstellar Bands toward HD 62542

As part of an extensive survey of diffuse interstellar bands (DIBs), we have obtained optical spectra of the moderately reddened B5V star HD 62542, which is known to have an unusual UV extinction curve of the type usually identified with dark clouds. The typically strongest of the commonly catalogued DIBs covered by the spectra -- those at 5780, 5797, 6270, 6284, and 6614 A -- are essentially absent in this line of sight, in marked contrast with other lines of sight of similar reddening. We compare the HD 62542 line of sight with others exhibiting a range of extinction properties and molecular abundances and interpret the weakness of the DIBs as an extreme case of deficient DIB formation in a dense cloud whose more diffuse outer layers have been stripped away. We comment on the challenges these observations pose for identifying the carriers of the diffuse bands.Comment: 20 pages, 4 figures; aastex; accepted by Ap