Telerobotics: A simulation facility for university research

An experimental telerobotics (TR) simulation suitable for studying human operator (H.O.) performance is described. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. A number of control modes could be compared in this TR simulation, including displacement, rate and acceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the H.O. can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a data period of 0.2 second may relate to this robustness of H.O. control to delay. The Ames-Berkeley enhanced perspective display was utilized in conjunction with an experimental helmet mounted display system (HMD) that provided stereoscopic enhanced views

The Bell Laboratories (13)CO Survey: Longitude-Velocity Maps

A survey is presented of the Galactic plane in the J=1-0 transition of (13)CO. About 73,000 spectra were obtained with the 7 m telescope at Bell Laboratories over a ten-year period. The coverage of survey is (l, b) = (-5 to 117, -1 to +1), or 244 square degrees, with a grid spacing of 3' for |b| < 0.5, and a grid spacing of 6' for |b| > 0.5. The data presented here have been resampled onto a 3' grid. For 0.68 km/s channels, the rms noise level of the survey is 0.1 K on the $T_R^*$ scale. The raw data have been transformed into FITS format, and all the reduction processes, such as correcting for emission in the reference positions, baseline removal and interpolation were conducted within IRAF using the FCRAO task package and additional programs. The reduced data are presented here in the form of longitude-velocity color maps at each latitude. These data allow identification and classification of molecular clouds with masses in excess of ~ 1,000 solar masses throughout the first quadrant of the Galaxy. Spiral structure is manifested by the locations of the largest and brightest molecular clouds.Comment: 23 pages, 7 figures, ApJS submitted (out of 41 frames of Figure4, only one is included becaue of size limit

The CRESST Dark Matter Search

We present first competitive results on WIMP dark matter using the phonon-light-detection technique. A particularly strong limit for WIMPs with coherent scattering results from selecting a region of the phonon-light plane corresponding to tungsten recoils. The observed count rate in the neutron band is compatible with the rate expected from neutron background. CRESST is presently being upgraded with a 66 channel SQUID readout system, a neutron shield and a muon veto system. This results in a significant improvement in sensitivity.Comment: 6 pages, 3 figures, to be published in the proceedings of the 5th International Workshop on the Identification and Detection of Dark Matter IDM 2004, Edinburgh, Sept. 2004, World Scientifi

Detection of the Natural Alpha Decay of Tungsten

The natural alpha decay of 180W has been unambiguously detected for the first time. The alpha peak is found in a (gamma,beta and neutron)-free background spectrum. This has been achieved by the simultaneous measurement of phonon and light signals with the CRESST cryogenic detectors. A half-life of T1/2 = (1.8 +- 0.2) x 10^18 y and an energy release of Q = (2516.4 +- 1.1 (stat.) +- 1.2 (sys.)) keV have been measured. New limits are also set on the half-lives of the other naturally occurring tungsten isotopes.Comment: Submitted to Physical Review C Revised versio

Linear modeling of possible mechanisms for parkinson tremor generation

The power of Parkinson tremor is expressed in terms of possibly changed frequency response functions between relevant variables in the neuromuscular system. The derivation starts out from a linear loopless equivalent model of mechanisms for general tremor generation. Hypothetical changes in this model from the substrate of the disease are indicated, and possible ones are inferred from literature about experiments on patients. The result indicates that in these patients tremor appears to have been generated in loops, which did not include the brain area which in surgery usually is inactivated. For some patients in the literature, these loops could involve muscle length receptors, the static sensitivity of which may have been enlarged by pathological brain activity

Simulating Particle Dispersions in Nematic Liquid-Crystal Solvents

A new method is presented for mesoscopic simulations of particle dispersions in nematic liquid crystal solvents. It allows efficient first-principle simulations of the dispersions involving many particles with many-body interactions mediated by the solvents. A simple demonstration is shown for the aggregation process of a two dimentional dispersion.Comment: 5 pages, 5 figure

A Smooth Interface Method for Simulating Liquid Crystal Colloid Dispersions

A new method is presented for mesoscopic simulations of particle dispersions in liquid crystal solvents. It allows efficient first-principle simulations of the dispersions involving many particles with many-body interactions mediated by the solvents. Demonstrations have been performed for the aggregation of colloid dispersions in two-dimensional nematic and smectic-C* solvents neglecting hydrodynamic effects, which will be taken into account in the near future.Comment: 13 pages, 4 figure

Competing types of quantum oscillations in the 2D organic conductor (BEDT-TTF)8Hg4Cl12(C6H5Cl)2

Interlayer magnetoconductance of the quasi-two dimensional organic metal (BEDT-TTF)8Hg4Cl12(C6H5Cl)2 has been investigated in pulsed magnetic fields extending up to 36 T and in the temperature range from 1.6 to 15 K. A complex oscillatory spectrum, built on linear combinations of three basic frequencies only is observed. These basic frequencies arise from the compensated closed hole and electron orbits and from the two orbits located in between. The field and temperature dependencies of the amplitude of the various oscillation series are studied within the framework of the coupled orbits model of Falicov and Stachowiak. This analysis reveals that these series result from the contribution of either conventional Shubnikov-de Haas effect (SdH) or quantum interference (QI), both of them being induced by magnetic breakthrough. Nevertheless, discrepancies between experimental and calculated parameters indicate that these phenomena alone cannot account for all of the data. Due to its low effective mass, one of the QI oscillation series - which corresponds to the whole first Brillouin zone area - is clearly observed up to 13 K.Comment: 8 pages, 8 figures. To be published in Phys. Rev.

Synchronizing Sequencing Software to a Live Drummer

Copyright 2013 Massachusetts Institute of Technology. MIT allows authors to archive published versions of their articles after an embargo period. The article is available at