Using the Mixed Newton-Euler Formulation in the Orientation Control of Flexibly Mounted Bodies

Extended bodies whose own flexibility may conditionally be neglected can often be faithfully treated directly by any of several formulations based on classical dynamics. Here, the mixed approach employing the Newton-Euler equations for centroidal body-fixed frames will be used, where the absolute angular orientation will be computed via the associated kinematic differential equations relating the rotation matrix with the angular velocity vector. As an example of the practical (but restricted) use of simplified classical methods - and of the computationally attractive mixed Newton-Euler ODE formulation - the mathematical model of the U.S. Army's MLRS-ILMS mechanical launcher is described which is automatically controlled to simultaneously rotate about nonintersecting, nominally vertical and horizontal axes when commanded to target absolute angular orientation coordinates.Center for Electromechanic

Computation of protein geometry and its applications: Packing and function prediction

This chapter discusses geometric models of biomolecules and geometric constructs, including the union of ball model, the weigthed Voronoi diagram, the weighted Delaunay triangulation, and the alpha shapes. These geometric constructs enable fast and analytical computaton of shapes of biomoleculres (including features such as voids and pockets) and metric properties (such as area and volume). The algorithms of Delaunay triangulation, computation of voids and pockets, as well volume/area computation are also described. In addition, applications in packing analysis of protein structures and protein function prediction are also discussed.Comment: 32 pages, 9 figure

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Cosmological parameters from SDSS and WMAP

We measure cosmological parameters using the three-dimensional power spectrum P(k) from over 200,000 galaxies in the Sloan Digital Sky Survey (SDSS) in combination with WMAP and other data. Our results are consistent with a ``vanilla'' flat adiabatic Lambda-CDM model without tilt (n=1), running tilt, tensor modes or massive neutrinos. Adding SDSS information more than halves the WMAP-only error bars on some parameters, tightening 1 sigma constraints on the Hubble parameter from h~0.74+0.18-0.07 to h~0.70+0.04-0.03, on the matter density from Omega_m~0.25+/-0.10 to Omega_m~0.30+/-0.04 (1 sigma) and on neutrino masses from <11 eV to <0.6 eV (95%). SDSS helps even more when dropping prior assumptions about curvature, neutrinos, tensor modes and the equation of state. Our results are in substantial agreement with the joint analysis of WMAP and the 2dF Galaxy Redshift Survey, which is an impressive consistency check with independent redshift survey data and analysis techniques. In this paper, we place particular emphasis on clarifying the physical origin of the constraints, i.e., what we do and do not know when using different data sets and prior assumptions. For instance, dropping the assumption that space is perfectly flat, the WMAP-only constraint on the measured age of the Universe tightens from t0~16.3+2.3-1.8 Gyr to t0~14.1+1.0-0.9 Gyr by adding SDSS and SN Ia data. Including tensors, running tilt, neutrino mass and equation of state in the list of free parameters, many constraints are still quite weak, but future cosmological measurements from SDSS and other sources should allow these to be substantially tightened.Comment: Minor revisions to match accepted PRD version. SDSS data and ppt figures available at http://www.hep.upenn.edu/~max/sdsspars.htm

Fitting the integrated Spectral Energy Distributions of Galaxies

Fitting the spectral energy distributions (SEDs) of galaxies is an almost universally used technique that has matured significantly in the last decade. Model predictions and fitting procedures have improved significantly over this time, attempting to keep up with the vastly increased volume and quality of available data. We review here the field of SED fitting, describing the modelling of ultraviolet to infrared galaxy SEDs, the creation of multiwavelength data sets, and the methods used to fit model SEDs to observed galaxy data sets. We touch upon the achievements and challenges in the major ingredients of SED fitting, with a special emphasis on describing the interplay between the quality of the available data, the quality of the available models, and the best fitting technique to use in order to obtain a realistic measurement as well as realistic uncertainties. We conclude that SED fitting can be used effectively to derive a range of physical properties of galaxies, such as redshift, stellar masses, star formation rates, dust masses, and metallicities, with care taken not to over-interpret the available data. Yet there still exist many issues such as estimating the age of the oldest stars in a galaxy, finer details ofdust properties and dust-star geometry, and the influences of poorly understood, luminous stellar types and phases. The challenge for the coming years will be to improve both the models and the observational data sets to resolve these uncertainties. The present review will be made available on an interactive, moderated web page (sedfitting.org), where the community can access and change the text. The intention is to expand the text and keep it up to date over the coming years.Comment: 54 pages, 26 figures, Accepted for publication in Astrophysics & Space Scienc

Global geologic map of asteroid (101955) Bennu indicates heterogeneous resurfacing in the past 500,000 years

Global geologic maps are useful tools for efficient interpretation of a planetary body, and they provide global context for the diversity and evolution of the surface. We used data acquired by the OSIRIS-REx spacecraft to create the first global geologic map of the near-Earth asteroid (101955) Bennu. As this is the first geologic map of a small, non-spherical, rubble-pile asteroid, we discuss the distinctive mapping challenges and best practices that may be useful for future exploration of similar asteroids, such as those to be visited with the Hera and Janus missions. By mapping on two centimeter-scale global image mosaics (2D projected space) and a centimeter-scale global shape model (3D space), we generated three input maps respectively describing Bennu's shape features, geologic features, and surface texture. Based on these input maps, we defined two geologic units: the Smooth Unit and the Rugged Unit. The units are differentiated primarily on the basis of surface texture, concentrations of boulders, and the distributions of lineaments, mass movement features, and craters. They are bounded by several scarps. The Rugged Unit contains abundant boulders and signs of recent mass movement. It also has fewer small (<20 m), putatively fresh craters than the Smooth Unit, suggesting that such craters have been erased in the former. Based on these geologic indicators, we infer that the Rugged Unit has the younger surface of the two. Differential crater size-frequency distributions and the distribution of the freshest craters suggest that both unit surfaces formed ~10–65 million years ago, when Bennu was located in the Main Asteroid Belt, and the Smooth Unit has not been significantly resurfaced in the past 2 million years. Meanwhile, the Rugged Unit has experienced resurfacing within the past ~500,000 years during Bennu's lifetime as a near-Earth asteroid. The geologic units are consistent with global diversity in slope, surface roughness, normal albedo, and thermal emission spectral characteristics. The site on Bennu where the OSIRIS-REx mission collected a regolith sample is located in the Smooth Unit, in a small crater nested within a larger one. So although the Smooth Unit is an older surface than the Rugged Unit, the impact-crater setting indicates that the material sampled was recently exposed. Several similarities are apparent between Bennu and asteroid (162173) Ryugu from a global geologic perspective, including two geologic units distinguishable by variations in the number density of boulders, as well as in other datasets such as brightness

Reproducibility in the absence of selective reporting : An illustration from large-scale brain asymmetry research

Altres ajuts: Max Planck Society (Germany).The problem of poor reproducibility of scientific findings has received much attention over recent years, in a variety of fields including psychology and neuroscience. The problem has been partly attributed to publication bias and unwanted practices such as p-hacking. Low statistical power in individual studies is also understood to be an important factor. In a recent multisite collaborative study, we mapped brain anatomical left-right asymmetries for regional measures of surface area and cortical thickness, in 99 MRI datasets from around the world, for a total of over 17,000 participants. In the present study, we revisited these hemispheric effects from the perspective of reproducibility. Within each dataset, we considered that an effect had been reproduced when it matched the meta-analytic effect from the 98 other datasets, in terms of effect direction and significance threshold. In this sense, the results within each dataset were viewed as coming from separate studies in an "ideal publishing environment," that is, free from selective reporting and p hacking. We found an average reproducibility rate of 63.2% (SD = 22.9%, min = 22.2%, max = 97.0%). As expected, reproducibility was higher for larger effects and in larger datasets. Reproducibility was not obviously related to the age of participants, scanner field strength, FreeSurfer software version, cortical regional measurement reliability, or regional size. These findings constitute an empirical illustration of reproducibility in the absence of publication bias or p hacking, when assessing realistic biological effects in heterogeneous neuroscience data, and given typically-used sample sizes

Measurement of the W+W- Production Cross Section in ppbar Collisions at sqrt(s)=1.96 TeV using Dilepton Events

We present a measurement of the W+W- production cross section using 184/pb of ppbar collisions at a center-of-mass energy of 1.96 TeV collected with the Collider Detector at Fermilab. Using the dilepton decay channel W+W- -> l+l-vvbar, where the charged leptons can be either electrons or muons, we find 17 candidate events compared to an expected background of 5.0+2.2-0.8 events. The resulting W+W- production cross section measurement of sigma(ppbar -> W+W-) = 14.6 +5.8 -5.1 (stat) +1.8 -3.0 (syst) +-0.9 (lum) pb agrees well with the Standard Model expectation.Comment: 8 pages, 2 figures, 2 tables. To be submitted to Physical Review Letter