An order (n) algorithm for the dynamics simulation of robotic systems

The formulation of an Order (n) algorithm for DISCOS (Dynamics Interaction Simulation of Controls and Structures), which is an industry-standard software package for simulation and analysis of flexible multibody systems is presented. For systems involving many bodies, the new Order (n) version of DISCOS is much faster than the current version. Results of the experimental validation of the dynamics software are also presented. The experiment is carried out on a seven-joint robot arm at NASA's Goddard Space Flight Center. The algorithm used in the current version of DISCOS requires the inverse of a matrix whose dimension is equal to the number of constraints in the system. Generally, the number of constraints in a system is roughly proportional to the number of bodies in the system, and matrix inversion requires O(p exp 3) operations, where p is the dimension of the matrix. The current version of DISCOS is therefore considered an Order (n exp 3) algorithm. In contrast, the Order (n) algorithm requires inversion of matrices which are small, and the number of matrices to be inverted increases only linearly with the number of bodies. The newly-developed Order (n) DISCOS is currently capable of handling chain and tree topologies as well as multiple closed loops. Continuing development will extend the capability of the software to deal with typical robotics applications such as put-and-place, multi-arm hand-off and surface sliding

[S IV] in the NGC 5253 Supernebula: Ionized Gas Kinematics at High Resolution

The nearby dwarf starburst galaxy NGC 5253 hosts a deeply embedded radio-infrared supernebula excited by thousands of O stars. We have observed this source in the 10.5{\mu}m line of S+3 at 3.8 kms-1 spectral and 1.4" spatial resolution, using the high resolution spectrometer TEXES on the IRTF. The line profile cannot be fit well by a single Gaussian. The best simple fit describes the gas with two Gaussians, one near the galactic velocity with FWHM 33.6 km s-1 and another of similiar strength and FWHM 94 km s-1 centered \sim20 km s-1 to the blue. This suggests a model for the supernebula in which gas flows towards us out of the molecular cloud, as in a "blister" or "champagne flow" or in the HII regions modelled by Zhu (2006).Comment: Accepted for publication in the Astrophysical Journal 4 June 201

The PL calibration for Milky Way Cepheids and its implications for the distance scale

The rationale behind recent calibrations of the Cepheid PL relation using the Wesenheit formulation is reviewed and reanalyzed, and it is shown that recent conclusions regarding a possible change in slope of the PL relation for short-period and long-period Cepheids are tied to a pathological distribution of HST calibrators within the instability strip. A recalibration of the period-luminosity relation is obtained using Galactic Cepheids in open clusters and groups, the resulting relationship, described by log L/L_sun = 2.415(+-0.035) + 1.148(+-0.044)log P, exhibiting only the moderate scatter expected from color spread within the instability strip. The relationship is confirmed by Cepheids with HST parallaxes, although without the need for Lutz-Kelker corrections, and in general by Cepheids with revised Hipparcos parallaxes, albeit with concerns about the cited precisions of the latter. A Wesenheit formulation of Wv = -2.259(+-0.083) - 4.185(+-0.103)log P for Galactic Cepheids is tested successfully using Cepheids in the inner regions of the galaxy NGC 4258, confirming the independent geometrical distance established for the galaxy from OH masers. Differences between the extinction properties of interstellar and extragalactic dust may yet play an important role in the further calibration of the Cepheid PL relation and its application to the extragalactic distance scale.Comment: Accepted for Publication (Astrophysics & Space Science

G28.17+0.05: An unusual giant HI cloud in the inner Galaxy

New 21 cm HI observations have revealed a giant HI cloud in the Galactic plane that has unusual properties. It is quite well defined, about 150 pc in diameter at a distance of 5 kpc, and contains as much as 100,000 Solar Masses of atomic hydrogen. The outer parts of the cloud appear in HI emission above the HI background, while the central regions show HI self-absorption. Models which reproduce the observations have a core with a temperature <40 K and an outer envelope as much as an order of magnitude hotter. The cold core is elongated along the Galactic plane, whereas the overall outline of the cloud is approximately spherical. The warm and cold parts of the HI cloud have a similar, and relatively large, line width of approximately 7 km/s. The cloud core is a source of weak, anomalously-excited 1720 MHz OH emission, also with a relatively large line width, which delineates the region of HI self-absorption but is slightly blue-shifted in velocity. The intensity of the 1720 MHz OH emission is correlated with N(H) derived from models of the cold core. There is 12CO emission associated with the cloud core. Most of the cloud mass is in molecules, and the total mass is > 200,000 Solar Masses. In the cold core the HI mass fraction may be 10 percent. The cloud has only a few sites of current star formation. There may be about 100 more objects like this in the inner Galaxy; every line of sight through the Galactic plane within 50 degrees of the Galactic center probably intersects at least one. We suggest that G28.17+0.05 is a cloud being observed as it enters a spiral arm and that it is in the transition from the atomic to the molecular state.Comment: 35 pages, inludes 12 figure

Diagnosis of Helicobacter pylori by carbon-13 urea breath test using a portable mass spectrometer

CONTEXT: In the non-invasive detection of markers of disease, mass spectrometry is able to detect small quantities of volatile markers in exhaled air. However, the problem of size, expense and immobility of conventional mass spectrometry equipment has restricted its use. Now, a smaller, less expensive, portable quadrupole mass spectrometer system has been developed. Helicobacter pylori has been implicated in the development of chronic gastritis, gastric and duodenal ulcers and gastric cancer. OBJECTIVES: To compare the results obtained from the presence of H. pylori by a carbon-13 urea test using a portable quadrupole mass spectrometer system with those from a fixed mass spectrometer in a hospital-based clinical trial. METHODS: Following ethical approval, 45 patients attending a gastroenterology clinic at the Royal Liverpool University Hospital exhaled a breath sample into a Tedlar gas sampling bag. They then drank an orange juice containing urea radiolabelled with carbon and 30 min later gave a second breath sample. The carbon-13 content of both samples was measured using both quadrupole mass spectrometer systems. If the post-drink level exceeded the pre-drink level by 3% or more, a positive diagnosis for the presence of H. pylori was made. RESULTS: The findings were compared to the results using conventional isotope ratio mass spectrometry using a laboratory-based magnetic sector instrument off-site. The results showed agreement in 39 of the 45 patients. CONCLUSIONS: This study suggests that a portable quadrupole mass spectrometer is a potential alternative to the conventional centralised testing equipment. Future development of the portable quadrupole mass spectrometer to reduce further its size and cost is indicated, together with further work to validate this new equipment and to enhance its use in mass spectrometry diagnosis of other medical conditions

High Rayleigh number convection with double diffusive fingers

An electrodeposition cell is used to sustain a destabilizing concentration difference of copper ions in aqueous solution between the top and bottom boundaries of the cell. The resulting convecting motion is analogous to Rayleigh-B\'enard convection at high Prandtl numbers. In addition, a stabilizing temperature gradient is imposed across the cell. Even for thermal buoyancy two orders of magnitude smaller than chemical buoyancy, the presence of the weak stabilizing gradient has a profound effect on the convection pattern. Double diffusive fingers appear in all cases. The size of these fingers and the flow velocities are independent of the height of the cell, but they depend on the ion concentration difference between top and bottom boundaries as well as on the imposed temperature gradient. The scaling of the mass transport is compatible with previous results on double diffusive convection

Fermi-surface topology and the effects of intrinsic disorder in a class of charge-transfer salts containing magnetic ions: β" — (BEDT — TTF)₄ [(H₃O)M(C₂O₄)₃]Υ (M = Ga, Cr, Fr; Υ = C₅H₅N)

We report high-field magnetotransport measurements on β" — (BEDT — TTF)₄ [(H₃O)M(C₂O₄)₃]Υ, where M =Ga, Cr and Fe and Υ = C₅H₅N. We observe similar Shubnikov–de Haas oscillations in all compounds, attributable to four quasi-two-dimensional Fermi-surface pockets, the largest of which corresponds to a cross-sectional area ≈ 8.5% of the Brillouin zone. The cross-sectional areas of the pockets are in agreement with the expectations for a compensated semimetal, and the corresponding effective masses are ∼mₑ, rather small compared to those of other BEDT-TTF salts. Apart from the case of the smallest Fermi-surface pocket, varying the M ion seems to have little effect on the overall Fermi-surface topology or on the effective masses. Despite the fact that all samples show quantum oscillations at low temperatures, indicative of Fermi liquid behavior, the sample and temperature dependence of the interlayer resistivity suggest that these systems are intrinsically inhomogeneous. It is thought that intrinsic tendency to disorder in the anions and/or the ethylene groups of the BEDT-TTF molecules leads to the coexistence of insulating and metallic states at low temperatures. A notional phase diagram is given for the general family of β" — (BEDT — TTF)₄ [(H₃O)M(C₂O₄)₃]Υ salts