Computed torque control of a free-flying cooperat ing-arm robot

The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand

Privacy and the Complexity of Simple Queries

As both the scope and scale of data collection increases, an increasingly large amount of sensitive personal information is being analyzed. In this thesis, we study the feasibility of effectively carrying out such analyses while respecting the privacy concerns of all parties involved. In particular, we consider algorithms that satisfy differential privacy [30], a stringent notion of privacy that guarantees no individual’s data has a significant influence on the information released about the database. Over the past decade, there has been tremendous progress in understanding when accurate data analysis is compatible with differential privacy, with both elegant algorithms and striking impossibility results. However, if we ask further when accurate and computationally efficient data analysis is compatible with differential privacy then our understanding lags far behind. In this thesis, we make several contributions to understanding the complexity of differentially private data analysis: We show a sharp upper bound on the number of linear queries that can be accurately answered while satisfying differential privacy by an efficient algorithm, assuming the existence of cryptographic traitor-tracing schemes. We show even stronger computational barriers for algorithms that generate private synthetic data—a new database that consists of “fake” records but preserves certain statistical properties of the original database. Under cryptographic assumptions, any efficient differentially private algorithm that generates synthetic data cannot preserve even extremely simple properties of the database, even the pairwise correlations between the attributes. On the positive side, we design new algorithms for the widely-used class of marginal queries that are faster and require less data. Computational inefficiency is not the only barrier to effective privacy-preserving data analysis. Another potential obstacle is that many of the existing differentially private algorithms do not guarantee privacy for the data analyst, which would lead researchers with sensitive or proprietary queries to seek other means of access to the database. We also contribute to our understanding of privacy for the analyst: We design new algorithms for answering large sets of queries that guarantee differential privacy for the database and ensure differential privacy for the analysts, even if all other analysts collude.Engineering and Applied Science

History of Testing at The Ohio State University

Prepared for the Centennial of The Ohio State University

Comparative biogeochemistry of water in intertidal Onuphis (polychaeta) and Upogebia (crustacea) burrows: temporal patterns and causes

The burrows of macrobenthos represent an important class of sedimentary microenvironments which significantly influence chemical, biological, and physical characteristics of a deposit. In intertidal regions, the time-dependent changes in composition during ebb-tide of water contained in burrows is a sensitive indicator of biogenic and abiogenic chemical reactions in burrow walls and adjacent sediment. Comparison of time series water samples taken from Onuphis jenneri (polychaete) and Upogebia affinis (crustacean) burrows in the same tidal flat demonstrate substantial differences in biogeochemical microenvironments despite the spatial proximity of the two species. Both types of burrows are influenced by the same general kinds of biogeochemical reactions but the relative intensity of these reactions differs in each case. Evidence for both heterotrophic and chemoautotrophic metabolic activity in each burrow type comes from the build-up or consumption patterns in burrow water of solutes such as NH4+, NO3−, Mn++, l−, HPO4−, and HCO3−. Burrow irrigation models and the stoichiometry of solute build-up imply that Upogebia burrows are sites of more intense nitrification-denitrification and microbial activity generally than are Onuphis tubes. Upogebia burrow water is also distinctly undersaturated with respect to carbonate minerals and has high numbers of bacteria relative to Onuphis. In addition to reaction rates, burrow geometry and the adsorption-diffusive permeability properties of the burrow wall also affect transient behavior of solutes. The organic burrow lining of Onuphis shows linear adsorption isotherms for positive, negative, and neutrally charged solutes represented by NH4−, HP04−, and Si(OH)4. Diffusion-reaction modeling demonstrates that adsorption, in particular, can significantly lower the transient state concentrations of burrow water trace solutes even for tube wall thicknesses of only 200 μm. The observed differences between burrow microenvironments of the two species living in close proximity suggest distinct biogeochemical associations between microbes and species specific biogenic structures

The NPOESS Preparatory Project Science Data Segment: Brief Overview

The NPOESS Preparatory Project (NPP) provides remotely-sensed land, ocean, atmospheric, ozone, and sounder data that will serve the meteorological and global climate change scientific communities while also providing risk reduction for the National Polar-orbiting Operational Environmental Satellite System (NPOESS), the U.S. Government s future low-Earth orbiting satellite system monitoring global weather and environmental conditions. NPOESS and NPP are a new era, not only because the sensors will provide unprecedented quality and volume of data but also because it is a joint mission of three federal agencies, NASA, NOAA, and DoD. NASA's primary science role in NPP is to independently assess the quality of the NPP science and environmental data records. Such assessment is critical for making NPOESS products the best that they can be for operational use and ultimately for climate studies. The Science Data Segment (SDS) supports science assessment by assuring the timely provision of NPP data to NASA s science teams organized by climate measurement themes. The SDS breaks down into nine major elements, an input element that receives data from the operational agencies and acts as a buffer, a calibration analysis element, five elements devoted to measurement based quality assessment, an element used to test algorithmic improvements, and an element that provides overall science direction. This paper will describe how the NPP SDS will leverage on NASA experience to provide a mission-reliable research capability for science assessment of NPP derived measurements

A mouse model of autism implicates endosome pH in the regulation of presynaptic calcium entry.

Psychoactive compounds such as chloroquine and amphetamine act by dissipating the pH gradient across intracellular membranes, but the physiological mechanisms that normally regulate organelle pH remain poorly understood. Interestingly, recent human genetic studies have implicated the endosomal Na+/H+ exchanger NHE9 in both autism spectrum disorders (ASD) and attention deficit hyperactivity disorder (ADHD). Plasma membrane NHEs regulate cytosolic pH, but the role of intracellular isoforms has remained unclear. We now find that inactivation of NHE9 in mice reproduces behavioral features of ASD including impaired social interaction, repetitive behaviors, and altered sensory processing. Physiological characterization reveals hyperacidic endosomes, a cell-autonomous defect in glutamate receptor expression and impaired neurotransmitter release due to a defect in presynaptic Ca2+ entry. Acute inhibition of synaptic vesicle acidification rescues release but without affecting the primary defect due to loss of NHE9

Surface circulation in Block Island Sound and adjacent coastal and shelf regions : a FVCOM-CODAR comparison

© The Author(s), 2016. This is the author's version of the work and is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Progress in Oceanography 143 (2016): 26-45, doi:10.1016/j.pocean.2016.02.005.CODAR-derived surface currents in Block Island Sound over the period of June 2000 through September 2008 were compared to currents computed using the Northeast Coastal Ocean Forecast System (NECOFS). The measurement uncertainty of CODAR-derived currents, estimated using statistics of a screened nine-year time series of hourly-averaged flow field, ranged from 3-7 cm/s in speed and 4°-14° in direction. The CODAR-derived and model-computed kinetic energy spectrum densities were in good agreement at subtidal frequencies, but the NECOFS-derived currents were larger by about 28% at semi-diurnal and diurnal tidal frequencies. The short-term (hourly to daily) current variability was dominated by the semidiurnal tides (predominantly the M2 tide), which on average accounted for ~87% of the total kinetic energy. The diurnal tidal and subtidal variability accounted for ~4% and ~9% of the total kinetic energy, respectively. The monthly-averaged difference between the CODAR-derived and model-computed velocities over the study area was 6 cm/s or less in speed and 28° or less in direction over the study period. An EOF analysis for the low-frequency vertically-averaged model current field showed that the water transport in the Block Island Sound region was dominated by modes 1 and 2, which accounted for 89% and 7% of the total variance, respectively. Mode 1 represented a relatively stationary spatial and temporal flow pattern with a magnitude that varied with season. Mode 2 was characterized mainly by a secondary cross-shelf flow and a relatively strong along-shelf flow. Process-oriented model experiments indicated that the relatively stationary flow pattern found in mode 1 was a result of tidal rectification and its magnitude changed with seasonal stratification. Correlation analysis between the flow and wind stress suggested that the cross-shelf water transport and its temporal variability in mode 2 were highly correlated to the surface wind forcing. The mode 2 derived onshore and offshore water transport, and was consistent with wind-driven Ekman theory. The along-shelf water transport over the outer shelf, where a large portion of the water flowed from upstream Nantucket Shoals, was not highly correlated to the surface wind stress.This work was supported by the NSF grants OCE-1332207 and OCE-1332666, MIT Sea Grant College Program through grant 2012-R/RC-127, and the NOAA NERACOOS program funds for NECOFS. Operational funding for the CODAR systems used in this study was provided by the Mid-Atlantic Regional Association Coastal Ocean Observing System. The development of the Global-FVCOM system has been supported by NSF grants OCE-1203393. C. Chen’s contribution was also supported by the International Center for Marine Studies at Shanghai Ocean University through the “Shanghai Universities First-class Disciplines Project”.2017-03-0

Investigating the physical properties of transiting hot Jupiters with the 1.5-m Kuiper Telescope

We present new photometric data of 11 hot Jupiter transiting exoplanets (CoRoT-12b, HAT-P-5b, HAT-P-12b, HAT-P-33b, HAT-P-37b, WASP-2b, WASP-24b, WASP-60b, WASP-80b, WASP-103b, XO-3b) in order to update their planetary parameters and to constrain information about their atmospheres. These observations of CoRoT-12b, HAT-P-37b and WASP-60b are the first follow-up data since their discovery. Additionally, the first near-UV transits of WASP-80b and WASP-103b are presented. We compare the results of our analysis with previous work to search for transit timing variations (TTVs) and a wavelength dependence in the transit depth. TTVs may be evidence of a third body in the system and variations in planetary radius with wavelength can help constrain the properties of the exoplanet's atmosphere. For WASP-103b and XO-3b, we find a possible variation in the transit depths that may be evidence of scattering in their atmospheres. The B-band transit depth of HAT-P-37b is found to be smaller than its near-IR transit depth and such a variation may indicate TiO/VO absorption. These variations are detected from 2-4.6$\sigma$, so follow-up observations are needed to confirm these results. Additionally, a flat spectrum across optical wavelengths is found for 5 of the planets (HAT-P-5b, HAT-P-12b, WASP-2b, WASP-24b, WASP-80b), suggestive that clouds may be present in their atmospheres. We calculate a refined orbital period and ephemeris for all the targets, which will help with future observations. No TTVs are seen in our analysis with the exception of WASP-80b and follow-up observations are needed to confirm this possible detection.Comment: 18 pages, 7 figures, 9 Tables. Light Curves available online. Accepted to MNRAS (2017 August 25