Interpolated rigid-body motions and robotics

This work looks at several problems concerned with interpolating rigid-body motions and their application in robotics. Two recently proposed interpolation methods are shown to produce the same results. We also discuss how it might be possible to control a robot in such a way as to follow one of these interpolated motions. ©2006 IEEE

Slipstream Measurements of Small-Scale Propellers at Low Reynolds Numbers

The continuing growth in the use of small UAVs has required the need to more fully understand the propellers that power them. Part of this understanding is the behavior of the propeller slipstream. Using a 7-hole probe, the slipstreams of several small-scale propellers (diameters of 4.2, 5, and 9 in) were measured in both static (V∞ = 0) and advancing-flow (V∞ \u3e 0) conditions at several locations downstream. For static conditions, as the slipstream expanded downstream, the maximum values of the axial and swirl velocities decreased. The general shape of the static slipstream was also found to be nearly the same for the propellers even though their planforms were different. During advancing-flow conditions, a contraction in the slipstream occurred by 0.5 diameters behind the propeller. Beyond that location, the size of the slipstream was relatively constant up to 3 diameters downstream (furthest distance measured). For advancing-flow slipstreams, the shape of the axial velocity distribution was observed to be dependent on the planform shape of the propeller. The static slipstream of a propeller-wing configuration showed that the slipstream portions above and below the wing moved away from each other towards opposite wing tips. However, the maximum axial and swirl velocities in the propeller-wing slipstream did not diminish compared with the isolated propeller slipstream

Differential neuroproteomic and systems biology analysis of spinal cord injury

Acute spinal cord injury (SCI) is a devastating condition with many consequences and no known effective treatment. Although it is quite easy to diagnose traumatic SCI, the assessment of injury severity and projection of disease progression or recovery are often challenging, as no consensus biomarkers have been clearly identified. Here rats were subjected to experimental moderate or severe thoracic SCI. At 24h and 7d postinjury, spinal cord segment caudal to injury center versus sham samples was harvested and subjected to differential proteomic analysis. Cationic/anionic-exchange chromatography, followed by 1D polyacrylamide gel electrophoresis, was used to reduce protein complexity. A reverse phase liquid chromatography-tandem mass spectrometry proteomic platform was then utilized to identify proteome changes associated with SCI. Twenty-two and 22 proteins were up-regulated at 24 h and 7 day after SCI, respectively; whereas 19 and 16 proteins are down-regulated at 24 h and 7 day after SCI, respectively, when compared with sham control. A subset of 12 proteins were identified as candidate SCI biomarkers - TF (Transferrin), FASN (Fatty acid synthase), NME1 (Nucleoside diphosphate kinase 1), STMN1 (Stathmin 1), EEF2 (Eukaryotic translation elongation factor 2), CTSD (Cathepsin D), ANXA1 (Annexin A1), ANXA2 (Annexin A2), PGM1 (Phosphoglucomutase 1), PEA15 (Phosphoprotein enriched in astrocytes 15), GOT2 (Glutamic-oxaloacetic transaminase 2), and TPI-1 (Triosephosphate isomerase 1), data are available via ProteomeXchange with identifier PXD003473. In addition, Transferrin, Cathepsin D, and TPI-1 and PEA15 were further verified in rat spinal cord tissue and/or CSF samples after SCI and in human CSF samples from moderate/severe SCI patients. Lastly, a systems biology approach was utilized to determine the critical biochemical pathways and interactome in the pathogenesis of SCI. Thus, SCI candidate biomarkers identified can be used to correlate with disease progression or to identify potential SCI therapeutic targets

Performance Testing of APC Electric Fixed-Blade UAV Propellers

The increase in popularity of unmanned aerial vehicles (UAVs) has been driven by their use in civilian, education, government, and military applications. However, limited on-board energy storage significantly limits flight time and ultimately usability. The propulsion system plays a critical part in the overall energy consumption of the UAV; therefore, it is necessary to determine the most optimal combination of possible propulsion system components for a given mission profile, i.e., propellers, motors, and electronic speed controllers (ESC). Hundreds of options are available for the different components with little performance specifications available for most of them. APC Thin Electric propellers were identified as the most commonly used type of commercial-off-the-shelf propeller. However, little performance data exist in the open literature for the APC Thin Electric propellers with larger diameters. This paper describes the performance testing of 17 APC Thin Electric 2-bladed, fixed propellers with diameters of 12 to 21 in with various pitch values. The propellers were tested at rotation rates of 1,000 to 7,000 RPM and advancing flows of 8 to 80 ft/s, depending on the propeller and testing equipment limitations. Results are presented for the 17 propellers tested under static and advancing flow conditions with several key observations being discussed. The data produced will be available for download on the UIUC Propeller Data Site and on the Unmanned Aerial Vehicle Database

Static Performance Results of Propellers Used on Nano, Micro, and Mini Quadrotors

An increase in the number of small quadrotors has created the interest in having performance data on the propellers used by these aircraft. With an aircraft size less than 5 in and propellers diameters less than 3 in, these quadrotors are typically referred to mini, micro, or nano by hobbyists and manufacturers. The size of the propellers used on these aircraft operate at low Reynolds numbers that are typically less than 50,000 for diameters up to 3 in and less than 20,000 for diameters up to 2 in. Static performance testing of the propellers used on 11 small quadrotors was completed. For propellers with diameters less than 1.4 in, the torque produced was too small to accurately measure

On the Exponentials of Some Structured Matrices

In this note explicit algorithms for calculating the exponentials of important structured 4 x 4 matrices are provided. These lead to closed form formulae for these exponentials. The techniques rely on one particular Clifford Algebra isomorphism and basic Lie theory. When used in conjunction with structure preserving similarities, such as Givens rotations, these techniques extend to dimensions bigger than four.Comment: 19 page

Exciton-phonon-scattering: A competition between bosonic and fermionic nature of bound electron-hole pairs

The question of macroscopic occupation and spontaneous emergence of coherence for exciton ensembles has gained renewed attention due to the rise of van der Waals heterostructures made of atomically thin semiconductors. The hosted interlayer excitons exhibit nanosecond lifetimes, long enough to allow for excitonic thermalization in time. Several experimental studies reported signatures of macroscopic occupation effects at elevated exciton densities. With respect to theory, excitons are composite particles formed by fermionic constituents, and a general theoretical argument for a bosonic thermalization of an exciton gas beyond the linear regime is still missing. Here, we derive an equation for the phonon mediated thermalization at densities above the classical limit, and identify which conditions favor the thermalization of fermionic or bosonic character, respectively. In cases where acoustic, quasielastic phonon scattering dominates the dynamics, our theory suggests that transition metal dichalcogenide (TMDC) excitons might be bosonic enough to show bosonic thermalization behaviour and decreasing dephasing for increasing exciton densities. This can be interpreted as a signature of an emerging coherence in the exciton ground state, and agrees well with the experimentally observed features, such as a decreasing linewidth for increasing densities

Visualising text co-occurrence networks

We present a tool for automatically generating a visual summary of unstructured text data retrieved from documents, web sites or social media feeds. Unlike tools such as word clouds, we are able to visualise structures and topic relationships occurring in a document. These relationships are determined by a unique approach to co-occurrence analysis. The algorithm applies a decaying function to the distance between word pairs found in the original text such that words regularly occurring close to each other score highly, but even words occurring some distance apart will make a small contribution to the overall co-occurrence score. This is in contrast to other algorithms which simply count adjacent words or use a sliding window of fixed size. We show, with examples, how the network generated can be presented in tree or graph format. The tree format allows for the user to interact with the visualisation and expand or contract the data to a preferred level of detail. The tool is available as a web application and can be viewed using any modern web browse