A curvilinear snake arm robot with gripper-axis fibre-optic image processor feedback

The official version of this article can be found at the link below.A curvilinear robot constructed from a number of modular flexible sections of fixed length and diameter but independently controlled radius and direction of curvature has been equipped with an optical fibre image guide transmitting images from between the gripper jaws to the remote TV camera of Microvision-100, a microcomputer controlled real-time DMA-based vision System that is easily trained to recognise the shape, position and orientation of components. The gripper position and orientation is controlled by feedback from the vision System, the action taken depending on component recognition and inspection for defects. Redundant degrees of freedom enable the curvilinear robot to avoid obstacles and work in confined spaces.The research programme described in this paper is supported by the U.K. Science and Engineering Research Council

The Fish Funnel: A Trawl Modification to Reduce Fish Escapement

In the Gulf of Mexico there is a need to assess the potential of underutilized fish resource stocks before a commercial fishery develops. Standard sampling trawls used in the Gulf are ineffective for sampling the resource, so larger, high opening, bottom trawls have been introduced. The larger trawls are more effective, but most of the faster swimming fish species are able to escape these nets, especially during haul back. To reduce fish escapement, webbing panels, attached inside the trawls ahead of the cod ends, were tested. Initial tests were conducted with two single panel designs--a fish flap and a "floppa." Neither design reduced fish escapement. The floppa distorted the trawl webbing and actually increased fish escapement. A multi-panel conical funnel design (the fish funnel) was tested and found to increase fish retention by trapping the fish after they passed through it. When used in combination with a technique known as pulsing the trawl, the fish funnel substantially increased trawl catch rates with no indication of fish escapement

Fixed-base simulator pilot rating surveys for predicting lateral-directional handling qualities and pilot rating variability

Pilot ratings of lateral directional handling for wide range of aircraft characteristics - graph

Recent research directed toward the prediction of lateral-directional handling qualities

Lateral-directional handling qualities survey to develop technique for predicting pilot rating

A perturbative analysis of tachyon condensation

Tachyon condensation in the open bosonic string is analyzed using a perturbative expansion of the tachyon potential around the unstable D25-brane vacuum. Using the leading terms in the tachyon potential, Pad\'e approximants can apparently give the energy of the stable vacuum to arbitrarily good accuracy. Level-truncation approximations up to level 10 for the coefficients in the tachyon potential are extrapolated to higher levels and used to find approximants for the full potential. At level 14 and above, the resulting approximants give an energy less than -1 in units of the D25-brane tension, in agreement with recent level-truncation results by Gaiotto and Rastelli. The extrapolated energy continues to decrease below -1 until reaching a minimum near level 26, after which the energy turns around and begins to approach -1 from below. Within the accuracy of this method, these results are completely consistent with an energy which approaches -1 as the level of truncation is taken to be arbitrarily large.Comment: 8 pages, 3 eps figures, Latex; v2: typo correcte

Configurations and relative efficiencies of shrimp trawls employed in southeastern United States waters

Common shrimp trawl designs employed in the southeastern United States shrimp fishery are the flat, balloon, semiballoon, jib, and super X-3. Recent innovations in trawl design and rigging, including the twin trawl rigging and tongue trawl design, have improved the efficiency of shrimp trawling gear. A description of the construction techniques for the different designs indicate differences which affect gear performance. Measurements of horizontal spread and vertical opening for 76 trawl configurations indicate the relative efficiencies of the different designs. Maximum horizontal spreading efficiency was achieved by the "twin" and "tongue" trawl designs followed by the super X-3, jib, balloon, and semiballoon designs. Designs having the greatest vertical openings were the tongue and flat trawl designs followed by the semiballoon. Maximum total gape dimension was demonstrated by the "Mongoose" tongue trawl. Comparison of trawl spreading efficiency and door area to headrope length ratio indicates that a range of 70-80 in square (per door) of door area is required for each foot of trawl headrope length for maximum efficiency with conventional trawl designs and 66-75 in square per foot of headrope for tongue trawl designs. (PDF file contains 18 pages.

Economic Analysis of Water Conservation Policies in the Texas Panhandle

Due to declining water availability from the Ogallala Aquifer, management policy alternatives for extending the life of the aquifer to sustain rural economies in the Texas Panhandle are evaluated. The study concludes that water conservation policies for the region significantly impact crop mix, resource usage, and net present value of farm profits over a sixty-year planning horizon.Ogallala Aquifer, Groundwater Conservation, Water Management Policy, Texas Panhandle, Resource /Energy Economics and Policy,

Crystal field states of Kondo lattice heavy fermions CeRuSn3 and CeRhSn3

Inelastic neutron scattering experiments have been carried out to determine the crystal field states of the Kondo lattice heavy fermions CeRuSn3 and CeRhSn3. Both the compounds crystallize in LaRuSn3-type cubic structure (space group Pm-3n) in which the Ce atoms occupy two distinct crystallographic sites with cubic (m-3) and tetragonal (-4m.2) point symmetries. The INS data of CeRuSn3 reveal the presence of a broad excitation centered around 6-8 meV which is accounted by a model based on crystal electric field (CEF) excitations. On the other hand, the INS data of isostructural CeRhSn3 reveal three CEF excitations around 7.0, 12.2 and 37.2 meV. The neutron intensity sum rule indicates that the Ce ions at both cubic and tetragonal Ce sites are in Ce3+ state in both CeRuSn3 and CeRhSn3. The CEF level schemes for both the compounds are deduced. We estimate the Kondo temperature T_K = 3.1(2) K for CeRuSn3 from neutron quasielastic linewidth in excellent agreement with that determined from the scaling of magnetoresistance which gives T_K = 3.2(1) K. For CeRhSn3 the neutron quasielastic linewidth gives T_K = 4.6 K. For both CeRuSn3 and CeRhSn3, the ground state of Ce3+ turns out to be a quartet for the cubic site and a doublet for the tetragonal site.Comment: 12 pages, 13 figures, 2 tables, to appear in Phys. Rev.

Impact pressures generated by spherical particle hypervelocity impact on Yorkshire Sandstone

Hypervelocity impact tests were carried out at 4.8 km/s using the Open University's All Axis Light Gas Gun (AALGG) in the Planetary and Space Sciences Research Institute (PSSRI)'s Hypervelocity Impact Laboratory. A first estimate of the peak loading pressures was made using preliminary hydrocode simulations, supported by calculations. Following a review of existing published quartz and sandstone data, our previously published plate impact data were combined with high pressure quartz data to produce a synthetic Hugoniot. This will form the basis of future hydrocode modelling, as a linear Us-Up relationship does not adequately represent the behaviour of sandstone over the pressure range of interest, as indicated by experimental data on Coconino sandstone. This work is a precursor to investigating the biological effects of shock on microorganisms in sandstone targets. This paper also contains the first presentation of results of ultra high speed imaging of hypervelocity impact at the Open University. © 2007 American Institute of Physics

Some comments about Schwarzschield black holes in Matrix theory

In the present paper we calculate the statistical partition function for any number of extended objects in Matrix theory in the one loop approximation. As an application, we calculate the statistical properties of K clusters of D0 branes and then the statistical properties of K membranes which are wound on a torus.Comment: 15 page