Stanford Aerospace Research Laboratory research overview

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator

Study of perturbed periodic systems of differential equations - The Stroboscopic method

Stroboscopic method for solving perturbed periodic systems of differential equation

Boundary effects in finite size plasmonic crystals: Focusing and routing of plasmonic beams for optical communications

Plasmonic crystals, which consist of periodic arrangements of surface features at a metal-dielectric interface, allow the manipulation of optical information in the form of surface plasmon polaritons. Here we investigate the excitation and propagation of plasmonic beams in and around finite size plasmonic crystals at telecom wavelengths, highlighting the effects of the crystal boundary shape and illumination conditions. Significant differences in broad plasmonic beam generation by crystals of different shapes are demonstrated, while for narrow beams, the propagation onto the smooth metal film is less sensitive to the crystal boundary shape. We show that by controlling the boundary shape, the size and the excitation beam parameters, directional control of propagating plasmonic modes and associated beam parameters such as angular beam splitting, focusing power and beam width can be efficiently achieved. This provides a promising route for robust and alignment-independent integration of plasmonic crystals with optical communication components

MUBs inequivalence and affine planes

There are fairly large families of unitarily inequivalent complete sets of N+1 mutually unbiased bases (MUBs) in C^N for various prime powers N. The number of such sets is not bounded above by any polynomial as a function of N. While it is standard that there is a superficial similarity between complete sets of MUBs and finite affine planes, there is an intimate relationship between these large families and affine planes. This note briefly summarizes "old" results that do not appear to be well-known concerning known families of complete sets of MUBs and their associated planes.Comment: This is the version of this paper appearing in J. Mathematical Physics 53, 032204 (2012) except for format changes due to the journal's style policie

Maximally symmetric stabilizer MUBs in even prime-power dimensions

One way to construct a maximal set of mutually unbiased bases (MUBs) in a prime-power dimensional Hilbert space is by means of finite phase-space methods. MUBs obtained in this way are covariant with respect to some subgroup of the group of all affine symplectic phase-space transformations. However, this construction is not canonical: as a consequence, many different choices of covariance sugroups are possible. In particular, when the Hilbert space is $2^n$ dimensional, it is known that covariance with respect to the full group of affine symplectic phase-space transformations can never be achieved. Here we show that in this case there exist two essentially different choices of maximal subgroups admitting covariant MUBs. For both of them, we explicitly construct a family of $2^n$ covariant MUBs. We thus prove that, contrary to the odd dimensional case, maximally covariant MUBs are very far from being unique.Comment: 22 page

Living With Maternal HIV: Spirituality, Depression, And Family Functioning

Risk factors such as depression and low SES often affect an HIV infected mother’s ability to function within her family. Spirituality may interact with such risk factors contributing to the resiliency of these mothers. The current study explored spirituality’s influence on the relationship between depression and perceptions of family functioning in African American women living with HIV. High levels of spirituality were associated with decreased psychological distress and spirituality served as a significant predictor of family cohesion. Findings from this study support the importance of spirituality in the lives of African American women living with HIV and their families

Rhenium elemental and isotopic variations at magmatic temperatures

Recent analytical advances in the measurement of rhenium (Re) isotope ratios allow its potential as a palaeoredox and chemical weathering proxy to be explored. However, a successful isotopic proxy must be grounded by an understanding of its composition and behaviour in the solid Earth. Here, we present Re concentrations and Re isotopic (δ187Re) compositions for a well-characterised sequence of lavas from Hekla volcano, Iceland. The concentration of Re varies from 0.02 to 1.4 ng/g, decreasing from basalt to more evolved lavas. We show that the crystallisation and removal of magnetite is responsible for the Re decrease in this system. By contrast, δ187Re values for the same suite of samples show a relatively narrow range (−0.45 to −0.22 ‰), suggesting minimal resolvable Re isotope fractionation between magnetite and the silicate melt. Together with other samples, including mid-ocean ridge basalts, these first igneous data can be used to estimate a baseline for terrestrial materials (δ187Re = −0.33 ± 0.15 ‰, 2 s.d., n = 14), from which low-temperature Re isotope variations in Earth’s surficial environments can be assessed, alongside the global isotope mass balance of Re

Differential Hox expression in murine embryonic stem cell models of normal and malignant hematopoiesis

The Hox family are master transcriptional regulators of developmental processes, including hematopoiesis. The Hox regulators, caudal homeobox factors (Cdx1-4), and Meis1, along with several individual Hox proteins, are implicated in stem cell expansion during embryonic development, with gene dosage playing a significant role in the overall function of the integrated Hox network. To investigate the role of this network in normal and aberrant, early hematopoiesis, we employed an in vitro embryonic stem cell differentiation system, which recapitulates mouse developmental hematopoiesis. Expression profiles of Hox, Pbx1, and Meis1 genes were quantified at distinct stages during the hematopoietic differentiation process and compared with the effects of expressing the leukemic oncogene Tel/PDGFR;2. During normal differentiation the Hoxa cluster, Pbx1 and Meis1 predominated, with a marked reduction in the majority of Hox genes (27/39) and Meis1 occurring during hematopoietic commitment. Only the posterior Hoxa cluster genes (a9, a10, a11, and a13) maintained or increased expression at the hematopoietic colony stage. Cdx4, Meis1, and a subset of Hox genes, including a7 and a9, were differentially expressed after short-term oncogenic (Tel/PDGFR;2) induction. Whereas Hoxa4-10, b1, b2, b4, and b9 were upregulated during oncogenic driven myelomonocytic differentiation. Heterodimers between Hoxa7/Hoxa9, Meis1, and Pbx have previously been implicated in regulating target genes involved in hematopoietic stem cell (HSC) expansion and leukemic progression. These results provide direct evidence that transcriptional flux through the Hox network occurs at very early stages during hematopoietic differentiation and validates embryonic stem cell models for gaining insights into the genetic regulation of normal and malignant hematopoiesis

How to protect the interpretation of the wave function against protective measurements

A new type of procedures, called protective measurements, has been proposed by Aharonov, Anandan and Vaidman. These authors argue that a protective measurement allows the determination of arbitrary observables of a single quantum system and claim that this favors a realistic interpretation of the quantum state. This paper proves that only observables that commute with the system's Hamiltonian can be measured protectively. It is argued that this restriction saves the coherence of alternative interpretations.Comment: 13 pages, 1 figur