Stellar and Molecular Gas Kinematics of NGC1097: Inflow Driven by a Nuclear Spiral

We present spatially resolved distributions and kinematics of the stars and molecular gas in the central 320pc of NGC1097. The stellar continuum confirms the previously reported 3-arm spiral pattern extending into the central 100pc. The stellar kinematics and the gas distribution imply this is a shadowing effect due to extinction by gas and dust in the molecular spiral arms. The molecular gas kinematics show a strong residual (i.e. non-circular) velocity, which is manifested as a 2-arm kinematic spiral. Linear models indicate that this is the line-of-sight velocity pattern expected for a density wave in gas that generates a 3-arm spiral morphology. We estimate the inflow rate along the arms. Using hydrodynamical models of nuclear spirals, we show that when deriving the accretion rate into the central region, outflow in the disk plane between the arms has to be taken into account. For NGC1097, despite the inflow rate along the arms being ~1.2Msun/yr, the net gas accretion rate to the central few tens of parsecs is much smaller. The numerical models indicate that the inflow rate could be as little as ~0.06Msun/yr. This is sufficient to generate recurring starbursts, similar in scale to that observed, every 20-150Myr. The nuclear spiral represents a mechanism that can feed gas into the central parsecs of the galaxy, with the gas flow sustainable for timescales of a Gigayear.Comment: accepted by Ap

Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study

Includes bibliographical references (page 880).Teleoperated robots in harsh environments have a significant likelihood of failures. It has been shown in previous work that a common type of failure such as that of a joint "locking up", when unidentified by the robot controller, can cause considerable performance degradation in the local behavior of the manipulator even for simple point-to-point motion tasks. The effects of a failure become more critical for a system with a human in the loop, where unpredictable behavior of the robotic arm can completely disorient the operator. In this experimental study involving teleoperation of a graphically simulated kinematically redundant manipulator, two control schemes, the pseudoinverse and a proposed failure-tolerant inverse, were randomly presented under both non-failure and failure scenarios to a group of operators. Based on performance measures derived from the recorded trajectory data and operator responses, it is seen that the failure tolerant inverse kinematic control scheme improved the performance of the human/robot system

Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study

Includes bibliographical references (page 765).Teleoperated robots in harsh environments have a significant likelihood of failures. It has been shown in previous work that a common type of failure such as that of a joint "locking up," when unidentified by the robot controller, can cause considerable performance degradation in the local behavior of the manipulator even for simple point-to-point motion tasks. The effects of a failure become more critical for a system with a human in the loop, where unpredictable behavior of the robotic arm can completely disorient the operator. In this experimental study involving teleoperation of a graphically simulated kinematically redundant manipulator, two control schemes, the pseudoinverse and a proposed failure-tolerant inverse, were randomly presented under both nonfailure and failure scenarios to a group of operators. Based on performance measures derived from the recorded trajectory data and operator ratings of task difficulty, it is seen that the failure-tolerant inverse kinematic control scheme improved the performance of the human/robot system

Application of random coherence order selection in gradient-enhanced multidimensional NMR

Development of multidimensional NMR is essential to many applications, for example in high resolution structural studies of biomolecules. Multidimensional techniques enable separation of NMR signals over several dimensions, improving signal resolution, whilst also allowing identification of new connectivities. However, these advantages come at a significant cost. The Fourier transform theorem requires acquisition of a grid of regularly spaced points to satisfy the Nyquist criterion, while frequency discrimination and acquisition of a pure phase spectrum require acquisition of both quadrature components for each time point in every indirect (non-acquisition) dimension, adding a factor of 2$^{N−1}$ to the number of free-induction decays which must be acquired, where $N$ is the number of dimensions. Compressed sensing (CS) ℓ$_{1}$-norm minimisation in combination with non-uniform sampling (NUS) has been shown to be extremely successful in overcoming the Nyquist criterion. Previously, maximum entropy reconstruction has also been used to overcome the limitation of frequency discrimination, processing data acquired with only one quadrature component at a given time interval, known as random phase detection (RPD), allowing a factor of two reduction in the number of points for each indirect dimension (Maciejewski et al. 2011 $\small \textit{PNAS}$ 108 16640). However, whilst this approach can be easily applied in situations where the quadrature components are acquired as amplitude modulated data, the same principle is not easily extended to phase modulated (P-/N-type) experiments where data is acquired in the form exp ($\textit{iωt}$) or exp (−$\textit{iωt}$), and which make up many of the multidimensional experiments used in modern NMR. Here we demonstrate a modification of the CS ℓ$_1$-norm approach to allow random coherence order selection (RCS) for phase modulated experiments; we generalise the nomenclature for RCS and RPD as random quadrature detection (RQD). With this method, the power of RQD can be extended to the full suite of experiments available to modern NMR spectroscopy, allowing resolution enhancements for all indirect dimensions; alone or in combination with NUS, RQD can be used to improve experimental resolution, or shorten experiment times, of considerable benefit to the challenging applications undertaken by modern NMR.This is the final version of the article. It first appeared from IOP Publishing via http://dx.doi.org/10.1088/1742-6596/699/1/01200

Solution Structure of the Tctex1 Dimer Reveals a Mechanism for Dynein-Cargo Interactions

SummaryTctex1 is a light chain found in both cytoplasmic and flagellar dyneins and is involved in many fundamental cellular activities, including rhodopsin transport within photoreceptors, and may function in the non-Mendelian transmission of t haplotypes in mice. Here, we present the NMR solution structure for the Tctex1 dimer from Chlamydomonas axonemal inner dynein arm I1. Structural comparisons reveal a strong similarity with the LC8 dynein light chain dimer, including formation of a strand-switched β sheet interface. Analysis of the Tctex1 structure enables the dynein intermediate chain binding site to be identified and suggests a mechanism by which cargo proteins might be attached to this microtubule motor complex. Comparison with the alternate dynein light chain rp3 reveals how the specificity of dynein-cargo interactions mediated by these dynein components is achieved. In addition, this structure provides insight into the consequences of the mutations found in the t haplotype forms of this protein

Transit timing at Torun Center for Astronomy

The transit monitoring is one of well-known methods for discovering and observing new extrasolar planets. Among various advantages, this way of searching other worlds does not require complex and expensive equipment - it can be performed with a relatively small telescope and high-quality CCD camera. At the Center for Astronomy of Nicolaus Copernicus University in Toru«, Poland, we collect observational data using the 60-cm Cassegrain telescope hoping that it would be possible to discover new objects in already known planetary systems using the transit timing variation method. Our observations are a part of a biggercooperation between observatories from many countries

Automated visual assembly inspection

Includes bibliographical references (pages 699-700).This chapter has discussed an intelligent assembly inspection system that uses a multiscale algorithm to detect errors in assemblies after the algorithm is trained on synthetic CAD images of correctly assembled products. It was shown how the CAD information of an assembly along with fast rendering techniques on specialized graphics machines can be used for the automation of the work-cell camera and light placement. The current emphasis in the manufacturing industry on concurrent engineering will only cause this integration between the CAD model of products and its manufacturing inspection to grow in value

Automated assembly inspection using a multiscale algorithm trained on synthetic images

Includes bibliographical references.An important part of a robust automated assembly process is an accurate and efficient method for the inspection of finished assemblies. This paper presents a novel multiscale assembly inspection algorithm that is used to detect errors in an assembled product. The algorithm is trained on synthetic images generated using the CAD model of the different components of the assembly. The CAD model guides the inspection algorithm through its training stage by addressing the different types of variations that occur during manufacturing and assembly. Those variations are classified into those that can affect the functionality of the assembled product and those that are unrelated to its functionality. Using synthetic images in the training process adds to the versatility of the technique by removing the need to manufacture multiple prototypes and control the lighting conditions. Once trained on synthetic images, the algorithm can detect assembly errors by examining real images of the assembled product. The effectiveness of the system is illustrated on a typical mechanical assembly.This work was supported by National Science Foundation grant number CDR 8803017 to the Engineering Research Center for Intelligent Manufacturing Systems, National Science Foundation grant number MIP93-00560, an AT&T Bell Laboratories PhD Scholarship, and the NEC corporation