Multi-limbed locomotion systems for space construction and maintenance

A well developed technology of coordination of multi-limbed locomotory systems is now available. Results from a NASA sponsored study of several years ago are presented. This was a simulation study of a three-limbed locomotion/manipulation system. Each limb had six degrees of freedom and could be used either as a locomotory grasping hand-holds, or as a manipulator. The focus of the study was kinematic coordination algorithms. The presentation will also include very recent results from the Adaptive Suspension Vehicle Project. The Adaptive Suspension Vehicle (ASV) is a legged locomotion system designed for terrestrial use which is capable of operating in completely unstructured terrain in either a teleoperated or operator-on-board mode. Future development may include autonomous operation. The ASV features a very advanced coordination and control system which could readily be adapted to operation in space. An inertial package with a vertical gyro, and rate gyros and accelerometers on three orthogonal axes provides body position information at high bandwidth. This is compared to the operator's commands, injected via a joystick to provide a commanded force system on the vehicle's body. This system is, in turn, decomposed by a coordination algorithm into force commands to those legs which are in contact with the ground

NYS Field Crops Weekly Pest Report- Evaluation 2008

The NYS Field Crop Weekly Pest Report provides timely pest information to field crop extension educators and agricultural professionals. The report compiles weekly pest and crop observations collected by field crop extension personnel across NYS. In addition, the weekly report provides a vehicle to disseminate other relevant IPM information such as pest identification, scouting techniques and a calendar with suggestions for pest management activities. The pest report is distributed to clientele via the Cornell In-house Field Crops List Serve and Cornell Field Crop List Serve.  The audiences that subscribe to these list-servers include: Extension Educators, crop consultants, growers, agribusiness, and Cornell University Faculty. Twenty three issues of the NYS Weekly Pest Report were published in 2008. Extension Educators and crop consultants utilize the Weekly Report as an overview of timely pest information, and have found the report useful in alerting their local clientele regarding pest management issues. About 200 people receive the pest report as an email from our Cornell University based list server. Many of the articles from the report were used in extension newsletters that reached at least 14,000 people

Cancellation of quantum mechanical higher loop contributions to the gravitational chiral anomaly

We give an explicit demonstration, using the rigorous Feynman rules developed in~\0^{1}, that the regularized trace \tr \gamma_5 e^{-\beta \Dslash^2} for the gravitational chiral anomaly expressed as an appropriate quantum mechanical path integral is $\beta$-independent up to two-loop level. Identities and diagrammatic notations are developed to facilitate rapid evaluation of graphs given by these rules.Comment: 10 pages, LaTeX and psfig (many figures

Cosmology as Relativistic Particle Mechanics: From Big Crunch to Big Bang

Cosmology can be viewed as geodesic motion in an appropriate metric on an `augmented' target space; here we obtain these geodesics from an effective relativistic particle action. As an application, we find some exact (flat and curved) cosmologies for models with N scalar fields taking values in a hyperbolic target space for which the augmented target space is a Milne universe. The singularities of these cosmologies correspond to points at which the particle trajectory crosses the Milne horizon, suggesting a novel resolution of them, which we explore via the Wheeler-deWitt equation.Comment: 17 pages, 3 figures, references and comments adde

Effects of Shovel Logging and Rubber-tired Skidding on Surface Soil Attributes in a Selectively Harvested Central Hardwood Stand

Shovel logging, a ground-based, non-tractive yarding method that uses an excavator fixed with a grapple instead of a bucket, offers the potential to yard felled wood with less impact to forest soils than conventional rubber-tired skidding methods. The results of this study, carried out in Apalachian hardwoods, indicated that, although neither conventional nor shovel logging methods can be recommended over the other based solely on short-term impacts to soil bulk density, shovel logging resulted in significantly less surface soil disturbance. In addition, shovel logging eliminated the need for primary skid trail construction, identified as a potential source of particulate matter that may contribute to nonpoint source pollution

Independent Expert Scientific Panel – Report on Unconventional Oil and Gas

No abstract available

Seasonal Variation in Carcinops pumilio (Coleoptera: Histeridae) Dispersal and Potential for Suppression of Dispersal Behavior

Seasonal dispersal of Carcinops pumilio (Erichson) was evaluated using two trapping methods-a black-light pitfall trap and a mesh-bottomed trap placed on poultry manure. The black-light trap collected larger numbers than the mesh-bottomed trap from March through June. The mesh-bottomed trap gathered larger numbers of beetles from June through August and numbers were less variable throughout the year. Often, when very low numbers of beetles were recovered from manure cores, large numbers of beetles could be collected with the black-light trap suggesting that beetle density may not be an important factor in dispersal behavior. The greatest dispersal in the dispersal arenas (≈90%) occurred using beetles collected by both trap types in June 2000. Beginning in March and ending in August, a cyclic rise and then fall pattern in both laboratory dispersal and beetle collections was observed. Trap collection patterns were similar in both years of the study. In January and March, we were unable to prevent dispersal behavior of beetles captured in black-light traps. However, in May, after beetles had been in a dispersal phase for several months, we were able to suppress dispersal. In contrast, dispersal behavior among beetles captured with the mesh-bottomed trap did not change following the photoperiod-altered exposur

Direct comparison of high voltage breakdown measurements in liquid argon and liquid xenon

As noble liquid time projection chambers grow in size their high voltage requirements increase, and detailed, reproducible studies of dielectric breakdown and the onset of electroluminescence are needed to inform their design. The Xenon Breakdown Apparatus (XeBrA) is a 5-liter cryogenic chamber built to characterize the DC high voltage breakdown behavior of liquid xenon and liquid argon. Electrodes with areas up to 33 cm2 were tested while varying the cathode-anode separation from 1 to 6 mm with a voltage difference up to 75 kV. A power-law relationship between breakdown field and electrode area was observed. The breakdown behavior of liquid argon and liquid xenon within the same experimental apparatus was comparable

Cosmological D-instantons and Cyclic Universes

For models of gravity coupled to hyperbolic sigma models, such as the metric-scalar sector of IIB supergravity, we show how smooth trajectories in the `augmented target space' connect FLRW cosmologies to non-extremal D-instantons through a cosmological singularity. In particular, we find closed cyclic universes that undergo an endless sequence of big-bang to big-crunch cycles separated by instanton `phases'. We also find `big-bounce' universes in which a collapsing closed universe bounces off its cosmological singularity to become an open expanding universe.Comment: 21 pages, 4 figures. v2: minor change