Some Results of the Educational Experiment APIS (Cervantes Mission on Board ISS)

Some results of the analysis of the pictures taken along the performance of the Análisis de Propiedades Inerciales de Sólidos, Analysis of the Inertia Properties of Solid Bodies (APIS) experiment carried out in the Cervantes mission on board ISS, are presented. APIS was an educational experiment devoted to take advantage of the unique conditions of absence of relative gravity forces of a space platform such as ISS, to show some of the characteristics of the free rotational motion of a solid body, which are impossible to carry out on earth. This field of experimental research has application to aerospace engineering science (e.g. attitude control of spacecrafts), to astrophysical sciences (e.g. state of rotation and tumbling motions of asteroids) and to engineering education. To avoid the effect of the ambient atmosphere loads on the motion, the test body is placed inside a sphere, which reduces the effect of the aerodynamic forces to just friction. The drastic reduction of the effect of the surrounding air during the short duration of the experimental sequences allows us to compare the actual motion with the known solutions for the solid body rotation in vacuum. In this paper, some selected, relevant sequences of the sphere enclosing a body with a nominal cylindrical inertia tensor, put into rotation by the astronaut, are shown; the main problems to extract the information concerning the characteristic parameters of the motion are outlined, and some of the results obtained concerning the motion of the test probe are included, which show what seems to be a curious and unexpected solution of the Euler equations for the solid body rotation in vacuum, without energy dissipation, when the angular momentum is almost perpendicular to the axisymmetry axis

Safe Supervisory Control of Soft Robot Actuators

Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradation particularly during unmodeled contact. This article introduces a feedback strategy for safe soft actuator operation during control of a soft robot. To do so, a supervisory controller monitors actuator state and dynamically saturates control inputs to avoid conditions that could lead to physical damage. We prove that, under certain conditions, the supervisory controller is stable and verifiably safe. We then demonstrate completely onboard operation of the supervisory controller using a soft thermally-actuated robot limb with embedded shape memory alloy (SMA) actuators and sensing. Tests performed with the supervisor verify its theoretical properties and show stabilization of the robot limb's pose in free space. Finally, experiments show that our approach prevents overheating during contact (including environmental constraints and human contact) or when infeasible motions are commanded. This supervisory controller, and its ability to be executed with completely onboard sensing, has the potential to make soft robot actuators reliable enough for practical use

Superconducting properties of nanocrystalline MgB2_2 thin films made by an in situ annealing process

We have studied the structural and superconducting properties of MgB$_2$ thin films made by pulsed laser deposition followed by in situ annealing. The cross-sectional transmission electron microscopy reveals a nanocrystalline mixture of textured MgO and MgB$_2$ with very small grain sizes. A zero-resistance transition temperature ($T_{c0}$) of 34 K and a zero-field critical current density ($J_c$) of $1.3 \times 10^6$ A/cm$^2$ were obtained. The irreversibility field was $\sim$ 8 T at low temperatures, although severe pinning instability was observed. These bulk-like superconducting properties show that the in situ deposition process can be a viable candidate for MgB$_2$ Josephson junction technologies

Interaction of quasilocal harmonic modes and boson peak in glasses

The direct proportionality relation between the boson peak maximum in glasses, $\omega_b$, and the Ioffe-Regel crossover frequency for phonons, $\omega_d$, is established. For several investigated materials $\omega_b = (1.5\pm 0.1)\omega_d$. At the frequency $\omega_d$ the mean free path of the phonons $l$ becomes equal to their wavelength because of strong resonant scattering on quasilocal harmonic oscillators. Above this frequency phonons cease to exist. We prove that the established correlation between $\omega_b$ and $\omega_d$ holds in the general case and is a direct consequence of bilinear coupling of quasilocal oscillators with the strain field.Comment: RevTex, 4 pages, 1 figur

Total versus superficial parotidectomy for stage III melanoma

BackgroundThe primary purpose of this study was to describe the parotid recurrence rates after superficial and total parotidectomy.MethodsA retrospective cohort study was performed on patients with cutaneous melanoma metastatic to the parotid gland who underwent parotidectomy from 1998 through 2014. Primary outcome was parotid bed recurrence. Secondary outcomes were facial nerve function postoperatively and at last follow‐up.ResultsOne hundred twenty‐nine patients were included in the study. Thirty‐four patients (26%) underwent a total parotidectomy and 95 patients underwent superficial parotidectomy. Twelve patients (13%) developed parotid bed recurrence after superficial parotidectomy alone versus zero after total parotidectomy (P = .035). Facial nerve function, clinically detected disease, stage, and adjuvant treatment were not statistically different between the groups (P = .32, .32, .13, and 0.99, respectively).ConclusionParotid bed melanoma recurrence was more common after superficial parotidectomy compared to total parotidectomy, and recurrence resulted in significant facial nerve functional deficit. Our results support total parotidectomy when metastatic melanoma involves the parotid nodal basin.Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/137735/1/hed24810_am.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/137735/2/hed24810.pd

The Apparent Fractal Conjecture: Scaling Features in Standard Cosmologies

This paper presents an analysis of the smoothness problem in cosmology by focussing on the ambiguities originated in the simplifying hypotheses aimed at observationally verifying if the large-scale distribution of galaxies is homogeneous, and conjecturing that this distribution should follow a fractal pattern in perturbed standard cosmologies. This is due to a geometrical effect, appearing when certain types of average densities are calculated along the past light cone. The paper starts reviewing the argument concerning the possibility that the galaxy distribution follows such a scaling pattern, and the premises behind the assumption that the spatial homogeneity of standard cosmology can be observable. Next, it is argued that to discuss observable homogeneity one needs to make a clear distinction between local and average relativistic densities, and showing how the different distance definitions strongly affect them, leading the various average densities to display asymptotically opposite behaviours. Then the paper revisits Ribeiro's (1995: astro-ph/9910145) results, showing that in a fully relativistic treatment some observational average densities of the flat Friedmann model are not well defined at z ~ 0.1, implying that at this range average densities behave in a fundamentally different manner as compared to the linearity of the Hubble law, well valid for z < 1. This conclusion brings into question the widespread assumption that relativistic corrections can always be neglected at low z. It is also shown how some key features of fractal cosmologies can be found in the Friedmann models. In view of those findings, it is suggested that the so-called contradiction between the cosmological principle, and the galaxy distribution forming an unlimited fractal structure, may not exist.Comment: 30 pages, 2 figures, LaTeX. This paper is a follow-up to gr-qc/9909093. Accepted for publication in "General Relativity and Gravitation

The Application of Statistical Analysis to Single-case Designs

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Feeding Nucleotides with Corn Germ Meal or Dried Corn Distillers Grains Does Not Promote Growth Performance of Receiving and Growing Calves

Corn germ meal is often used in swine and poultry diets, but very little information exists on the effects on beef cattle and on newly arrived stressed cattle. When formulating receiving and growing diets, calf health and stress are important factors to consider. Including nucleotides, an immune-boosting feed additive may aid in gastrointestinal health of an animal and furthermore improve growth performance. The objective of these experiments was to determine: 1) the effects of corn germ meal in comparison to dried corn distillers grains on growth performance and 2) the effects of nucleotides on growth performance, by receiving and growing cattle