Remote manipulator dynamic simulation

A simulator to generate the real time visual scenes required to perform man in the loop investigations of remote manipulator application and design concepts for the space shuttle is described. The simulated remote manipulator consists of a computed display system that uses a digital computer, the electronic scene generator, an operator's station, and associated interface hardware. A description of the capabilities of the implemented simulation is presented. The mathematical models and programs developed for the simulation are included

Issues of partial credit in mathematical assessment by computer

The CALM Project for Computer Aided Learning in Mathematics has operated at Heriot‐Watt University since 1985. From the beginning CALM has featured assessment in its programs (Beevers, Cherry, Foster and McGuire, 1991), and enabled both students and teachers to view progress in formative assessment The computer can play a role in at least four types of assessment: diagnostic, self‐test, continuous and grading assessment. The TLTP project Mathwise employs the computer in three of these roles. In 1994 CALM reported on an educational experiment in which the computer was used for the first time to grade, in part, the learning of a large class of service mathematics students (Beevers, McGuire, Stirling and Wild ,1995), using the Mathwise assessment template. At that time the main issues identified were those of ‘partial credit’ and communication between the student and the computer. These educational points were addressed in the next phase of the CALM Project in which the commercial testing program Interactive PastPapers was developed. The main aim of this paper is to describe how Interactive Past Papers has been able to incorporate some approaches to partial credit which has helped to alleviate student worries on these issues. Background information on other features in Interactive Past Papers is also included to provide context for the discussion

Study of fault-tolerant software technology

Presented is an overview of the current state of the art of fault-tolerant software and an analysis of quantitative techniques and models developed to assess its impact. It examines research efforts as well as experience gained from commercial application of these techniques. The paper also addresses the computer architecture and design implications on hardware, operating systems and programming languages (including Ada) of using fault-tolerant software in real-time aerospace applications. It concludes that fault-tolerant software has progressed beyond the pure research state. The paper also finds that, although not perfectly matched, newer architectural and language capabilities provide many of the notations and functions needed to effectively and efficiently implement software fault-tolerance

From spin to anyon notation: The XXZ Heisenberg model as a D3D_{3} (or su(2)4su(2)_{4}) anyon chain

We discuss a relationship between certain one-dimensional quantum spin chains and anyon chains. In particular we show how the XXZ Heisenberg chain is realised as a $D_{3}$ (alternately $su(2)_{4}$) anyon model. We find the difference between the models lie primarily in choice of boundary condition.Comment: 13 page

Atmospheric impacts on climatic variability of surface incident solar radiation

The Earth's climate is driven by surface incident solar radiation (<i>R</i><sub>s</sub>). Direct measurements have shown that <i>R</i><sub>s</sub> has undergone significant decadal variations. However, a large fraction of the global land surface is not covered by these observations. Satellite-derived <i>R</i><sub>s</sub> has a good global coverage but is of low accuracy in its depiction of decadal variability. This paper shows that daily to decadal variations of <i>R</i><sub>s</sub>, from both aerosols and cloud properties, can be accurately estimated using globally available measurements of Sunshine Duration (SunDu). In particular, SunDu shows that since the late 1980's <i>R</i><sub>s</sub> has brightened over Europe due to decreases in aerosols but dimmed over China due to their increases. We found that variation of cloud cover determines <i>R</i><sub>s</sub> at a monthly scale but that aerosols determine the variability of <i>R</i><sub>s</sub> at a decadal time scale, in particular, over Europe and China. Because of its global availability and long-term history, SunDu can provide an accurate and continuous proxy record of <i>R</i><sub>s</sub>, filling in values for the blank areas that are not covered by direct measurements. Compared to its direct measurement, <i>R</i><sub>s</sub> from SunDu appears to be less sensitive to instrument replacement and calibration, and shows that the widely reported sharp increase in <i>R</i><sub>s</sub> during the early 1990s in China was a result of instrument replacement. By merging direct measurements collected by Global Energy Budget Archive with those derived from SunDu, we obtained a good coverage of <i>R</i><sub>s</sub> over the Northern Hemisphere. From this data, the average increase of <i>R</i><sub>s</sub> from 1982 to 2008 is estimated to be 0.87 W m<sup>−2</sup> per decade

Pulsed flows at the high-altitude cusp poleward boundary, and associated ionospheric convection and particle signatures, during a cluster - FAST - SuperDARN - sondrestrom conjunction under a southwest

Particle and magnetic field observations during a magnetic conjunction Cluster 1-FAST-Søndrestrøm within the field of view of SuperDARN radars on 21 January 2001 allow us to draw a detailed, comprehensive and self-consistent picture at three heights of signatures associated with transient reconnection under a steady south-westerly IMF (clock angle ≈130◦). Cluster 1 was outbound through the high altitude (∼12RE ) exterior northern cusp tailward of the bifurcation line (geomagnetic Bx>0) when a solar wind dynamic pressure release shifted the spacecraft into a boundary layer downstream of the cusp. The centerpiece of the investigation is a series of flow bursts observed there by the spacecraft, which were accompanied by strong field pertur- bations and tailward flow deflections. Analysis shows these to be Alfven waves. We interpret these flow events as being due to a sequence of reconnected flux tubes, with field-aligned currents in the associated Alfven waves carrying stresses to the underlying ionosphere, a view strengthened by the other observations. At the magnetic footprint of the region of Cluster flow bursts, FAST observed an ion energy- latitude disperison of the stepped cusp type, with individual cusp ion steps corresponding to individual flow bursts. Simultaneously, the SuperDARN Stokkseyri radar observed very strong poleward-moving radar auroral forms (PMRAFs) which were conjugate to the flow bursts at Cluster. FAST was traversing these PMRAFs when it observed the cusp ion steps. The Søndrestrøm radar observed pulsed ionospheric flows (PIFs) just poleward of the convection reversal boundary. As at Cluster, the flow was eastward (tailward), implying a coherent eastward (tailward) motion of the hypothesized open flux tubes. The joint Søndrestrøm and FAST observations indicate that the open/closed field line boundary was equatorward of the convection reversal boundary by ∼2 deg. The unprecedented accuracy of the conjunction argues strongly for the validity of the interpretation of the various signatures as resulting from transient reconnection. In particular, the cusp ion steps arise on this pass from this origin, in consonance with the original pulsating cusp model. The observations point to the need of extending current ideas on the response of the ionosphere to transient reconnection. Specifically, it argues in favor of re-establishing the high-latitude boundary layer downstream of the cusp as an active site of momentum transfer

Complete characterization of convergence to equilibrium for an inelastic Kac model

Pulvirenti and Toscani introduced an equation which extends the Kac caricature of a Maxwellian gas to inelastic particles. We show that the probability distribution, solution of the relative Cauchy problem, converges weakly to a probability distribution if and only if the symmetrized initial distribution belongs to the standard domain of attraction of a symmetric stable law, whose index $\alpha$ is determined by the so-called degree of inelasticity, $p>0$, of the particles: $\alpha=\frac{2}{1+p}$. This result is then used: (1) To state that the class of all stationary solutions coincides with that of all symmetric stable laws with index $\alpha$. (2) To determine the solution of a well-known stochastic functional equation in the absence of extra-conditions usually adopted

On the location of dayside magnetic reconnection during an interval of duskward oriented IMF

We present space- and ground-based observations of the signatures of magnetic reconnection during an interval of duskward-oriented interplanetary magnetic field on 25 March 2004. In situ field and plasma measurements are drawn from the Double Star and Cluster satellites during traversals of the pre-noon sector dayside magnetopause at low and high latitudes, respectively. These reveal the typical signatures of flux transfer events (FTEs), namely bipolar perturbations in the magnetic field component normal to the local magnetopause, enhancements in the local magnetic field strength and mixing of magnetospheric and magnetosheath plasmas. Further evidence of magnetic reconnection is inferred from the ground-based signatures of pulsed ionospheric flow observed over an extended interval. In order to ascertain the location of the reconnection site responsible for the FTEs, a simple model of open flux tube motion over the surface of the magnetopause is employed. A comparison of the modelled and observed motion of open flux tubes (i.e. FTEs) and plasma flow in the magnetopause boundary layer indicates that the FTEs observed at both low and high latitudes were consistence with the existence of a tilted X-line passing through the sub-solar region, as suggested by the component reconnection paradigm. While a high latitude X-line (as predicted by the anti-parallel description of reconnection) may have been present, we find it unlikely that it could have been responsible for the FTEs observed in the pre-noon sector under the observed IMF conditions. Finally, we note that throughout the interval, the magnetosphere was bathed in ULF oscillations within the solar wind electric field. While no one-to-one correspondence with the pulsed reconnection rate suggested by the ground-based observation of pulsed ionospheric flow has been demonstrated, we note that similar periodicity oscillations were observed throughout the solar wind-magnetosphere-ionosphere system. These findings are consistent with previously proposed mechanisms of solar wind modulation of the dayside reconnection rate