Mobile camera-space manipulation

The invention is a method of using computer vision to control systems consisting of a combination of holonomic and nonholonomic degrees of freedom such as a wheeled rover equipped with a robotic arm, a forklift, and earth-moving equipment such as a backhoe or a front-loader. Using vision sensors mounted on the mobile system and the manipulator, the system establishes a relationship between the internal joint configuration of the holonomic degrees of freedom of the manipulator and the appearance of features on the manipulator in the reference frames of the vision sensors. Then, the system, perhaps with the assistance of an operator, identifies the locations of the target object in the reference frames of the vision sensors. Using this target information, along with the relationship described above, the system determines a suitable trajectory for the nonholonomic degrees of freedom of the base to follow towards the target object. The system also determines a suitable pose or series of poses for the holonomic degrees of freedom of the manipulator. With additional visual samples, the system automatically updates the trajectory and final pose of the manipulator so as to allow for greater precision in the overall final position of the system

Record-breaking earthquake intervals in a global catalogue and an aftershock sequence

For the purposes of this study, an interval is the elapsed time between two earthquakes in a designated region; the minimum magnitude for the earthquakes is prescribed. A record-breaking interval is one that is longer (or shorter) than preceding intervals; a starting time must be specified. We consider global earthquakes with magnitudes greater than 5.5 and show that the record-breaking intervals are well estimated by a Poissonian (random) theory. We also consider the aftershocks of the 2004 Parkfield earthquake and show that the record-breaking intervals are approximated by very different statistics. In both cases, we calculate the number of record-breaking intervals (<i>n</i><sub>rb</sub>) and the record-breaking interval durations Δ<i>t</i><sub>rb</sub> as a function of "natural time", the number of elapsed events. We also calculate the ratio of record-breaking long intervals to record-breaking short intervals as a function of time, <i>r(t)</i>, which is suggested to be sensitive to trends in noisy time series data. Our data indicate a possible precursory signal to large earthquakes that is consistent with accelerated moment release (AMR) theory

Taxonomic Work as Information Work: Design for Semantic Refactoring

Taxonomy is the branch of science concerned with classi- fying organisms: drawing the line between cats and dogs, fish and fowl, animals and vegetables. Modern taxonomic work is built on a hundreds-year-old tradition of qualitative research and description. There are aspects of this work that illustrate the pervasiveness and difficulty of a particular kind of qualitative data wrangling, which we call semantic refactoring: the review, normalization, and re-engineering of semantic structures. Because taxonomic work is con- ducted over long time spans, the processes underlying se- mantic refactoring become more visible. An examination of taxonomic data practices may inform our understanding of how (and if) collections of qualitative data scale, particularly when collaboratively created.NSF ABI Grant 1356515.Ope

Dressed Spin of Polarized 3He in a Cell

We report a measurement of the modification of the effective precession frequency of polarized 3He atoms in response to a dressing field in a room temperature cell. The 3He atoms were polarized using the metastability spin-exchange method. An oscillating dressing field is then applied perpendicular to the constant magnetic field. Modification of the 3He effective precession frequency was observed over a broad range of the amplitude and frequency of the dressing field. The observed effects are compared with calculations based on quantum optics formalism.Comment: 10 pages, 4 figure

Soft believers and hard unbelievers in the Xhosa cattle-killing

A substantial minority, perhaps 15 per cent of all Xhosa, refused to obey the prophetess Nongqawuse's orders to kill their cattle and destroy their corn. This divided Xhosaland into two parties, the amathamba (‘soft’ ones, or believers) and the amagogotya (‘hard’ ones, or unbelievers). The affiliation of individuals was partly determined by a number of factors – lungsickness in cattle, political attitude towards the Cape Colony, religious beliefs, kinship, age and gender – but a systematic analysis of each of these factors in turn suggests that none of them was sufficiently important to constitute the basis of either party. The key to understanding the division lies in an analysis of the indigenous Xhosa terms ‘soft’ and ‘hard’. ‘Softness’ in Xhosa denotes the submissiveness of the individual to the common will of the community, whereas ‘hardness’ denotes the determination of the individual to pursue his own ends, even at communal expense. Translated into social terms, the ‘soft’ believers were those who remained committed to the mutual aid ethic of the declining precolonial society, whereas the ‘hard’ unbelievers were those who sought to seize advantage of the new opportunities offered by the colonial presence to increase their wealth and social prominence. The conflict between the social and personal imperatives was well expressed by Chief Smith Mhala, the unbelieving son of a believing father, when he said, ‘They say I am killing my father – so I would kill him before I would kill my cattle.’ Certainly, the division between amathamba and amagogotya ran much deeper than the division between belief and unbelief, and the Xhosa, in conferring these names, seem to have recognized the fact

Pinning/depinning of crack fronts in heterogeneous materials

The fatigue fracture surfaces of a metallic alloy, and the stress corrosion fracture surfaces of glass are investigated as a function of crack velocity. It is shown that in both cases, there are two fracture regimes, which have a well defined self-affine signature. At high enough length scales, the universal roughness index 0.78 is recovered. At smaller length scales, the roughness exponent is close to 0.50. The crossover length $\xi_c$ separating these two regimes strongly depends on the material, and exhibits a power-law decrease with the measured crack velocity $\xi_c \propto v^{-\phi}$, with $\phi \simeq 1$. The exponents $\nu$ and $\beta$ characterising the dependence of $\xi_c$ and $v$ upon the pulling force are shown to be close to $\nu \simeq 2$ and $\beta \simeq 2$.Comment: 4 pages, latex, and 4 encapsulated postscript figure

An inducible CiliaGFP mouse model for in vivo visualization and analysis of cilia in live tissue

BACKGROUND: Cilia are found on nearly every cell type in the mammalian body, and have been historically classified as either motile or immotile. Motile cilia are important for fluid and cellular movement; however, the roles of non-motile or primary cilia in most tissues remain unknown. Several genetic syndromes, called the ciliopathies, are associated with defects in cilia structure or function and have a wide range of clinical presentations. Much of what we know about the formation and maintenance of cilia comes from model systems like C. elegans and Chalmydomonas. Studies of mammalian cilia in live tissues have been hampered by difficulty visualizing them. RESULTS: To facilitate analyses of mammalian cilia function we generated an inducible Cilia(GFP) mouse by targeting mouse cDNA encoding a cilia-localized protein somatostatin receptor 3 fused to GFP (Sstr3::GFP) into the ROSA26 locus. In this system, Sstr3::GFP is expressed from the ubiquitous ROSA26 promoter after Cre mediated deletion of an upstream Neo cassette flanked by lox P sites. Fluorescent cilia labeling was observed in a variety of live tissues and after fixation. Both cell-type specific and temporally regulated cilia labeling were obtained using multiple Cre lines. The analysis of renal cilia in anesthetized live mice demonstrates that cilia commonly lay nearly parallel to the apical surface of the tubule. In contrast, in more deeply anesthetized mice the cilia display a synchronized, repetitive oscillation that ceases upon death, suggesting a relationship to heart beat, blood pressure or glomerular filtration. CONCLUSIONS: The ability to visualize cilia in live samples within the Cilia(GFP) mouse will greatly aid studies of ciliary function. This mouse will be useful for in vivo genetic and pharmacological screens to assess pathways regulating cilia motility, signaling, assembly, trafficking, resorption and length control and to study cilia regulated physiology in relation to ciliopathy phenotypes

A comparative study of Tam3 and Ac transposition in transgenic tobacco and petunia plants

Transposition of the Anthirrinum majus Tam3 element and the Zea mays Ac element has been monitored in petunia and tobacco plants. Plant vectors were constructed with the transposable elements cloned into the leader sequence of a marker gene. Agrobacterium tumefaciens-mediated leaf disc transformation was used to introduce the transposable element constructs into plant cells. In transgenic plants, excision of the transposable element restores gene expression and results in a clearly distinguishable phenotype. Based on restored expression of the hygromycin phosphotransferase II (HPTII) gene, we established that Tam3 excises in 30% of the transformed petunia plants and in 60% of the transformed tobacco plants. Ac excises from the HPTII gene with comparable frequencies (30%) in both plant species. When the β-glucuronidase (GUS) gene was used to detect transposition of Tam3, a significantly lower excision frequency (13%) was found in both plant species. It could be shown that deletion of parts of the transposable elements Tam3 and Ac, removing either one of the terminal inverted repeats (TIR) or part of the presumptive transposase coding region, abolished the excision from the marker genes. This demonstrates that excision of the transposable element Tam3 in heterologous plant species, as documented for the autonomous element Ac, also depends on both properties. Southern blot hybridization shows the expected excision pattern and the reintegration of Tam3 and Ac elements into the genome of tobacco plants.

Tidal friction in close-in satellites and exoplanets. The Darwin theory re-visited

This report is a review of Darwin's classical theory of bodily tides in which we present the analytical expressions for the orbital and rotational evolution of the bodies and for the energy dissipation rates due to their tidal interaction. General formulas are given which do not depend on any assumption linking the tidal lags to the frequencies of the corresponding tidal waves (except that equal frequency harmonics are assumed to span equal lags). Emphasis is given to the cases of companions having reached one of the two possible final states: (1) the super-synchronous stationary rotation resulting from the vanishing of the average tidal torque; (2) the capture into a 1:1 spin-orbit resonance (true synchronization). In these cases, the energy dissipation is controlled by the tidal harmonic with period equal to the orbital period (instead of the semi-diurnal tide) and the singularity due to the vanishing of the geometric phase lag does not exist. It is also shown that the true synchronization with non-zero eccentricity is only possible if an extra torque exists opposite to the tidal torque. The theory is developed assuming that this additional torque is produced by an equatorial permanent asymmetry in the companion. The results are model-dependent and the theory is developed only to the second degree in eccentricity and inclination (obliquity). It can easily be extended to higher orders, but formal accuracy will not be a real improvement as long as the physics of the processes leading to tidal lags is not better known.Comment: 30 pages, 7 figures, corrected typo