System description document for the Anthrobot-2: A dexterous robot hand

The Anthrobot-2 is an anatomically correct, fully functioning robot hand. The number of fingers, the proportions of the links, the placement and motion of the thumb, and the shape of the palm follow those of the human hand. Each of the finger and thumb joints are servo-controlled. The Anthrobot-2 also includes a two-degree-of-freedom wrist. The entire package, including wrist, hand, and actuators, will mount on the ends of a variety of industrial manipulators. A patent has been applied for on the design. The Anthrobot-2 will be useful in tasks where dexterous manipulation or telemanipulation are required

The effect of bandwidth on telerobot system performance

The purpose of the experiment was to determine the effect that various slave-joint bandwidths have on telerobot system performance. The telerobot system consisted of a slave arm controlled by a master. The slave incorporated an impedance loop to provide local compliance in addition to the compliance provided by the operator via force feedback. Three joint bandwidths, 0.5, 1.0, and 2.0 Hz, were used. The performance measures were the task completion time and the sums of the squared forces and moments exerted on the environment. The task consisted of peg-in-hole insertion and removal. The results of the experiment indicate a significant performance decrease at 0.5-Hz bandwidth relative to the 1- and 2-Hz bandwidths. There was no significant change in performance between the 1- and 2-Hz bandwidths

Untangling the Web of Historical Thinking: What the Structures of Student-Produced Wikis Reveal

During the past decade, most educators have focused on the collaborative aspects of wikis and how they enable us to collectively create web content. Our focus has been different.We are interested in the ways using wikis to structure information helps students learn the complex thinking skills necessary for understanding history as a web of knowledge rather than linear. We are also interested in the information about how and when students cross concept thresholds made visible by the interconnections of the different pages in a wiki. Using Luminotes, a rudimentary, yet elegant open-source wiki, students can represent--and, we theorize, better understand--the ways that knowledge in the discipline of history is constructed. By the end of the grant period we hope to demonstrate that wikis can be broadly used as a powerful tool for structuring the rich, relational character of knowledge in history (and, potentially, other humanities disciplines) and for better understanding student learning

Self-organized dynamics and the transition to turbulence of confined active nematics

We study how confinement transforms the chaotic dynamics of bulk microtubule-based active nematics into regular spatiotemporal patterns. For weak confinements, multiple continuously nucleating and annihilating topological defects self-organize into persistent circular flows of either handedness. Increasing confinement strength leads to the emergence of distinct dynamics, in which the slow periodic nucleation of topological defects at the boundary is superimposed onto a fast procession of a pair of defects. A defect pair migrates towards the confinement core over multiple rotation cycles, while the associated nematic director field evolves from a distinct double spiral towards a nearly circularly symmetric configuration. The collapse of the defect orbits is punctuated by another boundary-localized nucleation event, that sets up long-term doubly-periodic dynamics. Comparing experimental data to a theoretical model of an active nematic, reveals that theory captures the fast procession of a pair of $+\frac{1}{2}$ defects, but not the slow spiral transformation nor the periodic nucleation of defect pairs. Theory also fails to predict the emergence of circular flows in the weak confinement regime. The developed confinement methods are generalized to more complex geometries, providing a robust microfluidic platform for rationally engineering two-dimensional autonomous flows

Simultaneous mesoscopic and two-photon imaging of neuronal activity in cortical circuits.

Spontaneous and sensory-evoked activity propagates across varying spatial scales in the mammalian cortex, but technical challenges have limited conceptual links between the function of local neuronal circuits and brain-wide network dynamics. We present a method for simultaneous cellular-resolution two-photon calcium imaging of a local microcircuit and mesoscopic widefield calcium imaging of the entire cortical mantle in awake mice. Our multi-scale approach involves a microscope with an orthogonal axis design where the mesoscopic objective is oriented above the brain and the two-photon objective is oriented horizontally, with imaging performed through a microprism. We also introduce a viral transduction method for robust and widespread gene delivery in the mouse brain. These approaches allow us to identify the behavioral state-dependent functional connectivity of pyramidal neurons and vasoactive intestinal peptide-expressing interneurons with long-range cortical networks. Our imaging system provides a powerful strategy for investigating cortical architecture across a wide range of spatial scales

ATR-FTIR spectroscopy detects alterations induced by organotin(IV) carboxylates in MCF-7 cells at sub-cytotoxic/-genotoxic concentrations.

The environmental impact of metal complexes such as organotin(IV) compounds is of increasing concern. Genotoxic effects of organotin(IV) compounds (0.01 μg/ml, 0.1 μg/ml or 1.0 μg/ml) were measured using the alkaline single-cell gel electrophoresis (comet) assay to measure DNA single-strand breaks (SSBs) and the cytokinesis-block micronucleus (CBMN) assay to determine micronucleus formation. Biochemical-cell signatures were also ascertained using attenuated total reflection Fourier-transform infrared (ATR-FTIR) spectroscopy. In the comet assay, organotin(IV) carboxylates induced significantly-elevated levels of DNA SSBs. Elevated micronucleus-forming activities were also observed. Following interrogation using ATR-FTIR spectroscopy, infrared spectra in the biomolecular range (900 cm-1 – 1800 cm-1) derived from organotin-treated MCF-7 cells exhibited clear alterations in their biochemical-cell fingerprint compared to control-cell populations following exposures as low as 0.0001 μg/ml. Mono-, di- or tri-organotin(IV) carboxylates (0.1 μg/ml, 1.0 μg/ml or 10.0 μg/ml) were markedly cytotoxic as determined by the clonogenic assay following treatment of MCF-7 cells with ≥ 1.0 μg/ml. Our results demonstrate that ATR-FTIR spectroscopy can be applied to detect molecular alterations induced by organotin(IV) compounds at sub-cytotoxic and sub-genotoxic concentrations. This biophysical approach points to a novel means of assessing risk associated with environmental contaminants

Friction Stir Processing of SSM356 Aluminium Alloy

AbstractThe aim of this experiment was to improve the mechanical properties of SSM 356 aluminum alloys by friction stir processing, a solid-state technique for microstructural modification using the heat from a friction and stirring. The parameters of friction stir processing for SSM 356 aluminum alloys were studied at three different travelling speeds: 80, 120 and 160mm/min under three different rotation speeds 1320, 1480 and 1750rpm. The hardness and tensile strength properties were increased by friction stir processing. The hardness of friction stir processing was 64.55 HV which was higher than the base metal (40.58 HV). The tensile strengths of friction stir processing were increased about 11.8% compared to the base metal. The optimal processing parameter was rotation speed at 1750rpm with the travelling speed at 160mm/min. Consequently, the application of the friction stir processing is a very effective method for the mechanical improvement of semi-solid metal aluminum alloys

Notes on the Nesting Biology of the Small Carpenter Bee Ceratina smaragdula (Hymenoptera: Apidae) in Northwestern Pakistan

The nesting biology and some foraging activities of the familiar, brilliant metallic green, small carpenter bee Ceratina (Pithitis) smaragdula (F.) (Hymenoptera: Apidae) is documented from the northwestern-most extent of its natural distribution, as the species is a potentially important pollinator of leguminous and cucurbit crops in the region. Numerous nests around the village of Ismaila, Swabi, Khyber Pakhtunkhwa Province, Pakistan, were observed and sampled from Jun through Aug 2012. Nest details were recorded and foraging times on various floral species were documented, with bees preferentially nesting in wooden stalks of Ravenna grass (Saccharum ravennae L.; Poales: Poaceae), life cycles lasting 28 to 32 d, and conditions offering the potential for easy management. The importance of such studies on wild bees in Pakistan is stressed, as are the development of biotic surveys on bees and the training of regional melittologists, coupled with outreach activities. Resumen La biología de la anidación y algunas actividades de forrajeo de la pequeña abeja carpintera Ceratina (Pithitis) smaragdula (F.) (Hymenoptera: Apidae) de tipo familiar y brillante color verde metálico está documentado desde el punto mas noroeste de su distribución natural, ya que la especie es potencialmente un importante polinizador de legumbres y cucurbitáceas en la región. Se observaron numerosos nidos alrededor del pueblo de Ismaila, Swabi, Khyber Pakhtunkhwa Provincia, Pakistán, y se tomaron muestras desde junio hasta agosto del 2012. Los detalles de la anidación fueron registrados y se documentaron los tiempos de forrajeo sobre diversas especies florales, con las abejas preferentemente anidando en los tallos de madera de pasto de Rávena (Saccharum ravennae L.; Poales: Poaceae), los ciclos de vida duran de 28 a 32 dias, y las condiciones que ofrecen el potencial para un fácil manejo. Se destaca la importancia de este tipo de estudio sobre las abejas silvestres en Pakistán, igual que el desarrollo de sondeos bióticos sobre las abejas y la formación de melitólogos regionales, junto con actividades de extensión

Galaxy emission line classification using 3D line ratio diagrams

Two-dimensional (2D) line ratio diagnostic diagrams have become a key tool in understanding the excitation mechanisms of galaxies. The curves used to separate the different regions - HII-like or else excited by an active galactic nucleus (AGN) - have been refined over time but the core technique has not evolved significantly. However, the classification of galaxies based on their emission line ratios really is a multi-dimensional problem. Here we exploit recent software developments to explore the potential of three-dimensional (3D) line ratio diagnostic diagrams. We introduce a specific set of 3D diagrams, the ZQE diagrams, which separate the oxygen abundance and the ionisation parameter of HII region-like spectra, and which also enable us to probe the excitation mechanism of the gas. By examining these new 3D spaces interactively, we define a new set of 2D diagnostics, the ZE diagnostics, which can provide the metallicity of objects excited by hot young stars, and which cleanly separate HII region-like objects from the different classes of AGNs. We show that these ZE diagnostics are consistent with the key log[NII]/H$\alpha$ vs. log[OIII]/H$\beta$ diagnostic currently used by the community. They also have the advantage of attaching a probability that a given object belongs to one class or to the other. Finally, we discuss briefly why ZQE diagrams can provide a new way to differentiate and study the different classes of AGNs in anticipation of a dedicated follow-up study.Comment: 21 pages, 15 figures, accepted for publication in ApJ. Due to size limitations, the supplementary STL file for the 3D-printable diagram is available here: http://www.mso.anu.edu.au/~fvogt/online_material.htm

Fast Dynamic System Identification with Karhunen-Lo\`eve Decomposed Gaussian Processes

A promising approach for scalable Gausian processes (GPs) is the Karhunen-Lo\`eve (KL) decomposition, in which the GP kernel is represented by a set of basis functions which are the eigenfunctions of the kernel operator. Such decomposed kernels have the potential to be very fast, and do not depend on the selection of a reduced set of inducing points. However KL decompositions lead to high dimensionality, and variable selection becomes paramount. This paper reports a new method of forward variable selection, enabled by the ordered nature of the basis functions in the KL expansion of the Bayesian Smoothing Spline ANOVA kernel (BSS-ANOVA), coupled with fast Gibbs sampling in a fully Bayesian approach. It quickly and effectively limits the number of terms, yielding a method with competitive accuracies, training and inference times for tabular datasets of low feature set dimensionality. The inference speed and accuracy makes the method especially useful for dynamic systems identification, by modeling the dynamics in the tangent space as a static problem, then integrating the learned dynamics using a high-order scheme. The methods are demonstrated on two dynamic datasets: a `Susceptible, Infected, Recovered' (SIR) toy problem, with the transmissibility used as forcing function, along with the experimental `Cascaded Tanks' benchmark dataset. Comparisons on the static prediction of time derivatives are made with a random forest (RF), a residual neural network (ResNet), and the Orthogonal Additive Kernel (OAK) inducing points scalable GP, while for the timeseries prediction comparisons are made with LSTM and GRU recurrent neural networks (RNNs) along with a number of basis set / optimizer combinations within the SINDy package