Theoretical three-and four-axis gimbal robot wrists

In high-performance flight simulations, a four-axis gimbal system allows all possible rotations with acceptable gimbal angle rates while it avoids the so-callled 'gimbal lock' that occurs when gimbal rotational axes are colinear. In this paper, pertinent equations (including quaternions) are assembled for a hypothetical robot wrist, functionally equivalent to this four-axis gimbal system, and also for a true three-axis gimbal robot wrist. These equations are used to simulate the rotation of a robot hand by the robot wrist in response to operator rotational velocity commands to the robot hand. Near gimbal lock (wrist singularity), excessive rotational rates occur. Scaling the rates, which is necessary for the three-gimbal robot wrist to prevent rate limiting, introduces an undesirable time delay in the robot hand rotation with respect to the commanded rotation. However, the merit of the four-gimbal robot wrist is that the fourth gimbal angle keeps the robot wrist away from the singularity so that the robot hand moves exactly as commanded. It appears that in a 'worst-type' maneuver of the robot hand, the fourth gimbal angle can be defined so that none of the gimbal angle rates exceed about twice the commanded rates

R-matrix and K-matrix analysis of elastic alpha-alpha scattering

The R- and K-matrix parametrizations are analyzed and compared for the elastic alpha-alpha scattering at center-of-mass energies below 40 MeV. The two parametrizations differ in their definitions of the resonance energy which can lead to quite different results. The physical values of the best-fit parameters are compared with those computed for a potential model. The existence of a broad resonance near 9 MeV is not supported by the data or by the potential model. We discuss the positive and negative aspects for both parametrizations.Comment: 14 pages with 4 figure

Improving antibiotic prescribing for children in the resource-poor setting.

Antibiotics are a critically important part of paediatric medical care in low- and middle-income countries (LMICs), where infectious diseases are the leading cause of child mortality. The World Health Organization estimates that >50% of all medicines are prescribed, dispensed or sold inappropriately and that half of all patients do not take their medicines correctly. Given the rising prevalence of antimicrobial resistance globally, inappropriate antibiotic use is of international concern, and countries struggle to implement basic policies promoting rational antibiotic use. Many barriers to rational paediatric prescribing in LMICs persist. The World Health Organization initiatives, such as 'Make medicines child size', the Model List of Essential Medicines for Children and the Model Formulary for Children, have been significant steps forward. Continued strategies to improve access to appropriate drugs and formulations, in conjunction with improved evidence-based clinical guidelines and dosing recommendations, are essential to the success of such initiatives on both a national and an international level. This paper provides an overview of these issues and considers future developments that may improve LMIC antibiotic prescribing

Kinematic rate control of simulated robot hand at or near wrist singularity

A robot hand should obey movement commands from an operator on a computer program as closely as possible. However, when two of the three rotational axes of the robot wrist are colinear, the wrist loses a degree of freedom, and the usual resolved rate equations (used to move the hand in response to an operator's inputs) are indeterminant. Furthermore, rate limiting occurs in close vicinity to this singularity. An analysis shows that rate limiting occurs not only in the vicinity of this singularity but also substantially away from it, even when the operator commands rotational rates of the robot hand that are only a small percentage of the operational joint rate limits. Therefore, joint angle rates are scaled when they exceed operational limits in a real time simulation of a robot arm. Simulation results show that a small dead band avoids the wrist singularity in the resolved rate equations but can introduce a high frequency oscillation close to the singularity. However, when a coordinated wrist movement is used in conjunction with the resolved rate equations, the high frequency oscillation disappears

Financial interests of patient organisations contributing to technology appraisal at England's National Institute for Health and Care Excellence (NICE): a policy review

Objectives: To investigate the prevalence of financial interests among patient organisations contributing to health technology assessment at the National Institute for Health and Care Excellence (NICE) in England, and the extent to which current disclosure policy ensures decision-making committees are aware of these interests. Design: Policy review using annual accounts, reports and websites of patient organisations, a database of payments declared by pharmaceutical manufacturers (Disclosure UK), other manufacturer declarations, responses from patient organisations, and declarations of interests by nominated representatives of patient organisations. Setting: Appraisals of medicines and treatments for use in the English and Welsh National Health Service. Participants: 53 patient organisations contributing to 41 NICE technology appraisals published in 2015 and 2016, with 117 separate occasions that a patient organisation contributed to the appraisal of a technology. Main outcome measures: (i) Prevalence of specific interests, i.e. funding from manufacturer(s) of a technology under appraisal or competitor products; (ii) Proportion of specific interests of which NICE decision-making committees were aware; (iii) Proportion of specific interests for which disclosure was not required by current NICE policy. Results: 38/53 (71.7%) patient organisations had accepted funding from the manufacturer(s) of a technology or a competitor product in the same or previous year that they had contributed to the appraisal of that technology. Specific interests were 46 present on 92 out of 117 (78.6%) occasions that patient organisations contributed to appraisals in 2015 and 2016. NICE decision-making committees were aware of less than a third of specific interests (36/115, 31.3%). For over half of the specific interests of which committees were unaware (42/79, 53.2%), disclosure by patient organisations was not required by current NICE policy. Conclusions: Specific interests are highly prevalent among patient organisations contributing to health technology assessment. NICE is reviewing its disclosure policy to ensure that decision-making committees are aware of all relevant interests

Blunting the Spike: the CV Minimum Period

The standard picture of CV secular evolution predicts a spike in the CV distribution near the observed short-period cutoff P_0 ~ 78 min, which is not observed. We show that an intrinsic spread in minimum (`bounce') periods P_b resulting from a genuine difference in some parameter controlling the evolution can remove the spike without smearing the sharpness of the cutoff. The most probable second parameter is different admixtures of magnetic stellar wind braking (at up to 5 times the GR rate) in a small tail of systems, perhaps implying that the donor magnetic field strength at formation is a second parameter specifying CV evolution. We suggest that magnetic braking resumes below the gap with a wide range, being well below the GR rate in most CVs, but significantly above it in a small tail.Comment: 5 pages, 4 figures; accepted for publication in MNRA

The 8^8B Neutrino Spectrum

Knowledge of the energy spectrum of $^8$B neutrinos is an important ingredient for interpreting experiments that detect energetic neutrinos from the Sun. The neutrino spectrum deviates from the allowed approximation because of the broad alpha-unstable $^8$Be final state and recoil order corrections to the beta decay. We have measured the total energy of the alpha particles emitted following the beta decay of $^8$B. The measured spectrum is inconsistent with some previous measurements, in particular with a recent experiment of comparable precision. The beta decay strength function for the transition from $^8$B to the accessible excitation energies in $^8$Be is fit to the alpha energy spectrum using the R-matrix approach. Both the positron and neutrino energy spectra, corrected for recoil order effects, are constructed from the strength function. The positron spectrum is in good agreement with a previous direct measurement. The neutrino spectrum disagrees with previous experiments, particularly for neutrino energies above 12 MeV.Comment: 15 pages, 13 figures, 4 tables, submitted to Phys. Rev. C, typos correcte

The Making of Cloud Applications An Empirical Study on Software Development for the Cloud

Cloud computing is gaining more and more traction as a deployment and provisioning model for software. While a large body of research already covers how to optimally operate a cloud system, we still lack insights into how professional software engineers actually use clouds, and how the cloud impacts development practices. This paper reports on the first systematic study on how software developers build applications in the cloud. We conducted a mixed-method study, consisting of qualitative interviews of 25 professional developers and a quantitative survey with 294 responses. Our results show that adopting the cloud has a profound impact throughout the software development process, as well as on how developers utilize tools and data in their daily work. Among other things, we found that (1) developers need better means to anticipate runtime problems and rigorously define metrics for improved fault localization and (2) the cloud offers an abundance of operational data, however, developers still often rely on their experience and intuition rather than utilizing metrics. From our findings, we extracted a set of guidelines for cloud development and identified challenges for researchers and tool vendors

Prelaunch absolute radiometric calibration of the reflective bands on the LANDSAT-4 protoflight Thematic Mapper

The results of the absolute radiometric calibration of the LANDSAT 4 thematic mapper, as determined during pre-launch tests with a 122 cm integrating sphere, are presented. Detailed results for the best calibration of the protoflight TM are given, as well as summaries of other tests performed on the sensor. The dynamic range of the TM is within a few per cent of that required in all bands, except bands 1 and 3. Three detectors failed to pass the minimum SNR specified for their respective bands: band 5, channel 3 (dead), band 2, and channels 2 and 4 (noisy or slow response). Estimates of the absolute calibration accuracy for the TM show that the detectors are typically calibrated to 5% absolute error for the reflective bands; 10% full-scale accuracy was specified. Ten tests performed to transfer the detector absolute calibration to the internal calibrator show a 5% range at full scale in the transfer calibration; however, in two cases band 5 showed a 10% and a 7% difference

Prelaunch absolute radiometric calibration of LANDSAT-4 protoflight Thematic Mapper

Results are summarized and analyzed from several prelaunch tests with a 122 cm integrating sphere used as part of the absolute radiometric calibration experiments for the protoflight TM sensor carried on the LANDSAT-4 satellite. The calibration procedure is presented and the radiometric sensitivity of the TM is assessed. The internal calibrator and dynamic range after calibration are considered. Tables show dynamic range after ground processing, spectral radiance to digital number and digital number to spectral radiance values for TM bands 1, 2, 3, 4, 5, 7 and for channel 4 of band 6