Real-time graphic simulation for space telerobotics applications

Designing space-based telerobotic systems presents many problems unique to telerobotics and the space environment, but it also shares many common hardware and software design problems with Earth-based industrial robot applications. Such problems include manipulator design and placement, grapple-fixture design, and of course the development of effective and reliable control algorithms. Since first being applied to industrial robotics just a few years ago, interactive graphic simulation has proven to be a powerful tool for anticipating and solving problems in the design of Earth-based robotic systems and processes. Where similar problems are encountered in the design of space-based robotic mechanisms, the same graphic simulation tools may also be of assistance. The capabilities of PLACE, a commercially available interactive graphic system for the design and simulation of robotic systems and processes is described. A space-telerobotics application of the system is presented and discussed. Potential future enhancements are described

Coral symbiodinium community composition across the Belize Mesoamerican barrier reef system is influenced by host species and thermal variability

Accepted manuscrip

On the predictive power of Local Scale Invariance

Local Scale Invariance (LSI) is a theory for anisotropic critical phenomena designed in the spirit of conformal invariance. For a given representation of its generators it makes non-trivial predictions about the form of universal scaling functions. In the past decade several representations have been identified and the corresponding predictions were confirmed for various anisotropic critical systems. Such tests are usually based on a comparison of two-point quantities such as autocorrelation and response functions. The present work highlights a potential problem of the theory in the sense that it may predict any type of two-point function. More specifically, it is argued that for a given two-point correlator it is possible to construct a representation of the generators which exactly reproduces this particular correlator. This observation calls for a critical examination of the predictive content of the theory.Comment: 17 pages, 2 eps figure

High temperature dielectric properties of Apical, Kapton, Peek, Teflon AF, and Upilex polymers

Reliable lightweight systems capable of providing electrical power at the magawatt level are a requirement for future manned space exploration missions. This can be achieved by the development of high temperature insulating materials which are not only capable of surviving the hostile space environment but can contribute to reducing the mass and weight of the heat rejection system. In this work, Apical, Upilex, Kapton, Teflon AF, and Peek polymers are characterized for AC and DC dielectric breakdown in air and in silicone oil at temperatures up to 250 C. The materials are also tested in terms of their dielectric constant and dissipation factor at high temperatures with an electrical stress of 60 Hz, 200 V/mil present. The effects of thermal aging on the properties of the films are determined after 15 hours of exposure to 200 and 250 C, each. The results obtained are discussed and conclusions are made concerning the suitability of these dielectrics for use in capacitors and cable insulations in high temperature environments

Determination of Parts-Per-Million Cesium in Simulated Nuclear Waste with the Cesium-Selective Electrode

Because the molybdophosphate electrode was not sufficiently sensitive, and the reliability of the ''liquid state'' electrode for routine analysis was uncertain, a cesium-selective electrode of the proven liquid membrane type was developed. This paper describes preparation and testing of a liquid membrane electrode that contains cesium tetraphenylboron dissolved in 4-ethylnitrobenzene

Ageing in disordered magnets and local scale-invariance

The ageing of the bond-disordered two-dimensional Ising model quenched to below its critical point is studied through the two-time autocorrelator and thermoremanent magnetization (TRM). The corresponding ageing exponents are determined. The form of the scaling function of the TRM is well described by the theory of local scale-invariance.Comment: Latex2e, with epl macros, 7 pages, final for

Optimal Pacing for Running 400 m and 800 m Track Races

Physicists seeking to understand complex biological systems often find it rewarding to create simple "toy models" that reproduce system behavior. Here a toy model is used to understand a puzzling phenomenon from the sport of track and field. Races are almost always won, and records set, in 400 m and 800 m running events by people who run the first half of the race faster than the second half, which is not true of shorter races, nor of longer. There is general agreement that performance in the 400 m and 800 m is limited somehow by the amount of anaerobic metabolism that can be tolerated in the working muscles in the legs. A toy model of anaerobic metabolism is presented, from which an optimal pacing strategy is analytically calculated via the Euler-Lagrange equation. This optimal strategy is then modified to account for the fact that the runner starts the race from rest; this modification is shown to result in the best possible outcome by use of an elementary variational technique that supplements what is found in undergraduate textbooks. The toy model reproduces the pacing strategies of elite 400 m and 800 m runners better than existing models do. The toy model also gives some insight into training strategies that improve performance.Comment: 14 pages, 4 figures, submitted to the American Journal of Physic

Symmetry based determination of space-time functions in nonequilibrium growth processes

We study the space-time correlation and response functions in nonequilibrium growth processes described by linear stochastic Langevin equations. Exploiting exclusively the existence of space and time dependent symmetries of the noiseless part of these equations, we derive expressions for the universal scaling functions of two-time quantities which are found to agree with the exact expressions obtained from the stochastic equations of motion. The usefulness of the space-time functions is illustrated through the investigation of two atomistic growth models, the Family model and the restricted Family model, which are shown to belong to a unique universality class in 1+1 and in 2+1 space dimensions. This corrects earlier studies which claimed that in 2+1 dimensions the two models belong to different universality classes.Comment: 18 pages, three figures included, submitted to Phys. Rev.

Ageing in bosonic particle-reaction models with long-range transport

Ageing in systems without detailed balance is studied in bosonic contact and pair-contact processes with Levy diffusion. In the ageing regime, the dynamical scaling of the two-time correlation function and two-time response function is found and analysed. Exact results for non-equilibrium exponents and scaling functions are derived. The behaviour of the fluctuation-dissipation ratio is analysed. A passage time from the quasi-stationary regime to the ageing regime is defined, in qualitative agreement with kinetic spherical models and p-spin spherical glasses.Comment: Latex2e, 24 pages, with 9 figures include

Unusual features of long-range density fluctuations in glass-forming organic liquids : a Rayleigh and Rayleigh-Brillouin light scattering in study

A new feature of glass-forming liquids, i.e., long-range density fluctuations of the order of 100 nm, has been extensively characterized by means of static light scattering, photon correlation spectroscopy and Rayleigh-Brillouin spectroscopy in orthoterphenyl (OTP) and 1,1-di(4'-methoxy-5' methyl-phenyl)-cyclohexane (BMMPC). These long-range density fluctuations result in the following unusual features observed in a light scattering experiment. which are not described by the existing theories: (i) strong q-dependent isotropic excess Rayleigh intensity, (ii) additional slow component in the polarized photon correlation function, and (iii) high Landau-Placzek ratio. These unusual features are equilibrium properties of the glass-forming liquids and depend only on temperature, provided that the sample has been equilibrated long enough. The temperature-dependent equilibration times were measured for BMMPC and are about 11 orders of magnitude longer than the a process. It was found that the glass-forming liquid OTP may occur in two states: with and without long-range density fluctuations (''clusters"). We have characterized the two states by static and dynamic light scattering in the temperature range from T-g to T-g + 200 K. The relaxation times of the a process as well as the parameters of the Brillouin line are identical in both OTP with and without clusters. The a process (density fluctuations) in OTP was characterized by measuring either the polarized (VV) or depolarized (VH) correlation function, which are practically identical and a-independent. This feature, which is commonly observed in glass-forming liquids, is not fully explained by the existing theories