Tele-autonomous control involving contacts: The applications of a high precision laser line range sensor

The object localization algorithm based on line-segment matching is presented. The method is very simple and computationally fast. In most cases, closed-form formulas are used to derive the solution. The method is also quite flexible, because only few surfaces (one or two) need to be accessed (sensed) to gather necessary range data. For example, if the line-segments are extracted from boundaries of a planar surface, only parameters of one surface and two of its boundaries need to be extracted, as compared with traditional point-surface matching or line-surface matching algorithms which need to access at least three surfaces in order to locate a planar object. Therefore, this method is especially suitable for applications when an object is surrounded by many other work pieces and most of the object is very difficult, is not impossible, to be measured; or when not all parts of the object can be reached. The theoretical ground on how to use line range sensor to located an object was laid. Much work has to be done in order to be really useful

Pattern Selection in the Complex Ginzburg-Landau Equation with Multi-Resonant Forcing

We study the excitation of spatial patterns by resonant, multi-frequency forcing in systems undergoing a Hopf bifurcation to spatially homogeneous oscillations. Using weakly nonlinear analysis we show that for small amplitudes only stripe or hexagon patterns are linearly stable, whereas square patterns and patterns involving more than three modes are unstable. In the case of hexagon patterns up- and down-hexagons can be simultaneously stable. The third-order, weakly nonlinear analysis predicts stable square patterns and super-hexagons for larger amplitudes. Direct simulations show, however, that in this regime the third-order weakly nonlinear analysis is insufficient, and these patterns are, in fact unstable

On the variational interpretation of the discrete KP equation

We study the variational structure of the discrete Kadomtsev-Petviashvili (dKP) equation by means of its pluri-Lagrangian formulation. We consider the dKP equation and its variational formulation on the cubic lattice ${\mathbb Z}^{N}$ as well as on the root lattice $Q(A_{N})$. We prove that, on a lattice of dimension at least four, the corresponding Euler-Lagrange equations are equivalent to the dKP equation.Comment: 24 page

Geological Mapping of the Debussy Quadrangle (H-14) Preliminary Results

Geological mapping of Mercury is crucial to build an understanding of the history of the planet and to set the context for BepiColombo’s observations [1]. Geo-logical mapping of the Debussy quadrangle (H-14) is now underway as part of a program to map the entire planet at a scale of 1:3M using MESSENGER data [2]. The quadrangle is located in the southern hemisphere of Mercury at 0o – 90o E and 22.5o – 65o S. This will be the first high resolution map of the quadrangle as it was not imaged by Mariner 10

High-resolution observation of the Venus dayglow spectrum 1250-1430 angstroms

The spectrum of the dayglow of Venus between 1250 and 1430 A was measured in high resolution with the International Ultraviolet Explorer. Seven exposures which were made with the short wavelength camera in the high dispersion mode using the large aperture were combined to give a total exposure time of 309 min. The atomic oxygen lines at 1302.2, 1304.9, 1306.0, and 1355.6 A are present. In addition, the (14,3) and (14,4) bands of the carbon monoxide fourth positive system at 1317 and 1354 A respectively are identified. These bands are compared with synthetic spectra, showing the excitation mechanism to be fluorescent scattering of solar Lyman alpha radiation

Seasonal observation of Mars

The International Ultraviolet Explorer detected the Hartley bands of ozone in the spectrum of Mars. Seasonal observations show a variation in the north consistent with the measurement of Mariner 9. Observations during Martian late fall in the south were also made

Myelin pathology: Involvement of molecular chaperones and the promise of chaperonotherapy

The process of axon myelination involves various proteins including molecular chaperones. Myelin alteration is a common feature in neurological diseases due to structural and functional abnormalities of one or more myelin proteins. Genetic proteinopathies may occur either in the presence of a normal chaperoning system, which is unable to assist the defective myelin protein in its folding and migration, or due to mutations in chaperone genes, leading to functional defects in assisting myelin maturation/migration. The latter are a subgroup of genetic chaperonopathies causing demyelination. In this brief review, we describe some paradigmatic examples pertaining to the chaperonins Hsp60 (HSPD1, or HSP60, or Cpn60) and CCT (chaperonin-containing TCP-1). Our aim is to make scientists and physicians aware of the possibility and advantages of classifying patients depending on the presence or absence of a chaperonopathy. In turn, this subclassification will allow the development of novel therapeutic strategies (chaperonotherapy) by using molecular chaperones as agents or targets for treatment

NDL: A Domain-Specific Language for Device Drivers

Device drivers are difficult to write and error-prone. They are usually written in C, a fairly low-level language with minimal type safety and little support for device semantics. As a result, they have become a major source of instability in operating system code. This paper presents NDL, a language for device drivers. NDL provides high-level abstractions of device resources and constructs tailored to describing common device driver operations. We show that NDL allows for the coding of a semantically correct driver with a code size reduction of more than 50% and a minimal impact on performance

Universal Amplitude Combinations for Self-Avoiding Walks, Polygons and Trails

We give exact relations for a number of amplitude combinations that occur in the study of self-avoiding walks, polygons and lattice trails. In particular, we elucidate the lattice-dependent factors which occur in those combinations which are otherwise universal, show how these are modified for oriented lattices, and give new results for amplitude ratios involving even moments of the area of polygons. We also survey numerical results for a wide range of amplitudes on a number of oriented and regular lattices, and provide some new ones.Comment: 20 pages, NI 92016, OUTP 92-54S, UCSBTH-92-5

Steady state existence of passive vector fields under the Kraichnan model

The steady state existence problem for Kraichnan advected passive vector models is considered for isotropic and anisotropic initial values in arbitrary dimension. The model includes the magnetohydrodynamic (MHD) equations, linear pressure model (LPM) and linearized Navier-Stokes (LNS) equations. In addition to reproducing the previously known results for the MHD and linear pressure model, we obtain the values of the Kraichnan model roughness parameter $\xi$ for which the LNS steady state exists.Comment: Improved text & figures, added references & other correction