Anthropomorphic teleoperation: Controlling remote manipulators with the DataGlove

A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs

Theory of a general class of dissipative processes

General theory of dissipative periodic processes for systems defined by partial, functional, or neutral differential equation

Hot phonon decay in supported and suspended exfoliated graphene

Near infrared pump-probe spectroscopy has been used to measure the ultrafast dynamics of photoexcited charge carriers in monolayer and multilayer graphene. We observe two decay processes occurring on 100 fs and 2 ps timescales. The first is attributed to the rapid electron-phonon thermalisation in the system. The second timescale is found to be due to the slow decay of hot phonons. Using a simple theoretical model we calculate the hot phonon decay rate and show that it is significantly faster in monolayer flakes than in multilayer ones. In contrast to recent claims, we show that this enhanced decay rate is not due to the coupling to substrate phonons, since we have also seen the same effect in suspended flakes. Possible intrinsic decay mechanisms that could cause such an effect are discussed.Comment: 4 pages, 3 figure

Performance of the Birmingham Solar-Oscillations Network (BiSON)

The Birmingham Solar-Oscillations Network (BiSON) has been operating with a full complement of six stations since 1992. Over 20 years later, we look back on the network history. The meta-data from the sites have been analysed to assess performance in terms of site insolation, with a brief look at the challenges that have been encountered over the years. We explain how the international community can gain easy access to the ever-growing dataset produced by the network, and finally look to the future of the network and the potential impact of nearly 25 years of technology miniaturisation.Comment: 31 pages, 19 figures. Accepted by Solar Physics: 2015 October 20. First online: 2015 December 7. Open Acces

The environment and host haloes of the brightest z~6 Lyman-break galaxies

By studying the large-scale structure of the bright high-redshift Lyman-break galaxy (LBG) population it is possible to gain an insight into the role of environment in galaxy formation physics in the early Universe. We measure the clustering of a sample of bright (-22.7<M_UV<-21.125) LBGs at z~6 and use a halo occupation distribution (HOD) model to measure their typical halo masses. We find that the clustering amplitude and corresponding HOD fits suggests that these sources are highly biased (b~8) objects in the densest regions of the high-redshift Universe. Coupled with the observed rapid evolution of the number density of these objects, our results suggest that the shape of high luminosity end of the luminosity function is related to feedback processes or dust obscuration in the early Universe - as opposed to a scenario where these sources are predominantly rare instances of the much more numerous M_UV ~ -19 population of galaxies caught in a particularly vigorous period of star formation. There is a slight tension between the number densities and clustering measurements, which we interpret this as a signal that a refinement of the model halo bias relation at high redshifts or the incorporation of quasi-linear effects may be needed for future attempts at modelling the clustering and number counts. Finally, the difference in number density between the fields (UltraVISTA has a surface density ~1.8 times greater than UDS) is shown to be consistent with the cosmic variance implied by the clustering measurements.Comment: 19 pages, 8 figures, accepted MNRAS 23rd March 201

Strong nonlinear optical response of graphene flakes measured by four-wave mixing

We present the first experimental investigation of nonlinear optical properties of graphene flakes. We find that at near infrared frequencies a graphene monolayer exhibits a remarkably high third-order optical nonlinearity which is practically independent of the wavelengths of incident light. The nonlinear optical response can be utilized for imaging purposes, with image contrasts of graphene which are orders of magnitude higher than those obtained using linear microscopy.Comment: 4 pages, 5 figure

Assessment of a head-mounted miniature monitor

Two experiments were conducted to assess the capabilities and limitations of the Private Eye, a miniature, head-mounted monitor. The first experiment compared the Private Eye with a cathode ray tube (CRT) and hard copy in both a constrained and unconstrained work envelope. The task was a simulated maintenance and assembly task that required frequent reference to the displayed information. A main effect of presentation media indicated faster placement times using the CRT as compared with hard copy. There were no significant differences between the Private Eye and either the CRT or hard copy for identification, placement, or total task times. The goal of the second experiment was to determine the effects of various local visual parameters on the ability of the user to accurately perceive the information of the Private Eye. The task was an interactive video game. No significant performance differences were found under either bright or dark ambient illumination environments nor with either visually simple or complex task backgrounds. Glare reflected off of the bezel surrounding the monitor did degrade performance. It was concluded that this head-mounted, miniature monitor could serve a useful role for in situ operations, especially in microgravity environments

Spatial incoherence of solar granulation: a global analysis using BiSON 2B data

A poor understanding of the impact of convective turbulence in the outer layers of the Sun and Sun-like stars challenges the advance towards an improved understanding of their internal structure and dynamics. Assessing and calibrating these effects is therefore of great importance. Here we study the spatial coherence of granulation noise and oscillation modes in the Sun, with the aim of exploiting any incoherence to beat-down observed granulation noise, hence improving the detection of low-frequency p-modes. Using data from the BiSON 2B instrument, we assess the coherence between different atmospheric heights and between different surface regions. We find that granulation noise from the different atmospheric heights probed is largely incoherent; frequency regions dominated by oscillations are almost fully coherent. We find a randomised phase difference for the granulation noise, and a near zero difference for the evanescent oscillations. A reduction of the incoherent granulation noise is shown by application of the cross-spectrum.Comment: 8 pages, 7 figures, MNRAS in pres

Complete chaotic synchronization in mutually coupled time-delay systems

Complete chaotic synchronization of end lasers has been observed in a line of mutually coupled, time-delayed system of three lasers, with no direct communication between the end lasers. The present paper uses ideas from generalized synchronization to explain the complete synchronization in the presence of long coupling delays, applied to a model of mutually coupled semiconductor lasers in a line. These ideas significantly simplify the analysis by casting the stability in terms of the local dynamics of each laser. The variational equations near the synchronization manifold are analyzed, and used to derive the synchronization condition that is a function of the parameters. The results explain and predict the dependence of synchronization on various parameters, such as time-delays, strength of coupling and dissipation. The ideas can be applied to understand complete synchronization in other chaotic systems with coupling delays and no direct communication between synchronized sub-systems.Comment: 22 pages, 6 figure