Compliant Electric Actuators Based on Handed Shearing Auxetics

In this paper, we explore a new class of electric motor-driven compliant actuators based on handed shearing auxetic cylinders. This technique combines the benefits of compliant bodies from soft robotic actuators with the simplicity of direct coupling to electric motors. We demonstrate the effectiveness of this technique by creating linear actuators, a four degree-of-freedom robotic platform, and a soft robotic gripper. We compare the soft robotic gripper against a state of the art pneumatic soft gripper, finding similar grasping performance in a significantly smaller and more energy-efficient package.Boeing CompanyNational Science Foundation (U.S.) (grant numbers NSF IIS- 1226883)National Science Foundation (U.S.) (grant numbers NSF CCF-1138967

Designing and deploying a mobile UVC disinfection robot

This paper presents a mobile UVC disinfection robot designed to mitigate the threat of airborne and surface pathogens. Our system comprises a mobile robot base, a custom UVC lamp assembly, and algorithms for autonomous navigation and path planning. We present a model of UVC disinfection and dosage of UVC light delivered by the mobile robot. We also discuss challenges and prototyping decisions for rapid deployment of the robot during the COVID-19 pandemic. Experimental results summarize a long-term deployment at The Greater Boston Food Bank, where the robot delivers (nightly) UVC dosages of at least 10 mJ/cm 2 to a 4000 ft 2 area in under 30 minutes. These dosages are capable of neutralizing 99% of coronaviruses, including SARS-CoV-2, on surfaces and in airborne particles. Further simulations present how this mobile UVC disinfection robot may be extended to classic problems in robotic path planning and adaptive multi-robot coverage control.Accepted manuscrip

M-blocks: Momentum-driven, magnetic modular robots

In this paper, we describe a novel self-assembling, self-reconfiguring cubic robot that uses pivoting motions to change its intended geometry. Each individual module can pivot to move linearly on a substrate of stationary modules. The modules can use the same operation to perform convex and concave transitions to change planes. Each module can also move independently to traverse planar unstructured environments. The modules achieve these movements by quickly transferring angular momentum accumulated in a self-contained flywheel to the body of the robot. The system provides a simplified realization of the modular actions required by the sliding cube model using pivoting. We describe the principles, the unit-module hardware, and extensive experiments with a system of eight modules. Keywords: Actuators; Robots; Lattices; Hardware; Torque; Belts; FastenersNational Science Foundation (U.S.) (Grant 1240383)National Science Foundation (U.S.) (Grant 1138967

Detection of Two Binary Trans-Neptunian Objects, 1997 CQ29 and 2000 CF105, with the Hubble Space Telescope

Images of the trans-Neptunian objects 1997 CQ29 and 2000 CF105 obtained with the Hubble Space Telescope’s WFPC2 camera show them to be binary. The two components of 1997 CQ29 were separated in our images by 0.20±0.03 arsec in November 2001 and by 0.33±0.01 arcsec in June/July 2002. The corresponding minimum physical distances are 6100 km and 10,200 km. The companion to 2000 CF105 was 0.78±0.03 arcsec from the primary, at least 23,400 km. Six other objects in the trans-Neptunian region, including Pluto and its moon Charon, are known to be binaries; 1997 CQ29 and 2000 CF105 are the seventh and eighth known pair. Binarity appears to be a not-uncommon characteristic in this region of the solar system, with detectable companions present in 4±2 % of the objects we have examined. Subject headings: Kuiper Belt, Oort cloud – 3 – 1

Steps toward determination of the size and structure of the broad-line region in active galactic nuclei. VIII. An intensive HST, IUE, and ground-based study of NGC 5548

We present the data and initial results from a combined HST/IUE/ground-based spectroscopic monitoring campaign on the Seyfert I galaxy NGC 5548 that was undertaken in order to address questions that require both higher temporal resolution and higher signal-to-noise ratios than were obtained in our previous multiwavelength monitoring of this galaxy in 1988-1989. IUE spectra were obtained once every 2 days for a period of 74 days beginning on 1993 March 14. During the last 39 days of this campaign, spectroscopic observations were also made with the HST Faint Object Spectrograph (FOS) on a daily basis. Ground-based observations, consisting of 165 optical spectra and 77 photometric observations (both eco imaging and aperture photometry), are reported for the period 1992 October-1993 September, although many of the data are concentrated around the time of the satellite-based program. These data constitute a fifth year of intensive optical monitoring of this galaxy. In this contribution we describe the acquisition and reduction of ali of the satellite and ground-based data obtained in this program. We describe in detail various photometric problems with the FOS and explain how we identified and corrected for various anomalies. During the HST portion of the monitoring campaign, the 1350 Å continuum flux is found to have varied by nearly a factor of 2. In other wave bands, the continuum shows nearly identical behavior, except that the amplitude of variability is larger at shorter wavelengths, and the continuum light curves appear to show more short­ timescale variability at shorter wavelengths. The broad emission lines also vary in flux, with amplitudes that are slightly smaller than the UV continuum variations and with a small time delay relative to the UV continuum. On the basis of simple time-series analysis of the UV and optical continuum and emission-line light curves, we find (1) that the ultraviolet and optical continuum variations are virtually simultaneous, with any lag between the 1350 Å continuum and the 5100 Å continuum amounting to less than about 1 day; (2) that the variations in the highest ionization lines observed, He II λ1640 and N v λ1240, lag behind the continuum variations by somewhat less than 2 days; and (3) that the velocity field of the C IV-emitting region is not dominated by radial motion. The results on the C IV velocity field are pretiminary and quite uncertain, but there are some weak indications that the emission-line wings (|Δv|≥ 3000 km s-ˡ) respond to continuum variations slightly more rapidly than does the core. The optical observations show that the variations in the broad Hβ line flux follow the continuum variations with time lag of around 2 weeks, about twice the lag for Lyα and C IV, as in our previous monitoring campaign on this same galaxy. However, the lags measured for Lyα, C IV, and Hβ are each slightly smaller than previous determmations. We confirm two trends reported eartier, namely, (1) that the UV /optical continuum becomes "harder" as it gets brighter and (2) that the highest ionization emission lines have the shortest lags, thus indicating radial ionization stratification of a broad-line region that spans over an order of magnitude range in radius

Steps toward determination of the size and structure of the broad-line region in active galactic nuclei. VIII. An intensive HST, IUE, and ground-based study of NGC 5548

We present the data and initial results from a combined HST/IUE/ground-based spectroscopic monitoring campaign on the Seyfert I galaxy NGC 5548 that was undertaken in order to address questions that require both higher temporal resolution and higher signal-to-noise ratios than were obtained in our previous multiwavelength monitoring of this galaxy in 1988-1989. IUE spectra were obtained once every 2 days for a period of 74 days beginning on 1993 March 14. During the last 39 days of this campaign, spectroscopic observations were also made with the HST Faint Object Spectrograph (FOS) on a daily basis. Ground-based observations, consisting of 165 optical spectra and 77 photometric observations (both eco imaging and aperture photometry), are reported for the period 1992 October-1993 September, although many of the data are concentrated around the time of the satellite-based program. These data constitute a fifth year of intensive optical monitoring of this galaxy. In this contribution we describe the acquisition and reduction of ali of the satellite and ground-based data obtained in this program. We describe in detail various photometric problems with the FOS and explain how we identified and corrected for various anomalies. During the HST portion of the monitoring campaign, the 1350 Å continuum flux is found to have varied by nearly a factor of 2. In other wave bands, the continuum shows nearly identical behavior, except that the amplitude of variability is larger at shorter wavelengths, and the continuum light curves appear to show more short­ timescale variability at shorter wavelengths. The broad emission lines also vary in flux, with amplitudes that are slightly smaller than the UV continuum variations and with a small time delay relative to the UV continuum. On the basis of simple time-series analysis of the UV and optical continuum and emission-line light curves, we find (1) that the ultraviolet and optical continuum variations are virtually simultaneous, with any lag between the 1350 Å continuum and the 5100 Å continuum amounting to less than about 1 day; (2) that the variations in the highest ionization lines observed, He II λ1640 and N v λ1240, lag behind the continuum variations by somewhat less than 2 days; and (3) that the velocity field of the C IV-emitting region is not dominated by radial motion. The results on the C IV velocity field are pretiminary and quite uncertain, but there are some weak indications that the emission-line wings (|Δv|≥ 3000 km s-ˡ) respond to continuum variations slightly more rapidly than does the core. The optical observations show that the variations in the broad Hβ line flux follow the continuum variations with time lag of around 2 weeks, about twice the lag for Lyα and C IV, as in our previous monitoring campaign on this same galaxy. However, the lags measured for Lyα, C IV, and Hβ are each slightly smaller than previous determmations. We confirm two trends reported eartier, namely, (1) that the UV /optical continuum becomes "harder" as it gets brighter and (2) that the highest ionization emission lines have the shortest lags, thus indicating radial ionization stratification of a broad-line region that spans over an order of magnitude range in radius