An optimal resolved rate law for kinematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators

An optimal resolved rate law for kindematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution was found to cause large joint rates in some case. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to nonplanar manipulators

Measurement of thermal conductance of silicon nanowires at low temperature

We have performed thermal conductance measurements on individual single crystalline silicon suspended nanowires. The nanowires (130 nm thick and 200 nm wide) are fabricated by e-beam lithography and suspended between two separated pads on Silicon On Insulator (SOI) substrate. We measure the thermal conductance of the phonon wave guide by the 3 method. The cross-section of the nanowire approaches the dominant phonon wavelength in silicon which is of the order of 100 nm at 1K. Above 1.3K the conductance behaves as T3, but a deviation is measured at the lowest temperature which can be attributed to the reduced geometry

Variety and the evolution of refinery processing

Evolutionary theories of economic development stress the role of variety as both a determinant and a result of growth. In this paper we develop a measure of variety, based on Weitzman's maximum likelihood procedure. This measure is based on the distance between products, and indicates the degree of differentiation of a product population. We propose a generic method, which permits to regroup the products with very similar characteristics values before choosing randomly the product models to be used to calculate Weitzman's measure. We apply the variety measure to process characteristics of oil refining. The results obtained for this technology show classic evolutionary specialization patterns that can be understood on the basis of niche theory. Here the changes in variety are related to changes in the range of the services the technology considered can deliver, range which plays a role similar to that of the size of the habitat of a biological species.TECHNOLOGICAL EVOLUTION; REFINERY PROCESSES; NICHE THEORY; WEITZMAN MEASURE

On the role of the ventral attention system in spatial orienting

We suggest that fMRI evidence is not sufficient to study orienting of attention, but complementary evidence from other techniques should be taken into account, especially when exploring the fast and short-lasting mechanisms of exogenous attentional orienting

Highly efficient synthesis of the tricyclic core of Taxol by cascade metathesis

An efficient enantioselective synthesis of the ABC tricyclic core of the anticancer drug Taxol is reported. The key step of this synthesis is a cascade metathesis reaction, which leads in one operation to the required tricycle if appropriate fine-tuning of the dienyne precursor is performed

The Minimal Length of a Lagrangian Cobordism between Legendrians

To investigate the rigidity and flexibility of Lagrangian cobordisms between Legendrian submanifolds, we investigate the minimal length of such a cobordism, which is a $1$-dimensional measurement of the non-cylindrical portion of the cobordism. Our primary tool is a set of real-valued capacities for a Legendrian submanifold, which are derived from a filtered version of Legendrian Contact Homology. Relationships between capacities of Legendrians at the ends of a Lagrangian cobordism yield lower bounds on the length of the cobordism. We apply the capacities to Lagrangian cobordisms realizing vertical dilations (which may be arbitrarily short) and contractions (whose lengths are bounded below). We also study the interaction between length and the linking of multiple cobordisms as well as the lengths of cobordisms derived from non-trivial loops of Legendrian isotopies.Comment: 33 pages, 9 figures. v2: Minor corrections in response to referee comments. More general statement in Proposition 3.3 and some reorganization at the end of Section

To follow or not to follow: Social norms and civic duty during a pandemic

The COVID-19 pandemic has led to widespread calls from government officials for people to drastically change their behaviour to slow the spread of the disease. From self-quarantining to maintaining physical distance from others, these measures only work if there is widespread adherence. In this article, we explore how one\u27s sense of duty and one\u27s perception of other people\u27s behaviour shape who follows health recommendations. Drawing on the 2020 Democracy Checkup survey, we show that one\u27s own sense of duty and a belief that most other Canadians are adhering to the rules decrease how often people report breaking the rules. Furthermore, among those who lack a sense of duty, a belief that others are following the rules is particularly important. We conclude by discussing how collective action in a pandemic depends on ensuring a broad sense that Canadians are in the crisis together, with everyone doing their part