The formation and arrangement of pits by a corrosive gas

When corroding or otherwise aggressive particles are incident on a surface, pits can form. For example, under certain circumstances rock surfaces that are exposed to salts can form regular tessellating patterns of pits known as "tafoni". We introduce a simple lattice model in which a gas of corrosive particles, described by a discrete convection diffusion equation, drifts onto a surface. Each gas particle has a fixed probability of being absorbed and causing damage at each contact. The surface is represented by a lattice of strength numbers which reduce after each absorbtion event, with sites being removed when their strength becomes negative. The model generates regular formations of pits, with each pit having a characteristic trapezoidal geometry determined by the particle bias, absorbtion probability and surface strength. The formation of this geometry may be understood in terms of a first order partial differential equation. By viewing pits as particle funnels, we are able to relate the gradient of pit walls to absorbtion probability and particle bias

Robust Inference on Seasonal Unit Roots via a Bootstrap Applied to OECD Macroeconomic Series

Recent experimental results presented in Burridge and Taylor (2001a,b, and 2003) show that, as usually implemented, the Hylleberg et al. (1990) seasonal unit root tests can be rather liberal, with true level often substantially higher than nominal level. This effect is due to the presence of any of three things: data-based lag selection in the implementation of the tests, and either or both periodic heteroscedasticity and serial correlation in the driving shocks. Burridge and Taylor (2003) demonstrate that under experimental conditions a carefully implemented bootstrap substantially corrects test level without loss of power. The present study applies their technique to a large number of publicly available series, and demonstrates conclusively that the bootstrap produces less liberal, and, given the experimental results cited above, more reliable inference. We report results for Sweden, the UK and the US, which are typical of the fifteen countries in our panel. Other results, the GAUSS code, and raw data are all available at: www.staff.city.ac.uk/p.burridge

Reservoir Simulation with the Finite Element Method Using Biot Poroelastic Approach

We are developing a finite element program for oil and gas reservoir simulation based on Biot's poroelastic theory, where a simultaneous solution is sought for both the pore pressure and strain in the solid phase. Several 2-D and 3-D cases are presented, which are compared with analytical solutions for verification of this approach. We have also applied this method to simulate surface subsidence due to gas and oil production in a subsurface reservoir. The development of this code is still in its initial stage, but the approach shows promise.Massachusetts Institute of Technology. Earth Resources Laborator

Tube Waves, Seismic Waves And Effective Sources

A simple asymptotic analysis, based on the smallness of the ratio of the borehole radius to the wavelength, reveals the interaction between tube waves and seismic waves. The pressure field in a tube wave acts as a secondary source of seismic waves and conversely an incoming seismic wave excites a tube wave. The asymptotic analysis leads to a characterization of these sources in terms of the solution to two-dimensional elastostatic problems. These may be solved exactly when the borehole has an elliptical cross-section even in an anisotropic formation. Also the borehole need not be straight provided that its radius of curvature is large compared with a wavelength

Global asymptotic stability of a passive juggling strategy: A possible parts-feeding method

In this paper we demonstrate that a passive vibration strategy can bring a one-degree-of-freedom ball to a specified periodic trajectory from all initial conditions. We draw motivation from the problem of parts feeding in sensorless assembly. We provide simulation results suggesting the relevance of our analysis to the parts feeding problem

THE ROLE OF LITERAL MEANING IN THE COMPREHENSION OF NON-LITERAL CONSTRUCTIONS

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/72630/1/j.1467-8640.1992.tb00373.x.pd

Toward a Dynamical Pick and Place

We report on our initial efforts to build robot feedback controllers that develop increased capability from simpler constituent controllers. Previous work with our three degree of freedom robot has resulted in a machine that exhibits various dynamically dexterous skills of superlative ability but very narrow behavioral scope. We focus here on the development of both a formalism and practice for the composition of constituent controllers. The composite should yield automatically purposive combinations of these skills that reach goals no one of the defining controllers could have achieved in isolation. The specific task we initially target, the dynamical pick and place , requires the robot to acquire balls that have been randomly thrown into its work space and set them safely at rest in a specified location. We present a brief overview of the constituent behaviors and a mechanism for their combination along with documentation of our preliminary empirical successes

Toward Obstacle Avoidance in Intermittent Dynamical Environments

In this paper we discuss a robotic task requiring dynamical safety in the face of an intermittent environment. We define and offer examples of this notion. We then construct a dynamically safe composite controller from dynamically safe constituents, and present empirical evidence of its effectiveness. For more information: Kod*La

Humanoid Mobile Manipulation Using Controller Refinement

An important class of mobile manipulation problems are move-to-grasp problems where a mobile robot must navigate to and pick up an object. One of the distinguishing features of this class of tasks is its coarse-to-fine structure. Near the beginning of the task, the robot can only sense the target object coarsely or indirectly and make gross motion toward the object. However, after the robot has located and approached the object, the robot must finely control its grasping contacts using precise visual and haptic feedback. In this paper, it is proposed that move-to-grasp problems are naturally solved by a sequence of controllers that iteratively refines what ultimately becomes the final solution. This paper introduces the notion of a refining sequence of controllers and characterizes this type of solution. The approach is demonstrated in a move-to-grasp task where Robonaut, the NASA/JSC dexterous humanoid, is mounted on a mobile base and navigates to and picks up a geological sample box. In a series of tests, it is shown that a refining sequence of controllers decreases variance in robot configuration relative to the sample box until a successful grasp has been achieved

Forming Human-Robot Teams Across Time and Space

NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space