Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration

The K-theoretic Farrell-Jones Conjecture for hyperbolic groups

We prove the K-theoretic Farrell-Jones Conjecture for hyperbolic groups with (twisted) coefficients in any associative ring with unit.Comment: 33 pages; final version; to appear in Invent. Mat

Ion Trap Mass Spectrometers for Identity, Abundance and Behavior of Volatiles on the Moon

NASA GSFC and The Open University (UK) are collaborating to deploy an Ion Trap Mass Spectrometer on the Moon to investigate the lunar water cycle. The ITMS is flight-proven throughthe Rosetta Philae comet lander mission. It is also being developed under ESA funding to analyse samples drilled from beneath the lunar surface on the Roscosmos Luna-27 lander (2025).Now, GSFC and OU will now develop a compact ITMS instrument to study the near-surface lunar exosphere on board a CLPS Astrobotic lander at Lacus Mortis in 2021

A 17 degree of freedom anthropomorphic manipulator

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints

The workings of the single member plurality electoral system in India and the need for reform

India uses single member plurality system (SMPS) to elect the members of the lower house of its national parliament and the state assemblies. Under SMPS, elections are conducted for separate geographical areas, known as constituencies or districts, and the electors cast one vote each for a candidate with the winner being the candidate who gets the plurality of votes. SMPS is traditionally defended primarily on the grounds of simplicity and its tendency to produce winning candidates, which promotes a link between constituents and their representatives. It tends to provide a clear-cut choice for voters between two main parties, and is expected to gives rise to single-party rather than coalition governments. It also has the benefit of excluding extremist parties from gaining representation, unless their support is geographically concentrated

Viable tax constitutions

Taxation is only sustainable if the general public complies with it. This observation is uncontroversial with tax practitioners but has been ignored by the public finance tradition, which has interpreted tax constitutions as binding contracts by which the power to tax is irretrievably conferred by individuals to government, which can then levy any tax it chooses. However, in the absence of an outside party enforcing contracts between members of a group, no arrangement within groups can be considered to be a binding contract, and therefore the power of tax must be sanctioned by individuals on an ongoing basis. In this paper we offer, for the first time, a theoretical analysis of this fundamental compliance problem associated with taxation, obtaining predictions that in some cases point to a re-interptretation of the theoretical constructions of the public finance tradition while in others call them into question

The XMM-Newton serendipitous survey. VII. The third XMM-Newton serendipitous source catalogue

Thanks to the large collecting area (3 x ~1500 cm$^2$ at 1.5 keV) and wide field of view (30' across in full field mode) of the X-ray cameras on board the European Space Agency X-ray observatory XMM-Newton, each individual pointing can result in the detection of hundreds of X-ray sources, most of which are newly discovered. Recently, many improvements in the XMM-Newton data reduction algorithms have been made. These include enhanced source characterisation and reduced spurious source detections, refined astrometric precision, greater net sensitivity and the extraction of spectra and time series for fainter sources, with better signal-to-noise. Further, almost 50\% more observations are in the public domain compared to 2XMMi-DR3, allowing the XMM-Newton Survey Science Centre (XMM-SSC) to produce a much larger and better quality X-ray source catalogue. The XMM-SSC has developed a pipeline to reduce the XMM-Newton data automatically and using improved calibration a new catalogue version has been produced from XMM-Newton data made public by 2013 Dec. 31 (13 years of data). Manual screening ensures the highest data quality. This catalogue is known as 3XMM. In the latest release, 3XMM-DR5, there are 565962 X-ray detections comprising 396910 unique X-ray sources. For the 133000 brightest sources, spectra and lightcurves are provided. For all detections, the positions on the sky, a measure of the quality of the detection, and an evaluation of the X-ray variability is provided, along with the fluxes and count rates in 7 X-ray energy bands, the total 0.2-12 keV band counts, and four hardness ratios. To identify the detections, a cross correlation with 228 catalogues is also provided for each X-ray detection. 3XMM-DR5 is the largest X-ray source catalogue ever produced. Thanks to the large array of data products, it is an excellent resource in which to find new and extreme objects.Comment: 23 pages, version accepted for publication in A&