The mechanics of redundantly-driven robotic systems. Final report, September 1988--December 1995

The objectives of this research are to develop systematic methodologies for the creation of multi-degree-of-freedom mechanisms and to gain better understanding of the kinematics, dynamics and control of such devices. The following three inter-related subjects have been studied: (1) tendon-driven manipulators, (2) geared robotic mechanisms, and (3) automotive transmission mechanisms. The main results of this study are summarized

A Multilevel Product Model for Simulation-Based Design of Mechanical Systems

This paper presents a multilevel product model that supports Simulation-Based Design (SBD) of mechanical systems, from pre liminary to detailed design stages The pnmary goal of the SBD is to achieve product designs featuring better performance and greater du rability and reliability through computer-based modeling, engineering analysis, and design trade-off. A Computer-Aided Design (CAD) model combined with engineering parameters and mathematical equations that simulate physical behavior of the mechanical system constitute its product model for SBD. For preliminary design, improvement of system performance, including dynamics and human factors, is usually the primary focus A CAD model with reasonably accurate physical parameters, such as mass properties of major components or assemblies, is defined as the base definition of the product model for SBD. A number of simulation models are derived from the base definition to sup port simulation of the mechanical system performance A parametric study can be conducted to search for design alternatives using dimen sion parameters created in the parameterized CAD model. The CAD model and base definition are then refined from the preliminary design stage to support intermediate designs. Intermediate designs will primarily focus on product subsystem performance. A product model is evolved by refining geometric representation of mechanical components in CAD, and expanding product assembly into parts and sub assemblies for further engineering analysis Component designs for performance, such as fatigue, mechanical reliability, and structural per formance, as well as maintainability are the primary focus in the detailed design stage. A detailed product model evolved from that of the previous design is needed In the detailed design stage, a systematic design trade-off method supports design improvement. A High Mobil ity Multi-Purpose Wheeled Vehicle (HMMWV) is employed to illustrate and demonstrate the proposed product model.Yeshttps://us.sagepub.com/en-us/nam/manuscript-submission-guideline

Velocity-force characteristics of an interface driven through a periodic potential

We study the creep dynamics of a two-dimensional interface driven through a periodic potential using dynamical renormalization group methods. We find that the nature of weak-drive transport depends qualitatively on whether the temperature $T$ is above or below the equilibrium roughening transition temperature $T_c$. Above $T_c$, the velocity-force characteristics is Ohmic, with linear mobility exhibiting a jump discontinuity across the transition. For $T \le T_c$, the transport is highly nonlinear, exhibiting an interesting crossover in temperature and weak external force $F$. For intermediate drive, $F>F_*$, we find near $T_c^{-}$ a power-law velocity-force characteristics $v(F)\sim F^\sigma$, with $\sigma-1\propto \tilde{t}$, and well-below $T_c$, $v(F)\sim e^{-(F_*/F)^{2\tilde{t}}}$, with $\tilde{t}=(1-T/T_c)$. In the limit of vanishing drive ($F\ll F_*$) the velocity-force characteristics crosses over to $v(F)\sim e^{-(F_0/F)}$, and is controlled by soliton nucleation.Comment: 18 pages, submitted to Phys. Rev.

History and Actuality of Galician Emigrants: A Galicia (Spain) Shared between Latin America and Europe

Despite the significant advances in path planning methods, problems involving highly constrained spaces are still challenging. In particular, in many situations the configuration space is a non-parametrizable variety implicitly defined by constraints, which complicates the successful generalization of sampling-based path planners. In this paper, we present a new path planning algorithm specially tailored for highly constrained systems. It builds on recently developed tools for Higher-dimensional Continuation, which provide numerical procedures to describe an implicitly defined variety using a set of local charts. We propose to extend these methods to obtain an efficient path planner on varieties, handling highly constrained problems. The advantage of this planner comes from that it directly operates into the configuration space and not into the higher-dimensional ambient space, as most of the existing methods do.Postprint (author’s final draft

Opportunities and challenges of China’s inquiry-based education reform in middle and high schools: Perspectives of science teachers and teacher educators

Consistent with international trends, an emergent interest in inquiry-based science teaching and learning in K-12 schools is also occurring in China. This study investigates the possibilities for and the barriers to enactment of inquiry-based science education in Chinese schools. Altogether 220 Chinese science teachers, science teacher educators and researchers (primarily from the field of chemistry education) participated in this study in August 2001. Participants represented 13 cities and provinces in China. We administered two questionnaires, one preceding and one following a 3-hour presentation by a US science educator and researcher about inquiry-based teaching and learning theories and practices. In each of three sites in which the study was conducted (Shanghai, Guangzhou and Beijing), questionnaires were administered, and four representative participants were interviewed. Our coding and analysis of quantifiable questionnaire responses (using a Likert scale), of open-ended responses, and of interview transcripts revealed enthusiastic interest in incorporating inquiry-based teaching and learning approaches in Chinese schools. However, Chinese educators face several challenges: (a) the national college entrance exam needs to align with the goals of inquiry-based teaching; (b) systemic reform needs to happen in order for inquiry-based science to be beneficial to students, including a change in the curriculum, curriculum materials, relevant resources, and teacher professional development; (c) class size needs to be reduced; and (d) an equitable distribution of resources in urban and rural schools needs to occur.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/42933/1/10763_2005_Article_1517.pd

Searches for baryon number violation in neutrino experiments: a white paper

Baryon number conservation is not guaranteed by any fundamental symmetry within the standard model, and therefore has been a subject of experimental and theoretical scrutiny for decades. So far, no evidence for baryon number violation has been observed. Large underground detectors have long been used for both neutrino detection and searches for baryon number violating processes. The next generation of large neutrino detectors will seek to improve upon the limits set by past and current experiments and will cover a range of lifetimes predicted by several Grand Unified Theories. In this White Paper, we summarize theoretical motivations and experimental aspects of searches for baryon number violation in neutrino experiments

The Fulde–Ferrell–Larkin–Ovchinnikov State in Pnictides

Fe-based superconductors (FeSC) exhibit all the properties of systems that allow the formation of a superconducting phase with oscillating order parameter, called the Fulde--Ferrell--Larkin--Ovchinnikov (FFLO) phase. By the analysis of the Cooper pair susceptibility in two-band FeSC, such systems are shown to support the existence of a FFLO phase, regardless of the exhibited order parameter symmetry. We also show the state with nonzero Cooper pair momentum, in superconducting FeSC with $\sim \cos(k_{x}) \cdot \cos (k_{y})$ symmetry, to be the ground state of the system in a certain parameter range.Comment: 8 pages, 4 figures Journal of Low Temperature Physics, (2013

Volume I. Introduction to DUNE

The preponderance of matter over antimatter in the early universe, the dynamics of the supernovae that produced the heavy elements necessary for life, and whether protons eventually decay—these mysteries at the forefront of particle physics and astrophysics are key to understanding the early evolution of our universe, its current state, and its eventual fate. The Deep Underground Neutrino Experiment (DUNE) is an international world-class experiment dedicated to addressing these questions as it searches for leptonic charge-parity symmetry violation, stands ready to capture supernova neutrino bursts, and seeks to observe nucleon decay as a signature of a grand unified theory underlying the standard model. The DUNE far detector technical design report (TDR) describes the DUNE physics program and the technical designs of the single- and dual-phase DUNE liquid argon TPC far detector modules. This TDR is intended to justify the technical choices for the far detector that flow down from the high-level physics goals through requirements at all levels of the Project. Volume I contains an executive summary that introduces the DUNE science program, the far detector and the strategy for its modular designs, and the organization and management of the Project. The remainder of Volume I provides more detail on the science program that drives the choice of detector technologies and on the technologies themselves. It also introduces the designs for the DUNE near detector and the DUNE computing model, for which DUNE is planning design reports. Volume II of this TDR describes DUNE\u27s physics program in detail. Volume III describes the technical coordination required for the far detector design, construction, installation, and integration, and its organizational structure. Volume IV describes the single-phase far detector technology. A planned Volume V will describe the dual-phase technology

New insights into the genetic etiology of Alzheimer's disease and related dementias

Characterization of the genetic landscape of Alzheimer's disease (AD) and related dementias (ADD) provides a unique opportunity for a better understanding of the associated pathophysiological processes. We performed a two-stage genome-wide association study totaling 111,326 clinically diagnosed/'proxy' AD cases and 677,663 controls. We found 75 risk loci, of which 42 were new at the time of analysis. Pathway enrichment analyses confirmed the involvement of amyloid/tau pathways and highlighted microglia implication. Gene prioritization in the new loci identified 31 genes that were suggestive of new genetically associated processes, including the tumor necrosis factor alpha pathway through the linear ubiquitin chain assembly complex. We also built a new genetic risk score associated with the risk of future AD/dementia or progression from mild cognitive impairment to AD/dementia. The improvement in prediction led to a 1.6- to 1.9-fold increase in AD risk from the lowest to the highest decile, in addition to effects of age and the APOE ε4 allele