The effect of inertial coupling in the dynamics and control of flexible robotic manipulators

A general model of the dynamics of flexible robotic manipulators is presented, including the gross motion of the links, the vibrations of the links and joints, and the dynamic coupling between the gross motions and vibrations. The vibrations in the links may be modeled using lumped parameters, truncated modal summation, a component mode synthesis method, or a mixture of these methods. The local link inertia matrix is derived to obtain the coupling terms between the gross motion of the link and the vibrations of the link. Coupling between the motions of the links results from the kinematic model, which utilizes the method of kinematic influence. The model is used to simulate the dynamics of a flexible space-based robotic manipulator which is attached to a spacecraft, and is free to move with respect to the inertial reference frame. This model may be used to study the dynamic response of the manipulator to the motions of its joints, or to externally applied disturbances

Peacekeeping after Brexit

A one-day roundtable examining the UK’s relationship with UN peace operations in the context of Brexit was held on 7 September 2018 at RUSI. Organised by the British International Studies Association (BISA) Peacekeeping and Peacebuilding Working Group in partnership with RUSI, the roundtable took as its starting point the broader question of the role of multilateral institutions in UK foreign and defence policy after the UK formally leaves the EU, and sought to identify and understand the role of peace operations within the framework of the ‘Global Britain’ agenda.Some 30 delegates from academia and the policy and NGO sectors provided perspectives on how different forms of engagement with UN peace operations could strengthen the UK government’s commitment to supporting a rules-based international system. The roundtable provided an opportunity for more focused policy discussions pertaining to how the UK commits to UN operations, what the commitment should look like, and what opportunities and challenges exist in the varying ways in which the UK can approach UN operations. This conference report captures the key issues and themes discussed by participants

Improving Data Glove Accuracy and Usability Using a Neural Network When Measuring Finger Joint Range of Motion

Data gloves capable of measuring finger joint kinematics can provide objective range of motion information useful for clinical hand assessment and rehabilitation. Data glove sensors are strategically placed over specific finger joints to detect movement of the wearers’ hand. The construction of the sensors used in a data glove, the number of sensors used, and their positioning on each finger joint are influenced by the intended use case. Although most glove sensors provide reasonably stable linear output, this stability is influenced externally by the physical structure of the data glove sensors, as well as the wearer’s hand size relative to the data glove, and the elastic nature of materials used in its construction. Data gloves typically require a complex calibration method before use. Calibration may not be possible when wearers have disabled hands or limited joint flexibility, and so limits those who can use a data glove within a clinical context. This paper examines and describes a unique approach to calibration and angular calculation using a neural network that improves data glove repeatability and accuracy measurements without the requirement for data glove calibration. Results demonstrate an overall improvement in data glove measurements. This is particularly relevant when the data glove is used with those who have limited joint mobility and cannot physically complete data glove calibration

Effects of environmental colour on mood: a wearable life colour capture device

Colour is everywhere in our daily lives and impacts things like our mood, yet we rarely take notice of it. One method of capturing and analysing the predominant colours that we encounter is through visual lifelogging devices such as the SenseCam. However an issue related to these devices is the privacy concerns of capturing image level detail. Therefore in this work we demonstrate a hardware prototype wearable camera that captures only one pixel - of the dominant colour prevelant in front of the user, thus circumnavigating the privacy concerns raised in relation to lifelogging. To simulate whether the capture of dominant colour would be sufficient we report on a simulation carried out on 1.2 million SenseCam images captured by a group of 20 individuals. We compare the dominant colours that different groups of people are exposed to and show that useful inferences can be made from this data. We believe our prototype may be valuable in future experiments to capture colour correlated associated with an individual's mood

Peacekeeping after Brexit. RUSI Conference Report, December 2018

A one-day roundtable examining the UK's relationship with UN peace operations in the context of Brexit was held on 7 September 2018 at RUSI. Organised by the British International Studies Association (BISA) Peacekeeping and Peacebuilding Working Group in partnership with RUSI, the roundtable took as its starting point the broader question of the role of multilateral institutions in UK foreign and defence policy after the UK formally leaves the EU, and sought to identify and understand the role of peace operations within the framework of the 'Global Britain' agenda.Some 30 delegates from academia and the policy and NGO sectors provided perspectives on how different forms of engagement with UN peace operations could strengthen the UK government's commitment to supporting a rules-based international system. The roundtable provided an opportunity for more focused policy discussions pertaining to how the UK commits to UN operations, what the commitment should look like, and what opportunities and challenges exist in the varying ways in which the UK can approach UN operations. This conference report captures the key issues and themes discussed by participants

Powerful Water Masers in Active Galactic Nuclei

Luminous water maser emission in the 6_(16)-5_(23) line at 22 GHz has been detected from two dozen galaxies. In all cases the emission is confined to the nucleus and has been found only in AGN, in particular, in Type 2 Seyferts and LINERs. I argue that most of the observed megamaser sources are powered by X-ray irradiation of dense gas by the central engine. After briefly reviewing the physics of these X-Ray Dissociation Regions, I discuss in detail the observations of the maser disk in NGC 4258, its implications, and compare alternative models for the maser emission. I then discuss the observations of the other sources that have been imaged with VLBI to date, and how they do or do not fit into the framework of a thin, rotating disk, as in NGC 4258. Finally, I briefly discuss future prospects, especially the possibility of detecting other water maser transitions.Comment: 45 pages, 16 figures. Refereed and greatly expanded version of my review talk at the ASA meeting in Lorne, July 2001. To appear in Proceedings of the Astronomical Society of Australi

Photometric Catalogue of Quasars and Other Point Sources in the Sloan Digital Sky Survey

We present a catalogue of about 6 million unresolved photometric detections in the Sloan Digital Sky Survey Seventh Data Release classifying them into stars, galaxies and quasars. We use a machine learning classifier trained on a subset of spectroscopically confirmed objects from 14th to 22nd magnitude in the SDSS {\it i}-band. Our catalogue consists of 2,430,625 quasars, 3,544,036 stars and 63,586 unresolved galaxies from 14th to 24th magnitude in the SDSS {\it i}-band. Our algorithm recovers 99.96% of spectroscopically confirmed quasars and 99.51% of stars to i $\sim$21.3 in the colour window that we study. The level of contamination due to data artefacts for objects beyond $i=21.3$ is highly uncertain and all mention of completeness and contamination in the paper are valid only for objects brighter than this magnitude. However, a comparison of the predicted number of quasars with the theoretical number counts shows reasonable agreement.Comment: 16 pages, Ref. No. MN-10-2382-MJ.R2, accepted for publication in MNRAS Main Journal, April 201

The democratic role of campaign journalism: partisan representation and public participation

Campaign journalism is a distinctive but under-researched form of editorialised news reporting that aims to influence politicians rather than inform voters. In this it diverges from liberal norms of social responsibility, but instead campaigning newspapers make claims to represent the interests or opinions of publics such as their readers or groups affected by the issue. This could be understood as democratically valid in relation to alternative models such as participatory or corporatist democracy. This essay examines journalists’ understanding of the identity and views of these publics, and how their professional norms are operationalised in their journalistic practice in relation to five case studies in the Scottish press. The campaigns are analysed in terms of four normative criteria associated with corporatist and participatory democracy: firstly, the extent to which subjective advocacy is combined with objectivity and accuracy; secondly, the extent to which civic society organisations are accorded access; thirdly, whether the disadvantage of resource-poor groups in society is compensated for; and finally, to what extent the mobilisation of public support for the campaigns aims to encourage an active citizenry

BMQ

BMQ: Boston Medical Quarterly was published from 1950-1966 by the Boston University School of Medicine and the Massachusetts Memorial Hospitals