Project for the analysis of technology transfer Annual report, 1969

Technology utilization of NASA programs and other research and development programs in Federal Government - project analysis results of technology transfe

Multiple cooperating manipulators: The case of kinematically redundant arms

Existing work concerning two or more manipulators simultaneously grasping and transferring a common load is continued and extended. Specifically considered is the case of one or more arms being kinematically redundant. Some existing results in the modeling and control of single redundant arms and multiple manipulators are reviewed. The cooperating situation is modeled in terms of a set of coordinates representing object motion and internal object squeezing. Nominal trajectories in these coordinates are produced via actuator load distribution algorithms introduced previously. A controller is developed to track these desired object trajectories while making use of the kinematic redundancy to additionally aid the cooperation and coordination of the system. It is shown how the existence of kinematic redundancy within the system may be used to enhance the degree of cooperation achievable

Nasal-temporal asymmetries in suprathreshold facial expressions of emotion

In this study, we investigated nasal-temporal asymmetries resulting from exposure to visible facial expressions of emotion. The literature has so far reported attentional asymmetries on spatial perception, and nasal-temporal asymmetries resulting from backward masked visual stimuli activated through non-conscious perception. To our knowledge however, no attempt has been made to test such asymmetries with un-masked, consciously visible emotional stimuli. Here, we report on response differences in binocular and monocular viewing on the perception of visible facial expressions of affect. In Study 1, 24 right-handed adults completed a speeded forced-choice paradigm, in which they binocularly viewed bilateral displays of a neutral face in one hemifield, simultaneously paired either with a happy or angry face of variable emotional salience in the opposite hemifield, for 50ms; the task was to indicate the left-right location of the emotional face. In Study 2 (N=23, right-handed), participants completed the same paradigm mononocularly while alternately patching either left and right eye in successive blocks. Under binocular viewing, we found an overall advantage for localising happy faces, further intensified when displayed in the right visual hemifield, and evident even when the emotional expression was extremely subtle. For monocularly viewed stimuli, we observed a response latency asymmetry with faster responses to temporally viewed happy faces. However there was higher overall accuracy for nasal stimuli regardless of emotion, further intensified when the emotional face appeared on the left. Our findings show that the nasal-temporal asymmetries previously associated exclusively with the non-conscious perception of emotional stimuli, manifest as ‘trigger-happy’ responses when emotional stimuli become visible. This asymmetrical reduction in response latency for nasal stimuli could be attributed an overall attentional bias towards the temporal area ipsilateral to the open eye. This however does not appear to increase our detection accuracy, suggesting that a subcortically driven increase in vigilance does not necessarily make for more efficient responses

Large anisotropy in the optical conductivity of YNi2B2C

The optical properties of YNi$_2$B$_2$C are studied by using the first-principles full-potential linearized augmented plane wave (FLAPW) method within the local density approximation. Anisotropic behavior is obtained in the optical conductivity, even though the electronic structure shows 3D character. A large peak in $\sigma_z$ is obtained at 2.4 eV. The anisotropic optical properties are analyzed in terms of interband transitions between energy levels and found that the Ni site plays an important role. The electronic energy loss spectroscopy (EELS) spectra are also calculated to help elucidate the anisotropic properties in this system.Comment: revtex4, 4 pages, 5 figures, to appear in PR

Reciprocal Recommender System for Learners in Massive Open Online Courses (MOOCs)

Massive open online courses (MOOC) describe platforms where users with completely different backgrounds subscribe to various courses on offer. MOOC forums and discussion boards offer learners a medium to communicate with each other and maximize their learning outcomes. However, oftentimes learners are hesitant to approach each other for different reasons (being shy, don't know the right match, etc.). In this paper, we propose a reciprocal recommender system which matches learners who are mutually interested in, and likely to communicate with each other based on their profile attributes like age, location, gender, qualification, interests, etc. We test our algorithm on data sampled using the publicly available MITx-Harvardx dataset and demonstrate that both attribute importance and reciprocity play an important role in forming the final recommendation list of learners. Our approach provides promising results for such a system to be implemented within an actual MOOC.Comment: 10 pages, accepted as full paper @ ICWL 201

Radial Mixing due to Spiral-Bar Resonance Overlap: Implications to the Milky Way

We have recently identified a previously unknown radial migration mechanism resulting from the overlap of spiral and bar resonances in galactic discs (Minchev & Famaey 2010, Minchev et al. 2010). This new mechanism is much more efficient than mixing by transient spirals and its presence is unavoidable in all barred galaxies, such as our own Milky Way. The consequences of this are a strong flattening in the metallicity gradient in the disc, an extended disc profile, and the formation of a thick disc component, all taking place in only a couple of Gyr. This timescale is drastically shorter than previously expected and thus can put strong constraints on the longevity, strength and pattern speeds of the Galactic bar and Spiral Structure.Comment: 4 pages, 2 figures, presented at ELSA 2010: Gaia, at the frontiers of astrometry, 7-11 June 2010, S\`evres, Paris; To published in EAS Series; Proceedings editors: C. Turon, F. Arenou & F. Meynadie

Skeleton and fractal scaling in complex networks

We find that the fractal scaling in a class of scale-free networks originates from the underlying tree structure called skeleton, a special type of spanning tree based on the edge betweenness centrality. The fractal skeleton has the property of the critical branching tree. The original fractal networks are viewed as a fractal skeleton dressed with local shortcuts. An in-silico model with both the fractal scaling and the scale-invariance properties is also constructed. The framework of fractal networks is useful in understanding the utility and the redundancy in networked systems.Comment: 4 pages, 2 figures, final version published in PR

Radiocarbon and blue optically stimulated luminescence chronologies of the Oitavos consolidated dune (Western Portugal)

The dune of Oitavos, the underlying paleosol, and Helix sp. gastropod shells found within the paleosol were dated using a combination of radiocarbon and blue optically stimulated luminescence (OSL). The organic component of the paleosol produced a significantly older age (~20,000 cal BP) than the OSL age measurement (~15,000 yr), while 14C age measurements on the inorganic component and the gastropods produced ages of ~35,000 yr and ~34,000 yr, respectively. Rare-earth element analyses provide evidence that the gastropods incorporate geological carbonate, making them an unreliable indicator of the age of the paleosol. We propose that the 14C age of the small organic component of the paleosol is also likely to be unreliable due to incorporation of residual material. The OSL age measurement of the upper paleosol (~15,000 yr) is consistent with the age for the base of the dune (~14,500 yr). The younger OSL age for the top of the dune (~12,000 yr) suggests that it was built up by at least 2 sand pulses or that there was a remobilization of material at the top during its evolution, prior to consolidation

Dark matter in the inner parts of barred galaxies: The data

This paper presents surface photometry (B,V, I, J, H, K) and H_alpha rotation curves of 27 isolated spiral galaxies. The final goal is to obtain the mass distribution of a sample of isolated spiral galaxies in order to model their gas kinematics. This is then compared to the observed rotation curve, to determine the necessity of a dark halo in the inner parts (Perez et al. 2004). The azimuthally averaged radial surface brightness profiles and the integrated magnitudes obtained from ellipse fitting are given for each of the sample galaxies. The ellipse fitting technique applied to the light distribution also allowed us to obtain the size of the bar, and the inclination and position angle of the outer isophotes that allow the galaxy deprojection. Using these profiles, 1-D disk-bulge decomposition was performed to obtain the disk scale-length and the bulge effective radius for the different bands. Through the fitting of a parametric function to the observed rotation curve, the maximum rotational velocity and the corresponding radius was obtained. The correlation between the bulge and disk parameters is in agreement with previous studies (de Jong 1996a; Marquez & Moles 1999; Baggett et al. 1998). Regarding the Kormendy relation (Kormendy 1977), in agreement with de Jong, no correlation between the bulge effective radius and its surface brightness is found, possibly due to the small range of bulge magnitudes covered. We find a smaller scatter in the structural relations when compared to non-isolated samples in agreement with Marquez & Moles (1999). Finally, a correlation between the disk scale-length and the bar size is observed, possibly reflecting the rapid growth of a bar.Comment: A&A accepted. Fig. 11 and Tables 3-8 can be downloaded at: http://www.astro.rug.nl/~isa (they will also be available at http://www.edpsciences.org

The origin of the hot metal-poor gas in NGC1291: Testing the hypothesis of gas dynamics as the cause of the gas heating

In this paper we test the idea that the low-metallicity hot gas in the centre of NGC 1291 is heated via a dynamical process. In this scenario, the gas from the outer gas-rich ring loses energy through bar-driven shocks and falls to the centre. Heating of the gas to X-ray temperatures comes from the high velocity that it reaches ($\approx$ 700 \kms) as it falls to the bottom of the potential well. This would explain why the stellar metallicity in the bulge region is around solar while the hot gas metallicity is around 0.1 solar. We carried out an observational test to check this hypothesis by measuring the metallicity of HII regions in the outer ring to check whether they matched the hot gas metallicity. For this purpose we obtained medium resolution long slit spectroscopy with FORS1 on the ESO VLT at Paranal and obtained the metallicities using emission line ratio diagnostics. The obtained metallicities are compatible with the bulge stellar metallicities but very different from the hot-gas metallicity. However, when comparing the different time-scales, the gas in the ring had time enough to get enriched through stellar processes, therefore we cannot rule out the dynamical mechanism as the heating process of the gas. However, the blue colours of the outer ring and the dust structures in the bar region could suggest that the origin of the X-ray hot gas is due to the infall of material from further out.Comment: 6 pages, 6 figures. A&A accepte