Kinematic Design of a 6-DOF Parallel Manipulator with Decoupled Translation and Rotation

A new three-limb, six-degree-of-freedom (DOF) parallel manipulator (PM), termed a selectively actuated PM (SA-PM), is proposed. The end-effector of the manipulator can produce 3-DOF spherical motion, 3-DOF translation, 3-DOF hybrid motion, or complete 6-DOF spatial motion, depending on the types of the actuation (rotary or linear) chosen for the actuators. The manipulator architecture completely decouples translation and rotation of the end-effector for individual control. The structure synthesis of SA-PM is achieved using the line geometry. Singularity analysis shows that the SA-PM is an isotropic translation PM when all the actuators are in linear mode. Because of the decoupled motion structure, a decomposition method is applied for both the displacement analysis and dimension optimization. With the index of maximal workspace satisfying given global conditioning requirements, the geometrical parameters are optimized. As a result, the translational workspace is a cube, and the orientation workspace is nearly unlimited.

The main-sequence rotation-colour relation in the Coma Berenices open cluster

We present the results of a photometric survey of rotation rates in the Coma Berenices (Melotte 111) open cluster, using data obtained as part of the SuperWASP exoplanetary transit-search programme. The goal of the Coma survey was to measure precise rotation periods for main-sequence F, G and K dwarfs in this intermediate-age (~600 Myr) cluster, and to determine the extent to which magnetic braking has caused the stellar spin periods to converge. We find a tight, almost linear relationship between rotation period and J - K colour with an rms scatter of only 2 per cent. The relation is similar to that seen among F, G and K stars in the Hyades. Such strong convergence can only be explained if angular momentum is not at present being transferred from a reservoir in the deep stellar interiors to the surface layers. We conclude that the coupling time-scale for angular momentum transport from a rapidly spinning radiative core to the outer convective zone must be substantially shorter than the cluster age, and that from the age of Coma onwards stars rotate effectively as solid bodies. The existence of a tight relationship between stellar mass and rotation period at a given age supports the use of stellar rotation period as an age indicator in F, G and K stars of Hyades age and older. We demonstrate that individual stellar ages can be determined within the Coma population with an internal precision of the order of 9 per cent (rms), using a standard magnetic braking law in which rotation period increases with the square root of stellar age. We find that a slight modification to the magnetic-braking power law, P ~ t0.56, yields rotational and asteroseismological ages in good agreement for the Sun and other stars of solar age for which p-mode studies and photometric rotation periods have been published.

Do mussel patches provide a refuge for algae from grazing gastropods?

On rocky shores, cover of macroalgae is often greater growing epibiotically on mussels compared to algae growing directly attached to rock. A survey of two shores on the east coast of Ireland confirmed that mussel beds contained greater percentage algal cover and more diverse algal assemblages compared to those on rock. The reasons for this difference are not clear. It has been suggested that mussel beds provide a refuge for algae from grazing gastropods. Surprisingly, we found no evidence to support this. Using wax discs, gastropod grazing patterns were found to be similar within the mussel beds as on rock. The mussel beds do not appear to provide a refuge for algae from grazing activity at this scale and we suggest other possible mechanisms for the prevalence of epibiotic algal cover on mussels. Intertidal grazers may in fact affect the epibiotic algae on mussels and thereby affect indirectly the persistence of mussel beds.

The extent of grazing release from epiphytism for Sargassum muticum (Phaeophyceae) within the invaded range

The overall biotic pressure on a newly introduced species may be less than that experienced within its native range, facilitating invasion. The brown alga Sargassum muticum (Yendo) Fensholt is a conspicuous and successful invasive species originally from Japan and China. We compared S. muticum and native macroalgae with respect to the biotic pressures of mesoherbivore grazing and ectocarpoid fouling. In Strangford Lough, Northern Ireland, S. muticum thalli were as heavily overgrown with seasonal blooms of epiphytic algae as native macroalgal species were. The herbivorous amphipod Dexamine spinosa was much more abundant on S. muticum than on any native macroalga. When cultured with this amphipod, S. muticum lost more tissue than three native macroalgae, Saccharina latissima (Linnaeus) Lane et al., Halidrys siliquosa (Linnaeus) Lyngbye and Fucus serratus Linnaeus. Sargassum muticum cultured with both ectocarpoid fouling and amphipods showed a severe impact, consistent with our previous findings of large declines in the density of S. muticum observed in the field during the peak of fouling. Despite being a recent introduction into the macroalgal community in Strangford Lough, S. muticum appears to be under biotic pressure at least equal to that on native species, suggesting that release from grazing and epiphytism does not contribute to the invasiveness of this species in Strangford Lough.

Correlation Rotation Linear Precoding for MIMO Broadcast Communications

A simple linear precoding technique is proposed for multiple input multiple output (MIMO) broadcast systems using phase shift keying (PSK) modulation. The proposed technique is based on the fact that, on an instantaneous basis, the interference between spatial links in a MIMO system can be constructive and can contribute to the power of the useful signal to improve the performance of signal detection. In MIMO downlinks this co-channel interference (CCI) can be predicted and characterised prior to transmission. Contrary to common practice where knowledge of the interference is used to eliminate it, the main idea proposed here is to use this knowledge to influence the interference and benefit from it, thus gaining advantage from energy already existing in the communication system that is left unexploited otherwise. The proposed precoding aims at adaptively rotating, rather than zeroing, the correlation between the MIMO substreams depending on the transmitted data, so that the signal of interfering transmissions is aligned to the signal of interest at each receive antenna. By doing so, the CCI is always kept constructive and the received signal to interference-plus-noise ratio (SINR) delivered to the mobile units (MUs) is enhanced without the need to invest additional signal power per transmitted symbol at the MIMO base station (BS). It is shown by means of theoretical analysis and simulations that the proposed MIMO precoding technique offers significant performance and throughput gains compared to its conventional counterparts.

On the alignment of debris disks and their host stars' rotation axis -implications for spin-orbit misalignment in exoplanetary systems

It has been widely thought that measuring the misalignment angle between the orbital plane of a transiting exoplanet and the spin of its host star was a good discriminator between different migration processes for hot-Jupiters. Specifically, well-aligned hot-Jupiter systems (as measured by the Rossiter-McLaughlin effect) were thought to have formed via migration through interaction with a viscous disc, while misaligned systems were thought to have undergone a more violent dynamical history. These conclusions were based on the assumption that the planet-forming disc was well-aligned with the host star. Recent work by Lai et al. has challenged this assumption, and proposes that the star-disc interaction in the pre-main sequence phase can exert a torque on the star and change its rotation axis angle. We have estimated the stellar rotation axis of a sample of stars which host spatially resolved debris disks. Comparison of our derived stellar rotation axis inclination angles with the geometrically measured debris-disk inclinations shows no evidence for a misalignment between the two.

Rotation periods of exoplanet host stars

The stellar rotation periods of 10 exoplanet host stars have been determined using newly analysed CaII H&K flux records from the Mount Wilson Observatory and Strömgren b, y photometric measurements from Tennessee State University's automatic photometric telescopes at the Fairborn Observatory. Five of the rotation periods have not previously been reported, with that of HD 130322 very strongly detected at Prot = 26.1 +/- 3.5 d. The rotation periods of five other stars have been updated using new data. We use the rotation periods to derive the line-of-sight inclinations of the stellar rotation axes, which may be used to probe theories of planet formation and evolution when combined with the planetary orbital inclination found from other methods. Finally, we estimate the masses of 14 exoplanets under the assumption that the stellar rotation axis is aligned with the orbital axis. We calculate the mass of HD 92788 b (28 MJ) to be within the low-mass brown dwarf regime and suggest that this object warrants further investigation to confirm its true nature.

WASP-34b: a near-grazing transiting sub-Jupiter-mass exoplanet in a hierarchical triple system

We report the discovery of WASP-34b, a sub-Jupiter-mass exoplanet transiting its 10.4-magnitude solar-type host star (1SWASP J110135.89-235138.4; TYC 6636-540-1) every 4.3177 days in a slightly eccentric orbit (e = 0.038±0.012). We find a planetary mass of 0.59±0.01 MJup and radius of 1.22-0.08+0.11 RJup. There is a linear trend in the radial velocities of 55±4 m s-1 y-1 indicating the presence of a long-period third body in the system with a mass ?0.45 MJup at a distance of ?1.2 AU from the host star. This third-body is either a low-mass star, a white dwarf, or another planet. The transit depth ((RP/Rstar)2 = 0.0126) and high impact parameter (b = 0.90) suggest that this could be the first known transiting exoplanet expected to undergo grazing transits, but with a confidence of only 80%. Radial velocity and photometric data are only available in electronic form at the CDS via anonymous ftp to cdsarc.u-strasbg.fr (130.79.128.5) or via http://cdsarc.u-strasbg.fr/viz-bin/qcat?J/A+A/526/A130

Stellar rotation in the Hyades and Praesepe: gyrochronology and braking time-scale

We present the results of photometric surveys for stellar rotation in the Hyades and in Praesepe, using data obtained as part of the SuperWASP exoplanetary transit-search programme. We determined accurate rotation periods for more than 120 sources whose cluster membership was confirmed by common proper motion and colour-magnitude fits to the clusters' isochrones. This allowed us to determine the effect of magnetic braking on a wide range of spectral types for expected ages of ˜600 Myr for the Hyades and Praesepe. Both clusters show a tight and nearly linear relation between J-Ks colour and rotation period in the F, G and K spectral range. This confirms that loss of angular momentum was significant enough that stars with strongly different initial rotation rates have converged to the same rotation period for a given mass, by the ages of Hyades and Praesepe. In the case of the Hyades, our colour-period sequence extends well into the M dwarf regime and shows a steep increase in the scatter of the colour-period relation, with identification of numerous rapid rotators from ˜0.5 Msun down to the lowest masses probed by our survey (˜0.25 Msun). This provides crucial constraints on the rotational braking time-scales and further clears the way to use gyrochronology as an accurate age measurement tool for main-sequence stars.

THE IMPACT OF BURNING AND GRAZING OF HEATHLAND PLANTS AND INVERTEBRATES IN COUNTRY ANTRIM

The impact of burning and grazing on plant, ground beetle and spider species was investigated experimentally in stands of varying ages (burnt in 1982 and 1988 and unburnt plots) on an area of heather moorland in County Antrim, north-east Ireland. Burning initiated complex succession pathways which appear to have characteristic plant and invertebrate species associations. Removal of Calluna dominance initiated a period of high plant species diversity. Investigation of initial post-fire regeneration suggested that the frequency of occurrence of plant species changed over time and was affected by grazing. Grouping of species by the position of their renewal bud, i.e. their life-form, did not account for all observed interspecific variation. The dominant species after burning were Eriophorum vaginatum, E. angustifolium and Vaccinium myrtillus. Studies of vegetation canopy structure showed that, even with the exclusion of the main grazing herbivores, Calluna will not re-establish itself as the dominant species until several years after burning. The ground beetle Nebria salina was trapped more often on plots burnt in 1988 than on unburnt plots or those burnt in 1982. In comparison, Pterostichus niger and Carabus granulatus were trapped in greater numbers on plots burnt in 1982 than on unburnt plots and plots burnt in 1988. The large species Carabus problematicus and Carabus glabratus were trapped in greater numbers on unburnt plots. Similarly, more of the spiders Ceratinella brevipes and Centromerita concinna were trapped on the plots burnt in 1982. In comparison, Lepthyphantes zimmermanni and Robertus lividus were trapped more often on unburnt plots than on plots burnt in 1982 and 1988. Results are discussed with respect to the importance of the continuation of traditional heathland management practices.

THE IMPACT OF GRAZING ON COMMUNITIES OF GROUND-DWELLING SPIDERS (ARANEAE) IN UPLAND VEGETATION TYPES

Adult spider communities were sampled by pitfall trapping over a 24-month period in plots subjected to a range of grazing regimes on five vegetation types on a hill farm in County Antrim, north-east Ireland. Spider community composition was influenced by vegetation type and grazing regime. Variation in the number of individuals and species diversity was also apparent between vegetation types and grazing regime. Plots grazed by all herbivores were characterised by the predominance of species characteristic of disturbed land. Inbye land and areas where grazing had ceased had characteristic coloniser species. The spiders Erigone dentipalpis, Allomengea scopigera and Centromerita bicolor were trapped with greater success in vegetation types where grass species dominated.