Design and analysis of a haptic device design for large and fast movements

Haptic devices tend to be kept small as it is easier to achieve a large change of stiffness with a low associated apparent mass. If large movements are required there is a usually a reduction in the quality of the haptic sensations which can be displayed. The typical measure of haptic device performance is impedance-width (z-width) but this does not account for actuator saturation, usable workspace or the ability to do rapid movements. This paper presents the analysis and evaluation of a haptic device design, utilizing a variant of redundant kinematics, sometimes referred to as a macro-micro configuration, intended to allow large and fast movements without loss of impedance-width. A brief mathematical analysis of the design constraints is given and a prototype system is described where the effects of different elements of the control scheme can be examined to better understand the potential benefits and trade-offs in the design. Finally, the performance of the system is evaluated using a Fitts’ Law test and found to compare favourably with similar evaluations of smaller workspace devices.

Large contribution of supercooled liquid clouds to the solar radiation budget of the Southern Ocean

The Southern Ocean is a critical region for global climate, yet large cloud and solar radiation biases over the Southern Ocean are a long-standing problem in climate models and are poorly understood, leading to biases in simulated sea surface temperatures. This study shows that supercooled liquid clouds are central to understanding and simulating the Southern Ocean environment. A combination of satellite observational data and detailed radiative transfer calculations is used to quantify the impact of cloud phase and cloud vertical structure on the reflected solar radiation in the Southern Hemisphere summer. It is found that clouds with supercooled liquid tops dominate the population of liquid clouds. The observations show that clouds with supercooled liquid tops contribute between 27% and 38% to the total reflected solar radiation between 40° and 70°S, and climate models are found to poorly simulate these clouds. The results quantify the importance of supercooled liquid clouds in the Southern Ocean environment and highlight the need to improve understanding of the physical processes that control these clouds in order to improve their simulation in numerical models. This is not only important for improving the simulation of present-day climate and climate variability, but also relevant for increasing confidence in climate feedback processes and future climate projections.

A comparison between large-scale irregularities and scintillations in the polar ionosphere

A comparison tool has been developed by mapping the global GPS total electron content (TEC) and large coverage of ionospheric scintillations together on the geomagnetic latitude/magnetic local time coordinates. Using this tool, a comparison between large-scale ionospheric irregularities and scintillations are pursued during a geomagnetic storm. Irregularities, such as storm enhanced density (SED), middle-latitude trough and polar cap patches, are clearly identified from the TEC maps. At the edges of these irregularities, clear scintillations appeared but their behaviors were different. Phase scintillations (σsub{φ}) were almost always larger than amplitude scintillations (S4) at the edges of these irregularities, associated with bursty flows or flow reversals with large density gradients. An unexpected scintillation feature appeared inside the modeled auroral oval where S4 were much larger than σsub{φ}, most likely caused by particle precipitations around the exiting polar cap patches.