Multiple grasp-specific representations of tool dynamics mediate skillful manipulation.

Skillful tool use requires knowledge of the dynamic properties of tools in order to specify the mapping between applied force and tool motion. Importantly, this mapping depends on the orientation of the tool in the hand. Here we investigate the representation of dynamics during skillful manipulation of a tool that can be grasped at different orientations. We ask whether the motor system uses a single general representation of dynamics for all grasp contexts or whether it uses multiple grasp-specific representations. Using a novel robotic interface, subjects rotated a virtual tool whose orientation relative to the hand could be varied. Subjects could immediately anticipate the force direction for each orientation of the tool based on its visual geometry, and, with experience, they learned to parameterize the force magnitude. Surprisingly, this parameterization of force magnitude showed limited generalization when the orientation of the tool changed. Had subjects parameterized a single general representation, full generalization would be expected. Thus, our results suggest that object dynamics are captured by multiple representations, each of which encodes the mapping associated with a specific grasp context. We suggest that the concept of grasp-specific representations may provide a unifying framework for interpreting previous results related to dynamics learning.

A stochastic model of temporal variations in monthly temperature, precipitation, snowfall, and resulting snowpack

We report a Monte Carlo representation of the long-term inter-annual variability of monthly snowfall on a detailed (1 km) grid of points throughout the southwest. An extension of the local climate model of the southwestern United States (Stamm and Craig 1992) provides spatially based estimates of mean and variance of monthly temperature and precipitation. The mean is the expected value from a canonical regression using independent variables that represent controls on climate in this area, including orography. Variance is computed as the standard error of the prediction and provides site-specific measures of (1) natural sources of variation and (2) errors due to limitations of the data and poor distribution of climate stations. Simulation of monthly temperature and precipitation over a sequence of years is achieved by drawing from a bivariate normal distribution. The conditional expectation of precipitation. given temperature in each month, is the basis of a numerical integration of the normal probability distribution of log precipitation below a threshold temperature (3°C) to determine snowfall as a percent of total precipitation. Snowfall predictions are tested at stations for which long-term records are available. At Donner Memorial State Park (elevation 1811 meters) a 34-year simulation - matching the length of instrumental record - is within 15 percent of observed for mean annual snowfall. We also compute resulting snowpack using a variation of the model of Martinec et al. (1983). This allows additional tests by examining spatial patterns of predicted snowfall and snowpack and their hydrologic implications.

Estimating long-term growth-rate changes of southern bluefin tuna (Thunnus maccoyii) from two periods of tag-return data

Southern bluefin tuna (SBT) (Thunnus maccoyii) growth rates are estimated from tag-return data associated with two time periods, the 1960s and 1980s. The traditional von Bertalanffy growth model (VBG) and a two-phase VBG model were fitted to the data by maximum likelihood. The traditional VBG model did not provide an adequate representation of growth in SBT, and the two-phase VBG yielded a significantly better fit. The results indicated that significant change occurs in the pattern of growth in relation to a VBG curve during the juvenile stages of the SBT life cycle, which may be related to the transition from a tightly schooling fish that spends substantial time in near and surface shore waters to one that is found primarily in more offshore and deeper waters. The results suggest that more complex growth models should be considered for other tunas and for other species that show a marked change in habitat use with age. The likelihood surface for the two-phase VBG model was found to be bimodal and some implications of this are investigated. Significant and substantial differences were found in the growth for fish spawned in the 1960s and in the 1980s, such that after age four there is a difference of about one year in the expected age of a fish of similar length which persists over the size range for which meaningful recapture data are available. This difference may be a density-dependent response as a consequence of the marked reduction in the SBT population. Given the key role that estimates of growth have in most stock assessments, the results indicate that there is a need both for the regular monitoring of growth rates and for provisions for changes in growth over time (possibly related to changes in abundance) in the stock assessment models used for SBT and other species.

Modeling the effect of snow on seasonal runoff within the Truckee River drainage basin

EXTRACT (SEE PDF FOR FULL ABSTRACT): We estimate monthly runoff for a 2-dimensional solution domain containing those areas tributary to Pyramid Lake, Nevada (the Truckee River drainage basin) at a 1-kilometer grid cell spacing. ... To calculate the effect of snow on the hydrologic system, we perform two experiments. In the first we assume that all precipitation falls as rain; in the second we assume that some precipitation falls as snow, thus available water is a combination of rain and snowmelt. We find that considering the effect of snow results in a more accurate representation of mean monthly flow rates, in particular the peak flow during the melt season in the Sierra Nevada. These preliminary results indicate that a relatively simple snow model can improve the representation of Truckee River basin hydrology, significantly reducing errors in modeled seasonal runoff.

Monte Carlo simulation of streamflow of the Salt River, Arizona

EXTRACT (SEE PDF FOR FULL ABSTRACT): Evaluations of the impact of climate change (such as a greenhouse effect) upon water resources should represent both the expected change and the uncertainty in that expectation. Since water resources such as streamflow and reservoir levels depend on a variety of factors, each of which is subject to significant uncertainty, it is desirable to formulate methods of representing that uncertainty in the forcing factors and from this determine the uncertainty in the response variables of interest. We report here progress in the representation of the uncertainty in climate upon the uncertainty in the estimated hydrologic response.

Comparison of different scheduling techniques for H-infinity controllers

Several approaches to designing schedule H-infinity control systems are compared. These include a controller switching approach and also parameter scheduling of an observer representation of the controller. They are illustrated by application to a Generic VSTOI. Aircraft Model (GVAM) supplied by The Royal Aerospace Establishment (RAE) at Bedford. The switched design has been tested on the simulator at RAE Bedford. The linear H-infinity designs make use of a loop-shaping followed by robust stabilisation to additive perturbations of a normalised coprime factorisation of the shaped plans. The different scheduling approaches are compared with respect to achieved robust stability levels. performance and complexity of implementation.

Identification of support conditions of buried pipes using a vibrating pig

This paper describes a method for monitoring the variation in support condition of pipelines using a vibration technique. The method is useful for detecting poor support of buried pipelines and for detecting spanning and depth of cover in sub-sea lines. Variation in the pipe support condition leads to increased likelihood of pipe damage. Under roadways, poorly supported pipe may be damaged by vehicle loading. At sea, spanned sections of pipe are vulnerable to ocean current loading and also to snagging by stray anchors in shallow waters. A vibrating `pig' has been developed and tested on buried pipelines. Certain features of pipe support, such as voids and hard spots, display characteristic responses to vibration, and these are measured by the vibrating pig. Post-processing of the measured vibration data is used to produce a graphical representation of the pipeline support and certain `feature characteristics' are identified. In field tests on a pipeline with deliberately constructed support faults, features detected by the vibrating pig are in good agreement with the known construction.

Wave digital filter model of the entire auditory periphery

A model of the auditory periphery assembled from analog network submodels of all the relevant anatomical structures is described. There is bidirectional coupling between networks representing the outer ear, middle ear and cochlea. A simple voltage source representation of the outer hair cells provides level-dependent basilar membrane curves. The networks are translated into efficient computational modules by means of wave digital filtering. A feedback unit regulates the average firing rate at the output of an inner hair cell module via a simplified modelling of the dynamics of the descending paths to the peripheral ear. This leads to a digital model of the entire auditory periphery with applications to both speech and hearing research.

Maintaining internal representations: The role of the human superior parietal lobe

In sensorimotor integration, sensory input and motor output signals are combined to provide an internal estimate of the state of both the world and one's own body. Although a single perceptual and motor snapshot can provide information about the current state, computational models show that the state can be optimally estimated by a recursive process in which an internal estimate is maintained and updated by the current sensory and motor signals. These models predict that an internal state estimate is maintained or stored in the brain. Here we report a patient with a lesion of the superior parietal lobe who shows both sensory and motor deficits consistent with an inability to maintain such an internal representation between updates. Our findings suggest that the superior parietal lobe is critical for sensorimotor integration, by maintaining an internal representation of the body's state.

Diffusion and chemical reaction in the porous structures of solid oxide fuel cells

The Rolls-Royce Integrated-Planar Solid Oxide Fuel Cell (IP-SOFC) consists of ceramic modules which have electrochemical cells printed on the outer surfaces. The cathodes are the outermost layer of each cell and are supplied with oxygen from air flowing over the outside of the module. The anodes are in direct contact with the ceramic structure and are supplied with fuel from internal gas channels. Natural gas is reformed into hydrogen for use by the fuel cells in a separate reformer module of similar design except that the fuel cells are replaced by a reforming catalyst layer. The performance of the modules is intrinsically linked to the behaviour of the gas flows within their porous structures. Because the porous layers are very thin, a one-dimensional flow model provides a good representation of the flow property variations between fuel channel and fuel cell or reforming catalyst. The multi-component convective-diffusive flows are simulated using a new theory of flow in porous material, the Cylindrical Pore Interpolation Model. The effects of the catalysed methane reforming and water-gas shift chemical reactions are also considered using appropriate kinetic models. It is found that the shift reaction, which is catalysed by the anode material, has certain beneficial effects on the fuel cell module performance. In the reformer module it was found that the flow resistance of the porous support structure makes it difficult to sustain a high methane conversion rate. Although the analysis is based on IP-SOFC geometry, the modelling approach and general conclusions are applicable to other types of SOFC.

Construction of a BAC library for Chinese amphioxus Branchiostoma belcheri and identification of clones containing Amphi-pax genes

Amphioxus is a crucial organism for the study of vertebrate evolution. Although a genomic BAC library of Branchiostoma floridae has been constructed, we report here another BAC library construction of its distant relative species Branchiostoma belcheri. The amphioxus BAC library established in present study consists of 45,312 clones arrayed in one hundred and eighteen 384-well plates. The average insert fragment size was 120 kb estimated by Pulsed Field Gel Electrophoresis (PFGE) analysis of 318 randomly selected clones. The representation of the library is about 12 equivalent to the genome, allowing a 99.9995% probability of recovering any specific sequence of interest. We further screened the library with 4 single copied Amphi-Pax genes and identified total of 26 positive clones with average of 6.5 clones for each gene. The result indicates this library is well suited for many applications and should also serve as a useful complemental resource for the scientific community.

Synthesis of positive-real functions with low-complexity series-parallel networks

The purpose of this paper is to continue to develop the recently introduced concept of a regular positive-real function and its application to the classification of low-complexity two-terminal networks. This paper studies five- and six-element series-parallel networks with three reactive elements and presents a complete characterisation and graphical representation of the realisability conditions for these networks. The results are motivated by an approach to passive mechanical control which makes use of the inerter device. ©2009 IEEE.

Workspace comparisons of setup configurations for human-robot interaction

In virtual assembly verification or remote maintenance tasks, bimanual haptic interfaces play a crucial role in successful task completion. This paper proposes a method for objectively comparing how well a haptic interface covers the reachable workspace of human arms. Two system configurations are analyzed for a recently introduced haptic device that is based on two DLR-KUKA light weight robots: the standard configuration, where the device is opposite the human operator, and the ergonomic configuration, where the haptic device is mounted behind the human operator. The human operator directly controls the robotic arms using handles. The analysis is performed using a representation of the robot arm workspace. The merits of restricting the comparisons to the most significant regions of the human workspace are discussed. Using this method, a greater workspace correspondence for the ergonomic configuration was shown. ©2010 IEEE.

Diel feeding chronology of six fish species in Anchuthengu backwater, Kerala

The study examined diel feeding chronology of six fish species in Anchuthengu backwater, Kerala. Over the 24h period, more or less same items contributed to the diet of Arius arius. Mugil cephalus exhibited substantial diel variation in diet composition, with algae forming the main dietary component in the diurnal diet, and prawns in the crepuscular and nocturnal diets. Algae and rotifers formed the main food items throughout the 24h feeding period in Hyporhamphus xanthopterus. No change was noticed in the diel diet composition in Ambassis commersonii. While Caranx ignobilis showed no diel variation, Gerrus lucidus that feeds on a variety of prey items seemed to exhibit some diel variation in feeding. All the fish examined had diurnal feeding peaks. The results indicate that because of diel variation in diet composition and feeding periodicity for these six species, dietary analysis conducted at only one interval would not provide an accurate representation of the diet of these species.

Extraction of fibre network architecture by X-ray tomography and prediction of elastic properties using an affine analytical model

This paper proposes a method for extracting reliable architectural characteristics from complex porous structures using micro-computed tomography (μCT) images. The work focuses on a highly porous material composed of a network of fibres bonded together. The segmentation process, allowing separation of the fibres from the remainder of the image, is the most critical step in constructing an accurate representation of the network architecture. Segmentation methods, based on local and global thresholding, were investigated and evaluated by a quantitative comparison of the architectural parameters they yielded, such as the fibre orientation and segment length (sections between joints) distributions and the number of inter-fibre crossings. To improve segmentation accuracy, a deconvolution algorithm was proposed to restore the original images. The efficacy of the proposed method was verified by comparing μCT network architectural characteristics with those obtained using high resolution CT scans (nanoCT). The results indicate that this approach resolves the architecture of these complex networks and produces results approaching the quality of nanoCT scans. The extracted architectural parameters were used in conjunction with an affine analytical model to predict the axial and transverse stiffnesses of the fibre network. Transverse stiffness predictions were compared with experimentally measured values obtained by vibration testing. © 2011 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.