A robotic apparatus that dictates torque fields around joints without affecting inherent joint dynamics

This manuscript describes how motor behaviour researchers who are not at the same time expert roboticists may implement an experimental apparatus, which has the ability to dictate torque fields around a single joint on one limb or single joints on multiple limbs without otherwise interfering with the inherent dynamics of those joints. Such an apparatus expands the exploratory potential of the researcher wherever experimental distinction of factors may necessitate independent control of torque fields around multiple limbs, or the shaping of torque fields of a given joint independently of its plane of motion, or its directional phase within that plane. The apparatus utilizes torque motors. The challenge with torque motors is that they impose added inertia on limbs and thus attenuate joint dynamics. We eliminated this attenuation by establishing an accurate mathematical model of the robotic device using the Box-Jenkins method, and cancelling out its dynamics by employing the inverse of the model as a compensating controller. A direct measure of the remnant inertial torque as experienced by the hand during a 50 s period of wrist oscillations that increased gradually in frequency from 1.0 to 3.8 Hz confirmed that the removal of the inertial effect of the motor was effectively complete.

Scattering theory of multilevel atoms interacting with arbitrary radiation fields

We present a generic transfer matrix approach for the description of the interaction of atoms possessing multiple ground state and excited state sublevels with light fields. This model allows us to treat multi-level atoms as classical scatterers in light fields modified by, in principle, arbitrarily complex optical components such as mirrors, resonators, dispersive or dichroic elements, or filters. We verify our formalism for two prototypical sub-Doppler cooling mechanisms and show that it agrees with the standard literature.

Hänsch--Couillaud locking of Mach--Zehnder interferometer for carrier removal from a phase-modulated optical spectrum

We describe and analyse the operation and stabilization of a Mach--Zehnder interferometer, which separates the carrier and the first-order sidebands of a phase-modulated laser field, and which is locked using the H\"ansch--Couillaud method. In addition to the necessary attenuation, our interferometer introduces, via total internal reflection, a significant polarization-dependent phase delay. We employ a general treatment to describe an interferometer with an object which affects the field along one path, and we examine how this phase delay affects the error signal. We discuss the requirements necessary to ensure the lock point remains unchanged when phase modulation is introduced, and we demonstrate and characterize this locking experimentally. Finally, we suggest an extension to this locking strategy using heterodyne detection.

Tree-Based Adaptive Spatial Detection for Adaptive Modulated MIMO Systems

Adaptive Multiple-Input Multiple-Output (MIMO) systems achieve a much higher information rate than conventional fixed schemes due to their ability to adapt their configurations according to the wireless communications environment. However, current adaptive MIMO detection schemes exhibit either low performance (and hence low spectral efficiency) or huge computational
complexity. In particular, whilst deterministic Sphere Decoder (SD) detection schemes are well established for static MIMO systems, exhibiting deterministic parallel structure, low computational complexity and quasi-ML detection performance, there are no corresponding adaptive schemes. This paper solves
this problem, describing a hybrid tree based adaptive modulation detection scheme. Fixed Complexity Sphere Decoding (FSD) and Real-Values FSD (RFSD) are modified and combined into a hybrid scheme exploited at low and medium SNR to provide the highest possible information rate with quasi-ML Bit Error
Rate (BER) performance, while Reduced Complexity RFSD, BChase and Decision Feedback (DFE) schemes are exploited in the high SNR regions. This algorithm provides the facility to balance the detection complexity with BER performance with compatible information rate in dynamic, adaptive MIMO communications
environments.

Nonlinear Modulated Envelope Electrostatic Wavepacket Propagation in Plasmas

A brief review of the occurrence of amplitude modulated structures in space and laboratory plasmas is provided, followed by a theoretical analysis of the mechanism of carrier wave (self-) interaction, with respect to electrostatic plasma modes. A generic collisionless unmagnetized fluid model is employed. Both cold-(zero-temperature) and warm-(finite temperature) fluid descriptions are considered and compared. The weakly nonlinear oscillation regime is investigated by applying a multiple scale (reductive perturbation) technique and a Nonlinear Schrödinger Equation (NLSE) is obtained, describing the evolution of the slowly varying wave amplitude in time and space. The amplitude’s stability profile reveals the possibility of modulational instability to occur under the influence of external perturbations. The NLSE admits exact localized envelope (solitary wave) solutions of bright (pulses) or dark (holes, voids) type, whose characteristics depend on intrinsic plasma parameters. The role of perturbation obliqueness (with respect to the propagation direction), finite temperature and — possibly — defect (dust) concentration is explicitly considered. The relevance of this description with respect to known electron-ion (e-i) as well as dusty (complex) plasma modes is briefly discussed. © 2004 American Institute of Physics

Relative biological effectiveness (RBE) and out-of-field cell survival responses to passive scattering and pencil beam scanning proton beam deliveries

The relative biological effectiveness (RBE) of passive scattered (PS) and pencil beam scanned (PBS) proton beam delivery techniques for uniform beam configurations was determined by clonogenic survival. The radiobiological impact of modulated beam configurations on cell survival occurring in- or out-of-field for both delivery techniques was determined with intercellular communication intact or physically inhibited. Cell survival responses were compared to those observed using a 6 MV photon beam produced with a linear accelerator. DU-145 cells showed no significant difference in survival response to proton beams delivered by PS and PBS or 6 MV photons taking into account a RBE of 1.1 for protons at the centre of the spread out Bragg peak. Significant out-of-field effects similar to those observed for 6 MV photons were observed for both PS and PBS proton deliveries with cell survival decreasing to 50-60% survival for scattered doses of 0.05 and 0.03 Gy for passive scattered and pencil beam scanned beams respectively. The observed out-of-field responses were shown to be dependent on intercellular communication between the in-and out-of-field cell populations. These data demonstrate, for the first time, a similar RBE between passive and actively scanned proton beams and confirm that out-of-field effects may be important determinants of cell survival following exposure to modulated photon and proton fields

The dynamics of arsenic in four paddy fields in the Bengal delta

Irrigation with arsenic contaminated groundwater in the Bengal Delta may lead to As accumulation in the soil and rice grain. The dynamics of As concentration and speciation in paddy fields during dry season (boro) rice cultivation were investigated at 4 sites in Bangladesh and West Bengal, India. Three sites which were irrigated with high As groundwater had elevated As concentrations in the soils, showing a significant gradient from the irrigation inlet across the field. Arsenic concentration and speciation in soil pore water varied temporally and spatially; higher As concentrations were associated with an increasing percentage of arsenite, indicating a reductive mobilization. Concentrations of As in rice grain varied by 2-7 fold within individual fields and were poorly related with the soil As concentration. A field site employing alternating flooded-dry irrigation produced the lowest range of grain As concentration, suggesting a lower soil As availability caused by periodic aerobic conditions.

Arsenic accumulation and phosphorus status in two rice (Oryza sativa L.) cultivars surveyed from fields in South China

The consumption of paddy rice (Oryza sativa L.) is a major inorganic arsenic exposure pathway in S.E. Asia. A multi-location survey was undertaken in Guangdong Province, South China to assess arsenic accumulation and speciation in 2 rice cultivars, one an Indica and the other a hybrid Indica. The results showed that arsenic concentrations in rice tissue increased in the order grain <husk <straw <root. Rice grain arsenic content of 2 rice cultivars was significant different and correlated with phosphorus concentration and molar ratio of P/As in shoot, being higher for the Indica cultivar than for the hybrid Indica, which suggests altering shoot phosphorus status as a promising route for breeding rice cultivars with reduced grain arsenic. Speciation of grain arsenic, performed using HPLC-ICP-MS, identified inorganic arsenic as the dominant arsenic species present in the rice grain.