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.

Examining the uncertainties in a 'tuned and stacked' peatland water table reconstruction

Tuning and stacking approaches have been used to compile non-annually resolved peatland palaeo-water table records in several studies. This approach has been proposed as a potential way forward to overcome the chronological problems that beset the correlation of records and may help in the upscaling of palaeoclimate records for climate model-data comparisons. This paper investigates the uncertainties in this approach using a published water table compilation from Northern Ireland. Firstly, three plausible combinations of chronological match points are used to assess the variability of the reconstructions. It is apparent that even with markedly different match point combinations, the compilations are highly similar, especially when a 100-year running mean line is used for interpretation. Secondly, sample-specific reconstruction errors are scaled in relation to the standardised water table units and illustrated on the compiled reconstruction. Thirdly, the total chronological errors for each reconstruction are calculated using Bayesian age-modelling software. Although tuning and stacking approaches may be suitable for compiling peat-based palaeoclimate records, it is important that the reconstruction and chronological errors are acknowledged and clearly illustrated in future studies. The tuning of peat-based proxy climate records is based on a potentially flawed assumption that events are synchronous between sites. © 2011 Elsevier Ltd and INQUA.

After Slavery: Race, Labor and Citizenship in the Reconstruction South

an edited collection of essays exploring the variety of experiences of freedpeople in the post-emancipation United States. Co-edited by Brian Kelly and Bruce E. Baker, with an afterword by Eric Foner.

High-resolution reconstruction of atmospheric deposition of trace metals and metalloids since AD 1400 recorded by ombrotrophic peat cores in Hautes-Fagnes, Belgium

The objective of our study was to determine the trace metal accumulation rates in the Misten bog, Hautes-Fagnes, Belgium, and assess these in relation to established histories of atmospheric emissions from anthropogenic sources. To address these aims we analyzed trace metals and metalloids (Pb, Cu, Ni, As, Sb, Cr, Co, V, Cd and Zn), as well as Pb isotopes, using XRF, Q-ICP-MS and MC-ICP-MS, respectively in two 40-cm peat sections, spanning the last 600 yr. The temporal increase of metal fluxes from the inception of the Industrial Revolution to the present varies by a factor of 5–50, with peak values found between AD 1930 and 1990. A cluster analysis combined with Pb isotopic composition allows the identification of the main sources of Pb and by inference of the other metals, which indicates that coal consumption and metallurgical activities were the predominant sources of pollution during the last 600 years.