On the determination of boundaries to manipulator workspaces

The accumulation of two independent, broadly applicable formulations for determining the boundary to manipulator workspaces, presented elsewhere, are compared in this paper. Insights gained from one method are used to explain behavior exhibited in the other. Results are also compared and validated. A numerical formulation based on continuation methods is used to map curves that are on the boundary of a manipulator workspace. Analytical criteria based on row rank deficiency criteria of the manipulator's analytical Jacobian are used to map a family of one-dimensional solution curves on the boundary. The other formulation, based on a similar rank-deficiency criteria, yields analytic boundaries parametrized in terms of surface patches on the boundary. Results concerning the applicability of the numerical method to open- and closed-loop systems are compared with those limited to the open-loop for the analytical method. Conclusions regarding the behavior of the manipulator on geometric entities characterized by singular curves, higher-order bifurcation points, and surfaces inside the workspace are drawn. Applicability of both methods and their limitations are also addressed.     

Maintaining global coherence during reading.

Previous research demonstrated a contradiction effect: Although text currently being processed was locally coherent, readers were aware of inconsistencies between a protagonist's actions and characteristics of the protagonists that were described earlier in the text and subsequently backgrounded. In the present experiments, not only the critical characteristics but also the protagonist were backgrounded. When the protagonist was reintroduced into the narrative in the context of carrying out an inconsistent action, the contradiction effect again occurred. In Exps 1–3, we examined the effects of several variables on the onset of the effect. In Exp 4, we presented probes at various points in the passage with results that supported the conclusion that the critical characteristics had been backgrounded before the sentence that contradicted them. Results are discussed in terms of several recent models in which currently active representational elements serve as retrieval cues for other inactive, but highly related, elements. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

School psychologists' acceptability of behavioral and traditional assessment procedures for externalizing problem behaviors.

A national survey of school psychologists' acceptability of psychological assessment techniques in the area of externalizing problem behaviors was examined. School psychologists' ratings of 2 procedures, Behavioral Assessment (BA) and Traditional Assessment (TA), were compared using an analog case study methodology. Using a random sample of 500 National Association of School Psychologists members from the 1991–1992 membership directory, 339 Ss completed the Assessment Rating Profile after reading a hypothetical case summary describing a student with suspected externalizing problem behaviors. Results indicated statistically significant differences between assessment methods and ratings of acceptability. BA procedures were found to be more acceptable than TA procedures. Implications related to the acceptability of psychological assessment techniques, as well as implications for school psychology practitioners are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Topology and Stability of Trivalent Polyhedral Clusters

An algorithm to generate the molecular graphs of the trivalent clusters is presented. All the polyhedral trivalent cages with 4-16 vertices are enumerated, with particular attention being given to their symmetry, spectra and stability. The relative stability of isomers is not decided solely by their symmetry. A new kind of spectral phenomenon is reported. This is the occurrence of graphs having the same HOMO-LUMO gap, the same E and the same even-order moments. We refer to it as 'pseudo-isospectrality'.     

Synthesis and characterisation of carboxylic acid and diphenylphosphine derivatives in the 1,3-diyne series: Spectral properties of polydiacetylene carboxylates

Symmetrically substituted 1,3-diynes containing hydroxyalkyl ( 1a-d ), bromoalkyl ( 1e-h ) (diphenylphosphinyl) ( 1i-k ) and carboxyalkyl ( 2a-d ) substituents have been prepared and characterised; the phosphine derivative ( 1k ) has been converted with alkyl iodides ( RI ; R = Me, Et) into bis(phosphonium) salts ( 1l and m ). During preparation of the diynedioic acid. ( 2a ), the non-centrosymmetrical diyne, HO₂CCH₂C?C—C?C(CH₂)₂OH ( 3 ), was also isolated. ⁶⁰Co γ-Irradiation of diacetylene monomers ( 2a – d ) and 10,12-tricosadiyn-1-oic acid gave the corresponding polydiacetylene derivatives ( 4a – d and 5 ), respectively. Rubidium salts of ( 4c ) and ( 4d ), a barium salt of ( 4c ), and a potassium salt of ( 5 ) were prepared and isolated; soluble potassium salts of the carboxylic acid polymers ( 4 ) were generated in aqueous solution. The effects of changes in pH on the UV/visible absorption spectra of aqueous solutions of selected carboxylic acid polydiacetylenes have been recorded, and are discussed.     

Quantitating Fluorescence Intensity from Fluorophore: The Definition of MESF Assignment

The quantitation of fluorescence radiance may at first suggest the need to obtain the number of fluorophore that are responsible for the measured fluorescence radiance. This goal is beset by many difficulties since the fluorescence radiance depends on three parameters 1) the probability of absorbing a photon (molar extinction), 2) the number of fluorophores, and 3) the probability of radiative decay of the excited state (quantum yield). If we use the same fluorophore in the reference solution and the analyte then, to a good approximation, the molar extinction drops out from the comparison of fluorescence radiance and we are left with the comparison of fluorescence yield which is defined as the product of fluorophore concentration and the molecular quantum yield. The equality of fluorescence yields from two solutions leads to the notion of equivalent number of fluorophores in the two solutions that is the basis for assignment of MESF (Molecules of Equivalent Soluble Fluorophore) values. We discuss how MESF values are assigned to labeled microbeads and by extension to labeled antibodies, and how these assignments can lead to the estimate of the number of bound antibodies in flow cytometer measurements.     

Survivability of systems under multiple factor impact

The paper considers vulnerable multi-state series-parallel systems operating under influence of external impacts. Both the external impacts and internal failures affect system survivability, which is determined as the probability of meeting a given demand. The external impacts are characterized by several destructive factors affecting the system or its parts simultaneously.In order to increase the system's survivability a multilevel protection against the destructive factors can be applied to its subsystems. In such systems, the protected subsystems can be destroyed only if all of the levels of their protection are destroyed.The paper presents an algorithm for evaluating the survivability of series-parallel systems with arbitrary configuration of multilevel protection against multiple destructive factor impacts. The algorithm is based on a composition of Boolean and the Universal Generating Function techniques.Illustrative examples are presented.     

Surfactant behavior and its influence on the viscosity of associative thickeners solutions, thickened latex dispersions, and waterborne latex coatings

Surfactants, varying in their chemical composition and hydrophobic behavior, are used in the formulation of a waterborne coating. These differences influence their aggregation in micellar structures, their interaction with associative thickeners, and in particular, the synergies present in their competitive adsorptions on the disperse phases in a waterborne coating. Adsorption of HEUR thickeners on latexes and the ability of surfactants to displace them from those surfaces is an important variable in the dispersion’s viscosity. With large particle latexes, viscosity increases arise primarily from the network built through the interaction of HEURs with surfactants in the aqueous phase. Fluorescence is used to verify the mechanism by which surfactants enhance associative thickener viscosities. That is best achieved with nonionic surfactants, because of their synergies with large hydrophobe HEURs at low concentration. With decreasing latex particle size the adsorbed species is an important contributor to the dispersion’s viscosity through its contribution to the latex’s effective volume fraction increase and when the size of the adsorbed HEUR is matched to the separation distances of the latex at 0.25 volume fraction. Achieving controlled shear-thinning behavior in small particle size latex paints with the economic constraints on the amount of HEUR required to obtain 90 KU viscosities are discussed. Presented at the 80th Annual Meeting of the Federation of Societies for Coatings Technology, October 30–November 1, 2002, in New Orleans, LA. Polymer and Coatings Dept., Fargo, ND 58103.