Supermedia-enhanced Internet-based telerobotics

This paper introduces new planning and control methods for supermedia-enhanced real-time telerobotic operations via the Internet. Supermedia is the collection of video, audio, haptic information, temperature, and other sensory feedback. However, when the communication medium used, such as the Internet, introduces random communication time delay, several challenges and difficulties arise. Most importantly, random communication delay causes instability, loss of transparency, and desynchronization in real-time closed-loop telerobotic systems. Due to the complexity and diversity of such systems, the first challenge is to develop a general and efficient modeling and analysis tool. This paper proposes the use of Petri net modeling to capture the concurrency and complexity of Internet-based teleoperation. Combined with the event-based planning and control method, it also provides an efficient analysis and design tool to study the stability, transparency, and synchronization of such systems. In addition, the concepts of event transparency and event synchronization are introduced and analyzed. This modeling and control method has been applied to the design of several supermedia-enhanced Internet-based telerobotic systems, including the bilateral control of mobile robots and mobile manipulators. These systems have been experimentally implemented in three sites test bed consisting of robotic laboratories in the USA, Hong Kong, and Japan. The experimental results have verified the theoretical development and further demonstrated the stability, event transparency, and event synchronization of the systems.     

Ideal amplifier spacing for reduction of Gordon-Haus jitter indispersion-managed soliton communications

Based on a variational analysis, the authors demonstrate that the noise-induced Gordon-Haus timing jitter in a dispersion-managed soliton transmission system can be substantially reduced by appropriate placement of the amplifiers     

Measurements of single chain form factors by small-angle neutron scattering from polystyrene blends containing high concentrations of labelled molecules

A series of small angle neutron scattering measurements on blends of normal polystyrene (PSH) and labelled (deuterated) polystyrene (PSD) have been made with concentrations of PSD from 5 to 50 mol %. It is shown that the single chain form factor of the polymer in bulk can be obtained from a single concentration measurement for any concentration of labelled molecules, providing the molecular weights of the parent and labelled molecules are the same and the molecular weight distributions are narrow.     

Effect of Wall Surface Properties at Different Drying Kinetics on the Deposition Problem in Spray Drying

Current methods in alleviating the wall deposition problem in spray drying emphasize mainly controlling the stickiness of the drying particles and less attention is placed on the properties of the dryer wall. In this experimental study, the effect of wall surface properties on the deposition mechanism has been investigated. Properties considered in classifying different wall materials were surface energy, roughness, and dielectric properties. The model solution contained sucrose, representing low-molecular-weight sugars commonly encountered in spray drying of fruit and vegetable juices. The effect of wall properties on deposition was explored at different drying rates producing particles of different surface rigidity. Larger surface roughness produced higher deposition fluxes for particles with high impact velocity and moisture. Surface energy and surface roughness were found to have no significant effect for dry rigid particles at the middle and bottom elevation of the drying chamber. However, material with lower surface energy (Teflon) exhibited less deposition for rubbery particles at such elevations. Analysis shows that dielectric wall material (Teflon) tends to enhance deposition of dry particles because of attrition at the surface. Higher wall temperature was found to produce slightly more deposition. The results of this work give a general indication of the effect of wall material on the deposition problem and provide the fundamental understanding for further studies along this line. Proper selection of dryer wall material will provide potential alternatives for reducing the deposition problem.     

Termites live in a material world: exploration of their ability to differentiate between food sources.

Drywood termites are able to assess wood size using vibratory signals, although the exact mechanism behind this assessment ability is not known. Important vibratory characteristics such as the modal frequencies of a wooden block depend on its geometry and boundary conditions; however, they are also dependent on the material characteristics of the block, such as mass, density and internal damping. We report here on choice experiments that tested the ability of the drywood termite Cryptotermes secundus to assess wooden block size using a solid wooden block paired with a composite block, the latter made of either wood and aluminium or wood and rubber. Each composite block was constructed to match mass or low-frequency vibratory modes (i.e. fundamental frequency) of the solid wooden block. The termites always chose the blocks with more wood; they moved to the solid wooden blocks usually within a day and then tunnelled further into the solid wooden block by the end of the experiment. Termites offered composite blocks of wood and rubber matched for mass were the slowest to show a preference for the solid wooden block and this preference was the least definitive of any treatment, which indicated that mass and/or damping may play a role in food assessment. This result clearly shows that the termites were not fooled by composite blocks matched for mass or frequency, which implies that they probably employ more than a single simple measure in their food assessment strategy. This implies a degree of sophistication in their ability to assess their environment hitherto unknown. The potential importance of alternative features in the vibrational signals is discussed.     

Gordon-Haus timing jitter reduction in dispersion-managed solitoncommunications

An analytic theory is presented which demonstrates that the noise induced Gordon-Haus timing jitter in arbitrary dispersion-managed transmission systems is reduced by the power-enhancement factor required to support a dispersion-managed solitons provided the path-average soliton period is much greater than the dispersion-map period. The analysis further predicts the behaviour of the amplitude, width, and quadratic chirp fluctuations due to the amplified spontaneous emission (ASE) noise     

Smithsonian Microbeam Standards

This is a short history of the Smithsonian Microbeam Standards; their sources, selection, preparation, and analyses. Fifty-eight minerals, natural glasses, and synthetic samples have been characterized in the past 25 years. During that time, over 750 requests were received for approximately 11 000 individual samples. These reference samples are referred to as the Smithsonian Microbeam Standards.