The AMADEUS dextrous subsea hand: design, modeling, and sensorprocessing

This paper describes the mechanical design, finger modeling, and sensor signal processing for a dextrous subsea robot hand incorporating force and slip contact sensing. The hand uses a fluid-filled tentacle for each finger, which has inherent passive compliance, and no moving parts. Force sensing uses strain gauges mounted in the fingertip, potted within a silicon elastomer. Slip sensing uses a piezoelectric strip to detect vibration, embedded 1 mm below the elastomer surface. Static models of finger motion are presented and validated based on bending moments and hydraulic pressure. The design of a stochastic estimator is also described for sensor fusion of contact force magnitude and direction data, obtained using redundant strain gauges in the fingertip. Finally, linear dynamic models of the finger dynamics in contact with a rigid surface are obtained using least squares and recursive least squares parameter estimation, as a precursor to closed-loop force control during grasping     

The existence and detection of optically dark galaxies by 21-cm surveys

One explanation for the disparity between cold dark matter (CDM) predictions of galaxy numbers and observations could be that there are numerous dark galaxies in the Universe. These galaxies may still contain baryons, but no stars, and may be detectable in the 21-cm line of atomic hydrogen. The results of surveys for such objects, and simulations that do/do not predict their existence, are controversial. In this paper, we use an analytical model of galaxy formation, consistent with CDM, to first show that dark galaxies are certainly a prediction of the model. Secondly, we show that objects like VIRGOHI21, a dark galaxy candidate recently discovered by us, while rare are predicted by the model. Thirdly, we show that previous 'blind' H  i surveys have placed few constraints on the existence of dark galaxies. This is because they have either lacked the sensitivity and/or velocity resolution or have not had the required detailed optical follow up. We look forward to new 21-cm blind surveys [Arecibo Legacy Fast ALFA (ALFALFA) survey and Arecibo Galactic Environments Survey (AGES)] using the Arecibo multibeam instrument which should find large numbers of dark galaxies if they exist.     

Streamflow and suspended sediment yield following the 2000 Bobcat fire,Colorado

Postfire runoff and erosion are a concern, and more data are needed on the effects of wildfire at the watershed‐scale, especially in the Colorado Front Range. The goal of this study was to characterize and compare the streamflow and suspended sediment yield response of two watersheds (Bobcat Gulch and Jug Gulch) after the 2000 Bobcat fire. Bobcat Gulch had several erosion control treatments applied after the fire, including aerial seeding, contour log felling, mulching, and straw wattles. Jug Gulch was partially seeded. Study objectives were to: (1) measure precipitation, streamflow, and sediment yields; (2) assess the effect of rainfall intensity on peak discharges, storm runoff, and sediment yields; (3) evaluate short‐term hydrologic recovery. Two months after the fire, a storm with a maximum 30 min rainfall intensity I₃₀ of 42 mm h^?1 generated a peak discharge of 3900 l s^?1 km^?2 in Bobcat Gulch. The same storm produced less than 5 l s^?1 km^?2 in Jug Gulch, due to less rainfall and the low watershed response. In the second summer, storms with, I₃₀ of 23 mm h^?1 and 32 mm h^?1 generated peak discharges of 1100 l s^?1 km^?2 and 1700 l s^?1 km^?2 in the treated and untreated watersheds respectively. Maximum water yield efficiencies were 10% and 17% respectively, but 18 of the 23 storms returned ≤2% of the rainfall as runoff, effectively obscuring interpretation of the erosion control treatments. I₃₀ explained 86% of the variability in peak discharges, 74% of the variability in storm runoff, and >80% of the variability in sediment yields. Maximum single‐storm sediment yields in the second summer were 370 kg ha^?1 in the treated watershed and 950 kg ha^?1 in the untreated watershed. Copyright © 2005 John Wiley & Sons, Ltd.     

太阳活动高年上电离层中O+—H+离子过渡高度的特征

本文用日本电离层探测卫星ISS-b的资料,假设F2层峰顶以上电离层中各类离子随高度呈扩散平衡分布,得到了太阳活动高年（1978年8月—1979年8月）确定顶外电离层电子密度剖面形状的一个重要参数,即O+—H+离子过渡高度hT的一些变化特征.指出hT的日变化特性主要受电离层中O+离子的产生与复合作用的控制.太阳活动高年在不同纬度和所有经度区域,平均说来日间hT为大约1500—2500km变化,而夜间位于800—1400km,冬夜甚至接近中性氢、氧原子的化学平衡高度.过渡高度也表现出明显的纬度关系,在接近±20°的磁赤道地区,hT基本上不随纬度变化;但在大于±30°磁纬区域hT随纬度很快增加.义中还就hT随时间和地磁（或地理）纬度变化的机制作了简要讨论.     

The arrow of time

Why does time apparently fly one way, when the laws of physics are actually time-symmetrical? Paul Davies proposes a quantum solution, in the Whitrow Lecture 2004, given on 8 October 2004.