bluuebunny/crossref_metadata_2025 huggingface dataset:
First record of spawning and embryonic development in Octopus macropus (Mollusca: Cephalopoda)
Authors: v. Boletsky Sigurd , Fuentès Michael , Offner Nicolas
Published: October 2003

A female Octopus macropus, the first ever observed spawning, attached eggs (4·0×1·2 mm, with a chorion stalk 4 mm in length) individually or in clusters to a hard substrate, and brooded them till hatching. Hatchlings measured 4·0 mm in dorsal mantle length, 5·5 mm in total length and were planktonic; their short arms had seven suckers each, the outer demi-branch of each gill had ten lamellae. The chromatophore pattern confirmed an earlier identification of young individuals from the plankton (Naef, 1923).
Phylogenetic relationships within the Terebellomorpha
Authors: Colgan D.J. , Hutchings P.A. , Brown S.
Published: October 2003

Terebellomorpha is a clade of predominantly tube-dwelling polychaetes, some of whose species are very abundant and whose habitats range from shallow to very deep waters. The group contains five families (Terebellidae, Ampharetidae, Pectinariidae, Trichobranchidae and Alvinellidae). This study of their inter-relationships uses DNA sequence data from five gene segments. Including outgroups, sequences were available for 15 species for 15 U2 snRNA, 14 for Histone H3, 23 for the D1 expansion region of 28S rDNA, 15 for the D9-10 region of 28S rDNA and 17 for subunit I of cytochrome oxidase. Outgroups included representatives of the polychaete families Cirratulidae, Sabellidae and Siboglinidae, and the clitellate Lumbricus. These sequences include eight GenBank entries for 28S D1 and one for CO1.

Generally, and in all analyses restricted to the data collected in this laboratory, but including all of these, Terebellomorpha is monophyletic. Within Terebellomorpha, the single maximum parsimony tree indicates that Alvinellidae (all data from GenBank) belongs to a clade with Terebellidae and some Trichobranchidae, contradicting morphological expectations. Terebellidae is paraphyletic with respect to Trichobranchus, this being associated with the subfamily Thelepodinae. The second trichobranchid genus Terebellides (for which only 28S D1 data is available from GenBank) is topologically very distinct to Trichobranchus. Additional data are needed to establish the family's monophyly. Also within Terebellidae, subfamily Terebellinae is paraphyletic with respect to Polycirrinae, supporting the suggestion that this subfamily's morphological simplicity is derived.
Pair formation in Spongicola japonica (Crustacea: Stenopodidea: Spongicolidae), a shrimp associated with deep-sea hexactinellid sponges
Authors: Saito Tomomi , Uchida Itaru , Takeda Masatsune
Published: October 2003

The population structure of the deep-sea sponge-associated shrimp Spongicola japonica was investigated, and the mechanism of pair formation analysed from field samples. The composition pattern of shrimp in host sponges was divided into three patterns by sex and number as follows: solitary, a solitary inhabitant; sexually paired, a pair with a male and a female; grouped, multiple individuals excluding those designated as sexually paired. Juveniles usually remained grouped or solitary in a host cavity until the size at which gonadal maturity starts. Before forming sexual pairs, shrimp appear to have a free-living period outside the host, when the ovarian stages of females correspond to early to late vitellogenesis. Re-invasion is just before the first spawning, when females are in the ovarian stage of late vitellogenesis.
Habitat heterogeneity, body size and phenotypic diversity in Idotea granulosa (Isopoda) on the north-east coast of England
Authors: Hull S.L. , Winter L.J. , Scott G.W.
Published: October 2003

Samples were collected from six pools in order to examine the distribution, body length, base colour and phenotypic diversity (chromatophore pattern) of Idotea granulosa populations on five different species of algae (Ceramium, Corallina, Chondrus, Fucus and Enteromorpha), on each of two shores. Holbeck (HOL) pools had significantly higher habitat heterogeneity in terms of algal species diversity than did those on the more exposed Filey Brigg (FB). Idotea densities were significantly higher and mean body size significantly smaller on Corallina than the other algal species. Isopods were significantly larger on Fucus. There was no significant difference in base colour frequencies between shores but there was a positive association between the brown base colour and Corallina and the green colour and Fucus.  The commonest chromatophore pattern morph was the granulosa-maculata that occurred in 44% of the isopods sampled and five out of ten chromatophore patterns accounted for <10% of the population. The uniformis morph was rare on both shores. There was no significant difference in chromatophore pattern frequency between the sexes. The lineata-maculata morph and maculata morphs showed a positive association with Corallina and Fucus respectively. There was a significant difference in chromatophore pattern frequency between adults and juveniles. The uniformis and maculata patterns occurred in higher frequencies than expected in the adult population whereas the reverse was true of the granulosa-maculata and lineata-maculata morphs.  A total of 85 different phenotypes were recorded from both shores, with 51 of these being exclusively found in HOL pools. Holbeck pools had a significantly higher isopod phenotypic diversity than did those from FB. There was no significant difference in phenotypic diversity between adult and juvenile Idotea at HOL, however juveniles had a significantly higher phenotypic diversity than did adults at FB. Overall, there was a significant positive correlation between rockpool algal diversity and isopod phenotypic diversity.
Mesh-size matters in epibenthic surveys
Authors: Callaway Ruth , Jennings Simon , Lancaster John , Cotter John
Published: October 2003

This study aimed to identify the effects of different sieve mesh-sizes on processing time, the number of species retained, diversity measures and multivariate community analysis in the North Sea. Samples were collected at 63 sites throughout the North Sea and washed through two successive sieves, 10-mm and 5-mm mesh respectively.  Processing time for whole samples (5- and 10-mm fraction) averaged 91± 25 min compared with 55±16 min for the 10-mm mesh fraction. Altogether 40% of free-living species and 9% of attached species were recorded exclusively in the 5-mm fraction. The majority of these species were rare. Spatial gradients of species diversity and community structure were identical, independent of the mesh-size used. Multivariate community analysis showed no significant difference between descriptions of community structure based on fauna from 10-mm or 5-mm mesh.  The use of coarser sieving mesh would save time and money, if the aims of an epibenthic survey were to describe broad patterns of community structure and relative diversity. It would be possible to process approximately 50% more samples, if the time saved with 10-mm mesh were allocated to additional sampling. However, if information on single species is required, then sorting with the finer sieve mesh will yield crucial information. It was decided to employ a 5-mm mesh for epibenthic monitoring of the North Sea.
Mesochaetopterus sagittarius: an example of a biogeography discrepancy between larval and adult boundaries: implication for recruitment studies
Authors: Bhaud M.R. , Ravara A.A. , Marcano G. , Moreira M.H.
Published: October 2003

A geographic discrepancy between the distribution boundaries for larvae and adults of the chaetopterid Mesochaetopterus sagittarius was recorded. The most northerly position where benthic individuals, probably not reproductive, have been collected in the Atlantic corresponds to the latitude of Aveiro (Portugal). The most northerly position for larvae corresponds to that of Arcachon (France). The larvae found off Arcachon constitute an influx of subtropical origin. They rarely succeed in passing the fixation stage, and when they do, the benthic stage is not capable of reproduction. The occupation of a very large zone by planktonic larvae spread over 4° of latitude (500 km), eventually resulting in sterile benthic populations, confirms that environmental constraints are less severe on larvae than on adults. This work emphasizes, through the integration of different oceanographic disciplines, the importance of knowing the structure of the spatial distribution of adults when seeking to achieve a better understanding of local recruitment.
Temperature effects on growth and maturity of butterfish (Pholis gunnellus) in Iceland
Authors: Gunnarsson Ásgeir , Gunnarsson Karl
Published: October 2003

The effect of temperature on growth of butterfish, Pholis gunnellus on the west coast of Iceland was studied from September 1995 to March 1997. Butterfish were collected monthly at two sites with different temperature regimes. According to otolith readings butterfish can reach 12 years. The fish in the area with higher sea temperature were larger at all ages but had similar growth rates. Higher temperature seems to result in a shorter incubation time of butterfish eggs and/or higher growth rate of the larvae, leading to larger larvae size at settlement.
Behavioural responses of the netted dogwhelk Nassarius reticulatus to olfactory signals derived from conspecific and nonconspecific carrion
Authors: Davenport J. , Moore P.G.
Published: October 2003

Netted dogwhelks Nassarius reticulatus were offered standardized olfactory signals derived from flesh of: cod (Gadus morhua), starfish (Asterias rubens), shore crabs (Carcinus maenas), mussels (Mytilus edulis), periwinkles (Littorina littorea), dog whelks (Nucella lapillus) and netted dogwhelks. Nassarius reticulatus responded positively to all signals except the conspecific one. Positive responses to extracts were in the order (strongest to weakest): Gadus, Carcinus, Nucella, Mytilus, Asterias, Littorina. Starved Nassarius reticulatus buried in sand emerged rapidly to feed on crushed C. maenas, but remained buried when offered crushed conspecifics. These data confirmed the hypothesis that N. reticulatus would not respond positively to the smell of conspecific carrion, to avoid emerging from the substratum while neighbours were being predated. However, a second hypothesis, that strength of response to olfactory signal was proportional to taxonomic distance between N. reticulatus and the source of carrion was not supported by the data.
Heart rate as a measure of stress in Antarctic krill, Euphausia superba
Authors: Ritz D.A. , Cromer L. , Swadling K.M. , Nicol S. , Osborn J.
Published: October 2003

Antarctic krill, Euphausia superba, normally live in social aggregations (schools) but rarely aggregate in laboratory tanks. In order to study the effect of stress on solitary living we tethered krill to wooden skewers and measured heart rate both when they were held isolated from conspecifics and when they were held at normal schooling distances (∼1 body length). Heart rate did not differ significantly with sex or body size. However, intermoult krill had a significantly lower heart rate than postmoult animals. When two individuals were held at schooling distance, with one slightly higher in the water column than the other, the heart rate of the higher individual slowed significantly (106–98 beats min−1), while that of the lower individual remained the same. We interpret these results to mean that krill living solitarily are stressed but will respond to neighbouring individuals by decreasing their metabolic rate and saving energy.
Aspects of the feeding biology of the fanworm Bispira volutacornis (Polychaeta: Sabellidae)
Authors: Nash Róisín , Keegan Brendan F.
Published: October 2003

The detail of the characteristic double whorled branchial crown of the tubiculous polychaete Bispira volutacornis, with its internal skeleton of large vacuolated cells and ciliated radioles, is consistent with the feeding apparatus of sabellids at large. Studies show that ingested particulate matter has at least one dimension less than 15 μm. Feeding seems to be most readily accommodated at current speeds from 1 cm s−1 to 3 cm s−1 with the crown apex angled downstream. Particulate matter passes through the alimentary canal in 7·7 h at 14°C, for an average sized specimen of 97 segments. Whilst the tube provides protection against predatory fish and crustaceans (with ample evidence of sub-lethal cropping of the branchial crown), it also has a role in irrigation and respiration. The worm will retreat within the tube when current flow exceeds 8·7 cm s−1.
Is God (almost) a consequentialist? Swinburne's moral theory
Authors: McNAUGHTON DAVID
Published: October 2003

Swinburne offers a greater-goods defence to the problem of evil within a deontological framework. Yet deontologists characteristically hold that we have no right to inflict great evil on any individual to bring about the greater good. Swinburne accepts that humans generally do not have that right, but argues that God, as the supreme care-giver, does. I contend that Swinburne's argument that care-givers have such a right is flawed, and defend the classical deontological objection to imposing evils that good may come.
Bernard Spolsky & Elana Shohamy, The languages
of Israel: Policy, ideology and practice, Clevedon:
Multilingual Matters, 1999. Pp. 299. Pb $49.95.
Authors: Ben-Rafael Eliezer
Published: October 2003

Well known for its creation and adoption of modern Hebrew
as its national language, Israel is still one of the most
linguistically heterogeneous societies in the world. Bernard
Spolsky and Elana Shohamy delve into this complex reality and
describe a coherent picture of it, drawing from an updated model
of linguistic policy which they elaborate. I found no few
weaknesses in the book in regard to the sociological interpretation
of sociolinguistic facts, but its major interest resides in
the description of Israel's linguistic diversity and
evolution. It is one of the very few attempts to date to do
that, and it merits attention.
Roland J.-L. Breton, Atlas of the languages
and ethnic communities of South Asia. Walnut Creek,
London & New Delhi: Altamira Press, 1997. Pp. 231.
Hb $65.00.
Authors: Schiffman Harold
Published: October 2003

This is an English version of the author's
French work, Atlas géographique des langues et
des ethnies de l'Inde et du Subcontinent, (Les
Presses de l'Université Laval, Québec,
1976.) Since it was originally based on data from the 1971
(or even earlier) censuses of India, Nepal, Pakistan, and
Sri Lanka (and since Bangladesh was part of Pakistan in
1971, and Bhutan data were not reliable earlier), it has
been updated to include data from various regional census
sources, mostly those conducted in 1981 and 1991. One notes
that there are various censuses of Nepal (1952/54, 1971,
1981, 1991) cited, but that Sri Lanka does not seem to
have done one since 1953. The cartographic techniques have
also benefited from this updating, with new methods of
representation not previously available. This makes it
possible to compare various increases of speakers and languages
in various parts of the subcontinent, in tables added for
this purpose. This version also includes a very useful
bibliography of sources – not only various censuses,
but also other studies of language distribution, language
classification, ethnicity, and language issues. There are
also a language classification and plate index, a subject
and author index, and material on the diffusion of South
Asian languages and scripts outside the subcontinent proper.
Ralph Penny, Variation and change in Spanish.
Cambridge, UK: Cambridge University Press, 2000. Pp xiii, 284.
Hb $59.95.
Authors: Morúa Carmen
Published: October 2003

This book consists of seven chapters; its
main aim is “to apply certain theoretical insights into
linguistic variation and change to the Spanish speaking
world” (p. ix). The first three chapters are devoted to
explaining fundamental concepts related to variation and change;
the following three, to presenting the broad patterns displayed
by geographical and social variation in Spanish; and the last,
to the history of the standardization process of Spanish. From
the beginning, Penny makes clear that he is not claiming to
advance variationist theory, but he hopes that the data presented
in the book will test and support such theoretical approach
to language, which I understand he refers to in the sense of
the quantitative paradigm. Similar disclaimers are made throughout
the book regarding the unequal attention paid to the correlation
between linguistic and sociological features of Spanish-speaking
communities, given the paucity of data available.
“I'm Mommy and you're Natalie”:
Role-reversal and embedded frames in mother-child discourse
Authors: GORDON CYNTHIA
Published: October 2003

This study investigates framing in discourse
while considering spontaneous role-play between a young child
(age 2 years 11 months) and her mother, wherein the participants
reverse roles from real life and reenact shared prior experiences.
Data consist of two tape-recorded naturally occurring pretend-play
episodes and the real-life interactions on which they are based,
all of which took place at home. Analysis of the role-play episodes
illustrates how framing occurs from moment to moment in interaction
in this context, showing that the participants use both play
and non-play utterances collaboratively to evoke, maintain,
and embed multiple play frames with increasingly specific, and
at times blended, metamessages. By linking the role-play
interactions back to their real-life counterparts, I explore
the relationship between framing and “prior text.”
This analysis adds to our understanding of framing by showing
how frames are layered in discourse. Additionally, it links
frames theory to the notion of intertextuality by illustrating
how prior text can be used as a resource for framing.
Hong Gao, The physical foundation of the patterning
of physical action verbs: A study of Chinese verbs. (Travaux
de L'Institut de Linguistique de Lund, 41.) Lund, Sweden:
Lund University, 2001. Pp. xiv, 265. NP.
Authors: Yu Ning
Published: October 2003

This book presents a semantic study of Chinese
physical action verbs from a cognitive perspective. The study
seeks to understand the cognitive basis of language by uncovering
the relationship between language structure and cognitive
structure, and to demonstrate “how cognitive, perceptual,
or experiential facts constrain or otherwise determines the
linguistic facts” (p. 230). In its semantic analysis of
physical action verbs, the study illustrates the role of body
parts in the semantic construction of the verbs depicting the
physical actions performed by those body parts. In the discussion
of relationships between language construction and human body
action, the book's central argument is that the event
structures of physical action verbs are constructed not arbitrarily
but through systematic cognitive processes in relation to both
human physical reality and concrete reality in the world. By
explicating linguistic structure on the basis of human cognition
and human experience, the author attempts to verify that the
categorizations of language entities reveal, to a large extent,
the nature of human experience and perception of physical reality.
The assumption is that the nature of linguistic richness in
both semantic and syntactic structures is a reflection of the
development of human perception of the experiential reality.
Labor History and the Ottoman Empire, c. 1700–1922
Authors: Quataert Donald
Published: October 2003

This article surveys the evolution of labor history writing as an increasingly vibrant subfield of Ottoman history. It addresses labor historians outside of Ottoman history and for their benefit traces why and how workers almost completely were left out of Ottoman historical writing until c. 1970. Thereafter, Ottoman historians have more frequently discussed workers and their histories. At first focusing on organized workers and their relations with the state, these writings then shifted to labor in action. Thus, Ottoman labor history writing paralleled, in many respects, that of other fields of history. More recently, attention has been given to non-guild, non-union labor—including women and children—and its activities in the workplace.
International peacebuilding and the ‘mission civilisatrice’
Authors: Paris Roland
Published: October 2003

International peacebuilding operations seek to stabilise countries that have recently experienced civil wars. In pursuing this goal, however, international peacebuilders have promulgated a particular vision of how states should organise themselves internally, based on the principles of liberal democracy and market-oriented economics. By reconstructing war-shattered states in accordance with this vision, peacebuilders have effectively ‘transmitted’ standards of appropriate behaviour from the Western-liberal core of the international system to the failed states of the periphery. From this perspective, peacebuilding resembles an updated (and more benign) version of the mission civilisatrice, or the colonial-era belief that the European imperial powers had a duty to ‘civilise’ dependent populations and territories.
Investigation of ultraintense femtosecond laser–plasma
interactions through ω and 2ω imaging and spectroscopy
Authors: GALIMBERTI M. , GIULIETTI A. , GIULIETTI D. , GIZZI L.A. , BALCOU PH. , ROUSSE A. , ROUSSEAU J.PH.
Published: October 2003

A laser–plasma interaction experiment was performed
in order to match effective conditions for wake-field electron
acceleration. A 30-fs pulse was made to interact with a
preformed plasma generated via the exploding foil technique
from a 1-μm-thick plastic film. The irradiance of the
femtosecond pulse in the plasma was 1020
Wcm−2. The interaction conditions were
investigated via imaging and spectroscopy at the fundamental
and the second harmonic of the laser frequency, both forward
and backward. Our data clearly show that conditions suitable
for electron acceleration are achieved close to the propagation
axis and can be easily reproduced from shot to shot. In contrast,
significant growth of instabilities occurs at the boundaries
of the interaction region. These observations are consistent
with a preliminary evidence of forward acceleration of high-energy
electrons. Optical, X-ray, and γ-ray data obtained for different
positions of the foil target with respect to the laser focal plane
further support this promising scenario.
Production of highly ionized plasma by micro-dot array
irradiation and its application to compact X-ray lasers
Authors: YAMAGUCHI NAOHIRO , FUJIKAWA CHIEMI , OKASAKA KAZUNOBU , HARA TAMIO
Published: October 2003

A plasma production method using the irradiation of an array
of small spots has been investigated from the point of view
of soft X-ray laser generation in the recombining plasma scheme
pumped by a pulse-train laser. The expansion geometry of highly
ionized ions produced by the micro-dot array irradiation method
has been measured and compared with that by a simple line
irradiation. Spatial distribution of gain coefficients of the
Li-like Al ion transition lines have also been measured for
both irradiation methods. Highly ionized ions were observed
to spread wider in the micro-dot array irradiation method. It
is expected that rapid expansion and efficient cooling are achieved
in plasmas produced by the micro-dot array irradiation method,
which is consistent with the experimental results on the spatial
structure of the X-ray laser gain region.
Guest Editor's Preface: ECLIM 2000 Special Issue
Authors: Kálal Milan
Published: October 2003

This issue of Laser and Particle Beams Journal contains
the papers submitted for publication by participants of the
26th European Conference on Laser Interaction with
Matter—this Conference (also known by its acronym ECLIM
2000) was organized jointly by the Faculty of Nuclear Sciences
and Physical Engineering of the Czech Technical University in
Prague, the Institute of Physics of the Academy of Sciences
of the Czech Republic, and supported by the International Society
for Optical Engineering, this conference was held in Prague
from June 12–16, 2000.
Resonant principle for operation of energy recuperator for
a magnetized electron beam: A numerical simulation
Authors: ARZHANNIKOV A.V. , ASTRELIN V.T. , KOIDAN V.S. , SINITSKY S.L.
Published: October 2003

The problem of energy recuperator for a high current sheet
electron beam used to drive a millimeter-waves generator is
considered. There are two main obstacles to solving the problem.
The first one is the presence of a magnetic field guiding beam
electrons. The second obstacle is significant energy and angular
spreads of the electrons in the waste beam. To overcome these
obstacles, we suggest a novel scheme of a recuperator. The main
idea of the proposed scheme is the use of a decelerating electrical
field together with a guiding magnetic field that has longitudinal
and spatial periodic transverse components. Resonance of a bounce
electron motion with the cyclotron motion in this field gives
a strong increase in the Larmour radius of electrons with the
energy in a narrow interval. The decelerated electrons with
the resonance energy fall away from the beam and are absorbed
by a collector at a proper potential. It is shown that efficiency
of this novel scheme can reach about 80% even if the sheet beam
has a broad energy spectrum.
Hybrid heat-capacity–moving-slab solid-state laser
Authors: STAPPAERTS EDDY A.
Published: October 2003

A hybrid configuration of a heat-capacity laser (HCL) and a
moving-slab laser (MSL) is proposed. Multiple volumes of
solid-state laser material are sequentially diode-pumped and
their energy extracted. When a volume reaches a maximum temperature
after a “submagazine depth,” it is moved out of
the pumping region into a cooling region, and a new volume is
introduced. The total magazine depth equals the submagazine
depth times the number of volumes. The design parameters are
chosen to provide high duty factor operation, resulting in
effective use of the diode arrays. The concept significantly
reduces diode array cost and is considered enabling for many
potential applications.
Calibration-based absolute localization of parts for multi-robot assembly
Authors: Park Edward J. , Xu Weihua , Mills James K.
Published: October 2003

In multi-robot assembly of parts, for successful mating, the grasped parts must be located with sufficiently small position and orientation errors so that assembly can be achieved. This paper describes a new approach for determining the absolute three-dimensional spatial location of parts grasped by robots during assembly. Through a
combination of robot pose calibration and part-sensor calibration, the robot, used to grasp the part, is calibrated to accurately position and orient parts to a designated mating location. First, by employing a robot pose measurement system, the 6 DOF robot pose errors relative to a reference coordinate frame are compensated. Second, with the implementation of a part pose measurement, the 6 DOF part pose errors, relative to the robot tool frame, are estimated in real time. An experimental verification of the proposed methodology using a single FANUC S–110 robot manipulating an automotive sheet metal part is described.
Introduction
Authors: Dissanayake Gamini
Published: October 2003

Field robotics is the use of autonomous robotic systems in

highly challenging applications areas including; mining, construction, cargo handling, agriculture, subsea and aerospace systems. The focus of field robotics research

is on large-scale outdoor autonomous systems in applications that are characterised by relatively unstructured, difficult and often hazardous environments. It draws together the most advanced research areas in robotics, including; navigation and control, sensing and data fusion, safety and reliability, and planning and logistics.
A force reflecting control scheme for telemanipulators with high reduction

ratio joint
Authors: Ahn Sung-Ho , Yoon Ji-Sup , Lee Sang-Jeong
Published: October 2003

Since a slave manipulator with a high reduction ratio joint generally

has slow dynamics in comparison with a master manipulator in

telemanipulation systems, its control input is likely to be saturated

resulting in poor position tracking performance and deteriorated stability. This

paper proposes a force reflecting control scheme for telemanipulators with

a high reduction ratio joint, which can effectively compensate the

control input saturation caused by the high ratio gear reducer

at its joint. The proposed scheme is also shown to

guarantee the stability and provides an excellent position tracking performance

regardless of the saturation.
Singularity-locus expression of a class of parallel mechanisms
Authors: Di Gregorio Raffaele
Published: October 2003

In parallel mechanisms, singular configurations (singularities) have to be avoided during motion. All the singularities should be located in order to avoid them. Hence, relationships involving all the singular platform poses (singularity locus) and the mechanism geometric parameters are useful in the design of parallel mechanisms. This paper presents a new expression of the singularity condition of the most general mechanism (6-6 FPM) of a class of parallel mechanisms usually named fully-parallel mechanisms (FPM). The presented expression uses the mixed products of vectors that are easy to be identified on the mechanism. This approach will permit some singularities to be geometrically found. A procedure, based on this new expression, is provided to transform the singularity condition into a ninth-degree polynomial equation whose unknowns are the platform pose parameters. This singularity polynomial equation is cubic in the platform position parameters and a sixth-degree one in the platform orientation parameters. Finally, how to derive the expression of the singularity condition of a specific FPM from the presented 6-6 FPM singularity condition will be shown along with an example.
Tracking control of a flexible-link manipulator using neural networks: experimental
results
Authors: Talebi H.A. , Khorasani K. , Patel R. V.
Published: October 2003

In this paper, the problem of tip position tracking control of a flexible-link manipulator is considered. Two neural network schemes are presented. In the first scheme, the controller is composed of a stabilizing joint PD controller and a neural network tracking controller. The objective is to simultaneously achieve hub-position tracking and control of the elastic deflections at the tip. In the second scheme, tracking control of a point along the arm is considered to avoid difficulties associated with the output feedback control of a non-minimum phase flexible manipulator. A separate neural network is employed for determining an appropriate output to be used for feedback. The controller is also composed of a neural network tracking controller and a stabilizing joint PD controller. Experimental results on a single-link flexible manipulator show that the proposed networks result in significant improvements in the system response with an increase in controller dynamic range despite changes in the desired trajectory.
Parametric study of repeatable gait for a planar five-link biped
Authors: Ma Bin , Wu Qiong
Published: October 2003

Parametric formulation is a systematic method that ties the constraint functions to the resulting joint profiles for bipedal robots. Acceptable joint profiles for continuous and steady walking must satisfy the additional condition of being repeatable. This extra condition imposes restrictions on the selection of constraint functions, gait parameters and the initial posture of each step, and can make the synthesis of joint profiles extremely challenging. This paper presents a correlation between the gait parameters used in a class of specific constraint functions and the initial posture that will create repeatable gait. Furthermore, a general necessary and sufficient condition for repeatable gait is proposed. This condition provides a guideline for selecting constraint functions and their associated gait parameters in the context of producing repeatable gait. This research can not only provide valuable insights into bipedal walking, but also serve as a stepping stone for employing parametric formulation with various constraint functions.
Task-space regulation of robots with approximate actuator model
Authors: Cheah C.C.
Published: October 2003

Though many research efforts have been devoted to developing robot controllers with uncertainties in the robot dynamics, most research so far has assumed that the model of actuator is known exactly. In implementing the robot controllers, calibration is necessary to identify the exact parameters of the actuator model. When there is an error in calibrating or modeling, it is unknown whether the stability of the system could still be guaranteed. In addition, the actuator model could change as the temperature varies due to overheating of the motor or changes in the ambient temperature. To overcome this problem, we propose in this paper, a task-space controller for the regulation of the robot with an approximate actuator model. We consider second-order dynamics of electric actuators with negligible armature inductances. Sufficient conditions for choosing the feedback gains are presented to guarantee stability.
HOW EQUALITY MATTERS
Authors: Steiner Hillel
Published: October 2003

“Should differences in income and wealth matter?”
is a paralyzingly big question. Does it refer to some differences?
All differences? Daily differences, periodic ones, initial ones?
Do they matter regardless of how income and wealth are acquired?
Regardless of what can be done with them? Regardless, indeed,
of what ‘mattering’ means?
Suicide and the secularization of the body in early modern Saxony
Authors: KOSLOFSKY CRAIG
Published: October 2003

A jurisdictional dispute over the burial of suicides in Electoral Saxony in the years 1702–1706 brought into sharp contrast conflicting views of the body in popular belief and Lutheran pastoral theology, and in the secularizing project of the early Enlightenment. The dispute centred on the practical, local implications of territorialism, a theory of church subordination to the state developed in the 1690s by the Saxon jurist Christian Thomasius (1655–1728), the most influential German political philosopher of the early Enlightenment. Considered in its intellectual and institutional contexts, the Saxon dispute illustrates the importance of the body to an understanding of secularization, the early Enlightenment and the history of suicide.
Review of information and the state of the art of
knowledge management practices in the construction industry
Authors: REZGUI YACINE
Published: October 2003

This paper focuses upon the contribution which adequate use of the
latest development in IT can make to the enhancement, development and improvement of professional expertise in the construction domain. The paper is based on the author's personal expertise and involvement in several UK- and European-funded research projects. First, the paper gives an overview of the benefits that can be gained from improved information and knowledge management in the construction industry. The latest developments in information and communication technologies are then described and presented as an enabler for effective knowledge management. Finally, the paper reviews the most promising techniques for information and knowledge management in the construction domain, highlighting the advantages and disadvantages of each of them, as well as future
directions for knowledge management in construction.
Agent orientation in software engineering
Authors: WEIß GERHARD
Published: October 2003

Agent-Oriented Software Engineering (AOSE) is rapidly emerging in response to urgent needs in both software engineering and agent-based computing. While these two disciplines coexisted without remarkable interaction until some years ago, today there is rich and fruitful interaction among them and various approaches are available that bring together techniques, concepts and ideas from both sides. This article offers a guide to the broad body of literature on AOSE. The guide, which is intended to be
of value to both researchers and practitioners, is structured according to key issues and key topics that arise when dealing with AOSE: methods and frameworks for requirements engineering, analysis, design, and implementation; languages for programming, communication and coordination and ontology specification; and development tools and platforms.
A review of explanation methods for Bayesian networks
Authors: LACAVE CARMEN , DÍEZ FRANCISCO J
Published: October 2003

One of the key factors for the acceptance of expert systems in real-world domains is the ability to explain their reasoning (Buchanan & Shortliffe,
1984; Henrion & Druzdzel, 1990). This paper describes the basic properties that characterise explanation methods and reviews the methods developed to date for explanation in Bayesian networks.
Literature, Music, and Science in Nineteenth Century Russian Culture: Prince Odoyevskiy’s Quest for a Natural Enharmonic Scale
Authors: Bayuk Dimitri
Published: October 2003

Argument

An attempt to understand and analyze a unique nineteenth-century musical instrument – the enharmonic piano from the collection of the Glinka Museum of Russian Musical Culture in Moscow – directs a historian towards Prince Vladimir Odoyevskiy’s efforts to construct a special musical scale corresponding to the indigenous tradition of Russian music. Known today mostly as an author of Romantic short stories, Odoyevskiy was also an amateur scientist and musician, a follower of Schelling’s Naturphilosophie, and a mystic. He tried to design his new musical scale and instruments on the basis of experimental science and mathematics. Odoyevskiy’s life-long search for a synthesis of literature, music, positive science, and spirituality demonstrates how the adaptation and appropriation of European arts preceded and paved the way towards the appropriation of European sciences among the educated élite in nineteenth-century Russia. The tensions inherent in the process led to Odoyevskiy’s nationalist rebellion against the European musical standard, the equal temperament. His call for a different musical scale remained largely ignored in the nineteenth century, until the topic was raised anew by twentieth-century composers and musicians.
FREQUENCY IN PRODUCTION, COMPREHENSION, AND ACQUISITION
Authors: Bley-Vroman Robert
Published: October 2003

Although there are certainly observable frequency effects in language, in most cases, there are alternative approaches to explanation that more directly relate to the essential characteristic of language—that it is a system relating form to meaning. For example, for both word choice in production and ambiguity resolution in comprehension, meaning-based approaches can often provide equally satisfying, or more satisfying, explanations. In the meaning-based approach, the statistical structure of the language can affect the development of linguistic knowledge (for example, by influencing acquisition order or providing evidence for developing grammars); however, linguistic knowledge is not itself knowledge of the statistical structure of language. An example is provided of how frequency may relate to grammaticality judgments of nonnative speakers acquiring multiple wh-questions.
TRANSFER IN SLA AND CREOLES
Authors: Helms-Park Rena
Published: October 2003

This paper presents a study that attributes verb serialization in the interlanguage of Vietnamese-speaking ESL learners to language transfer and, furthermore, puts forward the view that such transfer bears a resemblance to substrate influence in creoles with serial verb constructions (SVCs). In a task that elicited English causatives through pictures representing the causation of events, a subset of the Vietnamese-speaking participants in this study produced a number of serial-type constructions that reflected lexicosemantic aspects of causative SVCs in Vietnamese. Speakers of Hindi-Urdu, a nonserializing language used for comparative purposes, did not produce any equivalents. Additionally, serial-type constructions with second verbs (V2s) representing a result (e.g., cook butter melt) predominated at lower levels of lexical proficiency, whereas serials with make and a result (e.g., make broken) were more evenly distributed across proficiency levels. One inference based on the results is that certain serials are eliminated early in the acquisition process through positive evidence obtained via English input, whereas others continue to appear beyond the elementary level because of misleadingly similar constructions in the input. A comparison of the proficiency-based transfer of “cook butter melt” serials in this study and the inferred transfer of SVCs in creolization suggests that, whereas transfer processes in the two contexts are congruent in certain ways (often resulting from the exigencies of communication, limited access to the TL, and linguistic convergence), the processes diverge because of differences in target norms and input conditions. The latter two factors provide one explanation for why SVC-related transfer effects were limited to a subgroup of Vietnamese-speaking participants in this study.
Structure and variability in the developmental trajectory of children's externalizing
problems: Impact of infant attachment, maternal depressive symptomatology, and child sex
Authors: MUNSON JEFFREY A. , MCMAHON ROBERT J. , SPIEKER SUSAN J.
Published: October 2003

This study explores the developmental trajectory of externalizing problems in a sample of 101
children of adolescent mothers from preschool through third grade using hierarchical linear
models (HLM). First, a detailed assessment of the structure of the developmental trajectory of
externalizing problems is provided. Second, the impact of three risk factors (infant attachment,
maternal depressive symptomatology, and child sex) on the developmental course of externalizing
problems is assessed. Both avoidant and disorganized attachment and higher levels of maternal
depressive symptomatology were associated with higher levels of externalizing problems at 9
years of age. Girls also showed higher externalizing problems relative to their same-sex peers than
did boys. In addition, maternal depressive symptomatology related to the rate of change in these
problems over time; the greater the mother's depression, the faster externalizing problems
tended to increase. Although the overall level of maternal depressive symptomatology was related
to children's externalizing problems for secure, avoidant, and disorganized groups, changes
in maternal depressive symptomatology over time predicted levels of externalizing problems only
for children with avoidant insecure attachments.
Resilience among abused and neglected children grown up
Authors: MCGLOIN JEAN MARIE , WIDOM CATHY SPATZ
Published: October 2003

Although an extensive literature has accumulated documenting the maladaptive outcomes
associated with childhood victimization, a limited body of knowledge addresses resilience. This
paper sought to operationalize the construct of resilience across a number of domains of
functioning and time periods and to determine the extent to which abused and neglected children
grown up demonstrate resilience. Substantiated cases of child abuse and neglect from 1967 to
1971 were matched on gender, age, race, and approximate family social class with nonabused and
nonneglected children and followed prospectively into young adulthood. Between 1989 and 1995,
1,196 participants (676 abused and neglected and 520 controls) were administered a 2-hr
in-person interview, including a psychiatric assessment. Resilience requires meeting the criteria for
success across six of eight domains of functioning: employment, homelessness, education, social
activity, psychiatric disorder, substance abuse, and two domains assessing criminal behavior
(official arrest and self-reports of violence). Results indicate that 22% of abused and neglected
individuals meet the criteria for resilience. More females met the criteria for resilience and females
were successful across a greater number of domains than males. We speculate on the meaning of
these findings and discuss implications for the child maltreatment field. Limitations of the study
are also acknowledged.
Self-regulatory processes in early personality development: A multilevel approach to the study of childhood social withdrawal and aggression
Authors: CALKINS SUSAN D. , FOX NATHAN A.
Published: October 2003

Self-regulatory processes are believed to be critical to early personality and behavioral adjustment. Such processes can be observed on multiple levels, including the physiological, attentional, emotional, cognitive, and interpersonal domains of functioning. Data from several longitudinal studies suggest links between early temperamental tendencies such as behavioral inhibition and frustration tolerance, and regulatory developments at the levels of physiological, attentional, and emotional regulation. Deficits in these particular levels of self-regulation may underlie childhood social withdrawal and aggression. Significant gaps remain in our knowledge of the pathways to disordered behavior and the role that self-regulation plays in such pathways. Suggestions are made for the ways in which future longitudinal studies might address these gaps.
Do aggressive/destructive toddlers lack concern for others? Behavioral and physiological indicators of empathic responding in 2-year-old children
Authors: GILL KATHRYN L. , CALKINS SUSAN D.
Published: October 2003

Ninety-nine 2-year-olds, out of a larger sample of 474 children, were classified as high (n = 49) or low (n = 50) in externalizing (aggressive/destructive) behaviors based on maternal reports assessed twice across a 2-month period. During a laboratory assessment, these toddlers participated in two empathy-eliciting tasks, from which affective, behavioral, and physiological measures were derived. Relations among measures of empathy were examined both within and across episodes and aggression groups. Analyses indicated that different indices of empathy were related to each other, both within and across empathy situations. In addition, aggressive children displayed more behaviors indicative of empathy than did nonaggressive children. Finally, a pattern of physiological responding to another's distress was evident across both groups of children, and some results indicated that greater physiological regulation was related to less empathy-related behavior. Results are discussed in terms of the developing nature of empathy and its changing association with both self-regulation and aggression.
A longitudinal behavioral genetic analysis of the etiology of aggressive and nonaggressive antisocial behavior
Authors: ELEY THALIA C. , LICHTENSTEIN PAUL , MOFFITT TERRIE E.
Published: October 2003

Developmental studies of antisocial behavior (ASB) have found two subgroups of behaviors, roughly described as aggressive and nonaggressive ASB. Theoretical accounts predict that aggressive ASB, which shows greater stability, should have high heritability. In contrast, nonaggressive ASB is very common in adolescence, shows less continuity, and should be influenced both by genes and shared environment. This study explored the genetic and environmental influences on aggressive and nonaggressive ASB in over 1,000 twin pairs aged 8–9 years and again at 13–14 years. Threshold models were fit to the data to incorporate the skew. In childhood, aggressive ASB was highly heritable and showed little influence of shared environment, whereas nonaggressive ASB was significantly influenced both by genes and shared environment. In adolescence, both variables were influenced both by genes and shared environment. The continuity in aggressive antisocial behavior symptoms from childhood to adolescence was largely mediated by genetic influences, whereas continuity in nonaggressive antisocial behavior was mediated both by the shared environment and genetic influences. These data are in agreement with the hypothesis that aggressive ASB is a stable heritable trait as compared to nonaggressive behavior, which is more strongly influenced by the environment and shows less genetic stability over time.