California Institute of Technology

About: California Institute of Technology is a education organization based out in Pasadena, California, United States. It is known for research contribution in the topics: Galaxy & Population. The organization has 57649 authors who have published 146691 publications receiving 8620287 citations. The organization is also known as: Caltech & Cal Tech.

Ionic polymer-metal composites (IPMCs) as biomimetic sensors, actuators and artificial muscles - a review

Abstract: This paper presents an introduction to ionic polymer-metal composites and some mathematical modeling pertaining to them. It further discusses a number of recent findings in connection with ion-exchange polymer-metal composites (IPMCS) as biomimetic sensors and actuators. Strips of these composites can undergo large bending and flapping displacement if an electric field is imposed across their thickness. Thus, in this sense they are large motion actuators. Conversely by bending the composite strip, either quasi-statically or dynamically, a voltage is produced across the thickness of the strip. Thus, they are also large motion sensors. The output voltage can be calibrated for a standard size sensor and correlated to the applied loads or stresses. They can be manufactured and cut in any size and shape. In this paper first the sensing capability of these materials is reported. The preliminary results show the existence of a linear relationship between the output voltage and the imposed displacement for almost all cases. Furthermore, the ability of these IPMCs as large motion actuators and robotic manipulators is presented. Several muscle configurations are constructed to demonstrate the capabilities of these IPMC actuators. This paper further identifies key parameters involving the vibrational and resonance characteristics of sensors and actuators made with IPMCS. When the applied signal frequency varies, so does the displacement up to a critical frequency called the resonant frequency where maximum deformation is observed, beyond which the actuator response is diminished. A data acquisition system was used to measure the parameters involved and record the results in real time basis. Also the load characterizations of the IPMCs were measured and it was shown that these actuators exhibit good force to weight characteristics in the presence of low applied voltages. Finally reported are the cryogenic properties of these muscles for potential utilization in an outer space environment of a few Torrs and temperatures of the order of - 140 degrees Celsius. These muscles are shown to work quite well in such harsh cryogenic environments and thus present a great potential as sensors and actuators that can operate at cryogenic temperatures.

Distributed Space-Time Coding in Wireless Relay Networks

Abstract: We apply the idea of space-time coding devised for multiple-antenna systems to the problem of communications over a wireless relay network with Rayleigh fading channels. We use a two-stage protocol, where in one stage the transmitter sends information and in the other, the relays encode their received signals into a "distributed" linear dispersion (LD) code, and then transmit the coded signals to the receive node. We show that for high SNR, the pairwise error probability (PEP) behaves as (logP/P)min{TH}, with T the coherence interval, that is, the number of symbol periods during which the channels keep constant, R the number of relay nodes, and P the total transmit power. Thus, apart from the log P factor, the system has the same diversity as a multiple-antenna system with R transmit antennas, which is the same as assuming that the R relays can fully cooperate and have full knowledge of the transmitted signal. We further show that for a network with a large number of relays and a fixed total transmit power across the entire network, the optimal power allocation is for the transmitter to expend half the power and for the relays to collectively expend the other half. We also show that at low and high SNR, the coding gain is the same as that of a multiple-antenna system with R antennas. However, at intermediate SNR, it can be quite different, which has implications for the design of distributed space-time codes

Gene Regulatory Networks and the Evolution of Animal Body Plans

Abstract: Development of the animal body plan is controlled by large gene regulatory networks (GRNs), and hence evolution of body plans must depend upon change in the architecture of developmental GRNs. However, these networks are composed of diverse components that evolve at different rates and in different ways. Because of the hierarchical organization of developmental GRNs, some kinds of change affect terminal properties of the body plan such as occur in speciation, whereas others affect major aspects of body plan morphology. A notable feature of the paleontological record of animal evolution is the establishment by the Early “Cambrian of virtually all phylum-level body plans. We identify a class of GRN component, the kernels” of the network, which, because of their developmental role and their particular internal structure, are most impervious to change. Conservation of phyletic body plans may have been due to the retention since pre-Cambrian time of GRN kernels, which underlie development of major body parts.

Topographic mapping from interferometric synthetic aperture radar observations

Abstract: The production of high-resolution topographic maps derived from interferometric synthetic aperture radar observations of the earth is reported. Topographic maps are typically determined from stereo-pair optical photographs. Vertical relief causes the same terrain to appear in a slightly different projection for differing look angles, and this shift in appearance is interpreted in terms of the height of the terrain. The radar interferometric approach is related to the stereo technique in that the terrain is viewed at two different angles; however, in this case, the angular separation of the antennas is extremely small, on the order of a milliradian or less, as compared to tens of degrees for the optical case. Thus, the geometrical distortion and subsequent rectification correction algorithms are much less severe in the reduction of interferometric data.