Nesting, spin-fluctuations, and odd-gap superconductivity in NaxCoO2 yH2O

We have calculated the one-electron susceptibility of hydrated NaxCoO2 and find strong nesting nearly commensurate with a 2X2 superstructure. The nesting involves about 70% of all electrons at the Fermi level and is robust with respect to doping. This nesting creates a tendency to a charge density wave compatible with the charge order often seen at x approx 0.5, which is usually ascribed to electrostatic repulsion of Na ions. In the spin channel, it gives rise to strong spin-fluctuations, which should be important for superconductivity. The superconducting state most compatible with this nesting structure is an odd-gap triplet s-wave state.Comment: 4 figure

Supervisors, Trainees, and Client Outcomes in the Training Clinic: Toward an Understanding of Relational Factors

Estimates of healthy years of life lost due to mental illness are increasing, calling greater attention to the provision of effective psychotherapy services. Hypothesized to be the key mechanism through which competencies are developed in trainee clinicians and subsequent client outcomes, clinical supervision is deserving of greater attention. Drawing on a sample of supervisors, trainees, and clients from a training clinic, the present study sought to clarify the relational factors that could facilitate the asserted supervisor-client outcome link and to better understand if, and how, clinical supervisors influence client outcomes. With the exception of supervisor openness to experience, supervisor factors did not predict meaningful variance in client outcomes. Trainee extraversion and openness to experience predicted significant variance in leader-member exchange and supervisory working alliance. Dispositional trainee factors (e.g., personality) appear to impact trainee perceptions of the supervisory relationship. Implications for training and development are discussed, in addition to directions for future research

Estimation of energy efficiency of residential buildings

Increasing energy performance of the residential buildings by means of reducing heat consumption on the heating and ventilation is the last segment in the system of energy resources saving. The first segments in the energy saving process are heat producing and transportation over the main lines and outside distribution networks. In the period from 2006 to 2013. by means of the heat-supply schemes optimization and modernization of the heating systems. using expensive (200-30

Connected Coordinated Motion Planning with Bounded Stretch

We consider the problem of connected coordinated motion planning for a large collective of simple, identical robots: From a given start grid configuration of robots, we need to reach a desired target configuration via a sequence of parallel, collision-free robot motions, such that the set of robots induces a connected grid graph at all integer times. The objective is to minimize the makespan of the motion schedule, i.e., to reach the new configuration in a minimum amount of time. We show that this problem is NP-complete, even for deciding whether a makespan of 2 can be achieved, while it is possible to check in polynomial time whether a makespan of 1 can be achieved. On the algorithmic side, we establish simultaneous constant-factor approximation for two fundamental parameters, by achieving constant stretch for constant scale. Scaled shapes (which arise by increasing all dimensions of a given object by the same multiplicative factor) have been considered in previous seminal work on self-assembly, often with unbounded or logarithmic scale factors; we provide methods for a generalized scale factor, bounded by a constant. Moreover, our algorithm achieves a constant stretch factor: If mapping the start configuration to the target configuration requires a maximum Manhattan distance of $d$, then the total duration of our overall schedule is $\mathcal{O}(d)$, which is optimal up to constant factors.Comment: 28 pages, 18 figures, full version of an extended abstract that appeared in the proceedings of the 32nd International Symposium on Algorithms and Computation (ISAAC 2021); revised version (more details added, and typing errors corrected

Efficiently Reconfiguring a Connected Swarm of Labeled Robots

When considering motion planning for a swarm of $n$ labeled robots, we need to rearrange a given start configuration into a desired target configuration via a sequence of parallel, continuous, collision-free robot motions. The objective is to reach the new configuration in a minimum amount of time; an important constraint is to keep the swarm connected at all times. Problems of this type have been considered before, with recent notable results achieving constant stretch for not necessarily connected reconfiguration: If mapping the start configuration to the target configuration requires a maximum Manhattan distance of $d$, the total duration of an overall schedule can be bounded to $\mathcal{O}(d)$, which is optimal up to constant factors. However, constant stretch could only be achieved if disconnected reconfiguration is allowed, or for scaled configurations (which arise by increasing all dimensions of a given object by the same multiplicative factor) of unlabeled robots. We resolve these major open problems by (1) establishing a lower bound of $\Omega(\sqrt{n})$ for connected, labeled reconfiguration and, most importantly, by (2) proving that for scaled arrangements, constant stretch for connected reconfiguration can be achieved. In addition, we show that (3) it is NP-hard to decide whether a makespan of 2 can be achieved, while it is possible to check in polynomial time whether a makespan of 1 can be achieved.Comment: 26 pages, 17 figures, full version of an extended abstract accepted for publication in the proceedings of the 33rd International Symposium on Algorithms and Computation (ISAAC 2022

Coordinated Motion Planning: Multi-Agent Path Finding in a Densely Packed, Bounded Domain

We study Multi-Agent Path Finding for arrangements of labeled agents in the interior of a simply connected domain: Given a unique start and target position for each agent, the goal is to find a sequence of parallel, collision-free agent motions that minimizes the overall time (the makespan) until all agents have reached their respective targets. A natural case is that of a simply connected polygonal domain with axis-parallel boundaries and integer coordinates, i.e., a simple polyomino, which amounts to a simply connected union of lattice unit squares or cells. We focus on the particularly challenging setting of densely packed agents, i.e., one per cell, which strongly restricts the mobility of agents, and requires intricate coordination of motion. We provide a variety of novel results for this problem, including (1) a characterization of polyominoes in which a reconfiguration plan is guaranteed to exist; (2) a characterization of shape parameters that induce worst-case bounds on the makespan; (3) a suite of algorithms to achieve asymptotically worst-case optimal performance with respect to the achievable stretch for cases with severely limited maneuverability. This corresponds to bounding the ratio between obtained makespan and the lower bound provided by the max-min distance between the start and target position of any agent and our shape parameters. Our results extend findings by Demaine et al. [Erik D. Demaine et al., 2018; Erik D. Demaine et al., 2019] who investigated the problem for solid rectangular domains, and in the closely related field of Permutation Routing, as presented by Alpert et al. [H. Alpert et al., 2022] for convex pieces of grid graphs

Dispersive Vertex Guarding for Simple and Non-Simple Polygons

We study the Dispersive Art Gallery Problem with vertex guards: Given a polygon $\mathcal{P}$, with pairwise geodesic Euclidean vertex distance of at least $1$, and a rational number $\ell$; decide whether there is a set of vertex guards such that $\mathcal{P}$ is guarded, and the minimum geodesic Euclidean distance between any two guards (the so-called dispersion distance) is at least $\ell$. We show that it is NP-complete to decide whether a polygon with holes has a set of vertex guards with dispersion distance $2$. On the other hand, we provide an algorithm that places vertex guards in simple polygons at dispersion distance at least $2$. This result is tight, as there are simple polygons in which any vertex guard set has a dispersion distance of at most $2$.Comment: 13 pages, 14 figures; accepted at the 36th Canadian Conference on Computational Geometry (CCCG 2024

Reconfiguration of a 2D Structure Using Spatio-Temporal Planning and Load Transferring

We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of the structure. We develop two reconfiguration methods, one based on spatio-temporal planning, and one based on target swapping, to increase building efficiency. The first method can significantly reduce planning times compared to other multi-robot planners. The second method helps to reduce the amount of time robots spend waiting for paths to be cleared, and the overall distance traveled by the robots.Comment: seven pages, eight figures, one table; revised version; to appear in the proceedings of the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024