Nonlinear robust controller design for multi-robot systems with unknown payloads

This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints

Constraints and evolution in cosmology

We review some old and new results about strict and non strict hyperbolic formulations of the Einstein equations.Comment: To appear in the proceedings of the first Aegean summer school in General Relativity, S. Cotsakis ed. Springer Lecture Notes in Physic

Mean Free Path in Disordered Multichannel Tight-Binding Wires

Transport in a disordered tight-binding wire involves a collection of different mean free paths resulting from the distinct fermi points, which correspond to the various scattering channels of the wire. The generalization of Thouless' relation between the mean free path and the localization length $\xi$ permits to define an average channel mean free path,$\bar\ell$, such that $\xi\sim N\bar\ell$ in an $N$-channel system. The averaged mean free path $\bar\ell$ is expressed exactly in terms of the total reflection coefficient of the wire and compared with the mean free path defined in the maximum entropy approach

Theory of Impurity Effects on the Spin Nematic State

The effect of magnetic bond disorder in otherwise antiferro nematic ordered system is investigated. We introduced triangular-shaped ferromagnetic bond disorder in the S=1 bilinear-biquadratic model on a triangular lattice. It is shown that the coupling between the impurity magnetic moment and nonmagnetic excitation in the bulk yields single-moment anisotropy and long-range anisotropic interaction between impurity magnetic moments. This interaction can induce unconventional spin-freezing phenomena observed in triangular magnet, NiGa2S4.Comment: 19 pages, 14 figure

Thresholds for epidemic spreading in networks

We study the threshold of epidemic models in quenched networks with degree distribution given by a power-law. For the susceptible-infected-susceptible (SIS) model the activity threshold lambda_c vanishes in the large size limit on any network whose maximum degree k_max diverges with the system size, at odds with heterogeneous mean-field (HMF) theory. The vanishing of the threshold has not to do with the scale-free nature of the connectivity pattern and is instead originated by the largest hub in the system being active for any spreading rate lambda>1/sqrt{k_max} and playing the role of a self-sustained source that spreads the infection to the rest of the system. The susceptible-infected-removed (SIR) model displays instead agreement with HMF theory and a finite threshold for scale-rich networks. We conjecture that on quenched scale-rich networks the threshold of generic epidemic models is vanishing or finite depending on the presence or absence of a steady state.Comment: 5 pages, 4 figure

Antiferromagnetic Quantum Spins on the Pyrochlore Lattice

The ground state of the S=1/2 Heisenberg antiferromagnet on the pyrochlore lattice is theoretically investigated. Starting from the limit of isolated tetrahedra, I include interactions between the tetrahedra and obtain an effective model for the spin-singlet ground state multiplet by third-order perturbation. I determine its ground state using the mean-field approximation and found a dimerized state with a four-sublattice structure, which agrees with the proposal by Harris et al. I also discuss chirality correlations and spin correlations for this state.Comment: 4 pages in 2-column format, 5 figures; To appear in J. Phys. Soc. Jpn. (Mar, 2001

A theory of non-local linear drift wave transport

Transport events in turbulent tokamak plasmas often exhibit non-local or non-diffusive action at a distance features that so far have eluded a conclusive theoretical description. In this paper a theory of non-local transport is investigated through a Fokker-Planck equation with fractional velocity derivatives. A dispersion relation for density gradient driven linear drift modes is derived including the effects of the fractional velocity derivative in the Fokker-Planck equation. It is found that a small deviation (a few percent) from the Maxwellian distribution function alters the dispersion relation such that the growth rates are substantially increased and thereby may cause enhanced levels of transport.Comment: 22 pages, 2 figures. Manuscript submitted to Physics of Plasma

Uniform Mixing of High-Tc Superconductivity and Antiferromagnetism on a Single CuO2 Plane in Hg-based Five-layered Cuprate

We report a site selective Cu-NMR study on under-doped Hg-based five-layered high-$T_{\rm c}$ cuprate HgBa2Ca4Cu5Oy with a Tc=72 K. Antiferromagnetism (AF) has been found to take place at TN=290 K, exhibiting a large antiferromagnetic moment of 0.67-0.69uB at three inner planes (IP's). This value is comparable to the values reported for non-doped cuprates, suggesting that the IP may be in a nearly non-doped regime. Most surprisingly, the AF order is also detected with M(OP)=0.1uB even at two outer planes (OP's) that are responsible for the onset of superconductivity (SC). The high-Tc SC at Tc = 72 K can uniformly coexist on a microscopic level with the AF at OP's. This is the first microscopic evidence for the uniform mixed phase of AF and SC on a single CuO2 plane in a simple environment without any vortex lattice and/or stripe order.Comment: 4 pages, 4 figures. To be published in Phys.Rev.Let

Conformal ``thin sandwich'' data for the initial-value problem of general relativity

The initial-value problem is posed by giving a conformal three-metric on each of two nearby spacelike hypersurfaces, their proper-time separation up to a multiplier to be determined, and the mean (extrinsic) curvature of one slice. The resulting equations have the {\it same} elliptic form as does the one-hypersurface formulation. The metrical roots of this form are revealed by a conformal ``thin sandwich'' viewpoint coupled with the transformation properties of the lapse function.Comment: 7 pages, RevTe

RadioAstron space VLBI imaging of polarized radio emission in the high-redshift quasar 0642+449 at 1.6 GHz

Polarization of radio emission in extragalactic jets at a sub-milliarcsecond angular resolution holds important clues for understanding the structure of the magnetic field in the inner regions of the jets and in close vicinity of the supermassive black holes in the centers of active galaxies. Space VLBI observations provide a unique tool for polarimetric imaging at a sub-milliarcsecond angular resolution and studying the properties of magnetic field in active galactic nuclei on scales of less than 10^4 gravitational radii. A space VLBI observation of high-redshift quasar TXS 0642+449 (OH 471), made at a wavelength of 18 cm (frequency of 1.6 GHz) as part of the Early Science Programme (ESP) of the RadioAstron} mission, is used here to test the polarimetric performance of the orbiting Space Radio Telescope (SRT) employed by the mission, to establish a methodology for making full Stokes polarimetry with space VLBI at 1.6 GHz, and to study the polarized emission in the target object on sub-milliarcsecond scales. Polarization leakage of the SRT at 18 cm is found to be within 9 percents in amplitude, demonstrating the feasibility of high fidelity polarization imaging with RadioAstron at this wavelength. A polarimetric image of 0642+449 with a resolution of 0.8 mas (signifying an ~4 times improvement over ground VLBI observations at the same wavelength) is obtained. The image shows a compact core-jet structure with low (~2%) polarization and predominantly transverse magnetic field in the nuclear region. The VLBI data also uncover a complex structure of the nuclear region, with two prominent features possibly corresponding to the jet base and a strong recollimation shock. The maximum brightness temperature at the jet base can be as high as 4*10^13 K.Comment: Accepted for publication in A&A, 10 pages, 6 figure