Resolution of seven-axis manipulator redundancy: A heuristic issue

An approach is presented for the resolution of the redundancy of a seven-axis manipulator arm from the AI and expert systems point of view. This approach is heuristic, analytical, and globally resolves the redundancy at the position level. When compared with other approaches, this approach has several improved performance capabilities, including singularity avoidance, repeatability, stability, and simplicity

Coherent spin rotation in the presence of a phonon-bottleneck effect

A characteristic of spin reversal in the presence of phonon-bottleneck is the deviation of the magnetization cycle from a reversible function into an opened hysterezis cycle. In recent experiments on molecular magnets (e.g. V$_{15}$ and Ru$_2$), the zero-field level repulsion was sufficiently large to ensure an otherwise adiabatic passage through zero-field and the magnetization curves can be described by using only a phonon-bottleneck model. Here, we generalize the phonon-bottleneck model into a model able to blend the non-adiabatic dynamics of spins with the presence of a non-equilibrium phonon bath. In this simple phenomenological model, Bloch equations are written in the eigenbasis of the effective spin Hamiltonian, considered to be a two-level system at low temperatures. The relaxation term is given by the phonon-bottleneck mechanism. To the expense of calculus time, the method can be generalized to multi-level systems, where the notion of Bloch sphere does not apply but the density matrix formalism is still applicable.Comment: as published in EuroPhys Letter

Propagation of boundary-induced discontinuity in stationary radiative transfer

We consider the boundary value problem of the stationary transport equation in the slab domain of general dimensions. In this paper, we discuss the relation between discontinuity of the incoming boundary data and that of the solution to the stationary transport equation. We introduce two conditions posed on the boundary data so that discontinuity of the boundary data propagates along positive characteristic lines as that of the solution to the stationary transport equation. Our analysis does not depend on the celebrated velocity averaging lemma, which is different from previous works. We also introduce an example in two dimensional case which shows that piecewise continuity of the boundary data is not a sufficient condition for the main result.Comment: 15 pages, no figure

Lethal Mutagenesis in Viruses and Bacteria

Here we study how mutations which change physical properties of cell proteins (stability) impact population survival and growth. In our model the genotype is presented as a set of N numbers, folding free energies of cells N proteins. Mutations occur upon replications so that stabilities of some proteins in daughter cells differ from those in parent cell by random amounts drawn from experimental distribution of mutational effects on protein stability. The genotype-phenotype relationship posits that unstable proteins confer lethal phenotype to a cell and in addition the cells fitness (duplication rate) is proportional to the concentration of its folded proteins. Simulations reveal that lethal mutagenesis occurs at mutation rates close to 7 mutations per genome per replications for RNA viruses and about half of that for DNA based organisms, in accord with earlier predictions from analytical theory and experiment. This number appears somewhat dependent on the number of genes in the organisms and natural death rate. Further, our model reproduces the distribution of stabilities of natural proteins in excellent agreement with experiment. Our model predicts that species with high mutation rates, tend to have less stable proteins compared to species with low mutation rate