Characterization of robotics parallel algorithms and mapping onto a reconfigurable SIMD machine

The kinematics, dynamics, Jacobian, and their corresponding inverse computations are six essential problems in the control of robot manipulators. Efficient parallel algorithms for these computations are discussed and analyzed. Their characteristics are identified and a scheme on the mapping of these algorithms to a reconfigurable parallel architecture is presented. Based on the characteristics including type of parallelism, degree of parallelism, uniformity of the operations, fundamental operations, data dependencies, and communication requirement, it is shown that most of the algorithms for robotic computations possess highly regular properties and some common structures, especially the linear recursive structure. Moreover, they are well-suited to be implemented on a single-instruction-stream multiple-data-stream (SIMD) computer with reconfigurable interconnection network. The model of a reconfigurable dual network SIMD machine with internal direct feedback is introduced. A systematic procedure internal direct feedback is introduced. A systematic procedure to map these computations to the proposed machine is presented. A new scheduling problem for SIMD machines is investigated and a heuristic algorithm, called neighborhood scheduling, that reorders the processing sequence of subtasks to reduce the communication time is described. Mapping results of a benchmark algorithm are illustrated and discussed

Tracking intracavernously injected adipose-derived stem cells to bone marrow.

The intracavernous (i.c.) injection of stem cells (SCs) has been shown to improve erectile function in various erectile dysfunction (ED) animal models. However, the tissue distribution of the injected cells remains unknown. In this study we tracked i.c.-injected adipose-derived stem cells (ADSCs) in various tissues. Rat paratesticular fat was processed for ADSC isolation and culture. The animals were then subject to cavernous nerve (CN) crush injury or sham operation, followed by i.c. injection of 1 million autologous or allogeneic ADSCs that were labeled with 5-ethynyl-2-deoxyuridine (EdU). Another group of rats received i.c. injection of EdU-labeled allogeneic penile smooth muscle cells (PSMCs). At 2 and 7 days post injection, penises and femoral bone marrow were processed for histological analyses. Whole femoral bone marrows were also analyzed for EdU-positive cells by flow cytometry. The results show that ADSCs exited the penis within days of i.c. injection and migrated preferentially to bone marrow. Allogenicity did not affect the bone marrow appearance of ADSCs at either 2 or 7 days, whereas CN injury reduced the number of ADSCs in bone marrow significantly at 7 but not 2 days. The significance of these results in relation to SC therapy for ED is discussed

The ordered K-theory of a full extension

Let A be a C*-algebra with real rank zero which has the stable weak cancellation property. Let I be an ideal of A such that I is stable and satisfies the corona factorization property. We prove that 0->I->A->A/I->0 is a full extension if and only if the extension is stenotic and K-lexicographic. As an immediate application, we extend the classification result for graph C*-algebras obtained by Tomforde and the first named author to the general non-unital case. In combination with recent results by Katsura, Tomforde, West and the first author, our result may also be used to give a purely K-theoretical description of when an essential extension of two simple and stable graph C*-algebras is again a graph C*-algebra.Comment: Version IV: No changes to the text. We only report that Theorem 4.9 is not correct as stated. See arXiv:1505.05951 for more details. Since Theorem 4.9 is an application to the main results of the paper, the main results of this paper are not affected by the error. Version III comments: Some typos and errors corrected. Some references adde

Vacuum polarization for neutral particles in 2+1 dimensions

In 2+1 dimensions there exists a duality between a charged Dirac particle coupled minimally to a background vector potential and a neutral one coupled nonminimally to a background electromagnetic field strength. A constant uniform background electric current induces in the vacuum of the neutral particle a fermion current which is proportional to the background one. A background electromagnetic plane wave induces no current in the vacuum. For constant but nonuniform background electric charge, known results for charged particles can be translated to give the induced fermion number. Some new examples with infinite background electric charge are presented. The induced spin and total angular momentum are also discussed.Comment: REVTeX, 7 pages, no figur

Interaction of Close-in Planets with the Magnetosphere of their Host Stars I: Diffusion, Ohmic Dissipation of Time Dependent Field, Planetary Inflation, and Mass Loss

The unanticipated discovery of the first close-in planet around 51 Peg has rekindled the notion that shortly after their formation outside the snow line, some planets may have migrated to the proximity of their host stars because of their tidal interaction with their nascent disks. If these planets indeed migrated to their present-day location, their survival would require a halting mechanism in the proximity of their host stars. Most T Tauri stars have strong magnetic fields which can clear out a cavity in the innermost regions of their circumstellar disks and impose magnetic induction on the nearby young planets. Here we consider the possibility that a magnetic coupling between young stars and planets could quench the planet's orbital evolution. After a brief discussion of the complexity of the full problem, we focus our discussion on evaluating the permeation and ohmic dissipation of the time dependent component of the stellar magnetic field in the planet's interior. Adopting a model first introduced by C. G. Campbell for interacting binary stars, we determine the modulation of the planetary response to the tilted magnetic field of a non-synchronously spinning star. We first compute the conductivity in the young planets, which indicates that the stellar field can penetrate well into the planet's envelope in a synodic period. For various orbital configurations, we show that the energy dissipation rate inside the planet is sufficient to induce short-period planets to inflate. This process results in mass loss via Roche lobe overflow and in the halting of the planet's orbital migration.Comment: 47 pages, 12 figure

Planet formation, orbital evolution and planet-star tidal interaction

We consider several processes operating during the late stages of planet formation that can affect observed orbital elements. Disk-planet interactions, tidal interactions with the central star, long term orbital instability and the Kozai mechanism are discussed.Comment: 26 pages, TeX, 3 figures (2 in color), 2 style files (ppiv-style.tex and epsf.sty), to be published in "Protostars and Planets IV," eds. A. Boss, V. Mannings, and S. Russel