Proportional-Integral-Plus Control Strategy of an Intelligent Excavator

This article considers the application of Proportional-Integral-Plus (PIP) control to the Lancaster University Computerised Intelligent Excavator (LUCIE), which is being developed to dig foundation trenches on a building site. Previous work using LUCIE was based on the ubiquitous PI/PID control algorithm, tuned on-line, and implemented in a rather ad hoc manner. By contrast, the present research utilizes new hardware and advanced model-based control system design methods to improve the joint control and so provide smoother, more accurate movement of the excavator arm. In this article, a novel nonlinear simulation model of the system is developed for MATLAB/SIMULINK, allowing for straightforward refinement of the control algorithm and initial evaluation. The PIP controller is compared with a conventionally tuned PID algorithm, with the final designs implemented on-line for the control of dipper angle. The simulated responses and preliminary implementation results demonstrate the feasibility of the approach

A GPU-based finite-size pencil beam algorithm with 3D-density correction for radiotherapy dose calculation

Targeting at the development of an accurate and efficient dose calculation engine for online adaptive radiotherapy, we have implemented a finite size pencil beam (FSPB) algorithm with a 3D-density correction method on GPU. This new GPU-based dose engine is built on our previously published ultrafast FSPB computational framework [Gu et al. Phys. Med. Biol. 54 6287-97, 2009]. Dosimetric evaluations against Monte Carlo dose calculations are conducted on 10 IMRT treatment plans (5 head-and-neck cases and 5 lung cases). For all cases, there is improvement with the 3D-density correction over the conventional FSPB algorithm and for most cases the improvement is significant. Regarding the efficiency, because of the appropriate arrangement of memory access and the usage of GPU intrinsic functions, the dose calculation for an IMRT plan can be accomplished well within 1 second (except for one case) with this new GPU-based FSPB algorithm. Compared to the previous GPU-based FSPB algorithm without 3D-density correction, this new algorithm, though slightly sacrificing the computational efficiency (~5-15% lower), has significantly improved the dose calculation accuracy, making it more suitable for online IMRT replanning

Glassy Dynamics in a Frustrated Spin System: Role of Defects

In an effort to understand the glass transition, the kinetics of a spin model with frustration but no quenched randomness has been analyzed. The phenomenology of the spin model is remarkably similiar to that of structural glasses. Analysis of the model suggests that defects play a major role in dictating the dynamics as the glass transition is approached.Comment: 9 pages, 5 figures, accepted in J. Phys.: Condensed Matter, proceedings of the Trieste workshop on "Unifying Concepts in Glass Physics

The Gender Gap in Household Bargaining Power: A Portfolio-Choice Approach

We quantify how bargaining power is distributed when spouses make financial decisions together. We build a model in which each spouse has a risk preference and must bargain with each other to make asset decisions for the household. By structurally estimating the model with longitudinal data from Australian households, we show that the average household’s asset allocation reflects the husband’s risk preference 44% more than the wife’s. This gap in bargaining power is partially explained by gender differences in income and employment status, but is also due to gender effects. We provide further evidence that links the distribution of bargaining power to views on gender norms in the cross-section

Doping of a One-Dimensional Mott Insulator: Photoemision and Optical Studies of Sr2_2CuO3+δ_{3+\delta}

The spectral properties of a one-dimensional (1D) single-chain Mott insulator Sr$_2$CuO$_{3}$ have been studied in angle-resolved photoemission and optical spectroscopy, at half filling and with small concentrations of extra charge doped into the chains via high oxygen pressure growth. The single- particle gap is reduced with oxygen doping, but the metallic state is not reached. The bandwidth of the charge-transfer band increases with doping, while the state becomes narrower, allowing unambiguous observation of separated spinon and holon branches in the doped system. The optical gap is not changed upon doping, indicating that a shift of chemical potential rather than decrease of corelation gap is responsible for the apparent reduction of the photoemission gap.Comment: 4 pages, 2 figure

Electronic correlations and unusual superconducting response in the optical properties of the iron-chalcogenide FeTe0.55Se0.45

The in-plane complex optical properties of the iron-chalcogenide superconductor FeTe0.55Se0.45 have been determined above and below the critical temperature Tc = 14 K. At room temperature the conductivity is described by a weakly-interacting Fermi liquid; however, below 100 K the scattering rate develops a frequency dependence in the terahertz region, signaling the increasingly correlated nature of this material. We estimate the dc conductivity just above Tc to be sigma_dc ~ 3500 Ohm-1cm-1 and the superfluid density rho_s0 ~ 9 x 10^6 cm-2, which places this material close to the scaling line rho_s0/8 ~ 8.1 sigma_dc Tc for a BCS dirty-limit superconductor. Below Tc the optical conductivity reveals two gap features at Delta_1,2 ~ 2.5 and ~ 5.1 meV.Comment: Minor revisions, 5 pages, 4 figure