3,562 research outputs found
A “Robust” Convergent Visual Servoing System
This paper describes a simple visual servoing control algorithm capable of robustly positioning a three degree of freedom end effector based only on information from a stereo vision system. The proposed control algorithm does not require estimates of the gripper’s spatial position, a significant source of calibration sensitivity. The controller is completely immune to positional camera calibration errors, and we demonstrate robustness to orientation miscalibration through a series of simulations and experiments.
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Metastable anions of dinitrobenzene: resonances for electron attachment and kinetic energy release
Attachment of free, low-energy electrons to dinitrobenzene (DNB) in the gas phase leads to DNB as well as several fragment anions. DNB, (DNB-H), (DNB-NO), (DNB-2NO), and (DNB-NO(2)) are found to undergo metastable (unimolecular) dissociation. A rich pattern of resonances in the yield of these metastable reactions versus electron energy is observed; some resonances are highly isomer-specific. Most metastable reactions are accompanied by large average kinetic energy releases (KER) that range from 0.5 to 1.32 eV, typical of complex rearrangement reactions, but (1,3-DNB-H)(-) features a resonance with a KER of only 0.06 eV for loss of NO. (1,3-DNB-NO)(-) offers a rare example of a sequential metastable reaction, namely, loss of NO followed by loss of CO to yield C(5)H(4)O(-) with a large KER of 1.32 eV. The G4(MP2) method is applied to compute adiabatic electron affinities and reaction energies for several of the observed metastable channels. (C) 2010 American Institute of Physics. [doi:10.1063/1.3514931
Flow properties of driven-diffusive lattice gases: theory and computer simulation
We develop n-cluster mean-field theories (0 < n < 5) for calculating the flow
properties of the non-equilibrium steady-states of the Katz-Lebowitz-Spohn
model of the driven diffusive lattice gas, with attractive and repulsive
inter-particle interactions, in both one and two dimensions for arbitrary
particle densities, temperature as well as the driving field. We compare our
theoretical results with the corresponding numerical data we have obtained from
the computer simulations to demonstrate the level of accuracy of our
theoretical predictions. We also compare our results with those for some other
prototype models, notably particle-hopping models of vehicular traffic, to
demonstrate the novel qualitative features we have observed in the
Katz-Lebowitz-Spohn model, emphasizing, in particular, the consequences of
repulsive inter-particle interactions.Comment: 12 RevTex page
Two subsets of human alphoid repetitive DNA show distinct preferential localization in the pericentromeric heterochromatin of chromosomes 13, 21 and 18
Evolutionary estimation of a Coupled Markov Chain credit risk model
There exists a range of different models for estimating and simulating credit
risk transitions to optimally manage credit risk portfolios and products. In
this chapter we present a Coupled Markov Chain approach to model rating
transitions and thereby default probabilities of companies. As the likelihood
of the model turns out to be a non-convex function of the parameters to be
estimated, we apply heuristics to find the ML estimators. To this extent, we
outline the model and its likelihood function, and present both a Particle
Swarm Optimization algorithm, as well as an Evolutionary Optimization algorithm
to maximize the likelihood function. Numerical results are shown which suggest
a further application of evolutionary optimization techniques for credit risk
management
Precision mass measurements of radioactive nuclei at JYFLTRAP
The Penning trap mass spectrometer JYFLTRAP was used to measure the atomic
masses of radioactive nuclei with an uncertainty better than 10 keV. The atomic
masses of the neutron-deficient nuclei around the N = Z line were measured to
improve the understanding of the rp-process path and the SbSnTe cycle.
Furthermore, the masses of the neutron-rich gallium (Z = 31) to palladium (Z =
46) nuclei have been measured. The physics impacts on the nuclear structure and
the r-process paths are reviewed. A better understanding of the nuclear
deformation is presented by studying the pairing energy around A = 100.Comment: 4 pages and 4 figures, RNB7 conf. pro
Quantum lattice dynamical effects on the single-particle excitations in 1D Mott and Peierls insulators
As a generic model describing quasi-one-dimensional Mott and Peierls
insulators, we investigate the Holstein-Hubbard model for half-filled bands
using numerical techniques. Combining Lanczos diagonalization with Chebyshev
moment expansion we calculate exactly the photoemission and inverse
photoemission spectra and use these to establish the phase diagram of the
model. While polaronic features emerge only at strong electron-phonon
couplings, pronounced phonon signatures, such as multi-quanta band states, can
be found in the Mott insulating regime as well. In order to corroborate the
Mott to Peierls transition scenario, we determine the spin and charge
excitation gaps by a finite-size scaling analysis based on density-matrix
renormalization group calculations.Comment: 5 pages, 5 figure
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