Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control

An alternative fit to Belle mass spectra for DD, D*D* and Lambda_C Lambda_c

Peaks observed by Belle in DD at 3.878 GeV and in D*D* at 4.156 GeV may be fitted by phase space multiplied by a form factor with an RMS radius of interaction 0.63 fm. The peak observed in Lambda_C Lambda_C at 4.63 GeV may be explained by Y(4660), multiplied by a corresponding form factor with RMS radius 0.94 fm.Comment: 3 pages, 1 figures Shorted version, conclusions unchange

A Multiprocessor System for Performing Mail Sorting in Real Time

This paper describes a special purpose embedded multiprocessor architecture and algorithms developed for performmg real time Multi-Line Optical Character Recognition (MLOCR). MLOCR is a  computationally intensive real time application involving character image extraction, gray scale thresholding, rotation and scaling of individual characters, and character identification. The computational complexity of the algorithms implemented in the system required custom hardware in a parallel processing environment to meet the real time system requirements. The algorithms as well as the functional partitioning of the algorithms mto parallel processing subsystems are discussed

Call Me Caitlyn: Making and making over the 'authentic' transgender body in Anglo-American popular culture

A conception of transgender identity as an ‘authentic’ gendered core ‘trapped’ within a mismatched corporeality, and made tangible through corporeal transformations, has attained unprecedented legibility in contemporary Anglo-American media. Whilst pop-cultural articulations of this discourse have received some scholarly attention, the question of why this 'wrong body' paradigm has solidified as the normative explanation for gender transition within the popular media remains underexplored. This paper argues that this discourse has attained cultural pre-eminence through its convergence with a broader media and commercial zeitgeist, in which corporeal alteration and maintenance are perceived as means of accessing one’s ‘authentic’ self. I analyse the media representations of two transgender celebrities: Caitlyn Jenner and Nadia Almada, alongside the reality TV show TRANSform Me, exploring how these women’s gender transitions have been discursively aligned with a cultural imperative for all women, cisgender or trans, to display their authentic femininity through bodily work. This demonstrates how established tropes of authenticity-via-bodily transformation, have enabled transgender to become culturally legible through the wrong body trope. Problematically, I argue, this process has worked to demarcate ideals of ‘acceptable’ transgender subjectivity: self-sufficient, normatively feminine, and eager to embrace the possibilities for happiness and social integration provided by the commercial domain

Experimental snap loading of synthetic ropes

Abstract. Large tensile forces, known as snap loads, can occur when a slack rope becomes taut. Such forces may damage the rope or masses connected to it. Experiments are described in which one end of a rope is attached to the top of a drop tower and the bottom end is attached to a weight. The weight is raised to a certain height and then released. The force at the top of the rope and the acceleration of the weight are recorded during the first snap load that occurs. Repeated drop tests are performed on each rope. The effects of the type of rope, drop height, drop weight, whether the rope has been subjected to static precycling, and the number of previous dynamic tests are examined. A mathematical model is proposed for the rope force as a function of the displacement and velocity of the weight

Methodology for quantum logic gate constructions

We present a general method to construct fault-tolerant quantum logic gates with a simple primitive, which is an analog of quantum teleportation. The technique extends previous results based on traditional quantum teleportation (Gottesman and Chuang, Nature {\bf 402}, 390, 1999) and leads to straightforward and systematic construction of many fault-tolerant encoded operations, including the $\pi/8$ and Toffoli gates. The technique can also be applied to the construction of remote quantum operations that cannot be directly performed.Comment: 17 pages, mypsfig2, revtex. Revised with a different title, a new appendix for clarifying fault-tolerant preparation of quantum states, and various minor change

Enhanced Photostability and Photoactivity of Ruthenium Polypyridyl-Based Photocatalysts by Covalently Anchoring Onto Reduced Graphene Oxide

\ua9 2024 The Authors. Published by American Chemical Society. Recent studies toward finding more efficient ruthenium metalloligands for photocatalysis applications have shown that the derivatives of the linear [Ru(dqp)2]2+ (dqp: 2,6-di(quinolin-8-yl)-pyridine) complexes hold significant promise due to their extended emission lifetime in the μs time scale while retaining comparable redox potential, extinction coefficients, and absorption profile in the visible region to [Ru(bpy)3]2+ (bpy: 2,2′-bipyridine) and [Ru(tpy)2]2+ (tpy: 2,2′:6′,2″-terpyridine) complexes. Nevertheless, its photostability in aqueous solution needs to be improved for its widespread use in photocatalysis. Carbon-based supports have arisen as potential solutions for improving photostability and photocatalytic activity, yet their effect greatly depends on the interaction of the metal complex with the support. Herein, we present a strategy for obtaining Ru-polypyridyl complexes covalently linked to aminated reduced graphene oxide (rGO) to generate novel materials with long-term photostability and increased photoactivity. Specifically, the hybrid Ru(dqp)@rGO system has shown excellent photostable behavior during 24 h of continual irradiation, with an enhancement of 10 and 15% of photocatalytic dye degradation in comparison with [Ru(dqp)2]2+ and Ru(tpy)@rGO, respectively, as well as remarkable recyclability. The presented strategy corroborates the potential of [Ru(dqp)2]2+ as an interesting photoactive molecule to produce more advantageous light-active materials by covalent attachment onto carbon-based supports

Evolution of associative learning in chemical networks

Organisms that can learn about their environment and modify their behaviour appropriately during their lifetime are more likely to survive and reproduce than organisms that do not. While associative learning – the ability to detect correlated features of the environment – has been studied extensively in nervous systems, where the underlying mechanisms are reasonably well understood, mechanisms within single cells that could allow associative learning have received little attention. Here, using in silico evolution of chemical networks, we show that there exists a diversity of remarkably simple and plausible chemical solutions to the associative learning problem, the simplest of which uses only one core chemical reaction. We then asked to what extent a linear combination of chemical concentrations in the network could approximate the ideal Bayesian posterior of an environment given the stimulus history so far? This Bayesian analysis revealed the ’memory traces’ of the chemical network. The implication of this paper is that there is little reason to believe that a lack of suitable phenotypic variation would prevent associative learning from evolving in cell signalling, metabolic, gene regulatory, or a mixture of these networks in cells