The K-theoretic Farrell-Jones Conjecture for hyperbolic groups

We prove the K-theoretic Farrell-Jones Conjecture for hyperbolic groups with (twisted) coefficients in any associative ring with unit.Comment: 33 pages; final version; to appear in Invent. Mat

Adjustable speed operation of a hydropower plant associated to an irrigation reservoir

This paper deals with the issue of adjustable speed operation (ASO) of hydropower plants. The main idea of this technique is to allow the turbine speed to change in accordance with hydraulic conditions, thus improving the overall unit efficiency. General technical aspects of ASO are further discussed with special emphasis on the energy and operational benefits that may potentially result from its application. In order to assess these benefits, annual operation of a hydropower plant associated to an irrigation reservoir has been simulated under different scenarios, with both adjustable and fixed speed. Turbine operating range proved to be wider with ASO. In addition, simulation results confirm that considerable energy gains are expected to be obtained

Cucurbit[n]uril binding of platinum anticancer complexes

The encapsulation of cisplatin by cucurbit[7]uril (Q[7]) and multinuclear platinum complexes linked via a 4,4′-dipyrazolylmethane (dpzm) ligand by Q[7] and cucurbit[8]uril (Q[8]) has been studied by NMR spectroscopy and molecular modelling. The NMR studies suggest that some cisplatin binds in the cucurbituril cavity, while cis-[PtCl(NH3)2(H2O)]+ only binds at the portals. Alternatively, the dpzm-linked multinuclear platinum complexes are quantitatively encapsulated within the cavities of both Q[7] and Q[8]. Upon encapsulation, the non-exchangeable proton resonances of the multinuclear platinum complexes show significant upfield shifts in 1H NMR spectra. The H3/H3* resonances shift upfield by 0.08 to 0.55 ppm, the H5/H5* shift by 0.9 to 1.6 ppm, while the methylene resonances shift by 0.74 to 0.88 ppm. The size of the resonance shift is dependent on the cavity size of the encapsulating cucurbituril, with Q[7] encapsulation producing larger shifts than Q[8]. The upfield shifts of the dpzm resonances observed upon cucurbituril encapsulation indicate that the Q[7] or Q[8] is positioned directly over the dpzm linking ligand. The terminal platinum groups of trans-[{PtCl(NH3)2}2μ-dpzm]2+ (di-Pt) and trans-[trans-{PtCl(NH3)2}2-trans-{Pt(dpzm)2(NH3)2}]4+ (tri-Pt) provide a barrier to the on and off movement of cucurbituril, resulting in binding kinetics that are slow on the NMR timescale for the metal complex. Although the dpzm ligand has relatively few rotamers, encapsulation by the larger Q[8] resulted in a more compact di-Pt conformation with each platinum centre retracted further into each Q[8] portal. Encapsulation of the hydrolysed forms of di-Pt and tri-Pt is considerably slower than for the corresponding Cl forms, presumably due to the high-energy cost of passing the +2 platinum centres through the cucurbituril portals. The results of this study suggest that cucurbiturils could be suitable hosts for the pharmacological delivery of multinuclear platinum complexe

Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration

Further Observations of the Intermediate Mass Black Hole Candidate ESO 243-49 HLX-1

The brightest Ultra-Luminous X-ray source HLX-1 in the galaxy ESO 243-49 currently provides strong evidence for the existence of intermediate mass black holes. Here we present the latest multi-wavelength results on this intriguing source in X-ray, UV and radio bands. We have refined the X-ray position to sub-arcsecond accuracy. We also report the detection of UV emission that could indicate ongoing star formation in the region around HLX-1. The lack of detectable radio emission at the X-ray position strengthens the argument against a background AGN.Comment: 4 pages, 2 figures. Accepted 11th of Feb 2010. Contributed talk to appear in Proceedings of "X-ray Astronomy 2009: Present Status, Multi-Wavelength Approach and Future Perspectives", Bologna, Italy, September 7-11, 2009, AIP, eds. A. Comastri, M. Cappi, and L. Angelin

A 17 degree of freedom anthropomorphic manipulator

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints