1,382 research outputs found
Conceptual spatial representations for indoor mobile robots
We present an approach for creating conceptual representations of human-made indoor environments using mobile
robots. The concepts refer to spatial and functional properties of typical indoor environments. Following ïŹndings
in cognitive psychology, our model is composed of layers representing maps at diïŹerent levels of abstraction. The
complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition.
The system also incorporates a linguistic framework that actively supports the map acquisition process, and which
is used for situated dialogue. Finally, we discuss the capabilities of the integrated system
A molecular dynamics study on the equilibrium magnetization properties and structure of ferrofluids
We investigate in detail the initial susceptibility, magnetization curves,
and microstructure of ferrofluids in various concentration and particle dipole
moment ranges by means of molecular dynamics simulations. We use the Ewald
summation for the long-range dipolar interactions, take explicitly into account
the translational and rotational degrees of freedom, coupled to a Langevin
thermostat. When the dipolar interaction energy is comparable with the thermal
energy, the simulation results on the magnetization properties agree with the
theoretical predictions very well. For stronger dipolar couplings, however, we
find systematic deviations from the theoretical curves. We analyze in detail
the observed microstructure of the fluids under different conditions. The
formation of clusters is found to enhance the magnetization at weak fields and
thus leads to a larger initial susceptibility. The influence of the particle
aggregation is isolated by studying ferro-solids, which consist of magnetic
dipoles frozen in at random locations but which are free to rotate. Due to the
artificial suppression of clusters in ferro-solids the observed susceptibility
is considerably lowered when compared to ferrofluids.Comment: 33 pages including 12 figures, requires RevTex
Magnetic Fields at First Order Phase Transition: A Threat to Electroweak Baryogenesis
The generation of the observed baryon asymmetry may have taken place during
the electroweak phase transition, thus involving physics testable at LHC, a
scenario dubbed electroweak baryogenesis. In this paper we point out that the
magnetic field which is produced in the bubbles of a first order phase
transition endangers the baryon asymmetry produced in the bubble walls. The
reason being that the produced magnetic field couples to the sphaleron magnetic
moment and lowers the sphaleron energy; this strengthens the sphaleron
transitions inside the bubbles and triggers a more effective wash out of the
baryon asymmetry. We apply this scenario to the Minimal Supersymmetric
extension of the Standard Model (MSSM) where, in the absence of a magnetic
field, successful electroweak baryogenesis requires the lightest CP-even Higgs
and the right-handed stop masses to be lighter than about 127 GeV and 120 GeV,
respectively. We show that even for moderate values of the magnetic field, the
Higgs mass required to preserve the baryon asymmetry is below the present
experimental bound. As a consequence electroweak baryogenesis within the MSSM
should be confronted on the one hand to future measurements at the LHC on the
Higgs and the right-handed stop masses, and on the other hand to more precise
calculations of the magnetic field produced at the electroweak phase
transition.Comment: 16 pages, 4 figures. Minor corrections and references added to match
published versio
Costs of falls in an ageing population: A nationwide study from the Netherlands (2007-2009)
Background: Falls are a common mechanism of injury in the older population, putting an increasing demand on scarce healthcare resources. The objective of this study was to determine healthcare costs due to falls in the older population. Methods: An incidence-based cost model was used to estimate the annual healthcare costs and costs per case spent on fall-related injuries in patients â„65 years, The Netherlands (2007-2009). Costs were subdivided by age, gender, nature of injury, and type of resource use. Results: In the period 2007-2009, each year 3% of all persons aged â„65 years visited the Emergency Department due to a fall incident. Related medical costs were estimated at âŹ675.4 million annually. Fractures led to 80% (âŹ540 million) of the fall-related healthcare costs. The mean costs per fall were âŹ9370, and were higher for women (âŹ9990) than men (âŹ7510) and increased with age (from âŹ3900 at ages 65-69 years to âŹ14,600 at ages â„85 year). Persons â„80 years accounted for 47% of all fall-related Emergency Department visits, and 66% of total costs. The costs of long-term care at home and in nursing homes showed the largest age-related increases and accounted together for 54% of the fall-related costs in older people. Discussion: Fall-related injuries are leading to a high healthcare consumption and related healthcare costs, which increases with age. Programmes to prevent falls and fractures should be further implemented in order to reduce costs due to falls in the older population and to avoid that healthcare systems become overburdened
Tunneling dynamics in relativistic and nonrelativistic wave equations
We obtain the solution of a relativistic wave equation and compare it with
the solution of the Schroedinger equation for a source with a sharp onset and
excitation frequencies below cut-off. A scaling of position and time reduces to
a single case all the (below cut-off) nonrelativistic solutions, but no such
simplification holds for the relativistic equation, so that qualitatively
different ``shallow'' and ``deep'' tunneling regimes may be identified
relativistically. The nonrelativistic forerunner at a position beyond the
penetration length of the asymptotic stationary wave does not tunnel;
nevertheless, it arrives at the traversal (semiclassical or
B\"uttiker-Landauer) time "tau". The corresponding relativistic forerunner is
more complex: it oscillates due to the interference between two saddle point
contributions, and may be characterized by two times for the arrival of the
maxima of lower and upper envelops. There is in addition an earlier
relativistic forerunner, right after the causal front, which does tunnel.
Within the penetration length, tunneling is more robust for the precursors of
the relativistic equation
Criticality in confined ionic fluids
A theory of a confined two dimensional electrolyte is presented. The positive
and negative ions, interacting by a potential, are constrained to move on
an interface separating two solvents with dielectric constants and
. It is shown that the Debye-H\"uckel type of theory predicts that
the this 2d Coulomb fluid should undergo a phase separation into a coexisting
liquid (high density) and gas (low density) phases. We argue, however, that the
formation of polymer-like chains of alternating positive and negative ions can
prevent this phase transition from taking place.Comment: RevTex, no figures, in press Phys. Rev.
Evaluation of ADAS with a supported-driver model for desired allocation of tasks between human and technology performance
Partly automated driving is relevant for solving mobility problems, but also causes concerns with respect to the driverâs reliability in task performance. The supported driver model presented in this paper is therefore intended to answer the question, what type of support and in which circumstances, will enhance the driverâs ability to control the vehicle. It became apparent that prerequisites for performing tasks differ per driving taskâs type and require different support. The possible support for each driving taskâs type, has been combined with support-types to reduce the error causations from each different performance level (i.e. knowledge-based, rule-based and skill-based performance). The allocation of support in relation to performance level and driving taskâs type resulted in a supported driver model and this model relates the requested circumstances to appropriate support types. Among three tested ADAS systems, semi-automated parking showed best allocation of support; converting the demanding parallel parking task into a rather routine-like operation
Ultrafast quasiparticle relaxation dynamics in normal metals and heavy fermion materials
We present a detailed theoretical study of the ultrafast quasiparticle
relaxation dynamics observed in normal metals and heavy fermion materials with
femtosecond time-resolved optical pump-probe spectroscopy. For normal metals, a
nonthermal electron distribution gives rise to a temperature (T) independent
electron-phonon relaxation time at low temperatures, in contrast to the
T^{-3}-divergent behavior predicted by the two-temperature model. For heavy
fermion compounds, we find that the blocking of electron-phonon scattering for
heavy electrons within the density-of-states peak near the Fermi energy is
crucial to explain the rapid increase of the electron-phonon relaxation time
below the Kondo temperature. We propose the hypothesis that the slower Fermi
velocity compared to the sound velocity provides a natural blocking mechanism
due to energy and momentum conservation laws.Comment: 10 pages, 11 figure
Comparison of s- and d-wave gap symmetry in nonequilibrium superconductivity
Recent application of ultrafast pump/probe optical techniques to
superconductors has renewed interest in nonequilibrium superconductivity and
the predictions that would be available for novel superconductors, such as the
high-Tc cuprates. We have reexamined two of the classical models which have
been used in the past to interpret nonequilibrium experiments with some
success: the mu* model of Owen and Scalapino and the T* model of Parker.
Predictions depend on pairing symmetry. For instance, the gap suppression due
to excess quasiparticle density n in the mu* model, varies as n^{3/2} in d-wave
as opposed to n for s-wave. Finally, we consider these models in the context of
S-I-N tunneling and optical excitation experiments. While we confirm that
recent pump/probe experiments in YBCO, as presently interpreted, are in
conflict with d-wave pairing, we refute the further claim that they agree with
s-wave.Comment: 14 pages, 11 figure
CFRP flexural and shear strengthening technique for RC beams : experimental and numerical research
Near surface mounted (NSM) technique has proved to be a very effective
technique for the flexural strengthening of RC beams. Due to the relatively small
thickness of the concrete cover that several beams present, cutting the bottom arm of
steel stirrups for the installation of NSM laminates might be a possible strategy, whose
implications on the beamâs load carrying capacity need to be assessed. When steel
stirrups are cut, however, the shear resistance can be a concern. This also happens
when a strengthening intervention is carried out to increase the flexural resistance of a
beam, since in certain cases it is also necessary to increase the shear resistance in order
to avoid the occurrence of brittle shear failure. The present work assesses the
effectiveness of a technique that aims to increase both the flexural and shear resistance
of RC beams that have the bottom arm of the steel stirrups cut for the application of
NSM laminates. This assessment is performed by experimental and numerical
research. The main results of the experimental program are presented and analyzed,
and the innovative aspects of a constitutive model implemented in a computer program
are described, being their virtues and deficiencies discussed.The study reported in this paper forms a part of the research program "CUTINEMO - Carbon fiber laminates applied according to the near surface mounted technique to increase the flexural resistance to negative moments of continuous reinforced concrete structures" supported by FCT, PTDC/ECM/73099/2006. The authors wish to acknowledge the support also provided by the S&P, Casais and Artecanter Companies. The second Author acknowledges the grant under the aforementioned research project. The third author acknowledges the financial support of FCT, PhD Grant number SFRH/BD/23326/2005
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