A shared position/force control methodology for teleoperation

A flexible and computationally efficient shared position/force control concept and its implementation in the Robot Control C Library (RCCL) are presented form the point of teleoperation. This methodology enables certain degrees of freedom to be position-controlled through real time manual inputs and the remaining degrees of freedom to be force-controlled by computer. Functionally, it is a hybrid control scheme in that certain degrees of freedom are designated to be under position control, and the remaining degrees of freedom to be under force control. However, the methodology is also a shared control scheme because some degrees of freedom can be put under manual control and the other degrees of freedom put under computer control. Unlike other hybrid control schemes, which process position and force commands independently, this scheme provides a force control loop built on top of a position control inner loop. This feature minimizes the computational burden and increases disturbance rejection. A simple implementation is achieved partly because the joint control servos that are part of most robots can be used to provide the position control inner loop. Along with this control scheme, several menus were implemented for the convenience of the user. The implemented control scheme was successfully demonstrated for the tasks of hinged-panel opening and peg-in-hole insertion

The infimum, supremum and geodesic length of a braid conjugacy class

Algorithmic solutions to the conjugacy problem in the braid groups B_n were given by Elrifai-Morton in 1994 and by the authors in 1998. Both solutions yield two conjugacy class invariants which are known as `inf' and `sup'. A problem which was left unsolved in both papers was the number m of times one must `cycle' (resp. `decycle') in order to increase inf (resp. decrease sup) or to be sure that it is already maximal (resp. minimal) for the given conjugacy class. Our main result is to prove that m is bounded above by n-2 in the situation of the second algorithm and by ((n^2-n)/2)-1 in the situation of the first. As a corollary, we show that the computation of inf and sup is polynomial in both word length and braid index, in both algorithms. The integers inf and sup determine (but are not determined by) the shortest geodesic length for elements in a conjugacy class, as defined by Charney, and so we also obtain a polynomial-time algorithm for computing this geodesic length.Comment: 15 pages. Journa

Current-induced synchronized switching of magnetization

We investigate current-induced magnetization switching for a multilayer structure that allows a reduced switching current while maintaining high thermal stability of the magnetization. The structure consists of a perpendicular polarizer, a perpendicular free-layer, and an additional free-layer having in-plane magnetization. When the current runs perpendicular to the structure, the in-plane free-layer undergoes a precession and supplies an internal rf field to the perpendicular free-layer, resulting in a reduced switching current for one current polarity. For the other polarity, the in-plane free-layer almost saturates perpendicular to the plane and acts as another perpendicular polarizer, which also reduces the switching current.Comment: 18 pages, 4 figure

Hawking temperature from scattering off the charged 2D black hole

The charged 2D black hole is visualized as presenting an potential barrier $V^{OUT}(r^*)$ to on-coming tachyon wave. Since this takes the complicated form, an approximate form $V^{APP}(r^*)$ is used for scattering analysis. We calculate the reflection and transmission coefficients for scattering of tachyon off the charged 2D black hole. The Hawking temperature is also derived from the reflection coefficient by Bogoliubov transformation. In the limit of $Q \to 0$, we recover the Hawking temperature of the 2D dilaton black hole.Comment: 12 pages 3 figures, RevTeX, to obtain figures contact author ([email protected]

Propagating waves in an extremal black string

We investigate the black string in the context of the string theories. It is shown that the graviton is the only propagating mode in the (2+1)--dimensional extremal black string background. Both the dilation and axion turn out to be non-propagating modes.Comment: Minor corrections, 11 pages in ReVTeX, no figure