Recursive generation of IPR fullerenes

We describe a new construction algorithm for the recursive generation of all non-isomorphic IPR fullerenes. Unlike previous algorithms, the new algorithm stays entirely within the class of IPR fullerenes, that is: every IPR fullerene is constructed by expanding a smaller IPR fullerene unless it belongs to limited class of irreducible IPR fullerenes that can easily be made separately. The class of irreducible IPR fullerenes consists of 36 fullerenes with up to 112 vertices and 4 infinite families of nanotube fullerenes. Our implementation of this algorithm is faster than other generators for IPR fullerenes and we used it to compute all IPR fullerenes up to 400 vertices.Comment: 19 pages; to appear in Journal of Mathematical Chemistr

Fullerenes with distant pentagons

For each $d>0$, we find all the smallest fullerenes for which the least distance between two pentagons is $d$. We also show that for each $d$ there is an $h_d$ such that fullerenes with pentagons at least distance $d$ apart and any number of hexagons greater than or equal to $h_d$ exist. We also determine the number of fullerenes where the minimum distance between any two pentagons is at least $d$, for $1 \le d \le 5$, up to 400 vertices.Comment: 15 pages, submitted for publication. arXiv admin note: text overlap with arXiv:1501.0268

A spatial impedance controller for robotic manipulation

Mechanical impedance is the dynamic generalization of stiffness, and determines interactive behavior by definition. Although the argument for explicitly controlling impedance is strong, impedance control has had only a modest impact on robotic manipulator control practice. This is due in part to the fact that it is difficult to select suitable impedances given tasks. A spatial impedance controller is presented that simplifies impedance selection. Impedance is characterized using ¿spatially affine¿ families of compliance and damping, which are characterized by nonspatial and spatial parameters. Nonspatial parameters are selected independently of configuration of the object with which the robot must interact. Spatial parameters depend on object configurations, but transform in an intuitive, well-defined way. Control laws corresponding to these compliance and damping families are derived assuming a commonly used robot model. While the compliance control law was implemented in simulation and on a real robot, this paper emphasizes the underlying theor

Solar or meteorological control of lower ionospheric fluctuations (2-15 and 27 days) in middle latitudes

Several types of short and long term effects of solar activity on the lower ionosphere are related to solar flares, the sector structure of the interplanetary magnetic field and some periodicities in sunspots or solar radio flux. The most evident periodicities of the Sun are the 11 year cycle of its activity and the differential rotation period near 27 days (25 to 30 days). Here, the following questions are discussed: which periods between 2 and 15 days and near 27 days occur in ionospheric absorption during the interval July 1980 to July 1985 and are these periods related to similar periods in solar Ly-alpha flux, geomagnetic activity, or neutral wind near 95 km observed in Collm (GDR). Day-time absorption data obtained by the A3 method was used for the following radio-paths: (164 kHz), (1539 kHz), (6090 kHz). With the use of these data the electron density variations in the lower ionosphere can be analyzed. An attempt was made to clarify the nature of the observed fluctuations in absorption