Motility of small nematodes in disordered wet granular media

The motility of the worm nematode \textit{Caenorhabditis elegans} is investigated in shallow, wet granular media as a function of particle size dispersity and area density ($\phi$). Surprisingly, we find that the nematode's propulsion speed is enhanced by the presence of particles in a fluid and is nearly independent of area density. The undulation speed, often used to differentiate locomotion gaits, is significantly affected by the bulk material properties of wet mono- and polydisperse granular media for $\phi \geq 0.55$. This difference is characterized by a change in the nematode's waveform from swimming to crawling in dense polydisperse media \textit{only}. This change highlights the organism's adaptability to subtle differences in local structure and response between monodisperse and polydisperse media

Bribeproof mechanisms for two-values domains

Schummer (Journal of Economic Theory 2000) introduced the concept of bribeproof mechanism which, in a context where monetary transfer between agents is possible, requires that manipulations through bribes are ruled out. Unfortunately, in many domains, the only bribeproof mechanisms are the trivial ones which return a fixed outcome. This work presents one of the few constructions of non-trivial bribeproof mechanisms for these quasi-linear environments. Though the suggested construction applies to rather restricted domains, the results obtained are tight: For several natural problems, the method yields the only possible bribeproof mechanism and no such mechanism is possible on more general domains.Comment: Extended abstract accepted to SAGT 2016. This ArXiv version corrects typos in the proofs of Theorem 7 and Claims 28-29 of prior ArXiv versio

Confirmation of the Luminous Blue Variable status of MWC 930

We present spectroscopic and photometric observations of the emission-line star MWC 930 (V446 Sct) during its long-term optical brightening in 2006--2013. Based on our earlier data we suggested that the object has features found in Luminous Blue Variables (LBV), such as a high luminosity (~3 10^5 Lsun, a low wind terminal velocity (~ 140 km/s), and a tendency to show strong brightness variations (~1 mag over 20 years). For the last ~7 years it has been exhibiting a continuous optical and near-IR brightening along with a change of the emission-line spectrum appearance and cooling of the star's photosphere. We present the object's $V$--band light curve, analyze the spectral variations, and compare the observed properties with those of other recognized Galactic LBVs, such as AG Car and HR Car. Overall we conclude the MWC 930 is a bona fide Galactic LBV that is currently in the middle of an S Dor cycle.Comment: 12 pages, 7 figure

Carbon supported CdSe nanocrystals

Insights to the mechanism of CdSe nanoparticle attachment to carbon nanotubes following the hot injection method are discussed. It was observed that the presence of water improves the nanotube coverage while Cl containing media are responsible for the shape transformation of the nanoparticles and further attachment to the carbon lattice. The experiments also show that the mechanism taking place involves the right balance of several factors, namely, low passivated nanoparticle surface, particles with well-defined crystallographic facets, and interaction with an organics-free sp2 carbon lattice. Furthermore, this procedure can be extended to cover graphene by quantum dots.Comment: 5 pages, 5 figure

Dynamic Control of a Novel Planar Cable-Driven Parallel Robot with a Large Wrench Feasible Workspace

Cable-Driven Parallel Robots (CDPRs) are special manipulators where rigid links are replaced with cables. The use of cables offers several advantages over the conventional rigid manipulators, one of the most interesting being their ability to cover large workspaces since cables are easily winded. However, this workspace coverage has its limitations due to the maximum permissible cable tensions, i.e., tension limitations cause a decrease in the Wrench Feasible Workspace (WFW) of these robots. To solve this issue, a novel design based in the addition of passive carriages to the robot frame of three degrees-of-freedom (3DOF) fully-constrained CDPRs is used. The novelty of the design allows reducing the variation in the cable directions and forces increasing the robot WFW; nevertheless, it presents a low stiffness along the x direction. This paper presents the dynamic model of the novel proposal together with a new dynamic control technique, which rejects the vibrations caused by the stiffness loss while ensuring an accurate trajectory tracking. The simulation results show that the controlled system presents a larger WFW than the conventional scheme of the CDPR, maintaining a good performance in the trajectory tracking of the end-effector. The novel proposal presented here can be applied in multiple planar applications