Pararover: A Remote Controlled Vehicle with Omnidirectional Sensors

The process of teleoperation can be described as allowing a remote user to control a vehicle by interpretting sensor information captured by the vehicle. One method that is frequently used to implement teleoperation is to provide the user with a real-time video display of a perspective camera mounted on the vehicle. This method limits the remote user to seeing the environment in which is vehicle is present through the fixed viewpoint with which the camera is mounted. Having a fixed viewpoint is extremely limiting and significantly impedes the ability of the remote user to properly navigate. One way to address this problem is to mount the perspective camera on a pan-tilt device. This is rarely done because it is expensive and introduces a significant increase in implementation complexity from both the mechanical and electrical point of view. With the advent of omnidirectional camera technology, there is now a second more attractive alternative. This paper describes the \rover, a remote controlled vehicle constructed in the summer of 1998 to demonstrate the use of omnidirectional camera technology and a virtual reality display for vehicular teleoperation, audio-video surveillance and forward reconnaissance

Adding a subjective dimension to an ICF-based disability measure for people with multiple sclerosis: development and use of a measure for perception of disabilities

OBJECTIVE: The subjective dimension of disability, the perception of disability, is a dimension missing from the International Classification of Functioning, Disability and Health (ICF), and from health-related quality of life (HRQOL) instruments. However, it is a highly relevant dimension for clinical practice as perceived disability may identify care needs. We therefore developed a measure for this subjective dimension of disability in multiple sclerosis (MS) and examined the contribution of this dimension to QOL. METHOD: A measure named the Multiple Sclerosis Impact Profile-Disability Perception (MSIP-DP) was developed to reflect a person's perception of disabilities reported using the original MSIP-disability (MSIP-D) items. MS patients (n=530) completed both MSIP sections, the medical outcome study short form questionnaire (SF-36), the World Health Organisation Quality Of Life-BREF (WHOQOL-BREF) and questions concerning disease severity. The contribution of disability perception (DP) to QOL in MS was estimated using hierarchical multiple regression analyses after controlling for MS severity. RESULTS: Confirmative factor analysis confirmed the hypothesised disability perception domains that correspond with the related disability domains in the MSIP. DP scales yielded sufficient reliability. DP explained a unique and substantial part of the variance in QOL, particularly the perception of impairments in mental functions. DISCUSSION: Results indicated that the subjective dimension of functioning and health operationalised in the MSIP-DP is a relevant concept in explaining QOL in MS. In clinical practice psychological interventions addressing a patient's perception of disability, particularly of impairments in mental functioning, may contribute to QOL

Coulomb Drag as a Probe of the Nature of Compressible States in a Magnetic Field

Magneto-drag reveals the nature of compressible states and the underlying interplay of disorder and interactions. At \nu=3/2 a clear T^{4/3} dependence is observed, which signifies the metallic nature of the N=0 Landau level. In contrast, drag in higher Landau levels reveals an additional contribution, which anomalously grows with decreasing T before turning to zero following a thermal activation law. The anomalous drag is discussed in terms of electron-hole asymmetry arising from disorder and localization, and the crossover to normal drag at high fields as due to screening of disorder.Comment: 5 pages, 4 figure

Exciton condensate at a total filling factor of 1 in Corbino 2D electron bilayers

Magneto-transport and drag measurements on a quasi-Corbino 2D electron bilayer at the systems total filling factor 1 (v_tot=1) reveal a drag voltage that is equal in magnitude to the drive voltage as soon as the two layers begin to form the expected v_tot=1 exciton condensate. The identity of both voltages remains present even at elevated temperatures of 0.25 K. The conductance in the current carrying layer vanishes only in the limit of strong coupling between the two layers and at T->0 K which suggests the presence of an excitonic circular current

Optimal error analysis of a non-uniform IMEX-L1 finite element method for time fractional PDEs and PIDEs

Stability and optimal convergence analysis of a non-uniform implicit-explicit L1 finite element method (IMEX-L1-FEM) is studied for a class of time-fractional linear partial differential/integro-differential equations with non-self-adjoint elliptic part having (space-time) variable coefficients. The proposed scheme is based on a combination of an IMEX-L1 method on graded mesh in the temporal direction and a finite element method in the spatial direction. With the help of a discrete fractional Gr\"{o}nwall inequality, optimal error estimates in $L^2$- and $H^1$-norms are derived for the problem with initial data $u_0 \in H_0^1(\Omega)\cap H^2(\Omega)$. Under higher regularity condition $u_0 \in \dot{H}^3(\Omega)$, a super convergence result is established and as a consequence, $L^\infty$ error estimate is obtained for 2D problems. Numerical experiments are presented to validate our theoretical findings.Comment: 33 page

Activated Transport in the individual Layers that form the νT\nu_T=1 Exciton Condensate

We observe the total filling factor $\nu_{T}$=1 quantum Hall state in a bilayer two-dimensional electron system with virtually no tunnelling. We find thermally activated transport in the balanced system with a monotonic increase of the activation energy with decreasing $d/\ell_B$ below 1.65. In the imbalanced system we find activated transport in each of the layers separately, yet the activation energies show a striking asymmetry around the balance point. This implies that the gap to charge-excitations in the {\em individual} layers is substantially different for positive and negative imbalance.Comment: 4 pages. 4 figure

Chandra Observation of NGC 1559: Eight Ultraluminous X-ray Sources Including a Compact Binary Candidate

Despite the 30-year history of ultra-luminous X-ray sources (ULXs) studies, issues like the majority of their physical natures (i.e., neutron stars, stellar-mass black holes, or intermediate black holes) as well as the accretion mechanisms are still under debate. Expanding the ULX sample size in the literature is clearly a way to help. To this end, we investigated the X-ray source population, ULXs in particular, in the barred spiral galaxy NGC 1559 using a Chandra observation made in 2016. In this 45-ks exposure, 33 X-ray point sources were detected within the 2.'7 isophotal radius of the galaxy. Among them, 8 ULXs were identified with the criterion of the X-ray luminosity $L_x>10^{39}$ erg s$^{-1}$ (0.3-7~keV). Both X-ray light curves and spectra of all the sources were examined. Except for some low-count spectra that only provide ambiguous spectral fitting results, all the X-ray sources were basically spectrally hard and therefore likely have non-thermal origins. While no strong X-ray variability was present in most of the sources owing to the relatively short exposure of the observation, we found an intriguing ULX, named X-24, exhibiting a periodicity of $\sim$7500s with a detection significance of 2.7$\sigma$. We speculate that it is the orbital period of the system. Roche-lobe over flow and Roche limit are consistent with the speculation. Thus, we suggest that X-24 may be the one of the rare compact binary ULXs, and hence, a good candidate as a stellar-mass black hole.Comment: Accepted for publication in Ap