Kinematic design of crab-like legged vehicles

In this paper, the kinematic workspace characteristics of a crab-like legged vehicle are investigated using a 2-D model. The alternative kinematic configurations and their corresponding workspace constraints are discussed, and the vehicle configuration of most interest identified. It is shown that, for constant vehicle body attitude, only two parameters affect the kinematic workspace, foot overlap and thigh length. Analytical methods for calculating the workspace characteristics are presented and, using these methods, the effects of the design geometry on the kinematic workspace are investigated

Bubbles created from vacuum fluctuation

We show that the bubbles $S^2\times S^2$can be created from vacuum fluctuation in certain De Sitter universe, so the space-time foam-like structure might really be constructed from bubbles of $S^2\times S^2$ in the very early inflating phase of our universe. But whether such foam-like structure persisted during the later evolution of the universe is a problem unsolved now.Comment: 6 page

Pulse shape simulation for segmented true-coaxial HPGe detectors

A new package to simulate the formation of electrical pulses in segmented true-coaxial high purity germanium detectors is presented. The computation of the electric field and weighting potentials inside the detector as well as of the trajectories of the charge carriers is described. In addition, the treatment of bandwidth limitations and noise are discussed. Comparison of simulated to measured pulses, obtained from an 18-fold segmented detector operated inside a cryogenic test facility, are presented.Comment: 20 pages, 16 figure

On local comparison between various metrics on Teichmüller spaces

International audienceThere are several Teichmüller spaces associated to a surface of infinite topological type, after the choice of a particular basepoint ( a complex or a hyperbolic structure on the surface). These spaces include the quasiconformal Teichmüller space, the length spectrum Teichmüller space, the Fenchel-Nielsen Teichmüller space, and there are others. In general, these spaces are set-theoretically different. An important question is therefore to understand relations between these spaces. Each of these spaces is equipped with its own metric, and under some hypotheses, there are inclusions between these spaces. In this paper, we obtain local metric comparison results on these inclusions, namely, we show that the inclusions are locally bi-Lipschitz under certain hypotheses. To obtain these results, we use some hyperbolic geometry estimates that give new results also for surfaces of finite type. We recall that in the case of a surface of finite type, all these Teichmüller spaces coincide setwise. In the case of a surface of finite type with no boundary components (and possibly with punctures), we show that the restriction of the identity map to any thick part of Teichmüller space is globally bi-Lipschitz with respect to the length spectrum metric and the classical Teichmüller metric on the domain and on the range respectively. In the case of a surface of finite type with punctures and boundary components, there is a metric on the Teichmüller space which we call the arc metric, whose definition is analogous to the length spectrum metric, but which uses lengths of geodesic arcs instead of lengths of closed geodesics. We show that the restriction of the identity map restricted to any ``relative thick" part of Teichmüller space is globally bi-Lipschitz, with respect to any of the three metrics: the length spectrum metric, the Teichmüller metric and the arc metric on the domain and on the range

Flicker Noise in Bilayer Graphene Transistors

We present the results of the experimental investigation of the low - frequency noise in bilayer graphene transistors. The back - gated devices were fabricated using the electron beam lithography and evaporation. The charge neutrality point for the fabricated transistors was around 10 V. The noise spectra at frequencies above 10 - 100 Hz were of the 1/f - type with the spectral density on the order of 10E-23 - 10E-22 A2/Hz at the frequency of 1 kHz. The deviation from the 1/f spectrum at the frequencies below 10 -100 Hz indicates that the noise is of the carrier - number fluctuation origin due to the carrier trapping by defects. The Hooge parameter of 10E-4 was extracted for this type of devices. The gate dependence of the noise spectral density suggests that the noise is dominated by the contributions from the ungated part of the device channel and by the contacts. The obtained results are important for graphene electronic applications

A Spatio-Temporal Bayesian Network Classifier for Understanding Visual Field Deterioration

Progressive loss of the field of vision is characteristic of a number of eye diseases such as glaucoma which is a leading cause of irreversible blindness in the world. Recently, there has been an explosion in the amount of data being stored on patients who suffer from visual deterioration including field test data, retinal image data and patient demographic data. However, there has been relatively little work in modelling the spatial and temporal relationships common to such data. In this paper we introduce a novel method for classifying Visual Field (VF) data that explicitly models these spatial and temporal relationships. We carry out an analysis of this method and compare it to a number of classifiers from the machine learning and statistical communities. Results are very encouraging showing that our classifiers are comparable to existing statistical models whilst also facilitating the understanding of underlying spatial and temporal relationships within VF data. The results reveal the potential of using such models for knowledge discovery within ophthalmic databases, such as networks reflecting the ‘nasal step’, an early indicator of the onset of glaucoma. The results outlined in this paper pave the way for a substantial program of study involving many other spatial and temporal datasets, including retinal image and clinical data